CN109676586A - A kind of space that air pump is telescopic overturning crawl walking robot - Google Patents
A kind of space that air pump is telescopic overturning crawl walking robot Download PDFInfo
- Publication number
- CN109676586A CN109676586A CN201811636323.4A CN201811636323A CN109676586A CN 109676586 A CN109676586 A CN 109676586A CN 201811636323 A CN201811636323 A CN 201811636323A CN 109676586 A CN109676586 A CN 109676586A
- Authority
- CN
- China
- Prior art keywords
- overturning
- clamping
- space
- hitch
- air pump
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/002—Manipulators for defensive or military tasks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/14—Programme-controlled manipulators characterised by positioning means for manipulator elements fluid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D63/00—Motor vehicles or trailers not otherwise provided for
- B62D63/02—Motor vehicles
- B62D63/04—Component parts or accessories
Abstract
The present invention discloses a kind of space that air pump is telescopic overturning crawl walking robot, including spinning upside down grasping mechanism, space overturning vice mechanism, walking robot chassis, space overturning vice mechanism is equipped in the top on the walking robot chassis, described to spin upside down grasping mechanism cooperation and be connected in the space overturning vice mechanism.The present invention solves existing extraordinary rescue work on the whole and rescue personnel's wear protective gear is leaned on to carry out operation risk height merely, existing rescue is mechanical, and that the device is complicated is heavy, the technical need of the telescopic turning crawl operation freely walked in space that cannot be dexterous, the telescopic turning for effectively solving to carry out dexterity under the steric requirements of dangerous extraordinary rescue work environment complexity grabs operation, the research and development for the space overturning by-effect equipment that dexterous walking is carried out under the steric requirements of dangerous extraordinary rescue work environment complexity are effectively solved simultaneously, to reduce the purpose of the life danger of artificial emergency management and rescue operation.
Description
Technical field
The present invention relates to a kind of spaces that air pump is telescopic to overturn crawl walking robot, belongs to specialized robot manufacture skill
Art field.
Background technique
Existing special type rescue work environment is complicated, carries out operation risk by rescue personnel's wear protective gear merely
Height, existing rescue is mechanical, and that the device is complicated is heavy, and the telescopic turning that carries out in space that cannot be dexterous grabs operation, therefore having must
The telescopic space overturning crawl walking robot of air pump is researched and developed according to existing intelligent Manufacturing Technology, effectively solved in danger
Dexterous telescopic turning crawl operation is carried out under the steric requirements of extraordinary rescue work environment complexity, while effectively being solved in danger
The research and development of the space overturning by-effect equipment of dexterous walking are carried out under the steric requirements of extraordinary rescue work environment complexity, to reduce
The life danger of artificial emergency management and rescue operation.
Summary of the invention
It is an object of the present invention to overcome defect of the existing technology, above-mentioned technical problem is solved, proposes a kind of air pump
Telescopic space overturning crawl walking robot.
The present invention adopts the following technical scheme: a kind of space that air pump is telescopic overturning crawl walking robot, feature
It is, including spins upside down grasping mechanism, space overturning vice mechanism, walking robot chassis, the space overturning vice mechanism is matched
It closes and is set to the top on the walking robot chassis, it is described to spin upside down grasping mechanism cooperation to be connected in the space overturning secondary
In mechanism.
As a kind of preferred embodiment, it is provided with longitudinal overturning pair in space overturning vice mechanism, spins upside down gripper
The input terminal of structure couples by the way that longitudinal overturning is secondary with space overturning vice mechanism cooperation.
As a kind of preferred embodiment, spinning upside down grasping mechanism includes overturning hitch, locking hitch, clamping connection
Frame, clamping driving motor, flexible air pump are connect, space overturning vice mechanism couples by the way that longitudinal overturning is secondary with overturning hitch cooperation,
The both ends of flexible air pump are respectively fixedly connected with locking hitch, overturning hitch, and overturning hitch and locking hitch, clamping join
Frame articulated connection is connect, the output end for clamping driving motor couples with the one end fits of clamping hitch.
It as a kind of preferred embodiment, overturns and is provided with overturning hinged seat on hitch, overturning connection pair, which is hinged on, to be turned over
On turning hinge joint chair, overturn hinged seat is provided centrally with hinged longitudinal rotating shaft；It is fixedly installed on transverse rotation pedestal vertical
To rotation support rod, one end of longitudinal rotating shaft and longitudinal rotation support rod articulated connection；It is fixedly installed on transverse rotation pedestal
There is hinged shaft coupling, transverse rotation pedestal is fastenedly connected by hinged shaft coupling and longitudinal electric rotating base.
It as a kind of preferred embodiment, overturns and is fixedly installed hinge bar on hitch, lock fixation on hitch and set
It is equipped with bar that is articulated and connected, the one end for the air pump that stretches passes through hinge bar and overturning hitch articulated connection, the other end for the air pump that stretches
Pass through bar that is articulated and connected and locking hitch articulated connection.
As a kind of preferred embodiment, clamps and be equipped with clamping driven sprocket, clamping chain, clamping on hitch
The clamping drive sprocket matched is fixedly installed in the lower section of driving motor, clamps the output end and clamping drive sprocket of driving motor
Input terminal cooperate connection, clamping drive sprocket by clamping chain with clamping driven sprocket cooperation couple, clamping driven sprocket
Two sides up and down be provided with and the coaxial symmetrical clamping wheel of clamping driven sprocket.
As a kind of preferred embodiment, space overturning vice mechanism includes transverse rotation motor, transverse rotation motor cabinet, cross
It is equipped with the transverse rotation pedestal of rotation connection above to rotating electric machine, is provided with longitudinal direction above transverse rotation pedestal
The output end of rotary drive motor, longitudinal rotary drive motor is joined by longitudinal overturning pair with grasping mechanism cooperation is spun upside down
It connects；The cooperation of transverse rotation motor is fixedly installed on transverse rotation motor cabinet, and the output end of transverse rotation motor is provided with transverse direction
Rotating electric machine output shaft, the upper end of transverse rotation motor output shaft are fixedly connected with transverse rotation pedestal, the output of transverse rotation motor
The output end of the lower end cooperation connection transverse rotation motor of axis.
As a kind of preferred embodiment, longitudinal electric rotating base is fixedly installed below longitudinal rotary drive motor,
The bottom end of longitudinal electric rotating base is fixed on transverse rotation pedestal；Transmission is fixedly installed above longitudinal rotary drive motor
The output end of train, longitudinal rotary drive motor is coupled by train with the secondary cooperation of longitudinal overturning；Longitudinal overturning is secondary and passes
Overturning drive shaft is provided between driving wheel system, the output end of train is joined by overturning drive shaft and the secondary cooperation of longitudinal overturning
It connects.
As a kind of preferred embodiment, symmetrical bearing beam is fixedly installed on walking robot chassis, it is horizontal
It is fixed on bearing beam to the bottom end of electric rotating base.
As a kind of preferred embodiment, walking robot chassis is internally provided with travel driving motor shafting, several
Symmetrical traveling wheel, the input terminal of the output end cooperation connection traveling wheel of travel driving motor shafting.
Advantageous effects of the invention: the present invention is complicated for existing extraordinary rescue work environment, merely by rescuing
Helping personnel's wear protective gear, to carry out operation risk high, and existing rescue is mechanical, and that the device is complicated is heavy, cannot dexterity in sky
The interior telescopic turning crawl operation freely walked, it is therefore necessary to air pump be researched and developed according to existing intelligent Manufacturing Technology and stretched
The space overturning crawl walking robot of contracting formula, effectively solve under the steric requirements of dangerous extraordinary rescue work environment complexity into
The dexterous telescopic turning of row grabs operation, at the same effectively solve under the steric requirements of dangerous extraordinary rescue work environment complexity into
The research and development of the space overturning by-effect equipment of the dexterous walking of row, to reduce the life danger of artificial emergency management and rescue operation, by
Setting configuration spins upside down grasping mechanism and space overturning vice mechanism above walking robot chassis, and space overturns vice mechanism configuration
Transverse rotation motor cabinet, transverse rotation pedestal, longitudinal rotary drive motor are embedded transverse rotation electricity inside transverse rotation motor cabinet
Machine, transverse rotation motor drive transverse rotation pedestal in horizontal space range inward turning by driving transverse rotation motor output shaft
Turn, longitudinal rotary drive motor, which passes through, successively drives train, overturning drive shaft, longitudinal overturning subband to move and spin upside down crawl
The overturning hitch of mechanism rotates in longitudinal spatial dimension around longitudinal rotating shaft, can match as needed in overturning hitch
Set symmetrical clamping hitch and flexible air pump；Clamp driving motor by driving clamping retarder, clamping drive sprocket,
Clamping chain, clamping driven sprocket drive clamping hitch to rotate around the bar that is articulated and connected with overturning hitch, and the air pump that stretches drives
Dynamic locking hitch is around overturning hitch rotatable engagement clamping hitch locking clamping object, to guarantee walking robot chassis
Bearing beam, the bottom on walking robot chassis is fixedly installed in the lower section of transverse rotation motor cabinet in the installation space of internal components
The travel driving motor shafting of symmetrical traveling wheel and driving is arranged in portion, solves existing extraordinary rescue on the whole
Operating environment is complicated, carries out operation risk height by rescue personnel's wear protective gear merely, and existing rescue mechanical equipment is multiple
Miscellaneous heaviness, the telescopic turning crawl operation freely walked in space that cannot be dexterous, it is therefore necessary to according to existing
Intelligent Manufacturing Technology researches and develops the telescopic space overturning crawl walking robot of air pump, effectively solves in dangerous extraordinary rescue work
Dexterous telescopic turning crawl operation is carried out under the steric requirements of environment complexity, while effectively being solved in dangerous extraordinary rescue work
The research and development of the space overturning by-effect equipment of dexterous walking are carried out under the steric requirements of environment complexity, to reduce artificial emergency management and rescue
The purpose of the life danger of operation.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of the preferred embodiment of the present invention.
Fig. 2 is the structural schematic diagram of another angle of the preferred embodiment of the present invention.
Fig. 3 is the structural schematic diagram of the preferred embodiment of the present invention clamping object.
Fig. 4 is the structural schematic diagram of one angle of rotation of the preferred embodiment of the present invention clamping object.
Fig. 5 is the structural schematic diagram of another angle of the rotation of the preferred embodiment of the present invention clamping object.
Fig. 6 is the structural schematic diagram of the preferred embodiment for spinning upside down grasping mechanism of the invention.
Fig. 7 is the connection schematic diagram of overturning vice mechanism and walking robot chassis of the invention.
Meaning marked in the figure: 1- spins upside down grasping mechanism, and 101- overturns hitch, and 103- locks hitch, 104-
Hitch is clamped, 105- clamps driving motor, 106- clamping wheel, and 108- stretch air pump, the hinged pair of 109- locking, and 110- is hinged
Bar, 115- overturn hinged seat, 117- bar that is articulated and connected, and 118- clamps retarder, and 119- clamps drive sprocket, 120- clamping chain
Item, 121- clamp driven sprocket, and 122- clamps object；The space 2- overturns vice mechanism, 202- transverse rotation motor cabinet, 203- cross
To rotating basis, 206- traveling wheel, 207- travel driving motor shafting, 208- bearing beam, 209- transverse rotation motor, 210-
Transverse rotation motor output shaft, the hinged shaft coupling of 211-, the longitudinal direction 212- electric rotating base, the longitudinal direction 213- rotary drive motor,
214- train, 215- overturn drive shaft, and longitudinally overturning is secondary by 216-, 217- longitudinal rotating shaft, the longitudinal direction 219- rotation support rod；
3- walking robot chassis.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.Following embodiment is only used for clearly illustrating the present invention
Technical solution, and not intended to limit the protection scope of the present invention.
As shown in Figure 1, Figure 2, Fig. 3, Fig. 4 and Fig. 5, the present invention propose a kind of space that air pump is telescopic overturning crawl running machine
People, including grasping mechanism 1, space overturning vice mechanism 2, walking robot chassis 3 are spun upside down, space overturns vice mechanism 2 and cooperates
It is set to the top on walking robot chassis 3, the cooperation of grasping mechanism 1 is spun upside down and is connected in space overturning vice mechanism 2.
As a kind of preferred embodiment, it is provided with longitudinal overturning pair 216 in space overturning vice mechanism 2, spins upside down and grabs
It takes the input terminal of mechanism 1 to overturn the cooperation of vice mechanism 2 with space by longitudinal overturning pair 216 to couple.
Such as Fig. 6, as a kind of preferred embodiment, spinning upside down grasping mechanism 1 includes overturning hitch 101, locking connection
Frame 103, clamping hitch 104, clamping driving motor 105, flexible air pump 108 are connect, space overturns vice mechanism 2 and passes through longitudinal overturning
Pair 216 couples with the overturning cooperation of hitch 101, and the both ends of flexible air pump 108 are respectively fixedly connected with locking hitch 103, overturning
Hitch 101, overturning hitch 101 and locking hitch 103, clamping hitch 104 are articulated and connected, and clamp driving motor 105
Output end with clamping hitch 104 one end fits couple.
As a kind of preferred embodiment, overturns and be provided with overturning hinged seat 115 on hitch 101, overturning connection pair 102
It is hinged on overturning hinged seat 115, overturning hinged seat 115 is provided centrally with hinged longitudinal rotating shaft 217；Transverse rotation base
Longitudinal rotation support rod 219 is fixedly installed on seat 203, one end of longitudinal rotating shaft 217 and longitudinal rotation support rod 219 are hinged
Connection；Hinged shaft coupling 211 is fixedly installed on transverse rotation pedestal 203, transverse rotation pedestal 203 passes through hinged shaft coupling
211 are fastenedly connected with longitudinal electric rotating base 212.
It as a kind of preferred embodiment, overturns and is fixedly installed hinge bar 110 on hitch 101, lock hitch 103
On be fixedly installed bar that is articulated and connected 117, one end of flexible air pump 108 is hingedly connected by hinge bar 110 with hitch 101 is overturn
It connects, the other end for the air pump 108 that stretches is articulated and connected by bar that is articulated and connected 117 and locking hitch 103.
As a kind of preferred embodiment, clamps and be equipped with clamping driven sprocket 121, clamping chain on hitch 104
The clamping drive sprocket 119 matched is fixedly installed in item 120, the lower section of clamping driving motor 105, clamping driving motor 105
Output end couples with the input terminal cooperation of clamping drive sprocket 119, and clamping drive sprocket 119 passes through clamping chain 120 and clamping
The cooperation connection of driven sprocket 121, the two sides up and down of clamping driven sprocket 121 are provided with pair coaxial with clamping driven sprocket 121
Claim the clamping wheel 106 of distribution.
Such as Fig. 7, as a kind of preferred embodiment, it includes transverse rotation motor 209, laterally rotation that space, which overturns vice mechanism 2,
Rotating motor seat 202, the top of transverse rotation motor 209 are equipped with the transverse rotation pedestal 203 of rotation connection, transverse rotation
The top of pedestal 203 is provided with longitudinal rotary drive motor 213, and the output end of longitudinal rotary drive motor 213 is turned over by longitudinal
Turn pair 216 and couples with the cooperation of grasping mechanism 1 is spun upside down；The cooperation of transverse rotation motor 209 is fixedly installed on transverse rotation motor
On seat 202, the output end of transverse rotation motor 209 is provided with transverse rotation motor output shaft 210, transverse rotation motor output shaft
210 upper end is fixedly connected with transverse rotation pedestal 203, the lower end cooperation connection transverse rotation of transverse rotation motor output shaft 210
The output end of motor 209.
As a kind of preferred embodiment, the lower section of longitudinal rotary drive motor 213 is fixedly installed longitudinal rotating electric machine
Seat 212, the bottom end of longitudinal electric rotating base 212 is fixed on transverse rotation pedestal 203；Longitudinal rotary drive motor 213 it is upper
Side is fixedly installed train 214, and the output end of longitudinal rotary drive motor 213 passes through train 214 and longitudinal overturning
216 cooperation connection of pair；It is provided with overturning drive shaft 215 between longitudinal overturning pair 216 and train 214, train 214
Output end is coupled by overturning drive shaft 215 with longitudinal 216 cooperation of overturning pair.
As a kind of preferred embodiment, symmetrical bearing beam is fixedly installed on walking robot chassis 3
208, the bottom end of transverse rotation motor cabinet 202 is fixed on bearing beam 208.
As a kind of preferred embodiment, walking robot chassis 3 be internally provided with travel driving motor shafting 207,
Several symmetrical traveling wheels 206, the input terminal of the output end cooperation connection traveling wheel 206 of travel driving motor shafting 207.
Specific work process of the invention: the present invention is complicated for existing extraordinary rescue work environment, simple by rescue
It is high that personnel's wear protective gear carries out operation risk, and existing rescue is mechanical, and that the device is complicated is heavy, cannot dexterity in space
The interior telescopic turning crawl operation freely walked, it is therefore necessary to it is flexible that air pump be researched and developed according to existing intelligent Manufacturing Technology
The space overturning crawl walking robot of formula, effectively solves to carry out under the steric requirements of dangerous extraordinary rescue work environment complexity
Dexterous telescopic turning grabs operation, while effectively solving to carry out under the steric requirements of dangerous extraordinary rescue work environment complexity
The research and development of the space overturning by-effect equipment of dexterity walking, to reduce the life danger of artificial emergency management and rescue operation, by being expert at
Setting configuration spins upside down grasping mechanism 1 and space overturning vice mechanism 2 above robot walking chassis 3, and space overturning vice mechanism 2 is matched
Transverse rotation motor cabinet 202, transverse rotation pedestal 203, longitudinal rotary drive motor 213 are set, inside transverse rotation motor cabinet 202
It is embedded transverse rotation motor 209, transverse rotation motor 209 drives transverse rotation by driving transverse rotation motor output shaft 210
Pedestal 203 rotates within the scope of horizontal space, and longitudinal rotary drive motor 213 is by successively driving train 214, overturning to drive
Moving axis 215, longitudinal overturning pair 216 drive the overturning hitch 101 for spinning upside down grasping mechanism 1 around longitudinal rotating shaft 217 vertical
To spatial dimension in rotate, can configure symmetrical clamping hitch 104 in overturning hitch 101 as needed and stretch
Contracting air pump 108；It clamps driving motor 105 and passes through driving clamping retarder 118, clamping drive sprocket 119, clamping chain 120, folder
Holding driven sprocket 121 drives clamping hitch 104 to rotate around the bar that is articulated and connected 117 with overturning hitch 101, and stretch air pump
108 driving locking hitch 103 lock clamping object 122 around overturning 101 rotatable engagement of hitch clamping hitch 104, are
The installation space for guaranteeing 3 internal components of walking robot chassis, it is horizontal in the fixed setting carrying of the lower section of transverse rotation motor cabinet 202
The travel driving motor shafting of symmetrical traveling wheel and driving is arranged in beam 208, the bottom on walking robot chassis 3
207, existing extraordinary rescue work environment complexity is solved on the whole, carries out operation by rescue personnel's wear protective gear merely
Risk is high, and existing rescue is mechanical, and that the device is complicated is heavy, cannot dexterity the telescopic turning freely walked in space
Grab operation, it is therefore necessary to which the telescopic space overturning crawl running machine of air pump is researched and developed according to existing intelligent Manufacturing Technology
People, the telescopic turning for effectively solving to carry out dexterity under the steric requirements of dangerous extraordinary rescue work environment complexity grab operation,
The secondary work of space overturning that dexterous walking is carried out under the steric requirements of dangerous special type rescue work environment complexity is effectively solved simultaneously
The research and development of industry equipment, to reduce the purpose of the life danger of artificial emergency management and rescue operation.
The above is only a preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, without departing from the technical principles of the invention, several improvement and deformations can also be made, these improvement and deformations
Also it should be regarded as protection scope of the present invention.
Claims (10)
1. a kind of space that air pump is telescopic overturning crawl walking robot, which is characterized in that including spinning upside down grasping mechanism
(1), space overturns vice mechanism (2), walking robot chassis (3), and space overturning vice mechanism (2) is equipped in the row
The top on robot walking chassis (3), it is described to spin upside down grasping mechanism (1) cooperation and be connected in space overturning vice mechanism (2)
On.
2. a kind of telescopic space overturning crawl walking robot of air pump according to claim 1, which is characterized in that institute
It states and is provided with longitudinal overturning pair (216) in space overturning vice mechanism (2), the input terminal for spinning upside down grasping mechanism (1) is logical
Longitudinal pair (216) that overturns is crossed to couple with space overturning vice mechanism (2) cooperation.
3. a kind of telescopic space overturning crawl walking robot of air pump according to claim 2, which is characterized in that institute
Stating and spinning upside down grasping mechanism (1) includes overturning hitch (101), locking hitch (103), clamping hitch (104), clamping
Driving motor (105), flexible air pump (108), space overturning vice mechanism (2) pass through longitudinal overturning secondary (216) and institute
Overturning hitch (101) cooperation connection is stated, the both ends of the flexible air pump (108) are respectively fixedly connected with the locking hitch
(103), the overturning hitch (101), the overturning hitch (101) and the locking hitch (103), the clamping join
Frame (104) articulated connection is connect, the output end of clamping driving motor (105) and one end of clamping hitch (104) are matched
Close connection.
4. a kind of telescopic space overturning crawl walking robot of air pump according to claim 3, which is characterized in that institute
It states and is provided with overturning hinged seat (115) in overturning hitch (101), the overturning couples secondary (102) and is hinged on the overturning hinge
On joint chair (115), overturning hinged seat (115) is provided centrally with hinged longitudinal rotating shaft (217).
5. a kind of telescopic space overturning crawl walking robot of air pump according to claim 3, which is characterized in that institute
It states and is fixedly installed hinge bar (110) in overturning hitch (101), is fixedly installed on the locking hitch (103) hinged
It is cut with scissors by the hinge bar (110) and the overturning hitch (101) one end of connecting rod (117), the flexible air pump (108)
It connects in succession, the other end of the flexible air pump (108) passes through the bar that is articulated and connected (117) and the locking hitch (103)
Articulated connection.
6. a kind of telescopic space overturning crawl walking robot of air pump according to claim 3, which is characterized in that institute
It states and is equipped with clamping driven sprocket (121), clamping chain (120), the clamping driving motor in clamping hitch (104)
(105) lower section is fixedly installed the clamping drive sprocket (119) matched, the output end of clamping driving motor (105) with
The input terminal of clamping drive sprocket (119) cooperates connection, and the clamping drive sprocket (119) passes through the clamping chain
(120) with the clamping driven sprocket (121) cooperation couple, it is described clamping driven sprocket (121) two sides up and down be provided with and
The coaxial symmetrical clamping wheel (106) of clamping driven sprocket (121).
7. a kind of telescopic space overturning crawl walking robot of air pump according to claim 2, which is characterized in that institute
Stating space overturning vice mechanism (2) includes transverse rotation motor (209), transverse rotation motor cabinet (202), the transverse rotation motor
(209) the transverse rotation pedestal (203) of rotation connection, the top of the transverse rotation pedestal (203) are equipped with above
It is provided with longitudinal rotary drive motor (213), the output end of the longitudinal direction rotary drive motor (213) passes through longitudinal overturning
Secondary (216) with it is described spin upside down grasping mechanism (1) and cooperate couple；Transverse rotation motor (209) cooperation is fixedly installed on
On the transverse rotation motor cabinet (202), the output end of the transverse rotation motor (209) is provided with the output of transverse rotation motor
Axis (210), the upper end of the transverse rotation motor output shaft (210) are fixedly connected with the transverse rotation pedestal (203), the cross
Couple the output end of the transverse rotation motor (209) to the cooperation of the lower end of rotating electric machine output shaft (210).
8. a kind of telescopic space overturning crawl walking robot of air pump according to claim 7, which is characterized in that institute
It states and is fixedly installed longitudinal electric rotating base (212) below longitudinal rotary drive motor (213), the longitudinal direction electric rotating base
(212) bottom end is fixed on the transverse rotation pedestal (203)；The top of the longitudinal direction rotary drive motor (213) is fixed
Be provided with train (214), the output end of the longitudinal direction rotary drive motor (213) by the train (214) and
Longitudinal pair (216) that overturns cooperates connection；Longitudinal overturn is provided between secondary (216) and the train (214)
It overturns drive shaft (215), the output end of the train (214) is turned over by the overturning drive shaft (215) with the longitudinal direction
Turn secondary (216) cooperation connection；It is fixedly installed hinged shaft coupling (211) on the transverse rotation pedestal (203), the laterally rotation
Turn pedestal (203) to be fastenedly connected by the hinged shaft coupling (211) and longitudinal electric rotating base (212).
9. a kind of telescopic space overturning crawl walking robot of air pump according to claim 7, which is characterized in that institute
It states and is fixedly installed on walking robot chassis (3) symmetrical bearing beam (208), the transverse rotation motor cabinet
(202) bottom end is fixed on the bearing beam (208).
10. a kind of telescopic space overturning crawl walking robot of air pump according to claim 2, which is characterized in that
The walking robot chassis (3) is internally provided with travel driving motor shafting (207), several symmetrical traveling wheels
(206), the output end cooperation of the travel driving motor shafting (207) couples the input terminal of the traveling wheel (206).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811636323.4A CN109676586B (en) | 2018-12-29 | 2018-12-29 | Air pump telescopic space overturning grabbing walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811636323.4A CN109676586B (en) | 2018-12-29 | 2018-12-29 | Air pump telescopic space overturning grabbing walking robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109676586A true CN109676586A (en) | 2019-04-26 |
| CN109676586B CN109676586B (en) | 2023-09-22 |
Family
ID=66191210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811636323.4A Active CN109676586B (en) | 2018-12-29 | 2018-12-29 | Air pump telescopic space overturning grabbing walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109676586B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104082A (en) * | 2019-05-24 | 2019-08-09 | 北京深醒科技有限公司 | A kind of security protection patrol robot that can be used for compared with low spatial |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102814810A (en) * | 2012-08-01 | 2012-12-12 | 宁波大学 | Rescue device |
| CN105291097A (en) * | 2015-12-08 | 2016-02-03 | 安徽工业大学 | Three-freedom-degree overturning robot |
| CN106039619A (en) * | 2016-06-28 | 2016-10-26 | 安徽扫宝智能科技有限公司 | Fire rescue robot for transformer substation |
| CN107323560A (en) * | 2017-06-26 | 2017-11-07 | 徐州乐泰机电科技有限公司 | A kind of wheel leg type movable rescue robot |
| CN107471211A (en) * | 2017-07-18 | 2017-12-15 | 青岛丰光精密机械股份有限公司 | A kind of robot mechanical arm |
| CN206811962U (en) * | 2017-04-13 | 2017-12-29 | 昆山奥托玛迅自动化设备有限公司 | A kind of extension type overturns clamping device |
| CN108453697A (en) * | 2018-05-08 | 2018-08-28 | 广州市柯西机械设备有限公司 | A kind of glass multidimensional mounting robot |
| CN207858820U (en) * | 2017-12-27 | 2018-09-14 | 重庆英拓机电设备有限公司 | A kind of grasping mechanism for producing differential mechanism |
-
2018
- 2018-12-29 CN CN201811636323.4A patent/CN109676586B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102814810A (en) * | 2012-08-01 | 2012-12-12 | 宁波大学 | Rescue device |
| CN105291097A (en) * | 2015-12-08 | 2016-02-03 | 安徽工业大学 | Three-freedom-degree overturning robot |
| CN106039619A (en) * | 2016-06-28 | 2016-10-26 | 安徽扫宝智能科技有限公司 | Fire rescue robot for transformer substation |
| CN206811962U (en) * | 2017-04-13 | 2017-12-29 | 昆山奥托玛迅自动化设备有限公司 | A kind of extension type overturns clamping device |
| CN107323560A (en) * | 2017-06-26 | 2017-11-07 | 徐州乐泰机电科技有限公司 | A kind of wheel leg type movable rescue robot |
| CN107471211A (en) * | 2017-07-18 | 2017-12-15 | 青岛丰光精密机械股份有限公司 | A kind of robot mechanical arm |
| CN207858820U (en) * | 2017-12-27 | 2018-09-14 | 重庆英拓机电设备有限公司 | A kind of grasping mechanism for producing differential mechanism |
| CN108453697A (en) * | 2018-05-08 | 2018-08-28 | 广州市柯西机械设备有限公司 | A kind of glass multidimensional mounting robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110104082A (en) * | 2019-05-24 | 2019-08-09 | 北京深醒科技有限公司 | A kind of security protection patrol robot that can be used for compared with low spatial |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109676586B (en) | 2023-09-22 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107214685B (en) | Suspension type robot rail running gear | |
| CN109625112B (en) | Pole-climbing robot | |
| CN104608112A (en) | Power line inspection robot and obstacle surmounting method thereof | |
| CN105666478B (en) | Joint Manipulator fast assembling-disassembling system and assembly and disassembly methods under nuclear radiation environment | |
| CN111891242B (en) | Optical cable inspection robot capable of crossing obstacles | |
| CN106786136B (en) | Planet gear type Bian Bao moving mechanisms | |
| CN110002221A (en) | Grasping mechanism applied to manipulator | |
| CN107044215B (en) | Holding type vehicle carrier | |
| CN105665465B (en) | A kind of section bar traction method | |
| CN106628902A (en) | Logistics delivery robot | |
| CN109592559A (en) | A kind of transmission shaft clamping hanger | |
| CN109599793A (en) | A kind of inspection robot for high-voltage line | |
| CN109676586A (en) | A kind of space that air pump is telescopic overturning crawl walking robot | |
| CN209250076U (en) | A kind of armful line running gear of ultra-high-tension power transmission line inspection robot | |
| CN205415599U (en) | Robot device with clamping function | |
| CN107416000A (en) | A kind of transporting device for oil drum of Tape movement platform | |
| CN209599212U (en) | A kind of space that air pump is telescopic overturning crawl walking robot | |
| CN209601575U (en) | A kind of air pump is telescopic to spin upside down grasping mechanism | |
| CN110652667B (en) | Rescue robot convenient to remove | |
| JPH0150532B2 (en) | ||
| CN109760349A (en) | A kind of solid tyre generation line | |
| CN109823257A (en) | Automatic hood device | |
| CN109881954A (en) | It is equipped on the multi link formula folder device of tyre and operating method of AGV trolley | |
| CN108861579A (en) | A kind of block objects clamping handling device | |
| CN109969771A (en) | A kind of air pump is telescopic to spin upside down grasping mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |