CN111038615B - Auxiliary climbing system for robot - Google Patents
Auxiliary climbing system for robot Download PDFInfo
- Publication number
- CN111038615B CN111038615B CN201911406927.4A CN201911406927A CN111038615B CN 111038615 B CN111038615 B CN 111038615B CN 201911406927 A CN201911406927 A CN 201911406927A CN 111038615 B CN111038615 B CN 111038615B
- Authority
- CN
- China
- Prior art keywords
- climbing
- eccentric plate
- claw
- robot
- climb
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K1/00—Arrangement or mounting of electrical propulsion units
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
- B60K17/043—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel
- B60K17/046—Transmission unit disposed in on near the vehicle wheel, or between the differential gear unit and the wheel with planetary gearing having orbital motion
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses an auxiliary climbing system for a robot, which comprises a power system and climbing claws, wherein the front ends of the climbing claws are in a sickle shape and are used for periodically grabbing the ground, transmission shafts are movably arranged on two sides of the power system, a clutch used for controlling the rotation and stop of the transmission shafts is sleeved at one end, away from the power system, of the outer surfaces of the transmission shafts, and a front eccentric plate used for driving the climbing claws to periodically swing is arranged at one end, away from the power system, of the transmission shafts. According to the auxiliary climbing system for the robot, the climbing claws are respectively arranged at two ends of the robot, the torsion output by the driving motor is transferred to the transmission shafts at two sides of the gear box through the gear box, and then the front eccentric plate at the front end of the transmission shaft converts the torsion into periodic upward and downward hooking and climbing movement of the climbing claws, so that power can be provided for the robot when climbing the slope, the ground gripping force of the robot can be increased, and the stability of the robot when climbing the slope and the firmness of connection with the ground are improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to an auxiliary climbing system for a robot.
Background
The existing robot mostly walks on regular road surfaces such as cities and factories, but in driving environments such as forests and fields with muddy dirt roads and high steep slopes, the adhesion force is often insufficient, and the situation of skidding of tires or tracks is caused.
Disclosure of Invention
The invention mainly aims to provide an auxiliary climbing system for a robot, which can effectively solve the problems in the background technology.
In order to achieve the purpose, the invention adopts the technical scheme that:
the utility model provides an auxiliary climbing system that robot was used, this auxiliary climbing system include that driving system and front end are the hook that climbs that sickle is used for periodic claw ground, the equal movable mounting in both sides of driving system has the transmission shaft, and the pot head that driving system was kept away from to the transmission shaft surface has the clutch that is used for controlling the transmission shaft and stops rotating, and driving system's one end is kept away from to the transmission shaft is installed and is used for driving the preceding eccentric plate that climbs the periodic swing of claw, and the one side that driving shaft was kept away from to preceding eccentric plate and climb and be connected with the connecting axle between the claw intermediate position, the rear end fixedly connected with support frame of clutch, the front end movable mounting of support frame has the back eccentric plate that is used for the restriction to climb claw rear end amplitude of swing, and the back eccentric plate is kept away from and is.
Preferably, the power system comprises a driving motor and a gear box which is arranged at the front end of the driving motor through bolts and is used for transmitting the torque force of the driving motor to two sides.
Preferably, climb claw and preceding eccentric plate and be connected through the bearing and the both ends of connecting axle No. one respectively, climb claw and back eccentric plate and be connected through the bearing and the both ends of connecting axle No. two respectively.
Preferably, climb the position that claw center department front end is close to a connecting axle and run through and install the hasp, the distance between hasp central axis and a connecting axle central axis equals with the distance between transmission shaft central axis and a connecting axle central axis.
Preferably, the length of the second connecting shaft is equal to that of the front eccentric plate.
Preferably, the front end of support frame is equipped with the support column, the one end that the second connecting axle was kept away from to back eccentric plate is installed in the surface of support column through the bearing.
Compared with the prior art, the invention has the following beneficial effects:
the claw is climbed in the installation respectively at the both ends of robot, transfers to gear box both sides transmission shaft through the torsion that the gear box exported driving motor on, by the preceding eccentric plate of transmission shaft front end again, turns into torsion and climbs the periodic upper and lower hook of claw and climb the motion, not only can provide power when climbing for the robot, can also increase the land fertility of grabbing of robot simultaneously, stability when improving the robot climbing and the fastness of being connected with ground.
Drawings
Fig. 1 is a schematic view of the overall structure of an auxiliary climbing system for a robot according to the present invention;
fig. 2 is a left side view of the overall structure of an auxiliary climbing system for a robot according to the present invention;
FIG. 3 is a structural view of a device connected with a climbing claw in an auxiliary climbing system for a robot according to the present invention;
fig. 4 is a schematic structural diagram of an auxiliary climbing system for a robot according to the present invention, which is installed on the robot.
In the figure: 1. a drive motor; 2. a gear case; 3. a clutch; 4. a front eccentric plate; 5. climbing claws; 6. a first connecting shaft; 7. a second connecting shaft; 8. a support frame; 9. a rear eccentric plate.
Detailed Description
In order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.
Referring to fig. 1-3, an auxiliary climbing system for a robot comprises a power system and climbing claws 5 with sickle-shaped front ends for periodically grabbing ground, transmission shafts are movably mounted on both sides of the power system, a clutch 3 for controlling the rotation and stop of the transmission shafts is sleeved on one end of the outer surface of each transmission shaft far away from the power system, a front eccentric plate 4 for driving the climbing claws 5 to periodically swing is mounted on one end of each transmission shaft far away from the power system, a first connecting shaft 6 is connected between one side of the front eccentric plate 4 far away from the transmission shaft and the middle position of the climbing claw 5, the rear end of the clutch 3 is fixedly connected with a supporting frame 8, the front end of the supporting frame 8 is movably provided with a rear eccentric plate 9 for limiting the swinging amplitude of the rear end of the climbing claw 5, and a second connecting shaft 7 is arranged between one end of the rear eccentric plate 9 far away from the supporting frame 8 and the rear end of the climbing claw 5.
Referring to fig. 1, the power system includes a driving motor 1 and a gear box 2 installed at a front end of the driving motor 1 by bolts for transmitting a torque of the driving motor 1 to both sides.
Referring to fig. 3, the climbing claw 5 and the front eccentric plate 4 are respectively connected with two ends of a first connecting shaft 6 through bearings, and the climbing claw 5 and the rear eccentric plate 9 are respectively connected with two ends of a second connecting shaft 7 through bearings.
Referring to fig. 3, a lock catch penetrates through the front end of the center of the climbing claw 5 and is arranged at a position close to the first connecting shaft 6, and the distance between the central axis of the lock catch and the central axis of the first connecting shaft 6 is equal to the distance between the central axis of the transmission shaft and the central axis of the first connecting shaft 6.
Referring to fig. 2, the length of the second connecting shaft 7 is equal to or greater than the length of the front eccentric plate 4.
Referring to fig. 2, the front end of support frame 8 is equipped with the support column, the one end that No. two connecting axles 7 were kept away from to back eccentric plate 9 passes through the bearing and installs the surface at the support column, the connecting hole has been seted up to the one end that gear box 2 was kept away from with the transmission shaft in the center department of hasp, refer to fig. 2 and fig. 4 and show, when climbing system does not use, through inserting the copper post in to the connecting hole, make and climb claw 5 and transmission shaft fixed connection, make and climb claw 5 and no longer rotate, it is equipped with the spring to climb between 5 rear ends of claw and the support frame 8, can be when climbing system is out of work, will climb claw 5 and hold, can not grab ground and hinder the robot and normally walk, clutch 3 can be the clutch 3 of other controllability such as electromagnetic clutch.
When the device is used, the copper column in the lock catch is pulled out firstly, the clutch 3 is electrified for suction, the driving motor 1 is started, the driving motor 1 outputs torsion to drive the transmission shafts on the two sides of the gear box 2 to rotate, the torsion is transmitted to the front eccentric plate 4 on the outer surface of the transmission shaft by the transmission shafts, so that the front eccentric plate 4 rotates, one end of the front eccentric plate 4, which is far away from the transmission shafts, is connected with the middle position of the climbing claw 5, so that the climbing claw 5 can be driven to rotate when the front eccentric plate 4 rotates, the rear end of the climbing claw 5 is connected with the rear eccentric plate 9, the length of the rear eccentric plate 9 is different from that of the front eccentric plate 4, so that the rear end of the climbing claw 5 cannot synchronously rotate with the middle position of the climbing claw 5, secondly, the length of the rear eccentric plate 9 is larger than that of the front eccentric plate 4, the rear end of the climbing claw 5 has a smaller range, and conversely the front end of, form the ground of grabbing that periodic reciprocation, when current muddy abrupt slope, climb the front end of 5 sickles of claw and insert ground, can provide very high land fertility of grabbing, effectively avoided the appearance of the track or the tire condition of skidding, stability when improving the robot climbing and the fastness of being connected with ground.
The foregoing shows and describes the general principles and broad features of the present invention and advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (6)
1. The utility model provides an auxiliary climbing system that robot was used, this auxiliary climbing system include driving system and front end be hook-shaped and be used for climbing claw (5) of periodic claw ground, its characterized in that: the equal movable mounting in driving system's both sides has the transmission shaft, and driving system's an pot head is kept away from to the transmission shaft surface has clutch (3) that are used for controlling the transmission shaft and rotate and stop, and driving system's one end is kept away from to the transmission shaft is installed and is used for driving to climb preceding eccentric plate (4) of claw (5) periodic swing, and preceding eccentric plate (4) keep away from one side of transmission shaft and climb and be connected with connecting axle (6) between claw (5) intermediate position, the rear end fixedly connected with support frame (8) of clutch (3), the front end movable mounting of support frame (8) has rear eccentric plate (9) that are used for the restriction to climb claw (5) rear end amplitude of oscillation, and rear eccentric plate (9) keep away from the one end of support frame (8) and climb and be equipped with No. two connecting axles (7.
2. The assisted climbing system for a robot according to claim 1, wherein: the power system comprises a driving motor (1) and a gear box (2) which is arranged at the front end of the driving motor (1) through bolts and used for transmitting the torsion of the driving motor (1) to two sides.
3. The assisted climbing system for a robot according to claim 1, wherein: climb claw (5) and preceding eccentric plate (4) and be connected through the both ends of bearing with connecting axle (6) respectively, climb claw (5) and back eccentric plate (9) and be connected through the both ends of bearing with No. two connecting axles (7) respectively.
4. The assisted climbing system for a robot according to claim 1, wherein: climb the position that claw (5) center department front end is close to a connecting axle (6) and run through and install the hasp, the distance equals between hasp central axis and a connecting axle (6) the central axis with the distance between transmission shaft central axis and a connecting axle (6) the central axis.
5. The assisted climbing system for a robot according to claim 1, wherein: the length of the second connecting shaft (7) is greater than the length of the front eccentric plate (4) and equal to the length of the front eccentric plate.
6. The assisted climbing system for a robot according to claim 1, wherein: the front end of support frame (8) is equipped with the support column, the surface at the support column is installed through the bearing to the one end that No. two connecting axles (7) were kept away from in back eccentric plate (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911406927.4A CN111038615B (en) | 2019-12-31 | 2019-12-31 | Auxiliary climbing system for robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911406927.4A CN111038615B (en) | 2019-12-31 | 2019-12-31 | Auxiliary climbing system for robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111038615A CN111038615A (en) | 2020-04-21 |
| CN111038615B true CN111038615B (en) | 2021-01-05 |
Family
ID=70242908
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911406927.4A Active CN111038615B (en) | 2019-12-31 | 2019-12-31 | Auxiliary climbing system for robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111038615B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112247994A (en) * | 2020-08-28 | 2021-01-22 | 南京驭逡通信科技有限公司 | Climbing surveying robot suitable for multiple topography |
| CN113022891B (en) * | 2021-04-06 | 2022-07-12 | 哈尔滨工业大学 | Wheel-leg composite mars vehicle |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101049838A (en) * | 2007-05-22 | 2007-10-10 | 哈尔滨工程大学 | Alcula type wall climbing robot |
| CN203806033U (en) * | 2014-05-15 | 2014-09-03 | 湖北工业大学 | Bionic single-motor-driven four-footed climbing robot |
| TW201637917A (en) * | 2015-04-22 | 2016-11-01 | 鴻海精密工業股份有限公司 | High maneuverability vehicle |
| CN207737383U (en) * | 2017-12-28 | 2018-08-17 | 中国科学院合肥物质科学研究院 | A kind of walking mechanism of pawl thorn formula climbing robot |
-
2019
- 2019-12-31 CN CN201911406927.4A patent/CN111038615B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101049838A (en) * | 2007-05-22 | 2007-10-10 | 哈尔滨工程大学 | Alcula type wall climbing robot |
| CN203806033U (en) * | 2014-05-15 | 2014-09-03 | 湖北工业大学 | Bionic single-motor-driven four-footed climbing robot |
| TW201637917A (en) * | 2015-04-22 | 2016-11-01 | 鴻海精密工業股份有限公司 | High maneuverability vehicle |
| CN207737383U (en) * | 2017-12-28 | 2018-08-17 | 中国科学院合肥物质科学研究院 | A kind of walking mechanism of pawl thorn formula climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111038615A (en) | 2020-04-21 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN111038615B (en) | Auxiliary climbing system for robot | |
| CN100389041C (en) | Full terrain rail crawler wheel for four wheel vehicles | |
| CN105292361A (en) | Detachable electric vehicle for handicapped | |
| CN108163094B (en) | Mountain cross-country robot vehicle chassis | |
| CN110861461B (en) | Active suspension structure of distributed driving vehicle | |
| CN210258625U (en) | Obstacle crossing mechanism, wheel type chassis assembly thereof and inspection robot | |
| CN209382135U (en) | One kind six takes turns adaptive cross-country trolley | |
| CN201928634U (en) | Chain wheel type sugarcane cultivator-hiller | |
| CN2934017Y (en) | Whole-landform track crawler wheel of four-wheel wagon | |
| CN212539639U (en) | Intelligent rotary drum test platform for customized simulation of automobile road condition driving | |
| CN201774806U (en) | Chassis traveling device of multifunctional peanut and corn harvester | |
| CN208646516U (en) | A kind of rear axle drive structure on beach buggy | |
| CN201099275Y (en) | Trolley for climbing steps | |
| CN208682963U (en) | A kind of Athey wheel vehicle | |
| CN113071587A (en) | Electric wheel chassis with four-wheel drive and working method thereof | |
| CN218634698U (en) | Rotary cultivator | |
| CN2350271Y (en) | Wheel and track combined chassis for vehicle | |
| CN100572177C (en) | Four-wheel driving caterpillar type robot walking drive device | |
| CN201824875U (en) | Tractor for loading nursery stock | |
| CN201124760Y (en) | Transmission arrangement for transport tractor | |
| CN212332805U (en) | Automatic track-seeking trolley crawler favorable for skid resistance | |
| CN201186681Y (en) | Four-wheel drive track-mounted robot walking driving device | |
| CN215043226U (en) | Turnover limiting device of crawler | |
| CN220700989U (en) | Large four-wheel drive electric transportation platform | |
| CN215862331U (en) | Automatic direction-adjusting walking mechanism for pipeline local repairing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP01 | Change in the name or title of a patent holder | ||
| CP01 | Change in the name or title of a patent holder |
Address after: 230088 room 611-62, R & D center building, China (Hefei) international intelligent voice Industrial Park, 3333 Xiyou Road, Shushan District, Hefei City, Anhui Province Patentee after: Anhui Xuanli Intelligent Technology Co.,Ltd. Address before: 230088 room 611-62, R & D center building, China (Hefei) international intelligent voice Industrial Park, 3333 Xiyou Road, Shushan District, Hefei City, Anhui Province Patentee before: ANHUI YANDA INTELLIGENT TECHNOLOGY Co.,Ltd. |