CN105416429A - Walking mechanism for wall-climbing robot - Google Patents
Walking mechanism for wall-climbing robot Download PDFInfo
- Publication number
- CN105416429A CN105416429A CN201510918493.1A CN201510918493A CN105416429A CN 105416429 A CN105416429 A CN 105416429A CN 201510918493 A CN201510918493 A CN 201510918493A CN 105416429 A CN105416429 A CN 105416429A
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- Prior art keywords
- gear
- adsorption
- support
- climbing robot
- sun
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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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a walking mechanism for a wall-climbing robot. The walking mechanism comprises a walking mechanism body and a planet gear mechanism for driving the walking mechanism to move. The walking mechanism body and the planet gear mechanism are arranged on a support. The planet gear mechanism comprises an outer gear ring, a solar gear, planet gears, a planet carrier and a motor. The outer gear ring is fixedly combined into the support. The solar gear is a driving wheel and connected with the motor. The three planet gears are arranged on three shafts of the planet carrier. The walking mechanism body comprises five adsorption devices, wherein three adsorption devices are evenly arranged on the periphery of the support through connecting rods and foot frames, and the other two adsorption devices are arranged in through holes in the two shafts of the planet carrier through connecting rods. When the wall-climbing robot walks, the three adsorption devices arranged on the support and the two adsorption devices arranged on the planet carrier conduct adsorption alternately. The walking mechanism has the beneficial effects of being simple in structure and easy to steer and is suitable for various wall surface adsorption manners.
Description
Technical field
The present invention relates to climbing robot field, particularly relate to a kind of climbing robot traveling gear.
Background technology
The design of traveling gear is one of gordian technique of climbing robot.The traveling gear of current climbing robot mainly contains wheeled, crawler type, bionic leg foot formula and frame-type etc.Wheeled construction is comparatively difficult to ensure the continous-stable of card adsorption affinity, and it is not very convenient to turn to; Track structure mechanism is complicated, turns to difficulty; The structure control of bionic leg foot formula is complicated, and cost is high, and shift action is intermittent; Tower structure is of limited application, and comformability is poor.Therefore, need to design a kind of structure simple, mobile continuously, turn to climbing robot traveling gear easily.
Summary of the invention
The object of the invention is to the shortcoming and defect overcoming above-mentioned prior art, a kind of climbing robot traveling gear is provided.
The present invention is achieved through the following technical solutions:
A kind of climbing robot traveling gear, the sun and planet gear comprising traveling gear and drive traveling gear to move, described traveling gear and sun and planet gear are arranged on support 1;
Described sun and planet gear comprises external toothing 4, sun gear 5, planetary wheel 7, pinion carrier 9 and motor 8; Described external toothing 4 is cemented in support 1; Described sun gear 5 is drive wheel, is connected with motor 8; Described planetary wheel 7 has three, is arranged on three axles of pinion carrier 9 respectively;
Described traveling gear comprises five adsorption plants 3, and wherein three adsorption plants 3 are evenly arranged on the periphery of support 1 by pipe link 6 and foot rest 2; Two other adsorption plant 3 is arranged in the through hole of two axles of pinion carrier 9 by connecting rod; Three adsorption plants 3 on support 1 and two adsorption plants 3 be arranged in pinion carrier 9 alternating sorbent is mutually arranged on when climbing robot is walked.
Described support 1 is disc-shaped structure, and described foot rest 2 is elastic steel sheet structure; When motor 8 drives sun gear 5 to rotate, sun gear 5 drives planetary wheel 7 to rotate, utilize the bias of planetary wheel 7, the rotation of restrictions planetary gear 7 and external toothing 4 is distinguished by adsorption plant, thus make two adsorption plant 3 reciprocally swingings being arranged in pinion carrier 9, realize turning to and walking of climbing robot.
The present invention, relative to prior art, has following advantage and effect:
Compared with prior art, the present invention adopts sun and planet gear as drive system, utilize planetary bias, the rotation of restrictions planetary gear and external toothing is distinguished by adsorption plant, by cooperatively interacting with the control system of outside, turning to and walking of climbing robot can be realized easily, have structure simple, turn to easy feature, be applicable to the climbing robot of various wall adsorption form.
Technical measure is simple and easy to do, easy to utilize.
Accompanying drawing explanation
Fig. 1 is structural upright structural representation of the present invention.
Fig. 2 is another side structural representation of the present invention.
Detailed description of the invention
Below in conjunction with specific embodiment, the present invention is more specifically described in detail.
Embodiment
As shown in Figure 1, 2.The invention discloses a kind of climbing robot traveling gear, the sun and planet gear comprising traveling gear and drive traveling gear to move, described traveling gear and sun and planet gear are arranged on support 1; Described sun and planet gear comprises external toothing 4, sun gear 5, planetary wheel 7, pinion carrier 9 and motor 8; Described external toothing 4 is cemented in support 1; Described sun gear 5 is drive wheel, is connected with motor 8; Described planetary wheel 7 has three, is arranged on three axles of pinion carrier 9 respectively;
Described traveling gear comprises five adsorption plants 3, and wherein three adsorption plants 3 are evenly arranged on the periphery of support 1 by pipe link 6 and foot rest 2; Two other adsorption plant 3 is arranged in the through hole of two axles of pinion carrier 9 by connecting rod; Three adsorption plants 3 on support 1 and two adsorption plants 3 be arranged in pinion carrier 9 alternating sorbent is mutually arranged on when climbing robot is walked.Described support 1 is disc-shaped structure, and described foot rest 2 is elastic steel sheet structure; When motor 8 drives sun gear 5 to rotate, sun gear 5 drives planetary wheel 7 to rotate, utilize the bias of planetary wheel 7, the rotation of restrictions planetary gear 7 and external toothing 4 is distinguished by adsorption plant, thus make two adsorption plant 3 reciprocally swingings being arranged in pinion carrier 9, realize turning to and walking of climbing robot.
As mentioned above, just the present invention can be realized preferably.
Embodiments of the present invention are not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present invention and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (2)
1. a climbing robot traveling gear, is characterized in that, the sun and planet gear comprising traveling gear and drive traveling gear to move, and described traveling gear and sun and planet gear are arranged on support (1);
Described sun and planet gear comprises external toothing (4), sun gear (5), planetary wheel (7), pinion carrier (9) and motor (8); Described external toothing (4) is cemented in support (1); Described sun gear (5) is drive wheel, is connected with motor (8); Described planetary wheel (7) has three, is arranged on three axles of pinion carrier (9) respectively;
Described traveling gear comprises five adsorption plants (3), and wherein three adsorption plants (3) are evenly arranged on the periphery of support (1) by pipe link (6) and foot rest (2); Two other adsorption plant (3) is arranged in the through hole of two axles of pinion carrier (9) by connecting rod; Three adsorption plants (3) on support (1) and two adsorption plants (3) be arranged in pinion carrier (9) alternating sorbent is mutually arranged on when climbing robot is walked.
2. climbing robot traveling gear according to claim 1, is characterized in that, described support (1) is disc-shaped structure, and described foot rest (2) is elastic steel sheet structure; When motor (8) drives sun gear (5) to rotate, sun gear (5) drives planetary wheel (7) to rotate, utilize the bias of planetary wheel (7), the rotation of restrictions planetary gear (7) and external toothing (4) is distinguished by adsorption plant, thus make two adsorption plant (3) reciprocally swingings being arranged in pinion carrier (9), realize turning to and walking of climbing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510918493.1A CN105416429B (en) | 2015-12-10 | 2015-12-10 | A kind of climbing robot walking mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510918493.1A CN105416429B (en) | 2015-12-10 | 2015-12-10 | A kind of climbing robot walking mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105416429A true CN105416429A (en) | 2016-03-23 |
| CN105416429B CN105416429B (en) | 2019-05-14 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510918493.1A Expired - Fee Related CN105416429B (en) | 2015-12-10 | 2015-12-10 | A kind of climbing robot walking mechanism |
Country Status (1)
| Country | Link |
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| CN (1) | CN105416429B (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080828A (en) * | 2016-06-30 | 2016-11-09 | 上海智位机器人股份有限公司 | A kind of wheel biped robot |
| CN107685784A (en) * | 2017-07-28 | 2018-02-13 | 安徽工程大学 | A kind of guide tracked three-dimensional climbing robot running gear of magnetic positioning |
| CN108343801A (en) * | 2017-01-24 | 2018-07-31 | 中国石油化工股份有限公司 | A kind of pipeline climbing robot |
| CN108528554A (en) * | 2017-03-05 | 2018-09-14 | 湖北职业技术学院 | Passive vacuum absorption crawler-type wall climbing robot minor-circle turn device |
| CN112846027A (en) * | 2020-12-30 | 2021-05-28 | 德阳万鸿重型锻造有限公司 | Punching press formula forging hammer equipment |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
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| JPS62187983U (en) * | 1986-05-21 | 1987-11-30 | ||
| US5468099A (en) * | 1993-08-11 | 1995-11-21 | Vought Aircraft Company | Seam tracking drilling machine |
| JPH1179019A (en) * | 1997-09-12 | 1999-03-23 | Toshiba Corp | Wall-moving type cutting device |
| US5890553A (en) * | 1996-08-01 | 1999-04-06 | California Institute Of Technology | Multifunction automated crawling system |
| CN201062060Y (en) * | 2007-07-13 | 2008-05-21 | 于复生 | Cylinder-based pneumatic wall-climbing robot |
| CN102259671A (en) * | 2011-06-25 | 2011-11-30 | 南昌大学 | Micro-robot mechanism walking with double-foot walls |
| CN104443102A (en) * | 2014-11-25 | 2015-03-25 | 广西大学 | Simple robot achieving special surface movement |
| CN205203188U (en) * | 2015-12-10 | 2016-05-04 | 华南理工大学 | Wall climbing robot running gear |
-
2015
- 2015-12-10 CN CN201510918493.1A patent/CN105416429B/en not_active Expired - Fee Related
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62187983U (en) * | 1986-05-21 | 1987-11-30 | ||
| US5468099A (en) * | 1993-08-11 | 1995-11-21 | Vought Aircraft Company | Seam tracking drilling machine |
| US5890553A (en) * | 1996-08-01 | 1999-04-06 | California Institute Of Technology | Multifunction automated crawling system |
| JPH1179019A (en) * | 1997-09-12 | 1999-03-23 | Toshiba Corp | Wall-moving type cutting device |
| CN201062060Y (en) * | 2007-07-13 | 2008-05-21 | 于复生 | Cylinder-based pneumatic wall-climbing robot |
| CN102259671A (en) * | 2011-06-25 | 2011-11-30 | 南昌大学 | Micro-robot mechanism walking with double-foot walls |
| CN104443102A (en) * | 2014-11-25 | 2015-03-25 | 广西大学 | Simple robot achieving special surface movement |
| CN205203188U (en) * | 2015-12-10 | 2016-05-04 | 华南理工大学 | Wall climbing robot running gear |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080828A (en) * | 2016-06-30 | 2016-11-09 | 上海智位机器人股份有限公司 | A kind of wheel biped robot |
| CN106080828B (en) * | 2016-06-30 | 2018-01-26 | 上海智位机器人股份有限公司 | One kind wheel biped robot |
| CN108343801A (en) * | 2017-01-24 | 2018-07-31 | 中国石油化工股份有限公司 | A kind of pipeline climbing robot |
| CN108528554A (en) * | 2017-03-05 | 2018-09-14 | 湖北职业技术学院 | Passive vacuum absorption crawler-type wall climbing robot minor-circle turn device |
| CN107685784A (en) * | 2017-07-28 | 2018-02-13 | 安徽工程大学 | A kind of guide tracked three-dimensional climbing robot running gear of magnetic positioning |
| CN112846027A (en) * | 2020-12-30 | 2021-05-28 | 德阳万鸿重型锻造有限公司 | Punching press formula forging hammer equipment |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105416429B (en) | 2019-05-14 |
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Granted publication date: 20190514 Termination date: 20211210 |