CN103612684B - A kind of three plane branch six-freedom parallel climbing robots - Google Patents
A kind of three plane branch six-freedom parallel climbing robots Download PDFInfo
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- CN103612684B CN103612684B CN201310651656.5A CN201310651656A CN103612684B CN 103612684 B CN103612684 B CN 103612684B CN 201310651656 A CN201310651656 A CN 201310651656A CN 103612684 B CN103612684 B CN 103612684B
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Abstract
A kind of three plane branch six-freedom parallel climbing robots, it mainly comprises moving platform, laser gun, three plane branches, Bringing-back mechanism and three traction legs, plane branch comprises two telescopic driving legs, upper end transverse axis and moving platform are that the universal duplicate invoice of compound connects, and lower end and permanent magnet chuck are that compound spherical joint connects; Traction leg rigidity can stretch out, flexible retract and swing, and upper end and moving platform ball duplicate invoice connect, and lower end and permanent magnet chuck ball duplicate invoice connect; Bringing-back mechanism makes plane branch reset by transverse axis; Pressing spring makes traction leg reset, each leg and the permanent magnet chuck coordinated movement of various economic factors, realizes creeping at magnetic work wall.Behind absorption location, sucker suction power acts on moving platform all the time, and climbing robot becomes parallel robot, and moving platform drives laser gun can repair Large-Scale Equipment and workpiece, defect.The present invention has that structure is simple, high adsorption capacity, motion flexibly, control simple, there is quick translation climb wall and large load six degree of freedom flexible operating dual-use function from heavy and light.
Description
Technical field
The present invention relates to robot, particularly a kind of have the parallel robot of climbing wall function.
Background technology
Climbing robot is a kind of robot can having climbed the automated job exceeding people's limit in perpendicular walls, within nearly 20 years, becomes the hot-point and frontier of domestic and international robot field research.Current climbing robot for petrol storage tank defect detecting test, naval vessel sprays paint, military affairs are investigated, tall-building fire fighting, clean and spraying, nuclear equipment check thickness measuring etc.
Chinese patent 200710016408.8 discloses a kind of iron based tank climbing robot; Chinese patent CN1739925 discloses a kind of non-contact magnetically adsorbed wall climbing robot; Chinese patent CN1428226 discloses a kind of implementation method of crawler-type multiple sucking disc wall climbing and the robot of described method; Chinese patent CN101181913 discloses a kind of tandem modularized wall-climbing robot; Chinese patent CN101537619 discloses a kind of modular reconfigurable worm type wall climbing robot; Chinese patent CN102343588A discloses a kind of magnetic-disc-adsorptive wall climbing robot; Chinese patent 02158876 discloses a kind of five sufficient climbing robots; Chinese patent CN101746429A discloses a kind of Hexapodous biomimetic wet-sucking wall-climbing robot.
Although the change born of the same parents that application number is 201310104113.1 climb wall parallel robot high adsorption capacity, structure is simple, motion flexibility ratio is high, there is following deficiency: 1, degree of freedom is three, can not ensure that wall is climbed in quick translation; 2, behind location, moving platform relative adsorption work pieces process is also three with operation degree of freedom, and alerting ability or poor, can not meet compound movement requirement; 3, driving leg elastic reset precision is lower, impact location process operation precision; 4, draw leg structure more complicated, wait to improve.
Climb wall class robot to differ from one another although above-mentioned, for main equipment under extreme condition, equipment and large Surface Flaw field repair with to manufacture be climb the difficult problem faced in wall class Robot Design, development and application again always.Particularly climbing robot translation should be able to climb wall fast, and meets the six degree of freedom flexible processing of moving platform relative adsorption workpiece and large load operation is the key issue waiting to solve.
Summary of the invention:
The object of the invention is to provide a kind of for main equipment, equipment and large Surface Flaw field repair under extreme condition with manufacture again, high adsorption capacity, structure are simple, motion flexibly, control simple, from heavy and light, there are the three plane branch six-freedom parallel climbing robots that wall and large load six degree of freedom flexible operating dual-use function are climbed in translation.
The present invention mainly comprises three identical plane branches of moving platform, laser gun, Bringing-back mechanism, structure and three traction legs, wherein laser gun and moving platform center are connected, and it is circumferentially alternately uniform between moving platform and the workpiece of absorption that three plane branches and three draw leg.
The plane branch that described three structures are identical comprises the identical driving leg be made up of two joint telescopic rods of two structures, the upper end of these two driving legs connects with transverse axis two ends respectively by revolute pair, these transverse axis two ends have and are parallel to each other and the rotation secondary orifices of select shaft axis, be connected in the middle of this transverse axis a cam, these cam both sides are connected with moving platform by revolute pair, the lower end of above-mentioned two driving legs is connected with permanent magnet chuck A by compound spherical joint, is provided with sucker retracing spring A between permanent magnet chuck A and compound spherical joint.
Three traction legs that described three structures are identical comprise permanent magnet chuck B, sucker retracing spring B, draw spring, pull bar, screw, cover, leading screw, bearing, electrical motor B, pressing spring and ball pair, wherein cover is that one end is closed, the other end is opening, outside is provided with the sleeve of cylinder boss, its closed end is connected with moving platform by ball pair, electrical motor B is located in the sleeve of the closed end of cover, the rotating shaft of this electrical motor B is towards the open end overlapped, this rotating shaft is coaxially connected with one end of leading screw, this leading screw has bearing near one end of electrical motor B rotating shaft cover, this outer race is fixed on the inwall of cover, above-mentioned leading screw is one end open, the threaded cylindrical drum of outer wall belt, screw is both ends open, the threaded cylindrical drum of inner wall belt, and this screw heavy caliber end connects with above-mentioned threads of lead screw, and this screw outer wall is axially arranged with groove, and the open end of cover is provided with key, and this key is placed in the groove of above-mentioned screw, pressing spring upper end connects with moving platform, and lower end connects with the cylinder boss of cover, realizes traction leg and resets, above-mentioned pull bar upper end is provided with short and thick circular cylinder, with the cylindrical hole bearing fit of above-mentioned leading screw lower end, it is elongate cylinder in the middle part of this pull bar, with above-mentioned screw small-caliber end cylindrical hole bearing fit, this pull bar lower end is provided with cylinder boss, this cylinder boss with draw lower spring end to be connected, this draws the cylinder boss of spring upper end and cover to be connected, above-mentioned pull bar lower end connects with permanent magnet chuck B with by ball pair, and sucker retracing spring B is placed between pull bar lower end and permanent magnet chuck B.Behind absorption location, electrical motor B rotates forward, and drives screw turns and drives screw and pull bar along its axis to moving down, and realizes traction leg rigid elongate; Treat sucker suction workpiece, electrical motor B reverses, and drives screw to move up along its axis, by drawing spring drawing pull bar, applies spring draft force to moving platform, guarantees to increase adsorption affinity.When creeping, move on moving platform and screw continue, force pull bar and permanent magnet chuck B to depart from workpiece, pull bar upper end cylinder inserts screw lower end circular hole simultaneously, the impact utilizing the air damping between cylinder and circular hole to avoid sucker to depart from workpiece post-tensioning spring to cause, realizes traction leg flexibility and retracts.
Described Bringing-back mechanism comprises frame, pressing plate, lead screw shaft, electrical motor A, its mid frame upper and lower end is connected with electrical motor A and moving platform center respectively, and electrical motor A is coaxially connected with lead screw shaft, pressing plate is the middle set square with screw, forms screw pair with lead screw shaft; Before location, direct motor drive leading screw makes pressing plate move down, and presses to the cam of transverse axis, forces three plane branches to reset simultaneously, and be rigidity owing to resetting, reseting precision is high; Behind the permanent magnet chuck absorption location of three plane branches, direct motor drive leading screw makes pressing plate moves, and departs from the cam of three transverse axis, makes system become six-degree-of-freedom parallel robot.
Of the present inventionly climb wall process: after six suckers all adsorb workpiece, three plane branch drives legs extend, and traction leg is retracted, and drive its three suckers to depart from workpiece; Three plane branch drives legs extend different, make moving platform and traction leg opposite piece to predetermined direction translation; All traction legs extend, and after driving its three sucker suction workpiece, three plane branches retract one by one and drive its sucker to depart from workpiece, and Bringing-back mechanism forces three plane branches to reset; Pressing spring forces the relatively dynamic platform of the traction leg of all identical elongations to reset, and three plane branches extend again, and driving leg sucker suction workpiece newly puts position, realizes taking a step.Repeat said process, this Robot workpiece wall any direction translation can be realized and creep.
Positioning action process of the present invention: traction leg electrical motor rotates forward, realizes this leg rigid elongate and absorption workpiece by worm drive; Bringing-back mechanism forces three plane branches to reset and absorption workpiece; The reversion of traction leg electrical motor, drives screw upwards to move along its axis, draws spring drawing pull bar, realizes this leg flexibility and retracts, sucker suction power is passed to moving platform.This robot becomes three plane branch six-degree-of-freedom parallel robots, realizes six degree of freedom fixed-point operation processing.
The present invention compared with prior art tool has the following advantages: structure is simple, high adsorption capacity, motion flexibly, control simple, there is quick translation climb wall and large load six degree of freedom flexible operating dual-use function from heavy and light, can to complete under extreme condition space station, core/power station, mining/metallurgy/handling equipment, adopt/defeated/main equipment such as of reservoir hydrocarbon equipment, large ship/aircraft, equipment and large Surface Flaw field repair and manufacture again, defect detecting test, eliminate rust, spray paint and the task such as military investigation.
Accompanying drawing explanation
Fig. 1 is the three-dimensional simplified schematic diagram that the present invention does not have Bringing-back mechanism.
Fig. 2 is plane branched structure simplified schematic diagram of the present invention.
Fig. 3 is that master of the present invention looks section simplified schematic diagram.
In figure: 1-plane branch, 2-draws leg, 3-magnetic work, 4-laser gun, 5-moving platform, 6 Bringing-back mechanisms; 1-1 permanent magnet chuck A, 1-2 sucker retracing spring A, 1-3 compound spherical joint, 1-4 Retractive leg, 1-5 revolute pair, 1-6 transverse axis; 2-1 permanent magnet chuck B, 2-2 sucker retracing spring B, 2-3 draws spring, 2-4 pull bar, 2-5 screw, and 2-6 overlaps, 2-7 leading screw, 2-8 bearing, 2-9 electrical motor B, 2-10 pressing spring, and 2-11 ball is secondary; 6-1 pressing plate, 6-2 lead screw shaft, 6-3 frame, 6-4 electrical motor A
Detailed description of the invention
In the schematic diagram of three plane branch six-freedom parallel climbing robots shown in Fig. 1 and Fig. 3, laser gun 4 and moving platform 5 center are connected, and it is circumferentially alternately uniform between moving platform and magnetic work 3 that three plane branches 1 that structure is identical and three draw leg.As shown in Figure 2, the plane branch that three structures are identical comprises the identical driving leg 1-4 be made up of two joint telescopic rods of two structures, the upper end of these two driving legs connects with transverse axis 1-6 two ends respectively by revolute pair 1-5, these transverse axis two ends have and are parallel to each other and the rotation secondary orifices of select shaft axis, be connected in the middle of this transverse axis a cam, these cam both sides are connected with moving platform by revolute pair, the lower end of above-mentioned two driving legs is connected with permanent magnet chuck 1-1 by compound spherical joint 1-3, is provided with sucker retracing spring 1-2 between permanent magnet chuck and compound spherical joint.Cover 2-6 in three traction legs 2 that three structures are identical are sleeves that one end is closed, the other end is opening, outside is provided with cylinder boss, its closed end is connected with moving platform by ball secondary 2-11, electrical motor B2-9 is located in the sleeve of the closed end of cover, the rotating shaft of this electrical motor B is towards the open end overlapped, this rotating shaft is coaxially connected with one end of leading screw 2-7, this leading screw has bearing 2-8 near one end of electrical motor B rotating shaft cover, and this outer race is fixed on the inwall of cover; Above-mentioned leading screw is one end open, the threaded cylindrical drum of outer wall belt; Screw 2-5 is both ends open, the threaded cylindrical drum of inner wall belt, and this screw heavy caliber end connects with above-mentioned threads of lead screw, and this screw outer wall is axially arranged with groove, and the open end of cover is provided with key, and this key is placed in the groove of above-mentioned screw; Pressing spring 2-10 upper end connects with moving platform, and lower end connects with the cylinder boss of cover, realizes traction leg and resets; Pull bar 2-4 upper end is provided with short and thick circular cylinder, with the cylindrical hole bearing fit of above-mentioned leading screw lower end, it is elongate cylinder in the middle part of this pull bar, with above-mentioned screw small-caliber end cylindrical hole bearing fit, this pull bar lower end is provided with cylinder boss, this cylinder boss with draw spring 2-3 lower end to be connected, this draws the cylinder boss of spring upper end and cover to be connected, above-mentioned pull bar lower end connects with permanent magnet chuck B2-1 with by ball pair, and sucker retracing spring B2-2 is placed between pull bar lower end and permanent magnet chuck B.Frame 6-3 upper and lower end in Bringing-back mechanism 6 is connected with electrical motor A6-4 and moving platform center respectively, and electrical motor A is coaxially connected with lead screw shaft 6-2, and pressing plate 6-1 is the middle set square with screw, forms screw pair with lead screw shaft; Before location, direct motor drive leading screw makes pressing plate move down, and presses to the cam of transverse axis, forces three plane branches rigid reset simultaneously; Behind the permanent magnet chuck absorption location of three plane branches, direct motor drive leading screw makes pressing plate moves, and departs from the cam of three transverse axis, makes system become six-degree-of-freedom parallel robot.
Claims (1)
1. three plane branch six-freedom parallel climbing robots, its laser gun and moving platform center are connected, and three plane branches that structure is identical identical with structure three traction legs are circumferentially alternately uniform between moving platform and the workpiece of absorption, three traction legs that described structure is identical comprise permanent magnet chuck B, sucker retracing spring B, draw spring, pull bar, screw, cover, leading screw, bearing, electrical motor B, pressing spring and ball pair, wherein cover is that one end is closed, the other end is opening, outside is provided with the sleeve of cylinder boss, its closed end is connected with moving platform by ball pair, electrical motor B is located in the sleeve of the closed end of cover, the rotating shaft of this electrical motor B is towards the open end overlapped, this rotating shaft is coaxially connected with one end of leading screw, this leading screw has bearing near one end of electrical motor B rotating shaft cover, this outer race is fixed on the inwall of cover, above-mentioned leading screw is one end open, the threaded cylindrical drum of outer wall belt, screw is both ends open, the threaded cylindrical drum of inner wall belt, and this screw heavy caliber end connects with above-mentioned threads of lead screw, and this screw outer wall is axially arranged with groove, and the open end of cover is provided with key, and this key is placed in the groove of above-mentioned screw, pressing spring upper end connects with moving platform, lower end connects with the cylinder boss of cover, it is characterized in that: three plane branches that described structure is identical comprise the identical driving leg be made up of two joint telescopic rods of two structures, the upper end of these two driving legs connects with transverse axis two ends respectively by revolute pair, these transverse axis two ends have and are parallel to each other and the rotation secondary orifices of select shaft axis, be connected in the middle of this transverse axis a cam, these cam both sides are connected with moving platform by revolute pair, the lower end of above-mentioned two driving legs is connected with permanent magnet chuck A by compound spherical joint, sucker retracing spring A is provided with between permanent magnet chuck A and compound spherical joint, above-mentioned pull bar upper end is provided with short and thick circular cylinder, with the cylindrical hole bearing fit of above-mentioned leading screw lower end, it is elongate cylinder in the middle part of this pull bar, with above-mentioned screw small-caliber end cylindrical hole bearing fit, this pull bar lower end is provided with cylinder boss, this cylinder boss with draw lower spring end to be connected, this draws the cylinder boss of spring upper end and cover to be connected, above-mentioned pull bar lower end is connected with permanent magnet chuck B by ball pair, and sucker retracing spring B is placed between pull bar lower end and permanent magnet chuck B, Bringing-back mechanism comprises frame, pressing plate, lead screw shaft, electrical motor A, and its mid frame upper and lower end is connected with electrical motor A and moving platform center respectively, and electrical motor A is coaxially connected with lead screw shaft, and pressing plate is the middle set square with screw, forms screw pair with lead screw shaft.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310651656.5A CN103612684B (en) | 2013-12-05 | 2013-12-05 | A kind of three plane branch six-freedom parallel climbing robots |
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| CN201310651656.5A CN103612684B (en) | 2013-12-05 | 2013-12-05 | A kind of three plane branch six-freedom parallel climbing robots |
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| CN103612684B true CN103612684B (en) | 2015-09-16 |
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| CN104908836A (en) * | 2014-06-06 | 2015-09-16 | 苏州晓炎自动化设备有限公司 | Six-legged laser robot |
| CN104354782B (en) * | 2014-09-26 | 2016-08-24 | 燕山大学 | A kind of wheel lower limb exchanges climbs wall parallel robot |
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| JPH0687475A (en) * | 1992-09-07 | 1994-03-29 | Takenaka Komuten Co Ltd | Walking type movable mechanism utilizing rotary support expansion leg |
| CN101954935B (en) * | 2010-09-27 | 2012-04-25 | 浙江大学 | Jumping robot of locust-simulated turning joint lever ejecting mechanism |
| CN102211628A (en) * | 2011-04-29 | 2011-10-12 | 燕山大学 | Double-leg walker |
| CN102514650B (en) * | 2011-11-15 | 2013-04-24 | 浙江大学 | Self-adaptive multifunctional landing jumping robot |
| CN103192365B (en) * | 2013-03-28 | 2014-11-12 | 燕山大学 | Metamorphic wall-climbing parallel robot |
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