CN107097865A - A kind of servo-drive becomes cell type stepping and climbed tree monitoring sniffing robot - Google Patents
A kind of servo-drive becomes cell type stepping and climbed tree monitoring sniffing robot Download PDFInfo
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- CN107097865A CN107097865A CN201710182444.5A CN201710182444A CN107097865A CN 107097865 A CN107097865 A CN 107097865A CN 201710182444 A CN201710182444 A CN 201710182444A CN 107097865 A CN107097865 A CN 107097865A
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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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Abstract
A kind of servo-drive becomes cell type stepping and climbed tree monitoring sniffing robot, including the mechanical leg device of servo-drive, frame bar assembly and monitoring detection system.When pedipulator servo drive motor is operated alone, it just can realize that complexity is climbed tree and embrace tree motion, driving is simple；Pedipulator and trunk have angle of inclination, just can be realized using driving force locked, climb tree safe and reliable；During robot climbs tree, the free degree is changed, thus it is possible to vary hold angle tightly, realize the change of robot flexible adaptation tree diameters；Animal bodies construction is simulated, makes monitoring sniffing robot flexible adaptation different shape trees of climbing tree；Multiple degrees of freedom monitoring detection system is combined with robot capable of climbing trees, and travelling performance is good, working range is big, can flexibly and easily complete field monitoring detection operations；It is rapid using servomotor driving response, control accurately, high level flexibility output, working stability to be obtained by programming.
Description
Technical field
The present invention relates to Robot Design field, particularly a kind of servo-drive change cell type stepping, which is climbed tree, monitors detection machine
People.
Background technology
With socio-economic development, monitoring detecting devices is in detection fire, protection property safety, maintain public order stabilization
Aspect applies increasingly extensive, and tradition monitoring detecting devices needs to install erection, there are problems that wiring, power supply, Er Qieduo
To be fixedly mounted, therefore work is inconvenient, and monitoring investigative range is limited, and particularly in the wild under complex environment, problem is more protruded.
The continuous improvement of robot technology level, the application of bio-robot is gradually extensive, wherein bionical robot capable of climbing trees
Apply trees training, disease control, pest control, picking fruit, field monitoring detection in terms of it is also increasing, therefore
Bionical robot capable of climbing trees is applied into monitoring to detect, prior art shortcoming can be overcome.
Chinese patent ZL2012103468033 discloses a kind of four-footed climbing robot, and the robot utilizes self-weight self-locking,
And each holding arm installs three motors, driving is more complicated, and overall movement speed is also relatively slow, does not have applicability.
Servomotor uses closed-loop control, and driver directly can sample to motor encoder feedback signal, Ke Yigen
Adjusted in real time according to external world's feedback, realize and speed, position etc. are accurately controlled, and speed responsive is fast, it is stable, therefore will
Servomotor is applied to monitoring sniffing robot of climbing tree, and can better meet job requirement.
At present, it there are no driving simple, climb tree reliable and secure, adapt to different thicknesses, shape trees, travelling performance is good,
Working range is big, can flexibly and easily be monitored detection, and control accuracy height, the servo-drive of working stability are climbed tree monitoring explorer
Device people.
The content of the invention
Become cell type stepping it is an object of the invention to provide a kind of servo-drive to climb tree monitoring sniffing robot, it can overcome existing
There is the deficiency of monitoring detecting devices, when servomotor is operated alone, just can realize that complexity is climbed tree and embrace tree motion, driving is simple；Machine
Tool leg and trunk have angle of inclination, just can be realized using driving force locked, climb tree safe and reliable；Robot climbs tree process
In, change the free degree, thus it is possible to vary hold angle tightly, realize the change of robot flexible adaptation tree diameters；Simulate animal bodies
Construction, makes monitoring sniffing robot flexible adaptation different shape trees of climbing tree；Multiple degrees of freedom monitor detection system with the machine of climbing tree
Device people combines, and travelling performance is good, working range is big, can flexibly and easily complete field monitoring detection operations；Using servomotor
Driving response is rapid, controls accurately, high level flexibility output, working stability to be obtained by programming.
The present invention reaches above-mentioned purpose by the following technical programs：A kind of servo-drive change cell type stepping, which is climbed tree, monitors detection
Robot, including the mechanical leg device of servo-drive, monitoring detection system and frame bar assembly, concrete structure and annexation are：
The mechanical leg device of the servo-drive includes the mechanical leg device of the first servo-drive, the second servo-drive pedipulator dress
Put, the mechanical leg device of the 3rd servo-drive and the mechanical leg device of the 4th servo-drive, the mechanical leg device of first servo-drive
Including drive rocker, driven rocking bar, connecting rod, pedipulator servo drive motor, link, sliding sleeve, sliding sleeve driving hydraulic cylinder, machinery
Leg driving hydraulic cylinder, pedipulator, fixed claw, arc-shaped limit chute and rolling bearing, drive rocker one end and rod hinge connection, it is another
End is fixedly connected with pedipulator servo drive motor, and pedipulator servo drive motor is connected with the first bar, and drives drive rocker
Rotated relative to the first bar, driven rocking bar one end and rod hinge connection, the other end are hinged with the first bar, link both passed through hinge with connecting rod
Chain is connected, and is connected with sliding sleeve by cylindrical pair, is also connected with pedipulator driving hydraulic cylinder, and the sliding sleeve drives hydraulic pressure with sliding sleeve
Cylinder is connected, and the pedipulator driving hydraulic cylinder is connected with pedipulator, and the sliding sleeve driving hydraulic cylinder is hinged with the first bar, described solid
Determine pawl to be fixedly connected with link, be mounted with rolling bearing below the driven rocking bar, rolling bearing is in arc-shaped limit chute
Motion, arc-shaped limit chute is fixed on below the first bar, the second servo-drive machinery leg device, the 3rd servo-drive pedipulator dress
Put identical with the first servo-drive pedipulator apparatus structure and annexation with the mechanical leg device of the 4th servo-drive；
The monitoring detection system includes the first monitoring detection system and the second monitoring detection system, and first monitoring is visited
Examining system includes rotation seat, expansion link, two grades of expansion links, monitoring detector, monitoring detection system first hydraulic cylinder, monitoring detections
System second hydraulic cylinder and the monitoring hydraulic cylinder of detection system the 3rd, the expansion link are connected with rotation seat, two grades of expansion link one end
Slided in expansion link, the other end is connected with monitoring detector, described monitoring detection system first hydraulic cylinder one end and rotation seat
It is hinged, the other end is hinged with expansion link, described monitoring detection system second hydraulic cylinder one end is hinged with expansion link, the other end and two
Level expansion link is hinged, and described monitoring hydraulic cylinder one end of detection system the 3rd is hinged with two grades of expansion links, and the other end is detected with monitoring
Device is hinged, and the second monitoring detection system is identical with the first monitoring detection system structure and annexation；
The frame bar assembly include the first bar, the second bar, the 3rd bar, the 4th bar, the 5th bar, the 6th bar, the 7th bar and
8th bar, the first bar is hinged with the second bar by the first Hooke, and the second bar is connected with the 3rd bar by second hinge, the 3rd bar
It is connected with the 4th bar by the servomotor of side link first, the 4th bar is connected with the 5th bar by third hinge, the 5th bar and
Six bars are hinged by the second Hooke, and the 6th bar and the 7th bar are by the 4th hinge connection, and the 7th bar and the 8th bar pass through frame linking
The servomotor of bar second is connected, and the 8th bar is connected with the first bar by first axle, side link the first driving hydraulic cylinder one end and
First bar is hinged, and the other end is hinged with the second bar by the 3rd Hooke, side link the second driving hydraulic cylinder one end and the 6th bar
It is connected, the other end is connected with the 5th bar by the 4th Hooke's hinge, and the driving hydraulic cylinder one end of side link the 3rd is hinged with the first bar, separately
One end is hinged with the 8th bar, and the driving hydraulic cylinder one end of side link the 4th is hinged with the 6th bar, and the other end is hinged with the 7th bar, frame linking
The driving hydraulic cylinder one end of bar the 5th is hinged with the 5th bar, and the other end is hinged with the 4th bar, the driving hydraulic cylinder one end of side link the 6th
It is hinged with the second bar, the other end is hinged with the 3rd bar.
The arc-shaped limit chute circular arc corresponding angle is 105-110 °, and the pedipulator is with link setting angle
50-55°。
The present invention's has the prominent advantages that：
1. servo-drive stepping climb tree monitoring sniffing robot during climbing tree, pedipulator can realize two-freedom and
The transformation of single-degree-of-freedom, belong to variable freedom become born of the same parents' structure, with multi-functional phase change, multiple topology change, it is how free
Variation characteristic is spent, pedipulator is completed the action of complexity during climbing tree.During climbing tree, require different according to gait, it is single
The free degree can realize that relative trunk is held tightly or loosened upwards upwards and wait motion when working, when two frees degree work, make machine
Tool leg keeps holding tightly when robot is moved upwards, and can change holding angle, adapts to different-diameter trees.
2. servo-drive stepping is climbed tree, the driving of monitoring sniffing robot is simple, when pedipulator servomotor is operated alone, just
Animal can flexibly be imitated to climb tree action, pedipulator can realize relative trunk by holding tightly to upwards loosening, then to holding trunk upwards
Compound action, while realize that pedipulator is locked on trunk by the reaction force of driving force, monitoring detection operations of climbing tree
It is safe and reliable.
3. multivariant monitoring detecting devices is combined with robot capable of climbing trees, it is possible to achieve multi-faceted steering, avoidance, change
Become center of gravity, working range is big, adapts to trees of different shapes, and flexible is monitored detection, is driven using servomotor
Dynamic, response is rapid, controls accurately, high level flexibility output, working stability to be obtained by programming.
Brief description of the drawings
Fig. 1 climbs tree for servo-drive stepping of the present invention monitors the structural representation of sniffing robot.
Fig. 2 is view when drive rocker of the present invention is vertical with the first bar.
Fig. 3 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved upwards.
Fig. 4 is pedipulator of the present invention with respect to the limiting condition schematic diagram that the first bar is moved downward.
Fig. 5 is the schematic diagram of end movement track when pedipulator of the present invention is climbed tree upwards.
Fig. 6 is that servo-drive of the present invention becomes the climb tree first step of monitoring sniffing robot of cell type stepping and climbed tree gait
Schematic diagram.
Fig. 7 is that servo-drive of the present invention becomes the climb tree second step of monitoring sniffing robot of cell type stepping and climbed tree gait
Schematic diagram.
Fig. 8 is link schematic diagram of the present invention.
Fig. 9 is arc-shaped limit chute schematic diagram of the present invention.
The representative implication of each mark is in accompanying drawing：
1：First axle；2：8th bar；3：The servomotor of side link second；4：7th bar；5：4th hinge；6：6th
Bar；7：Second Hooke's hinge；8：5th bar；9：Third hinge；10：4th bar；11：The servomotor of side link first；12：3rd
Bar；13：Second hinge；14：Second bar；15：First Hooke's hinge；16：First bar；17：Pedipulator；18：Monitor detection system the
One hydraulic cylinder；19：Monitor detection system second hydraulic cylinder；20：Monitor the hydraulic cylinder of detection system the 3rd；21：Side link first drives
Hydrodynamic cylinder pressure；22：3rd Hooke's hinge；23：The driving hydraulic cylinder of side link second；24：4th Hooke's hinge；25：Side link the 3rd drives
Hydrodynamic cylinder pressure；26：The driving hydraulic cylinder of side link the 4th；27：The driving hydraulic cylinder of side link the 5th；28：Side link the 6th drives liquid
Cylinder pressure；29：Pedipulator driving hydraulic cylinder；30：Pedipulator servo drive motor；31：Drive rocker；32：Connecting rod；33：Link；
34：Sliding sleeve；35：Driven rocking bar；36：Sliding sleeve driving hydraulic cylinder；37：Arc-shaped limit chute；38：Rolling bearing；39：Fixed claw；
40：Rotation seat；41：Expansion link；42：Two grades of expansion links；43：Monitoring detector；44：Trees.
Embodiment
Below in conjunction with the accompanying drawings and technical scheme is clearly and completely described embodiment, it is clear that this is only
Only it is a part of embodiment of the invention, rather than whole embodiments.Based on embodiments of the present invention, art technology
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the model that the present invention is protected
Enclose.
Compares figure 1, Fig. 2, Fig. 8 and Fig. 9, servo-drive change cell type stepping of the present invention, which is climbed tree, monitors detection machine
People, including the mechanical leg device of servo-drive, monitoring detection system and frame bar assembly, concrete structure and annexation are：
The mechanical leg device of the servo-drive includes the mechanical leg device of the first servo-drive, the second servo-drive pedipulator dress
Put, the mechanical leg device of the 3rd servo-drive and the mechanical leg device of the 4th servo-drive, the mechanical leg device of first servo-drive
Driven including drive rocker 31, driven rocking bar 35, connecting rod 32, pedipulator servo drive motor 30, link 33, sliding sleeve 34, sliding sleeve
Hydrodynamic cylinder pressure 36, pedipulator driving hydraulic cylinder 29, pedipulator 17, fixed claw 39, rolling bearing 38 and arc-shaped limit chute 37, drive
Shake the one end of bar 31 to be hinged with connecting rod 32, the other end is fixedly connected with pedipulator servo drive motor 30, pedipulator servo-drive
Motor 30 is connected with the first bar 16, and drives drive rocker 31 to be rotated relative to the first bar 16, driven one end of rocking bar 35 and connecting rod 32
It is hinged, the other end is hinged with the first bar 16, link 33 is both connected through the hinge with connecting rod 32, and passes through cylindrical pair with sliding sleeve 34
Connection, is also connected, the sliding sleeve 34 is connected with sliding sleeve driving hydraulic cylinder 36 with pedipulator driving hydraulic cylinder 29, and the pedipulator drives
Hydrodynamic cylinder pressure 29 is connected with pedipulator 17, and the sliding sleeve driving hydraulic cylinder 36 is hinged with the first bar 16, and the fixed claw 39 is with connecting
Connect frame 33 to be fixedly connected, the driven lower section of rocking bar 35 is mounted with rolling bearing 38, and rolling bearing 38 is in arc-shaped limit chute 37
Interior motion, arc-shaped limit chute 37 is fixed on the lower section of the first bar 16, the second servo-drive machinery leg device, the 3rd servo-drive machine
Tool leg device and the mechanical leg device of the 4th servo-drive are identical with the first servo-drive pedipulator apparatus structure and annexation；
The monitoring detection system includes the first monitoring detection system and the second monitoring detection system, and first monitoring is visited
Examining system includes rotation seat 40, expansion link 41, two grades of expansion links 42, monitoring detector 43, monitoring detection system first hydraulic cylinders
18th, monitoring detection system second hydraulic cylinder 19 and the monitoring hydraulic cylinder 20 of detection system the 3rd, the expansion link 41 and rotation seat 40
It is hinged, two grades of one end of expansion link 42 are slided in expansion link 41, the other end is hinged with monitoring detector 43, the monitoring detection system
System one end of first hydraulic cylinder 18 is hinged with rotation seat 40, and the other end is hinged with expansion link 41, the monitoring liquid of detection system second
The one end of cylinder pressure 19 is hinged with expansion link 41, and the other end is hinged with two grades of expansion links 42, the monitoring hydraulic cylinder of detection system the 3rd
20 one end are hinged with two grades of expansion links 42, and the other end is hinged with monitoring detector 43, the second monitoring detection system and the first monitoring
Detection system structure and annexation are identical, pass through rotation seat 40, monitoring detection system first hydraulic cylinder 18, monitoring detection system
The driving of second hydraulic cylinder 19 and the monitoring hydraulic cylinder 20 of detection system the 3rd, it is possible to achieve the first monitoring detection system multiple degrees of freedom
Flexible monitoring detected event；
The frame bar assembly includes the first bar 16, the second bar 14, the 3rd bar 12, the 4th bar 10, the 5th bar 8, the 6th bar
6th, the 7th bar 4 and the 8th bar 2, the first bar 16 are connected with the second bar 14 by the first Hooke's hinge 15, the second bar 14 and the 3rd bar 12
Connected by second hinge 13, the 3rd bar 12 is connected with the 4th bar 10 by the first servomotor of side link 11, the 4th bar 10 with
5th bar 8 is connected by third hinge 9, and the 5th bar 8 is connected with the 6th bar 6 by the second Hooke's hinge 7, the 6th bar 6 and the 7th bar 4
Connected by the 4th hinge 5, the 7th bar 4 is connected with the 8th bar 2 by the second servomotor of side link 3, the 8th bar 2 and the first bar
16 are connected by first axle 1, and the one end of the first driving hydraulic cylinder of side link 21 is hinged with the first bar 16, the other end and the second bar 14
Connected by the 3rd Hooke's hinge 22, the one end of the second driving hydraulic cylinder of side link 23 is connected with the 6th bar 6, the other end and the 5th bar 8
It is connected by the 4th Hooke's hinge 24, the one end of the 3rd driving hydraulic cylinder of side link 25 is hinged with the first bar 16, the other end and the 8th bar 2
It is hinged, the one end of the 4th driving hydraulic cylinder of side link 26 is hinged with the 6th bar 6, the other end is hinged with the 7th bar 4, side link the 5th drives
The one end of hydrodynamic cylinder pressure 27 is hinged with the 5th bar 8, and the other end is hinged with the 4th bar 10, the one end of the 6th driving hydraulic cylinder of side link 28 with
Second bar 14 is hinged, and the other end is hinged with the 3rd bar 12.
The circular arc corresponding angle of arc-shaped limit chute 37 is 105-110 °, the pedipulator 17 and the established angle of link 33
Spend for 50-55 °.
Operation principle and process：
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, when drive rocker 31 is vertical with connecting rod 32, sliding sleeve 34 slides into link 33
It is middle；The independent role effect of pedipulator servo drive motor 30, as state is changed into state shown in Fig. 3, Ke Yishi as shown in Figure 2
The upward motion for holding trunk tightly simultaneously of existing relative first bar 16 of pedipulator 17, such as state is changed into Fig. 2 to action effect as shown in Figure 4
Shown state, it is possible to achieve relative first bar 16 of pedipulator 17 loosens the motion of trunk simultaneously upwards, i.e. action effect is turned by Fig. 4
When being changed into Fig. 2 and being changed into state shown in Fig. 3 again, pedipulator 17 does upward relaxing exercise relative to the first bar 16, by holding and done again
Hold motion tightly upwards, action effect on the contrary is changed into Fig. 2 and is changed into state shown in Fig. 4 again as shown in Figure 3, realizes pedipulator 17
It is also that pedipulator 17 drives monitoring of climbing tree relative to the first bar 16 by holding state to loosening downwards again to the motion held tightly downwards
The process that sniffing robot is moved upwards, and sliding sleeve driving hydraulic cylinder 36 participates in being changed into Fig. 2 as shown in Figure 3 and being changed into Fig. 4 again
Shown process, it is ensured that when robot is moved upwards, pedipulator 17 is always maintained at the holding to trunk, sliding sleeve driving hydraulic cylinder 36
Driving process be that when state is changed into state shown in Fig. 2 as shown in Figure 3, sliding sleeve driving hydraulic cylinder 36 is gradually stretched out, and figure
State shown in 2 is up to range, when state is changed into state shown in Fig. 4 as shown in Figure 2, and sliding sleeve driving hydraulic cylinder 36 is gradually returned
Contracting, and reset condition is reduced in state shown in Fig. 4, pedipulator servo drive motor 30 drives hydraulic pressure with sliding sleeve during this
Cylinder 36 cooperates, and realizes the automatic conversion of one degree of freedom and two frees degree, realizes robot in the process moved upwards
In, pedipulator 17 is always maintained at holding tightly.
Compares figure 5, when pedipulator 17 is moved upwards, can be realized under the independent role of pedipulator servo drive motor 30
The range of motion for holding of climbing tree, imitates animal and climbs tree process leg action, i.e. pedipulator 17 by holding trunk, to upwards gradually
Loosen, then to the process gradually held tightly upwards, θ in Fig. 51、θ2The size of value reflects the holding journey of pedipulator 17 and trees 44
Degree.
Compares figure 2, Fig. 3, Fig. 4 and Fig. 5, pedipulator 17 constitute a pin with fixed claw 39 and climb instrument, and incline with trunk
Oblique certain angle, therefore the driving force of pedipulator servo drive motor 30 can not only realize that upward climb tree of pedipulator 17 is held tightly simultaneously
The motion of trunk, moreover it is possible to realize that pedipulator 17, to the locked of trunk, meets reliable and stable requirement of climbing tree, at the same pedipulator 17 with
Pedipulator driving hydraulic cylinder 29 is connected, and the collapsing length of pedipulator driving hydraulic cylinder 29 can be adjusted automatically according to trunk diameter,
Realize and be generally applicable function.
Compares figure 6, Fig. 7 and Fig. 8, pedipulator 17 are identical with the pedipulator action in the mechanical leg device of the 3rd servo-drive,
And with the pedipulator in the mechanical leg device of the second servo-drive on the contrary, pedipulator in the second servo-drive machinery leg device with
Pedipulator action in 4th servo-drive machinery leg device is identical, therefore during climbing tree, the first step, as shown in fig. 6, machine
Pedipulator in the servo-drive of tool leg 17 and the 3rd machinery leg device is moved upwards with respect to body, and the second servo-drive pedipulator
The pedipulator in the mechanical leg device of pedipulator and the 4th servo-drive in device is moved downward with respect to body, i.e. the second servo is driven
The pedipulator in the mechanical leg device of pedipulator and the 4th servo-drive in motivation tool leg device, drives robot body to transport upwards
Dynamic, second step is identical with the first step, pedipulator and the 4th servo-drive pedipulator dress in the second servo-drive machinery leg device
Pedipulator in putting is moved upwards with respect to body, and the pedipulator in the servo-drive of pedipulator 17 and the 3rd machinery leg device is with respect to machine
Body is moved downward, i.e., the pedipulator in the mechanical leg device of the servo-drive of pedipulator 17 and the 3rd drives robot body to transport upwards
Dynamic, the two steps are just realized monitoring sniffing robot of climbing tree and quickly climbed tree successively.
When climbing tree, monitoring sniffing robot needs the remains stationary on trunk, to complete such as training, monitoring, insect pest preventing and controlling
During work, driven rocking bar 35 connects rolling bearing 38, and to move to upper extreme position in arc-shaped limit chute 37 locked, only by
Sliding sleeve driving hydraulic cylinder 36 drives, the second servo-drive machinery leg device, the mechanical leg device of the 3rd servo-drive and the 4th servo
Pedipulator in the mechanical leg device of driving is identical with the state of pedipulator 17, and monitoring sniffing robot of now climbing tree just firmly is embraced
Tightly on trunk.
The driving hydraulic cylinder 25 of side link the 3rd and the driving hydraulic cylinder 26 of side link the 4th are driven, or drives side link simultaneously
5th driving hydraulic cylinder 27 and the driving hydraulic cylinder 28 of side link the 6th, it is possible to achieve left and right turn, while driving side link first
Driving hydraulic cylinder 21 and the second driving hydraulic cylinder of side link 23 can be realized and bent over upwards, while driving the servo of side link first electricity
Machine 11 and the second servomotor of side link 3 can realize that the change of center of gravity, the various operating modes of flexible adaptation are realized in left and right doubling.
Claims (3)
- The monitoring sniffing robot 1. a kind of servo-drive change cell type stepping is climbed tree, including the mechanical leg device of servo-drive, monitoring are visited Examining system and frame bar assembly, it is characterised in that concrete structure and annexation are：The mechanical leg device of the servo-drive include the mechanical leg device of the first servo-drive, the mechanical leg device of the second servo-drive, 3rd servo-drive machinery leg device and the mechanical leg device of the 4th servo-drive, the mechanical leg device of first servo-drive include Drive rocker, driven rocking bar, connecting rod, pedipulator servo drive motor, link, sliding sleeve, sliding sleeve driving hydraulic cylinder, pedipulator drive Hydrodynamic cylinder pressure, pedipulator, fixed claw, arc-shaped limit chute and rolling bearing, drive rocker one end and rod hinge connection, the other end with Pedipulator servo drive motor is fixedly connected, driven rocking bar and rod hinge connection, link both with rod hinge connection, and pass through with sliding sleeve Cylindrical pair is connected, and is also fixedly connected with pedipulator driving hydraulic cylinder, the sliding sleeve is connected with sliding sleeve driving hydraulic cylinder, the machinery Leg driving hydraulic cylinder is connected with pedipulator, and the fixed claw is fixedly connected with link, and the axis of rolling is mounted with below driven rocking bar Hold, rolling bearing is moved in arc-shaped limit chute, the second servo-drive machinery leg device, the mechanical leg device of the 3rd servo-drive It is identical with the first servo-drive pedipulator apparatus structure and annexation with the mechanical leg device of the 4th servo-drive；The monitoring detection system includes the first monitoring detection system and the second monitoring detection system, the first monitoring detection system System includes rotation seat, expansion link, two grades of expansion links, monitoring detector, monitoring detection system first hydraulic cylinder, monitoring detection systems Second hydraulic cylinder and the monitoring hydraulic cylinder of detection system the 3rd, the expansion link are connected with rotation seat, and two grades of expansion link one end are being stretched Slided in contracting bar, the other end is connected with monitoring detector, described monitoring detection system first hydraulic cylinder one end is hinged with rotation seat, The other end is hinged with expansion link, and described monitoring detection system second hydraulic cylinder one end is hinged with expansion link, and the other end is stretched with two grades Contracting bar is hinged, and described monitoring hydraulic cylinder one end of detection system the 3rd is hinged with two grades of expansion links, and the other end is cut with scissors with monitoring detector Connect, the second monitoring detection system is identical with the first monitoring detection system structure and annexation.
- The monitoring sniffing robot 2. servo-drive change cell type stepping according to claim 1 is climbed tree, it is characterised in that described Arc-shaped limit chute circular arc corresponding angle is 105-110 °.
- The monitoring sniffing robot 3. servo-drive change cell type stepping according to claim 1 is climbed tree, it is characterised in that described Pedipulator is 50-55 ° with link setting angle.
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| CN201710182444.5A CN107097865A (en) | 2017-03-24 | 2017-03-24 | A kind of servo-drive becomes cell type stepping and climbed tree monitoring sniffing robot |
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| CN201710182444.5A CN107097865A (en) | 2017-03-24 | 2017-03-24 | A kind of servo-drive becomes cell type stepping and climbed tree monitoring sniffing robot |
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| CN202574445U (en) * | 2012-02-23 | 2012-12-05 | 西华大学 | Robot capable of climbing poles with sections in various shapes |
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Application publication date: 20170829 |