CN101745920B - Child-mother robot folding gangway - Google Patents
Child-mother robot folding gangway Download PDFInfo
- Publication number
- CN101745920B CN101745920B CN2008102299648A CN200810229964A CN101745920B CN 101745920 B CN101745920 B CN 101745920B CN 2008102299648 A CN2008102299648 A CN 2008102299648A CN 200810229964 A CN200810229964 A CN 200810229964A CN 101745920 B CN101745920 B CN 101745920B
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- springboard
- robot
- prosthomere
- gangway
- casing
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Abstract
The invention relates to the robot engineering, in particular to a small child-mother robot folding gangway applied to the field of the fire control. The small child-mother robot folding gangway is arranged on a mother robot and comprises a box body, a front gangway section and a rear gangway section. The box body serving as the main support of the mother robot is provided with a driving device. One end of the front gangway section is hinged on the box body. A hinge shaft is connected with the driving device. The other end of the front gangway section is hinged with the rear gangway section. The front gangway section drives the rear gangway section to be unfolded or folded by the driving of the driving device. The invention has simple structure and low cost, and is convenient for protection of the fire field operation. When the robot turns over and goes up and down the stairs, the gangway is subjected to the external impact force from the robot, and due to the self-locking of a worm gear device, the driving shaft of the gangway can be locked automatically and has good reliability. The gangway is fixed by pull-in of the iron sheet and the magnet and the magnetic force so that when the robot moves, turns over, goes up and down the stairs and is shocked, the tail end of the gangway can be prevented from swinging freely.
Description
Technical field
The present invention relates to robot engineering, specifically a kind of folding springboard of small-sized primary and secondary robot that is applied in fire-fighting domain.
Background technology
Small-sized primary and secondary robot needs machine tool to carry handset because the relative machine tool translational speed of handset is slow, and obstacle detouring hinders, the stair activity difficulty.Since consider to satisfy the reliable requirement of simplicity of design, ordinary circumstance, and components of machine such as motor reducer are arranged on the bottom of robot.Be subjected to the restriction of machine tool volume, the arrangement space that carries handset is on the machine tool upper strata, handset passes in and out machine tool by springboard, springboard length must be worth (ordinary circumstance greater than certain, during the springboard kiss the earth, spend less than 45 with the angle on ground, angle is when the 30 degree left and right sides, child robot is operated control easily), if the long overall structure and the outward appearance that can influence robot of springboard.And when the operation of scene of fire, the drive motors of robot springboard need be installed in the robot casing, and drive unit is installed and not made the robot casing change profile (have outstanding etc.) as far as possible, so that protection; How to solve the small-sized automatic springboard length of primary and secondary robot of scene of fire operation and the convenient protection of drive unit of springboard, become problem demanding prompt solution.
Summary of the invention
In order to solve the problem of above-mentioned existence, the object of the present invention is to provide a kind of Female Robot to fold springboard, but the springboard auto-folder, drive unit is installed and is convenient to protection.
The objective of the invention is to be achieved through the following technical solutions:
The present invention is installed on the Female Robot, comprise casing, springboard prosthomere and springboard deutomerite, be provided with drive unit as the total casing that supports of Female Robot, one end of springboard prosthomere is articulated on the casing, jointed shaft is connected with drive unit, the other end of springboard prosthomere and springboard deutomerite are hinged, and the springboard prosthomere flattens or folds by driving, the drive springboard deutomerite of drive unit.
Wherein: the both sides of described casing are outward extended with connecting plate respectively, and the connecting plate of either side is provided with magnet, and the iron plate of folding back of springboard and magnet adhesive is installed on the springboard deutomerite; Described drive unit comprises motor, worm screw, worm gear, prolongation axle, second gyroaxis, holder and first and second conical gear, and the fixed seating is in casing, and worm screw and worm gear are arranged in the holder; Motor is installed on the holder, and the output shaft of motor is connected with worm screw, worm gear and worm engaging transmission, worm-wheel shaft is connected with and prolongs axle, an end that prolongs axle by casing pass, affixed with first conical gear; One end of second gyroaxis is installed in the connecting plate of casing, and the other end is connected with second conical gear with the first conical gear engaged transmission, and the springboard prosthomere and second gyroaxis are connected; One end of second gyroaxis is installed in by bearing on the connecting plate of casing one side, affixed second conical gear of the other end, and bearing is covered with the axle sleeve that is fixed on the connecting plate; Also be fixed with first gyroaxis on the springboard prosthomere, first gyroaxis and second gyroaxis are on same axis, one end and the springboard prosthomere of first gyroaxis are connected, and the other end is installed in by bearing on the connecting plate of casing opposite side, and bearing is covered with the axle sleeve that is fixed on the connecting plate; The lead angle of described worm screw less than 3 ° 17 ', but self-locking; The end that the springboard prosthomere is connected with the springboard deutomerite is connected with first hinge, and the end that the springboard deutomerite is connected with the springboard prosthomere is connected with second hinge, and the axle of the hole of first hinge and second hinge is connected.
Advantage of the present invention and good effect are:
1. simple in structure, cost is low.The present invention has realized the rotation of springboard, folding two frees degree control by a motor, and is simple in structure; A motor is realized two free degree controls, makes springboard folding, has also saved cost.
2. be convenient to the protection of scene of fire operation.Drive motors of the present invention is installed in the casing of Female Robot, and is outer only by prolonging an axle transmitting torque with casing, under the prerequisite that does not change box shape, make casing flatten whole, be convenient to high temperature protection, adapt to the operation of fire-fighting environment.
3. robot rolls, during stair activity, is comprised the external impacts from child robot, because the self-locking of worm and gear device can make the self-locking of springboard driving shaft, good reliability.
4. the present invention fixes springboard by the adhesive of iron plate and magnet by magnetic force, and robot moves, rolls, when stair activity is shaken, can prevent that the springboard end from freely swinging.
Description of drawings
Fig. 1 is the folding schematic diagram of the folding springboard of Female Robot of the present invention;
Fig. 2 is the expansion schematic diagram of the folding springboard of Female Robot;
Fig. 3 is the A-A cutaway view among Fig. 1;
Fig. 4 is that the B of springboard among Fig. 2 is to view;
Fig. 5 is the partial enlarged view that D place magnet and iron plate are installed among Fig. 1;
Fig. 6 is that C place hinge is installed the partial enlarged view that cooperates with springboard among Fig. 1;
Fig. 7 is that hinge cooperates among Fig. 4 E is to view;
Wherein: 1 is the springboard prosthomere, and 2 is the springboard deutomerite, and 3 is motor, and 4 is worm screw, 5 is worm gear, and 6 for prolonging axle, and 7 is first gyroaxis, 8 is first conical gear, and 9 is second conical gear, and 10 is second gyroaxis, 11 is casing, and 12 is iron plate, and 13 is magnet, 14 is first hinge, and 15 is second hinge, and 16 is bearing, 17 is holder, and 18 is connecting plate, and 19 is axle sleeve.
The specific embodiment
The invention will be further described below in conjunction with accompanying drawing.
Shown in Fig. 1～7, springboard is installed on the machine tool, and child robot can pass in and out machine tool by springboard; Comprise casing 11, springboard prosthomere 1 and springboard deutomerite 2, casing 11 is total supports of Female Robot, the both sides of casing 11 are outward extended with connecting plate 18 respectively, casing 11 is provided with drive unit, this drive unit comprises motor 3, worm screw 4, worm gear 5, prolongs axle 6, second gyroaxis 10, holder 17 and first and second conical gear 8,9, holder 17 is fixed in the casing 11, and worm screw 4 and worm gear 5 are installed in the holder 17; Motor 3 is installed on the holder 17, and the output shaft of motor 3 penetrates holder 17, is connected with worm screw 4, the lead angle of worm screw 4 less than 3 ° 17 ', make it have self-lock ability; Worm gear 5 and worm screw 4 engaged transmission, worm-wheel shaft are connected with and prolong axle 6, an end that prolongs axle 6 by casing 11 pass, affixed with first conical gear 8, the other end penetrates holder 17 and is connected with worm-wheel shaft; One end of second gyroaxis 10 is installed in by bearing 16 on the connecting plate 18 of casing 11 1 sides, and the other end is connected with second conical gear 9 with first conical gear, 8 engaged transmission, and the springboard prosthomere 1 and second gyroaxis 10 are connected.Bearing 16 is covered with the axle sleeve 19 that is fixed on the connecting plate 18, salable protection.
In order to guarantee the stability of the forward and backward joint of springboard when folding or flatten, also be fixed with first gyroaxis 7 on the springboard prosthomere 1, first gyroaxis 7 and second gyroaxis 10 are on same axis, one end and the springboard prosthomere 1 of first gyroaxis 7 are connected, the other end is installed on the connecting plate 18 of casing 11 opposite sides by bearing 16, bearing 16 is covered with the axle sleeve 19 that is fixed on the connecting plate 18, and springboard prosthomere 1 is hinged by the connecting plate 18 of first and second gyroaxis 7,10 and casing 11 both sides respectively.
The end that springboard prosthomere 1 is connected with springboard deutomerite 2 is connected with first hinge 14, the end that springboard deutomerite 2 is connected with springboard prosthomere 1 is connected with second hinge 15, the axle of the hole of first hinge 14 and second hinge 15 is connected (matched in clearance), and the fitted shaft that makes springboard deutomerite 2 can wrap page or leaf under the effect of gravity is freely rotated.On the connecting plate 18 of casing 11 either sides, be connected with magnet 13, iron plate 12 is installed on the springboard deutomerite 2, principle is installed for when springboard prosthomere 1 turns to the vertical position that makes progress (or predefined position) in the position of iron plate 12, iron plate 12 on the springboard deutomerite 2 and magnet 13 close adhesives can not freely swing springboard deutomerite 2.
Operation principle of the present invention is:
When child robot need enter the mounting space of Female Robot, original state iron plate 12 and magnet 13 adhesives, motor 3 is just changeing (or counter-rotating), the output shaft of motor 3 drives worm screw 4 rotations, worm gear 5 by with the engagement of worm screw 4, prolongation axle 6 is rotated, rotate jointly with prolongation axle 6 with prolongation axle 6 first conical gears 8 that are connected; Second conical gear 9 by with the engagement of first conical gear 8, make 10 rotations of second gyroaxis, drive springboard prosthomere 1; Springboard prosthomere 1 is affixed with first and second gyroaxis 7,10 respectively, and therefore, springboard prosthomere 1 is turned round clockwise around the axis of first gyroaxis 7 and 10 formation of second gyroaxis, and springboard prosthomere 1 is launched gradually; In this process, iron plate on the springboard deutomerite 2 is 12 stressed, throw off with magnet 13, and springboard deutomerite 2 hangs downwards naturally in the effect of gravity; When springboard deutomerite 2 terminal kiss the earths, rely on the mobile cooperation (or slip of springboard deutomerite 2 ends and kiss the earth) of Female Robot, make springboard prosthomere 1 and springboard deutomerite 2 continue to launch, ledge up to first hinge 14 contacts (or the ledge of second hinge 15 contacts with springboard prosthomere 1) with springboard deutomerite 2, the forward and backward joint 1,2 of springboard can not be rotated again; At this moment, springboard prosthomere 1 has flattened with springboard deutomerite 2, and child robot can enter machine tool by springboard forward and backward 1,2.
When child robot has been finished the mounting space that enters Female Robot, motor 3 counter-rotatings (or just changeing), drive worm screw 4, worm gear 5, prolong axle 6, first conical gear 8, second conical gear 9, second gyroaxis 10 and 7 reverse rotations of first gyroaxis, springboard prosthomere 1 is around the axis turning anticlockwise of first gyroaxis 7 and 10 formation of second gyroaxis, springboard deutomerite 2 is subjected to the effect of gravity to hang folding naturally downwards, when springboard prosthomere 1 rotates to upwards vertical position (or predefined position), iron plate 12 on the springboard deutomerite 2 and magnet 13 close adhesives, springboard deutomerite 2 can not be freely swung, and springboard is folding to finish.And when springboard prosthomere 1 is subjected to impact, because the self-locking of worm screw 4, worm gear 5 can not be rotated it.
The present invention utilizes a pair of conical gear transmitting torque by a motor-driven, utilizes gravity to fold springboard, utilizes the worm and gear device to make the springboard self-locking, utilizes magnetic force that springboard is fixed, and drive unit is installed and is convenient to protection.
Claims (6)
1. a primary and secondary robot folds springboard, be installed on the Female Robot, it is characterized in that: comprise casing (11), springboard prosthomere (1) and springboard deutomerite (2), be provided with drive unit as the total casing (11) that supports of Female Robot, one end of springboard prosthomere (1) is articulated on the casing (11), jointed shaft is connected with drive unit, the other end of springboard prosthomere (1) and springboard deutomerite (2) are hinged, and springboard prosthomere (1) flattens or folds by driving, the drive springboard deutomerite (2) of drive unit; Described drive unit comprises motor (3), worm screw (4), worm gear (5), prolongs axle (6), second gyroaxis (10), holder (17) and first and second conical gear (8,9), holder (17) is positioned at casing (11), and worm screw (4) and worm gear (5) are arranged in the holder (17); Motor (3) is installed on the holder (17), the output shaft of motor (3) is connected with worm screw (4), worm gear (5) and worm screw (4) engaged transmission, worm-wheel shaft are connected with and prolong axle (6), an end that prolongs axle (6) by casing (11) pass, affixed with first conical gear (8); One end of second gyroaxis (10) is installed in the connecting plate (18) of casing (11), and the other end is connected with second conical gear (9) with first conical gear (8) engaged transmission, and springboard prosthomere (1) is connected with second gyroaxis (10).
2. by the folding springboard of the described primary and secondary of claim 1 robot, it is characterized in that: the both sides of described casing (11) are outward extended with connecting plate (18) respectively, the connecting plate of either side (18) is provided with magnet (13), and the iron plate (12) of folding back of springboard and magnet (13) adhesive is installed on the springboard deutomerite (2).
3. by the folding springboard of the described primary and secondary of claim 1 robot, it is characterized in that: an end of described second gyroaxis (10) is installed on the connecting plate (18) of casing (11) one sides by bearing (16), affixed second conical gear of the other end (9), bearing (16) are covered with the axle sleeve (19) that is fixed on the connecting plate (18).
4. by the folding springboard of the described primary and secondary of claim 1 robot, it is characterized in that: also be fixed with first gyroaxis (7) on the described springboard prosthomere (1), first gyroaxis (7) and second gyroaxis (10) are on same axis, one end of first gyroaxis (7) and springboard prosthomere (1) are connected, the other end is installed in by bearing (16) on the connecting plate (18) of casing (11) opposite side, and bearing (16) is covered with the axle sleeve (19) that is fixed on the connecting plate (18).
5. by the folding springboard of the described primary and secondary of claim 1 robot, it is characterized in that: the lead angle of described worm screw (4) less than 3 ° 17 ', but self-locking.
6. by the folding springboard of the described primary and secondary of claim 1 robot, it is characterized in that: the end that described springboard prosthomere (1) is connected with springboard deutomerite (2) is connected with first hinge (14), the end that springboard deutomerite (2) is connected with springboard prosthomere (1) is connected with second hinge (15), and the axle of the hole of first hinge (14) and second hinge (15) is connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102299648A CN101745920B (en) | 2008-12-19 | 2008-12-19 | Child-mother robot folding gangway |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2008102299648A CN101745920B (en) | 2008-12-19 | 2008-12-19 | Child-mother robot folding gangway |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101745920A CN101745920A (en) | 2010-06-23 |
| CN101745920B true CN101745920B (en) | 2011-09-14 |
Family
ID=42473859
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2008102299648A Expired - Fee Related CN101745920B (en) | 2008-12-19 | 2008-12-19 | Child-mother robot folding gangway |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101745920B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109173125A (en) * | 2018-09-29 | 2019-01-11 | 北京力升高科科技有限公司 | A kind of collaboration working method and system of fire-fighting robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3834565A (en) * | 1971-07-22 | 1974-09-10 | Goodman R Co | Hydraulic loading ramp |
| FR2822112A1 (en) * | 2001-03-15 | 2002-09-20 | Actm | Folding ramp for loading trucks and trailers has power cylinder and cable to deploy and fold tip automatically as it is extended and retracted |
| CN2740467Y (en) * | 2004-11-05 | 2005-11-16 | 无锡震达机电有限公司 | Multifunctional foldable drawboard of vehicle |
| CN2753415Y (en) * | 2004-11-30 | 2006-01-25 | 公安部上海消防研究所 | Master-and-slave type robot for fire fighting |
| CN101204807A (en) * | 2006-12-20 | 2008-06-25 | 中国科学院沈阳自动化研究所 | Single drive two degrees of freedom mechanical arm |
-
2008
- 2008-12-19 CN CN2008102299648A patent/CN101745920B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US3834565A (en) * | 1971-07-22 | 1974-09-10 | Goodman R Co | Hydraulic loading ramp |
| FR2822112A1 (en) * | 2001-03-15 | 2002-09-20 | Actm | Folding ramp for loading trucks and trailers has power cylinder and cable to deploy and fold tip automatically as it is extended and retracted |
| CN2740467Y (en) * | 2004-11-05 | 2005-11-16 | 无锡震达机电有限公司 | Multifunctional foldable drawboard of vehicle |
| CN2753415Y (en) * | 2004-11-30 | 2006-01-25 | 公安部上海消防研究所 | Master-and-slave type robot for fire fighting |
| CN101204807A (en) * | 2006-12-20 | 2008-06-25 | 中国科学院沈阳自动化研究所 | Single drive two degrees of freedom mechanical arm |
Non-Patent Citations (1)
| Title |
|---|
| JP特开平10-100774A 1998.04.21 |
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| Publication number | Publication date |
|---|---|
| CN101745920A (en) | 2010-06-23 |
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Granted publication date: 20110914 Termination date: 20131219 |