CN105346614B - A kind of climbing robot of flexible support driving mechanism - Google Patents
A kind of climbing robot of flexible support driving mechanism Download PDFInfo
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- CN105346614B CN105346614B CN201510650073.XA CN201510650073A CN105346614B CN 105346614 B CN105346614 B CN 105346614B CN 201510650073 A CN201510650073 A CN 201510650073A CN 105346614 B CN105346614 B CN 105346614B
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- 230000009194 climbing Effects 0.000 title claims abstract description 42
- 229910000831 Steel Inorganic materials 0.000 claims description 33
- 239000010959 steel Substances 0.000 claims description 33
- CURLTUGMZLYLDI-UHFFFAOYSA-N Carbon dioxide Chemical compound O=C=O CURLTUGMZLYLDI-UHFFFAOYSA-N 0.000 claims description 16
- 229910002092 carbon dioxide Inorganic materials 0.000 claims description 8
- 239000001569 carbon dioxide Substances 0.000 claims description 8
- 238000012360 testing method Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 4
- 238000005516 engineering process Methods 0.000 abstract description 3
- 230000033001 locomotion Effects 0.000 description 8
- 238000010586 diagram Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 230000001133 acceleration Effects 0.000 description 3
- 238000005452 bending Methods 0.000 description 3
- 230000009193 crawling Effects 0.000 description 3
- 230000005611 electricity Effects 0.000 description 3
- 230000007613 environmental effect Effects 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229910000617 Mangalloy Inorganic materials 0.000 description 1
- 241000219098 Parthenocissus Species 0.000 description 1
- 238000005299 abrasion Methods 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 229910003460 diamond Inorganic materials 0.000 description 1
- 239000010432 diamond Substances 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000003780 insertion Methods 0.000 description 1
- 230000037431 insertion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000005616 pyroelectricity Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
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Abstract
Include the present invention relates to robotic technology field there is provided a kind of climbing robot of flexible support driving mechanism：Robot body, steering mechanism, drive mechanism and controller；Robot body includes head, body portion and afterbody, is connected, is connected between body portion and afterbody by second support arm by first support arm between head and body portion；Drive mechanism is arranged in afterbody, and drive mechanism includes the 3rd motor, screw rod, sliding block and afterbody retainer ring；3rd motor is arranged inside screw and fixed with screw rod；Afterbody retainer ring is arranged on screw rod, sliding block is set between screw rod and afterbody retainer ring, one end of sliding block, which is slidably matched, to be arranged in the double spiral groove of screw surface, and the other end of sliding block is fixedly installed in afterbody retainer ring, and the supporting leg group of afterbody is set in afterbody retainer ring；Controller is arranged on the head of robot body, and controller is electrically connected with the first motor, the second motor and the 3rd motor respectively.The present invention can well be run in the environment such as ruins hole and pipeline.
Description
Technical field
The present invention relates to robotic technology field, more particularly to a kind of crawling machine of flexible support driving mechanism
People.
Background technology
People may need to seek some narrow, rugged hole environment in life, as building collapses
Less pipeline of ruins hole after collapsing, size etc..In the environment of these mankind are difficult to enter, it is often necessary to use creeper
Device people is operated.Climbing robot can replace staff to enter environmental hazard and the ruins scene of complexity or pipe ring
Border, performs the task such as search and detection, and climbing robot can effectively improve detection efficient.
Existing climbing robot mainly has sufficient formula, wheeled and three kinds of crawler type.The forms of motion of sufficient formula climbing robot
Similar to biology, it can preferably be moved on uneven road surface, because it is the structure of multi-point support, determine that it has phase
To good stability, but its translational speed shows slightly not enough.Wheeled climbing robot is by its body mechanism of wheel support, by electricity
The design of machine moment of torsion and driving wheel determines the speed and obstacle climbing ability of its motion.Wheeled climbing robot is on the road surface of relatively flat
It is upper that there is good translational speed and stability, but in the more complicated ruins of environment, the movement of wheeled climbing robot
Serious influence will be received.Comparatively crawler type climbing robot can adapt to more complicated landform, but due to crawler type
The frictional force on robot and ground easily causes the abrasion of crawler belt than larger, and the speed travelled on road surface is relatively low, power consumption
Also than larger.Meanwhile, wheeled and caterpillar climbing robot is likely to turn on one's side in rugged landform.
The content of the invention
It is restricted present invention mainly solves the climbing robot application of prior art, the skill of Various Complex situation can not be applicable
Art problem, proposes a kind of climbing robot of flexible support driving mechanism, the climbing robot is rational in infrastructure, user
Just it is, adaptable, have a wide range of application, stability it is good.
The invention provides a kind of climbing robot of flexible support driving mechanism, including：Robot body, steering
Mechanism, drive mechanism and controller；
The robot body includes head, body portion and afterbody, is connected between head and body portion by first support arm (6),
Connected between body portion and afterbody by second support arm (14)；
The head is provided with head support board (5) close to the one end in body portion, and head is axially being arranged the supporting leg on head
Group, the supporting leg group includes clamping plate (3) and the multiple elastic steel sheets (4) or Elastic Steel tow that are clamped by clamping plate (3)；
The steering mechanism is arranged in body portion, and the steering mechanism includes the first motor (9), the second motor (10), the
One bevel gear (7), the second bevel gear (13), the 3rd bevel gear (19), the 4th bevel gear (30), body portion retainer ring (20) and support
Axle (27)；The first bevel gear (7) is arranged on the output shaft of first motor (9), the first bevel gear (7) is nibbled with the second bevel gear (13)
Close, the second bevel gear (13) couples with first support arm (6)；First support arm (6) is fixedly connected with head support board (5)；Described
The 3rd bevel gear (19) is arranged on the output shaft of two motors (10), the 3rd bevel gear (19) is engaged with the 4th bevel gear (30), propped up
The 4th bevel gear (30) is arranged on support axle (27) and is coupled with second support arm (14)；Second support arm (14) is fixed with afterbody to be connected
Connect；Body portion sets the supporting leg group in body portion being axially arranged in body portion retainer ring (20), body portion retainer ring (20)；
The drive mechanism is arranged in afterbody, and the drive mechanism includes the 3rd motor (26), screw rod (16), sliding block
And afterbody retainer ring (18) (17)；It is internal and fixed with screw rod (16) that 3rd motor (26) is arranged at screw rod (16)；Screw rod
(16) afterbody retainer ring (18) is arranged on, sliding block (17) is set between screw rod (16) and afterbody retainer ring (18), sliding block (17)
One end, which is slidably matched, to be arranged in the double spiral groove (23) on screw rod (16) surface, and the other end of sliding block (17) is fixedly installed on afterbody
In retainer ring (18), the supporting leg group of afterbody is set in afterbody retainer ring (18)；
The controller is arranged on the head of robot body, the controller respectively with the first motor (9), the second motor
(10) electrically connected with the 3rd motor (26).
Further, the climbing robot of the flexible support driving mechanism, in addition to：It is arranged on the detection on head
Mechanism；
The testing agency includes pyroelectric sensor, carbon dioxide sensor, inertial sensor, camera (28) and shone
One of bright mechanism or any combination, it is the pyroelectric sensor, the carbon dioxide sensor, the inertial sensor, described
Camera (28) and the lighting mechanism are electrically connected with the controller respectively.
Further, the clamping plate (3) includes clamping between multiple annular slabs (37) being close to, each two annular slab (37)
Elastic steel sheet (4) or Elastic Steel tow.
Further, elastic steel sheet (4) or Elastic Steel tow are clamped in a circumferential direction between each two annular slab (37)
It is uniformly distributed.
Further, the afterbody sets support plate (22) close to one end of second support arm (14), and the afterbody is away from the
One end of two support arms (14), which is set, sets afterbody cover lid (33), support plate (22) and second on support set (21), support set (21)
Support arm (14) is fixedly connected, and many support bars (15) are uniformly distributed between support plate (22) and support set (21).
Further, first motor (9), the second motor (10) and the 3rd motor (26) are dc motor.
Further, the controller is electrically connected by communication interface with outside control computer.
A kind of climbing robot for flexible support driving mechanism that the present invention is provided, including robot body, steering
Mechanism, drive mechanism and controller, it is possible to achieve the walking and steering of climbing robot, and coordinate the elasticity of elastic steel sheet, can
To well adapt to landform complex in ruins.Robot body part is made of particulate metal material, and quality is smaller
It is sturdy and durable.Testing agency carries multiple sensors, and human body information can detect simultaneously to gas concentration lwevel etc.
Environmental information is detected that the place that can be not easily accessible in people completes detecting, searching and rescuing for task well.The present invention's creeps
Robot can be good in the environment such as ruins hole and pipeline operation, be not susceptible to slide and turn on one's side, the 3rd motor set
In inside screw, robot axial dimension is reduced, flexible motion is realized by remote control, can be completed to ruins or pipeline
The function such as search and rescue or detection is completed Deng environment.
Brief description of the drawings
Fig. 1 is the stereogram of the climbing robot of flexible support driving mechanism；
Fig. 2 is the main body figure of the climbing robot of flexible support driving mechanism；
Fig. 3 is that the climbing robot of Fig. 1 flexible support driving mechanism places profile in the duct；
Fig. 4 a-b are the fixation schematic diagrames of annular slab；
Fig. 5 is the structural representation of screw rod；
Fig. 6 is the structural representation of sliding block；
Fig. 7 is the schematic diagram of bevel gear pair.
The technical characteristic that each reference is referred in accompanying drawing：
1st, head barrel shell；2nd, head cover lid；3rd, clamping plate；4th, elastic steel sheet；5th, head support board；6th, first support arm；7th,
One bevel gear；8th, body portion barrel shell；9th, the first motor；10th, the second motor；11st, the cover of body portion first lid；12nd, the cover of body portion second lid；
13rd, the second bevel gear；14th, second support arm；15th, support bar；16th, screw rod；17th, sliding block；18th, afterbody retainer ring；19th, the 3rd umbrella tooth
Wheel；20th, body portion retainer ring；21st, support set；22nd, support plate；23rd, double spiral groove；24th, the 3rd motor steady pin；25th, the 3rd electricity
Machine output shaft；26th, the 3rd motor；27th, support shaft；28th, camera；29th, Fresnel Lenses；30th, the 4th bevel gear；31st, the 3rd
Motor fixing bolt；32nd, support bar hold-doun nut；33rd, afterbody cover lid；34th, afterbody cover lid fixing bolt；35th, slide mass；36、
Excrescence；37th, annular slab.
Embodiment
For make present invention solves the technical problem that, the technical scheme that uses and the technique effect that reaches it is clearer, below
The present invention is described in further detail in conjunction with the accompanying drawings and embodiments.It is understood that specific implementation described herein
Example is used only for explaining the present invention, rather than limitation of the invention.It also should be noted that, for the ease of description, accompanying drawing
In illustrate only part related to the present invention rather than full content.
Fig. 1 is the stereogram of the climbing robot of flexible support driving mechanism.Fig. 2 is flexible support driving machine
The main body figure of the climbing robot of structure.Fig. 3 is that the climbing robot of Fig. 1 flexible support driving mechanism is placed in the duct
Profile.As shown in Figure 1,2 and 3, the climbing robot of flexible support driving mechanism provided in an embodiment of the present invention, bag
Include：Robot body, steering mechanism, drive mechanism, testing agency and controller, the robot body include head, body portion
And afterbody, connected, connected between body portion and afterbody by second support arm 14 by first support arm 6 between head and body portion.
The head is provided with head support board 5 close to the one end in body portion, and head is axially being arranged the supporting leg group on head,
The supporting leg group includes clamping plate 3 and the multiple elastic steel sheets 4 clamped by clamping plate 3.The head of the present invention also includes：Head cylinder
Shell 1 and head cover lid 2, the supporting leg group on head are arranged between head support board 5 and head cover lid 2.
The steering mechanism is arranged in body portion, and the steering mechanism includes the first motor 9, the second motor 10, the first umbrella
Gear 7, the second bevel gear 13, the 3rd bevel gear 19, the 4th bevel gear 30, body portion retainer ring 20 and support shaft 27；First motor 9
Output shaft on be arranged the first bevel gear 7, the first bevel gear 7 is engaged with the second bevel gear 13, the second bevel gear 13 and first
Arm 6 couples；First support arm 6 is fixedly connected with head support board 5；The 3rd bevel gear is arranged on the output shaft of second motor 10
19, the 3rd bevel gear 19 is engaged with the 4th bevel gear 30, and the 4th bevel gear 30 and and second support arm are arranged in support shaft 27
14 connections；Second support arm 14 is fixedly connected with afterbody；Body portion is axially being arranged setting in body portion retainer ring 20, body portion retainer ring 20
The supporting leg group in body portion.Specifically, the second bevel gear 13 is coupled by axle with first support arm 6.The supporting leg group in body portion can be set
The centre position in body portion is put, can preferable balancing machine human body.
Wherein, the first bevel gear 7 and the second bevel gear 13 formation bevel gear pair, the 3rd bevel gear 19 and the 4th bevel gear 30
Form bevel gear pair.Fig. 7 is the schematic diagram of bevel gear pair.First bevel gear 7 and the second bevel gear 13, and the 3rd bevel gear 19
And the 4th meshing relation reference picture 7 between bevel gear 30.Specifically, the first motor 9 and the second motor 10 do not set output shaft
One end is separately fixed on body portion barrel shell 8.The output shaft of first motor 9 through body portion the first cover lid 11 and is connected to the by axle sleeve
On one bevel gear 7, the output shaft of the second motor 10 is connected to threeth bevel gear 19 on through body portion the second cover lid 12 and by axle sleeve.
4th bevel gear 30 is connected in support shaft 27 by axle sleeve.First motor 9 is arranged on the top of the second motor 10, by the first electricity
The motor 10 of machine 9 and second is setting up and down can to reduce the length of robot.The output shaft rotation of first motor 9 drives the first bevel gear
7 and second bevel gear 13 engagement linkage, and then drive robot body turn left or turn right.The output shaft rotation of second motor 10 drives
3rd bevel gear 19 and the engagement linkage of the 4th bevel gear 30, and then drive robot body to come back or bow.
The drive mechanism is arranged in afterbody, and driving force, the driving machine are provided for the forward-reverse of climbing robot
Structure includes the 3rd motor 26, screw rod 16, sliding block 17 and afterbody retainer ring 18；3rd motor 26 is arranged at the inside of screw rod 16 simultaneously
Fixed with screw rod 16；Afterbody retainer ring 18 is arranged on screw rod 16, sliding block 17, sliding block are set between screw rod 16 and afterbody retainer ring 18
17 one end, which is slidably matched, to be arranged in the double spiral groove 23 on the surface of screw rod 16, and the other end of sliding block 17 is fixedly installed on afterbody and consolidated
Determine in ring 18, the supporting leg group of afterbody is set in afterbody retainer ring 18.Specifically, reference picture 6, sliding block 17 has and double spiral groove
23 slide masses 35 coordinated and the excrescence 36 being arranged on slide mass 35, slide mass 35 are arranged in double spiral groove 23, are slided
Body 35 can be diamond block, and the excrescence 36 is fixedly installed in afterbody retainer ring 18.In addition, the afterbody is close to second
One end of arm 14 sets support plate 22, and the one end of the afterbody away from second support arm 14 sets and set on support set 21, support set 21
Afterbody cover lid 33 is put, support plate 22 is fixedly connected with second support arm 14, many are uniformly distributed between support plate 22 and support set 21
Support bar 15.Support bar 15 is fixed on support set 21 by support bar hold-doun nut 32, and afterbody cover lid 33 passes through afterbody cover lid
Fixing bolt 34 is fixed on support set 21.Reference picture 5, the 3rd motor output shaft 25 is fixed on by the 3rd motor steady pin 24
In screw rod 16, reference picture 3, one end that the 3rd motor 26 does not set output shaft is fixed on support set by the 3rd motor fixing bolt 31
On 21.In addition, as shown in figure 3, the cylindrical sleeve on the left of screw rod 16 makes screw rod 16 relative can prop up on the cylinder on the right side of support set 21
Support set 21 is rotated.In the hole in the center of axle insertion support plate 22 of the right side of screw rod 16 protrusion, make screw rod 16 can 22 turns of relative support disk
It is dynamic.
The present invention is driven using the screw rod 16 with double spiral groove 23, passes through the output shaft rotation band of the 3rd motor 26
The rotation of dynamic screw rod 16, the rotational band movable slider 17 of screw rod 16 is moved back and forth before and after being done in double spiral groove 23, accompanied so as to drive
Elastic steel sheet or Elastic Steel tow clamping plate movement, and then afterbody supporting leg group movement, realize robot body advance and
Retreat.
Testing agency is arranged in head, and the testing agency includes pyroelectric sensor, carbon dioxide sensor, inertia
Sensor, camera 28 and lighting mechanism, the pyroelectric sensor, the carbon dioxide sensor, the inertial sensor,
The camera 28 and the lighting mechanism are electrically connected with the controller respectively.Pyroelectric sensor upper cover sets Fresnel Lenses 29.
For example, camera 28, Fresnel Lenses 29, LED light group can be fixed on head barrel shell 1, filled inside Fresnel Lenses 29
There is human body heat-releasing electric transducer.The controller is arranged on the head of robot body, the controller respectively with the first motor
9th, the second motor 10 and the 3rd motor 26 are electrically connected.In addition, first motor 9, the second motor 10 and the 3rd motor 26 are straight
Flow motor.The controller is electrically connected by communication interface with outside control computer.
Pyroelectric sensor, carbon dioxide sensor, inertial sensor and camera 28, the data collected pass through control
Device is handled, and then controller is transmitted to outside control computer by communication interface, makes the behaviour before the control computer of outside
Control personnel know the much information in front of climbing robot.The crawling machine head part of the present invention is provided with lighting mechanism, convenient
Operating personnel control climbing robot to move and observe the environmental information in front of climbing robot under dark surrounds.This implementation
The data that camera 28 is gathered in example are transferred to the video acquisition box of control centre by video line, then are transmitted by video acquisition box
Shown to host computer, LED light group can be opened in dark surrounds and is illuminated, improve video display quality；Pyroelectricity
Whether sensor coordinates Fresnel Lenses to detect in front of robot the presence of human body, while will be collected by controller
Data transfer to host computer show；Carbon dioxide sensor can detect the gas concentration lwevel in robot local environment, and
Transmitted to host computer and shown by controller, rescued in order to which rescue personnel judges whether to fit into ruins；Inertia
Sensor can gather the 3-axis acceleration and angular speed of joint of head, and current head joint can be shown to host computer processing by transmitting
Acceleration, acceleration, position, angle information, in order to which operating personnel are judged the posture of robot.The present invention's climbs
The control program of row robot includes director demon and host computer procedure, and director demon realizes each sensing to testing agency
Device information is acquired and transmitted to host computer, while the motor control order that host computer is sent is received, according to order to motor
It is controlled；Each sensor information that controller is transmitted is processed and displayed host computer procedure, and according to operating personnel couple
The operational order of climbing robot sends motor control order to controller.
In the present invention, head, body portion and afterbody are all arranged with supporting leg group respectively, and clamping plate 3 is wrapped described in supporting leg group
Include clamping elastic steel sheet 4 between multiple annular slabs 37 being close to, each two annular slab 37.Bullet is clamped between each two annular slab 37
Property steel disc 4 is uniformly distributed in a circumferential direction.Fig. 4 a are schematic diagram when two annular slabs are separated.Fig. 4 b are that two annular slabs are consolidated
Schematic diagram after fixed.A grip unit, each two annular slab 37 are formed between reference picture 4a and Fig. 4 b, each two annular slab 37
It is combined to form the holding tank for accommodating elastic steel sheet 4.Grip unit is also reserved with the screw of installation bolt.Specifically, clamping
Side annular slab 37 has two countersunk screw holes in unit, and opposite side annular slab 37 has two screwed holes, and two panels annular slab 37 uses disk
Head screw is fixed, and centre can accompany more pieces of resilient steel disc 4.Each annular slab 37 can be spliced by fourth officer lamellar body, per secondary
Lamellar body is a quarter annulus.Each supporting leg group includes clamping 12 in 3 grip units, each grip unit in the present invention
Elastic steel sheet 4.The annular slab 37 of head supporting leg group is fixed on head support board 5 by pan-headed screw；Body portion supporting leg group
Annular slab 37 be fixed in body portion retainer ring 20, body portion retainer ring 20 is connected directly between on body portion barrel shell 8；Tail support leg group
Annular slab 37 be fixed in afterbody retainer ring 18.The material of elastic steel sheet 4 can be manganese steel.
Because robot body surrounding is provided with many cluster elastic steel sheets 4 in the present embodiment, elastic steel sheet 4 can produce support
Power and frictional force, the position of robot motion, and then the bending journey of regulation elasticity steel disc 4 are adjusted by adjusting the rotating speed of motor
Degree, it is possible to corresponding to change support force and frictional force.Robot body surrounding is mounted on elastic steel sheet 4, can increase and creep
Contact area of the robot in the narrow and small environment such as pipeline, and then increasing friction force, make robot not skid, turn on one's side.Support
Leg component is three parts, is individually positioned in head, body portion and afterbody, and the supporting leg group in head and body portion only serves supporting role,
The supporting leg group of afterbody coordinates driving robot to move forward and backward with screw rod 16.
The operation principle of the present invention is as follows：Operating personnel control climbing robot, machine by outside control computer
People according to instruction complete advance, retreat, come back, bow, turn left, turn right and sensor information collection and display.Crawling machine
Communicated between people and control computer by serial ports.When control machine people moves, control computer sends to controller and controlled
System order, controller sends command adapted thereto to electric machine controller again, makes motor according to specified direction and rotational speed, so that real
Now to the control of robot motion.When gathering sensor information, acquisition, controller are sent from control computer to controller
Receive and start to gather each sensor information after order, and be uploaded to control computer, be shown in host computer interface, facilitate work
Make the specifying information in personnel acquisition ruins or pipeline.Elastic steel sheet has preferable elasticity in the present invention, is not susceptible to plasticity
Deformation.When climbing robot is run, all elastic steel disc is bent to a direction, and the 3rd motor 26 in drive mechanism drives spiral shell
When bar 16 is rotated, the sliding block 17 on screw rod 16 drives the reach of tail support leg group, when screw rod 16 starts to return, due to elastic steel sheet
The frictional force that bending causes elastic steel sheet to retreat is larger so that the part steel disc is remained stationary as, and promotes robot body to reach
It is dynamic；Similarly, the bending direction of steel disc is changed, it is possible to realize the retrogressing of robot body.During steering, the rotational band of the first motor 9
Dynamic first bevel gear 7 is rotated, so as to drive the second bevel gear 13 to rotate, is realized the new line of robot or is bowed；Second motor 10
The 3rd bevel gear 19 is driven to rotate during rotation, so as to drive the 4th bevel gear 30 to rotate, due to the 4th bevel gear 30 and support shaft
It is fixed between 27, support shaft 27 is also fixed with second support arm 14, is also fixed relationship with rearward end frame, so the 4th
Afterbody is that opposite nose is rotated during pinion rotation, realizes the left-hand rotation or right-hand rotation of robot.
Finally it should be noted that：Various embodiments above is merely illustrative of the technical solution of the present invention, rather than its limitations；To the greatest extent
The present invention is described in detail with reference to foregoing embodiments for pipe, it will be understood by those within the art that：Its is right
Technical scheme described in foregoing embodiments is modified, or which part or all technical characteristic are equally replaced
Change, the essence of appropriate technical solution is departed from the scope of various embodiments of the present invention technical scheme.
Claims (7)
1. a kind of climbing robot of flexible support driving mechanism, it is characterised in that including：Robot body, steering machine
Structure, drive mechanism and controller；
The robot body includes head, body portion and afterbody, is connected between head and body portion by first support arm (6), body portion
It is connected between afterbody by second support arm (14)；
The head is provided with head support board (5) close to the one end in body portion, and head is axially being arranged the supporting leg group on head, institute
State multiple elastic steel sheets (4) or Elastic Steel tow that supporting leg group is clamped including clamping plate (3) and by clamping plate (3)；
The steering mechanism is arranged in body portion, and the steering mechanism includes the first motor (9), the second motor (10), the first umbrella
Gear (7), the second bevel gear (13), the 3rd bevel gear (19), the 4th bevel gear (30), body portion retainer ring (20) and support shaft
(27)；The first bevel gear (7) is arranged on the output shaft of first motor (9), the first bevel gear (7) is nibbled with the second bevel gear (13)
Close, the second bevel gear (13) couples with first support arm (6)；First support arm (6) is fixedly connected with head support board (5)；Described
The 3rd bevel gear (19) is arranged on the output shaft of two motors (10), the 3rd bevel gear (19) is engaged with the 4th bevel gear (30), propped up
The 4th bevel gear (30) is arranged on support axle (27) and is coupled with second support arm (14)；Second support arm (14) is fixed with afterbody to be connected
Connect；Body portion sets the supporting leg group in body portion being axially arranged in body portion retainer ring (20), body portion retainer ring (20)；
The drive mechanism is arranged in afterbody, the drive mechanism include the 3rd motor (26), screw rod (16), sliding block (17) and
Afterbody retainer ring (18)；It is internal and fixed with screw rod (16) that 3rd motor (26) is arranged at screw rod (16)；On screw rod (16)
Afterbody retainer ring (18) is arranged, sliding block (17) is set between screw rod (16) and afterbody retainer ring (18), one end of sliding block (17) is slided
Dynamic to be equipped with the double spiral groove (23) on screw rod (16) surface, the other end of sliding block (17) is fixedly installed on afterbody retainer ring
(18) in, the supporting leg group of afterbody is set in afterbody retainer ring (18)；
The controller is arranged on the head of robot body, the controller respectively with the first motor (9), the second motor (10)
With the electrical connection of the 3rd motor (26).
2. the climbing robot of flexible support driving mechanism according to claim 1, it is characterised in that described to have
The climbing robot of drive mechanism is flexibly supported, in addition to：It is arranged on the testing agency on head；
The testing agency includes pyroelectric sensor, carbon dioxide sensor, inertial sensor, camera (28) and flare-aircraft
One of structure or any combination, the pyroelectric sensor, the carbon dioxide sensor, the inertial sensor, the shooting
Head (28) and the lighting mechanism are electrically connected with the controller respectively.
3. the climbing robot of flexible support driving mechanism according to claim 1, it is characterised in that the clamping plate
(3) clamping elastic steel sheet (4) or Elastic Steel tow between multiple annular slabs (37) being close to, each two annular slab (37) are included.
4. the climbing robot of flexible support driving mechanism according to claim 3, it is characterised in that each two ring
Elastic steel sheet (4) is clamped between shape plate (37) or Elastic Steel tow is uniformly distributed in a circumferential direction.
5. the climbing robot of flexible support driving mechanism according to claim 1, it is characterised in that the afterbody
Support plate (22) is set close to one end of second support arm (14), the one end of the afterbody away from second support arm (14) sets support set
(21) afterbody cover lid (33), is set on support set (21), and support plate (22) is fixedly connected with second support arm (14), support plate (22)
Many support bars (15) are uniformly distributed between support set (21).
6. the climbing robot of flexible support driving mechanism according to claim 1, it is characterised in that described first
Motor (9), the second motor (10) and the 3rd motor (26) are dc motor.
7. the climbing robot of flexible support driving mechanism according to claim 1, it is characterised in that the control
Device is electrically connected by communication interface with outside control computer.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510650073.XA CN105346614B (en) | 2015-10-10 | 2015-10-10 | A kind of climbing robot of flexible support driving mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510650073.XA CN105346614B (en) | 2015-10-10 | 2015-10-10 | A kind of climbing robot of flexible support driving mechanism |
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| CN107290987A (en) * | 2016-04-11 | 2017-10-24 | 上海慧流云计算科技有限公司 | A kind of telepresence equipment and telepresence interactive system |
| CN107291217A (en) * | 2016-04-11 | 2017-10-24 | 上海慧流云计算科技有限公司 | A kind of remote control equipment and telepresence interactive system |
| FR3072757B1 (en) * | 2017-10-24 | 2019-11-29 | Suez Groupe | NON-MOTORIZED INSPECTION DEVICE FOR FLUID PIPES |
| CN109733494A (en) * | 2019-03-05 | 2019-05-10 | 能哲(上海)智能科技有限公司 | A kind of novel robot |
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| US6769321B1 (en) * | 1999-09-29 | 2004-08-03 | University Of Durham | Conduit traversing vehicle |
| CN1586942A (en) * | 2004-07-09 | 2005-03-02 | 北京工业大学 | Single motor single driving straight wheel type small pipeline robot moving mechanism |
| CN1635296A (en) * | 2003-12-29 | 2005-07-06 | 大连理工大学 | Crawling conduit creeper |
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| JPS62113643A (en) * | 1985-11-09 | 1987-05-25 | 大阪瓦斯株式会社 | Self-propelling device in pipe |
| US6431079B1 (en) * | 1995-09-22 | 2002-08-13 | Ernest Appleton | Surface traversing vehicle |
| US6769321B1 (en) * | 1999-09-29 | 2004-08-03 | University Of Durham | Conduit traversing vehicle |
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