CN112224295A - Bionic climbing movement method of intelligent robot - Google Patents
Bionic climbing movement method of intelligent robot Download PDFInfo
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- CN112224295A CN112224295A CN202010897299.0A CN202010897299A CN112224295A CN 112224295 A CN112224295 A CN 112224295A CN 202010897299 A CN202010897299 A CN 202010897299A CN 112224295 A CN112224295 A CN 112224295A
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- 230000009194 climbing Effects 0.000 title claims abstract description 21
- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 16
- 238000000034 method Methods 0.000 title claims abstract description 11
- 210000000078 claw Anatomy 0.000 claims abstract description 14
- 238000005192 partition Methods 0.000 claims description 21
- 239000000853 adhesive Substances 0.000 claims description 8
- 230000001070 adhesive effect Effects 0.000 claims description 8
- 230000006978 adaptation Effects 0.000 claims description 3
- 238000001179 sorption measurement Methods 0.000 claims description 3
- 241000252254 Catostomidae Species 0.000 claims description 2
- 230000008901 benefit Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000003139 buffering effect Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000004308 accommodation Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000008092 positive 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
The invention discloses a bionic climbing motion method of an intelligent robot, which comprises a robot base, a first fixed groove, a second fixed groove, a first connecting arm, a first connecting rod, a second connecting rod, a third connecting rod, a sucker and a claw, wherein the first fixed groove is fixed at the bottom end of the robot base, the second fixed groove is fixed at the bottom end of the first fixed groove, hollow structures are respectively arranged in the first fixed groove and the second fixed groove, a first gear is fixed at the middle part of the top end in the robot base, one side edge of the first gear is connected with an output shaft of a first motor, a second gear and a third gear which are matched with the first gear are connected at the bottoms of two sides of the first gear, connecting shafts are respectively fixed at the middle parts of the second gear and the third gear, two ends of each connecting shaft penetrate through the robot base and extend to the outer side of the robot base, and connecting discs are respectively fixed at positions, corresponding, and one side of the connecting discs at the two sides, which are deviated from each other, is connected with one end of the second connecting rod.
Description
The invention is a divisional application, and the original application information is as follows, the name: a bionic climbing motion mechanism of an intelligent robot is disclosed in the application number: 2019106853424, filing date: 2019.07.27.
Technical Field
The invention relates to the technical field of intelligent robots, in particular to a bionic climbing motion method of an intelligent robot.
Background
The wall climbing robot is an important branch in the field of mobile robots, can climb on a vertical wall and carry tools to complete certain operation tasks, and greatly expands the application range of the robot. At present, a wall climbing robot is applied to the aspects of cleaning of the outer wall surface of a high building, rescue and relief, special reconnaissance and the like to a certain extent, good social and economic benefits are obtained, and the wall climbing robot is one of the hot points of the research in the field of the existing robot.
Disclosure of Invention
The technical task of the invention is to provide a bionic climbing motion mechanism of an intelligent robot to solve the problems.
The technical scheme of the invention is realized as follows:
a bionic climbing motion mechanism of an intelligent robot comprises a robot base, a first fixing groove, a second fixing groove, a first connecting arm, a first connecting rod, a second connecting rod, a third connecting rod, a sucker and a claw, wherein the first fixing groove is fixed at the bottom end of the robot base, the second fixing groove is fixed at the bottom end of the first fixing groove, hollow structures are formed in the first fixing groove and the second fixing groove, a first gear is fixed in the middle of the top end of the inner portion of the robot base, one side edge of the first gear is connected with an output shaft of a third motor, a second gear and a third gear which are matched with the first gear are connected to the bottoms of two sides of the first gear, connecting shafts are fixed in the middle portions of the second gear and the third gear, two ends of each connecting shaft penetrate through the robot base and extend to the outer side of the robot base, and connecting discs are fixed at positions, corresponding to the two outer side edges of the robot base, of each connecting shaft, one side of the two sides of the connecting disc, which is deviated from the connecting disc, is connected with one end of a connecting rod II, the other end of the connecting rod II is movably connected with the middle of a connecting arm I, the top end of the connecting arm I is movably connected with one end of a connecting rod I, the other end of the connecting rod I is connected with the top edge of the robot base, the middle of the connecting rod II is connected with one end of a connecting rod III, the other end of the connecting rod III is connected with the bottom edge of the robot base, fixing plates I are symmetrically fixed on two side edges of the bottom end of the fixing groove I, a fixing plate II is fixed on one side edge of the bottom end of the fixing plate I, a sliding rod is slidably connected with the middle of the fixing plate I, the top end of the sliding rod extends to the inside of the fixing groove I to be connected with a pushing structure, a connecting frame is fixed at the, the middle part of the bottom end of the second fixing plate is connected with one end of a second connecting arm and one end of a third connecting arm through a movable bolt, hollow grooves matched with the sliding columns are formed in the positions, corresponding to the sliding columns, of the tops of the second connecting arm and the third connecting arm, the hook claws are fixed at the bottom ends of the second connecting arm and the third connecting arm, and the suckers are fixed on two side edges of the bottom end of the second fixing groove; the hook claw and the sucker can provide both adsorption force and adhesive force, so that the stability of the robot is guaranteed.
Preferably, an accommodating cavity is formed in the middle of the bottom end of the first fixing groove, the accommodating cavity is of a hollow structure, two side edges of the bottom end of the accommodating cavity are fixed to the top end of the second fixing groove through a supporting rod, the bottom end of the supporting rod penetrates through the accommodating cavity, and a first through hole matched with the supporting rod is formed in the position, corresponding to the supporting rod, of the bottom of the accommodating cavity; the support rod can conveniently slide through the first through hole.
Preferably, a first motor is fixed in the middle of the top end inside the accommodating cavity, an output shaft of the first motor is connected with a first threaded rod, the bottom end of the first threaded rod is fixed in the middle of the bottom end inside the accommodating cavity, a first sliding sleeve matched with the first threaded rod is sleeved outside the first threaded rod, fixing rods are fixed at two ends of the first sliding sleeve, fixing sleeves matched with the fixing rods are fixed on the fixing rods, the supporting rod is fixed at the bottom end of the fixing sleeve, and the bottom end of the supporting rod penetrates through the accommodating cavity and is connected with two sides of the top end of the second fixing groove; the second fixing groove can be conveniently adjusted to ascend and descend through the sliding of the supporting rod, so that the sucking disc is convenient to adsorb and use.
Preferably, the top end of the fixing sleeve is fixed inside the accommodating cavity through a first spring; the stability of fixed cover can be improved, the effect of buffering is played fixed cover simultaneously.
Preferably, one end of the fixed rod, which is far away from the first sliding sleeve, is fixedly provided with a first sliding plate, a first sliding groove matched with the first sliding plate is formed in the position, corresponding to the first sliding plate, in the accommodating cavity, and the sliding of the first sliding plate can be facilitated through the first sliding groove, so that the friction between the first sliding plate and the sliding groove is reduced.
Preferably, the pushing structure is fixed at the top of the inside of the first fixing groove, the pushing structure comprises a first bevel gear, a second bevel gear, a third bevel gear, a partition plate and a push rod, the partition plate is fixed inside the first fixing groove and positioned at the top end of the accommodating cavity, a second motor is fixed on one side edge of the top end of the inside of the first fixing groove and positioned above the partition plate, an output shaft of the second motor is connected with a rotating shaft, the first bevel gear and the second bevel gear are fixed on the rotating shaft, a third bevel gear matched with the first bevel gear and the second bevel gear is fixed on the same side edge of the bottom ends of the first bevel gear and the second bevel gear, a second threaded rod is fixed at the bottom end of the third bevel gear, the bottom end of the second threaded rod penetrates through the partition plate and extends to the lower part of the partition plate, and a second sliding sleeve matched with the second threaded rod is sleeved, a second through hole is formed in the inner part of the second sliding sleeve corresponding to the position of the second threaded rod, the ejector rod is fixed to one side edge of the bottom end of the second sliding sleeve, and the bottom end of the ejector rod penetrates through the first fixing groove and is fixed to the top end of the sliding rod; the grabbing between the claw and the contact surface can be conveniently controlled through the pushing structure, and the robot is fixed more stably.
Preferably, a connecting column is fixed at one end, close to the inner wall of the first fixing groove, of the second sliding sleeve, a second sliding plate is fixed at one end, far away from the second sliding sleeve, of the connecting column, and a second sliding groove matched with the second sliding plate is formed in the position, corresponding to the second sliding plate, of the two side edges of the inner wall of the first fixing groove.
Preferably, the bottom end of the second threaded rod is fixed at the inner bottom end of the first fixing groove through a clamping sleeve, so that the second threaded rod can be fixed more stably.
Preferably, the number of the connecting discs is four, and the connecting discs are symmetrically arranged on two side edges of the robot base; the stability of the structure is better facilitated by the four symmetrical connecting discs.
Preferably, one side of the top end of the second sliding sleeve is fixed with the top end of the partition plate through a second spring; the second spring can play a role in fixing and buffering the second sliding sleeve.
Compared with the prior art, the invention has the advantages and positive effects that:
1. make the robot not only can climb in smooth place through sucking disc and claw, also can climb in the rugged rough bottom in surface simultaneously.
2. Make the efficiency of robot climbing higher, the robot is stable with the firm box of fixing more between the climbing face to do benefit to the safety of robot more.
3. The operation and control of people are facilitated, the use of people is facilitated, the working efficiency is improved, and meanwhile the labor force and the operation time are saved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of a bionic climbing motion of an intelligent robot according to an embodiment of the invention;
FIG. 2 is a schematic diagram of the interior of a robot base according to an embodiment of the invention;
fig. 3 is a schematic view illustrating a connection between a first fixing groove and a second fixing groove according to an embodiment of the present invention;
FIG. 4 is a schematic structural view of a pushing structure inside a fixing groove according to an embodiment of the present invention;
FIG. 5 is a schematic diagram of a structure of a finger according to an embodiment of the present invention;
fig. 6 is a schematic view of the connection inside the accommodation chamber according to an embodiment of the present invention.
In the figure:
1. a robot base; 2. a first fixing groove; 3. a second fixing groove; 4. a first connecting arm; 5. a first connecting rod; 6. a second connecting rod; 7. a third connecting rod; 8. a suction cup; 9. a hook claw; 10. a first gear; 11. a third motor; 12. a second gear; 13. a third gear; 14. a connecting shaft; 15. a slide bar; 16. a connecting disc; 17. a first fixing plate; 18. a second fixing plate; 19. a pushing structure; 20. a connecting frame; 21. a traveler; 22. a second connecting arm; 23. a third connecting arm; 24. hollowing out the grooves; 25. an accommodating chamber; 26. a support bar; 27. a first motor; 28. a first threaded rod; 29. a first sliding sleeve; 30. fixing the rod; 31. fixing a sleeve; 32. a first spring; 33. a first sliding plate; 34. a first sliding chute; 35. a first bevel gear; 36. a second bevel gear; 37. a third bevel gear; 38. a partition plate; 39. a top rod; 40. a second motor; 41. a rotating shaft; 42. a second threaded rod; 43. a second sliding sleeve; 44. connecting columns; 45. a second sliding plate; 46. a second chute; 47. and a second spring.
Detailed Description
In order that the above objects, features and advantages of the present invention can be more clearly understood, the present invention will be further described with reference to the accompanying drawings and examples. It should be noted that the embodiments and features of the embodiments of the present application may be combined with each other without conflict.
The invention is further described with reference to the following figures and specific examples.
Embodiment one, as shown in fig. 1 to 6, a bionic climbing motion mechanism of an intelligent robot according to an embodiment of the present invention includes a robot base 1, a first fixing groove 2, a second fixing groove 3, a first connecting arm 4, a first connecting rod 5, a second connecting rod 6, a third connecting rod 7, a suction cup 8, and a claw 9, wherein the first fixing groove 2 is fixed at a bottom end of the robot base 1, the second fixing groove 3 is fixed at a bottom end of the first fixing groove 2, the robot base 1, the first fixing groove 2, and the second fixing groove 3 are all rectangular parallelepiped structures, and the interiors of the first fixing groove 2 and the second fixing groove 3 are all hollow structures, the hollow structures can reduce a weight of the robot and facilitate movement of the robot, a first gear 10 is fixed at a middle portion of a top end of the interior of the robot base 1, one side edge of a middle portion of the first gear 10 is connected to an output shaft of a third motor 11, the bottom of the two sides of the first gear 10 is connected with a second gear 12 and a third gear 13 which are matched with the first gear 10, connecting shafts 14 are fixed at the middle parts of the second gear 12 and the third gear 13, the two ends of each connecting shaft 14 penetrate through the robot base 1 and extend to the outer side of the robot base 1, connecting discs 16 are fixed at the positions, corresponding to the connecting shafts 14, of the two outer sides of the robot base 1, the number of the connecting discs 16 is four, the robot can be stabilized and walk, one side, deviated from each other, of each connecting disc 16 at the two sides is connected with one end of a second connecting rod 6, the second connecting rod 6 is located on the same side of the robot base 1, one of the connecting discs is movably connected with the top of the connecting disc 16, the other connecting disc 16 is movably connected with the bottom of the connecting disc 16, and the other end of the second connecting rod 6 is movably connected, the bottom end of the first connecting arm 4 is fixed with walking feet, the top end of the first connecting arm 4 is movably connected with one end of a first connecting rod 5, the other end of the first connecting rod 5 is connected with the top edge of the robot base 1, the middle part of the second connecting rod 6 is connected with one end of a third connecting rod 7, the other end of the third connecting rod 7 is connected with the bottom edge of the robot base 1, and the first connecting rod 5, the second connecting rod 6, the third connecting rod 7 and the first connecting arm 4 are movably connected through a movable bolt, so that the mutual activities are facilitated and the fixing is firmer, the first fixing plate 17 is symmetrically fixed on the two bottom side edges of the first fixing groove 2, the second fixing plate 18 which is thinner than the first fixing plate 17 is fixed on one bottom side edge of the first fixing plate 17, the sliding rod 15 is slidably connected with the middle part of the first fixing plate 17, and the sliding of the sliding rod 15 can be convenient to, just the top of slide bar 15 extends to the inside of fixed slot 2 is connected with pushing structure 19, the bottom mounting of slide bar 15 has connection frame 20, connection frame 20 is U type connection frame 20, a bottom side of connection frame 20 all is fixed with traveller 21, the bottom middle part of two 18 fixed plates and a side that is close to connection frame 20 are connected with the one end of linking arm two 22 and linking arm three 23 through the gim peg, linking arm two 22 with the top of linking arm three 23 with the corresponding position of traveller 21 seted up with the fretwork groove 24 of traveller 21 looks adaptation, linking arm two 22 with the bottom of linking arm three 23 all is fixed with claw 9, 3 bottom both sides edges of fixed slot two are fixed with sucking disc 8, and sucking disc 8 is sucking disc 8, and sucking disc 8 passes through the vacuum pump control.
In the second embodiment, as shown in fig. 2 and 6, an accommodating cavity 25 is formed in the middle of the bottom end of the inside of the first fixing groove 2, and the inside of the accommodating cavity 25 is of a hollow structure; can make things convenient for and be connected between the fixed slot, make things convenient for the lift of two 3 fixed slots simultaneously, the bottom both sides limit that holds chamber 25 pass through the bracing piece 26 with the top of two 3 fixed slots is fixed, just the bottom of bracing piece 26 runs through hold chamber 25, through hold chamber 25 bottom with the through-hole one of bracing piece 26 looks adaptation is seted up with the position that bracing piece 26 corresponds to can make things convenient for the motion of bracing piece 26 to drive the lift of two 3 fixed slots through bracing piece 26.
In the third embodiment, as shown in fig. 6, a first motor 27 is fixed at the middle part of the top end inside the accommodating cavity 25, and a control button I is fixed on one side of the outer part of the base to conveniently control the rotation of the motor I27, an output shaft of the first motor 27 is connected with a first threaded rod 28, the bottom end of the first threaded rod 28 is fixed in the middle of the bottom end inside the accommodating cavity 25 through a shaft sleeve, and the first threaded rod 28 is positioned in the middle of the accommodating cavity 25 and is vertically arranged, a first sliding sleeve 29 matched with the first threaded rod 28 is sleeved outside the first threaded rod 28, fixing rods 30 are symmetrically fixed on two side edges of the first sliding sleeve 29, fixing sleeves 31 matched with the fixing rods 30 are fixed on the fixing rods 30, the fixing sleeve 31 is welded on the fixing rod 30, the supporting rod 26 is fixed at the bottom end of the fixing sleeve 31, the bottom end of the support rod 26 penetrates through the accommodating cavity 25 and is connected with two sides of the top end of the second fixing groove 3.
In a fourth embodiment, as shown in fig. 6, the top end of the fixing sleeve 31 is fixed inside the accommodating cavity 25 by a first spring 32; the first spring 32 can fix the fixing sleeve 31 and the fixing rod 30 and buffer the fixing sleeve 31, so that the fixing sleeve 31 is more beneficial to stability and use, and the second fixing groove 3 is more beneficial to safe use.
In a fifth embodiment, as shown in fig. 6, a first sliding plate 33 is fixed at one end of the fixing rod 30, which is far away from the first sliding sleeve 29, the first sliding plate 33 is close to one side of the inner wall of the accommodating cavity 25, and a first sliding groove 34 adapted to the first sliding plate 33 is formed in the accommodating cavity 25 at a position corresponding to the first sliding plate 33; the sliding of the first sliding plate 33 is facilitated by the first sliding slot 34 and the first sliding plate 33, so that the friction between the first sliding plate and the inner wall of the accommodating cavity 25 is reduced, and meanwhile, the fixing rod 30 and the device are kept stable.
Sixth embodiment, as shown in fig. 4, the pushing structure 19 is fixed at the top inside the first fixing groove 2, the pushing structure 19 includes a first bevel gear 35, a second bevel gear 36, a third bevel gear 37, a partition 38 and a push rod 39, the partition 38 is fixed inside the first fixing groove 2 and located at the top end of the accommodating cavity 25, a second motor 40 is fixed at one side edge of the top inside the first fixing groove 2 and located above the partition 38, an output shaft of the second motor 40 is connected with a rotating shaft 41, the first bevel gear 35 and the second bevel gear 36 are fixed on the rotating shaft 41, the third bevel gear 37 matched with the first bevel gear 35 and the second bevel gear 36 is fixed at the bottom end of the first bevel gear 35 and the same side edge of the second bevel gear 36, a second threaded rod 42 is fixed at the bottom end of the third bevel gear 37, and the bottom end of the second threaded rod 42 penetrates through the partition 38 and extends to the lower side of the partition 38, the outer side cover of the second threaded rod 42 positioned below the partition plate 38 is provided with a second sliding sleeve 43 matched with the second threaded rod 42, a second through hole is formed in the second sliding sleeve 43 and the position corresponding to the second threaded rod 42, a top rod 39 is fixed to one side edge of the bottom end of the second sliding sleeve 43, and the bottom end of the top rod 39 penetrates through the first fixing groove 2 and is fixed to the top end of the sliding rod 15.
In a seventh embodiment, as shown in fig. 4, a connection column 44 is fixed at one end of the sliding sleeve ii 43 close to the inner wall of the first fixing groove 2, a sliding plate ii 45 is fixed at one end of the connection column 44 far away from the sliding sleeve ii 43, and a sliding groove ii 46 adapted to the sliding plate ii 45 is formed in positions of two side edges of the inner wall of the first fixing groove 2 corresponding to the sliding plate ii 45; the friction between the sliding groove II 46 and the inner wall of the first fixing groove 2 can be reduced through the sliding groove II 45, and meanwhile, the stability of the sliding sleeve II 43 can be guaranteed through the connecting column 44.
In an eighth embodiment, as shown in fig. 4, the bottom end of the second threaded rod 42 is fixed at the inner bottom end of the first fixing groove 2 through a ferrule; the second threaded rod 42 can be fixed inside the first fixing groove 2 through the clamping sleeve, and the stability and the use of the second threaded rod 42 are facilitated.
In a ninth embodiment, as shown in fig. 1, the number of the connecting discs 16 is four, and the connecting discs are symmetrically arranged on two side edges of the robot base 1; the connecting discs 16 symmetrically arranged on two sides are more beneficial to the walking and the stability of the robot.
In an embodiment ten, as shown in fig. 4, one side of the top end of the sliding sleeve two 43 is fixed with the top end of the partition plate 38 through a spring two 47; the second spring 47 can fix and buffer the second sliding sleeve 43, so that the second sliding sleeve 43 is more safe and stable.
For the convenience of understanding the technical solutions of the present invention, the following detailed description will be made on the working principle or the operation mode of the present invention in the practical process.
In practical application, the robot body is in control connection with an external controller, the controller is in control connection with the first motor 27, the second motor 40 and the third motor 11, when the robot moves, the rotation of the third motor 11 is controlled to drive the rotation of the first gear 11, the rotation of the first gear 10 is further driven to drive the rotation of the second gear 12 and the third gear 13, the rotation connecting shaft 14 of the second gear 12 and the third gear 13 and the connecting discs 16 on two sides move, the rotation of the connecting discs 16 drives the movement of the second connecting rod 6, so that the movement of the robot is controlled, when an adhesive force needs to be provided, the rotation of the first motor 27 drives the rotation of the first threaded rod 28, the rotation of the first threaded rod 28 drives the sliding sleeve 29 to slide, the sliding sleeve 29 slides to drive the fixing rods 30 and the supporting rods 26 on two sides to move, thereby the motion of the fixed groove two 3 is driven by the motion of the supporting rod 26, the motion of the fixed groove two 3 drives the motion of the negative sucker 8, the suction force can be generated between the negative sucker 8 and the contact surface, thereby the suction is performed, the stability of the robot is ensured, meanwhile, the rotation of the motor two 40 drives the rotation of the rotating shaft 41, the bevel gear one 35 and the bevel gear two 36, the rotation of the bevel gear one 35 and the bevel gear two 36 drives the bevel gear three 37 to rotate, further, the rotation of the bevel gear three 37 drives the motion of the threaded rod two 42, the motion of the threaded rod two 42 drives the sliding sleeve two 43 to slide, further, the sliding of the sliding sleeve two 43 drives the motion of the ejector rod 39, the sliding rod 15 can be pushed by the ejector rod 39, thereby the motion of the connecting frame 20 is pushed by the sliding rod 15, the motion of the connecting frame 20 drives the sliding column 21 to slide in the hollow groove 24, further, the sliding column 21 drives, thereby can produce the power of grabbing to the contact surface through the gib claw 9, can be with fixed more firm between robot and the contact surface through gib claw 9 and sucking disc 8, make the robot both can be at the smooth surface also can the adhesive force on the rough surface, but improve work efficiency, simultaneously can also the rotation of single control motor 27 and motor two 40, provide single adhesive force, make things convenient for people's operation more, when need not provide adhesive force, only need the reversal of control motor 27 and motor two 40 to be steerable robot's motion, thereby save the labour, degree of automation is than higher.
The present invention can be easily implemented by those skilled in the art from the above detailed description. It should be understood, however, that the intention is not to limit the invention to the particular embodiments described. On the basis of the disclosed embodiments, a person skilled in the art can combine different technical features at will, thereby implementing different technical solutions.
Claims (6)
1. A bionic climbing motion method of an intelligent robot is characterized by comprising the following steps:
step 1, in practical application, a robot body is in control connection with an external controller, the controller is in control connection with a first motor (27), a second motor (40) and a third motor (11), when the robot moves, rotation of the third motor (11) is controlled to drive rotation of a first gear (10), rotation of a second gear (12) and a third gear (13) is driven by rotation of the first gear (10), a rotating connecting shaft (14) of the second gear (12) and the third gear (13) and connecting discs (16) on two sides move, and then rotation of the connecting discs (16) drives movement of a second connecting rod (6), so that movement of the robot is controlled;
step 2, when adhesive force needs to be provided, by controlling the rotation of the motor II (40) and the motor I (27), the rotation of the motor I (27) drives the rotation of the threaded rod I (28), the rotation of the threaded rod I (28) drives the sliding sleeve I (29) to slide, and further the sliding sleeve I (29) drives the fixed rods (30) and the supporting rods (26) on two sides to move, so that the movement of the supporting rods (26) drives the movement of the fixed groove II (3), the movement of the fixed groove II (3) drives the movement of the sucker (8), and the sucker (8) can generate adsorption force with a contact surface, so that adsorption is carried out, and the stability of the robot is guaranteed;
step 3, simultaneously, the rotation of the motor II (40) drives the rotation shaft (41), the bevel gear I (35) and the bevel gear II (36) to rotate, the rotation of the bevel gear I (35) and the bevel gear II (36) drives the bevel gear III (37) to rotate, further the rotation of the bevel gear III (37) drives the movement of the threaded rod II (42), the movement of the threaded rod II (42) drives the sliding sleeve II (43) to slide, so that the sliding sleeve II (43) drives the ejector rod (39) to move, the ejector rod (39) can push the sliding rod (15), so that the sliding rod (15) pushes the connecting frame (20) to move, the movement of the connecting frame (20) drives the sliding column (21) to slide in the hollow groove (24), further the sliding column (21) drives the rotation of the angle between the connecting arm II (22) and the bevel gear III (23), and further the contact surface of the connecting arm (9) can generate grabbing force, the claw (9) and the sucker (8) can fix the robot and the contact surface more firmly, so that the robot can be attached to both a smooth surface and a rough surface, and the working efficiency is improved;
and 4, simultaneously, the rotation of the first motor (27) and the second motor (40) can be independently controlled, single adhesive force is provided, the operation of people is more convenient, when the adhesive force is not required to be provided, the motion of the robot can be controlled by controlling the reverse rotation of the first motor (27) and the second motor (40), the labor force is saved, and the degree of automation is higher.
2. The bionic climbing motion method of the intelligent robot according to claim 1, wherein the bionic climbing motion mechanism of the intelligent robot comprises: the robot comprises a robot base (1), a first fixing groove (2), a second fixing groove (3), a first connecting arm (4), a first connecting rod (5), a second connecting rod (6), a third connecting rod (7), a sucker (8) and a claw (9), wherein the first fixing groove (2) is fixed at the bottom end of the robot base (1), the second fixing groove (3) is fixed at the bottom end of the first fixing groove (2), the first fixing groove (2) and the second fixing groove (3) are both of hollow structures, a first gear (10) is fixed at the middle of the top end of the interior of the robot base (1), one side edge of the first gear (10) is connected with an output shaft of a third motor (11), the bottoms of the two sides of the first gear (10) are connected with a second gear (12) and a third gear (13) which are matched with the first gear (10), and connecting shafts (14) are fixed at the middles of the second gear (12) and the third gear (13), and the two ends of the connecting shaft (14) penetrate through the robot base (1) and extend to the outer side of the robot base (1), connecting discs (16) are fixed at the positions corresponding to the two outer side edges of the robot base (1) and the connecting shaft (14), one side of the two side connecting discs (16) which are deviated is connected with one end of a connecting rod II (6), the other end of the connecting rod II (6) is movably connected with the middle part of a connecting arm I (4), the top end of the connecting arm I (4) is movably connected with one end of a connecting rod I (5), the other end of the connecting rod I (5) is connected with the top edge of the robot base (1), the middle part of the connecting rod II (6) is connected with one end of a connecting rod III (7), the other end of the connecting rod III (7) is connected with the bottom edge of the robot base (1), the bottom both sides limit symmetry of fixed slot (2) is fixed with fixed plate (17), the bottom side of fixed plate (17) is fixed with fixed plate two (18), the middle part sliding connection of fixed plate (17) has slide bar (15), just the top of slide bar (15) extends to the inside and the pushing structure (19) of fixed slot (2) are connected, the bottom mounting of slide bar (15) has link frame (20), link frame (20) are U type link frame (20), the bottom of link frame (20) all is fixed with traveller (21), the bottom middle part of fixed plate two (18) is connected with the one end of link arm two (22) and link arm three (23) through the gim peg, link arm two (22) with the top of link arm three (23) with the corresponding position of traveller (21) offer with fretwork groove (24) of traveller (21) looks adaptation, the hook claws (9) are fixed at the bottom ends of the connecting arm II (22) and the connecting arm III (23), and the suckers (8) are fixed on two side edges of the bottom end of the fixing groove II (3);
an accommodating cavity (25) is formed in the middle of the bottom end of the inner portion of the first fixing groove (2), the inner portion of the accommodating cavity (25) is of a hollow structure, two side edges of the bottom end of the accommodating cavity (25) are fixed to the top end of the second fixing groove (3) through a supporting rod (26), the bottom end of the supporting rod (26) penetrates through the accommodating cavity (25), and a first through hole matched with the supporting rod (26) is formed in the position, corresponding to the supporting rod (26), of the bottom of the accommodating cavity (25);
a first motor (27) is fixed in the middle of the top end inside the accommodating cavity (25), an output shaft of the first motor (27) is connected with a first threaded rod (28), the bottom end of the first threaded rod (28) is fixed in the middle of the bottom end inside the accommodating cavity (25), a first sliding sleeve (29) matched with the first threaded rod (28) is sleeved outside the first threaded rod (28), fixing rods (30) are fixed at two ends of the first sliding sleeve (29), fixing sleeves (31) matched with the fixing rods (30) are fixed on the fixing rods (30), the supporting rod (26) is fixed at the bottom end of each fixing sleeve (31), the bottom end of each supporting rod (26) penetrates through the accommodating cavity (25) and is connected with two sides of the top end of the second fixing groove (3), the pushing structure (19) is fixed at the top inside of the first fixing groove (2), the pushing structure (19) comprises a first bevel gear (35), a second bevel gear (36), a third bevel gear (37), a partition plate (38) and a push rod (39), the partition plate (38) is fixed inside the first fixing groove (2) and located at the top end of the accommodating cavity (25), a second motor (40) is fixed on one side edge of the top end of the inside of the first fixing groove (2) and located above the partition plate (38), an output shaft of the second motor (40) is connected with a rotating shaft (41), the first bevel gear (35) and the second bevel gear (36) are fixed on the rotating shaft (41), the third bevel gear (37) matched with the first bevel gear (35) and the second bevel gear (36) is fixed on the bottom end of the first bevel gear (35) and the same side edge of the second bevel gear (36), and a second threaded rod (42) is fixed on the bottom end of the third bevel gear (37), the bottom end of the second threaded rod (42) penetrates through the partition plate (38) and extends to the lower portion of the partition plate (38), a second sliding sleeve (43) matched with the second threaded rod (42) is sleeved on the outer side of the second threaded rod (42) located below the partition plate (38), a second through hole is formed in the second sliding sleeve (43) at a position corresponding to the second threaded rod (42), the ejector rod (39) is fixed on one side edge of the bottom end of the second sliding sleeve (43), and the bottom end of the ejector rod (39) penetrates through the first fixing groove (2) and is fixed to the top end of the sliding rod (15);
the top end of the fixed sleeve (31) is fixed inside the accommodating cavity (25) through a first spring (32);
one end of the fixing rod (30) far away from the first sliding sleeve (29) is fixedly provided with a first sliding plate (33), and a first sliding groove (34) matched with the first sliding plate (33) is formed in the accommodating cavity (25) at a position corresponding to the first sliding plate (33).
3. The bionic climbing motion method of the intelligent robot according to claim 1, wherein a connecting column (44) is fixed at one end of the second sliding sleeve (43) close to the inner wall of the first fixing groove (2), a second sliding plate (45) is fixed at one end of the connecting column (44) far away from the second sliding sleeve (43), and a second sliding groove (46) matched with the second sliding plate (45) is formed in the position, corresponding to the second sliding plate (45), of two side edges of the inner wall of the first fixing groove (2).
4. The bionic climbing motion method of the intelligent robot as claimed in claim 1, wherein the bottom end of the second threaded rod (42) is fixed at the inner bottom end of the first fixing groove (2) through a sleeve.
5. The bionic climbing motion method of the intelligent robot according to claim 1, wherein the number of the connecting discs (16) is four, and the connecting discs are symmetrically arranged on two sides of the robot base (1).
6. The bionic climbing motion method of the intelligent robot according to claim 5, wherein one side of the top end of the second sliding sleeve (43) is fixed with the top end of the partition plate (38) through a second spring (47).
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| CN202010897299.0A CN112224295B (en) | 2019-07-27 | 2019-07-27 | Bionic climbing movement method of intelligent robot |
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| CN113262117A (en) * | 2021-05-24 | 2021-08-17 | 西昌市人民医院 | Bird's nest formula neonate nurses mattress |
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Also Published As
| Publication number | Publication date |
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| CN110406609A (en) | 2019-11-05 |
| CN110406609B (en) | 2020-10-02 |
| CN112224295B (en) | 2021-07-30 |
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Effective date of registration: 20240611 Address after: No. 37 Jiangjun Avenue, Jiangning Economic and Technological Development Zone, Jiangning District, Nanjing City, Jiangsu Province, 211100 Patentee after: Nanjing Zhongke real number Technology Co.,Ltd. Country or region after: China Address before: 211100 two, B unit 300, Zhihui Road, Qilin science and Technology Innovation Park, Nanjing, Jiangsu. Patentee before: NANJING YUSHENG ROBOT TECHNOLOGY Co.,Ltd. Country or region before: China |