CN103381860A - Robot running mechanism with dual purpose of overwater and underwater operations - Google Patents
Robot running mechanism with dual purpose of overwater and underwater operations Download PDFInfo
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- CN103381860A CN103381860A CN2012101366247A CN201210136624A CN103381860A CN 103381860 A CN103381860 A CN 103381860A CN 2012101366247 A CN2012101366247 A CN 2012101366247A CN 201210136624 A CN201210136624 A CN 201210136624A CN 103381860 A CN103381860 A CN 103381860A
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Abstract
The invention discloses a robot running mechanism with dual purpose of overwater and underwater operations, which comprises bases, sucking disks, and moving air cylinders, and is characterized in that a X direction base and a Y direction base are arranged in a main base; the X direction base and the Y direction base are mutually perpendicular in 90 degrees in the main base in a stacking manner, and form a moving structure of opposite directions of X and Y through the sucking disks and the moving air cylinders respectively. According to the invention, the running mechanism provides a complete carrying platform for the development of a remotely controlled robot with cable, and is simple in structure, convenient to control, good in universality, and flexible in motion control in each direction; various instruments and equipment can be carried on the running mechanism, and overwater and underwater comprehensive operations are conducted through remote control, so as to satisfy running requirements of the robot when operating in various environmental conditions.
Description
Technical field
The present invention relates to the intelligent robot technology field, especially a kind of waterborne, dual-purpose Work robot traveling gear under water.
Background technology
It is a kind of intelligent machine electric installation that is applied to carry out under various environment complex operation that the cable telerobot is arranged increasingly extensively, and it can serve the places such as rescue, monitoring, cleaning and maintenance of various high-risk environment, oil-gas mining industry under water and Underwater Ships effectively by remote operation.In the product development of robot, traveling gear is key mechanism.The move modes such as that the traveling gear of existing robot adopts mostly is wheeled, crawler type or leg formula, according to some particular surroundingss as climbing the needs of the operations such as wall, underwater hull, combine with move modes such as wheeled, crawler types, increased again the functions such as vacuum suction and magnetic be attached.Due to complex structure, the control mechanism of the action need complexity of existing robot running gear is completed, thereby makes these robots due to control mechanism complexity, huge structure and be difficult to have the scope that good attitude stabilization ability has limited its application.How to simplify the traveling gear of robot when simplifying control action, make it to realize to cable telerobot impartial purpose of handling on all directions is arranged, for realizing that running orbit and attitude control that robot is simple, flexible, stable have positive meaning.
Summary of the invention
The purpose of this invention is to provide a kind of waterborne, dual-purpose Work robot traveling gear under water, it simple in structure, control convenient, universal performance is good and all directions motion control is flexible, satisfies the walking requirement of robot operation under various environmental conditionss.
Purpose of the present invention is achieved through the following technical solutions: a kind of waterborne, dual-purpose Work robot traveling gear under water, comprise support, sucker and mobile cylinder, it is characterized in that being provided with X-direction support and Y-direction support in main engine bed, described X-direction support is formed by stacking with Y-direction support direction by mutual vertical 90 ° in main engine bed, and consists of respectively the moving structure of X, Y both forward and reverse directions by sucker and mobile cylinder.
Be respectively equipped with the mobile supporting structure that is consisted of by support slide rail and slide block in described X-direction support, Y-direction support.
The sucker of described main engine bed, X-direction support and the bottom setting of Y-direction support is magnetic chuck or negative pressure sucker.
Characteristics of the present invention and beneficial effect are: for the development that the cable telerobot is arranged provides a complete carrying platform, its simple in structure, control facilitates, universal performance is good and all directions motion control is flexible, satisfies the walking requirement of robot operation under various environmental conditionss.As required; can carry various instrument and equipments on traveling gear; carry out complex operation waterborne, under water by remote control; it can be adsorbed on the walking that any direction is done on the boats and ships surfaces as gecko; solve the under-water operation robot and can not firmly be fixed on the difficult problem of some local operations owing to being subject to the impact of ocean current and buoyancy of water; can effectively serve rescue, monitoring, cleaning and the maintenance etc. of high-risk environment and oil-gas mining industry under water and Underwater Ships, replace at present by personnel and remove the highly difficult and dangerous operation completed.
Description of drawings
Fig. 1 is the bottom surface structure schematic diagram of one of embodiment of the present invention;
Fig. 2 is directions X mobile status schematic diagram;
Fig. 3 is the A-A cross-sectional schematic of Fig. 2;
Fig. 4 is Y-direction mobile status schematic diagram.
Number in the figure represents respectively: 1-sucker, 2-sucker, 3-sucker, the 4-sucker, 5-sucker, 6-sucker, 7-main engine bed, 8-X are to mobile cylinder, and 9-X is to the support slide block, 10-Y is to support, 11-X is to support, and 12-X is to the support slide rail, and 13-Y is to mobile cylinder, 14-Y is to the support slide block, and 15-Y is to the support slide rail.
The specific embodiment
As shown in Figure 1, waterborne, an embodiment of dual-purpose Work robot traveling gear under water, be provided with X-direction support 11 and Y-direction support 10 in main engine bed 7, X-direction support 11 is formed by stacking with Y-direction support 10 direction by mutual vertical 90 ° in main engine bed 7, and consists of respectively the moving structure of X, Y both forward and reverse directions by each sucker and mobile cylinder.
For different fields of employment, sucker of the present invention can adopt multiple pattern, and as using on ground or building masonry wall, the negative pressure sucker that can adopt pressurized air to control as using, can adopt magnetic chuck on the metal body surfaces such as hull.Be equipped with again on this basis movable pulley, can realize walking fast on land or being adsorbed on body of wall or hull surface operation.
The present embodiment is provided with six sucker 1-6 altogether at an end of main engine bed 7, X-direction support 11 and Y-direction support 10 bottoms, according to the requirement to the traveling gear adsorption power of the usage condition of robot and unit design, the quantity of sucker can be done corresponding change, as only establishing a sucker in each support bottom surface, perhaps increase its sucker quantity.
Fig. 2 illustrates this walking mechanism by the mobile status of X or X ' direction, it be by control sucker 5, sucker 6 carries out suction alternately, puts action by setting requirements with sucker 2, sucker 4, be arranged on X-direction in X-direction support 11 by solenoid control simultaneously and move cylinder 8 and promote main engine bed 7(and comprise the Y-direction support 10 that is located in main engine bed) mobilely realize that X or X ' direction walk.
Fig. 3 illustrates the A-A section of Fig. 2, therefrom is provided with the mobile supporting structure that is made of X-direction support slide rail 12 and X-direction support slide block 9 in visible X-direction support 11; Y-direction support 10 inner structures are identical therewith, namely consist of mobile supporting structure by Y-direction support slide rail 15 and Y-direction support slide block 14.The support of both direction all thus structure be formed by stacking by 90 ° of directions.
Fig. 4 illustrates this walking mechanism by the mobile status of Y-direction, and its shifting principle is identical with the shifting principle of directions X.
The example of controlling step below by a walking is further described:
Example: the X positive dirction moves:
1) open the control setup of sucker 5 and sucker 6, allow sucker 5 and sucker 6 be adsorbed on body surface;
2) the cylinder charge valve of opening X-direction support 11 by solenoid control moves cylinder 8 inflations to X-direction, promote main engine bed 7(and comprise the Y-direction support 10 that is located in main engine bed) move forward, after putting in place, open again the control setup of sucker 2 and sucker 4, allow sucker 2 and sucker 4 be adsorbed on body surface, reduce or close the suction (adjustable as required) of sucker 5 and sucker 6 by control setup;
3) X-direction that makes the cylinder exhaust valve of opening X-direction support 11 moves cylinder 8 and shrinks, and X-direction support 11 is pulled move in main engine bed 7;
4) allow sucker 5,6 absorption, sucker 2,4 is decontroled again, and moves cylinder by X-direction and promotes main engine bed 7 and move forward, and traveling gear is creeping motion type and advances, the like until complete the movement of a direction.Otherwise, can do rightabout movement.
The shifting principle of Y or Y ' direction is with upper identical, it be by control sucker 1, sucker 2 is alternately inhaled, is put with sucker 3, sucker 4, be arranged on Y-direction in Y-direction support 10 by solenoid control simultaneously and move cylinder 13 and promote main engine bed 7(and comprise the X-direction support 11 that is located in main engine bed) the mobile walking that realizes Y or Y ' direction.
By controlling the alternately mobile of X and Y-direction, realize that this walking mechanism can arrive target bit exactly.
Claims (3)
1. waterborne, dual-purpose Work robot traveling gear under water, comprise support, sucker and mobile cylinder, it is characterized in that being provided with X-direction support and Y-direction support in main engine bed, described X-direction support is formed by stacking with Y-direction support direction by mutual vertical 90 ° in main engine bed, and consists of respectively the moving structure of X, Y both forward and reverse directions by sucker and mobile cylinder.
2. waterborne, dual-purpose Work robot traveling gear under water according to claim 1, is characterized in that being respectively equipped with in described X-direction support, Y-direction support the mobile supporting structure that is made of support slide rail and slide block.
3. waterborne, dual-purpose Work robot traveling gear under water according to claim 1 and 2 is characterized in that the sucker that described main engine bed, X-direction support and Y-direction support bottom arrange is magnetic chuck or negative pressure sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210136624.7A CN103381860B (en) | 2012-05-04 | 2012-05-04 | Waterborne, dual-purpose Work robot traveling gear under water |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210136624.7A CN103381860B (en) | 2012-05-04 | 2012-05-04 | Waterborne, dual-purpose Work robot traveling gear under water |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103381860A true CN103381860A (en) | 2013-11-06 |
| CN103381860B CN103381860B (en) | 2015-09-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210136624.7A Expired - Fee Related CN103381860B (en) | 2012-05-04 | 2012-05-04 | Waterborne, dual-purpose Work robot traveling gear under water |
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Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59223579A (en) * | 1983-06-02 | 1984-12-15 | Hajime Kubo | Carrier movable on unleveled ground |
| JPS60206791A (en) * | 1984-03-30 | 1985-10-18 | Mitsubishi Heavy Ind Ltd | Space scanner |
| US5351626A (en) * | 1991-11-11 | 1994-10-04 | Ken Yanagisawa | Walking robot |
| CN1097157A (en) * | 1992-12-01 | 1995-01-11 | 柳沢健 | walking robot |
| CN202156471U (en) * | 2011-07-08 | 2012-03-07 | 上海电机学院 | Sucked type pneumatic wall-climbing robot |
| CN202593675U (en) * | 2012-05-04 | 2012-12-12 | 武汉伊万博格科技有限公司 | Walking mechanism of water and underwater dual-purpose operating robot |
-
2012
- 2012-05-04 CN CN201210136624.7A patent/CN103381860B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS59223579A (en) * | 1983-06-02 | 1984-12-15 | Hajime Kubo | Carrier movable on unleveled ground |
| JPS60206791A (en) * | 1984-03-30 | 1985-10-18 | Mitsubishi Heavy Ind Ltd | Space scanner |
| US5351626A (en) * | 1991-11-11 | 1994-10-04 | Ken Yanagisawa | Walking robot |
| CN1097157A (en) * | 1992-12-01 | 1995-01-11 | 柳沢健 | walking robot |
| CN202156471U (en) * | 2011-07-08 | 2012-03-07 | 上海电机学院 | Sucked type pneumatic wall-climbing robot |
| CN202593675U (en) * | 2012-05-04 | 2012-12-12 | 武汉伊万博格科技有限公司 | Walking mechanism of water and underwater dual-purpose operating robot |
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| Publication number | Publication date |
|---|---|
| CN103381860B (en) | 2015-09-09 |
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Granted publication date: 20150909 Termination date: 20170504 |
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