CN110217309B - Inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined type pole climbing robot - Google Patents
Inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined type pole climbing robot Download PDFInfo
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- CN110217309B CN110217309B CN201910584741.1A CN201910584741A CN110217309B CN 110217309 B CN110217309 B CN 110217309B CN 201910584741 A CN201910584741 A CN 201910584741A CN 110217309 B CN110217309 B CN 110217309B
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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
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Abstract
The invention discloses an inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined type pole-climbing robot which comprises a rotary motion paw, a main load platform device and a linear motion paw, wherein the main load platform device is in control connection with the rotary motion paw and the linear motion paw through a rotary motion limb trunk and a linear motion limb trunk respectively, and the rotary motion paw and the linear motion paw are matched with a space pole to work respectively. The invention can realize the functions of linear crawling along the rod, rotating around the rod, switching among different rods and the like, and can meet the operation requirements of rods with different diameters.
Description
Technical Field
The invention relates to an inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined type climbing robot, which is particularly oriented to maintenance operation of an on-orbit spacecraft and belongs to the field of aviation machinery.
Background
With the development of aerospace industry, the maintenance of space stations, the maintenance of in-orbit spacecraft and the like become more and more important. At present, when a space station or a spacecraft has problems, an astronaut is required to leave a warehouse for maintenance, and due to space weightlessness and a vacuum environment, the astronaut is very difficult to move and even has life danger. And because there is no air and land in the space, in order to realize that the robot can reach the designated place quickly and accurately, a transportation robot which can crawl along the pipeline is needed, the maintenance equipment is accurately sent to the designated position by crawling along the pipeline or the rod, and the equipment can be transported back to the space capsule after the maintenance work is finished.
The existing pole-climbing robot is mostly in a theoretical stage and has no actual result, but with the development of control technology and robot technology, the progress of the pole-climbing robot is promoted. The pole-climbing robot mainly comprises linear motion and rotary motion, crawls on a pole by utilizing the linear motion, and realizes the position adjustment of the robot by utilizing the rotary motion. However, the overall structure of most of the pole-climbing robots is complex, the control process for realizing the switching of the linear motion and the rotary motion is complex, and the manufacturing cost and the manufacturing difficulty of the pole-climbing robots are greatly increased.
Disclosure of Invention
In order to overcome the defects in the prior art, the invention provides an inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined type pole-climbing robot which can realize the functions of climbing along a pole straight line, rotating around the pole, switching among different poles and the like and can meet the operation requirements of poles with different diameters.
The invention mainly adopts the technical scheme that:
the utility model provides an imitative inchworm self-adaptation multi-motion mode wheel leg combined type pole climbing robot, includes rotary motion hand claw, mainly carries platform device and linear motion hand claw, wherein, mainly carry platform device through rotary motion limbs trunk and linear motion limbs trunk respectively with rotary motion hand claw and linear motion hand claw control connection, rotary motion hand claw and linear motion hand claw respectively with space rod cooperation work.
Preferably, the rotary motion paw comprises a first motor, a first fixing plate, a first gear strip, a second gear strip, a first guide rail, a second guide rail, a first sliding block, a second sliding block, a first connecting sheet, a second connecting sheet, a first rubber wheel, a second rubber wheel, a first support, a second motor, a second gear, a third motor, a fourth gear and a fifth gear; the first motor is arranged on the back of the first fixing plate, an output shaft of the first motor is connected with the first gear, the first gear bar and the second gear bar are respectively engaged with the first gear, the first gear bar and the second gear bar are arranged in parallel up and down, the first guide rail and the second guide rail are respectively arranged in front of the first fixing plate in parallel through bolts, the first guide rail and the second guide rail are arranged up and down, the first gear bar is connected with the first sliding block through a first connecting piece, the first sliding block is connected on the first guide rail in a sliding manner, the second gear bar is connected with the second sliding block through a second connecting piece, the second sliding block is connected on the second guide rail in a sliding manner, the first rubber wheel and the second rubber wheel are respectively vertically arranged on the first bracket and the second bracket and respectively rotate around a central rotating shaft, the first bracket is arranged on the first gear bar through a first intermediate connecting block, the second support is installed on the second gear rack through a second middle connecting block, the second motor is installed at the lower end of the first support through a first connecting piece, an output shaft of the second motor is connected with the second gear, the third gear is connected with a central rotating shaft of the first rubber wheel, the second gear is meshed with the third gear, the third motor is installed at the upper end of the second support through the second connecting piece, an output shaft of the third motor is connected with the fourth gear, the fifth gear is connected with the central rotating shaft of the second rubber wheel, and the fourth gear is meshed with the fifth gear.
Preferably, the main load platform device comprises a linear motion limb trunk, a rotary motion limb trunk, a first hinge, a second hinge, a main load platform, an electric cylinder, a first connecting flange, a second connecting flange, a fourth motor, a sixth gear, a seventh gear, a fifth motor, an eighth gear and a ninth gear, wherein one end of the linear motion limb trunk and one end of the rotary motion limb trunk are respectively installed on the main load platform through the first hinge and the second hinge, the linear motion limb trunk and the rotary motion limb trunk are vertically arranged, two ends of the electric cylinder are respectively installed on the linear motion limb trunk and the rotary motion limb trunk, the other end of the linear motion limb trunk is connected with the first connecting flange through a bearing to form a first revolute pair, the fourth motor is installed on the linear motion limb trunk, and an output shaft of the fourth motor is connected with the sixth gear, the seventh gear is connected with the first connecting flange, the seventh gear is meshed with the sixth gear, and the first connecting flange is connected with the back of the second fixing plate of the linear motion gripper;
the rotary motion limb trunk is connected with a second connecting flange through a bearing to form a second revolute pair, the fifth motor is installed on the rotary motion limb trunk, an output shaft of the fifth motor is connected with an eighth gear, the ninth gear is connected with the second connecting flange, the eighth gear is connected with the ninth gear in a meshed mode, and the second connecting flange is connected with the back face of the first fixing plate of the rotary motion paw.
Preferably, the linear motion paw comprises a sixth motor, a second fixing plate, a tenth gear, a third gear strip, a fourth gear strip, a third guide rail, a fourth guide rail, a third connecting piece, a third slider, a fourth connecting piece, a third rubber wheel, a fourth rubber wheel, a third bracket, a fourth bracket, a fifth connecting block, a sixth connecting block, a seventh motor, an eleventh gear, a twelfth gear, an eighth motor, a thirteenth gear and a fourteenth gear, wherein the sixth motor is arranged on the back of the second fixing plate, an output shaft of the sixth motor is connected with the tenth gear, the third gear strip and the fourth gear strip are respectively meshed with the tenth gear, the third gear strip and the fourth gear strip are arranged in parallel up and down, the third guide rail and the fourth guide rail are respectively arranged in front of the second fixing plate through bolts, and the third guide rail and the fourth guide rail are arranged in parallel up and down, the third gear strip is connected with a third sliding block through a third connecting piece, the third sliding block is connected on a third guide rail in a sliding manner, the fourth gear strip is connected with a fourth sliding block through a fourth connecting piece, the fourth sliding block is connected on a fourth guide rail in a sliding manner, a third rubber wheel and a fourth rubber wheel are respectively horizontally arranged on a third bracket and a fourth bracket and respectively rotate around a central rotating shaft, the third bracket is arranged on the third gear strip through a fifth connecting block, the fourth bracket is arranged on the fourth gear strip through a sixth connecting block, a seventh motor is arranged on the third bracket, an output shaft of the seventh motor is connected with an eleventh gear, a twelfth gear is connected with the central rotating shaft of the third rubber wheel, the eleventh gear and the twelfth gear are mutually meshed, an eighth motor is arranged on the fourth bracket, and an output shaft of the eighth motor is connected with a thirteenth gear, the fourteenth gear is connected with a central rotating shaft of the fourth rubber wheel, and the thirteenth gear and the fourteenth gear are meshed with each other.
Preferably, the front ends of the first support and the second support are respectively provided with a first protection plate and a second protection plate, and the first protection plate and the second protection plate are arranged oppositely.
Preferably, the front ends of the third support and the fourth support are respectively provided with a third protection plate and a fourth protection plate, and the third protection plate and the fourth protection plate are arranged oppositely.
Has the advantages that: the invention provides an inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined type pole climbing robot, which has the following advantages:
(1) the rubber wheel of the pole-climbing robot provided by the invention can rotate, so that the linear motion and the rotary motion of the pole-climbing robot can be realized only by driving the pole-climbing robot to rotate, and the pole-climbing robot has a simple integral structure and is convenient to use.
(2) The linear motion paw and the rotary motion paw can freely adjust positions through the gear rack and the guide rail, and can realize accurate control through the motor, so that the device is convenient and quick.
(3) The robot is mainly used for outer space maintenance, and the robot crawls outside a weightless space station to perform maintenance, so that manpower and material resources are greatly reduced.
(4) The invention mainly comprises a simple mechanical structure, saves the manufacturing cost and is convenient to be widely used.
Drawings
FIG. 1 is a block diagram of a rotary motion gripper in accordance with the present invention;
FIG. 2 is a block diagram of a main load platform assembly according to the present invention;
FIG. 3 is a block diagram of the linear motion gripper of the present invention;
FIG. 4 is a structural diagram of the robot climbing up and down along a space vertical rod in the invention;
FIG. 5 is an overall structure diagram of the robot linear motion gripper leaving the space vertical rod in the invention;
FIG. 6 is an overall view of the robot linear motion gripper clamping the space beam of the present invention;
in the figure: the device comprises a rotary motion paw 1, a first motor 1-1, a first fixing plate 1-2, a first gear 1-3, a first gear strip 1-4, a second gear strip 1-5, a first guide rail 1-6, a second guide rail 1-7, a first sliding block 1-8, a second sliding block 1-9, a first connecting sheet 1-10, a second connecting sheet 1-11, a first rubber wheel 1-12, a second rubber wheel 1-13, a first support 1-14, a second support 1-15, a second motor 1-16, a second gear 1-17, a third gear 1-18, a third motor 1-19, a fourth gear 1-20, a fifth gear 1-21, a first middle connecting block 1-22, a second middle connecting block (not shown in the figure), a first connecting piece 1-24, a second connecting piece 1-20, a second connecting piece 1-21, a second middle connecting piece, a third connecting piece, a second connecting piece, a third connecting piece and a second connecting piece, 1-25 parts of second connecting piece, 1-26 parts of first protection plate, 1-27 parts of second protection plate, 2 parts of main load platform device, 2-1 parts of linear motion limb trunk, 2-2 parts of rotary motion limb trunk, 2-3 parts of first hinge, 2-4 parts of second hinge, 2-5 parts of main load platform, 2-6 parts of electric cylinder, 2-7 parts of first connecting flange, 2-8 parts of second connecting flange, 2-9 parts of fourth motor, 2-10 parts of sixth gear, 2-11 parts of seventh gear, 2-12 parts of fifth motor, 2-13 parts of eighth gear, 2-14 parts of ninth gear, 3 parts of linear motion claw, 3-1 parts of sixth motor, 3-2 parts of second fixing plate, 3-3 parts of tenth gear, 3-4 parts of third gear, 3-5 parts of fourth gear, 3-6 parts of third guide rail, 3-7 parts of a fourth guide rail, 3-8 parts of a third connecting piece, 3-9 parts of a third sliding block, 3-10 parts of a fourth sliding block, 3-11 parts of a fourth connecting piece, 3-12 parts of a third rubber wheel, 3-13 parts of a fourth rubber wheel, 3-14 parts of a third support, 3-15 parts of a fourth support, 3-16 parts of a third middle connecting block, 3-17 parts of a fourth middle connecting block, 3-18 parts of a seventh motor, 3-19 parts of an eleventh gear, 3-20 parts of a twelfth gear, 3-21 parts of an eighth motor, 3-22 parts of a thirteenth gear, 3-23 parts of a fourteenth gear, 3-24 parts of a third protection plate, 3-25 parts of a fourth protection plate, 4 parts of a space cross bar and 5 parts of a space vertical bar.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application are clearly and completely described below, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical scheme of the invention is further explained in detail by combining the attached drawings:
the utility model provides an imitative inchworm self-adaptation multi-motion mode wheel leg combined type pole climbing robot, includes rotary motion hand claw 1, mainly carries platform device 2 and linear motion hand claw 3, wherein, mainly carry platform device 2 through rotary motion limbs trunk and linear motion limbs trunk respectively with rotary motion hand claw and linear motion hand claw control connection, rotary motion hand claw and linear motion hand claw are connected with the cooperation of space pole respectively.
Preferably, as shown in fig. 1, the rotary motion gripper 1 comprises a first motor 1-1, a first fixing plate 1-2, a first gear 1-3, a first gear bar 1-4, a second gear bar 1-5, a first guide rail 1-6, a second guide rail 1-7, a first slider 1-8, a second slider 1-9, a first connecting sheet 1-10, a second connecting sheet 1-11, a first rubber wheel 1-12, a second rubber wheel 1-13, a first bracket 1-14, a second bracket 1-15, a second motor 1-16, a second gear 1-17, a third gear 1-18, a third motor 1-19, a fourth gear 1-20, and a fifth gear 1-21; the first motor 1-1 is arranged on the back of the first fixing plate 1-2, an output shaft of the first motor 1-1 is connected with the first gear 1-3, the first gear rack 1-4 and the second gear rack 1-5 are respectively meshed with the first gear 1-3, the first gear rack 1-4 and the second gear rack 1-5 are arranged in parallel up and down, the first guide rail 1-6 and the second guide rail 1-7 are respectively arranged in parallel in front of the first fixing plate 1-2 through bolts, the first guide rail 1-6 and the second guide rail 1-7 are arranged up and down, the first gear rack 1-4 is connected with the first sliding block 1-8 through the first connecting piece 1-10, the first sliding block 1-8 is connected on the first guide rail 1-6 in a sliding manner, the second gear rack 1-5 is connected with a second sliding block 1-9 through a second connecting piece 1-11, the second sliding block 1-9 is connected on a second guide rail 1-7 in a sliding manner, the first rubber wheel 1-12 and the second rubber wheel 1-13 are respectively vertically arranged on a first bracket 1-14 and a second bracket 1-15 and respectively rotate around the central rotating shaft thereof, the first bracket 1-14 is arranged on the first gear rack 1-4 through a first middle connecting block 1-22, the second bracket 1-15 is arranged on the second gear rack 1-5 through a second middle connecting block (not shown in the figure), the second motor 1-16 is arranged at the lower end of the first bracket 1-14 through a first connecting piece 1-24, and the output shaft of the second motor 1-16 is connected with a second gear 1-17, the third gear 1-18 is connected with a central rotating shaft of the first rubber wheel 1-12, the second gear 1-17 is meshed with the third gear 1-18, the third motor 1-19 is mounted at the upper end of the second support 1-15 through a second connecting piece 1-25, an output shaft of the third motor 1-19 is connected with a fourth gear 1-20, the fifth gear 1-21 is connected with a central rotating shaft of the second rubber wheel 1-13, and the fourth gear 1-20 is meshed with the fifth gear 1-21.
In the invention, the rotary motion paw has two degrees of freedom, and is controlled by three motors (a first motor 1-1, a second motor 1-16 and a third motor 1-19) respectively used for clamping, loosening and rotary motion. As shown in fig. 1, the first degree of freedom: the first motor 1-1 drives two gear bars (a first gear bar 1-4 and a second gear bar 1-5) to move oppositely through a first gear 1-2, the first gear bar 1-4 moves along a first guide rail 1-6 through a first sliding block 1-8, the second gear bar 1-5 moves along a second guide rail 1-7 through a second sliding block 1-9, the first rubber wheel 1-12 and the second rubber wheel 1-13 are respectively fixed on the first gear bar 1-4 and the second gear bar 1-5 through an intermediate connecting piece (comprising a bracket and an intermediate connecting block), and is arranged in the same direction as the space bar, the invention drives two gear strips to move towards the middle or towards two sides simultaneously by controlling the positive rotation and the negative rotation of the first motor 1-1, thereby driving the first rubber wheel 1-12 and the second rubber wheel 1-13 to clamp the rod piece or loosen the rod piece. The second degree of freedom: the second motors 1-16 and the third motors 1-19 drive the corresponding rubber wheels (the first rubber wheels 1-12 and the second rubber wheels 1-13) to rotate through gear transmission respectively, the invention realizes the rotary motion of the robot on the rod piece by controlling the synchronous forward rotation/reverse rotation of the second motors 1-16 and the third motors 1-19, and simultaneously, protective plates (the first protective plate and the second protective plate) are added to prevent the paw from falling off.
The specific motion process of the invention is as follows: when the robot adjusts the direction by rotating along the rod, the first motor 1-1 drives the first gear rack 1-4 and the second gear rack 1-5 to move relatively through the first gear 1-3, so that the rotating paw 1 clamps the space rod through the first rubber wheel 1-12 and the second rubber wheel 1-13, the second motor 1-16 drives the first rubber wheel 1-12 to rotate through the transmission between the second gear 1-17 and the third gear 1-18, the third motor 1-19 drives the second rubber wheel 1-13 to rotate through the transmission between the fourth gear 1-20 and the fifth gear 1-21, the whole robot rotates around the space rod through the rotation of the first rubber wheel 1-12 and the second rubber wheel 1-12, and the two rubber wheels (the third rubber wheel and the fourth rubber wheel) of the linear motion paw are ensured not to clamp too much in the rotating process A free rod to prevent blocking of the rotational movement.
Preferably, as shown in fig. 2, the main load platform device 2 includes a linear motion limb trunk 2-1, a rotary motion limb trunk 2-2, a first hinge 2-3, a second hinge 2-4, a main load platform 2-5, an electric cylinder 2-6, a first connecting flange 2-7, a second connecting flange 2-8, a fourth motor 2-9, a sixth gear 2-10, a seventh gear 2-11, a fifth motor 2-12, an eighth gear 2-13, and a ninth gear 2-14, one end of the linear motion limb trunk 2-1 and one end of the rotary motion limb trunk 2-2 are respectively mounted on the main load platform 2-5 through the first hinge 2-3 and the second hinge 2-4, and the linear motion limb trunk 2-1 and the rotary motion limb trunk 2-2 are arranged up and down, two ends of the electric cylinder 2-6 are respectively arranged on a linear motion limb trunk 2-1 and a rotary motion limb trunk 2-2, the other end of the linear motion limb trunk 2-1 is connected with a first connecting flange 2-7 through a bearing to form a first rotating pair, the fourth motor 2-9 is arranged on the linear motion limb trunk 2-1, an output shaft of the fourth motor 2-9 is connected with a sixth gear 2-10, the seventh gear 2-11 is connected with the first connecting flange 2-7, the seventh gear 2-11 is meshed with the sixth gear 2-10, and the first connecting flange 2-7 is connected with the back of a second fixing plate 3-2 of the linear motion paw;
the rotary motion limb trunk 2-2 is connected with a second connecting flange 2-8 through a bearing to form a second revolute pair, the fifth motor 2-12 is installed on the rotary motion limb trunk 2-2, an output shaft of the fifth motor 2-12 is connected with an eighth gear 2-13, the ninth gear 2-14 is connected with the second connecting flange 2-8, the eighth gear 2-13 is meshed with the ninth gear 2-14, and the second connecting flange 2-8 is connected with the back of the first fixing plate 1-2 of the rotary motion claw.
In the invention, the main load platform device has 3 degrees of freedom and is controlled by two motors (a fourth motor 2-9 and a fifth motor 2-12) to respectively adjust the angles of two limb trunks, the relative angle between a rotary motion paw and the rotary motion limb trunk and the relative angle between a linear motion paw and the linear motion limb trunk, as shown in fig. 2. A first degree of freedom: the rotary motion limb trunk 2-2 and the linear motion limb trunk 2-1 are respectively arranged on the main load platform in a hinge mode, two ends of the electric cylinder 2-6 are respectively arranged on the linear motion limb trunk 2-1 and the rotary motion limb trunk 2-2, and the invention realizes the adjustment of the relative angle between the two limb trunks through the extension and retraction of the electric cylinder 2-6. The second degree of freedom: the linear motion limb trunk 2-1 and the first connecting flange 2-7 used for connecting the linear motion paw 3 form a revolute pair, the fourth motor 2-9 is installed on the linear motion limb trunk 2-1, and the relative angle between the linear motion limb trunk 2-1 and the first connecting flange 2-7 is adjusted through transmission between the sixth gear 2-10 and the seventh gear 2-11, so that the swing of the linear motion paw relative to the linear motion limb trunk 2-1 is realized. The third degree of freedom: the rotary motion limb trunk 2-2 and the second connecting flange 2-8 used for connecting the rotary motion paw 1 form a revolute pair, the fifth motor 2-12 is installed on the rotary motion limb trunk 2-2, and the relative angle between the rotary motion limb trunk 2-2 and the second connecting flange 2-8 is adjusted through transmission between the eighth gear 2-13 and the ninth gear 2-14, so that the swing of the rotary motion paw 1 relative to the rotary motion limb trunk 2-2 is realized.
Preferably, as shown in fig. 3, the linear motion gripper 3 comprises a sixth motor 3-1, a second fixing plate 3-2, a tenth gear 3-3, a third gear bar 3-4, a fourth gear bar 3-5, a third guide rail 3-6, a fourth guide rail 3-7, a third connecting piece 3-8, a third slider 3-9, a fourth slider 3-10, a fourth connecting piece 3-11, a third rubber wheel 3-12, a fourth rubber wheel 3-13, a third bracket 3-14, a fourth bracket 3-15, a fifth connecting block 3-16, a sixth connecting block 3-17, a seventh motor 3-18, an eleventh gear 3-19, a twelfth gear 3-20, an eighth motor 3-21, a thirteenth gear 3-22 and a fourteenth gear 3-23, the sixth motor 3-1 is arranged on the back of the second fixing plate 3-2, an output shaft of the sixth motor 3-1 is connected with a tenth gear 3-3, the third gear bar 3-4 and the fourth gear bar 3-5 are respectively meshed with the tenth gear 3-3, the third gear bar 3-4 and the fourth gear bar 3-5 are arranged in parallel up and down, the third guide rail 3-6 and the fourth guide rail 3-7 are respectively arranged in front of the second fixing plate 3-2 through bolts, the third guide rail 3-6 and the fourth guide rail 3-7 are arranged in parallel up and down, the third gear bar 3-4 is connected with a third slide block 3-9 through a third connecting plate 3-8, and the third slide block 3-9 is connected on the third guide rail 3-6 in a sliding manner, the fourth gear strip 3-5 is connected with a fourth sliding block 3-10 through a fourth connecting piece 3-11, the fourth sliding block 3-10 is connected on a fourth guide rail 3-7 in a sliding manner, the third rubber wheel 3-12 and the fourth rubber wheel 3-13 are respectively horizontally arranged on a third bracket 3-14 and a fourth bracket 3-15 and respectively rotate around the central rotating shaft thereof, the third bracket 3-14 is arranged on a third gear strip 3-4 through a third intermediate connecting block 3-16, the fourth bracket 3-15 is arranged on the fourth gear strip 3-5 through a fourth intermediate connecting block 3-17, the seventh motor 3-18 is arranged on the third bracket 3-14, and the output shaft of the seventh motor 3-18 is connected with the eleventh gear 3-19, the twelfth gear 3-20 is connected with a central rotating shaft of the third rubber wheel 3-12, the eleventh gear 3-19 and the twelfth gear 3-20 are meshed with each other, the eighth motor 3-21 is mounted on the fourth support 3-15, an output shaft of the eighth motor 3-21 is connected with the thirteenth gear 3-22, the fourteenth gear 3-23 is connected with a central rotating shaft of the fourth rubber wheel 3-13, and the thirteenth gear 3-22 and the fourteenth gear 3-23 are meshed with each other.
In the invention, the linear motion paw has 2 degrees of freedom, and is controlled by 3 motors (a sixth motor 3-1, a seventh motor 3-18 and an eighth motor 3-21) and respectively used for clamping, loosening and linear up-and-down motion, as shown in figure 3. A first degree of freedom: the sixth motor 3-1 drives the third gear strip 3-4 and the fourth gear strip 3-5 to move oppositely through the tenth gear 3-3 respectively, the third gear strip 3-4 moves along the third guide rail 3-6 through the third slider 3-9, the fourth gear 3-5 moves along the fourth guide rail 3-7 through the fourth slider 3-10, and the third rubber wheel 3-12 and the fourth rubber wheel 3-13 are fixed on the third gear strip 3-4 and the fourth gear strip 3-5 through intermediate connectors (including a bracket and a connecting block) respectively and are arranged perpendicular to the space bar. According to the invention, the sixth motor 3-1 is controlled to rotate forwards and backwards to drive the third gear strip 3-4 and the fourth gear strip 3-5 to move towards the middle or both sides simultaneously, so that the third rubber wheel 3-12 and the fourth rubber wheel 3-13 are driven to clamp a rod piece or loosen the rod piece. The second degree of freedom: the seventh motor 3-18 and the eighth motor 3-21 respectively drive the corresponding rubber wheels (the third rubber wheel 3-12 and the fourth rubber wheel 3-13) to rotate through gear transmission, and the invention realizes the up-and-down movement of the robot on the rod piece by controlling the synchronous forward rotation/reverse rotation of the seventh motor 3-18 and the eighth motor 3-21, and simultaneously increases the protection plates (the third protection plate and the fourth protection plate) to prevent the paw from falling off.
The specific motion process of the invention is as follows: when climbing up and down along the rod, the sixth motor 3-1 drives the third gear strip 3-4 and the fourth gear strip 3-5 to move relatively through the tenth gear 3-3, so that the linear motion paw clamps the hollow rod through the third rubber wheel 3-12 and the fourth rubber wheel 3-13, the seventh motor 3-18 drives the third rubber wheel 3-12 to rotate through the transmission between the eleventh gear 3-19 and the twelfth gear 3-20, and the eighth motor 3-21 drives the fourth rubber wheel 3-13 to rotate through the transmission between the thirteenth gear 3-22 and the fourteenth gear 3-23. According to the robot, the whole robot can crawl up and down along the space rod by rotating the third rubber wheels 3-12 and the fourth rubber wheels 3-13, and the two rubber wheels of the rotating paw are required to be ensured not to clamp the space rod in the crawling process so as to prevent the crawling motion from being hindered.
Preferably, the upper ends of the first and second brackets 1 to 14 and 1 to 15 are respectively provided with first and second shielding plates 1 to 26 and 1 to 27, and the first and second shielding plates 1 to 26 and 1 to 27 are disposed opposite to each other.
Preferably, the front ends of the third brackets 3-14 and the fourth brackets 3-15 are respectively provided with third protection plates 3-24 and fourth protection plates 3-25, and the third protection plates 3-24 and the fourth protection plates 3-25 are arranged oppositely.
The working process of each mode of the robot is as follows:
1. as shown in figure 4, the robot linearly crawls up and down along a vertical space rod 5, at the moment, two rubber wheels (a first rubber wheel 1-12 and a second rubber wheel 1-13) of a rotary motion paw 1 do not clamp or slightly extrude a space rod, two rubber wheels (a third rubber wheel 3-12 and a fourth rubber wheel 3-13) of a linear motion paw 3 clamp the space rod through the opposite motion of a third gear strip 3-4 and a fourth gear strip 3-5, and a seventh motor 3-18 and an eighth motor 3-21 respectively drive the two rubber wheels (the third rubber wheel 3-12 and the fourth rubber wheel 3-13) to rotate so as to realize the linear up-and-down crawling.
2. The robot rotates around the space rod, at the moment, two rubber wheels (a third rubber wheel 3-12 and a fourth rubber wheel 3-13) of the linear motion paw 3 do not clamp or slightly extrude the space rod, two rubber wheels (a first rubber wheel 1-12 and a second rubber wheel 1-13) of the rotary motion paw 1 clamp the space rod through the opposite motion of a first gear rack 1-4 and a second gear rack 1-5, and a second motor 1-16 and a third motor 1-19 respectively drive the two rubber wheels (a first rubber wheel 1-12 and a second rubber wheel 1-13) to rotate, so that position adjustment is realized.
3. When the movement needs to be switched between the horizontal and vertical two space rods, the working process is as follows:
3.1, two rubber wheels (a third rubber wheel 3-12 and a fourth rubber wheel 3-13) of the linear motion paw 3 do not clamp the space vertical rod 5, two rubber wheels (a first rubber wheel 1-12 and a second rubber wheel 1-13) of the rotary motion paw 1 clamp the space vertical rod, and the whole robot is driven to rotate to a proper position along the space vertical rod 5 through the driving of a second motor 1-16 and a third motor 1-19;
3.2, as shown in fig. 5, the two rubber wheels (the third rubber wheel 3-12 and the fourth rubber wheel 3-13) of the linear motion paw 3 are opened for a large distance and are away from the space vertical rod 5;
3.3, as shown in fig. 6, the linear motion limb trunk 2-1 adjusts the linear motion paw 3 to a proper position of the space cross bar 4, and two rubber wheels (a third rubber wheel 3-12 and a fourth rubber wheel 3-13) of the linear motion paw 3 clamp the space cross bar 4;
3.4, two rubber wheels (a first rubber wheel 1-12 and a second rubber wheel 1-13) of the rotating moving paw 1 loosen the space vertical rod 5, move to a proper position of the space cross rod 4 under the driving of an electric cylinder 2-6, and then the rotating paw 1 clamps the space cross rod 4, so that the robot is completely transferred to the space cross rod;
3.5 adjusting the robot posture to move on the space cross bar 4.
4. The workflow when connecting nodes across horizontal and vertical space bars is as follows:
4.1, two rubber wheels (a third rubber wheel 3-12 and a fourth rubber wheel 3-13) of the linear motion paw 3 do not clamp the space vertical rod 5, two rubber wheels (a first rubber wheel 1-12 and a second rubber wheel 1-13) of the rotary motion paw 1 clamp the space vertical rod 5, and the whole robot is driven to rotate to a proper position along the space vertical rod 5 through the driving of a second motor 1-16 and a third motor 1-19;
4.2, two rubber wheels (a third rubber wheel 3-12 and a fourth rubber wheel 3-13) of the linear motion paw 3 are opened for a larger distance and leave the outer space vertical rod 5;
4.3, adjusting a suitable position from the linear motion paw 3 to the other side of the connecting node of the vertical space rod by the linear motion limb trunk 2-1, and clamping the vertical space rod 5 by two rubber wheels (a third rubber wheel 3-12 and a fourth rubber wheel 3-13) of the linear motion paw 3;
4.4, two rubber wheels (a first rubber wheel 1-12 and a second rubber wheel 1-13) of the rotary motion paw 1 loosen the space vertical rod 5, move to a proper position on the other side of the connecting node of the space vertical rod 5 under the driving of the rotary motion limb trunk 2-2, and then drive the two rubber wheels (the first rubber wheel 1-12 and the second rubber wheel 1-13) to slightly press the space vertical rod 5, so that the utilized protective baffle plate prevents the robot from falling off from the space rod;
and 4.5, adjusting the posture of the robot and continuing to move on the space vertical rod 5.
The foregoing is only a preferred embodiment of the present invention, and it should be noted that, for those skilled in the art, various modifications and decorations can be made without departing from the principle of the present invention, and these modifications and decorations should also be regarded as the protection scope of the present invention.
Claims (3)
1. An inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined type pole-climbing robot is characterized by comprising a rotary motion paw, a main load platform device and a linear motion paw, wherein the main load platform device is respectively in control connection with the rotary motion paw and the linear motion paw through a rotary motion limb trunk and a linear motion limb trunk, and the rotary motion paw and the linear motion paw are respectively matched with a space rod to work;
the rotary motion paw comprises a first motor, a first fixing plate, a first gear strip, a second gear strip, a first guide rail, a second guide rail, a first sliding block, a second sliding block, a first connecting sheet, a second connecting sheet, a first rubber wheel, a second rubber wheel, a first support, a second motor, a second gear, a third motor, a fourth gear and a fifth gear; the first motor is arranged on the back of the first fixing plate, an output shaft of the first motor is connected with the first gear, the first gear bar and the second gear bar are respectively engaged with the first gear, the first gear bar and the second gear bar are arranged in parallel up and down, the first guide rail and the second guide rail are respectively arranged in front of the first fixing plate in parallel through bolts, the first guide rail and the second guide rail are arranged up and down, the first gear bar is connected with the first sliding block through a first connecting piece, the first sliding block is connected on the first guide rail in a sliding manner, the second gear bar is connected with the second sliding block through a second connecting piece, the second sliding block is connected on the second guide rail in a sliding manner, the first rubber wheel and the second rubber wheel are respectively vertically arranged on the first bracket and the second bracket and respectively rotate around a central rotating shaft, the first bracket is arranged on the first gear bar through a first intermediate connecting block, the second bracket is arranged on a second gear rack through a second middle connecting block, the second motor is arranged at the lower end of the first bracket through a first connecting piece, an output shaft of the second motor is connected with a second gear, a third gear is connected with a central rotating shaft of the first rubber wheel, the second gear is meshed with the third gear, the third motor is arranged at the upper end of the second bracket through a second connecting piece, an output shaft of the third motor is connected with a fourth gear, a fifth gear is connected with the central rotating shaft of the second rubber wheel, and the fourth gear is meshed with the fifth gear;
the main load platform device comprises a linear motion limb trunk, a rotary motion limb trunk, a first hinge, a second hinge, a main load platform, an electric cylinder, a first connecting flange, a second connecting flange, a fourth motor, a sixth gear, a seventh gear, a fifth motor, an eighth gear and a ninth gear, wherein one end of the linear motion limb trunk and one end of the rotary motion limb trunk are respectively installed on the main load platform through the first hinge and the second hinge, the linear motion limb trunk and the rotary motion limb trunk are vertically arranged, two ends of the electric cylinder are respectively installed on the linear motion limb trunk and the rotary motion limb trunk, the other end of the linear motion limb trunk is connected with the first connecting flange through a bearing to form a first revolute pair, the fourth motor is installed on the linear motion limb trunk, and an output shaft of the fourth motor is connected with the sixth gear, the seventh gear is connected with the first connecting flange, the seventh gear is meshed with the sixth gear, and the first connecting flange is connected with the back of the second fixing plate of the linear motion gripper;
the rotary motion limb trunk is connected with a second connecting flange through a bearing to form a second revolute pair, the fifth motor is installed on the rotary motion limb trunk, an output shaft of the fifth motor is connected with an eighth gear, the ninth gear is connected with the second connecting flange, the eighth gear is meshed with the ninth gear, and the second connecting flange is connected with the back of the first fixing plate of the rotary motion paw;
the linear motion paw comprises a sixth motor, a second fixing plate, a tenth gear, a third gear strip, a fourth gear strip, a third guide rail, a fourth guide rail, a third connecting piece, a third sliding block, a fourth connecting piece, a third rubber wheel, a fourth rubber wheel, a third support, a fourth support, a fifth connecting block, a sixth connecting block, a seventh motor, an eleventh gear, a twelfth gear, an eighth motor, a thirteenth gear and a fourteenth gear, wherein the sixth motor is arranged on the back of the second fixing plate, an output shaft of the sixth motor is connected with the tenth gear, the third gear strip and the fourth gear strip are respectively meshed with the tenth gear, the third gear strip and the fourth gear strip are arranged in parallel up and down, the third guide rail and the fourth guide rail are respectively arranged in front of the second fixing plate through bolts, and the third guide rail and the fourth guide rail are arranged in parallel up and down, the third gear strip is connected with a third sliding block through a third connecting piece, the third sliding block is connected on a third guide rail in a sliding manner, the fourth gear strip is connected with a fourth sliding block through a fourth connecting piece, the fourth sliding block is connected on a fourth guide rail in a sliding manner, a third rubber wheel and a fourth rubber wheel are respectively horizontally arranged on a third bracket and a fourth bracket and respectively rotate around a central rotating shaft, the third bracket is arranged on the third gear strip through a fifth connecting block, the fourth bracket is arranged on the fourth gear strip through a sixth connecting block, a seventh motor is arranged on the third bracket, an output shaft of the seventh motor is connected with an eleventh gear, a twelfth gear is connected with the central rotating shaft of the third rubber wheel, the eleventh gear and the twelfth gear are mutually meshed, an eighth motor is arranged on the fourth bracket, and an output shaft of the eighth motor is connected with a thirteenth gear, the fourteenth gear is connected with a central rotating shaft of the fourth rubber wheel, and the thirteenth gear and the fourteenth gear are meshed with each other.
2. The inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined type pole-climbing robot according to claim 1, wherein a first protection plate and a second protection plate are respectively arranged at the front ends of the first support and the second support, and the first protection plate and the second protection plate are arranged oppositely.
3. The inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined climbing robot according to claim 2, wherein a third protection plate and a fourth protection plate are respectively arranged at the front ends of the third support and the fourth support, and the third protection plate and the fourth protection plate are arranged oppositely.
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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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| CN101537616B (en) * | 2009-04-29 | 2011-02-02 | 江南大学 | Pole-climbing robot with multiple postures |
| CN104477272B (en) * | 2014-12-10 | 2017-02-22 | 武汉大学 | Line patrol robot capable of climbing poles and towers and climbing method |
| CN207189651U (en) * | 2017-04-20 | 2018-04-06 | 深圳市朗驰欣创科技股份有限公司 | Climbing level robot |
| CN107140050B (en) * | 2017-05-11 | 2019-05-21 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN207027531U (en) * | 2017-08-07 | 2018-02-23 | 瑞智(青岛)精密机电有限公司 | A kind of compressor clamping lifting switching mechanism |
| US10919590B2 (en) * | 2017-09-21 | 2021-02-16 | Infrastructure Preservation Corporation | Robotic repair system for high mast light poles |
| CN108189006A (en) * | 2018-02-06 | 2018-06-22 | 西北工业大学深圳研究院 | A kind of robot suitable for three-dimensional framework |
| CN108945144A (en) * | 2018-09-16 | 2018-12-07 | 周伯顺 | A kind of manned formula climbing level robot |
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