CN111377002B - Rope-driven under-actuated climbing robot driven by single motor - Google Patents
Rope-driven under-actuated climbing robot driven by single motor Download PDFInfo
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- CN111377002B CN111377002B CN201811648289.2A CN201811648289A CN111377002B CN 111377002 B CN111377002 B CN 111377002B CN 201811648289 A CN201811648289 A CN 201811648289A CN 111377002 B CN111377002 B CN 111377002B
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- 230000009194 climbing Effects 0.000 title claims abstract description 22
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 20
- 239000010959 steel Substances 0.000 claims abstract description 20
- 230000005540 biological transmission Effects 0.000 claims description 12
- 238000009434 installation Methods 0.000 claims description 6
- 238000005192 partition Methods 0.000 claims description 5
- 238000000926 separation method Methods 0.000 claims 2
- 230000009193 crawling Effects 0.000 abstract description 2
- 238000004804 winding Methods 0.000 description 5
- 238000012423 maintenance Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005265 energy consumption Methods 0.000 description 1
- 230000008092 positive effect Effects 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
- 230000003245 working effect Effects 0.000 description 1
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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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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Abstract
本发明涉及爬行机器人技术领域，具体地说是一种单电机驱动的绳驱式欠驱动攀爬机器人，其中前轮组件设于底盘前端，底盘后端设有辅助轮，侧肢节分设于底盘两侧，单电机驱动机构设于底盘上，且单电机驱动机构设有输出轴，所述输出轴前端通过前轮离合器与蜗杆相连，在前轮组件上设有蜗轮，且蜗杆与所述蜗轮啮合，输出轴后端通过抱持离合器与侧肢节驱动轴相连，侧肢节分别通过钢丝驱动，且所述钢丝缠绕于侧肢节驱动轴上，前轮离合器内设有前轮离合弹簧连接输出轴和蜗杆，抱持离合器内设有抱持离合弹簧连接输出轴和侧肢节驱动轴，所述前轮离合弹簧和抱持离合弹簧旋向相反。本发明利用单电机驱动机器人行走和抱持，结构大大简化且自适应能力强。
The invention relates to the technical field of crawling robots, in particular to a rope-driven underactuated climbing robot driven by a single motor. On both sides, the single-motor drive mechanism is provided on the chassis, and the single-motor drive mechanism is provided with an output shaft. The front end of the output shaft is connected to the worm through the front wheel clutch, and a worm wheel is arranged on the front wheel assembly, and the worm is connected to the worm wheel. Meshing, the rear end of the output shaft is connected with the drive shaft of the side limbs through the holding clutch, the side limbs are driven by steel wires respectively, and the steel wires are wound on the drive shafts of the side limbs, and the front wheel clutch is provided with a front wheel clutch spring to connect The output shaft and the worm are provided with a holding clutch spring in the holding clutch to connect the output shaft and the side limb drive shaft, and the front wheel clutch spring and the holding clutch spring have opposite directions of rotation. The invention uses a single motor to drive the robot to walk and hold, the structure is greatly simplified, and the self-adaptive ability is strong.
Description
Technical Field
The invention relates to the technical field of crawling robots, in particular to a rope-driven under-actuated climbing robot driven by a single motor.
Background
The climbing robot is a novel robot, has huge application potential in the fields of industry, aerospace and the like, can be used for the construction and maintenance of equipment pipelines in deep water areas, petrochemical industry, nuclear industry and the like, and can also be used for the maintenance of space stations and the like, the work in the fields is usually high-altitude operation, and the climbing robot has the characteristics of high labor intensity, dangerous working properties and the like, so the climbing robot has a wide application prospect. Traditional climbing robot often need set up a plurality of driving sources, has defects such as the driving source is many, the structure is complicated, control is loaded down with trivial details, in order to satisfy actual need, needs simplify climbing robot structure.
Disclosure of Invention
The invention aims to provide a rope-driven under-actuated climbing robot driven by a single motor, which can drive the robot to walk by utilizing the single motor, can drive lateral limb joints to hold after the robot walks in place, and has greatly simplified structure and strong self-adaptive capacity.
The purpose of the invention is realized by the following technical scheme:
a rope-driven under-actuated climbing robot driven by a single motor comprises a chassis, a front wheel assembly, side limbs, a single motor driving mechanism, a front wheel clutch and a holding clutch, wherein the front wheel assembly is arranged at the front end of the chassis, an auxiliary wheel is arranged at the rear end of the chassis, two side limbs are arranged on two sides of the rear end of the chassis, the single motor driving mechanism is arranged on the chassis, the single motor driving mechanism is provided with a rotatable output shaft, the front end of the output shaft is connected with a worm through the front wheel clutch, a worm wheel is arranged on a wheel shaft of the front wheel assembly, the worm is meshed with the worm wheel, the rear end of the output shaft is connected with a side limb driving shaft through the holding clutch, the two side limbs swing through steel wires respectively, the steel wires are wound on the side limb driving shaft, a front wheel clutch spring is arranged in the front wheel clutch and connected with the output shaft and the worm, the clutch is characterized in that a clutch spring is arranged in the clutch and connected with the output shaft and the side limb joint driving shaft, and the front wheel clutch spring and the clutch spring are both overrunning springs and have the same winding direction.
The single motor driving mechanism comprises a driving motor, a transmission assembly and an output shaft, the output shaft is driven to rotate by the driving motor, and the driving motor transmits torque through the transmission assembly.
The chassis is provided with an installation vertical plate, and the single motor driving mechanism is installed on the installation vertical plate.
The transmission assembly is a gear assembly, wherein the driving wheel is installed on an output shaft of the driving motor, and the driven gear is fixedly connected with the output shaft.
The front wheel assembly comprises two groups of ratchet disc groups, and the worm wheel is arranged between the two ratchet disc groups.
The thorn dish group includes thorn dish, baffle and wheel board, separates through the baffle between two adjacent thorn dishes, and just two adjacent thorn dishes stagger, and thorn dish group both sides are equipped with the wheel board.
The limb section of inclining is including connecting end plate and a plurality of limb section, it is articulated with an adjacent limb section of inclining just through first articulated shaft to connect the end plate to locate on the chassis, and all the other limb section of inclining loop through the articulated shaft articulated, and all is equipped with the pulley on each articulated shaft, all is equipped with reset spring at each articulated shaft middle part, is equipped with the steel wire fixed block at the limb section end of outermost end, and the steel wire is walked around each pulley after-fixing in proper order on the steel wire fixed block, all be equipped with the limb section gyro wheel on each limb section.
The invention has the advantages and positive effects that:
1. the front end of an output shaft of the single motor driving mechanism is connected with a worm driving a front wheel assembly through a front wheel clutch spring, the rear end of the output shaft is connected with a side limb driving shaft driving a side limb joint through a holding clutch spring, the holding clutch spring and the front wheel clutch spring are both overrunning springs, the rotation directions of the holding clutch spring and the front wheel clutch spring are the same, when the rotation direction of the output shaft is the same as the rotation direction of the front wheel clutch spring, the worm drives the front wheel assembly to realize walking, and when the rotation direction of the output shaft is the same as the rotation direction of the holding clutch spring, the holding clutch executes the overrunning function and drives the side limb joints on two sides to swing through the side limb.
2. The invention is provided with only one driving source, thereby not only having simple and convenient operation, but also greatly simplifying the whole structure and reducing the energy consumption of the device.
3. According to the invention, the thorn disc group is adopted to replace the traditional friction wheel, so that the climbing performance of the robot is improved.
4. The climbing robot is simple to control, the self-adaptability of the limbs on two sides to the diameter change of the climbed rod piece can be realized by utilizing the overrunning function of the overrunning spring clutch and driving the motor, and the application range and the reliability of the climbing robot are improved.
Drawings
Figure 1 is a schematic structural view of the present invention,
figure 2 is a right side view of the invention of figure 1,
figure 3 is a schematic view of the front wheel assembly of figure 1,
figure 4 is a schematic view of the lateral limb segment of figure 1,
figure 5 is a schematic view of the wrap clutch of figure 1,
figure 6 is a schematic diagram of the front wheel clutch configuration of figure 1,
figure 7 is a schematic view of the single motor drive mechanism of figure 1,
fig. 8 is a schematic view of the output shaft of the single-motor driving mechanism in fig. 2.
Wherein, 1 is a front wheel bracket, 2 is a chassis, 3 is a side limb joint, 301 is a connecting end plate, 302 is a first pulley, 303 is a first reset spring, 304 is a first articulated shaft, 305 is a first limb joint, 306 is a first limb joint roller, 307 is a second reset spring, 308 is a second pulley, 309 is a second articulated shaft, 310 is a second limb joint, 311 is a second limb joint roller, 312 is a steel wire fixed block, 4 is a single motor driving mechanism, 401 is a driving motor, 402 is a transmission component, 403 is a mounting vertical plate, 404 is an output shaft, 5 is a front wheel component, 501 is a worm wheel, 502 is a thorn disc, 503 is a partition plate, 504 is a wheel plate, 6 is a holding clutch, 601 is a holding clutch support, 6011 is a holding seat vertical plate, 602 is a holding clutch spring, 7 is a front wheel clutch, 701 is a front wheel clutch support, 7011 is a front wheel seat vertical plate, 702 is a first overrunning spring, 8 is an auxiliary wheel, 9 is a side limb joint driving shaft, worm 10 and steel wire 11.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
As shown in fig. 1 to 7, the present invention comprises a chassis 2, a front wheel assembly 5, side limbs 3 and a single motor driving mechanism 4, wherein the front wheel assembly 5 is mounted at the front end of the chassis 2 through a front wheel bracket 1, an auxiliary wheel 8 is arranged at the rear end of the chassis 2, the two side limbs 3 are respectively arranged at two sides of the rear end of the chassis 2, the single motor driving mechanism 4 is arranged on the chassis 2, the single motor driving mechanism 4 comprises a driving motor 401, a transmission assembly 402 and an output shaft 404, the output shaft 404 is driven to rotate through the driving motor 401, the driving motor 401 transmits torque through the transmission assembly 402, a worm wheel 501 is arranged on a wheel shaft of the front wheel assembly 5, the front end of the output shaft 404 is connected with a worm 10 through a front wheel clutch 7, the worm 10 is engaged with the worm wheel 501 on the front wheel assembly 5, the rear end of the output shaft 404 is connected with a side limb driving shaft 9 through a, two side limbs section 3 are respectively through 11 drive swings of steel wire, just steel wire 11 all twine in on the side limbs section drive shaft 9, front wheel clutch 7 and clutch 6 are all located on the chassis 2.
As shown in fig. 3, the front wheel assembly 5 includes two groups of ratchet disc groups, the worm wheel 501 is disposed between the two ratchet disc groups, the ratchet disc groups include ratchet discs 502, partition plates 503 and wheel plates 504, two adjacent ratchet discs 502 are separated by the partition plate 503, the two adjacent ratchet discs 502 are staggered by 22.5 degrees, and the wheel plates 504 are disposed on two sides of the ratchet disc groups for limiting.
As shown in fig. 4, the lateral limb segment 3 comprises a connecting end plate 301 and a first limb segment 305 and a second limb segment 310, the connecting end plate 301 is connected with the chassis 2, the first limb segment 305 is hinged with the connecting end plate 301 through a first hinge shaft 304, a first pulley 302 is provided at the upper end of the first hinge shaft 304, a first return spring 303 is provided at the middle of the first hinge shaft 304, a first limb segment roller 306 is arranged inside the first limb segment 305, the second limb segment 310 is hinged with the first limb segment 305 through a second hinge shaft 309, a second pulley 308 is provided at the upper end of the second hinge shaft 309, a second return spring 307 is provided at the middle of the second hinge shaft 309, the free end of the second limb joint 310 is provided with a steel wire fixing block 312, a second limb joint roller 311 is arranged in the second limb joint 310, and a steel wire 11 led out by the lateral limb joint driving shaft 9 sequentially bypasses the first pulley 302 and the second pulley 308 and then is fixed on the steel wire fixing block 312. When the mechanism works, the first articulated shaft 304 and the second articulated shaft 309 are driven to rotate by the steel wire 11 and pulleys at respective shaft ends, and then all limb segments of the side limb segment 3 are driven to swing to realize clasping swing.
As shown in fig. 5, the clasping clutch 6 includes a clasping clutch support 601 and a clasping clutch spring 602, the clasping clutch support 601 is installed on the chassis 2, two ends of the clasping clutch spring 602 are installed on clasping seat vertical plates 6011 on two sides of the clasping clutch support 601 through bearing supports, a front shaft end of the clasping clutch spring 602 is connected with the output shaft 404 of the single-motor driving mechanism 4, and a rear shaft end of the clasping clutch spring 602 is connected with the side limb driving shaft 9.
As shown in fig. 6, the front wheel clutch 7 includes a front wheel clutch support 701 and a front wheel clutch spring 702, the front wheel clutch support 701 is mounted on the chassis 2, two ends of the front wheel clutch spring 702 are mounted on front wheel seat vertical plates 7011 on two sides of the front wheel clutch support 701 through bearings, a front shaft end of the front wheel clutch spring 702 is connected to the worm 10, and a rear shaft end of the front wheel clutch spring 702 is connected to the output shaft 404 of the single motor driving mechanism 4.
The clasping clutch spring 602 and the front wheel clutch spring 702 are both overrunning springs and are wound in the same direction, as shown in fig. 8, when the rotation direction of the output shaft 404 is the same as the winding direction of the front wheel clutch spring 702, the output shaft 404 drives the worm 10 to rotate through the front wheel clutch spring 702 at the moment, and then the front wheel assembly 5 is driven to rotate to realize walking, meanwhile, the other end of the output shaft 404 and the clasping clutch spring 602 are wound in the same direction, the clasping clutch 6 executes the overrunning function to enable the side limbs 3 on two sides to clasp the climbing rod object and clasp stably, and the change of the size of the rod can be self-adapted when the side limbs 3 clasp the rod.
As shown in fig. 1 and 7, an installation vertical plate 403 is disposed on the chassis 2, and the driving motor 401, the transmission assembly 402 and the output shaft 404 are all installed on the installation vertical plate 403, in this embodiment, the transmission assembly 402 is a gear assembly, wherein a driving wheel is installed on the output shaft of the driving motor 401, and a driven gear is fixedly connected with the output shaft 404.
The working principle of the invention is as follows:
when the invention works, the driving motor 401 in the single motor driving mechanism 4 is started, and transmits torque through the transmission assembly 402 to enable the output shaft 404 to rotate rightwards, one end of the worm 10 of the output shaft 404 rotates, the other end of the output shaft drives the side limb driving shaft 9, the holding clutch spring 602 and the front wheel clutch spring 702 are both overrunning springs, and the winding directions are both right-handed, as shown in fig. 8, one end of the output shaft 404 turns to the same winding direction as the front wheel clutch spring 702, at this time, the output shaft 404 drives the worm 10 to rotate through the front wheel clutch spring 702, and further drives the front wheel assembly 5 to rotate to walk, the other end of the output shaft 404 turns to the same winding direction as the holding clutch spring 602, the holding clutch 6 executes the overrunning function, when the resistance torque does not reach the overrunning torque of the holding clutch spring 602, the side limb 3 is normally driven as an under-driven paw, when the side limbs 3 on both, at the moment, the resistance moment is larger than the overrunning moment, the friction moment between the clasping clutch spring 602 and the output shaft 404 of the single motor driving mechanism 4 and the side limb joint driving shaft 9 continues to drive the underactuated paw to clasp stably, and the change of the size of the pole piece can be self-adapted when the paw clasps the pole piece.
Claims (7)
1. The utility model provides a single motor drive's rope drives formula underactuated climbing robot which characterized in that: comprises a chassis (2), a front wheel component (5), side limb joints (3), a single motor driving mechanism (4), a front wheel clutch (7) and a holding clutch (6), wherein the front wheel component (5) is arranged at the front end of the chassis (2), an auxiliary wheel (8) is arranged at the rear end of the chassis (2), the two side limb joints (3) are respectively arranged at two sides of the rear end of the chassis (2), the single motor driving mechanism (4) is arranged on the chassis (2), the single motor driving mechanism (4) is provided with a rotatable output shaft (404), the front end of the output shaft (404) is connected with a worm (10) through the front wheel clutch (7), a worm wheel (501) is arranged on a wheel shaft of the front wheel component (5), the worm (10) is meshed with the worm wheel (501), the rear end of the output shaft (404) is connected with a side limb joint driving shaft (9) through the holding clutch (6), two side limbs section (3) are respectively through steel wire (11) drive swing, just steel wire (11) all twine in on the limb section drive shaft of side (9), be equipped with front wheel separation and reunion spring (702) in front wheel clutch (7) and connect output shaft (404) and worm (10), it connects to be equipped with in clutch (6) to hold clutch spring (602) of holding output shaft (404) and side limbs section drive shaft (9), front wheel separation and reunion spring (702) and hold clutch spring (602) and be freewheel spring and around to the same.
2. The single motor driven rope driven under-actuated climbing robot of claim 1, characterized in that: the single motor driving mechanism (4) comprises a driving motor (401), a transmission assembly (402) and an output shaft (404), wherein the output shaft (404) is driven to rotate by the driving motor (401), and the driving motor (401) transmits torque through the transmission assembly (402).
3. The single motor driven rope driven under-actuated climbing robot of claim 2, characterized in that: an installation vertical plate (403) is arranged on the base plate (2), and the single-motor driving mechanism (4) is installed on the installation vertical plate (403).
4. The single motor driven rope driven under-actuated climbing robot of claim 2, characterized in that: the transmission assembly (402) is a gear assembly, wherein a driving wheel is mounted on an output shaft of the driving motor (401), and a driven gear is fixedly connected with the output shaft (404).
5. The single motor driven rope driven under-actuated climbing robot of claim 1, characterized in that: the front wheel assembly (5) comprises two groups of thorn disc groups, and the worm wheel (501) is arranged between the two thorn disc groups.
6. The single motor driven rope driven under-actuated climbing robot of claim 5, characterized in that: the thorn disc group comprises thorn discs (502), partition plates (503) and wheel plates (504), two adjacent thorn discs (502) are separated by the partition plates (503), the two adjacent thorn discs (502) are staggered, and the wheel plates (504) are arranged on two sides of the thorn disc group.
7. The single motor driven rope driven under-actuated climbing robot of claim 1, characterized in that: side limb festival (3) are including connecting end plate (301) and a plurality of limb festival section, it is articulated with an adjacent limb festival section just through first articulated shaft (304) on chassis (2) and to connect end plate (301), and all the other limb festival sections loop through the articulated shaft articulated, and all are equipped with the pulley on each articulated shaft, all are equipped with reset spring in each articulated shaft middle part, are equipped with steel wire fixed block (312) at the limb festival end of outermost end, and each pulley after-fixing is walked around in proper order in steel wire (11) on steel wire fixed block (312), all be equipped with limb festival gyro wheel on each limb festival section.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811648289.2A CN111377002B (en) | 2018-12-30 | 2018-12-30 | Rope-driven under-actuated climbing robot driven by single motor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811648289.2A CN111377002B (en) | 2018-12-30 | 2018-12-30 | Rope-driven under-actuated climbing robot driven by single motor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111377002A CN111377002A (en) | 2020-07-07 |
| CN111377002B true CN111377002B (en) | 2021-03-16 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811648289.2A Active CN111377002B (en) | 2018-12-30 | 2018-12-30 | Rope-driven under-actuated climbing robot driven by single motor |
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| Country | Link |
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| CN (1) | CN111377002B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112026947B (en) * | 2020-08-20 | 2021-08-13 | 中国科学院沈阳自动化研究所 | An obstacle avoidance software climbing robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100563758C (en) * | 2008-01-15 | 2009-12-02 | 东南大学 | Spiral Cable Inspection Robot |
| CN100586779C (en) * | 2008-11-04 | 2010-02-03 | 中国人民解放军空军工程大学 | A wall-climbing robot |
| JP5692931B2 (en) * | 2010-02-22 | 2015-04-01 | 学校法人日本大学 | Traveling robot |
| KR20130098062A (en) * | 2012-02-27 | 2013-09-04 | 한국과학기술원 | Flying and wall climbing robot |
| CN105128970A (en) * | 2015-08-12 | 2015-12-09 | 山东建筑大学 | Pole-climbing robot with grippers controlled by cams |
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