CN105666472A - Track type wall-climbing four-freedom degree parallel robot - Google Patents
Track type wall-climbing four-freedom degree parallel robot Download PDFInfo
- Publication number
- CN105666472A CN105666472A CN201610187880.7A CN201610187880A CN105666472A CN 105666472 A CN105666472 A CN 105666472A CN 201610187880 A CN201610187880 A CN 201610187880A CN 105666472 A CN105666472 A CN 105666472A
- Authority
- CN
- China
- Prior art keywords
- chassis
- gear
- crawler belt
- connecting rod
- parallel
- 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.)
- Granted
Links
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 241000219098 Parthenocissus Species 0.000 claims description 6
- 230000005389 magnetism Effects 0.000 claims description 6
- 230000007547 defect Effects 0.000 abstract description 4
- 230000009194 climbing Effects 0.000 description 10
- 238000010521 absorption reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000003801 milling Methods 0.000 description 2
- 239000003973 paint Substances 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 238000012360 testing method Methods 0.000 description 2
- 239000004215 Carbon black (E152) Substances 0.000 description 1
- 230000005540 biological transmission Effects 0.000 description 1
- 230000003592 biomimetic effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 229930195733 hydrocarbon Natural products 0.000 description 1
- 150000002430 hydrocarbons Chemical class 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000005272 metallurgy Methods 0.000 description 1
- 238000005065 mining Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0054—Programme-controlled manipulators having parallel kinematics with kinematics chains having a spherical joint at the base
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/005—Manipulators for mechanical processing tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/06—Gripping heads and other end effectors with vacuum or magnetic holding means
- B25J15/0608—Gripping heads and other end effectors with vacuum or magnetic holding means with magnetic holding means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
-
- 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
Abstract
A track type wall-climbing four-freedom degree parallel robot comprises a tracked vehicle and a four-freedom degree parallel robot body; the tracked vehicle comprises a rectangular chassis, four sleeves and two permanent magnet track mechanisms, wherein the sleeves are uniformly distributed on the chassis and are fixedly connected to the chassis, and the permanent magnet track mechanisms are symmetrically connected to the chassis and drive the chassis to crawl along a magnetic wall; the four-freedom degree parallel robot body comprises a moving platform, four SPR type branches of the same structure, two connecting rods and four magnetic plates; the SPR type branches comprise cylinder bodies and piston rods, each connecting rod penetrates through parallel through holes in the moving platform, the two ends of each connecting rod are connected to rotation pairs at the upper ends of the cylinder bodies of two branches, the lower ends of the piston rods are connected to spherical pairs on the magnetic plates, and the magnetic plates are in slide fit with the sleeves. The track type wall-climbing four-freedom degree parallel robot has the advantages that the attraction force is large, the motion is flexible, the structure is simple, control is easy, and the moving platform can carry tools for repairing large equipment and work-piece defects.
Description
Technical field
The present invention relates to robot, particularly to a kind of climbing robot.
Background technology
Climbing robot is a kind of robot that can climb the automated job beyond people's limit in perpendicular walls, within nearly 20 years, becomes focus and the forward position of domestic and international robot field research. Current climbing robot has been used for oil storage tank defect detecting test, naval vessel sprays paint, military affairs are investigated, tall-building fire fighting, cleaning and spraying, nuclear equipment check thickness measuring etc.
The patent No. be 200710016408.8 Chinese patent disclose a kind of iron based tank climbing robot; Chinese patent CN1739925 discloses a kind of non-contact magnetically adsorbed wall climbing robot; The Chinese patent that publication number is CN1428226 discloses a kind of method that realizes of crawler-type multiple sucking disc wall climbing and the robot of described method; The Chinese patent that publication number is CN101181913 discloses a kind of tandem modularized wall-climbing robot; The Chinese patent that publication number is CN101537619 discloses a kind of modular reconfigurable worm type wall climbing robot; The Chinese patent that publication number is CN102343588A discloses a kind of magnetic-disc-adsorptive wall climbing robot; Publication number be 02158876 Chinese patent disclose a kind of five foot climbing robots; The Chinese patent that publication number is CN101746429A discloses a kind of Hexapodous biomimetic wet-sucking wall-climbing robot.
Although above-mentioned Pa Bi class robot differs from one another, but it is few that robot takes degree of freedom during instrument (milling cutter, laser welding gun etc.) operation, and kinematic accuracy is relatively low, operating physical force is strong, is not suitable under extreme condition main equipment, equipment and big workpiece, defect field repair and remanufactures. Increase operation instrument degree of freedom, improve its kinematic accuracy and operating physical force is always up climbing the difficult problem faced in wall class Robot Design, development and application.
Summary of the invention:
The present invention provides a kind of crawler belt to climb wall four-freedom-degree parallel-connection robot, ensureing that the absorption of Pa Bi class robot is stable, absorption affinity is strong, simple in construction, quickly climb wall and the advantage premise such as turn under, Pa Bi class robot can be increased and take the freedom of motion of instrument, kinematic accuracy and operating physical force, for Large-Scale Equipment under extreme condition and big Surface Flaw field repair with remanufacture.
The present invention includes creeper truck and four-freedom-degree parallel-connection robot. Described creeper truck includes chassis, four sets, two permanent magnetism pedrail mechanisms; Chassis is rectangular, and four sets are distributed on drift angle place, four, chassis, and the outer wall of set is vertical with chassis to be connected, and is provided with through hole in set, and this through hole both ends open diameter is less than mid diameter; Permanent magnetism pedrail mechanism includes closed loop crawler belt, motor, drives gear, guide gear; Closed loop crawler belt includes several frameworks and permanent magnets; Being provided with cavity in each framework, cavity is built with permanent magnets, and each framework front and back end is respectively equipped with boss and groove, and the front baffle boss in the framework that each two is connected couples with afterframe groove revolute pair, constitutes closed loop crawler belt; Motor is connected with chassis, motor shaft is coaxially connected with driving gear, gear and guide gear is driven to be located at the both sides on chassis, parallel with chassis and coupled with chassis by revolute pair, closed loop crawler belt is enclosed within outside driving gear and guide gear, each framework of closed loop crawler belt is by driving the side of gear and guide gear to be equipped with tooth bar, and this tooth bar is meshed with driving gear and guide gear; Driving tooth bar engaged transmission inside the framework of gear and closed loop crawler belt, guide gear supports tooth bar inside the framework of closed loop crawler belt, and two permanent magnetism pedrail mechanisms couple with chassis symmetry, drives chassis to creep along magnetic wall.
Described four-freedom-degree parallel-connection robot includes dynamic platform, the SPR type branch that four structures are identical, two connecting rods, four disks, four springs.Described dynamic platform is rectangular slab, and two minor faces near rectangular slab are provided with two parallel via holes; Said two connecting rod two ends are equipped with two and are parallel to each other, and are perpendicular to the through hole of connecting rod; Described SPR type branch includes electronic cylinder body and piston rod, the relatively electronic cylinder body linear telescopic motion of piston rod; Each connecting rod is each passed through the parallel via holes of above-mentioned dynamic platform, the two ends of each connecting rod couple with the electronic cylinder body upper end revolute pair in Liang GeSPRXing branch respectively, piston-rod lower end connects with the ball duplicate invoice on disk, described four disks are respectively provided in the lower end through hole of aforementioned four sliding sleeve, and are slidably matched with set; Spring housing is on the piston rod being positioned at set through hole, and the two ends of this spring are against the interior lower surface above disk with set upper side opening; When all piston rods are retracted, disk departs from workpiece wall, and the boss of electric cylinder cylinder body lower end arrives to set upper side, and disk is locked in set, and parallel robot is creeped with creeper truck, and during piston rod elongation, disk absorption workpiece wall, parallel robot moves in working range.
The present invention compared with prior art has the advantage that
1, creeper truck can drive parallel robot quickly to climb wall and commutation simultaneously, and adsorptivity is stable, and absorption affinity is strong, controls simple;
2, parallel robot adsorptivity is stable, absorption affinity is strong, motion is flexibly, its instrument such as dynamic platform portable staff or milling cutter, laser gun, bistrique can complete under extreme condition space station, core/power station, mining/metallurgy/handling facilities, adopt/defeated/Large-Scale Equipment such as of reservoir hydrocarbon equipment, large ship/aircraft and big Surface Flaw field repair and remanufacture, and defect detecting test, eliminates rust, sprays paint and the task such as military investigation.
Accompanying drawing explanation
The master that Fig. 1 is the present invention looks section view simplified schematic diagram.
Fig. 2 is the side-looking simplified schematic diagram of the present invention.
Fig. 3 is the A-A view of Fig. 1.
Fig. 4 is the simplified schematic diagram of caterpillar belt structure of the present invention.
In figure: 1-chassis, 2-motor, 3-drive gear, 4-guide gear, 5-closed loop crawler belt, 5-1-framework, 5-2-permanent magnets, 6-set, 7-disk, 8-SPR type branch, 9-spring, 10-to move platform, 11-connecting rod, 12-cutter.
Detailed description of the invention
Crawler belt at Fig. 1-3 is climbed in wall four-freedom-degree parallel-connection robot schematic diagram, and chassis 1 is rectangular, and four sets 6 are distributed on drift angle place, four, chassis, and the outer wall of set is vertical with chassis to be connected, and is provided with through hole in set, and this through hole both ends open diameter is less than mid diameter, closed loop crawler belt 5 in permanent magnetism pedrail mechanism includes several frameworks and permanent magnets, being provided with cavity in each framework 5-1, cavity is built with permanent magnets 5-2, and each framework front and back end is respectively equipped with boss and groove, and the front baffle boss in the framework that each two is connected couples with afterframe groove revolute pair, constitutes closed loop crawler belt, motor 2 is connected with chassis, motor shaft is coaxially connected with driving gear 3, gear and guide gear 4 is driven to be located at the both sides on chassis, parallel with chassis and coupled with chassis by revolute pair, closed loop crawler belt is enclosed within outside driving gear and guide gear, each framework of closed loop crawler belt is by driving the side of gear and guide gear to be equipped with tooth bar, and this tooth bar is meshed with driving gear and guide gear, dynamic platform 10 in four-freedom-degree parallel-connection robot is rectangular slab, two minor faces near rectangular slab are provided with two parallel via holes, two connecting rod 11 two ends are equipped with two and are parallel to each other, and it is perpendicular to the through hole of connecting rod, the SPR type branch 8 that four structures are identical includes electronic cylinder body 8-1 and piston rod 8-2, each connecting rod is each passed through the parallel via holes of above-mentioned dynamic platform, the two ends of each connecting rod couple with the electronic cylinder body upper end revolute pair in Liang GeSPRXing branch respectively, piston-rod lower end connects with the ball duplicate invoice on disk 7, described four disks are respectively provided in the lower end through hole of aforementioned four sliding sleeve, and be slidably matched with set,Spring 9 is enclosed within the piston rod being positioned at set through hole, and the two ends of this spring are against the interior lower surface above disk with set upper side opening; Cutter 12 is connected on dynamic platform.
Claims (1)
1. a crawler belt climbs wall four-freedom-degree parallel-connection robot, it is characterised in that: it includes creeper truck and four-freedom-degree parallel-connection robot; Described creeper truck includes chassis, four sets, two permanent magnetism pedrail mechanisms; Described chassis is rectangular, and four sets are distributed on drift angle place, four, chassis, and the outer wall of set is vertical with chassis to be connected, and is provided with through hole in set, and this through hole both ends open diameter is less than mid diameter; Permanent magnetism pedrail mechanism includes closed loop crawler belt, motor, drives gear, guide gear; Closed loop crawler belt includes several frameworks and permanent magnets; Being provided with cavity in each framework, cavity is built with permanent magnets, and each framework front and back end is respectively equipped with boss and groove, and the front baffle boss in the framework that each two is connected couples with afterframe groove revolute pair, constitutes closed loop crawler belt; Motor is connected with chassis, motor shaft is coaxially connected with driving gear, gear and guide gear is driven to be located at the both sides on chassis, parallel with chassis and coupled with chassis by revolute pair, closed loop crawler belt is enclosed within outside driving gear and guide gear, each framework of closed loop crawler belt is by driving the side of gear and guide gear to be equipped with tooth bar, and this tooth bar is meshed with driving gear and guide gear; Described four-freedom-degree parallel-connection robot includes dynamic platform, the SPR type branch that four structures are identical, two connecting rods, four disks, four springs; Described dynamic platform is rectangular slab, and two minor faces near rectangular slab are provided with two parallel via holes; Said two connecting rod two ends are equipped with two and are parallel to each other, and are perpendicular to the through hole of connecting rod; Described SPR type branch includes electronic cylinder body and piston rod, the relatively electronic cylinder body linear telescopic motion of piston rod; Each connecting rod is each passed through the parallel via holes of above-mentioned dynamic platform, the two ends of each connecting rod couple with the electronic cylinder body upper end revolute pair in Liang GeSPRXing branch respectively, piston-rod lower end connects with the ball duplicate invoice on disk, described four disks are respectively provided in the lower end through hole of aforementioned four sliding sleeve, and are slidably matched with set; Spring housing is on the piston rod being positioned at set through hole, and the two ends of this spring are against the interior lower surface above disk with set upper side opening.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610187880.7A CN105666472B (en) | 2016-03-29 | 2016-03-29 | Crawler belt climbs wall four-freedom-degree parallel-connection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610187880.7A CN105666472B (en) | 2016-03-29 | 2016-03-29 | Crawler belt climbs wall four-freedom-degree parallel-connection robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105666472A true CN105666472A (en) | 2016-06-15 |
| CN105666472B CN105666472B (en) | 2017-08-11 |
Family
ID=56224519
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610187880.7A Expired - Fee Related CN105666472B (en) | 2016-03-29 | 2016-03-29 | Crawler belt climbs wall four-freedom-degree parallel-connection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105666472B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043475A (en) * | 2016-06-29 | 2016-10-26 | 洛阳圣瑞智能机器人有限公司 | Glass cleaning robot crawler belt motion perpendicular reversing device and method |
| CN106424503A (en) * | 2016-10-17 | 2017-02-22 | 燕山大学 | Four-freedom-degree in-parallel forging machine |
| CN108515437A (en) * | 2018-02-10 | 2018-09-11 | 浙江工业大学 | A kind of automated arm flexible terminal actuator creeped for complex surface |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4132279A (en) * | 1976-08-18 | 1979-01-02 | Lende Leendert J V D | Automotive tractor unit, more particularly for riding and working on vertical walls, ceilings and suchlike |
| US4664212A (en) * | 1984-08-14 | 1987-05-12 | Mitsubishi Kakoki Kaisha Ltd. | Vacuum wall crawler |
| CN2764694Y (en) * | 2005-02-02 | 2006-03-15 | 胡广怀 | Automatically descaling and spraying paint engineering truck |
| CN203636167U (en) * | 2013-10-14 | 2014-06-11 | 徐建宁 | Track cutting machine |
| CN104369182A (en) * | 2014-11-06 | 2015-02-25 | 燕山大学 | 4SPR+2R type four-freedom-degree parallel mechanism |
-
2016
- 2016-03-29 CN CN201610187880.7A patent/CN105666472B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4132279A (en) * | 1976-08-18 | 1979-01-02 | Lende Leendert J V D | Automotive tractor unit, more particularly for riding and working on vertical walls, ceilings and suchlike |
| US4664212A (en) * | 1984-08-14 | 1987-05-12 | Mitsubishi Kakoki Kaisha Ltd. | Vacuum wall crawler |
| CN2764694Y (en) * | 2005-02-02 | 2006-03-15 | 胡广怀 | Automatically descaling and spraying paint engineering truck |
| CN203636167U (en) * | 2013-10-14 | 2014-06-11 | 徐建宁 | Track cutting machine |
| CN104369182A (en) * | 2014-11-06 | 2015-02-25 | 燕山大学 | 4SPR+2R type four-freedom-degree parallel mechanism |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043475A (en) * | 2016-06-29 | 2016-10-26 | 洛阳圣瑞智能机器人有限公司 | Glass cleaning robot crawler belt motion perpendicular reversing device and method |
| CN106043475B (en) * | 2016-06-29 | 2018-05-18 | 洛阳圣瑞智能机器人有限公司 | A kind of vertical reversing arrangement of glass cleaning machine people's caterpillar drive and method |
| CN106424503A (en) * | 2016-10-17 | 2017-02-22 | 燕山大学 | Four-freedom-degree in-parallel forging machine |
| CN106424503B (en) * | 2016-10-17 | 2018-01-23 | 燕山大学 | A kind of four-degree-of-freedom parallel connection forging press |
| CN108515437A (en) * | 2018-02-10 | 2018-09-11 | 浙江工业大学 | A kind of automated arm flexible terminal actuator creeped for complex surface |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105666472B (en) | 2017-08-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103612684B (en) | A kind of three plane branch six-freedom parallel climbing robots | |
| CN103192365B (en) | Metamorphic wall-climbing parallel robot | |
| CN107128389B (en) | Curved surface self-adaptive magnetic adsorption wall-climbing paint spraying robot | |
| CN107351934B (en) | Wheeled magnetic adsorption wall climbing robot | |
| CN106275310B (en) | A kind of modular metal wall work climbing robot | |
| CN107021144B (en) | Magnetic track climbing robot of self-adaptation contact | |
| CN105666472A (en) | Track type wall-climbing four-freedom degree parallel robot | |
| CN104802868B (en) | A kind of portable multifunctional mobile platform | |
| CN101869745B (en) | Rescue robot | |
| CN107804384B (en) | Self-adaptive wall surface four-crawler wall climbing robot | |
| CN105235763B (en) | One kind is containing six variable branch's parallel connection climbing robots | |
| CN104200715A (en) | Spacecraft flying-around approach motion simulator | |
| DE112014000257T5 (en) | Robot for ceiling cavity inspection | |
| Boxerbaum et al. | The latest generation Whegs™ robot features a passive-compliant body joint | |
| CN113753152A (en) | Three-degree-of-freedom full-decoupling parallel mechanical leg structure and four-foot robot | |
| CN210323892U (en) | Large-inertia electromechanical six-degree-of-freedom motion platform | |
| CN103085073B (en) | Rotating balance beam type electromagnetic chuck wall-climbing robot | |
| CN104890751A (en) | Obstacle-crossing traveling mechanism of track searching engine | |
| CN104354782A (en) | Wheel-leg interchanging wall climbing parallel robot | |
| CN114475831A (en) | Foot-type multi-mode bionic robot | |
| Khirade et al. | Magnetic wall climbing devices—a review | |
| CN205552500U (en) | Robot with investigation and medical aid function | |
| CN105905181A (en) | Magnetic disk hanging circulation wall-climbing robot | |
| EP1319918B1 (en) | Vehicle for detecting NBC threats | |
| RU96834U1 (en) | MOBILE TRANSPORT ROBOT |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20170811 |