CN102259671A - Micro-robot mechanism walking with double-foot walls - Google Patents
Micro-robot mechanism walking with double-foot walls Download PDFInfo
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- CN102259671A CN102259671A CN201110173223A CN201110173223A CN102259671A CN 102259671 A CN102259671 A CN 102259671A CN 201110173223 A CN201110173223 A CN 201110173223A CN 201110173223 A CN201110173223 A CN 201110173223A CN 102259671 A CN102259671 A CN 102259671A
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Abstract
一种微型双足壁面行走机器人机构，第二轴与机器人机架以第二转动副、第四转动副连接；第三齿轮通过第二离合器与第三轴连接；第三轴与机器人机架以第三转动副连接，并与第二行走吸附足以第二螺旋副连接；第一行走吸附足与机器人机架以第一圆柱副连接。本发明与现有技术相比，具有以下优点及突出性效果：该机器人机构通过行走吸附足与离合器之间的配合，可实现定轴轮系与行星轮系之间的变换，从而保证了工作状态时的稳定与较大的负载能力，且行走方式简单、驱动少。同时结构紧凑、尺寸小、成本低、重量轻、控制简单，负载力大，具有行走、越障等功能。
A miniature biped wall walking robot mechanism, the second shaft is connected with the robot frame by the second rotating pair and the fourth rotating pair; the third gear is connected with the third shaft through the second clutch; the third shaft is connected with the robot frame by The third rotary pair is connected with the second walking adsorption foot and the second spiral pair; the first walking adsorption foot is connected with the robot frame through the first cylinder pair. Compared with the prior art, the present invention has the following advantages and outstanding effects: the robot mechanism can realize the conversion between the fixed-axis gear train and the planetary gear train through the cooperation between the walking adsorption foot and the clutch, thereby ensuring the working Stability and large load capacity in the state, and the walking mode is simple and the drive is less. At the same time, it has compact structure, small size, low cost, light weight, simple control, large load capacity, and has the functions of walking and overcoming obstacles.
Description
Technical field
The present invention relates to a kind of miniature biped robot for cleaning wall surfaces mechanism, relate in particular to a kind of miniature biped wall running machine robot mechanism that hydraulically smooth surface independently moves that is used for.
Background technology
Wall-surface mobile robot is the basis of realizing automations such as the defective of large-sized structural parts and safety detection, spraying, rust cleaning; In addition, wall-surface mobile robot has important application at the aspects such as automated cleaning of military surveillance, solar panel automatic dedusting, skyscraper glass curtain wall.At present, though domestic and international many colleges and universities and research unit have developed some wall-surface mobile robot mechanisms, most of volumes are big, self load is heavy, manufacturing cost is high.
Summary of the invention
The purpose of this invention is to provide a kind of miniature biped wall running machine robot mechanism, this mechanism structure compactness, size is little, cost is low, in light weight, driver element is few, control is simple, have functions such as walking, obstacle detouring, solve that present wall walking robot volume is big, shortcomings such as self load weight, manufacturing cost height.
The present invention realizes like this, a kind of miniature biped wall running machine robot mechanism, it comprises first gear, first clutch, primary shaft, second gear, second, the 3rd gear, second clutch, third axle, the robot frame, the first walking absorption foot, the second walking absorption foot, first revolute pair, second revolute pair, the 3rd revolute pair, first screw pair, first cylindrical pair, the 4th revolute pair, second screw pair, second cylindrical pair, first drives, second drives, the 3rd drives, it is characterized in that described first gear is connected by first clutch with primary shaft, and with second gear mesh; Primary shaft is connected with first revolute pair with the robot frame, and second gear is fixed on second, and with first gear, the 3rd gear mesh; Second is connected with second revolute pair, the 4th revolute pair with the robot frame; The 3rd gear is connected with third axle by second clutch; Third axle is connected with the 3rd revolute pair with the robot frame, and is enough to second screw pair with the second walking absorption and is connected; The first walking absorption foot is connected with first cylindrical pair with the robot frame, is connected with first screw pair with primary shaft; The second walking absorption foot is connected with second cylindrical pair with the robot frame, is connected with second screw pair with third axle; First driving is carried on the primary shaft; Second driving is carried on second; The 3rd driving is carried on the third axle.
When the first walking absorption foot and the second walking absorption foot are adsorbed on the work wall simultaneously, and first clutch is when closing with second clutch, and robot mechanism is that a fixed shaft wheel is, robot has maximum load capability, can be used as the robot mode of operation; When the first walking absorption foot is adsorbed on the work wall, the second walking absorption foot and the non-absorption of work wall, and first clutch closes, when second clutch unclamps, robot mechanism is for being center gear with first gear, and second gear and the 3rd gear are that satellite gear, robot frame are the planet circular system of tie-rod; Second driving drives second gear by second, can realize that robot is the center with the first walking absorption foot, rotates the walking that strides; And be carried in the 3rd on the third axle and drive, can make the sufficient lifting of second walking, thereby realize the obstacle detouring function of the robot second walking absorption foot by second screw pair.Similarly, when the second walking absorption foot is adsorbed on the work wall, the first walking absorption foot and the non-absorption of work wall, and second clutch closes, when first clutch unclamps, robot mechanism is for being center gear with the 3rd gear, second gear and first gear are that satellite gear, robot frame are the planet circular system of tie-rod, drive by second, drive second gear, can realize that robot is the center with the second walking absorption foot, rotates the walking that strides; And be carried in the driving of first on the primary shaft and can make the sufficient lifting of first walking, thereby realize the obstacle detouring function of the robot first walking foot by first screw pair.
The present invention compared with prior art, have the following advantages and the high-lighting effect: this robot mechanism is by cooperating between walking absorption foot and the power-transfer clutch, can realize the conversion between fixed shaft gear train and the planet circular system, thereby the stable and bigger load-carrying capacity when having guaranteed mode of operation, and walking manner is simple, driving is few.Simultaneously compact conformation, size is little, cost is low, in light weight, control is simple, load force is big, has functions such as walking, obstacle detouring.
Description of drawings
Fig. 1 is a robot mechanism scheme drawing of the present invention.
Fig. 2 is mode of operation of the present invention mechanism scheme drawing.
Fig. 3 rotates the walking scheme drawing that strides when being adsorbed in wall for the present invention's first walking absorption foot.
When Fig. 4 is adsorbed in wall for the present invention's second walking absorption foot, rotate the walking scheme drawing that strides.
In the drawings: 1, first gear 2, first clutch 3, primary shaft 4, second gear 5, second 6, the 3rd gear 7, second clutch 8, third axle 9, robot frame 10, the first walking absorption foot 11, the second walking absorption foot 12, first revolute pair 13, second revolute pair 14, the 3rd revolute pair 15, first screw pair 16, first cylindrical pair 17, the 4th revolute pair 18, second screw pair 19, second cylindrical pair 20, first drives 21, second drives 22, the 3rd drives 23, wall.
The specific embodiment
As Fig. 1, Fig. 2, Fig. 3, shown in Figure 4, concrete structure of the present invention and principle of work are further specified below in conjunction with accompanying drawing.This miniature biped wall running machine robot mechanism contains first gear 1, first clutch 2, primary shaft 3, second gear 4, second the 5, the 3rd gear 6, second clutch 7, third axle 8, robot frame 9, the first walking absorption foot, 10, the second walking absorption foot, 11, first revolute pair 12, second revolute pair 13, the 3rd revolute pair 14, first screw pair 15, first cylindrical pair 16, the 4th revolute pair 17, second screw pair 18, second cylindrical pair 19.It is characterized in that described first gear 1 is connected by first clutch 2 with primary shaft 3, and mesh with second gear 4; Primary shaft 3 is connected with first revolute pair 12 with robot frame 9, and second gear 4 is fixed on second 5, and meshes with first gear 1, the 3rd gear 6; Be connected with second revolute pair 13, the 4th revolute pair 17 with robot frame 9 for second 5; The 3rd gear 6 is connected with third axle 8 by second clutch 7; Third axle 8 is connected with the 3rd revolute pair 14 with robot frame 9, and is connected with second screw pair 18 with the second walking absorption foot 11; The first walking absorption foot 10 is connected with first cylindrical pair 16 with robot frame 9, is connected with first screw pair 15 with primary shaft 3; The second walking absorption foot 11 is connected with second cylindrical pair 19 with robot frame 9, is connected with second screw pair 18 with third axle 8; First drives 20 is carried on the primary shaft 3; Second drives 21 is carried on second 5; The 3rd drives 22 is carried on the third axle 8.When the first walking absorption foot, the 10 and second walking absorption foot 11 is adsorbed on the work wall 23 simultaneously, and when first clutch 2 closes with second clutch 7, robot mechanism is a fixed shaft wheel system, and robot has maximum load capability, can be used as the robot mode of operation; When the first walking absorption foot 10 is adsorbed on the work wall 23, the second walking absorption foot 11 and the 23 non-absorption of work wall, and first clutch 2 closes, when second clutch 7 unclamps, robot mechanism is for being center gear with first gear 1, and second gear 4 and the 3rd gear 6 are that satellite gear, robot frame 9 are the planet circular system of tie-rod; Second driving 21 drives second gear 4 by second 5, can realize that robot is the center with the first walking absorption foot 10, rotates the walking that strides; And be carried in the 3rd on the third axle 8 and drive 22, can realize the leg of lifting of the second walking absorption foot 11, thereby realize the obstacle detouring function of the robot second walking absorption foot 11 by second screw pair 18.Similarly, when the second walking absorption foot 11 is adsorbed on the work wall 23, the first walking absorption foot 10 and the 23 non-absorption of work wall, and second clutch 7 closes, when first clutch 2 unclamps, robot mechanism is for being center gear with the 3rd gear 6, second gear 4 and first gear 1 are that satellite gear, robot frame 9 are the planet circular system of tie-rod, drive 21 by second 5, drive second gear 4, can realize that robot is the center with the second walking absorption foot 11, rotates the walking that strides; And be carried in first on the primary shaft 3 and drive 20 and can realize the leg of lifting of the first walking absorption foot 10, thereby realize the obstacle detouring function of the robot first walking absorption foot 10 by first screw pair 15.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110173223A CN102259671A (en) | 2011-06-25 | 2011-06-25 | Micro-robot mechanism walking with double-foot walls |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201110173223A CN102259671A (en) | 2011-06-25 | 2011-06-25 | Micro-robot mechanism walking with double-foot walls |
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| CN102259671A true CN102259671A (en) | 2011-11-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201110173223A Pending CN102259671A (en) | 2011-06-25 | 2011-06-25 | Micro-robot mechanism walking with double-foot walls |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103505143A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning robot and walking method thereof |
| CN105416429A (en) * | 2015-12-10 | 2016-03-23 | 华南理工大学 | Walking mechanism for wall-climbing robot |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1068302A (en) * | 1992-05-16 | 1993-01-27 | 上海科学技术大学 | Omni-directional wall walking mechanism |
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| US6964309B2 (en) * | 2001-06-04 | 2005-11-15 | Biorobots, Llc | Vehicle with compliant drive train |
| WO2006083094A1 (en) * | 2005-02-02 | 2006-08-10 | Joon Mo Yang | Three-dimensionally movable absorption-type robot and moving method thereof |
| CN101391625A (en) * | 2008-11-04 | 2009-03-25 | 中国人民解放军空军工程大学 | Wall climbing robot |
| EP2172390A1 (en) * | 2008-10-06 | 2010-04-07 | Niederberger Engineering AG | Mobile climbing robot and service system with climbing robot |
| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | A modular bionic wall-climbing robot |
-
2011
- 2011-06-25 CN CN201110173223A patent/CN102259671A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1068302A (en) * | 1992-05-16 | 1993-01-27 | 上海科学技术大学 | Omni-directional wall walking mechanism |
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| US6964309B2 (en) * | 2001-06-04 | 2005-11-15 | Biorobots, Llc | Vehicle with compliant drive train |
| WO2006083094A1 (en) * | 2005-02-02 | 2006-08-10 | Joon Mo Yang | Three-dimensionally movable absorption-type robot and moving method thereof |
| EP2172390A1 (en) * | 2008-10-06 | 2010-04-07 | Niederberger Engineering AG | Mobile climbing robot and service system with climbing robot |
| CN101391625A (en) * | 2008-11-04 | 2009-03-25 | 中国人民解放军空军工程大学 | Wall climbing robot |
| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | A modular bionic wall-climbing robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103505143A (en) * | 2012-06-28 | 2014-01-15 | 科沃斯机器人科技(苏州)有限公司 | Glass cleaning robot and walking method thereof |
| CN105416429A (en) * | 2015-12-10 | 2016-03-23 | 华南理工大学 | Walking mechanism for wall-climbing robot |
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Application publication date: 20111130 |