CN101817372A - Electric stair climbing robot - Google Patents
Electric stair climbing robot Download PDFInfo
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- CN101817372A CN101817372A CN200910253733A CN200910253733A CN101817372A CN 101817372 A CN101817372 A CN 101817372A CN 200910253733 A CN200910253733 A CN 200910253733A CN 200910253733 A CN200910253733 A CN 200910253733A CN 101817372 A CN101817372 A CN 101817372A
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- stair climbing
- robot
- climbing robot
- electric stair
- electric
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Abstract
The invention relates to the technical field of electric stair climbing robots, in particular to an electric stair climbing robot. The electric stair climbing robot comprises an electric control system, an infrared imaging system, an air pressure system, a hydraulic system, a liquid and gas alternating system, a sucking stair climbing foot system, a support power system and a joint connecting system. The robot aims to serve the human beings, and the stair climbing robot is in two different types; and one type of robot upwards climbs stairs obliquely step by step, and the other robot upwards climbs the wall (vertically 90 degrees).
Description
One: technical field:
Patent of the present invention relates to a kind of electric stair climbing robot, especially the electric stair climbing robot technical field.
Two: background technology:
It is a lot of to make a general survey of the various robots in the world: be exactly the robot that does not have to climb the building, the target of robot is human service, and stair climbing robot has two kinds of not cotypes, and a kind of is tiltedly to climb corridor to climb step by step, and another kind is to climb wall, and (vertical 90 °) climb.
Three: summary of the invention:
1, the technical matters that will solve: electronic control system, infrared imaging system, pressure system, hydraulic efficiency pressure system, liquid gas alternate system, air-breathing building pin system, supporting motive force system, the joint connected system of climbing.
2, technical scheme: the shape of patent of the present invention, structural attitude, and technology, this patent is made up of nine systems: electronic control system, infrared imaging system, pressure system, hydraulic efficiency pressure system, liquid gas alternate system, air-breathing building pin system, supporting motive force system, the joint connected system of climbing.At first be electronic control system, the control motion of main shaft, modulated pressure and air pressure always start infrared imaging system start-up simultaneously.Infrared imaging data back disposal system is by disposal system control with arrange each articular system and start, in hydraulic pressure and the pressure system by each joint of motion control in each joint.Air-breathing climbing three kinds of functions are arranged in the building pin system, one absorbs with vacuum for mainly creeping, when the pneumatics power of taking seriously is not enough, vacuum starts two sets of plan, steel is grabbed to tighten up by force and is grabbed, when the steel grip less than what time, hydraulic pressure drill bit brute force is depressed, and it is firm to guarantee to creep, (this a series of actions exchange is all finished in the pin joint of creeping).Eight legs of support system (thigh four that moves ahead, article four, the shank exchange moves ahead, tail plays a part to support when creeping and firm robot simultaneously, after robot is firmly good tail unclamp mobile, therefore this robot has nine legs to walk to creep,) joint divides three joints: main joint, subjoint, metacarpal joint, very in main joint supportive body and domination subjoint move and creep, subjoint has to support and shrinks and domination metacarpal joint three big functions simultaneously.Metacarpal joint has the domination palm one, the palm two, and there is vacuum in the little joint that the palm three is used in creeping, grab hold tightly, control contractile function that hydraulic pressure bores and beginning be with starting function, with bearing control and infrared ray control and control of contraction dynamics and induction control.
3, beneficial effect:
Electric stair climbing robot of the present invention can be used for the military removal of mines to be detected, and civilianly send water conservancy project: can directly climb vertically upward, will bring huge benefit to society.
Four: description of drawings:
Fig. 1 electric stair climbing robot connects the joint three-view diagram,
Fig. 2 electric stair climbing robot steel is grabbed three-view diagram,
Fig. 3 electric stair climbing robot sucker vacuum three-view diagram,
Fig. 4 electric stair climbing robot three-view diagram,
1. pneumatic brill, 2. steel pawl connector, 3. air motor, 4. sucker attaching parts, 5. attaching parts shell, 6. hydraulic actuating cylinder, 7. hydraulic oil pipe joint, 8. vacuum vent holes is 9. grabbed wall steel pawl, 10. infrared inductor, 11. dowel bars, 12. force transmitting link joints, 13. power transmission steel pawl, 14. steel pawl hydraulic actuating cylinders, the 15. steel pawl hydraulic oil mouths of pipe, 16. the hydraulic actuating cylinder adaptor union, 17. steel pawl coupling bars, 18. shank shells, 19. vacuator, 20. hydraulic reservoirs and controller, 21. coupling bars, 22. the thigh shell, 23. suckers, 24. steel pawls, 25. central process unit, 26. electrical equipment motors, 27. infrared imaging systems, 28. scalable thigh, 29. the ball coupling bolt, 30. robot shells, 31. scalable shanks, 32. empennage balance leg, 33. column type coupling bars.
Fig. 5 electric stair climbing robot six views,
Five: the specific embodiment:
Technical field patent of the present invention relates to a kind of electric stair climbing robot, especially the electric stair climbing robot technical field; It is a lot of to make a general survey of the various robots in the world: be exactly the robot that does not have to climb the building, the target of robot is human service, and stair climbing robot has two kinds of not cotypes, a kind of is tiltedly to climb corridor to climb step by step, another kind is to climb wall, the technical matters that (vertical 90 °) are climb 1, will be solved: electronic control system, infrared imaging system, pressure system, hydraulic pressure system, liquid gas alternate system, the air-breathing building pin system of climbing, the supporting motive force system, the joint connected system.2, technical scheme: the shape of patent of the present invention, structural attitude, and technology, this patent is made up of nine big systems: electronic control system, infrared imaging system, pressure system, hydraulic pressure system, liquid gas alternate system, air-breathing building pin system, supporting motive force system, the joint connected system of climbing.At first be electronic control system, the control motion of main shaft, modulated pressure and air pressure always start infrared imaging system start-up simultaneously.Infrared imaging data back disposal system is by disposal system control with arrange each articular system and start, in hydraulic pressure and the pressure system by each joint of motion control in each joint.Air-breathing climbing three kinds of functions are arranged in the building pin system, one absorbs with vacuum for mainly creeping, when the pneumatics power of taking seriously is not enough, vacuum starts two sets of plan, steel is grabbed to tighten up by force and is grabbed, when the steel grip less than what time, hydraulic pressure drill bit brute force is depressed, it is firm to guarantee to creep, and (this a series of actions exchange is all finished in the pin joint of creeping.) eight legs of support system (thigh four that moves ahead, article four, the shank exchange moves ahead, simultaneously tail when creeping, play a part to support and and firm robot, after robot is firmly good tail unclamp mobile, therefore this robot has nine legs to walk to creep,) joint divides three joints: main joint, subjoint, metacarpal joint, very in main joint supportive body and domination subjoint move and creep, subjoint has to support and shrinks and domination metacarpal joint three big functions simultaneously.Metacarpal joint has the domination palm one, the palm two, and there is vacuum in the little joint that the palm three is used in creeping, grab hold tightly, control contractile function that hydraulic pressure bores and beginning be with starting function, with bearing control and infrared ray control and control of contraction dynamics and induction control.
Claims (8)
1. electric stair climbing robot, electronic control system, infrared imaging system, pressure system, hydraulic efficiency pressure system, liquid gas alternate system, air-breathing building pin system, supporting motive force system, the joint connected system of climbing.
According to claim 1 electric stair climbing robot, it is characterized in that described electronic control system.
According to claim 1 electric stair climbing robot, it is characterized in that described infrared imaging induction system.
According to claim 1 electric stair climbing robot, it is characterized in that described pressure system, hydraulic efficiency pressure system.，
According to claim 1 electric stair climbing robot, it is characterized in that described liquid gas alternate system.
According to claim 1 electric stair climbing robot, it is characterized in that the described air-breathing building pin system of climbing.
According to claim 1 electric stair climbing robot, it is characterized in that described supporting motive force system.
According to claim 1 electric stair climbing robot, it is characterized in that described joint connected system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910253733A CN101817372A (en) | 2009-12-02 | 2009-12-02 | Electric stair climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200910253733A CN101817372A (en) | 2009-12-02 | 2009-12-02 | Electric stair climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN101817372A true CN101817372A (en) | 2010-09-01 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910253733A Pending CN101817372A (en) | 2009-12-02 | 2009-12-02 | Electric stair climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN101817372A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102923207A (en) * | 2012-11-13 | 2013-02-13 | 中国计量学院 | Truncus device of imitation spider robot capable of adapting to crawling on rugged road |
| CN104925162A (en) * | 2015-06-23 | 2015-09-23 | 胡凌翔 | Electric stair-climbing robot |
| CN109107114A (en) * | 2018-08-15 | 2019-01-01 | 安徽星宇生产力促进中心有限公司 | A kind of intelligence machine and working method for placing rope |
| CN112783054A (en) * | 2021-01-04 | 2021-05-11 | 海门市帕源路桥建设有限公司 | Electric remote control system |
-
2009
- 2009-12-02 CN CN200910253733A patent/CN101817372A/en active Pending
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102923207A (en) * | 2012-11-13 | 2013-02-13 | 中国计量学院 | Truncus device of imitation spider robot capable of adapting to crawling on rugged road |
| CN104925162A (en) * | 2015-06-23 | 2015-09-23 | 胡凌翔 | Electric stair-climbing robot |
| CN104925162B (en) * | 2015-06-23 | 2015-12-16 | 胡凌翔 | A kind of electric stair climbing robot |
| CN109107114A (en) * | 2018-08-15 | 2019-01-01 | 安徽星宇生产力促进中心有限公司 | A kind of intelligence machine and working method for placing rope |
| CN112783054A (en) * | 2021-01-04 | 2021-05-11 | 海门市帕源路桥建设有限公司 | Electric remote control system |
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| PB01 | Publication | ||
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Open date: 20100901 |