CN109676586B - Air pump telescopic space overturning grabbing walking robot - Google Patents
Air pump telescopic space overturning grabbing walking robot Download PDFInfo
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- CN109676586B CN109676586B CN201811636323.4A CN201811636323A CN109676586B CN 109676586 B CN109676586 B CN 109676586B CN 201811636323 A CN201811636323 A CN 201811636323A CN 109676586 B CN109676586 B CN 109676586B
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an air pump telescopic space overturning grabbing walking robot which comprises an upper overturning grabbing mechanism, a lower overturning grabbing mechanism, a space overturning auxiliary mechanism and a walking robot chassis, wherein the space overturning auxiliary mechanism is arranged above the walking robot chassis in a matched mode, and the upper overturning grabbing mechanism and the lower overturning grabbing mechanism are connected to the space overturning auxiliary mechanism in a matched mode. The invention integrally solves the technical requirements that the existing special rescue operation is high in operation risk by simply wearing protective equipment by rescue workers, the existing rescue mechanical equipment is complex and heavy and cannot flexibly perform flexible overturning and grabbing operation freely walking in space, effectively solves the flexible overturning and grabbing operation under the complex space condition of the dangerous special rescue operation environment, and simultaneously effectively solves the research and development of space overturning auxiliary operation equipment which flexibly walks under the complex space condition of the dangerous special rescue operation environment so as to reduce the life danger of manual emergency rescue operation.
Description
Technical Field
The invention relates to an air pump telescopic space overturning grabbing walking robot, and belongs to the technical field of special robot manufacturing.
Background
The existing special rescue operation environment is complex, the operation danger is high by simply wearing protective equipment by rescue workers, the existing rescue mechanical equipment is complex and heavy and cannot flexibly carry out telescopic overturning grabbing operation in space, so that the telescopic space overturning grabbing walking robot of the air pump is necessary to be developed according to the existing intelligent manufacturing technology, the flexible telescopic overturning grabbing operation under the space condition of complex dangerous special rescue operation environment is effectively solved, and meanwhile, the development of the auxiliary space overturning operation equipment which can flexibly walk under the space condition of complex dangerous special rescue operation environment is effectively solved, so that the life danger of manual emergency rescue operation is reduced.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, solve the technical problems, and provide an air pump telescopic type space overturning grabbing walking robot.
The invention adopts the following technical scheme: the utility model provides a telescopic space upset of air pump snatchs walking robot, its characterized in that includes upper and lower upset snatchs mechanism, space upset pair mechanism, walking robot chassis, space upset pair mechanism cooperation set up in the top of walking robot chassis, upper and lower upset snatchs the mechanism cooperation and links on the space upset pair mechanism.
As a preferred embodiment, the space overturning pair mechanism is provided with a longitudinal overturning pair, and the input end of the upper and lower overturning grabbing mechanism is matched and connected with the space overturning pair mechanism through the longitudinal overturning pair.
As a preferred embodiment, the up-down overturning grabbing mechanism comprises an overturning connecting frame, a locking connecting frame, a clamping driving motor and a telescopic air pump, wherein the space overturning auxiliary mechanism is connected with the overturning connecting frame in a matched manner through a longitudinal overturning pair, two ends of the telescopic air pump are respectively and fixedly connected with the locking connecting frame and the overturning connecting frame, the overturning connecting frame is hinged with the locking connecting frame and the clamping connecting frame, and the output end of the clamping driving motor is connected with one end of the clamping connecting frame in a matched manner.
As a preferred embodiment, a turnover hinging seat is arranged on the turnover connecting frame, a turnover connecting pair is hinged on the turnover hinging seat, and a hinged longitudinal rotating shaft is arranged at the center of the turnover hinging seat; a longitudinal rotary supporting rod is fixedly arranged on the transverse rotary base, and one end of the longitudinal rotary shaft is hinged with the longitudinal rotary supporting rod; the transverse rotating base is fixedly provided with an articulated coupling, and is fixedly connected with the longitudinal rotating motor seat through the articulated coupling.
As a preferred embodiment, the overturning connecting frame is fixedly provided with a hinging rod, the locking connecting frame is fixedly provided with a hinging connecting rod, one end of the telescopic air pump is hinged with the overturning connecting frame through the hinging rod, and the other end of the telescopic air pump is hinged with the locking connecting frame through the hinging connecting rod.
As a preferred embodiment, the clamping connecting frame is provided with a clamping driven sprocket and a clamping chain in a matched mode, a matched clamping driving sprocket is fixedly arranged below the clamping driving motor, the output end of the clamping driving motor is matched and connected with the input end of the clamping driving sprocket, the clamping driving sprocket is matched and connected with the clamping driven sprocket through the clamping chain, and clamping wheels which are coaxial with the clamping driven sprocket and are symmetrically distributed are arranged on the upper side and the lower side of the clamping driven sprocket.
As a preferred embodiment, the space overturning auxiliary mechanism comprises a transverse rotating motor and a transverse rotating motor seat, wherein a transverse rotating base which is connected in a rotating way is arranged above the transverse rotating motor in a matched way, a longitudinal rotating driving motor is arranged above the transverse rotating base, and the output end of the longitudinal rotating driving motor is connected with the upper and lower overturning grabbing mechanisms in a matched way through a longitudinal overturning pair; the transverse rotating motor is matched and fixedly arranged on the transverse rotating motor seat, an output end of the transverse rotating motor is provided with a transverse rotating motor output shaft, the upper end of the transverse rotating motor output shaft is fixedly connected with the transverse rotating base, and the lower end of the transverse rotating motor output shaft is matched and connected with the output end of the transverse rotating motor.
As a preferred embodiment, a longitudinal rotary motor seat is fixedly arranged below the longitudinal rotary driving motor, and the bottom end of the longitudinal rotary motor seat is fixed on the transverse rotary base; a transmission gear train is fixedly arranged above the longitudinal rotary driving motor, and the output end of the longitudinal rotary driving motor is matched and connected with the longitudinal overturning pair through the transmission gear train; a turnover driving shaft is arranged between the longitudinal turnover pair and the transmission gear train, and the output end of the transmission gear train is connected with the longitudinal turnover pair in a matched manner through the turnover driving shaft.
As a preferred embodiment, the chassis of the walking robot is fixedly provided with symmetrically distributed bearing beams, and the bottom end of the transverse rotating motor base is fixed on the bearing beams.
As a preferred embodiment, a walking driving motor shafting and a plurality of symmetrically distributed walking wheels are arranged in the walking robot chassis, and the output end of the walking driving motor shafting is matched with the input end of the walking wheels.
The invention has the beneficial effects that: aiming at the problems that the existing special rescue operation environment is complex, the operation danger is high only by wearing protective equipment by rescue workers, the existing rescue mechanical equipment is complex and heavy, free walking telescopic overturning grabbing operation cannot be performed in space flexibly, therefore, a telescopic space overturning grabbing walking robot of an air pump is necessary to be developed according to the existing intelligent manufacturing technology, the problem that the flexible telescopic overturning grabbing operation is performed under the complex space condition of the dangerous special rescue operation environment is effectively solved, meanwhile, the development of space overturning auxiliary operation equipment which is used for performing the flexible walking under the complex space condition of the dangerous special rescue operation environment is effectively solved, the life danger of the manual emergency rescue operation is reduced, an up-down overturning grabbing mechanism and a space overturning auxiliary mechanism are arranged above a chassis of the walking robot, the space overturning auxiliary mechanism is provided with a transverse rotating motor seat, a transverse rotating base and a longitudinal rotating driving motor, the transverse rotating motor is embedded in the transverse rotating motor seat and drives the transverse rotating base to rotate in a transverse space range through driving an output shaft of the transverse rotating motor, and the longitudinal rotating driving motor drives an overturning auxiliary overturning grabbing mechanism to be arranged in a longitudinal connecting frame of the upper and lower overturning mechanism in sequence to be symmetrically distributed with a telescopic rotating shaft in the space range of the air pump according to the requirement; the clamping driving motor drives the clamping connecting frame to rotate around the hinged connecting rod with the overturning connecting frame through the driving clamping speed reducer, the clamping driving sprocket, the clamping chain and the clamping driven sprocket, the telescopic air pump drives the locking connecting frame to rotate around the overturning connecting frame to match with the clamping connecting frame to lock the clamping object, in order to ensure the installation space of the internal devices of the chassis of the walking robot, the bearing cross beam is fixedly arranged below the transverse rotating motor seat, the bottom of the chassis of the walking robot is provided with symmetrically distributed walking wheels and driving motor shafting, the complex environment of the existing special rescue operation is integrally solved, the operation danger is high by simply wearing protective equipment by rescue workers, the existing rescue mechanical equipment is complex and heavy, flexible overturning grabbing operation of free walking in space cannot be performed, therefore, the flexible space overturning walking robot of the air pump is necessary to be developed according to the existing intelligent manufacturing technology, the development of flexible overturning grabbing operation is effectively solved under the complex space condition of the complex environment of the dangerous special rescue operation, meanwhile, the development of flexible walking space overturning auxiliary operation equipment under the complex space condition of the complex environment of the dangerous rescue operation is effectively solved, and the purpose of flexible life-saving the manual emergency rescue operation is achieved.
Drawings
Fig. 1 is a schematic structural view of a preferred embodiment of the present invention.
Fig. 2 is a schematic view of another angle configuration of the preferred embodiment of the present invention.
Fig. 3 is a schematic structural view of a preferred embodiment of the present invention for clamping a target object.
Fig. 4 is a schematic view showing a structure for holding a target object at a rotation angle according to a preferred embodiment of the present invention.
Fig. 5 is a schematic view showing a structure for clamping a rotation of a target object by another angle according to a preferred embodiment of the present invention.
Fig. 6 is a schematic structural view of a preferred embodiment of the flip-up and down grabbing mechanism of the present invention.
Fig. 7 is a schematic diagram showing connection between the turning auxiliary mechanism and the chassis of the walking robot.
The meaning of the labels in the figures: 1-up-down overturning grabbing mechanism, 101-overturning connecting frame, 103-locking connecting frame, 104-clamping connecting frame, 105-clamping driving motor, 106-clamping wheel, 108-telescopic air pump, 109-locking hinging pair, 110-hinging rod, 115-overturning hinging seat, 117-hinging connecting rod, 118-clamping decelerator, 119-clamping driving sprocket, 120-clamping chain, 121-clamping driven sprocket and 122-clamping target object; the device comprises a 2-space overturning pair mechanism, a 202-transverse rotating motor seat, a 203-transverse rotating base, 206-travelling wheels, 207-travelling driving motor shafting, 208-bearing cross beams, 209-transverse rotating motors, 210-transverse rotating motor output shafts, 211-hinged couplings, 212-longitudinal rotating motor seats, 213-longitudinal rotating driving motors, 214-transmission gear trains, 215-overturning driving shafts, 216-longitudinal overturning pairs, 217-longitudinal rotating shafts and 219-longitudinal rotating supporting rods; 3-walking robot chassis.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
As shown in fig. 1, 2, 3, 4 and 5, the invention provides an air pump telescopic space overturning grabbing walking robot, which comprises an upper overturning grabbing mechanism 1, a lower overturning grabbing mechanism 2 and a walking robot chassis 3, wherein the space overturning auxiliary mechanism 2 is arranged above the walking robot chassis 3 in a matching way, and the upper overturning grabbing mechanism 1 is connected to the space overturning auxiliary mechanism 2 in a matching way.
As a preferred embodiment, the space turnover auxiliary mechanism 2 is provided with a longitudinal turnover auxiliary 216, and the input end of the up-down turnover grabbing mechanism 1 is matched and connected with the space turnover auxiliary mechanism 2 through the longitudinal turnover auxiliary 216.
As shown in fig. 6, as a preferred embodiment, the up-down overturning grabbing mechanism 1 comprises an overturning connecting frame 101, a locking connecting frame 103, a clamping connecting frame 104, a clamping driving motor 105 and a telescopic air pump 108, wherein the space overturning auxiliary mechanism 2 is matched and connected with the overturning connecting frame 101 through a longitudinal overturning pair 216, two ends of the telescopic air pump 108 are respectively fixedly connected with the locking connecting frame 103 and the overturning connecting frame 101, the overturning connecting frame 101 is hinged with the locking connecting frame 103 and the clamping connecting frame 104, and an output end of the clamping driving motor 105 is matched and connected with one end of the clamping connecting frame 104.
As a preferred embodiment, the turnover connecting frame 101 is provided with a turnover hinging seat 115, the turnover connecting pair 102 is hinged on the turnover hinging seat 115, and the center of the turnover hinging seat 115 is provided with a hinged longitudinal rotation shaft 217; a longitudinal rotary supporting rod 219 is fixedly arranged on the transverse rotary base 203, and one end of the longitudinal rotary shaft 217 is hinged with the longitudinal rotary supporting rod 219; the transverse rotating base 203 is fixedly provided with an articulated coupling 211, and the transverse rotating base 203 is fixedly connected with the longitudinal rotating motor base 212 through the articulated coupling 211.
As a preferred embodiment, the hinge rod 110 is fixedly arranged on the turnover connecting frame 101, the hinge connecting rod 117 is fixedly arranged on the locking connecting frame 103, one end of the telescopic air pump 108 is hinged with the turnover connecting frame 101 through the hinge rod 110, and the other end of the telescopic air pump 108 is hinged with the locking connecting frame 103 through the hinge connecting rod 117.
As a preferred embodiment, the clamping connection frame 104 is provided with a clamping driven sprocket 121 and a clamping chain 120 in a matched manner, a matched clamping driving sprocket 119 is fixedly arranged below the clamping driving motor 105, the output end of the clamping driving motor 105 is matched and connected with the input end of the clamping driving sprocket 119, the clamping driving sprocket 119 is matched and connected with the clamping driven sprocket 121 through the clamping chain 120, and the upper side and the lower side of the clamping driven sprocket 121 are provided with symmetrically distributed clamping wheels 106 coaxial with the clamping driven sprocket 121.
As shown in fig. 7, as a preferred embodiment, the space turnover auxiliary mechanism 2 comprises a transverse rotating motor 209 and a transverse rotating motor base 202, a transverse rotating base 203 which is in rotary connection is arranged above the transverse rotating motor 209 in a matched manner, a longitudinal rotating driving motor 213 is arranged above the transverse rotating base 203, and an output end of the longitudinal rotating driving motor 213 is connected with the upper and lower turnover grabbing mechanism 1 in a matched manner through a longitudinal turnover pair 216; the transverse rotating motor 209 is matched and fixedly arranged on the transverse rotating motor base 202, an output end of the transverse rotating motor 209 is provided with a transverse rotating motor output shaft 210, an upper end of the transverse rotating motor output shaft 210 is fixedly connected with the transverse rotating base 203, and a lower end of the transverse rotating motor output shaft 210 is matched and connected with an output end of the transverse rotating motor 209.
As a preferred embodiment, a longitudinal rotary motor base 212 is fixedly arranged below the longitudinal rotary driving motor 213, and the bottom end of the longitudinal rotary motor base 212 is fixed on the transverse rotary base 203; a transmission gear train 214 is fixedly arranged above the longitudinal rotation driving motor 213, and the output end of the longitudinal rotation driving motor 213 is matched and connected with a longitudinal overturning pair 216 through the transmission gear train 214; a turnover driving shaft 215 is arranged between the longitudinal turnover pair 216 and the transmission gear train 214, and the output end of the transmission gear train 214 is matched and connected with the longitudinal turnover pair 216 through the turnover driving shaft 215.
As a preferred embodiment, the chassis 3 of the walking robot is fixedly provided with symmetrically distributed bearing beams 208, and the bottom end of the transverse rotating motor base 202 is fixed on the bearing beams 208.
As a preferred embodiment, a walking driving motor shaft system 207 and a plurality of symmetrically distributed walking wheels 206 are arranged in the walking robot chassis 3, and the output end of the walking driving motor shaft system 207 is matched and connected with the input end of the walking wheels 206.
The specific working process of the invention comprises the following steps: aiming at the problems that the existing special rescue operation environment is complex, the operation risk is high by simply wearing protective equipment by rescue workers, the existing rescue mechanical equipment is complex and heavy, free walking telescopic overturning grabbing operation cannot be performed in space flexibly, therefore, a telescopic space overturning grabbing walking robot of an air pump is necessary to be developed according to the existing intelligent manufacturing technology, the problem that the flexible telescopic overturning grabbing operation is performed under the complex space condition of the dangerous special rescue operation environment is effectively solved, meanwhile, the development of space overturning auxiliary operation equipment which is subjected to the flexible walking under the complex space condition of the dangerous special rescue operation environment is effectively solved, the life risk of the manual emergency rescue operation is reduced, an up-down overturning grabbing mechanism 1 and a space overturning auxiliary mechanism 2 are arranged above a walking robot chassis 3, the space overturning auxiliary mechanism 2 is provided with a transverse rotating motor seat 202, a transverse rotating base 203 and a longitudinal rotating driving motor 213, the transverse rotating motor seat 202 is embedded inside the transverse rotating motor 209, the transverse rotating motor 209 drives the transverse rotating base 203 to rotate in a transverse space range through driving a transmission shaft 214 and an overturning auxiliary driving shaft 216 in sequence, and the longitudinal rotating auxiliary overturning mechanism 213 is required to be connected with a longitudinal overturning frame 101 in a longitudinal rotating shaft 101 in a connecting mode through a longitudinal rotating shaft 101; the clamping driving motor 105 drives the clamping connecting frame 104 to rotate around the hinged connecting rod 117 of the turnover connecting frame 101 through driving the clamping speed reducer 118, the clamping driving chain wheel 119, the clamping chain 120 and the clamping driven chain wheel 121, and the telescopic air pump 108 drives the locking connecting frame 103 to rotate around the turnover connecting frame 101 to match with the clamping connecting frame 104 to lock the clamping target object 122, so as to ensure the installation space of the internal devices of the chassis 3 of the walking robot, the bearing cross beam 208 is fixedly arranged below the transverse rotating motor seat 202, symmetrically distributed travelling wheels and the driving motor shafting 207 are arranged at the bottom of the chassis 3 of the walking robot, the existing special rescue operation environment is complex, the operation danger is high by simply wearing protective equipment by rescue personnel, the existing rescue mechanical equipment is complex and heavy, the flexible turnover grabbing operation of free running in space cannot be performed flexibly, therefore, the flexible space turnover grabbing walking robot of the air pump is necessary to be developed according to the existing intelligent manufacturing technology, the flexible turnover grabbing operation of the flexible space is effectively solved under the space condition of complex dangerous rescue operation environment, meanwhile, the purpose of developing the flexible turnover grabbing operation of the auxiliary space under the condition of the complex space condition of dangerous rescue operation is effectively solved, and the emergency operation is convenient, and the life is reduced.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (6)
1. The telescopic space overturning grabbing walking robot is characterized by comprising an upper overturning grabbing mechanism (1), a lower overturning grabbing mechanism (2) and a walking robot chassis (3), wherein the space overturning auxiliary mechanism (2) is arranged above the walking robot chassis (3) in a matched mode, and the upper overturning grabbing mechanism (1) is connected to the space overturning auxiliary mechanism (2) in a matched mode;
the space overturning auxiliary mechanism (2) is provided with a longitudinal overturning auxiliary (216), and the input end of the upper and lower overturning grabbing mechanism (1) is matched and connected with the space overturning auxiliary mechanism (2) through the longitudinal overturning auxiliary (216);
the vertical overturning grabbing mechanism (1) comprises an overturning connecting frame (101), a locking connecting frame (103), a clamping connecting frame (104), a clamping driving motor (105) and a telescopic air pump (108), wherein the space overturning auxiliary mechanism (2) is matched and connected with the overturning connecting frame (101) through a longitudinal overturning pair (216), two ends of the telescopic air pump (108) are respectively and fixedly connected with the locking connecting frame (103) and the overturning connecting frame (101), the overturning connecting frame (101) is hinged and connected with the locking connecting frame (103) and the clamping connecting frame (104), and the output end of the clamping driving motor (105) is matched and connected with one end of the clamping connecting frame (104);
the space overturning pair mechanism (2) comprises a transverse rotating motor (209) and a transverse rotating motor seat (202), a transverse rotating base (203) which is connected in a rotating way is arranged above the transverse rotating motor (209) in a matched way, a longitudinal rotating driving motor (213) is arranged above the transverse rotating base (203), and the output end of the longitudinal rotating driving motor (213) is connected with the upper and lower overturning grabbing mechanism (1) in a matched way through the longitudinal overturning pair (216); the transverse rotating motor (209) is fixedly arranged on the transverse rotating motor base (202) in a matched mode, an output end of the transverse rotating motor (209) is provided with a transverse rotating motor output shaft (210), the upper end of the transverse rotating motor output shaft (210) is fixedly connected with the transverse rotating base (203), and the lower end of the transverse rotating motor output shaft (210) is connected with the output end of the transverse rotating motor (209) in a matched mode;
a longitudinal rotary motor seat (212) is fixedly arranged below the longitudinal rotary driving motor (213), and the bottom end of the longitudinal rotary motor seat (212) is fixed on the transverse rotary base (203); a transmission gear train (214) is fixedly arranged above the longitudinal rotary driving motor (213), and the output end of the longitudinal rotary driving motor (213) is matched and connected with the longitudinal overturning pair (216) through the transmission gear train (214); a turnover driving shaft (215) is arranged between the longitudinal turnover pair (216) and the transmission gear train (214), and the output end of the transmission gear train (214) is connected with the longitudinal turnover pair (216) in a matching way through the turnover driving shaft (215); the transverse rotating base (203) is fixedly provided with an articulated coupling (211), and the transverse rotating base (203) is fixedly connected with the longitudinal rotating motor base (212) through the articulated coupling (211).
2. The telescopic space overturning grabbing walking robot with the air pump according to claim 1, wherein an overturning hinging seat (115) is arranged on the overturning connecting frame (101), the overturning connecting pair (102) is hinged to the overturning hinging seat (115), and a hinged longitudinal rotating shaft (217) is arranged at the center of the overturning hinging seat (115).
3. The telescopic space overturning grabbing walking robot with the air pump according to claim 1, wherein a hinging rod (110) is fixedly arranged on the overturning connecting frame (101), a hinging connecting rod (117) is fixedly arranged on the locking connecting frame (103), one end of the telescopic air pump (108) is hinged with the overturning connecting frame (101) through the hinging rod (110), and the other end of the telescopic air pump (108) is hinged with the locking connecting frame (103) through the hinging connecting rod (117).
4. The telescopic space overturning grabbing walking robot of the air pump according to claim 1, wherein a clamping driven sprocket (121) and a clamping chain (120) are arranged on the clamping connecting frame (104) in a matched mode, a matched clamping driving sprocket (119) is fixedly arranged below the clamping driving motor (105), the output end of the clamping driving motor (105) is connected with the input end of the clamping driving sprocket (119) in a matched mode, the clamping driving sprocket (119) is connected with the clamping driven sprocket (121) in a matched mode through the clamping chain (120), and clamping wheels (106) which are coaxial with the clamping driven sprocket (121) and are symmetrically distributed are arranged on the upper side and the lower side of the clamping driven sprocket (121).
5. The telescopic space overturning grabbing walking robot with the air pump according to claim 1, wherein symmetrically distributed bearing beams (208) are fixedly arranged on the walking robot chassis (3), and the bottom end of the transverse rotating motor base (202) is fixed on the bearing beams (208).
6. The telescopic space overturning grabbing walking robot with the air pump according to claim 1, wherein a walking driving motor shaft system (207) and a plurality of symmetrically distributed walking wheels (206) are arranged in the walking robot chassis (3), and the output end of the walking driving motor shaft system (207) is matched and connected with the input end of the walking wheels (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 CN109676586A (en) | 2019-04-26 |
| CN109676586B true CN109676586B (en) | 2023-09-22 |
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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 |
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| CN (1) | CN109676586B (en) |
Families Citing this family (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 |
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| 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 |
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| 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 |
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| Publication number | Publication date |
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| CN109676586A (en) | 2019-04-26 |
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