CN105416429B - A kind of climbing robot walking mechanism - Google Patents
A kind of climbing robot walking mechanism Download PDFInfo
- Publication number
- CN105416429B CN105416429B CN201510918493.1A CN201510918493A CN105416429B CN 105416429 B CN105416429 B CN 105416429B CN 201510918493 A CN201510918493 A CN 201510918493A CN 105416429 B CN105416429 B CN 105416429B
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- CN
- China
- Prior art keywords
- walking mechanism
- planet carrier
- bracket
- climbing robot
- planetary gear
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- 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 kind of climbing robot walking mechanisms, and the planetary gear mechanism including walking mechanism and driving walking mechanism movement, the walking mechanism and planetary gear mechanism are arranged on bracket；Planetary gear mechanism includes outer gear ring, sun gear, planetary gear, planet carrier and motor；The outer gear ring is fixedly arranged in bracket；Sun gear is driving wheel, is connected to motor；There are three the planetary gears, is separately mounted on three axis of planet carrier；Walking mechanism includes five adsorbent equipments, wherein three adsorbent equipments are uniformly arranged on the periphery of bracket by connecting rod and foot prop；Other two adsorbent equipment is mounted in the through-hole of two axis of planet carrier by connecting rod；When climbing robot walking, three rack-mount adsorbent equipments alternate absorption with two adsorbent equipments being mounted on planet carrier.This walking mechanism has the characteristics that structure is simple, it is easy to turn to, the climbing robot suitable for various wall adsorption forms.
Description
Technical field
The present invention relates to climbing robot field more particularly to a kind of climbing robot walking mechanisms.
Background technique
The design of walking mechanism is one of key technology of climbing robot.The walking mechanism of climbing robot is main at present
There are wheeled, crawler type, bionic leg foot formula and frame-type etc..Wheeled construction turns to not compared with the continuous-stable for being difficult to guarantee adsorption capacity
It is very convenient；Track structure mechanism is complicated, turns to difficult；The structure control of bionic leg foot formula is complicated, and at high cost, shift action is
It is intermittent；Tower structure is of limited application, and adaptability is poor.Therefore, it is necessary to design a kind of structure it is simple, it is mobile it is continuous,
Turn to convenient climbing robot walking mechanism.
Summary of the invention
The shortcomings that it is an object of the invention to overcome the above-mentioned prior art and deficiency provide a kind of climbing robot vehicle with walking machine
Structure.
The present invention is achieved through the following technical solutions:
A kind of climbing robot walking mechanism, the planetary gear mechanism including walking mechanism and driving walking mechanism movement,
The walking mechanism and planetary gear mechanism are arranged on bracket 1；
The planetary gear mechanism includes outer gear ring 4, sun gear 5, planetary gear 7, planet carrier 9 and motor 8；It is described
Outer gear ring 4 is fixedly arranged in bracket 1；The sun gear 5 is driving wheel, is connect with motor 8；There are three the planetary gears 7, point
It is not mounted on three axis of planet carrier 9；
The walking mechanism includes five adsorbent equipments 3, wherein three adsorbent equipments 3 are uniform by connecting rod 6 and foot prop 2
The periphery of bracket 1 is set；Other two adsorbent equipment 3 is mounted in the through-hole of two axis of planet carrier 9 by connecting rod；When climbing
Three adsorbent equipments 3 being mounted on when wall robot ambulation on bracket 1 and two 3 phases of adsorbent equipment being mounted on planet carrier 9
Mutual alternating sorbent.
The bracket 1 is disc-shaped structure, and the foot prop 2 is elastic steel sheet structure；When motor 8 drives 5 turns of sun gear
When dynamic, sun gear 5 drives planetary gear 7 to rotate, and using the bias of planetary gear 7, limits planet respectively by adsorbent equipment
The rotation of gear 7 and outer gear ring 4, to make be mounted on planet carrier 9 two 3 reciprocally swingings of adsorbent equipment, wall machine is climbed in realization
The steering and walking of device people.
The present invention compared with the existing technology, have following advantages and effects
Compared with prior art, the present invention is used as drive system using planetary gear mechanism, eccentric using planetary gear,
The rotation that restrictions planetary gear and outer gear ring are distinguished by adsorbent equipment can be with by cooperating with external control system
The steering and walking for conveniently realizing climbing robot have the characteristics that structure is simple, it is easy to turn to, are suitable for various wall surfaces and inhale
The climbing robot of attached form.
Technical measure is simple and easy to do, easy to promote and utilize.
Detailed description of the invention
Fig. 1 is structure of the invention schematic perspective view.
Fig. 2 is another side structural schematic diagram of the invention.
Specific embodiment
The present invention is more specifically described in detail combined with specific embodiments below.
Embodiment
As shown in Figure 1, 2.The invention discloses a kind of climbing robot walking mechanisms, including walking mechanism and driving walking
The planetary gear mechanism of mechanism kinematic, the walking mechanism and planetary gear mechanism are arranged on bracket 1；The planetary gear machine
Structure includes outer gear ring 4, sun gear 5, planetary gear 7, planet carrier 9 and motor 8；The outer gear ring 4 is fixedly arranged in bracket 1；
The sun gear 5 is driving wheel, is connect with motor 8；There are three the planetary gears 7, is separately mounted to three of planet carrier 9
On axis；
The walking mechanism includes five adsorbent equipments 3, wherein three adsorbent equipments 3 are uniform by connecting rod 6 and foot prop 2
The periphery of bracket 1 is set；Other two adsorbent equipment 3 is mounted in the through-hole of two axis of planet carrier 9 by connecting rod；When climbing
Three adsorbent equipments 3 being mounted on when wall robot ambulation on bracket 1 and two 3 phases of adsorbent equipment being mounted on planet carrier 9
Mutual alternating sorbent.The bracket 1 is disc-shaped structure, and the foot prop 2 is elastic steel sheet structure；When motor 8 drives sun gear 5
When rotation, sun gear 5 drives planetary gear 7 to rotate, and using the bias of planetary gear 7, limits row respectively by adsorbent equipment
The rotation of star gear 7 and outer gear ring 4, to make be mounted on planet carrier 9 two 3 reciprocally swingings of adsorbent equipment, wall is climbed in realization
The steering and walking of robot.
As described above, the present invention can be better realized.
Embodiment of the present invention are not limited by the above embodiments, other are any without departing from Spirit Essence of the invention
With changes, modifications, substitutions, combinations, simplifications made under principle, equivalent substitute mode should be, be included in of the invention
Within protection scope.
Claims (2)
1. a kind of climbing robot walking mechanism, which is characterized in that the planet including walking mechanism and driving walking mechanism movement
Gear mechanism, the walking mechanism and planetary gear mechanism are arranged on bracket (1)；
The planetary gear mechanism includes outer gear ring (4), sun gear (5), planetary gear (7), planet carrier (9) and motor
(8)；The outer gear ring (4) is fixedly arranged in bracket (1)；The sun gear (5) is driving wheel, is connect with motor (8)；The row
There are three star gears (7), is separately mounted on three axis of planet carrier (9)；
The walking mechanism includes five adsorbent equipments (3), wherein three adsorbent equipments (3) pass through connecting rod (6) and foot prop (2)
It is uniformly arranged on the periphery of bracket (1)；Other two adsorbent equipment (3) is mounted on two axis of planet carrier (9) by connecting rod
In through-hole；It three adsorbent equipments (3) being mounted on bracket (1) and is mounted on planet carrier (9) when climbing robot walking
Two adsorbent equipments (3) alternate absorption；When motor (8) driving sun gear (5) rotation, sun gear (5) driving
Planetary gear (7) rotation, makes two adsorbent equipment (3) reciprocally swingings being mounted on planet carrier (9), realizes climbing robot
It turns to and walks.
2. climbing robot walking mechanism according to claim 1, which is characterized in that the bracket (1) is discoid knot
Structure, the foot prop (2) are elastic steel sheet structure.
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 CN105416429A (en) | 2016-03-23 |
| CN105416429B true CN105416429B (en) | 2019-05-14 |
Family
ID=55495078
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 |
|---|---|
| CN (1) | CN105416429B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN108343801B (en) * | 2017-01-24 | 2020-01-10 | 中国石油化工股份有限公司 | Pipeline crawling 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 |
| CN107685784B (en) * | 2017-07-28 | 2019-12-13 | 安徽工程大学 | magnetic attraction positioning guide rail type three-dimensional crawling robot walking 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 |
Family Cites Families (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 |
-
2015
- 2015-12-10 CN CN201510918493.1A patent/CN105416429B/en not_active Expired - Fee Related
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| Publication number | Publication date |
|---|---|
| CN105416429A (en) | 2016-03-23 |
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| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190514 Termination date: 20211210 |
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| CF01 | Termination of patent right due to non-payment of annual fee |