CN106882284B - A kind of four-jaw type apery tube climber device people - Google Patents

A kind of four-jaw type apery tube climber device people Download PDF

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Publication number
CN106882284B
CN106882284B CN201710175316.8A CN201710175316A CN106882284B CN 106882284 B CN106882284 B CN 106882284B CN 201710175316 A CN201710175316 A CN 201710175316A CN 106882284 B CN106882284 B CN 106882284B
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CN
China
Prior art keywords
torso
extremity
steering engine
plate
swing rod
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Expired - Fee Related
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CN201710175316.8A
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Chinese (zh)
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CN106882284A (en
Inventor
侯宇
卢蒙
段宇
李诗雷
王志明
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Wuhan University of Science and Engineering WUSE
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Wuhan University of Science and Engineering WUSE
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Priority to CN201710175316.8A priority Critical patent/CN106882284B/en
Publication of CN106882284A publication Critical patent/CN106882284A/en
Application granted granted Critical
Publication of CN106882284B publication Critical patent/CN106882284B/en
Expired - Fee Related legal-status Critical Current
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators

Abstract

The invention discloses a kind of four-jaw type apery tube climber device people, the four limbs being arranged including symmetrical expression and the upper torso and lower torso that are connected as one four limbs;Four limbs are mobile machine arm of the end with gripper, respectively left upper extremity, right upper extremity, left lower extremity and right lower extremity, and left upper extremity and right upper extremity are connected with the left and right ends of upper torso respectively, and left lower extremity and right lower extremity are connected with the left and right ends of lower torso respectively;Four limbs are connected to the both ends of upper torso and lower torso by squeezing sliding block and extruding spring mechanism, it is connected between lower torso and upper torso by waist mechanism, waist mechanism by top driving steering engine, the first waist connection frame, middle part driving steering engine, the second waist connection frame and lower part driving steering engine form can multifreedom motion mechanism, under the movement effect of waist mechanism and four limbs, tube climber device people of the present invention can apish four limbs realize and various types of climb pipe demand.Its good operating stability, landform are adaptable.

Description

A kind of four-jaw type apery tube climber device people
Technical field
The present invention relates to the tube climber device people of robot field a kind of, and in particular to a kind of four-jaw type apery tube climber device People.
Background technique
With the development of modern society, more and more working environments are replaced manually in gradually steering with robot.Pipeline Be then that factory or enterprise are indispensable, but due to the complicated arrangement of pipeline, conveyed may be high temperature, high pressure, It is toxic, have the fluid media (medium) of radiation, once leak, it will lead to great injures and deaths and property loss, people are such Its personal safety of operation is carried out under operating condition to be difficult to reliably be ensured.
Currently, more in relation to the pipe robot research in pipe, the move mode for managing outer climbing level robot mainly has wriggling Formula, spiral, roller, alternately climbing etc., but generally existing following disadvantage: not across the obstacle on pipeline, it is difficult to lead to Cross bend pipe or cross pipeline, the load capacity poor equipment that can not carry constant weight is easy to appear fortune in motion process Jiggly phenomenon of row etc..Such as " two-part climbing level robot " (202693567 U of CN) patented technology, machine described in the technology The mode that people climbs pipeline is the gear and rack teeth mechanism installed by middle part, though structure is simple, robot can only climb straight-bar And the obstacles such as ring flange can not be crossed.For another example " clamped-in style telescopic turning integration climbing robot " (102631605 A of CN) is special Sharp technology, robot described in the technology design telescoping mechanism using helical screw transmission principle, gripper clamp system without from Performance is locked, working efficiency is low, and it is poor to carry load capacity.
Summary of the invention
The present invention is directed to overcome the deficiencies in the prior art, it is therefore an objective to provide a kind of good operating stability, can effectively climb Straight tube, bend pipe and the pipeline with ring flange have preferable landform adaptability, and overall structure is simple, can carry certain Load four-jaw type apery tube climber device people.
To achieve the above object, the technical solution adopted by the present invention is that:
A kind of four-jaw type apery tube climber device people, the four limbs being arranged including symmetrical expression and the top for being connected as one four limbs Trunk and lower torso;The four limbs structure is the same, is mobile machine arm of the end with gripper, four limbs are respectively upper left Limb, right upper extremity, left lower extremity and right lower extremity, wherein left upper extremity and right upper extremity are connected with the left and right ends of upper torso respectively, lower-left Limb and right lower extremity are connected with the left and right ends of lower torso respectively;
The upper torso includes trunk bottom plate, two four branch for squeezing sliding shoe and being respectively arranged on trunk bottom plate both ends Fagging, two support plates of trunk bottom plate left end and the side plate on the trunk bottom plate left side form left C-shaped sliding groove, trunk bottom plate right end Two support plates and trunk bottom plate on the right of side plate form right C-shaped sliding groove, be equipped in each support plate for squeezing Sliding shoe guiding and horizontally arranged waist-shaped hole, extruding sliding shoe both ends are respectively equipped with dashes forward with what waist-shaped hole was slidably matched Axis, two extruding sliding shoes are respectively arranged in left C-shaped sliding groove and right C-shaped sliding groove, and can be in corresponding C-shaped sliding groove certainly By sliding, two extruding sliding shoes are equipped between the side plate of the left and right of trunk bottom plate two respectively squeezes spring, and trunk bottom plate is left The extruding sliding shoe of right two sides is connected with left upper extremity, right upper extremity respectively;
As upper torso structure, difference is the lower torso: the trunk bottom plate left and right ends of lower torso Sliding shoe is squeezed to be connected with left lower extremity and right lower extremity respectively;
It is connected between the lower torso and upper torso by waist mechanism, the waist mechanism includes top driving rudder Machine, the first waist connection frame, middle part driving steering engine, the second waist connection frame and lower part drive steering engine, and the top drives rudder Machine is fixed on the top of the first waist connection frame, and top drives the output shaft of steering engine and the trunk bottom plate stationary phase of upper torso Even;First waist connection frame bottom is equipped with middle part steering engine connection frame, and middle part drives steering engine to be fixedly mounted on the by steering engine bracket At the top of two waist connection frames, the output shaft of middle part driving steering engine is fixedly linked with middle part steering engine connection frame, and lower part drives steering engine solid Due to the lower end of the second waist connection frame, the output shaft of lower part driving steering engine and the trunk bottom plate of lower torso are fixedly linked.
As an improvement, the left upper extremity in the four limbs includes the first swing rod, the second swing rod, third swing rod, the 4th swing rod, master The extruding of moving gear, driven gear and c-type bearing connection frame and limbs steering engine, the limbs steering engine and upper torso left end is sliding Motion block is fixedly linked, and the second swing rod front end and the output shaft of limbs steering engine are fixedly linked, and the first swing rod front end and upper torso are left The extruding sliding shoe at end is hinged by pin shaft, and the first swing rod and the second swing rod tail end pass through first axle and the second axis and c-type respectively Bearing connection frame is connected, and is connected between the second axis and the second swing rod by bearing, relatively fixed between first axle and the first swing rod Connection is connected between first axle and c-type bearing connection frame by bearing, and the first swing rod and the second swing rod form the first parallel four side Shape structure;Driving gear and driven gear are mutually twisted and in the grooves of c-type bearing connection frame, driving gear and first Axis is fixedly linked, and driven gear is equipped with third axis, is connected between third axis and c-type bearing connection frame by bearing, third axis The one end for stretching out c-type bearing connection frame is fixedly linked with third swing rod front end, and c-type bearing connection frame upper end is equipped with the 4th axis, the Four axis are connected with the front end of the 4th swing rod by bearing, and third swing rod and the 4th swing rod form the second parallelogram sturcutre, the Three swing rods and the 4th swing rod tail end are hinged and connected with gripper, other three limbs in four limbs are as left upper extremity structure.
As an improvement, the gripper includes pedestal, clamping motor, clamping motor bracket, the first clamp jaw, the second clamping Pawl and connecting rod pallet, first clamp jaw and the second clamp jaw are S type pawl, first clamp jaw and the second clamp jaw Middle part by pin shaft be hinged on clamping motor bracket front end stretching fixed plate on, before the first clamp jaw and the second clamp jaw End is hinged by curved rod and connecting rod pallet respectively, and the tail end of the first clamp jaw and the second clamp jaw, which is formed, is used for clamping pipe Ring, the output shaft of connecting rod pallet and clamping motor is fixedly linked, and clamping motor is fixed on the base by clamping motor bracket, Pedestal is connected with the end of four limbs.
As an improvement, setting on the extruding sliding shoe of the upper torso, there are two spring mounting post, the side plates of upper torso On set there are two corresponding spring fixed column, two extruding bullets are equipped between the extruding sliding shoe and corresponding side plate of upper torso Spring, the both ends for squeezing spring are separately fixed in spring mounting post and corresponding spring fixed column, the lower torso also with it is upper Portion's trunk is the same, and two extruding springs are equipped between the extruding sliding shoe and corresponding side plate of lower torso, squeeze the two of spring End is separately fixed in spring mounting post and corresponding spring fixed column.
Due to the adoption of the above technical scheme, the present invention has following good effect compared with prior art:
The present invention is by upper torso, left upper extremity, right upper extremity, lower torso, left lower extremity, right lower extremity composition.Left upper extremity installation On the left of upper torso, right upper extremity is mounted on the right side of upper torso, and lower torso two sides are symmetrically installed with left lower extremity and right lower extremity. The present invention climbs pipe design using four-jaw type apery, and gripper clamp system can be self-locking, and mobile machine arm is used as main actuator The principle of parallelogram designs, therefore good operating stability, can load capacity it is strong.Upper torso and lower torso pass through waist machine Structure is connected, and adapts to the excessively curved and vertical tube of a degree of variable step and robot to the transition of transverse tube, limbs steering engine it is defeated Shaft is fixedly connected with the second swing rod, and the swing of the second swing rod drives the first swing rod to swing, and two sides squeeze sliding shoe and pass through extruding Spring carries out bit shift compensation, and driving gear is engaged with driven gear.Driven gear drives the third being fixedly linked by third axis Swing rod is swung, and third swing rod, which is swung, drives gripper movement, while the 4th swing rod being driven to swing, third swing rod and the 4th swing rod Parallelogram sturcutre is formed, the stability of third swing rod swing is increased, thus realize that machine rises overally, mobile efficiency It is high.
The present invention is that one kind can realize that all fours type of advance, retrogressing, variable step and obstacle detouring is imitative in vertical and horizontal plane People tube climber device people, the work such as climbing maintenance and daily maintenance suitable for urban high-rise building distributed pipeline, especially defeated The maintenance and maintenance work for sending high temperature and high pressure gas pipeline have important application value.
Therefore, the present invention has good operating stability, wheel efficiency high, can effectively climb straight tube, bend pipe and has The pipeline of ring flange has preferable landform adaptability, and overall structure is simple, and the features such as can carry certain load.
Detailed description of the invention
Fig. 1 is front view of the present invention.
Fig. 2 is schematic diagram of the three-dimensional structure.
Fig. 3 is left upper extremity structural schematic diagram of the present invention.
Fig. 4 is left upper extremity structure schematic diagram of the present invention.
Fig. 5 is upper torso structural schematic diagram of the present invention.
Fig. 6 is that the middle and upper part Fig. 5 trunk removes limbs steering engine and squeezes structural schematic diagram after spring.
Fig. 7 is waist mechanism connection upper torso and lower torso structural schematic diagram.
Fig. 8 is gripper structural schematic diagram.
Fig. 9 is robot vertical tube climbing motion step decomposition diagram of the present invention.
A, b, c, d represent robot of the present invention and climb four kinds of states on vertical tube in Fig. 9.
Figure 10 is the action step decomposition diagram that robot vertical tube of the present invention is climbed to transverse tube.
A, b, c, d, e, f, g, h represent eight kind states of the robot of the present invention from vertical tube climbing to transverse tube in Figure 10.
Figure 11 is the action step decomposition diagram that robot of the present invention is climbed between two vertical tubes.
A, b, c, d represent four kinds of states that robot of the present invention is climbed between two vertical tubes in Figure 11.
1- left upper extremity, 2- right upper extremity, 3- left lower extremity, 4- right lower extremity, 5- upper torso, 6- lower torso, 7- waist mechanism, 8- gripper, the first swing rod of 101-, the second swing rod of 102-, 103- third swing rod, 104 the 4th swing rods, 121- first axle, 122- Two axis, 123- third axis, the 4th axis of 124-, 130- driving gear, 131- driven gear, 132-C profile shaft hold connection frame, 133- limb Body steering engine, 134- limbs steering engine connection frame, 501- trunk bottom plate, 502- support plate, 503- waist-shaped hole, 504- squeeze sliding shoe, 505- extruding spring, 506- spring mounting post, 507- spring fixed column, 508- side plate, 509- projecting plate, 510- connecting shaft hole, 511- dashes forward axis, and the top 701- drives steering engine, 702- the first waist connection frame, steering engine connection frame in the middle part of 703-, driving in the middle part of 704- Steering engine, 705- steering engine bracket, 706- the second waist connection frame, the lower part 707- driving steering engine, 801- pedestal, 802- clamping motor, 803- clamping motor bracket, the first clamp jaw of 804-, the second clamp jaw of 805-, 806- connecting rod pallet, the first curved rod of 807-, The second curved rod of 808-, 809- fixed plate.
Specific embodiment
Present invention will be further described below with reference to the accompanying drawings and specific embodiments, not to the limit of its protection scope System.
As depicted in figs. 1 and 2, a kind of four-jaw type apery tube climber device people, four limbs including symmetrical expression setting and by four limbs The upper torso 5 and lower torso 6 being connected as one;The four limbs structure is the same, is mobile machine of the end with gripper 8 Arm, four limbs be respectively left upper extremity 1, right upper extremity 2, left lower extremity 3 and right lower extremity 4, wherein left upper extremity 1 and right upper extremity 2 respectively with top The left and right ends of trunk 5 are connected, and left lower extremity 3 and right lower extremity 4 are connected with the left and right ends of lower torso 6 respectively;
As shown in Figure 5 and Figure 6, the upper torso 5 includes 501, two extruding sliding shoes 504 of trunk bottom plate and sets respectively Four support plates 502 in 501 both ends of trunk bottom plate, two support plates 502 and trunk bottom plate 501 of 501 left end of trunk bottom plate The side plate 508 on the left side forms left C-shaped sliding groove, 501 the right of two support plates 502 and trunk bottom plate of 501 right end of trunk bottom plate Side plate 508 form right C-shaped sliding groove, be equipped in each support plate 502 for squeezing the guiding of sliding shoe 504 and level side To the waist-shaped hole 503 of setting, squeezes 504 both ends of sliding shoe and be respectively equipped with the prominent axis 511 being slidably matched with waist-shaped hole 503, two It squeezes sliding shoe 504 to be respectively arranged in left C-shaped sliding groove and right C-shaped sliding groove, and can the free skating in corresponding C-shaped sliding groove Dynamic, two extruding sliding shoes 504 are equipped between the side plate 508 of the left and right of trunk bottom plate 501 two squeeze spring 505, body respectively The extruding sliding shoe 504 of 501 left and right sides of dry bottom plate is connected with left upper extremity 1, right upper extremity 2 respectively;In each support plate 502 There are two waist-shaped holes 503, and the every one end of corresponding extruding sliding shoe 504 is equipped with two prominent axis 511;
As 5 structure of upper torso, difference is the lower torso 6: the trunk bottom plate 501 or so of lower torso 6 The extruding sliding shoe 504 at both ends is connected with left lower extremity 3 and right lower extremity 4 respectively;
As shown in fig. 7, be connected between the lower torso 6 and upper torso 5 by waist mechanism 7, the waist mechanism 7 Including top driving steering engine 701, the first waist connection frame 702, middle part driving steering engine 704, the second waist connection frame 706 and under Portion drives steering engine 707, and the top driving steering engine 701 is fixed on the top of the first waist connection frame 702, and top drives steering engine 701 output shaft is fixedly linked with the projecting plate 509 on the trunk bottom plate 501 of upper torso 5, the first waist connection frame 702 Top is connected with the side plate 508 of upper torso 5 by first rotating shaft, and first rotating shaft and the output shaft of top driving steering engine 701 are same Axle center setting, upper torso 5 can be rotated relative to the first waist connection frame 702 around first rotating shaft;First waist connection frame, 702 bottom Portion is equipped with middle part steering engine connection frame 703, and middle part driving steering engine 704 is fixedly mounted on the connection of the second waist by steering engine bracket 705 The output shaft at 706 top of frame, middle part driving steering engine 704 is fixedly linked with middle part steering engine connection frame 703, and steering engine bracket 705 is in Portion's steering engine connection frame 703 is connected by the second shaft, the concentric setting of output shaft of the second shaft and middle part driving steering engine 704, Steering engine bracket 705 can be rotated relative to middle part steering engine connection frame 703 around the second shaft, and lower part driving steering engine 707 is fixed on second The lower end of waist connection frame 706, lower part drive the projecting plate on the output shaft of steering engine 707 and the trunk bottom plate 501 of lower torso 6 509 are fixedly linked, and the lower end of the second waist connection frame 706 is connected with the side plate 508 of lower torso 6 by third shaft, third Shaft and lower part driving steering engine 707 the concentric setting of output shaft, the second waist connection frame 706 can relative to lower torso 6 around The rotation of third shaft.
As shown in Figure 3 and Figure 4, the left upper extremity 1 in the four limbs includes the first swing rod 101, the second swing rod 102, third pendulum Bar 103, the 4th swing rod 104, driving gear 130, driven gear 131 and c-type bearing connection frame 132 and limbs steering engine 133, institute It states limbs steering engine 133 to be fixed on the extruding sliding shoe 504 of 5 left end of upper torso by limbs steering engine connection frame 134, the second pendulum 102 front end of bar and the output shaft of limbs steering engine 133 are fixedly linked, and the extruding of 101 front end of the first swing rod and 5 left end of upper torso is sliding The connecting shaft hole 510 being arranged on motion block 504 is hinged by pin shaft, and the first swing rod 101 and 102 tail end of the second swing rod pass through the respectively One axis 121 and the second axis 122 are connected with c-type bearing connection frame 132, pass through bearing phase between the second axis 122 and the second swing rod 102 Even, relatively fixed connection between first axle 121 and the first swing rod 101, passes through between first axle 121 and c-type bearing connection frame 132 Bearing connection, the first swing rod 101 and the second swing rod 102 form the first parallelogram sturcutre;Driving gear 130 and driven gear 131 are mutually twisted and are set in the groove of c-type bearing connection frame 132, and driving gear 130 is fixedly linked with first axle 121, from Moving gear 131 is equipped with third axis 123, is connected between third axis 123 and c-type bearing connection frame 132 by bearing, third axis One end of 123 stretching c-type bearing connection frames 132 is fixedly linked with 103 front end of third swing rod, and 132 upper end of c-type bearing connection frame is set There is the 4th axis 124, the 4th axis 124 is connected with the front end of the 4th swing rod 104 by bearing, third swing rod 103 and the 4th swing rod 104 The second parallelogram sturcutre is formed, third swing rod 103 and 104 tail end of the 4th swing rod are hinged and connected with gripper 8, in four limbs Other three limbs as 1 structure of left upper extremity, the first axle 121, the second axis 122, third axis 123 and the 4th axis 124 are same In one perpendicular.
As shown in Fig. 8 and Fig. 3, the gripper 8 includes pedestal 801, clamping motor 802, clamping motor bracket 803, the One clamp jaw 804, the second clamp jaw 805 and connecting rod pallet 806, clamping motor 802 are fixed by clamping motor bracket 803 On pedestal 801, first clamp jaw 804 and the second clamp jaw 805 be S type pawl, first clamp jaw 804 and the The middle part of two clamp jaws 805 is hinged in the fixed plate 809 of 803 front end of clamping motor bracket stretching by pin shaft, and first clamps The front end of pawl 804 and the second clamp jaw 805 passes through the first curved rod 807 and the second curved rod 808 and connecting rod pallet respectively 806 is hinged, and 807 one end of the first curved rod and 804 front end of the first clamp jaw are hinged, 807 other end of the first curved rod with lean on It is hinged at connecting rod pallet 806 at nearly second clamp jaw, 805 front end, same second curved rod, 808 one end and the second clamp jaw 805 front ends are hinged, 808 other end of the second curved rod and the hinge at the connecting rod pallet 806 at 804 front end of the first clamp jaw It connects, the first curved rod 807 and the second curved rod 808 are arranged by center symmetrical chiasma of the axle center of connecting rod pallet 806, connecting rod Pallet 806 and the output shaft of clamping motor 802 are fixedly linked, and clamping motor 802 is fixed on pedestal by clamping motor bracket 803 On 801, pedestal 801 is connected with the end of four limbs, when the tail end of the first clamp jaw 804 and the second clamp jaw 805, which clamps, to be collapsed, The tail end of first clamp jaw 804 and the second clamp jaw 805 forms the ring for being used for clamping pipe, two curved rods and connecting rod pallet 806 and two clamp jaws four hinge joints on same straight line, it can be achieved that the gripper 8 clamp when it is self-locking.
Spring mounting post 506 there are two being set on the extruding sliding shoe 504 of the upper torso 5, the side plate of upper torso 5 Corresponding spring fixed column 507 there are two setting on 508, spring mounting post 506 and corresponding spring fixed column 507 are coaxially set It sets, two extruding springs 505 is equipped between the extruding sliding shoe 504 of upper torso 5 and corresponding side plate 508, squeeze spring 505 Both ends be separately fixed in spring mounting post 506 and corresponding spring fixed column 507, the lower torso 6 also with top body Dry 5 equally by setting spring mounting post 506 and spring fixed column 507 lower torso 6 extruding sliding shoe 504 with it is corresponding Two extruding springs 505 are equipped between side plate 508.
Present embodiment is by upper torso 5, left upper extremity 1, right upper extremity 2, lower torso 6, left lower extremity 3, and 4 groups of right lower extremity At.Left upper extremity 1 is mounted on 5 left side of upper torso, and right upper extremity 2 is mounted on 5 right side of upper torso, and 6 two sides of lower torso are symmetrically pacified Equipped with left lower extremity 3 and right lower extremity 4, it is connected between upper torso 5 and lower torso 6 by waist mechanism 7.Present embodiment Pipe design is climbed using four-jaw type apery, gripper 8 can be self-locking when clamping, and the mobile machine arm of four limbs is used as main actuator The principle of parallelogram designs, and the mainly dimensions of mechanical structures limitation of parallelogram mechanism, motion stabilization and constant speed are moved Dynamic characteristic, the synthesis result of the factors such as raising body load, therefore good operating stability.The waist mechanism 7 that top and the bottom trunk 6 connects It is connected using three steering engines, adapts to the excessively curved and vertical tube of a degree of variable step and robot to the transition of transverse tube, live The output shaft of the limbs steering engine 133 of dynamic mechanical arm is fixedly connected with the second swing rod 102, and the swing of the second swing rod 102 drives first Swing rod 101 is swung, and two sides squeeze sliding shoe 504 and carry out bit shift compensation, driving gear 130 and driven tooth by squeezing spring 505 131 engagement of wheel.Driven gear 131 drives the third swing rod 103 being fixedly linked to swing by third axis 123, and third swing rod 103 is put It is dynamic that gripper 8 is driven to move, while the 4th swing rod 104 being driven to swing, third swing rod 103 also forms parallel with the 4th swing rod 104 Quadrilateral structure, increases the stability of the swing of third swing rod 103, to realize that machine rises overally, movement is high-efficient.
The working condition of present embodiment is mainly creeped including vertical tube, and the obstacles such as flange are ascended, and vertical tube is climbed to transverse tube It goes, the climbing between two vertical tubes:
7 steering engines are shared in present embodiment and add four motors, respectively drive 4 rudders of four limbs mobile machine arm Machine drives three steering engines of waist mechanism 7, and 4 motors of driving gripper 8.As shown in figure 9, to realize that vertical tube is creeped Movement, when the gripper 8 of left upper extremity 1 and left lower extremity 3 is in the state that raises up and clamping pipe, while other side right upper extremity 2 and the right side The gripper 8 of lower limb 4 drives the gripper of right upper extremity 2 and right lower extremity 4 in the state that raises up and when clamping pipe is in Fig. 9 a state Clamp system release mechanism pawl 8, after release, the limbs steering engine 133 of right upper extremity 2 and right lower extremity 4 is rotated, and robot runs to Fig. 9 b When state.The gripper 8 of right upper extremity 2 and right lower extremity 4 clamps, drive at this time left upper extremity 1 and left lower extremity 3 limbs steering engine 133, with And the limbs steering engine 133 of right upper extremity 2 and right lower extremity 4 rotates simultaneously, 133 rotation direction of limbs steering engine of right upper extremity 2 and right lower extremity 4 With left side on the contrary, keeping synchronized rotation, moving up for robot center of gravity can be achieved at this time, as is shown in fig. 9 c state.Then it drives The gripper clamp system release mechanism pawl 8 of left upper extremity 1 and left lower extremity 3, after release, the limbs steering engine of left upper extremity 1 and left lower extremity 3 133 rotations drive left upper extremity 1 and left lower extremity 3 to raise up, and robot runs to Fig. 9 d state, i.e., completion robot rises, robot Enter in next circulation again.When needing robot to decline, motion mode with it is aforementioned just opposite.In motion process, upper left Limb 1,2 clamping pipe of right upper extremity 2, right upper extremity 2 and right upper extremity dynamics want sufficiently large and clamping direction is vertical with pipeline, in this way Vertical tube can be realized to creep straight up and down.Crossing the obstacles such as flange can be by the first swing rod 101 and second of mobile machine arm The length of swing rod 102 and its with trunk horizontal plane be formed by angle decision.
As shown in Figure 10, vertical tube is creeped to transverse tube, 6 left and right sides gripper of top and the bottom trunk, 8 clamping pipe, in figure 10a state, while when the gripper 8 of 6 left lower extremity 3 of lower torso and right lower extremity 4 release pipeline, drive 6 left lower extremity 3 of lower torso It is rotated with the limbs steering engine 133 of right lower extremity 4,6 two sides gripper 8 of lower torso is made to leave pipeline completely, execute waist mechanism 7 Middle part drives the rotation of steering engine 704 and top driving steering engine 701 to rotate, and is in Figure 10 b state, executes middle part at this time and drive steering engine 704 rotate backward, and move to suitable position, at the same drive the limbs steering engine 133 of upper torso 5 and lower torso 6 rotate, will under Portion's trunk 6 moves up, and shortens the distance between upper torso 5 and lower torso 6, then drives the gripper 8 of 6 two sides of lower torso Clamping pipe is in Figure 10 c state.Drive the left upper extremity 1 of 5 two sides of upper torso and 8 pine of gripper of right upper extremity 2 simultaneously later Open pipe road, and the limbs steering engine 133 of 5 two sides of upper torso is driven to rotate, leave the gripper 8 of 5 two sides of upper torso completely Pipeline executes top and drives steering engine 701, is in Figure 10 d state, and driving middle part driving steering engine 704 and top drive steering engine at this time 701 rotations, when moving to suitable position, the limbs steering engine 133 of driving upper torso 5 drives left upper extremity 1 and right upper extremity 2 to move, It drives gripper 8 to clamp transverse tube, is in Figure 10 e state, drive top driving steering engine 701 to rotate in the state, move to conjunction Right position is set, and Figure 10 f state is in, and driving steering engine 704 in driving middle part turns to suitable position, is in Figure 10 g state, finally drives Top driving steering engine 701 and lower part driving steering engine 707 turn to suitable position, drive the mobile machine arm and machine of lower torso 6 Machinery claw 8 clamps transverse tube, is in Figure 10 h state, this realizes the whole transition from vertical tube to transverse tube for tube climber device people.
As shown in figure 11, the climbing between two vertical tubes, upper torso 5 and 6 left and right sides paw mechanism of lower torso folder Tight first vertical tube is in Figure 11 a state, while when the paw mechanism of 5 left upper extremity 1 of upper torso and right upper extremity 2 release pipeline, driving The limbs steering engine 133 of dynamic 6 left upper extremity 1 of lower torso and right upper extremity 2 rotates, and leaves the gripper 8 of 5 two sides of upper torso completely Pipeline, executes the rotation of top driving steering engine 701 and lower part driving steering engine 707 rotates, and when moving to suitable position, drives top body Dry 5 mobile machine arm and gripper 8 clamps the second vertical tube, is in Figure 11 b state, at this point, unclamping the machine of 6 two sides of lower torso Machinery claw 8, and so that the gripper 8 of 6 two sides of lower torso is completely disengaged the first vertical tube by the movement of mobile machine arm, drive top It drives the rotation of steering engine 701 and lower part driving steering engine 707 to rotate, is in Figure 11 c state, continues that top is driven to drive 701 turns of steering engine Dynamic and lower part driving steering engine 707 turns to the position vertical with the second vertical tube, and the gripper 8 of driving 6 two sides of lower torso clamps Second vertical tube, is in Figure 11 d state, and robot is realized from the first vertical tube to the climbing the second vertical tube.

Claims (3)

1. a kind of four-jaw type apery tube climber device people, it is characterised in that: be connected as including the symmetrical four limbs being arranged and by four limbs The upper torso and lower torso of one;The four limbs structure is the same, is mobile machine arm of the end with gripper, four limbs point Not Wei left upper extremity, right upper extremity, left lower extremity and right lower extremity, wherein left upper extremity and right upper extremity respectively with the left and right ends phase of upper torso Even, left lower extremity and right lower extremity are connected with the left and right ends of lower torso respectively;
The upper torso includes trunk bottom plate, two four supports for squeezing sliding shoe and being respectively arranged on trunk bottom plate both ends Plate, two support plates of trunk bottom plate left end and the side plate on the trunk bottom plate left side form left C-shaped sliding groove, trunk bottom plate right end Side plate on the right of two support plates and trunk bottom plate forms right C-shaped sliding groove, is equipped in each support plate for sliding to extruding Motion block guiding and horizontally arranged waist-shaped hole squeeze sliding shoe both ends and are respectively equipped with the prominent axis being slidably matched with waist-shaped hole, Two extruding sliding shoes are respectively arranged in left C-shaped sliding groove and right C-shaped sliding groove, and can be in corresponding C-shaped sliding groove freely Sliding, two extruding sliding shoes are equipped between the side plate of the left and right of trunk bottom plate two squeeze spring, trunk bottom plate or so respectively The extruding sliding shoe of two sides is connected with left upper extremity, right upper extremity respectively;
As upper torso structure, difference is the lower torso: the extruding of the trunk bottom plate left and right ends of lower torso Sliding shoe is connected with left lower extremity and right lower extremity respectively;
Be connected between the lower torso and upper torso by waist mechanism, the waist mechanism include top driving steering engine, First waist connection frame, middle part driving steering engine, the second waist connection frame and lower part drive steering engine, and the top driving steering engine is solid Due to the top of the first waist connection frame, the output shaft of top driving steering engine and the trunk bottom plate of upper torso are fixedly linked;The One waist connection frame bottom is equipped with middle part steering engine connection frame, and middle part drives steering engine to be fixedly mounted on the second waist by steering engine bracket At the top of connection frame, the output shaft of middle part driving steering engine is fixedly linked with middle part steering engine connection frame, and lower part drives steering engine to be fixed on the The lower end of two waist connection frames, the output shaft of lower part driving steering engine and the trunk bottom plate of lower torso are fixedly linked;
Left upper extremity in the four limbs includes the first swing rod, the second swing rod, third swing rod, the 4th swing rod, driving gear, driven tooth Wheel and c-type bearing connection frame and limbs steering engine, the limbs steering engine and the extruding sliding shoe of upper torso left end are fixedly linked, Second swing rod front end and the output shaft of limbs steering engine are fixedly linked, the extruding sliding shoe of the first swing rod front end and upper torso left end Hinged by pin shaft, the first swing rod and the second swing rod tail end pass through first axle and the second axis respectively and are connected with c-type bearing connection frame, It is connected between second axis and the second swing rod by bearing, relatively fixed connection, first axle and c-type between first axle and the first swing rod It is connected between bearing connection frame by bearing, the first swing rod and the second swing rod form the first parallelogram sturcutre;Driving gear It is mutually twisted and is set in the groove of c-type bearing connection frame with driven gear, driving gear is fixedly linked with first axle, driven Gear is equipped with third axis, is connected between third axis and c-type bearing connection frame by bearing, and third axis stretches out the connection of c-type bearing One end of frame is fixedly linked with third swing rod front end, and c-type bearing connection frame upper end is equipped with the 4th axis, the 4th axis and the 4th swing rod Front end is connected by bearing, and third swing rod and the 4th swing rod form the second parallelogram sturcutre, third swing rod and the 4th swing rod Tail end is hinged and connected with gripper, other three limbs in four limbs are as left upper extremity structure.
2. a kind of four-jaw type apery tube climber device people according to claim 1, it is characterised in that: the gripper includes base Seat, clamping motor, clamping motor bracket, the first clamp jaw, the second clamp jaw and connecting rod pallet, first clamp jaw and Second clamp jaw is S type pawl, and the middle part of first clamp jaw and the second clamp jaw is hinged on clamping motor bracket by pin shaft In the fixed plate that front end is stretched out, the front end of the first clamp jaw and the second clamp jaw passes through curved rod respectively and connecting rod pallet is cut with scissors It connects, the tail end of the first clamp jaw and the second clamp jaw forms the ring for being used for clamping pipe, the output of connecting rod pallet and clamping motor Axis is fixedly linked, and clamping motor is fixed on the base by clamping motor bracket, and pedestal is connected with the end of four limbs.
3. a kind of four-jaw type apery tube climber device people according to claim 1, it is characterised in that: the extruding of the upper torso It is set on sliding shoe there are two spring mounting post, sets that there are two corresponding spring fixed column, upper torsos on the side plate of upper torso Extruding sliding shoe and corresponding side plate between be equipped with two extrudings springs, squeeze spring both ends be separately fixed at spring install On column and corresponding spring fixed column, the lower torso is also as upper torso, extruding sliding shoe and the phase of lower torso Two extruding springs are equipped between the side plate answered, the both ends for squeezing spring are separately fixed at spring mounting post and corresponding spring is solid On fixed column.
CN201710175316.8A 2017-03-22 2017-03-22 A kind of four-jaw type apery tube climber device people Expired - Fee Related CN106882284B (en)

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CN109455241B (en) * 2018-04-09 2020-09-29 国家电网公司 Transposition pole climbing mechanism
CN112455563A (en) * 2018-12-12 2021-03-09 杭州申昊科技股份有限公司 Intelligent inspection robot with pole-climbing mechanism
CN109795573B (en) * 2019-03-29 2021-03-30 中国科学院沈阳自动化研究所 Tendon-driven self-adaptive climbing robot
CN110588819B (en) * 2019-08-23 2020-10-09 武汉科技大学 Climbing robot

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