CN109823434A - A kind of self-propelled robot of high flexibility ratio - Google Patents
A kind of self-propelled robot of high flexibility ratio Download PDFInfo
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- CN109823434A CN109823434A CN201910160361.5A CN201910160361A CN109823434A CN 109823434 A CN109823434 A CN 109823434A CN 201910160361 A CN201910160361 A CN 201910160361A CN 109823434 A CN109823434 A CN 109823434A
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- hinge
- steering
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- body frame
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- 241000510678 Falcaria vulgaris Species 0.000 claims description 9
- 229910003460 diamond Inorganic materials 0.000 claims description 4
- 239000010432 diamond Substances 0.000 claims description 4
- 230000009184 walking Effects 0.000 abstract description 5
- 238000001179 sorption measurement Methods 0.000 abstract description 3
- 238000010586 diagram Methods 0.000 description 4
- 230000009194 climbing Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
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Abstract
The invention discloses a kind of self-propelled robots of high flexibility ratio, including body frame and four symmetrically arranged running gears；The running gear includes support arm, the steering system positioned at support arm top, movable motor, upper L-type support chip, lower L-type support chip, movable motor connection frame and wheel；The steering system includes that steering motor, steering bracket, steering connecting shaft fixinig plate and nut, the steering motor are fixedly connected by steering bracket with support arm.The opposite wheel spacing in body frame two sides of the present invention is adjustable, is suitable for the pillar of different-diameter, adjustable above and below magnet, keeps the spacing of magnet and pillar between 5-8mm, prevents recent photo from ringing walking, influencing adsorption capacity too far.The steering of wheel is easier to control, it can be achieved that 0-180 degree flexible rotating.The setting of guide post and small guide post can make magnet frame lifting more steady with the folding of wheel respectively.
Description
Technical field
The invention belongs to walking robot fields, are specifically related to a kind of self-propelled robot of high flexibility ratio.
Background technique
Existing walking robot has volume heaviness more, takes up space the disadvantages of big, steering is not flexible；Especially when being related to
When climbing wall or climbing pillar, wheel spacing is non-adjustable, and when pillar is thinner, wheel spacing is excessive, cannot achieve the movement of wheel thick pillar,
When pillar is thicker, wheel spacing is narrow, and magnet farther out, be easy to cause robot adsorption capacity smaller and what is fallen shows apart from cylinder
As.
Summary of the invention
To solve prior art problem, the present invention provides a kind of flexible operation, small in size, wheel is adjustable in pitch self-propelled
Robot.
The technical solution adopted by the present invention are as follows: a kind of self-propelled robot of high flexibility ratio, including body frame and four are symmetrical
The running gear of setting；The running gear includes support arm, the steering system positioned at support arm top, movable motor, upper L-type
Support chip, lower L-type support chip, movable motor connection frame and wheel；The steering system includes steering motor, steering bracket, turns
To connecting shaft fixinig plate and nut, the steering motor is fixedly connected by steering bracket with support arm, the steering motor
It turns to connecting shaft and sequentially passes through steering connecting shaft fixinig plate, nut, upper L-type support chip, support arm and lower L-type support chip, and turn
It is meshed to connecting shaft with connecting shaft fixinig plate, upper L-type support chip and lower L-type support chip is turned to；The steering connecting shaft is fixed
Piece and upper L-type support chip are fixedly connected by screw with movable motor connection frame inner top side composition, and the lower L-type support chip is borrowed
It helps screw to constitute with movable motor connection frame inside lower end to be fixedly connected；The movable motor is fastened on movable motor connection frame
Interior, described support arm one end constitutes by small hinge and body frame and is rotatablely connected, the movable motor driving vehicle wheel rotation, and described turn
Meshed diamond shape connection sheet is additionally provided with to connection shaft end.
Further, the self-propelled robot further includes two groups of open-close systems, and the open-close system includes lead screw folding
Motor, folding electric machine support and hinge assembly, the lead screw folding motor is fixed on body frame by folding electric machine support, described
Hinge assembly includes big leaf of hinge, long leaf of hinge and short leaf of hinge, and described long leaf of hinge one end is by long hinge shaft and big conjunction
Hinge constitutes rotation connection, the other end is constituted by short hinge axis and short leaf of hinge and is rotatablely connected, the lead screw folding motor
Lead screw bottom end is fixedly connected with big leaf of hinge, and the short leaf of hinge is fixedly connected with support arm.
Further, the body frame bottom is additionally provided with the magnet of carry magnet frame, and the magnet is located inside magnet frame, described
Magnet frame is located at the bottom of body frame by jacking system；The jacking system includes that lead screw lifting motor is connected with lifting motor
Frame, the lead screw lifting motor are fixedly connected by lifting motor connection frame with body frame, the lead screw bottom of the lead screw lifting motor
Portion is fixedly connected by round connection frame with magnet frame.
Further, the number of the jacking system is 2, is symmetrically set to body frame top.
Further, the body frame two sides are fixed with symmetrical four guide sleeves, and shown guide sleeve is by described in guide sleeve connection frame
Guide post corresponding with guide sleeve is fixed in magnet frame, the guide column sleeve is set in guide sleeve.
Further, it is equipped with small guide post between the lead screw folding motor bottom and body frame, the big leaf of hinge is equipped with
Guide hole, the small guide post are placed through in guide hole.
Further, the quantity of the small guide post is four.
Further, the body frame both ends are respectively equipped with laser range sensor and laser ranging module locating plate.
Further, the support arm bottom side is additionally provided with limit switch, fixes limit switches on the lower L-type support chip
Baffle.
What the present invention obtained has the beneficial effect that the opposite wheel spacing in body frame two sides of the present invention is adjustable, is suitable for different straight
The pillar of diameter, it is adjustable above and below magnet, keep the spacing of magnet and pillar to prevent recent photo from ringing walking, too far shadow between 5-8mm
Ring adsorption capacity.The steering of wheel is easier to control, it can be achieved that 0-180 degree flexible rotating.The setting of guide post and small guide post can make respectively
It is more steady with the folding of wheel to obtain magnet frame lifting.
Detailed description of the invention
Fig. 1 is overall structure of the present invention；
Fig. 2 is overlooking structure diagram of the present invention；
Fig. 3 is present invention looks up structural representation of the present invention；
Fig. 4 is body frame of the present invention and jacking system structural schematic diagram；
Fig. 5 is body frame of the present invention and open-close system structural schematic diagram；
Fig. 6 is steering system structural schematic diagram of the present invention；
Wherein 1 body frame is represented, 2 support arm is represented, 3 represents movable motor, 4 represent upper L-type support chip, 5 represent lower L-type branch
Blade, 6 represent movable motor connection frame, 7 represent wheel, 8 represent steering motor, 9 represent steering bracket, 10 represent turn to connection
Axis fixinig plate, 11 represent nut, 12 represent and turn to connecting shafts, 13 represent small hinge, 14 represent diamond shape connection sheet, 15 represent lead screw
Folding motor, 16 represent folding electric machine supports, 17 represent big leaf of hinge, 18 represent long leaf of hinge, 19 represent short leaf of hinge, 20 generations
The long hinge shaft of table, 21 represent short hinge axis, 22 represent magnet frame, 23 represent magnet, 24 represent lead screw lifting motor, 25 represent
Lifting motor connection frame, 26 represent round connection frame, 27 represent guide sleeve, 28 represent guide sleeve connection frame, 29 represent guide post, 30 represent
Small guide post, 31 represent laser range sensor, 32 represent laser ranging module locating plate, 33 represent limit switch, 34 represent limit
Bit switch baffle.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.
As shown in figures 1 to 6: a kind of self-propelled robot of high flexibility ratio, including body frame 1 and four symmetrically arranged walkings
System；The running gear includes support arm 2, the steering system positioned at 2 top of support arm, movable motor 3, upper L-type support chip
4, lower L-type support chip 5, movable motor connection frame 6 and wheel 7；The steering system includes steering motor 8, steering bracket 9, turns
To connecting shaft fixinig plate 10 and nut 11, the steering motor 8 is fixedly connected by steering bracket 9 with support arm 2, the steering
The steering connecting shaft 12 of motor 8 sequentially pass through turn to connecting shaft fixinig plate 10, nut 11, upper L-type support chip 4, support arm 2 and under
L-type support chip 5, and turn to connecting shaft 12 and nibbled with connecting shaft fixinig plate 10, upper L-type support chip 4 and lower 5 phase of L-type support chip is turned to
It closes；The steering connecting shaft fixinig plate 10 and upper L-type support chip 4 are constituted by screw and 6 inner top side of movable motor connection frame
It is fixedly connected, the lower L-type support chip 5 is fixedly connected by screw with 6 inside lower end of movable motor connection frame composition；The row
It walks motor 3 to be fastened in movable motor connection frame 6, described 2 one end of support arm constitutes rotation with body frame 1 by small hinge 13 and connects
It connects, the movable motor 3 drives wheel 7 to rotate, and 12 end of connecting shaft that turns to is additionally provided with meshed diamond shape connection
Piece 14.The self-propelled robot further includes two groups of open-close systems, and the open-close system includes lead screw folding motor 15, folding electricity
Machine support 16 and hinge assembly, the lead screw folding motor 15 are fixed on body frame 1 by folding electric machine support 16, the hinge
Component includes big leaf of hinge 17, long leaf of hinge 18 and short leaf of hinge 19, and described long 18 one end of leaf of hinge is by long hinge shaft 20
Rotation connection is constituted with big leaf of hinge 17, the other end is constituted with short leaf of hinge 19 by short hinge axis 21 and is rotatablely connected, the silk
The lead screw bottom end of thick stick folding motor 15 is fixedly connected with big leaf of hinge 17, and the short leaf of hinge 19 is fixedly connected with support arm 2.Institute
The magnet 23 that 1 bottom of body frame is additionally provided with carry magnet frame 22 is stated, the magnet 23 is located inside magnet frame 22, and the magnet frame 22 is borrowed
Jacking system is helped to be located at the bottom of body frame 1；The jacking system includes lead screw lifting motor 24 and lifting motor connection frame 25, institute
It states lead screw lifting motor 24 and is fixedly connected by lifting motor connection frame 25 with body frame 1, the lead screw of the lead screw lifting motor 21
Bottom is fixedly connected by round connection frame 26 with magnet frame 22.The number of the jacking system is 2, is symmetrically set to master
1 top of frame.1 two sides of body frame are fixed with symmetrical four guide sleeves 27, and shown guide sleeve 27 is by magnetic described in guide sleeve connection frame 28
Guide post 29 corresponding with guide sleeve 27 is fixed on brandreth 22, the guide post 29 is sheathed in guide sleeve 27.The lead screw opens and closes motor
It is set between 15 bottoms and body frame 1 there are four small guide post 30, the big leaf of hinge 17 is equipped with guide hole, and the small guide post 30 is placed through
In guide hole.1 both ends of body frame are respectively equipped with laser range sensor 31 and laser ranging module locating plate 32.The support arm
2 bottom sides are additionally provided with limit switch 33, fix limit switches baffle 34 on the lower L-type support chip 5.
When specific implementation: movable motor 3 drives wheel 7 to go ahead.Steering motor 8 is fixed on support by steering bracket 9
On arm 2, due to turning to connecting shaft 12 and turning to connecting shaft fixinig plate 10, nut 11, upper L-type support chip 4 and lower L-type support chip 5
It is meshed, turns to connecting shaft fixinig plate 10, upper L-type support chip 4, lower L-type support chip 5 by screw and movable motor connection frame 6
It is fixedly connected, when steering motor 8 works, turns to connecting shaft 12 with motor car wheel 7 and realize divertical motion.When wheel 7 is leaned on to body frame 1
Closely, when limit switch baffle 34 is gone at limit switch 33, wheel 7, which turns to the inside, to reach capacity, and can prevent from turning to electricity in this way
Machine 8, wheel 7, movable motor connection frame 6 etc. collide with support arm 2 or laser range sensor 31；And in steering procedure
Steering motor 8 can start and stop at any time as needed.
When robot, which needs to climb wall, realizes thick pillar behavior, the spacing of two sides wheel 7 can be under the action of open-close system
It can be adjusted as needed.The lead screw of lead screw folding motor 15 rotates down, and big leaf of hinge 17 is driven also to move downward, and closes long
Under the action of page shaft 20, long leaf of hinge 18, short hinge axis 21 and short leaf of hinge 19, between big leaf of hinge 17 and long leaf of hinge 18
Variable angle, the angle between long leaf of hinge 18 and short leaf of hinge 19 becomes smaller, and then drives support arm 2 opposite with steering system
Body frame 1 moves downward, and realizes the closed action of wheel 7；Conversely, lead screw moves upwards the expansion action of achievable wheel 7.It is small to lead
It is more stable that column 30 can be such that big leaf of hinge 17 moves.
When magnet 23 needs to go up and down, the lead screw of lead screw lifting motor 24, which moves up and down, drives magnet frame 22 to move up and down,
The accurate positioning of magnet 23 is realized under the action of laser range sensor 31.Guide post 29 can make the entire operation of magnet frame 22 more flat
Surely, phenomena such as twisting, offset will not occur.
Claims (9)
1. a kind of self-propelled robot of high flexibility ratio, it is characterised in that: including body frame (1) and four symmetrically arranged Running Systems
System；The running gear includes support arm (2), steering system, movable motor (3), the upper L-type branch for being located at support arm (2) top
Blade (4), lower L-type support chip (5), movable motor connection frame (6) and wheel (7)；The steering system includes steering motor
(8), steering bracket (9), steering connecting shaft fixinig plate (10) and nut (11), the steering motor (8) is by steering bracket (9)
It is fixedly connected with support arm (2), the steering connecting shaft (12) of the steering motor (8), which sequentially passes through, turns to connecting shaft fixinig plate
(10), nut (11), upper L-type support chip (4), support arm (2) and lower L-type support chip (5), and turn to connecting shaft (12) and turn to
Connecting shaft fixinig plate (10), upper L-type support chip (4) and lower L-type support chip (5) are meshed；The steering connecting shaft fixinig plate
(10) it is fixedly connected by screw with movable motor connection frame (6) inner top side composition with upper L-type support chip (4), the lower L-type
Support chip (5) is fixedly connected by screw with movable motor connection frame (6) inside lower end composition；Movable motor (3) engaging
In movable motor connection frame (6), described support arm (2) one end constitutes by small hinge (13) and body frame (1) and is rotatablely connected, institute
Movable motor (3) driving wheel (7) rotation is stated, described connecting shaft (12) end that turns to is additionally provided with meshed diamond shape connection
Piece (14).
2. a kind of self-propelled robot of high flexibility ratio according to claim 1, it is characterised in that: the self-propelled robot
It further include two groups of open-close systems, the open-close system includes lead screw folding motor (15), folding electric machine support (16) and hinge group
Part, lead screw folding motor (15) are fixed on body frame (1) by folding electric machine support (16), and the hinge assembly includes big
Leaf of hinge (17), long leaf of hinge (18) and short leaf of hinge (19), described long leaf of hinge (18) one end is by long hinge shaft (20)
Rotation connection, the other end, which are constituted, with big leaf of hinge (17) constitutes rotation connection by short hinge axis (21) and short leaf of hinge (19),
The lead screw bottom end of lead screw folding motor (15) is fixedly connected with big leaf of hinge (17), the short leaf of hinge (19) and support arm
(2) it is fixedly connected.
3. a kind of self-propelled robot of high flexibility ratio according to claim 1, it is characterised in that: body frame (1) bottom
It is additionally provided with the magnet (23) of carry magnet frame (22), the magnet (23) is located at magnet frame (22) inside, and the magnet frame (22) is borrowed
Jacking system is helped to be located at the bottom of body frame (1)；The jacking system includes lead screw lifting motor (24) and lifting motor connection frame
(25), the lead screw lifting motor (24) is fixedly connected by lifting motor connection frame (25) with body frame (1), the lead screw lifting
The lead screw bottom of motor (21) is fixedly connected by round connection frame (26) with magnet frame (22).
4. a kind of self-propelled robot of high flexibility ratio according to claim 3, it is characterised in that: of the jacking system
Number is 2, is symmetrically set to body frame (1) top.
5. a kind of self-propelled robot of high flexibility ratio according to claim 1, it is characterised in that: body frame (1) two sides
It is fixed with symmetrical four guide sleeves (27), shown guide sleeve (27) in guide sleeve connection frame (28) magnet frame (22) by being fixed with
Guide post (29) corresponding with guide sleeve (27), the guide post (29) are sheathed in guide sleeve (27).
6. a kind of self-propelled robot of high flexibility ratio according to claim 2, it is characterised in that: the lead screw opens and closes motor
(15) small guide post (30) are equipped between bottom and body frame (1), the big leaf of hinge (17) is equipped with guide hole, the small guide post (30)
It is placed through in guide hole.
7. a kind of self-propelled robot of high flexibility ratio according to claim 1, it is characterised in that: the small guide post (30)
Quantity is four.
8. a kind of self-propelled robot of high flexibility ratio according to claim 1, it is characterised in that: body frame (1) both ends
It is respectively equipped with laser range sensor (31) and laser ranging module locating plate (32).
9. a kind of self-propelled robot of high flexibility ratio according to claim 1, it is characterised in that: support arm (2) bottom
Side is additionally provided with limit switch (33), fixes limit switches baffle (34) on the lower L-type support chip (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910160361.5A CN109823434A (en) | 2019-03-04 | 2019-03-04 | A kind of self-propelled robot of high flexibility ratio |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910160361.5A CN109823434A (en) | 2019-03-04 | 2019-03-04 | A kind of self-propelled robot of high flexibility ratio |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109823434A true CN109823434A (en) | 2019-05-31 |
Family
ID=66865241
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910160361.5A Pending CN109823434A (en) | 2019-03-04 | 2019-03-04 | A kind of self-propelled robot of high flexibility ratio |
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Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130020144A1 (en) * | 2011-07-18 | 2013-01-24 | The Boeing Company | Adaptive Magnetic Coupling System |
| JP5832690B1 (en) * | 2015-08-11 | 2015-12-16 | 阪神高速技術株式会社 | Structure inspection robot |
| CN205186352U (en) * | 2015-12-18 | 2016-04-27 | 哈尔滨科能熔敷科技有限公司 | Magnetism adsorbs wall climbing robot |
| CN205186350U (en) * | 2015-12-18 | 2016-04-27 | 哈尔滨科能熔敷科技有限公司 | Boiler water wall wall climbing robot based on drive of wireless bluetooth |
| CA3046651A1 (en) * | 2016-12-23 | 2018-06-28 | Gecko Robotics, Inc. | Inspection robot |
| CN109396700A (en) * | 2018-12-07 | 2019-03-01 | 北京博清科技有限公司 | It creeps welding robot and its control method |
| CN211308780U (en) * | 2019-03-04 | 2020-08-21 | 温广胜 | Self-propelled robot with high flexibility |
-
2019
- 2019-03-04 CN CN201910160361.5A patent/CN109823434A/en active Pending
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130020144A1 (en) * | 2011-07-18 | 2013-01-24 | The Boeing Company | Adaptive Magnetic Coupling System |
| JP5832690B1 (en) * | 2015-08-11 | 2015-12-16 | 阪神高速技術株式会社 | Structure inspection robot |
| CN205186352U (en) * | 2015-12-18 | 2016-04-27 | 哈尔滨科能熔敷科技有限公司 | Magnetism adsorbs wall climbing robot |
| CN205186350U (en) * | 2015-12-18 | 2016-04-27 | 哈尔滨科能熔敷科技有限公司 | Boiler water wall wall climbing robot based on drive of wireless bluetooth |
| CA3046651A1 (en) * | 2016-12-23 | 2018-06-28 | Gecko Robotics, Inc. | Inspection robot |
| CN109396700A (en) * | 2018-12-07 | 2019-03-01 | 北京博清科技有限公司 | It creeps welding robot and its control method |
| CN211308780U (en) * | 2019-03-04 | 2020-08-21 | 温广胜 | Self-propelled robot with high flexibility |
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