CN107336761A - A kind of robot sucker foot structure based on fixed shaft gear train - Google Patents
A kind of robot sucker foot structure based on fixed shaft gear train Download PDFInfo
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- CN107336761A CN107336761A CN201710673967.XA CN201710673967A CN107336761A CN 107336761 A CN107336761 A CN 107336761A CN 201710673967 A CN201710673967 A CN 201710673967A CN 107336761 A CN107336761 A CN 107336761A
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- 230000008520 organization Effects 0.000 claims abstract description 41
- 230000033001 locomotion Effects 0.000 claims description 5
- 230000007246 mechanism Effects 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 abstract description 9
- 230000005540 biological transmission Effects 0.000 abstract description 5
- 230000009471 action Effects 0.000 abstract description 4
- 230000001788 irregular Effects 0.000 abstract description 3
- 238000001179 sorption measurement Methods 0.000 abstract description 2
- 230000008901 benefit Effects 0.000 description 3
- 241000252253 Catostomus Species 0.000 description 2
- 210000003464 cuspid Anatomy 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000015556 catabolic process Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of robot sucker foot structure based on fixed shaft gear train, the sucker foot structure includes big sucker group, small sucker group, it is characterised in that：Described big sucker group includes big sucker (1), upper knob (15), the first controlling organization, big shell (11), middle shell (8), and described small sucker group includes small sucker (5), lower knob (14), small shell (3), blessing post (7), gear wheel (9), little gear (10), the second controlling organization.Using fixed shaft gear train as transmission system, small sucker acts on big sucker the sucker foot structure.The present invention produces the absorption affinity of sucker foot using vacuum, pollution and damage will not be produced to action face, it can be walked on irregular coarse work surface, the scope of application of the robot using sucker foot is greatly extended, enhances the adaptivity and adsorption capacity to rough surface of robot.
Description
Technical field
The present invention relates to a kind of machine based on fixed shaft gear train in robot field, more particularly to sucker and robot field
Device people's sucker foot solution structure.
Background technology
The robot of sucker foot formula, absorption affinity is provided using sucker, or support robot body, or effort is provided.
Just as the Spider-Man in film, this robot regards high buildings and large mansions such as level land, freely walks.In actual life, sucker foot formula
Robot can be walked on building glass surface, instead of steeplejack, complete the work to clean the windows.Or in factory
Interior, some machine there is a problem that people goes danger close of fixing a breakdown, and because angle is cunning, manipulator is also difficult in place, at this moment inhale
The robot for formula of sitting with crossing two legs just has sent use, and it can climb up the real-time handling failure of machine surface.Even in future, Ke Yiyong
Militarily, the breakthrough mankind are difficult to the defence line of the enemy crossed, turn into the ingenious military move sharp weapon in war.Or it can be engaged in future
Perform class activity, the aesthetic experience of pleasure is brought for the mankind.
Sucker foot both domestic and external at present for robot, it can be classified as follows：Electromagnetic type, vacuum type, model ylid bloom action
Power formula.Three kinds of suckers respectively have quality.Vacuum type sucker pushes down sucker using atmospheric pressure and provides suction, has applicability extremely wide and right
The advantages of surface damage of agent is almost nil.But also have that suction is limited, be difficult to what is walked on Non-smooth surface plane working face
Deficiency.These shortcomings are overcome inherently to greatly enhance robot ability to work.
Robot needs to overcome Action of Gravity Field enough by sucker, realizes the function of leaping onto roofs and vault over walls.Can be as follows with inference：It is theoretical
Upper sucker has to provide the power more than or equal to gravity equivalent enough.And from engineering reality it is also contemplated that air pressure, wind, the earth
The influence factors such as latitude, thus will according to actual conditions, choose suitable factor of safety calculate sucker to be provided enough it is critical
Power.If consider further that the service load of robot, then the power possibility that sucker to be provided enough will be bigger.Therefore inhale
The suction that can be provided of sitting with crossing two legs is bigger, also ensures that the reliability that sucker works enough, also ensure that the functional reliability of robot.
When common sucker runs into the working surface of Non-smooth surface plane, often because gas leaks, and sucker room can not be maintained
Inside and outside pressure differential.But this coarse surface is common in the robot course of work.It is artificial which limits machine
The ability of work.If this problem can be solved, the working space of present robot necessarily can be greatly expanded.The sucker of the design
Foot is acted on big sucker by small sucker so that big sucker can adapt to the working face of Non-smooth surface plane.
The robot sucker of the design is directed to improving the suction of sucker foot and the adaptability to rough surface enough.
The content of the invention
It is an object of the invention to provide a kind of robot sucker based on fixed shaft gear train applied to robot field to tie enough
Structure, the invention can make robot work in Non-smooth surface planar work surfaces.
For achieving the above object, the technical solution adopted by the present invention is：
A kind of robot sucker foot structure based on fixed shaft gear train, including big sucker group, small sucker group, it is characterised in that：
Described big sucker group includes big sucker (1), upper knob (15), the first controlling organization, big shell (11), middle shell (8), described
Small sucker group include small sucker (5), lower knob (14), small shell (3), accommodate post (7), gear wheel (9), little gear (10),
Second controlling organization；Wherein, the small sucker group is fixed in the middle shell (8) of big sucker group, and the gear wheel (9) is arranged on
Greatly between shell (11) and middle shell (8)；The connected mode of the big sucker group each several part is：Upper knob (15) is screwed in first
On controlling organization one end, the other end of the first controlling organization is connected with big sucker (1), and first is driven by rotating upper knob (15)
Controlling organization moves along a straight line, so as to drive big sucker (1) to deform, the first described controlling organization, upper knob (15), big sucker
(1) it is concentric connection；The connected mode of the small sucker group each several part is：Lower knob (14), which is screwed in, to accommodate on post (7), adds
Post (7) lower end and gear wheel (9) connection are held, and it is concentric with gear wheel (9), so as to drive gear wheel (9) to rotate, the canine tooth
Take turns (9) and complete linkage with little gear (10) intermeshing, the little gear (10) is connected with second controlling organization one end, the second control
The other end of mechanism processed is connected with small sucker (5), drives the second controlling organization to move along a straight line by the rotation of little gear (10), from
And drive the deformation of small sucker (5).
The first described controlling organization includes big connection post (12), big stay column (13), big needle bar, big spacing ring, described big
It is coupled post (12) lower end to be arranged on middle shell (8) by big spacing ring, be coupled in post (12) has groove greatly, is provided with groove
Big stay column (13), there is perforate on big stay column (13), big needle bar passes through the perforate of big stay column (13), and one end is bonded with big spacing ring,
The other end is connected with big stay column (13), and big stay column (13) other end is connected with big sucker (1)；Second controlling organization includes small
Stay column (2), small connection post (4), small needle bar (6), small spacing ring (16), the small connection post (4) and the little gear (10) are even
Connect, small connection post (4) lower end is arranged on small shell (3) by small spacing ring (16), has groove, groove in small connection post (4)
In be provided with small stay column (2), have perforate on small stay column (2), small needle bar (6) passes through the perforate of small stay column (2), one end with it is small spacing
Ring (16) is bonded, and the other end is connected with small stay column (2), and small stay column (2) other end is connected with small sucker (5).
The gear wheel (9) be concentric key connection with the connected mode for accommodating post (7), the little gear (10) and small
The connected mode for tying post (4) is concentric key connection.
The arrangement of small sucker (5) is in the small sucker group：N small sucker (5) is using the center of circle of big sucker (1) in
The heart, using the arbitrary value of a quarter of its radius to 3/4ths as the equiangularly spaced distribution of radius.
The number n spans of the small sucker (5) are 3~12.
The gear wheel (9), little gear (10) modulus can be the First Series in standard module series of tables as defined in China
Any value, pressure angle be 20 °, when modulus is less than 1mm, addendum coefficient 0.8, tip clearance coefficient 0.35, when modulus is big
When 1mm, addendum coefficient 1, tip clearance coefficient 0.25.
A kind of course of work of the robot sucker foot structure based on fixed shaft gear train is as follows：In the plane, turn clockwise
Upper knob (15), upper knob (15) drive the big connection post (12) of big sucker (1) to rotate, and are coupled post (12) greatly and pass through controlling organization
So that big sucker (1) deformation is convex, big sucker (1) produces absorption affinity.Turn clockwise lower knob (14) afterwards, big sucker (1)
Blessing post (7) rotate forward, gear wheel (9), little gear (10) engaged transmission, gear wheel (9) turns clockwise, and little gear (10) is inverse
Hour hands rotate, and little gear (10) drives the small connection post (4) of small sucker (5) to rotate, and passes through the controlling organization of small sucker group
Small sucker (5) is acted on big sucker (1), and now big sucker (1) is convex, absorption affinity increase；In Non-smooth surface planar work surfaces
On, rotate counterclockwise lower knob (14), the blessing post (7) of big sucker (1) inverts, size meshed transmission gear, and gear wheel (9) is inverse
Hour hands rotate, and little gear (10) turns clockwise, and little gear (10) drives small connection post (4) to rotate, and passes through the control of small sucker group
Mechanism processed makes small sucker (5) act on big sucker (1) so that big sucker (1) is recessed, tightly touch Non-smooth surface plane worksheet
Face.Turn upper knob (15) clockwise afterwards, upper knob (15) drives the big connection post (12) of big sucker (1) to rotate, is coupled post greatly
(12) it is convex by the big sucker of controlling organization (1) deformation of big sucker group, absorption affinity is produced, then big sucker (1) can
Walked with the working surface in Non-smooth surface plane.
The invention has the advantages that：The absorption affinity of sucker foot is produced using vacuum, action face will not be produced
Raw pollution and damage, the present invention can make robot be walked on irregular coarse work surface using new construction, and improving makes
With the scope of application of the robot of sucker foot, adaptivity and adsorption capacity of the robot on coarse work surface are enhanced.
The present invention makes small sucker act on big sucker by fixed shaft gear train.The working condition of small sucker is controlled, big sucker can be increased
Suction or help big sucker to adapt to irregular coarse surface.Cause the foot as robot due to the innovation in structure
New sucker has common sucker to be difficult to the advantage reached enough.A kind of robot sucker foot structure based on fixed shaft gear train, not only allows
Robot can move in the plane of land, also assure that it can especially run into ball in wall, glass surface, convex-concave surface walking
It can also be played a role during face, greatly widen the application of robot；The robot sucker can also provide enough simultaneously
Bigger absorption affinity supports robot work, the rated load of increase robot work, completes more highly difficult tasks.
Brief description of the drawings
Fig. 1 is a kind of robot sucker foot structure sectional view based on fixed shaft gear train of the present invention.
Fig. 2 is the second controlling organization structural representation in a kind of robot sucker foot structure based on fixed shaft gear train of the present invention
Figure.
Wherein：Big sucker：1st, small stay column：2nd, small shell：3rd, small connection post：4th, small sucker：5th, small needle bar：6th, post is accommodated：
7th, middle shell：8th, gear wheel：9th, little gear：10th, big shell：11st, it is coupled post greatly：12nd, big stay column：13rd, lower knob：14th, upper rotation
Button：15th, small spacing ring：16.
Embodiment
(small sucker number n values are 6 in Fig. 1) below in conjunction with the accompanying drawings, the present invention is further illustrated.
As shown in figure 1, a kind of robot sucker foot structure based on fixed shaft gear train, including big sucker group, small sucker group, institute
The big sucker group stated includes big sucker 1, upper knob 15, the first controlling organization, big shell 11, middle shell 8, described small sucker group
Including small sucker 5, lower knob 14, small shell 3, blessing post 7, gear wheel 9, little gear 10, the second controlling organization；Wherein, it is described
Small sucker group is fixed in the middle shell 8 of big sucker group, and the gear wheel 9 is arranged between big shell 11 and middle shell 8；It is described
The connected mode of big sucker group each several part is：Upper knob 15 is screwed on first controlling organization one end, the first controlling organization it is another
One end is connected with big sucker 1, drives the first controlling organization to move along a straight line by rotating upper knob 15, so as to drive big sucker 1 to become
Shape；The connected mode of the small sucker group each several part is：Lower knob 14, which is screwed in, to accommodate on post 7, accommodates the lower end of post 7 and gear wheel
9 connection, connected mode is key connection, and concentric with gear wheel 9, so as to drive gear wheel 9 to rotate, the gear wheel 9 with it is small
Linkage is completed in the intermeshing of gear 10, and the little gear 10 is connected with second controlling organization one end, the second controlling organization it is another
End is connected with small sucker 5, drives the second controlling organization to move along a straight line by the rotation of little gear 10, so as to drive small sucker 5
Deformation.
The first described controlling organization includes big connection post 12, big stay column 13, big needle bar, big spacing ring, the big connection
The lower end of post 12 is arranged on middle shell 8 by big spacing ring, has groove in big connection post 12, big stay column 13 is provided with groove,
There is perforate on big stay column 13, big needle bar passes through the perforate of big stay column 13, and one end is bonded with big spacing ring, the other end and big stay column 13
Connection, the big other end of stay column 13 are connected with big sucker 1；Second controlling organization includes small stay column 2, small connection post 4, small needle bar
6th, small spacing ring 16, the small connection post 4 and the little gear 10 link together, and connected mode is key connection, small connection post 4
Lower end is arranged on small shell 3 by small spacing ring 16, has groove in small connection post 4, small stay column 2, small drawing are provided with groove
There is perforate on post 2, small needle bar 6 passes through the perforate of small stay column 2, and one end is bonded with small spacing ring 16, and the other end connects with small stay column 2
Connect, the small other end of stay column 2 is connected with small sucker 5.
Wherein, the gear wheel 9, the module of little gear 10 can be the in standard module series of tables as defined in China
A series of any values, pressure angle are 20 °, when modulus is less than 1mm, addendum coefficient 0.8, tip clearance coefficient 0.35, work as mould
When number is more than 1mm, addendum coefficient 1, tip clearance coefficient 0.25.
The arrangement of small sucker group be n small sucker 5 centered on the center of circle of big sucker 1, with the four of its radius/
3/1 to four arbitrary value is the equiangularly spaced distribution of radius, and number n, the n span of small sucker are 3~12.
As shown in Fig. 2 the second controlling organization schematic diagram in a kind of robot sucker foot based on fixed shaft gear train, described second
Controlling organization includes little gear, small stay column 2, small connection post 4, small spacing ring 16, small needle bar 6, small shell 3, small sucker.Second control
Mechanism processed is act as：The medium and small rotary motion for being coupled post 4 of small sucker group is changed into the linear motion of small sucker.Specifically it is moved through
Journey is as follows：Small needle bar 6 passes through the hole of small stay column 2, and the part on surface is attached to the surface of small spacing ring 16, the both ends of small needle bar 6
End is inserted in the needle tray of small connection post 4 of small sucker group, and when small connection post 4 drives rotation by little gear, small connection post 4 drives
Small needle bar 6 rotates, the shape constraining of small spacing ring 16 movement locus of small needle bar 6, small needle bar 6 can only spiral or under
Drop.Small needle bar 6 drives small stay column 2 to move, and small stay column 2 is connected with small sucker, screw point of the small stay column 2 small needle bar 6
Solve and to rotate and moving along a straight line, drive the core of small sucker to move along a straight line, so as to control the deformation of small sucker.
First controlling organization principle is identical with the second controlling organization principle.
As shown in Figure 1 and Figure 2, a kind of course of work of the robot sucker foot based on fixed shaft gear train is as follows：
In smooth flat, turn clockwise upper knob 15, and upper knob 15 drives the big connection post 12 of big sucker group to rotate,
The big post 12 that is coupled deforms convex, the big generation of sucker 1 absorption affinity by the big sucker 1 of controlling organization.Turn clockwise down afterwards
Knob 14, the blessing post 7 of big sucker rotate forward, and gear wheel 9, the engaged transmission of little gear 10, gear wheel 9 turn clockwise, little gear
10 rotate counterclockwises, little gear 10 drive the small connection post 4 of small sucker group to rotate, acted on by controlling organization small sucker 5
On big sucker 1, now big sucker 1 is convex, big sucker suction power increase.
On Non-smooth surface planar work surfaces, rotate counterclockwise lower knob 14, the blessing post 7 of big sucker group inverts, canine tooth
Wheel 9, the engaged transmission of little gear 10, the rotate counterclockwise of gear wheel 9, little gear 10 turn clockwise, and little gear 10 drives small connection
Post 4 rotates, and small sucker 5 is acted on big sucker 1 by the controlling organization of small sucker group so that big sucker 1 is recessed, tightly pastes
Firmly Non-smooth surface planar work surfaces；Turn upper knob 15 clockwise, upper knob 15 drives the big connection post 12 of big sucker group to rotate, greatly
It is coupled post 12 and is deformed by the big sucker 1 of controlling organization convex, big sucker 1 produces absorption affinity, and then the device is just in non-light
Sliding planar work surfaces work.
The present invention is described by above-mentioned related embodiment, but above-described embodiment is only the example for implementing the present invention.
It must be noted that the embodiment disclosed is not limiting as the scope of the present invention.On the contrary, do not depart from the present invention spirit and
In the range of the change and retouching made, belong to the scope of patent protection of the present invention.
Claims (5)
1. a kind of robot sucker foot structure based on fixed shaft gear train, including big sucker group, small sucker group, it is characterised in that：Institute
The big sucker group stated includes big sucker (1), upper knob (15), the first controlling organization, big shell (11), middle shell (8), described
Small sucker group includes small sucker (5), lower knob (14), small shell (3), accommodates post (7), gear wheel (9), little gear (10), the
Two controlling organizations；Wherein, the small sucker group is arranged in the middle shell (8) of big sucker group, and the gear wheel (9) is arranged on greatly
Between shell (11) and middle shell (8)；The connected mode of the big sucker group each several part is：Upper knob (15) is screwed in the first control
On mechanism one end processed, the other end of the first controlling organization is connected with big sucker (1), and the first control is driven by rotating upper knob (15)
Mechanism linear motion processed, so as to drive big sucker (1) to deform；The connected mode of the small sucker group each several part is：Lower knob
(14) it is screwed in and accommodates on post (7), accommodates post (7) lower end and gear wheel (9) connection, and it is concentric with gear wheel (9), pass through rotation
Turning lower knob (14) so as to drive gear wheel (9) to rotate, the gear wheel (9) completes linkage with little gear (10) intermeshing,
The little gear (10) is connected with second controlling organization one end, and the other end of the second controlling organization is connected with small sucker (5), is passed through
The rotation of little gear (10) drives the second controlling organization linear motion, so as to drive the deformation of small sucker (5).
A kind of 2. robot sucker foot structure of fixed shaft gear train according to claim 1, it is characterised in that：Described first
Controlling organization include it is big be coupled post (12), big stay column (13), big needle bar, big spacing ring, big connection post (12) upper end with it is upper
Knob (15) is connected, and lower end is arranged on middle shell (8) by big spacing ring, and be coupled in post (12) has groove greatly, is set in groove
Big stay column (13) is equipped with, there is perforate on big stay column (13), big needle bar passes through the perforate of big stay column (13), and one end is pasted with big spacing ring
Close, the other end is connected with big stay column (13), and big stay column (13) other end is connected with big sucker (1)；The second controlling organization bag
Include small stay column (2), small connection post (4), small needle bar (6), small spacing ring (16), the small connection post (4) and the little gear
(10) connect, small connection post (4) lower end is arranged on small shell (3) by small spacing ring (16), has ditch in small connection post (4)
Groove, small stay column (2) being provided with groove, there is perforate on small stay column (2), small needle bar (6) passes through the perforate of small stay column (2), one end
It is bonded with small spacing ring (16), the other end is connected with small stay column (2), and small stay column (2) other end is connected with small sucker (5).
A kind of 3. robot sucker foot structure based on fixed shaft gear train according to claim 2, it is characterised in that：It is described big
Gear (9) is key connection with the connected mode for accommodating post (7), and the little gear (10) is with the small connected mode for being coupled post (4)
Key connection.
4. a kind of robot sucker foot structure based on fixed shaft gear train according to claim 1-3 any one, its feature
It is：The arrangement of small sucker (5) is in the small sucker group：N small sucker (5) centered on the center of circle of big sucker (1),
Using the arbitrary value of a quarter of its radius to 3/4ths as the equiangularly spaced distribution of radius.
A kind of 5. robot sucker foot structure based on fixed shaft gear train according to claim 4, it is characterised in that：Small sucker
(5) number n spans are 3~12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710673967.XA CN107336761B (en) | 2017-08-09 | 2017-08-09 | Robot sucking disc foot structure based on fixed axis gear train |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710673967.XA CN107336761B (en) | 2017-08-09 | 2017-08-09 | Robot sucking disc foot structure based on fixed axis gear train |
Publications (2)
| Publication Number | Publication Date |
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| CN107336761A true CN107336761A (en) | 2017-11-10 |
| CN107336761B CN107336761B (en) | 2023-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| Publication number | Publication date |
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| CN107336761B (en) | 2023-11-28 |
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