CN107336761B - Robot sucking disc foot structure based on fixed axis gear train - Google Patents
Robot sucking disc foot structure based on fixed axis gear train Download PDFInfo
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- CN107336761B CN107336761B CN201710673967.XA CN201710673967A CN107336761B CN 107336761 B CN107336761 B CN 107336761B CN 201710673967 A CN201710673967 A CN 201710673967A CN 107336761 B CN107336761 B CN 107336761B
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- 230000007246 mechanism Effects 0.000 claims abstract description 53
- 238000001179 sorption measurement Methods 0.000 claims abstract description 13
- 230000033001 locomotion Effects 0.000 claims description 10
- 241000252254 Catostomidae Species 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 abstract description 4
- 230000001788 irregular Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 241000252253 Catostomus Species 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 241000239290 Araneae Species 0.000 description 1
- 238000005411 Van der Waals force Methods 0.000 description 1
- 230000009471 action Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007123 defense Effects 0.000 description 1
- 238000005553 drilling Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
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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
The invention discloses a robot sucking disc foot structure based on a fixed axis gear train, which comprises a large sucking disc group and a small sucking disc group and is characterized in that: the large sucker group comprises a large sucker (1), an upper knob (15), a first control mechanism, a large shell (11) and a middle shell (8), and the small sucker group comprises a small sucker (5), a lower knob (14), a small shell (3), a clamping column (7), a large gear (9), a small gear (10) and a second control mechanism. The sucking disc foot structure takes a fixed-axis gear train as a transmission system, and a small sucking disc acts on a large sucking disc. The invention utilizes the vacuum degree to generate the adsorption force of the suction disc foot, can not pollute and damage the acting surface, can walk on an irregular rough working surface, greatly expands the application range of the robot using the suction disc foot, and enhances the self-adaptability and adsorption capacity of the robot to the rough surface.
Description
Technical Field
The invention relates to the field of robots, in particular to a robot sucking disc foot-solving structure based on a fixed-axis gear train in the fields of sucking discs and robots.
Background
The suction disc foot type robot utilizes the suction disc to provide suction force, or supports a robot body, or provides working force. Like spiders in a movie, this robot is free to walk on tall buildings such as flat ground. In real life, the sucker foot type robot can walk on the building glass surface to replace a high-altitude operation worker to finish the glass wiping work. Or in the factory, a certain machine has a problem, the trouble removal by a person is dangerous, the manipulator is difficult to get in place due to the angle of the drilling, at the moment, the suction disc foot type robot is provided with a field, and the robot can climb the surface of the machine to process the trouble in real time. Even in the future, the device can be used in military, breaks through the defense line of enemy which is difficult to pass by human, and becomes a soldier in war. Or may engage in performance-like activities in the future, resulting in a pleasant aesthetic experience for the human.
At present, the sucking discs for robots at home and abroad are classified as follows: electromagnetic, vacuum, van der waals forces. The three suckers have advantages and disadvantages. The vacuum sucker presses the sucker by utilizing the atmospheric pressure to provide suction force, and has the advantages of extremely wide applicability and almost zero surface damage to an object. However, there is also a disadvantage in that the suction force is limited and it is difficult to walk on a non-smooth plane work surface. Overcoming these drawbacks necessarily results in a significant increase in the working capacity of the robot.
The robot needs to rely on the sucking disc to overcome the action of gravity, realizes the function of the cornice. It can be deduced as follows: theoretically, the suction cup foot must provide a force greater than or equal to the gravitational equivalent. From engineering practical point of view, the influence factors such as air pressure, wind, earth latitude and the like are considered, so that the critical force to be provided by the suction disc foot is calculated by selecting a proper safety factor according to practical conditions. If the robot's working load is taken into account again, the force to be provided by the suction cup foot may be greater. From the above, the greater the suction force provided by the sucking disc foot, the more reliable the sucking disc foot works, and the more reliable the robot works.
When a common sucker meets a working surface with a non-smooth plane, the pressure difference between the indoor and the outdoor of the sucker cannot be maintained due to gas leakage. But such rough surfaces are common during robot operation. This limits the ability of the robot to work. If this problem can be solved, the working space of the present robot can be greatly expanded. The sucking disc foot of this design is through little sucking disc effect on big sucking disc for big sucking disc can adapt to non-smooth planar working face.
The robot sucking disc foot of this design is dedicated to improving the suction of sucking disc foot and to the adaptability of rough surface.
Disclosure of Invention
The invention aims to provide a robot sucking disc foot structure based on an ordinary gear train, which is applied to the field of robots.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the utility model provides a robot sucking disc foot structure based on normal axis train, includes big sucking disc group, little sucking disc group, its characterized in that: the large sucker group comprises a large sucker (1), an upper knob (15), a first control mechanism, a large shell (11) and a middle shell (8), and the small sucker group comprises a small sucker (5), a lower knob (14), a small shell (3), a holding column (7), a large gear (9), a small gear (10) and a second control mechanism; the small sucker group is fixed in a middle shell (8) of the large sucker group, and the large gear (9) is arranged between the large shell (11) and the middle shell (8); the connection mode of each part of the large sucker group is as follows: the upper knob (15) is screwed on one end of the first control mechanism, the other end of the first control mechanism is connected with the large sucker (1), the first control mechanism is driven to linearly move by rotating the upper knob (15), so that the large sucker (1) is driven to deform, and the first control mechanism, the upper knob (15) and the large sucker (1) are connected coaxially; the connection mode of each part of the small sucker group is as follows: the lower knob (14) is connected on adding and holding post (7) soon, adds and holds post (7) lower extreme and gear wheel (9) and be connected, and with gear wheel (9) coaxial to drive gear wheel (9) rotation, gear wheel (9) and pinion (10) intermeshing accomplish the linkage, pinion (10) are connected with second control mechanism one end, and the other end and the little sucking disc (5) of second control mechanism are connected, drive second control mechanism rectilinear movement through the rotation of pinion (10), thereby drive the deformation of little sucking disc (5).
The first control mechanism comprises a large connecting column (12), a large pull column (13), a large needle bar and a large limiting ring, wherein the lower end of the large connecting column (12) is arranged on the middle shell (8) through the large limiting ring, a groove is formed in the large connecting column (12), the large pull column (13) is arranged in the groove, an opening is formed in the large pull column (13), the large needle bar passes through the opening of the large pull column (13), one end of the large needle bar is attached to the large limiting ring, the other end of the large needle bar is connected with the large pull column (13), and the other end of the large pull column (13) is connected with the large sucker (1); the second control mechanism comprises a small pull column (2), a small connecting column (4), a small needle bar (6) and a small limiting ring (16), wherein the small connecting column (4) is connected with the small gear (10), the lower end of the small connecting column (4) is arranged on the small shell (3) through the small limiting ring (16), a groove is formed in the small connecting column (4), the small pull column (2) is arranged in the groove, an opening is formed in the small pull column (2), the small needle bar (6) penetrates through the opening of the small pull column (2), one end of the small needle bar is attached to the small limiting ring (16), the other end of the small needle bar is connected with the small pull column (2), and the other end of the small pull column (2) is connected with the small sucker (5).
The connection mode of the large gear (9) and the clamping column (7) is coaxial key connection, and the connection mode of the small gear (10) and the small connecting column (4) is coaxial key connection.
The arrangement mode of the small suckers (5) in the small sucker group is as follows: the n small suckers (5) are distributed at equal angle intervals by taking the center of the large sucker (1) as the center and taking any value from one quarter to three quarters of the radius as the radius.
The number n of the small suckers (5) is 3-12.
The modulus of the large gear (9) and the small gear (10) can be any value of a first series in a standard modulus series list stipulated in China, the pressure angle is 20 degrees, when the modulus is smaller than 1mm, the tooth top coefficient is 0.8, the top clearance coefficient is 0.35, when the modulus is larger than 1mm, the tooth top coefficient is 1, and the top clearance coefficient is 0.25.
The working process of the robot sucking disc foot structure based on the fixed axis gear train is as follows: on the plane, the upper knob (15) is rotated clockwise, the upper knob (15) drives the large connecting column (12) of the large sucker (1) to rotate, the large connecting column (12) enables the large sucker (1) to deform and protrude upwards through the control mechanism, and the large sucker (1) generates adsorption force. Then the lower knob (14) is rotated clockwise, the holding column (7) of the large sucker (1) rotates positively, the large gear (9) and the small gear (10) are meshed and driven, the large gear (9) rotates clockwise, the small gear (10) rotates anticlockwise, the small gear (10) drives the small connecting column (4) of the small sucker (5) to rotate, the small sucker (5) acts on the large sucker (1) through the control mechanism of the small sucker group, and at the moment, the large sucker (1) protrudes upwards, and the adsorption force is increased; on the non-smooth plane working surface, the lower knob (14) is rotated anticlockwise, the holding column (7) of the large sucker (1) is rotated reversely, the large gear (9) is in meshed transmission, the small gear (10) is rotated anticlockwise, the small gear (10) is rotated clockwise, the small gear (10) drives the small connecting column (4) to rotate, the small sucker (5) acts on the large sucker (1) through the control mechanism of the small sucker group, and the large sucker (1) is concave and tightly attached to the non-smooth plane working surface. Then, the knob (15) is rotated clockwise, the upper knob (15) drives the large connecting column (12) of the large sucker (1) to rotate, the large connecting column (12) enables the large sucker (1) to deform and bulge upwards through the control mechanism of the large sucker group, and adsorption force is generated, so that the large sucker (1) can walk on a non-smooth plane working surface.
The invention has the beneficial effects that: the invention uses new structure to make robot walk on irregular rough working surface, to improve the application range of robot, and improve the self-adaptability and adsorption ability of robot on rough working surface. The invention enables the small sucker to act on the large sucker through the fixed axis gear train. The working state of the small sucker is controlled, so that the suction force of the large sucker can be increased or the large sucker is assisted to adapt to an irregularly rough surface. The novel sucker foot serving as the foot of the robot has the advantage that the common sucker is difficult to reach due to structural innovation. The robot sucking disc foot structure based on the normal axis gear train not only enables the robot to move on the land level, but also ensures that the robot can walk on the wall, the glass surface and the concave-convex surface, particularly can play a role when encountering a spherical surface, and greatly widens the application range of the robot; meanwhile, the robot sucking disc foot can provide larger adsorption force to support the robot to work, the rated load of the robot to work is increased, and more tasks with high difficulty are completed.
Drawings
Fig. 1 is a cross-sectional view of a suction cup foot structure of a robot based on a common axis gear train of the present invention.
Fig. 2 is a schematic structural diagram of a second control mechanism in a robot suction cup foot structure based on a common axis gear train.
Wherein: large sucker: 1. small pull column: 2. a small shell: 3. small coupling column: 4. a small sucker: 5. small needle bar: 6. and (3) adding and holding a column: 7. middle shell: 8. large gear: 9. pinion gear: 10. big shell: 11. large coupling column: 12. large pull column: 13. the lower knob: 14. and (3) an upper knob: 15. small limiting ring: 16.
Detailed Description
The present invention will be further described with reference to the accompanying drawings (the number n of small suction cups in fig. 1 is 6).
As shown in fig. 1, the robot sucking disc foot structure based on the normal axis gear train comprises a large sucking disc group and a small sucking disc group, wherein the large sucking disc group comprises a large sucking disc 1, an upper knob 15, a first control mechanism, a large outer shell 11 and a middle outer shell 8, and the small sucking disc group comprises a small sucking disc 5, a lower knob 14, a small outer shell 3, a holding column 7, a large gear 9, a small gear 10 and a second control mechanism; the small sucker set is fixed in the middle shell 8 of the large sucker set, and the large gear 9 is arranged between the large shell 11 and the middle shell 8; the connection mode of each part of the large sucker group is as follows: the upper knob 15 is screwed on one end of the first control mechanism, the other end of the first control mechanism is connected with the large sucker 1, and the first control mechanism is driven to linearly move by rotating the upper knob 15 so as to drive the large sucker 1 to deform; the connection mode of each part of the small sucker group is as follows: the lower knob 14 is screwed on the holding column 7, the lower end of the holding column 7 is connected with the large gear 9 in a key connection mode, and the connection mode is coaxial with the large gear 9, so that the large gear 9 is driven to rotate, the large gear 9 and the small gear 10 are meshed with each other to complete linkage, the small gear 10 is connected with one end of the second control mechanism, the other end of the second control mechanism is connected with the small sucker 5, and the second control mechanism is driven to linearly move through rotation of the small gear 10, so that deformation of the small sucker 5 is driven.
The first control mechanism comprises a large connecting column 12, a large pulling column 13, a large needle bar and a large limiting ring, wherein the lower end of the large connecting column 12 is arranged on the middle shell 8 through the large limiting ring, a groove is formed in the large connecting column 12, the large pulling column 13 is arranged in the groove, an opening is formed in the large pulling column 13, the large needle bar passes through the opening of the large pulling column 13, one end of the large needle bar is attached to the large limiting ring, the other end of the large needle bar is connected with the large pulling column 13, and the other end of the large pulling column 13 is connected with the large sucking disc 1; the second control mechanism comprises a small pull column 2, a small connecting column 4, a small needle bar 6 and a small limiting ring 16, wherein the small connecting column 4 and the small gear 10 are connected together in a key connection mode, the lower end of the small connecting column 4 is arranged on the small shell 3 through the small limiting ring 16, a groove is formed in the small connecting column 4, the small pull column 2 is arranged in the groove, an opening is formed in the small pull column 2, the small needle bar 6 penetrates through the opening of the small pull column 2, one end of the small needle bar is attached to the small limiting ring 16, the other end of the small needle bar is connected with the small pull column 2, and the other end of the small pull column 2 is connected with the small sucker 5.
The gear module of the large gear 9 and the small gear 10 can be any value in a first series of standard module series lists regulated in China, the pressure angle is 20 degrees, when the module is smaller than 1mm, the tooth top coefficient is 0.8, the top clearance coefficient is 0.35, and when the module is larger than 1mm, the tooth top coefficient is 1, and the top clearance coefficient is 0.25.
The arrangement mode of the small sucker groups is that n small suckers 5 are distributed at equal angle intervals by taking the center of a circle of the large sucker 1 as the center and taking any value from one quarter to three quarters of the radius as the radius, and the number n of the small suckers is 3-12.
As shown in fig. 2, a schematic diagram of a second control mechanism in a robot suction disc foot based on a common axis gear train is shown, wherein the second control mechanism comprises a pinion, a small pull column 2, a small connecting column 4, a small limiting ring 16, a small needle bar 6, a small shell 3 and a small suction disc. The second control mechanism has the functions of: the rotary motion of the small connecting column 4 in the small sucker group is changed into the linear motion of the small sucker. The specific movement process is as follows: the small needle bar 6 passes through the hole of the small pull column 2, one part of the surface is attached to the surface of the small limiting ring 16, the end parts of the two ends of the small needle bar 6 are inserted into the needle grooves of the small connecting columns 4 of the small sucker group, when the small connecting columns 4 are driven to rotate by the small gears, the small connecting columns 4 drive the small needle bar 6 to rotate, the shape of the small limiting ring 16 restricts the movement track of the small needle bar 6, and the small needle bar 6 can only ascend or descend in a spiral mode. The small needle bar 6 drives the small pull column 2 to move, the small pull column 2 is connected with the small suction cup, the small pull column 2 breaks down the spiral movement of the small needle bar 6 into rotation and linear movement, and the central part of the small suction cup is driven to move linearly, so that the deformation of the small suction cup is controlled.
The first control mechanism principle is the same as the second control mechanism principle.
As shown in fig. 1 and 2, the working process of the robot suction disc foot based on the normal axis gear train is as follows:
on the smooth plane, the upper knob 15 is rotated clockwise, the upper knob 15 drives the large connecting column 12 of the large sucker group to rotate, the large connecting column 12 enables the large sucker 1 to deform and protrude upwards through the control mechanism, and the large sucker 1 generates adsorption force. Then the lower knob 14 is rotated clockwise, the holding column 7 of the large sucker is rotated forward, the large gear 9 and the small gear 10 are meshed for transmission, the large gear 9 is rotated clockwise, the small gear 10 is rotated anticlockwise, the small gear 10 drives the small connecting column 4 of the small sucker group to rotate, the small sucker 5 acts on the large sucker 1 through the control mechanism, at the moment, the large sucker 1 is protruded upwards, and the adsorption force of the large sucker is increased.
On the non-smooth plane working surface, the lower knob 14 is rotated anticlockwise, the holding column 7 of the large sucker set is rotated reversely, the large gear 9 and the small gear 10 are meshed for transmission, the large gear 9 is rotated anticlockwise, the small gear 10 is rotated clockwise, the small gear 10 drives the small connecting column 4 to rotate, the small sucker 5 acts on the large sucker 1 through the control mechanism of the small sucker set, so that the large sucker 1 is concave and tightly attached to the non-smooth plane working surface; the knob 15 is rotated clockwise, the knob 15 drives the large connecting column 12 of the large sucker group to rotate, the large connecting column 12 enables the large sucker 1 to deform and protrude upwards through the control mechanism, and the large sucker 1 generates adsorption force, so that the device works on a non-smooth plane working surface.
The invention has been described with respect to the above-described embodiments, however, the above-described embodiments are merely examples of practicing the invention. It should be noted that the disclosed embodiments do not limit the scope of the invention. On the contrary, the intention is to cover all modifications, equivalents, and alternatives falling within the spirit and scope of the invention.
Claims (5)
1. The utility model provides a robot sucking disc foot structure based on normal axis train, includes big sucking disc group, little sucking disc group, its characterized in that: the large sucker group comprises a large sucker (1), an upper knob (15), a first control mechanism, a large shell (11) and a middle shell (8), and the small sucker group comprises a small sucker (5), a lower knob (14), a small shell (3), a holding column (7), a large gear (9), a small gear (10) and a second control mechanism; the small sucker group is arranged in a middle shell (8) of the large sucker group, and the large gear (9) is arranged between the large shell (11) and the middle shell (8); the connection mode of each part of the large sucker group is as follows: the upper knob (15) is screwed on one end of the first control mechanism, the other end of the first control mechanism is connected with the large sucker (1), and the first control mechanism is driven to linearly move by rotating the upper knob (15), so that the large sucker (1) is driven to deform; the connection mode of each part of the small sucker group is as follows: the lower knob (14) is screwed on the holding column (7), the lower end of the holding column (7) is connected with the large gear (9) and is coaxial with the large gear (9), the large gear (9) is driven to rotate by rotating the lower knob (14), the large gear (9) and the small gear (10) are meshed with each other to complete linkage, the small gear (10) is connected with one end of the second control mechanism, the other end of the second control mechanism is connected with the small sucker (5), and the second control mechanism is driven to linearly move by the rotation of the small gear (10), so that the small sucker (5) is driven to deform;
the small sucker can act on the large sucker;
on a plane, the upper knob is rotated clockwise, the large sucker (1) is deformed and protruded upwards through the first control mechanism, and the large sucker (1) generates adsorption force; then the lower knob is rotated clockwise, the small sucker (5) acts on the large sucker (1) through the second control mechanism of the small sucker group, and at the moment, the large sucker (1) protrudes upwards, and the adsorption force is increased;
on the non-smooth plane working surface, the lower knob (14) is rotated anticlockwise, the small sucker (5) acts on the large sucker (1) through the second control mechanism of the small sucker group, the large sucker (1) is concave down and tightly sticks to the non-smooth plane working surface, then the upper knob (15) is rotated clockwise, the large sucker (1) is deformed and is convex up through the first control mechanism of the large sucker group, and the adsorption force is generated.
2. The robot suction cup foot structure based on a common axis gear train as claimed in claim 1, wherein: the first control mechanism comprises a large connecting column (12), a large pulling column (13), a large needle bar and a large limiting ring, wherein the upper end of the large connecting column (12) is connected with an upper knob (15), the lower end of the large connecting column is arranged on a middle shell (8) through the large limiting ring, a groove is formed in the large connecting column (12), the large pulling column (13) is arranged in the groove, an opening is formed in the large pulling column (13), the large needle bar passes through the opening of the large pulling column (13), one end of the large needle bar is attached to the large limiting ring, the other end of the large needle bar is connected with the large pulling column (13), and the other end of the large pulling column (13) is connected with the large sucking disc (1); the second control mechanism comprises a small pull column (2), a small connecting column (4), a small needle bar (6) and a small limiting ring (16), wherein the small connecting column (4) is connected with the small gear (10), the lower end of the small connecting column (4) is arranged on the small shell (3) through the small limiting ring (16), a groove is formed in the small connecting column (4), the small pull column (2) is arranged in the groove, an opening is formed in the small pull column (2), the small needle bar (6) penetrates through the opening of the small pull column (2), one end of the small needle bar is attached to the small limiting ring (16), the other end of the small needle bar is connected with the small pull column (2), and the other end of the small pull column (2) is connected with the small sucker (5);
when the small connecting column (4) is driven by the pinion to rotate, the small connecting column (4) drives the small needle bar (6) to rotate, the shape of the small limiting ring (16) constrains the movement track of the small needle bar (6), and the small needle bar (6) can only ascend or descend in a spiral mode; the small needle bar (6) drives the small pull column (2) to move, the small pull column (2) is connected with the small suction cup, the small pull column (2) breaks down the spiral movement of the small needle bar (6) into rotation and linear movement, and the central part of the small suction cup is driven to move linearly, so that the deformation of the small suction cup is controlled;
the first control mechanism principle is the same as the second control mechanism principle.
3. The robot suction cup foot structure based on the normal gear train according to claim 2, wherein: the connection mode of the large gear (9) and the clamping column (7) is coaxial key connection, and the connection mode of the small gear (10) and the small connecting column (4) is coaxial key connection.
4. A robot suction cup foot structure based on an ordinary gear train according to any one of claims 1-3, characterized in that: the arrangement mode of the small suckers (5) in the small sucker group is as follows: the n small suckers (5) are distributed at equal angle intervals by taking the center of the large sucker (1) as the center and taking any value from one quarter to three quarters of the radius as the radius.
5. The robot chuck foot structure based on a common axis gear train of claim 4, wherein: the number n of the small suckers (5) is 3-12.
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| 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 |
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| CN201710673967.XA CN107336761B (en) | 2017-08-09 | 2017-08-09 | Robot sucking disc foot structure based on fixed axis gear train |
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| CN107336761B true CN107336761B (en) | 2023-11-28 |
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