CN105270501A - Climbing robot based on crank block - Google Patents
Climbing robot based on crank block Download PDFInfo
- Publication number
- CN105270501A CN105270501A CN201510746657.7A CN201510746657A CN105270501A CN 105270501 A CN105270501 A CN 105270501A CN 201510746657 A CN201510746657 A CN 201510746657A CN 105270501 A CN105270501 A CN 105270501A
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- Prior art keywords
- crank
- mechanical arm
- block
- robot
- climbing robot
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Abstract
The invention discloses a climbing robot based on a crank block. The climbing robot comprises a robot body, wheels, wheel motors, a crank block transmission part and two mechanical arms, wherein the robot body comprises a chassis and a first platform which are connected through guide rails; a semi-circular arc-shaped groove is formed in the middle of the chassis; a triangular guide groove is formed in one side, close to the opening, of the semi-circular arc-shaped groove; two triangle groove lines are tangent with the circular arc; the crank block transmission part comprises a crank, a crank shaft, a rocker, a crank rocker shaft, a nose, a sliding block, a transmission motor and a pair of bevel gears; the crank block transmission part is driven by the transmission motor, and the driving force is transmitted to the crank shaft through the bevel gears; two ends of the crank are respectively fixed to the crank shaft and the crank rocker shaft; two ends of the rocker are respectively connected with the crank rocker shaft and the nose; the nose is connected with the sliding block through a shift fork; four corners of the sliding block respectively sleeve the guide rails; one of the mechanical arms is fixed on the first platform, and the other one is fixed on the sliding block. The robot disclosed by the invention solves the problems that a conventional robot arises unstably, and is quick to wear; the crank block needs to be driven only by one motor, so that the energy consumption is effectively reduced.
Description
Technical field
The present invention relates to athletic competition field, particularly a kind of climbing robot for athletic competition.
Background technology
The present invention is based on Robomasters robot competition sentry require and produce, the functions such as keep straight on, vertically creep along bar in ground, omnibearing stereo shooting can be realized.
In contest, most of team participating in competition takes to compress wheel and roofbolt, and the mode directly climbed up by wheel turns realizes the function of vertically creeping along bar.The method need provide very large thrust, propulsive effort, and the own requirements for quality of wheel very high (tire frictional behaviour to require in high, wheel uphill process can not sideslip etc.), make its may occur rising unstable, power consumption is serious, the problem such as very fast of wearing and tearing.
Summary of the invention
Goal of the invention: for problems of the prior art, the present invention proposes a kind of climbing robot based on crank block, impels mechanical arm alternately promptly to realize climbing by crank block.
Technical scheme: in order to solve the problem, the present invention proposes a kind of climbing robot based on crank block, comprises fuselage, wheel, wheel electrical machine, crank block running part and two mechanical arms;
Wherein, fuselage comprises chassis, the first platform, connects the guide rail on the first platform and chassis, and offer a half-arc groove in the middle part of described chassis, its diameter is not less than the diameter of institute's pole-climbing post, is convenient to robot and vertically creeps along bar; Offer a triangle guide groove in half-arc groove opening side, its two triangle line of rabbet joint and circular arc tangent, during robot horizontal motion, triangle guide groove guarantees half-arc groove just to roofbolt, is equivalent to the effect of guide rail;
Wheel, is installed on chassis by bearing seat, for realizing robot motion in the horizontal plane;
Wheel electrical machine, is installed on below chassis, for drive machines people wheel movement;
Crank block running part, for circular movement is become straight-line motion, comprises crank, crank shaft, rocking bar, crank rocker axle, nose, slide block, driving motor and finishing bevel gear cuter, is driven, drive to crank shaft by bevel-gear sett by driving motor; Described crank two ends are fixed with crank shaft and crank rocker axle respectively by holding screw, described rocking bar two ends are connected with crank rocker axle and nose respectively by deep groove ball bearing, roller bearing end cap (fixed type bearing outer ring), sleeve (fixed type bearing inner ring), described nose is connected with slide block by shift fork, described slide block corner is enclosed within guide rail respectively, described crank shaft is supported by bearing seat, bearing seat and driving motor are all fixed on the first platform, and described finishing bevel gear cuter is directly fixed on motor shaft and crank axle head respectively;
Mechanical arm, for realizing robot creeping on vertical bar, one of them mechanical arm is fixed on the first platform, and another mechanical arm is fixed on slide block.
During the climbing of Robot bar, crank rotates a circle, and mechanical arm runs a cycle.Crank runs in half cycle, and the mechanical arm be not connected with slide block stings tight mullion, and crank block runs to drive on another mechanical arm and moves; Crank runs in another half cycle, and the mechanical arm be connected with slide block stings tight mullion, and crank block runs and promotes the rising of another mechanical arm; So repeatedly, Robot bar can be made to arrive vertical assigned address.
Described shift fork is set in the middle part of slide block, and the power that during for preventing from running, rocking bar is applied on slide block is uneven.
Described bearing seat has cushion block, and axis wheel is overlapped with on electrical axis vertical direction, and two finishing bevel gear cuter axle center are in same level.
A roller is installed in the not opening side of described chassis half-arc groove, for becoming friction of rolling by vertical along the cliding friction in bar crawling process.
Described guide rail adopts bearing steel.
Linear bearing is provided with between described slide block and guide rail, more unobstructed for making slide block run.
Described mechanical arm is plastic nylon, when meeting requirement of strength, solves the problem that metal machine mechanical arm too heavily causes motor load excessive.
Described mechanical arm adopts slice structure, is assembled into the structure of stepping up roofbolt by four identical parts, easy to process, and alleviates weight.
Described mechanical arm is held tightly by high-speed double electromagnet and is unclamped action, at mechanical arm tail end, electromagnet is housed, while be equipped with iron plate.
Described chassis is provided with rack-and-gear, tooth bar and mechanical arm at right angle setting, near one end of mechanical arm, elongated vertical rod baffle plate is installed at tooth bar, the driven gear of motor rotates, realize the straight reciprocating motion of tooth bar, and then by tooth bar baffle arrangement compressor mechanical arm, mechanical arm is held tightly, realizes unclamping easily and closing in climbing process.
Described mechanical arm uses gears meshing near one end of fuselage, so just achieves the action of mechanical arm both sides synchronous, mechanical arm can not arbitrarily be swung in motion process.
Beneficial effect: the robot that the present invention proposes has evaded unstable, the problem such as very fast of wearing and tearing that rises, and only needs a motor driven ball screws transmission, and actv. decreases the consumption of energy.
Accompanying drawing explanation
Fig. 1 is the chassis side elevation view of the embodiment of the present invention;
Fig. 2 is the underside view on the chassis of the embodiment of the present invention;
Fig. 3 is the integral structure schematic diagram of the robot of the embodiment of the present invention;
Fig. 4 is that the chassis of the embodiment of the present invention is to the block construction schematic diagram between the first platform;
Fig. 5 is that the first platform of the embodiment of the present invention is to the block construction schematic diagram between platform for video camera.
Detailed description of the invention
Below in conjunction with specific embodiment, illustrate the present invention further, these embodiments should be understood only be not used in for illustration of the present invention and limit the scope of the invention, after having read the present invention, those skilled in the art have all fallen within the application's claims limited range to various equivalent transformation of the present invention.
The robot of the present embodiment forms primarily of four parts: fuselage, wheel 1, wheel electrical machine 2, screw rod transmission part and two mechanical arms 3.Wherein, fuselage comprises chassis 4, first platform 5, connects the guide rail 6 on the first platform 5 and chassis 4, chassis is that 360mmX280mmX5mm is dull and stereotyped, the half-arc groove that Radius is 45mm is offered at middle part, overlook 360X280 plane, center of arc's coordinate is 180X100mm, and the corresponding diameter of sucker rods 90mm of arc radius 45mm, is convenient to robot and vertically creeps along bar.Offer a triangle guide groove in center of arc apart from 100mm side, side, opening part 2, at a distance of 260mm, overlooks 360X280 plane, its two triangle line of rabbet joint and circular arc tangent, during robot horizontal motion, triangle guide groove guarantees half-arc groove just to roofbolt, is equivalent to the effect of guide rail.Apart from semi arch unslotted side the most nearby, the roller 7 of a diameter 30mm, thick 10mm is installed, in vertical process of creeping along bar, cliding friction can be become into friction of rolling.Wheel 1 diameter 70mm, thick 8mm, supported by bearing seat 8 and be installed on chassis 4, driven by motor, its two trailing wheel is driven by two wheel electrical machines 2 respectively, then drives front-wheel level to keep straight on.The corresponding supporting motor cabinet 9 of wheel electrical machine 2 is fixed on below chassis 4, in order to make wheel 1 axle center overlap with on the vertical direction of wheel electrical machine 2 axle center, pads the cushion block 10 of 42mmX14mmX5mm bottom bearing seat 8.Chassis whole design sketch refers to Fig. 1,2.
Crank block running part, for circular movement is become straight-line motion, comprise crank 11, crank shaft 12, rocking bar 13, crank rocker axle 14, nose 15, slide block 16, driving motor 17 and finishing bevel gear cuter, driven by RE35 driving motor 17, drive to crank shaft 12 by bevel-gear sett, described crank 11 two ends are fixed with crank shaft 12 and crank rocker axle 14 respectively by holding screw, deep groove ball bearing is passed through at described rocking bar 13 two ends, roller bearing end cap, sleeve is connected with crank rocker axle 14 and nose 15 respectively, described nose 15 is connected with slide block 16 by shift fork 18, described slide block 16 4 jiaos is enclosed within guide rail 6 respectively, described crank shaft 12 is supported by KP08 bearing seat 8, in order to make two finishing bevel gear cuter axle center in same level, bearing seat adds 55mmX15mmX9mm cushion block 10 8 times, bearing seat 8 and driving motor 17 are all fixed on the first platform, fix relative to whole robot for first flat 5, supported by guide rail 6, tightening sleeve 19 is fixed.In order to make motion more steadily (prevent acceleration/accel excessive), design rocking bar 13 length and crank 11 length ratio are 2.35, and getting crank 11 length is 64mm, then rocking bar 13 length is 150.4mm, rounds 150mm.Guide rail 6 adopts bearing steel, simultaneously more unobstructed in order to make slide block 16 run, and adds the linear bearing 20 of internal diameter 8mm, external diameter 15mm, high 24mm between slide block 16 and guide rail 6.Fig. 4 is referred to along pole crank slide block running part whole structure.
Mechanical arm 3, for realizing robot creeping on vertical bar, one of them mechanical arm 3 to be fixed on the first platform 5, and another mechanical arm 3 is fixed on slide block 16.Will meet following function: initial condition opens, after assigned address, mechanical arm is closed embraces copper post for this reason, and in climbing process the unclamping and close and cooperatively interacted by program of upper and lower mechanical arm.In climbing process, mechanical arm will bear the weight of whole robot, therefore will ensure the intensity of mechanical arm.Select the metallic material such as duralumin and 45 steel at the beginning, but because metallic material is too heavy, motor load is excessive, thus final choice plastic nylon, greatly reduces overall weight when meeting requirement of strength.The structure of each mechanical arm have employed slice structure, and every sheet thickness is 8mm, and each like this mechanical arm only needs four identical parts to assemble, easy to process, and alleviates weight.
The action of holding tightly of mechanical arm realizes by electromagnet, at mechanical arm tail end, electromagnet is housed, while be iron plate, can realize holding tightly and unclamping by the power on/off of electromagnet under closer distance.But the sphere of action of electromagnet is very narrow, because to be easy to opening angle by reason mechanical arms such as force and motions excessive in climbing process, make electromagnet can not be attracting.For head it off has installed rack-and-gear on chassis, tooth bar and mechanical arm at right angle setting, near one end of mechanical arm, elongated vertical rod baffle plate is installed at tooth bar, gear rotates under the drive of motor, realize the straight reciprocating motion of tooth bar, like this after sentry's robot puts in place by tooth bar baffle arrangement compressor mechanical arm, mechanical arm is held tightly, can realize easily unclamping and closing in climbing process.For when making mechanical arm opening and closing, keep strokes in both sides, and arbitrarily can not swing in motion process, use gears meshing at mechanical arm near one end of fuselage, so just achieve the action of mechanical arm both sides synchronous.
During the climbing of robot eyebar, crank rotates a circle, and mechanical arm runs a cycle.Crank runs in half cycle, and the mechanical arm be not connected with slide block stings tight mullion, and crank block runs to drive on another mechanical arm and moves; Crank runs in another half cycle, and the mechanical arm be connected with slide block stings tight mullion, and crank block runs and promotes the rising of another mechanical arm; So repeatedly, Robot bar can be made to arrive vertical assigned address.
The robot of the present embodiment also comprises shooting part, and described shooting part is positioned at robot top, drives camera to rotate by 42 stepping motors 21, achieves the function of omnibearing stereo shooting.42 stepping motors are fixed on the 22, second platform 22 on the second platform and are fixed on track 6 top.On the platform for video camera that camera is installed on top 23, supported by pivot shaft 24 between platform for video camera 23 and the second platform 22, whole structure figure refers to Fig. 5.
Robot is put on level ground, opens master cock, robot straight-line motion; When encountering vertical roofbolt, horizontal motion stops automatically, and vertical motion starts, and the mutual elastic cord mobile robot of two mechanical arms is up creeped; When arriving operation top, vertical motion stops voluntarily, and camera starts comprehensive scan camera shooting automatically.
Claims (10)
1. based on a climbing robot for crank block, it is characterized in that, comprise fuselage, wheel, wheel electrical machine, crank block running part and two mechanical arms;
Wherein, fuselage comprises chassis, the first platform, connects the guide rail on the first platform and chassis, and offer a half-arc groove in the middle part of described chassis, its diameter is not less than the diameter of institute's pole-climbing post; Offer a triangle guide groove in half-arc groove opening side, its two triangle line of rabbet joint and circular arc tangent;
Wheel, is installed on chassis by bearing seat, for realizing robot motion in the horizontal plane;
Wheel electrical machine, is installed on below chassis, for drive machines people wheel movement;
Crank block running part, for circular movement is become straight-line motion, comprises crank, crank shaft, rocking bar, crank rocker axle, nose, slide block, driving motor and finishing bevel gear cuter, is driven, drive to crank shaft by bevel-gear sett by driving motor; Described crank two ends are fixed with crank shaft and crank rocker axle respectively by holding screw, described rocking bar two ends are connected with crank rocker axle and nose respectively by deep groove ball bearing, roller bearing end cap, sleeve, described nose is connected with slide block by shift fork, described slide block corner is enclosed within guide rail respectively, described crank shaft is supported by bearing seat, bearing seat and driving motor are all fixed on the first platform, and described finishing bevel gear cuter is directly fixed on motor shaft and crank axle head respectively;
Mechanical arm, for realizing robot creeping on vertical bar, one of them mechanical arm is fixed on the first platform, and another mechanical arm is fixed on slide block.
2., as claimed in claim 1 based on the climbing robot of crank block, it is characterized in that, described shift fork is set in the middle part of slide block.
3., as claimed in claim 1 based on the climbing robot of crank block, it is characterized in that, a roller is installed in the not opening side of described chassis half-arc groove.
4. as claimed in claim 1 based on the climbing robot of crank block, it is characterized in that, described guide rail adopts bearing steel.
5., as claimed in claim 1 based on the climbing robot of crank block, it is characterized in that, between described slide block and guide rail, be provided with linear bearing.
6., as claimed in claim 1 based on the climbing robot of crank block, it is characterized in that, described mechanical arm is plastic nylon.
7. as claimed in claim 1 based on the climbing robot of crank block, it is characterized in that, described mechanical arm adopts slice structure, is assembled into the structure of stepping up roofbolt by four identical parts.
8., as claimed in claim 1 based on the climbing robot of crank block, it is characterized in that, described mechanical arm is held tightly by high-speed double electromagnet and is unclamped action, at mechanical arm tail end, electromagnet is housed, while be equipped with iron plate.
9., as claimed in claim 8 based on the climbing robot of crank block, it is characterized in that, described chassis is provided with rack-and-gear that tooth bar and mechanical arm at right angle setting install elongated vertical rod baffle plate at tooth bar near one end of mechanical arm.
10. as claimed in claim 8 based on the climbing robot of crank block, it is characterized in that, described mechanical arm uses gears meshing near one end of fuselage.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510746657.7A CN105270501A (en) | 2015-11-05 | 2015-11-05 | Climbing robot based on crank block |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510746657.7A CN105270501A (en) | 2015-11-05 | 2015-11-05 | Climbing robot based on crank block |
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| Publication Number | Publication Date |
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| CN105270501A true CN105270501A (en) | 2016-01-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510746657.7A Pending CN105270501A (en) | 2015-11-05 | 2015-11-05 | Climbing robot based on crank block |
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| CN (1) | CN105270501A (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105664449A (en) * | 2016-04-20 | 2016-06-15 | 羊丁 | Electric equipment installation robot |
| CN105710887A (en) * | 2016-04-29 | 2016-06-29 | 中国矿业大学 | Hooped mine elevator patrol robot mechanism based on electromagnetic chucks |
| CN106416625A (en) * | 2016-12-04 | 2017-02-22 | 叶强 | Intelligent climbing and fruit picking robot |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN108858216A (en) * | 2018-06-21 | 2018-11-23 | 长沙理工大学 | A kind of Work robot with taper roofbolt climbing function |
| CN109367637A (en) * | 2018-10-26 | 2019-02-22 | 国网湖南省电力有限公司 | Electric power tower climbing robot foot clamping device |
| CN111661189A (en) * | 2020-06-10 | 2020-09-15 | 邯郸职业技术学院 | Pipeline crawling robot |
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| JPH023577A (en) * | 1988-06-10 | 1990-01-09 | Aisin Aw Co Ltd | Multiple-foot walking machine |
| CN101200199A (en) * | 2006-12-13 | 2008-06-18 | 深圳市思韦尔检测科技有限公司 | Structure of cable rope climbing robot |
| WO2012069676A1 (en) * | 2010-11-23 | 2012-05-31 | Universidad De Oviedo | Robot platform for climbing posts |
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| CN103507870A (en) * | 2012-06-29 | 2014-01-15 | 中国科学院合肥物质科学研究院 | Wall-climbing robot with passive compression structure and biomimetic claws |
| CN204056034U (en) * | 2014-09-15 | 2014-12-31 | 北京石油化工学院 | A kind of flexible steel wire climbing robot |
| CN204472948U (en) * | 2015-03-20 | 2015-07-15 | 湖北工业大学 | A kind of screw mandrel moveable type climbing level robot |
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2015
- 2015-11-05 CN CN201510746657.7A patent/CN105270501A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPH023577A (en) * | 1988-06-10 | 1990-01-09 | Aisin Aw Co Ltd | Multiple-foot walking machine |
| CN101200199A (en) * | 2006-12-13 | 2008-06-18 | 深圳市思韦尔检测科技有限公司 | Structure of cable rope climbing robot |
| WO2012069676A1 (en) * | 2010-11-23 | 2012-05-31 | Universidad De Oviedo | Robot platform for climbing posts |
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| CN103507870A (en) * | 2012-06-29 | 2014-01-15 | 中国科学院合肥物质科学研究院 | Wall-climbing robot with passive compression structure and biomimetic claws |
| CN204056034U (en) * | 2014-09-15 | 2014-12-31 | 北京石油化工学院 | A kind of flexible steel wire climbing robot |
| CN204472948U (en) * | 2015-03-20 | 2015-07-15 | 湖北工业大学 | A kind of screw mandrel moveable type climbing level robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105664449A (en) * | 2016-04-20 | 2016-06-15 | 羊丁 | Electric equipment installation robot |
| CN105664449B (en) * | 2016-04-20 | 2017-12-15 | 朱明甫 | A kind of power equipment mounting robot |
| CN105710887A (en) * | 2016-04-29 | 2016-06-29 | 中国矿业大学 | Hooped mine elevator patrol robot mechanism based on electromagnetic chucks |
| CN105710887B (en) * | 2016-04-29 | 2018-02-09 | 中国矿业大学 | Formula mining elevator inspection robot mechanism is embraced based on magnechuck |
| CN106416625A (en) * | 2016-12-04 | 2017-02-22 | 叶强 | Intelligent climbing and fruit picking robot |
| CN106416625B (en) * | 2016-12-04 | 2019-01-18 | 黎星亮 | A kind of intelligence climbing machine for picking fruits device people |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN108858216A (en) * | 2018-06-21 | 2018-11-23 | 长沙理工大学 | A kind of Work robot with taper roofbolt climbing function |
| CN109367637A (en) * | 2018-10-26 | 2019-02-22 | 国网湖南省电力有限公司 | Electric power tower climbing robot foot clamping device |
| CN111661189A (en) * | 2020-06-10 | 2020-09-15 | 邯郸职业技术学院 | Pipeline crawling robot |
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Application publication date: 20160127 |