CN105235762A - Motion system used for wall-climbing robot - Google Patents
Motion system used for wall-climbing robot Download PDFInfo
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- CN105235762A CN105235762A CN201510550571.7A CN201510550571A CN105235762A CN 105235762 A CN105235762 A CN 105235762A CN 201510550571 A CN201510550571 A CN 201510550571A CN 105235762 A CN105235762 A CN 105235762A
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- climbing robot
- several rows
- wheel
- trundles
- wall
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Abstract
The invention discloses a motion system used for a wall-climbing robot. The system comprises a plurality of motion wheels. Each of the motion wheel comprises a sun wheel, a plurality of planet carriers, a plurality of planet wheels, and a plurality of trundles. The plurality of planet wheels are connected with the center bearing of the sun wheel respectively through the plurality of planet carriers. Angles among the plurality of adjacent planet carriers are the same. The plurality of planet wheels drive the plurality of trundles through gears. Through the above method, the motion system used for a wall-climbing robot is advantaged by novel structure, automatic obstacle overcoming, sensitive control, flexible activity, and strong power, and the system does not need sensors, and realizes rapid movement in a plane, and is convenient and practical. The popularization of the motion system used for a wall-climbing robot has wide market prospect.
Description
Technical field
The present invention relates to the kinematic scheme field for climbing robot, particularly relate to a kind of kinematic scheme for climbing robot.
Background technology
Along with the develop rapidly of modernization science and technology and the progress of society, robot system is more and more extensive in the application of every field.At present, the application of industrial robot mainly contains arc-welding, spot welding, assembles, copies mechanically, sprays paint, detects, grinding and polishing, laser beam machining etc., the kinematic scheme wherein for climbing robot is widely used climbing in building work.User is more and more higher to the factors dictate such as kinematic scheme speed, precision, cost, structure for climbing robot, but the existing kinematic scheme for climbing robot can not meet many requirements of people.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of kinematic scheme for climbing robot, by adopting satellite gear and sun wheel with the use of the function realizing quick travel and automatic across obstacle in the plane, without the need to the motion of sensor in conventional art, novel structure, control sensitive, movable flexibly, powerful, convenient and practical, the kinematic scheme for climbing robot universal on have market outlook widely.
For solving the problems of the technologies described above, the invention provides a kind of kinematic scheme for climbing robot, comprise: some moving wheels, described some moving wheels include sun wheel, several rows carrier, several rows star-wheel and some trundles, described several rows star-wheel connects the center bearing pilot bearing of described sun wheel respectively by described several rows carrier, between adjacent described several rows carrier, angulation is all identical, and described several rows star-wheel is respectively by trundles some described in gear transmission.
In a preferred embodiment of the present invention, the quantity of described some moving wheels is 4.
In a preferred embodiment of the present invention, described several rows carrier, described several rows star-wheel are all identical with the quantity of described some trundles.
In a preferred embodiment of the present invention, the quantity of the described several rows carrier that each described moving wheel comprises is 5.
In a preferred embodiment of the present invention, the center bearing pilot bearing synchronous axial system of each described sun wheel.
The invention has the beneficial effects as follows: the present invention is used for the kinematic scheme of climbing robot and has novel structure, without the need to sensor, realize plane quick travel, automatically leaping over obstacles, control sensitive, movable flexibly, powerful, the advantage such as convenient and practical, the kinematic scheme for climbing robot universal on have market outlook widely.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing used required in describing embodiment is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings, wherein:
Fig. 1 is the structural representation that the kinetic system for climbing robot of the present invention unifies preferred embodiment.
Detailed description of the invention
Be clearly and completely described to the technical scheme in the embodiment of the present invention below, obviously, described embodiment is only a part of embodiment of the present invention, instead of whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art, not making other embodiments all obtained under creative work prerequisite, belong to the scope of protection of the invention.
The embodiment of the present invention comprises:
A kind of kinematic scheme for climbing robot, comprise: some moving wheels, described some moving wheels include sun wheel 1, several rows carrier 2, several rows star-wheel 3 and some trundles 5, described several rows star-wheel 3 connects the center bearing pilot bearing of described sun wheel 1 respectively by described several rows carrier 2, between adjacent described several rows carrier 2, angulation is all identical, and described several rows star-wheel 3 is respectively by some trundles 5 described in gear 4 transmission.
Preferably, the quantity of described some moving wheels is 4.
Preferably, described several rows carrier 2, described several rows star-wheel 3 are all identical with the quantity of described some trundles 5.
Preferably, the quantity of described several rows carrier 2 that each described moving wheel comprises is 5.
Preferably, the center bearing pilot bearing synchronous axial system of each described sun wheel 1.
When car set mechanism operates on straight road surface, the constraint simultaneously landed by two wheels limits, and planet arm can not rotate can only with car along road surface translation, and now drive train develops into fixed shaft gear train, realizes the fast running of mechanism on flat face; When advance wheel run into high obstacle (as stair) and slack time, drive train just develops into planet circular system, and planet arm straps other 4 wheels and turned round around the axis of front-wheel, realizes the object of crossing over blockage (i.e. stair climbing).
The beneficial effect that the present invention is used for the kinematic scheme of climbing robot is:
By adopting satellite gear and solar power with the use of the function realizing quick travel and automatic across obstacle in the plane, without the need to the motion of sensor in conventional art, novel structure, control sensitive, movable flexible, powerful, convenient and practical.
The foregoing is only embodiments of the invention; not thereby the scope of the claims of the present invention is limited; every utilize description of the present invention to do equivalent structure or equivalent flow process conversion; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (5)
1. the kinematic scheme for climbing robot, it is characterized in that, comprise: some moving wheels, described some moving wheels include sun wheel, several rows carrier, several rows star-wheel and some trundles, described several rows star-wheel connects the center bearing pilot bearing of described sun wheel respectively by described several rows carrier, between adjacent described several rows carrier, angulation is all identical, and described several rows star-wheel is respectively by trundles some described in gear transmission.
2. the kinematic scheme for climbing robot according to claim 1, is characterized in that, the quantity of described some moving wheels is 4.
3. the kinematic scheme for climbing robot according to claim 1, is characterized in that, described several rows carrier, described several rows star-wheel are all identical with the quantity of described some trundles.
4. the kinematic scheme for climbing robot according to claim 1, is characterized in that, the quantity of the described several rows carrier that each described moving wheel comprises is 5.
5. the kinematic scheme for climbing robot according to claim 1, is characterized in that, the center bearing pilot bearing synchronous axial system of each described sun wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550571.7A CN105235762A (en) | 2015-09-01 | 2015-09-01 | Motion system used for wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510550571.7A CN105235762A (en) | 2015-09-01 | 2015-09-01 | Motion system used for wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105235762A true CN105235762A (en) | 2016-01-13 |
Family
ID=55033681
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510550571.7A Pending CN105235762A (en) | 2015-09-01 | 2015-09-01 | Motion system used for wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105235762A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908358A (en) * | 2018-06-29 | 2018-11-30 | 南京中高知识产权股份有限公司 | Explosive-removal robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002264856A (en) * | 2001-03-14 | 2002-09-18 | Japan Science & Technology Corp | Stair climbing/descending device |
| CN203094223U (en) * | 2013-01-31 | 2013-07-31 | 北京信息科技大学 | Robot capable of climbing stairs to carry out search and rescue |
| CN103587566A (en) * | 2013-08-02 | 2014-02-19 | 李军委 | Planetary multi-wheel carrier |
| US8764028B2 (en) * | 2009-11-30 | 2014-07-01 | Kevin Mann | Stair climbing wheel with multiple configurations |
| CN204915889U (en) * | 2015-09-01 | 2015-12-30 | 苏州达力客自动化科技有限公司 | A moving system for wall climbing robot |
-
2015
- 2015-09-01 CN CN201510550571.7A patent/CN105235762A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2002264856A (en) * | 2001-03-14 | 2002-09-18 | Japan Science & Technology Corp | Stair climbing/descending device |
| US8764028B2 (en) * | 2009-11-30 | 2014-07-01 | Kevin Mann | Stair climbing wheel with multiple configurations |
| CN203094223U (en) * | 2013-01-31 | 2013-07-31 | 北京信息科技大学 | Robot capable of climbing stairs to carry out search and rescue |
| CN103587566A (en) * | 2013-08-02 | 2014-02-19 | 李军委 | Planetary multi-wheel carrier |
| CN204915889U (en) * | 2015-09-01 | 2015-12-30 | 苏州达力客自动化科技有限公司 | A moving system for wall climbing robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108908358A (en) * | 2018-06-29 | 2018-11-30 | 南京中高知识产权股份有限公司 | Explosive-removal robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160113 |
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| RJ01 | Rejection of invention patent application after publication |