CN110217309A - A kind of imitative looper is adaptively done more physical exercises mode wheel-leg combined type climbing level robot - Google Patents
A kind of imitative looper is adaptively done more physical exercises mode wheel-leg combined type climbing level robot Download PDFInfo
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- CN110217309A CN110217309A CN201910584741.1A CN201910584741A CN110217309A CN 110217309 A CN110217309 A CN 110217309A CN 201910584741 A CN201910584741 A CN 201910584741A CN 110217309 A CN110217309 A CN 110217309A
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- Prior art keywords
- gear
- motor
- guide rail
- rotary motion
- gripper
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/028—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members having wheels and mechanical legs
Abstract
It adaptively does more physical exercises mode wheel-leg combined type climbing level robot the invention discloses a kind of imitative looper, including rotary motion gripper, main carrying platform device and linear motion gripper, wherein, main carrying platform device by rotary motion limbs trunk and linear motion limbs trunk respectively with the rotary motion gripper and linear motion gripper control connection, rotary motion gripper and move along a straight line gripper respectively with space bar cooperating.The present invention can be realized along bar rectilinear creeping, around rod rotation, the functions such as switching between different bars, and can adapt to the bar job requirements of different-diameter.
Description
Technical field
It adaptively does more physical exercises mode wheel-leg combined type climbing level robot the present invention relates to a kind of imitative looper, is especially intended for
Rail spacecraft upkeep operation, belongs to field of aviation machinery.
Background technique
With the development of aerospace cause, the maintenance of space station, in-orbit spacecraft maintenance etc. become more and more important.It is existing
Nowadays when space station or spacecraft when something goes wrong, generally require astronaut's export and repair, due to weightlessness of space and
The reason of vacuum environment, so that astronaut's action is extremely difficult, or even has life danger, and export maintenance needs are permitted every time
More staff coordinate, and could complete corresponding maintenance work, and expend huge manpower and material resources, therefore are badly in need of wanting a machine
People fast and accurately completes maintenance work.Again because there is no air and land in space, to realize that robot can be fast
It is fast accurately to reach designated place, it is necessary to a transportation robot that can be creeped along pipeline, by along pipeline or
Rod piece is creeped, and maintenance of equipment is accurately sent to designated position, and after completing maintenance work, equipment conveying can be returned to space
In cabin.
Existing climbing level robot is at greatly theory stage, without actual achievement, but with control technology and
The development of robot technology promotes the progress of climbing level robot.Climbing level robot mainly has linear motion and rotary motion group
At being creeped on bar using linear motion, rotary motion utilized to realize the position adjustment of robot.But most pole-climbing machine
The overall structure of people is complex, realizes that the control process of the switching of linear motion and rotary motion is relatively complicated, greatly increases
The cost of manufacture and manufacture difficulty of climbing level robot.
Summary of the invention
A kind of imitative looper mode wheel leg of adaptively doing more physical exercises is multiple in order to overcome the deficiencies in the prior art, the present invention provides
Box-like climbing level robot can be realized along bar rectilinear creeping, around rod rotation, the functions such as switching between different bars, and can fit
Answer the bar job requirements of different-diameter.
The technical solution mainly used in the present invention are as follows:
A kind of imitative looper is adaptively done more physical exercises mode wheel-leg combined type climbing level robot, including rotary motion gripper, main carrying platform
Device and linear motion gripper, wherein the main carrying platform device passes through rotary motion limbs trunk and linear motion limbs master
It is dry to be connected respectively with the rotary motion gripper and linear motion gripper control, the rotary motion gripper and linear motion gripper
Respectively with space bar cooperating.
Preferably, the rotary motion gripper includes first motor, the first fixed plate, first gear, first gear article,
Two gear bars, the first guide rail, the second guide rail, the first sliding block, the second sliding block, the first connection sheet, the second connection sheet, the first rubber
Wheel, the second rubber wheel, first support, second support, the second motor, second gear, third gear, third motor, the 4th gear,
5th gear；The first motor is mounted on the back side of the first fixed plate, and the output shaft of first motor is connect with first gear,
The first gear item and second gear item are engaged with first gear respectively, and first gear item and second gear item are parallel up and down
Setting, first guide rail and the second guide rail pass through bolt respectively and are installed in parallel in front of the first fixed plate, and the first guide rail
Setting up and down with the second guide rail, the first gear item is connect by the first connection sheet with the first sliding block, and first sliding block is sliding
Dynamic to be connected on the first guide rail, the second gear item is connect by the second connection sheet with the second sliding block, and second sliding block is sliding
Dynamic to be connected on the second guide rail, first rubber wheel and the second rubber wheel are vertically installed at first support and second support respectively
On, and respectively around central rotating shaft rotation, the first support is mounted on first gear item by the first intermediate link block, described
Second support is mounted on second gear item by the second intermediate link block, and second motor is mounted on by the first connector
The output shaft of first support lower end, second motor is connect with second gear, in the third gear and the first rubber wheel
The connection of heart shaft, the second gear and the intermeshing of third gear, the third motor are mounted on the by the second connector
The output shaft of two pedestal upper ends, the third motor is connect with the 4th gear, the center of the 5th gear and the second rubber wheel
Shaft connection, the 4th gear and the intermeshing of the 5th gear.
Preferably, the main carrying platform device includes linear motion limbs trunk, rotary motion limbs trunk, the first hinge
Chain, second hinge, main carrying platform, electric cylinders, the first connecting flange, the second connecting flange, the 4th motor, the 6th gear, the 7th tooth
Wheel, the 5th motor, eighth gear, the 9th gear, one end point of the linear motion limbs trunk and rotary motion limbs trunk
It is not mounted on main carrying platform by first axle and second hinge, and the linear motion limbs trunk and rotary motion limbs
Trunk is setting up and down, and the both ends of the electric cylinders are separately mounted on linear motion limbs trunk and rotary motion limbs trunk, institute
It states the linear motion limbs trunk other end to connect to form the first revolute pair with the first connecting flange by bearing, the 4th motor
Be mounted on linear motion limbs trunk, and the output shaft of the 4th motor is connect with the 6th gear, the 7th gear with it is described
The connection of first connecting flange, the 7th gear and the engagement connection of the 6th gear, first connecting flange and linear motion hand
The fixed back connection of the second of pawl；
The rotary motion limbs trunk connect to form the second revolute pair with the second connecting flange by bearing, the 5th motor
Be mounted on rotary motion limbs trunk, and the output shaft of the 5th motor is connect with eighth gear, the 9th gear with it is described
The connection of second connecting flange, the eighth gear and the engagement connection of the 9th gear, second connecting flange and rotary motion hand
The fixed back connection of the first of pawl.
Preferably, the linear motion gripper includes the 6th motor, the second fixed plate, the tenth gear, third gear bar, the
Four gear bars, third guide rail, the 4th guide rail, third connection sheet, third sliding block, Four-slider, the 4th connection sheet, third rubber
Wheel, the 4th rubber wheel, third bracket, the 4th bracket, the 5th link block, the 6th link block, the 7th motor, the 11st gear,
12 gears, the 8th motor, the 13rd gear, the 14th gear, the 6th motor are mounted on the back side of the second fixed plate, and
The output shaft of 6th motor is connect with the tenth gear, and the third gear bar and the 4th gear bar are engaged with the tenth gear respectively,
And third gear bar and the 4th gear bar are arranged in parallel up and down, the third guide rail and the 4th guide rail are mounted on by bolt respectively
Before second fixed plate, and third guide rail and the 4th guide rail are arranged in parallel up and down, and the third gear bar is connected by third
Piece is connect with third sliding block, and the third sliding block is slidably connected on third guide rail, and the 4th gear bar passes through the 4th connection
Piece is connect with Four-slider, and the Four-slider is slidably connected on the 4th guide rail, the third rubber wheel and the 4th rubber wheel
It is horizontally arranged on third bracket and the 4th bracket respectively, and respectively around central rotating shaft rotation, the third bracket passes through the 5th
Link block is mounted in third gear bar, and the 4th bracket is mounted in the 4th gear bar by the 6th link block, and described
Seven motors are mounted on third bracket, and the output shaft of the 7th motor is connect with the 11st gear, the 12nd gear
It is connect with the central rotating shaft of third rubber wheel, the 11st gear and the intermeshing of the 12nd gear, the 8th motor peace
On the 4th bracket, and the output shaft of the 8th motor is connect with the 13rd gear, the 14th gear and described the
The central rotating shaft of four rubber wheels connects, the 13rd gear and the intermeshing of the 14th gear.
Preferably, the front end of the first support and second support is respectively equipped with the first protective plate and the second protective plate, and
First protective plate is oppositely arranged with the second protective plate.
Preferably, the front end of the third bracket and the 4th bracket is respectively equipped with third protective plate and the 4th protective plate, and
Third protective plate is oppositely arranged with the 4th protective plate.
It adaptively does more physical exercises mode wheel-leg combined type climbing level robot the utility model has the advantages that the present invention provides a kind of imitative looper, tool
It has the following advantages:
(1) rubber wheel of climbing level robot provided by the present invention can rotate, as long as driving its rotation in this way, so that it may so that real
The linear motion of existing climbing level robot, rotary motion, climbing level robot overall structure is simple, easy to use.
(2) linear motion gripper of the invention and rotary motion gripper can freely adjust position by gear bar and guide rail
It sets, and can be realized and be precisely controlled by motor, it is convenient and efficient.
(3) present invention is mainly directed towards space outside services, is creeped, is tieed up outside weightless space station by robot
It repairs, greatly reduces manpower and material resources.
(4) present invention is mainly made of simple mechanical structure, manufacturing cost has been saved, convenient for being widely used.
Detailed description of the invention
Fig. 1 is the structure chart of rotary motion gripper of the invention；
Fig. 2 is the structure chart of main carrying platform device of the invention；
Fig. 3 is the structure chart of linear motion gripper of the invention；
Fig. 4 is crawling structure figure above and below Robot space vertical bar in the present invention；
Fig. 5 is the overall structure figure that robot linear motion gripper leaves space vertical bar in the present invention；
Fig. 6 is the overall structure figure that robot linear motion gripper of the invention clamps space cross bar；
In figure: rotary motion gripper 1, first motor 1-1, the first fixed plate 1-2, first gear 1-3, first gear article 1-4,
Two gear bar 1-5, the first guide rail 1-6, the second guide rail 1-7, the first sliding block 1-8, the second sliding block 1-9, the first connection sheet 1-10,
Two connection sheet 1-11, the first rubber wheel 1-12, the second rubber wheel 1-13, first support 1-14, second support 1-15, the second motor
1-16, second gear 1-17, third gear 1-18, third motor 1-19, the 4th gear 1-20, the 5th gear 1-21, in first
Between link block 1-22, the second intermediate link block (being not drawn into figure), the first connector 1-24, the second connector 1-25, first anti-
Backplate 1-26, the second protective plate 1-27, main carrying platform device 2, linear motion limbs trunk 2-1, rotary motion limbs trunk 2-
2, first axle 2-3, second hinge 2-4, main carrying platform 2-5, electric cylinders 2-6, the first connecting flange 2-7, the second connecting flange 2-
8, the 4th motor 2-9, the 6th gear 2-10, the 7th gear 2-11, the 5th motor 2-12, eighth gear 2-13, the 9th gear 2-
14, move along a straight line gripper 3, the 6th motor 3-1, the second fixed plate 3-2, the tenth gear 3-3, third gear bar 3-4, the 4th gear
Article 3-5, third guide rail 3-6, the 4th guide rail 3-7, third connection sheet 3-8, third sliding block 3-9, Four-slider 3-10, the 4th connection
Piece 3-11, third rubber wheel 3-12, the 4th rubber wheel 3-13, third bracket 3-14, the 4th bracket 3-15, third centre link block
3-16, the 4th intermediate link block 3-17, the 7th motor 3-18, the 11st gear 3-19, the 12nd gear 3-20, the 8th motor 3-
21, the 13rd gear 3-22, the 14th gear 3-23, third protective plate 3-24, the 4th protective plate 3-25, space cross bar 4, space
Vertical bar 5.
Specific embodiment
In order to make those skilled in the art better understand the technical solutions in the application, below to the embodiment of the present application
In technical solution be clearly and completely described, it is clear that described embodiments are only a part of embodiments of the present application,
Instead of all the embodiments.Based on the embodiment in the application, those of ordinary skill in the art are not making creative labor
Every other embodiment obtained under the premise of dynamic, shall fall within the protection scope of the present application.
Further detailed description has been done to technical solution of the present invention with reference to the accompanying drawing:
A kind of imitative looper is adaptively done more physical exercises mode wheel-leg combined type climbing level robot, including rotary motion gripper 1, main carrying platform
Device 2 and linear motion gripper 3, wherein the main carrying platform device 2 passes through rotary motion limbs trunk and linear motion limbs
Trunk is connected with the rotary motion gripper and linear motion gripper control respectively, the rotary motion gripper and linear motion hand
Pawl is cooperatively connected with space bar respectively.
Preferably, as shown in Figure 1, the rotary motion gripper 1 includes first motor 1-1, the first fixed plate 1-2, first
Gear 1-3, first gear 1-4, second gear 1-5, the first guide rail 1-6, the second guide rail 1-7, the first sliding block 1-8, second
Sliding block 1-9, the first connection sheet 1-10, the second connection sheet 1-11, the first rubber wheel 1-12, the second rubber wheel 1-13, first support
1-14, second support 1-15, the second motor 1-16, second gear 1-17, third gear 1-18, third motor 1-19, the 4th tooth
Take turns 1-20, the 5th gear 1-21；The first motor 1-1 is mounted on the back side of the first fixed plate 1-2, and first motor 1-1
Output shaft is connect with first gear 1-3, and the first gear 1-4 and second gear 1-5 are nibbled with first gear 1-3 respectively
It closes, and first gear 1-4 and second gear 1-5 or more are arranged in parallel, the first guide rail 1-6 and the second guide rail 1-7 divide
It is not installed in parallel in front of the first fixed plate 1-2 by bolt, and the first guide rail 1-6 and the second guide rail 1-7 are setting up and down, institute
It states first gear 1-4 to connect by the first connection sheet 1-10 with the first sliding block 1-8, the first sliding block 1-8 is slidably connected at
On first guide rail 1-6, the second gear 1-5 is connect by the second connection sheet 1-11 with the second sliding block 1-9, and described second is sliding
Block 1-9 is slidably connected on the second guide rail 1-7, and the first rubber wheel 1-12 and the second rubber wheel 1-13 are vertically installed at respectively
On first support 1-14 and second support 1-15, and respectively around its central rotating shaft rotation, the first support 1-14 passes through first
Intermediate link block 1-22 is mounted on first gear 1-4, and the second support 1-15 passes through the second intermediate link block (in figure not
Draw) it is mounted on second gear 1-5, the second motor 1-16 is mounted on first support 1- by the first connector 1-24
The output shaft of 14 lower ends, the second motor 1-16 is connect with second gear 1-17, the third gear 1-18 and the first rubber
Take turns the central rotating shaft connection of 1-12, the second gear 1-17 and third gear 1-18 intermeshing, the third motor 1-19
The upper end second support 1-15, the output shaft and the 4th gear 1- of the third motor 1-19 are mounted on by the second connector 1-25
20 connections, the 5th gear 1-21 are connect with the central rotating shaft of the second rubber wheel 1-13, the 4th gear 1-20 and the 5th
Gear 1-21 intermeshing.
In the present invention, there are two freedom degrees for rotary motion gripper tool, pass through three motors (first motor 1-1, the second motor
1-16 and third motor 1-19) it is controlled, it is respectively used to clamp, unclamp, rotary motion.As shown in Figure 1, the first freedom degree:
First motor 1-1 drives two gear bars (first gear 1-4 and second gear 1-5) to transport in opposite directions by first gear 1-2
Dynamic, first gear 1-4 is moved by the first sliding block 1-8 along the first guide rail 1-6, and second gear 1-5 passes through the second sliding block 1-9
Moved along the second guide rail 1-7, the first rubber wheel 1-12 and the second rubber wheel 1-13 pass through respectively intermediate connector (including bracket,
Intermediate link block) it is fixed on first gear 1-4 and second gear 1-5, and arrange that the present invention passes through in the same direction with space bar
Control first motor 1-1's rotates and reverse, and drives two gear bars simultaneously to centre or mobile to both sides simultaneously, thus band
Dynamic first rubber wheel 1-12 and the second rubber wheel 1-13 clamp bar unclamp rod piece.Second freedom degree: the second motor 1-16
Pass through gear drive respectively with three motor 1-19 of electricity to drive corresponding rubber wheel (the first rubber wheel 1-12 and the second rubber wheel
1-13) rotation, the present invention realize robot by the synchronous forward/reverse of control the second motor 1-16 and third motor 1-19
Rotary motion on rod piece, while protective plate (the first protective plate and the second protective plate) is increased, prevent gripper from falling off.
Specific motion process of the invention are as follows: when robot is by rotating along rod piece come adjustment direction, first motor
1-1 drives first gear 1-4 and second gear 1-5 relative motion by first gear 1-3, so that rotary motion gripper 1
Space bar is clamped by the first rubber wheel 1-12 and the second rubber wheel 1-13, and the second motor 1-16 passes through second gear 1-17 and the
Transmission between three gear 1-18 to drive the first rubber wheel 1-12 rotation, third motor 1-19 by the 4th gear 1-20 and
Transmission between 5th gear 1-21 passes through the first rubber wheel 1-12 and the second rubber to drive the second rubber wheel 1-13 rotation
The rotation of 1-12 is taken turns, so that entire robot is rotated around space bar, needs to guarantee the two of linear motion gripper in rotary course
A rubber wheel (third rubber wheel and the 4th rubber wheel) does not clamp space bar, to prevent from hindering rotary motion.
Preferably, as shown in Fig. 2, the main carrying platform device 2 includes linear motion limbs trunk 2-1, rotary motion limb
Body trunk 2-2, first axle 2-3, second hinge 2-4, main carrying platform 2-5, electric cylinders 2-6, the first connecting flange 2-7, second connect
Acting flange 2-8, the 4th motor 2-9, the 6th gear 2-10, the 7th gear 2-11, the 5th motor 2-12, eighth gear 2-13,
Nine gear 2-14, one end of the linear motion limbs trunk 2-1 and rotary motion limbs trunk 2-2 passes through first axle respectively
2-3 and second hinge 2-4 is mounted on main carrying platform 2-5, and the linear motion limbs trunk 2-1 and rotary motion limbs master
Dry 2-2 is setting up and down, and the both ends of the electric cylinders 2-6 are separately mounted to linear motion limbs trunk 2-1 and rotary motion limbs master
On dry 2-2, the linear motion limbs trunk 2-1 other end connect to form first turn by bearing with the first connecting flange 2-7
Dynamic pair, the 4th motor 2-9 is mounted on linear motion limbs trunk 2-1, and the output shaft and the 6th tooth of the 4th motor 2-9
2-10 connection is taken turns, the 7th gear 2-11 is connect with the first connecting flange 2-7, the 7th gear 2-11 and the 6th tooth
2-10 engagement connection is taken turns, the first connecting flange 2-7 is connect with second back side fixed plate 3-2 of linear motion gripper；
The rotary motion limbs trunk 2-2 connect to form the second revolute pair by bearing with the second connecting flange 2-8, and described
Five motor 2-12 are mounted on rotary motion limbs trunk 2-2, and the output shaft of the 5th motor 2-12 and eighth gear 2-13 connect
It connects, the 9th gear 2-14 is connect with the second connecting flange 2-8, and the eighth gear 2-13 and the 9th gear 2-14 are nibbled
Connection is closed, the second connecting flange 2-8 is connect with first back side fixed plate 1-2 of rotary motion gripper.
In the present invention, main carrying platform device has 3 freedom degrees, and passes through two motors (electricity of the 4th motor 2-9 and the 5th
Machine 2-12) control, it is respectively intended to adjust the angle of two limbs trunks, adjusts rotary motion gripper and rotary motion limbs trunk
Between relative angle, adjust linear motion gripper and move along a straight line limbs trunk between relative angle, as shown in Figure 2.The
Single-degree-of-freedom: rotary motion limbs trunk 2-2 and linear motion limbs trunk 2-1 are mounted on main load by way of hinge respectively
On platform, the both ends of electric cylinders 2-6 are separately mounted on linear motion limbs trunk 2-1 and rotary motion limbs trunk 2-2, this hair
The adjusting of relative angle between bright two limbs trunks of flexible realization by electric cylinders 2-6.Second freedom degree: linear motion limbs
Trunk 2-1 and the first connecting flange 2-7 for connecting linear motion gripper 3 constitute revolute pair, and the 4th motor 2-9 is mounted on directly
On line motion limbs trunk 2-1, linear motion limbs are adjusted by the transmission between the 6th gear 2-10 and the 7th gear 2-11
The relative angle of trunk 2-1 and the first connecting flange 2-7, to realize linear motion gripper relative to linear motion limbs trunk
The swing of 2-1.Third freedom degree: rotary motion limbs trunk 2-2 and the second connecting flange for connecting rotary motion gripper 1
2-8 constitutes revolute pair, and the 5th motor 2-12 is mounted on rotary motion limbs trunk 2-2, passes through eighth gear 2-13 and the 9th
Transmission between gear 2-14 adjusts the relative angle of rotary motion limbs trunk 2-2 and the second connecting flange 2-8, to realize
Swing of the rotary motion gripper 1 relative to rotary motion limbs trunk 2-2.
Preferably, as shown in figure 3, the linear motion gripper 3 includes the 6th motor 3-1, the second fixed plate 3-2, the tenth
Gear 3-3, third gear bar 3-4, the 4th gear bar 3-5, third guide rail 3-6, the 4th guide rail 3-7, third connection sheet 3-8,
Three sliding block 3-9, Four-slider 3-10, the 4th connection sheet 3-11, third rubber wheel 3-12, the 4th rubber wheel 3-13, third bracket
3-14, the 4th bracket 3-15, the 5th link block 3-16, the 6th link block 3-17, the 7th motor 3-18, the 11st gear 3-19,
12nd gear 3-20, the 8th motor 3-21, the 13rd gear 3-22 and the 14th gear 3-23, the 6th motor 3-1 peace
Mounted in the back side of the second fixed plate 3-2, and the output shaft of the 6th motor 3-1 is connect with the tenth gear 3-3, the third gear bar
3-4 and the 4th gear bar 3-5 are engaged with the tenth gear 3-3 respectively, and third gear bar 3-4 and the 4th gear bar 3-5 or more is flat
Row setting, the third guide rail 3-6 and the 4th guide rail 3-7 pass through bolt respectively and are mounted on before the second fixed plate 3-2, and the
Three guide rail 3-6 and the 4th guide rail 3-7 or more are arranged in parallel, and the third gear bar 3-4 is sliding by third connection sheet 3-8 and third
Block 3-9 connection, the third sliding block 3-9 are slidably connected on third guide rail 3-6, and the 4th gear bar 3-5 connects by the 4th
Contact pin 3-11 is connect with Four-slider 3-10, and the Four-slider 3-10 is slidably connected on the 4th guide rail 3-7, the third rubber
Rubber tire 3-12 and the 4th rubber wheel 3-13 are horizontally arranged at respectively on third bracket 3-14 and the 4th bracket 3-15, and respectively around it
Central rotating shaft rotation, the third bracket 3-14 is mounted on third gear bar 3-4 by link block 3-16 among third, described
4th bracket 3-15 is mounted on the 4th gear bar 3-5 by the 4th intermediate link block 3-17, the 7th motor 3-18 installation
On third bracket 3-14, and the output shaft of the 7th motor 3-18 is connect with the 11st gear 3-19, the 12nd tooth
Wheel 3-20 is connect with the central rotating shaft of third rubber wheel 3-12, and the 11st gear 3-19 and the 12nd gear 3-20 is mutually nibbled
It closes, the 8th motor 3-21 is mounted on the 4th bracket 3-15, and the output shaft of the 8th motor 3-21 and the 13rd tooth
3-22 connection is taken turns, the 14th gear 3-23 is connect with the central rotating shaft of the 4th rubber wheel 3-13, the 13rd tooth
Take turns 3-22 and the 14th gear 3-23 intermeshing.
In the present invention, linear motion gripper has 2 freedom degrees, passes through 3 motors (the 6th motor 3-1, the 7th motor 3-
18 and the 8th motor 3-21) it is controlled, it is respectively used to clamp, unclamp, straight line moves up and down, as shown in Figure 3.First freely
Degree: the 6th motor 3-1 drives third gear bar 3-4 and the 4th gear bar 3-5 to move toward one another respectively by the tenth gear 3-3, the
Three gear bar 3-4 are moved by third sliding block 3-9 along third guide rail 3-6, the 4th 3-5 articles of gear by Four-slider 3-10 along the
Four guide rail 3-7 movement, third rubber wheel 3-12 and the 4th rubber wheel 3-13 pass through intermediate connector (including bracket, connection respectively
Block) it is fixed on third gear bar 3-4 and the 4th gear bar 3-5, and be mutually perpendicular to arrange with space bar.The present invention passes through control
6th motor 3-1 is rotated and reverse, and drives third gear bar 3-4 and the 4th gear bar 3-5 while to centre movement or simultaneously
It is mobile to both sides, to drive third rubber wheel 3-12 and the 4th rubber wheel 3-13 clamp bar or unclamp rod piece.Second certainly
By spending: the 7th motor 3-18 and the 8th motor 3-21 drives corresponding rubber wheel (third rubber wheel 3- by gear drive respectively
12 and the 4th rubber wheel 3-13) rotation, the present invention by control the 7th motor 3-18 and the 8th motor 3-21 it is synchronous rotate forward/it is anti-
Turn, realizes up and down motion of the robot on rod piece, while increasing protective plate (third protective plate and the 4th protective plate), prevent
Gripper falls off.
Specific motion process of the invention are as follows: when creeping above and below bar, the 6th motor 3-1 passes through the tenth gear 3-3 band
Dynamic third gear bar 3-4 and the 4th gear bar 3-5 relative motion, so that linear motion gripper passes through third rubber wheel 3-12 and the
Four rubber wheel 3-13 clamp space bar, and the 7th motor 3-18 passes through the biography between the 11st gear 3-19 and the 12nd gear 3-20
It is dynamic to drive third rubber wheel 3-12 to rotate, the 8th motor 3-21 by the 13rd gear 3-22 and the 14th gear 3-23 it
Between transmission to drive the 4th rubber wheel 3-13 rotation.The present invention passes through third rubber wheel 3-12's and the 4th rubber wheel 3-13
Rotation needs two rubbers for guaranteeing rotary motion gripper so that entire robot creeps up and down along space bar in crawling process
Rubber tire does not clamp space bar, to prevent from hindering crawling exercises.
Preferably, the upper end of the first support 1-14 and second support 1-15 is respectively equipped with the first protective plate 1-26 and
Two protective plate 1-27, and the first protective plate 1-26 and the second protective plate 1-27 is oppositely arranged.
Preferably, the front end of the third bracket 3-14 and the 4th bracket 3-15 are respectively equipped with third protective plate 3-24 and
Four protective plate 3-25, and third protective plate 3-24 and the 4th protective plate 3-25 is oppositely arranged.
Each mode course of work of robot is as follows in the present invention:
1, as shown in figure 4, about 5 rectilinear creeping of Robot space vertical bar, the two of rotary motion gripper 1 rubber wheel at this time
(the first rubber wheel 1-12 and the second rubber wheel 1-13) is not clamped or slight squeeze space bar, and two of linear motion gripper 3
Rubber wheel (third rubber wheel 3-12 and the 4th rubber wheel 3-13) is opposite by third gear bar 3-4's and the 4th gear bar 3-5
The clamping to space bar is realized in movement, and the 7th motor 3-18 and the 8th motor 3-21 drive two rubber wheel (third rubber respectively
Take turns 3-12 and the 4th rubber wheel 3-13) rotation, realize that straight line is creeped up and down.
2, robot is rotated around space bar, two rubber wheels (the third rubber wheel 3-12 and for the gripper 3 that moves along a straight line at this time
Four rubber wheel 3-13) it does not clamp or slight squeeze space bar, two rubber wheels (the first rubber wheel 1- of rotary motion gripper 1
The 12 and second rubber wheel 1-13) folder realized to space bar moved toward one another by first gear 1-4 and second gear 1-5
Tightly, the second motor 1-16 and third motor 1-19 drives two rubber wheels (the first rubber wheel 1-12 and the second rubber wheel 1- respectively
13) it rotates, realizes position adjustment.
3, when needing the motion switch between vertical and horizontal two space bars, workflow is as follows:
3.1, it is perpendicular not clamp space for two rubber wheels (third rubber wheel 3-12 and the 4th rubber wheel 3-13) of linear motion gripper 3
Bar 5, two rubber wheels (the first rubber wheel 1-12 and the second rubber wheel 1-13) of rotary motion gripper 1 clamp space vertical bar, and
By the driving of the second motor 1-16 and third motor 1-19, drive entire robot along the rotation of space vertical bar 5 to suitable position
It sets；
3.2, as shown in figure 5, linear motion gripper 3 two rubber wheels (third rubber wheel 3-12 and the 4th rubber wheel 3-13) it
Between open relatively large distance, leave space vertical bar 5；
3.3, as shown in fig. 6, linear motion limbs trunk 2-1 adjusts the suitable position of linear motion gripper 3 to space cross bar 4,
Two rubber wheels (third rubber wheel 3-12 and the 4th rubber wheel 3-13) of linear motion gripper 3 clamp space cross bar 4；
3.4, two rubber wheels (the first rubber wheel 1-12 and the second rubber wheel 1-13) of rotary motion gripper 1 unclamp space vertical bar
5, under the driving of electric cylinders 2-6, the suitable position of space cross bar 4 is moved to, gripper 1 is then rotated and clamps space cross bar 4, realize
Robot is completely transferred on space cross bar；
3.5 adjustment robot poses, are moved on space cross bar 4.
4, workflow when across vertical and horizontal space bar connecting node is as follows:
4.1, it is perpendicular not clamp space for two rubber wheels (third rubber wheel 3-12 and the 4th rubber wheel 3-13) of linear motion gripper 3
Bar 5, two rubber wheels (the first rubber wheel 1-12 and the second rubber wheel 1-13) of rotary motion gripper 1 clamp space vertical bar 5, and
By the driving of the second motor 1-16 and third motor 1-19, drive entire robot along the rotation of space vertical bar 5 to suitable position
It sets；
4.2, it is opened between two rubber wheels (third rubber wheel 3-12 and the 4th rubber wheel 3-13) of linear motion gripper 3 larger
Distance leaves space vertical bar 5；
4.3, it is suitable to space vertical bar link node other side to adjust linear motion gripper 3 by linear motion limbs trunk 2-1
Two rubber wheels (third rubber wheel 3-12 and the 4th rubber wheel 3-13) of position, linear motion gripper 3 clamp space vertical bar 5；
4.4, two rubber wheels (the first rubber wheel 1-12 and the second rubber wheel 1-13) of rotary motion gripper 1 unclamp space vertical bar
5, under the driving of rotary motion limbs trunk 2-2, the suitable position of 5 connecting node other side of space vertical bar is moved to, so
Two rubber wheels (the first rubber wheel 1-12 and the second rubber wheel 1-13) slight squeeze space vertical bar 5 is driven, again afterwards with what is utilized
Protective baffle plate prevents robot from falling off from space bar；
4.5, robot pose is adjusted, continues to move on space vertical bar 5.
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, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications are also answered
It is considered as protection scope of the present invention.
Claims (6)
- The mode wheel-leg combined type climbing level robot 1. a kind of imitative looper is adaptively done more physical exercises, which is characterized in that including rotary motion Gripper, main carrying platform device and linear motion gripper, wherein the main carrying platform device is by rotary motion limbs trunk and directly Line motion limbs trunk respectively with the rotary motion gripper and linear motion gripper control connect, the rotary motion gripper and Move along a straight line gripper respectively with space bar cooperating.
- The mode wheel-leg combined type climbing level robot 2. a kind of imitative looper according to claim 1 is adaptively done more physical exercises, it is special Sign is that the rotary motion gripper includes first motor, the first fixed plate, first gear, first gear item, second gear Item, the first guide rail, the second guide rail, the first sliding block, the second sliding block, the first connection sheet, the second connection sheet, the first rubber wheel, second Rubber wheel, first support, second support, the second motor, second gear, third gear, third motor, the 4th gear, the 5th tooth Wheel；The first motor is mounted on the back side of the first fixed plate, and the output shaft of first motor is connect with first gear, and described One gear bar and second gear item are engaged with first gear respectively, and first gear item and second gear item are arranged in parallel up and down, First guide rail and the second guide rail pass through bolt respectively and are installed in parallel in front of the first fixed plate, and the first guide rail and second Guide rail is setting up and down, and the first gear item is connect by the first connection sheet with the first sliding block, and first sliding block is slidably connected On the first guide rail, the second gear item is connect by the second connection sheet with the second sliding block, and second sliding block is slidably connected On the second guide rail, first rubber wheel and the second rubber wheel are vertically installed in first support and second support respectively, and Respectively around central rotating shaft rotation, the first support is mounted on first gear item by the first intermediate link block, and described second Bracket is mounted on second gear item by the second intermediate link block, and second motor is mounted on first by the first connector The output shaft of pedestal lower end, second motor is connect with second gear, and the center of the third gear and the first rubber wheel turns Axis connection, the second gear and the intermeshing of third gear, the third motor are mounted on second by the second connector The output shaft of frame upper end, the third motor is connect with the 4th gear, the central rotating shaft of the 5th gear and the second rubber wheel Connection, the 4th gear and the intermeshing of the 5th gear.
- The mode wheel-leg combined type climbing level robot 3. a kind of imitative looper according to claim 1 is adaptively done more physical exercises, it is special Sign is that the main carrying platform device includes linear motion limbs trunk, rotary motion limbs trunk, first axle, the second hinge Chain, main carrying platform, electric cylinders, the first connecting flange, the second connecting flange, the 4th motor, the 6th gear, the 7th gear, the 5th electricity One end of machine, eighth gear, the 9th gear, the linear motion limbs trunk and rotary motion limbs trunk passes through first respectively Hinge and second hinge are mounted on main carrying platform, and are divided on the linear motion limbs trunk and rotary motion limbs trunk It sets, the both ends of the electric cylinders are separately mounted on linear motion limbs trunk and rotary motion limbs trunk, the linear motion The limbs trunk other end connect to form the first revolute pair with the first connecting flange by bearing, and the 4th motor is mounted on straight line On motion limbs trunk, and the output shaft of the 4th motor is connect with the 6th gear, the 7th gear and first connection method The second of orchid connection, the 7th gear and the engagement connection of the 6th gear, first connecting flange and linear motion gripper is solid The connection of the fixed board back side；The rotary motion limbs trunk connect to form the second revolute pair with the second connecting flange by bearing, the 5th motor Be mounted on rotary motion limbs trunk, and the output shaft of the 5th motor is connect with eighth gear, the 9th gear with it is described The connection of second connecting flange, the eighth gear and the engagement connection of the 9th gear, second connecting flange and rotary motion hand The fixed back connection of the first of pawl.
- The mode wheel-leg combined type climbing level robot 4. a kind of imitative looper according to claim 1 is adaptively done more physical exercises, it is special Sign is that the linear motion gripper includes the 6th motor, the second fixed plate, the tenth gear, third gear bar, the 4th gear Article, third guide rail, the 4th guide rail, third connection sheet, third sliding block, Four-slider, the 4th connection sheet, third rubber wheel, the 4th Rubber wheel, third bracket, the 4th bracket, the 5th link block, the 6th link block, the 7th motor, the 11st gear, the 12nd tooth Wheel, the 8th motor, the 13rd gear, the 14th gear, the 6th motor are mounted on the back side of the second fixed plate, and the 6th electricity The output shaft of machine is connect with the tenth gear, and the third gear bar and the 4th gear bar are engaged with the tenth gear respectively, and third Gear bar and the 4th gear bar are arranged in parallel up and down, and the third guide rail and the 4th guide rail pass through bolt to be respectively mounted on second solid Before fixed board, and third guide rail and the 4th guide rail are arranged in parallel up and down, and the third gear bar passes through third connection sheet and the The connection of three sliding blocks, the third sliding block is slidably connected on third guide rail, and the 4th gear bar passes through the 4th connection sheet and the Four-slider connection, the Four-slider are slidably connected on the 4th guide rail, and the third rubber wheel and the 4th rubber wheel distinguish water For safety on third bracket and the 4th bracket, and respectively around central rotating shaft rotation, the third bracket passes through the 5th link block It is mounted in third gear bar, the 4th bracket is mounted in the 4th gear bar by the 6th link block, the 7th motor It is mounted on third bracket, and the output shaft of the 7th motor is connect with the 11st gear, the 12nd gear and third The central rotating shaft of rubber wheel connects, the 11st gear and the intermeshing of the 12nd gear, and the 8th motor is mounted on the On four brackets, and the output shaft of the 8th motor is connect with the 13rd gear, the 14th gear and the 4th rubber The central rotating shaft of wheel connects, the 13rd gear and the intermeshing of the 14th gear.
- The mode wheel-leg combined type climbing level robot 5. a kind of imitative looper according to claim 2 is adaptively done more physical exercises, it is special Sign is that the front end of the first support and second support is respectively equipped with the first protective plate and the second protective plate, and the first protection Plate is oppositely arranged with the second protective plate.
- The mode wheel-leg combined type climbing level robot 6. a kind of imitative looper according to claim 4 is adaptively done more physical exercises, it is special Sign is that the front end of the third bracket and the 4th bracket is respectively equipped with third protective plate and the 4th protective plate, and third is protected Plate is oppositely arranged with the 4th protective plate.
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| CN201910584741.1A CN110217309B (en) | 2019-07-01 | 2019-07-01 | Inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined type pole climbing robot |
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| CN110217309B CN110217309B (en) | 2021-09-28 |
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| CN114536299A (en) * | 2022-03-24 | 2022-05-27 | 山东新一代信息产业技术研究院有限公司 | Multi-robot scheduling method for rail type overhead rail robot |
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