CN113696986B - Flexible tracked robot connecting device - Google Patents
Flexible tracked robot connecting device Download PDFInfo
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- CN113696986B CN113696986B CN202111101398.4A CN202111101398A CN113696986B CN 113696986 B CN113696986 B CN 113696986B CN 202111101398 A CN202111101398 A CN 202111101398A CN 113696986 B CN113696986 B CN 113696986B
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- connecting piece
- frameworks
- framework
- hinged
- flexible
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application provides a flexible tracked robot connecting device, which comprises a walking device and a flexible rod; the walking mechanism comprises two groups of frameworks which are parallel to each other; the two frameworks are arranged along a first direction; the framework comprises a front framework and a rear framework which are hinged with each other, and the direction of the hinged shaft is parallel to the first direction; the flexible rod is installed between two skeletons and is located at two ends of the skeletons. The curved surface adaptability of the crawler robot during operation is enhanced.
Description
Technical Field
The invention particularly discloses a flexible tracked robot connecting device.
Background
The wall climbing robot can carry various tools to move on the wall surface, executes high-difficulty and high-risk work, and has wide application prospect in multiple industries. For the magnetic conductivity wall surface, a permanent magnet crawler adsorption robot is mostly adopted to move the wall surface, most of the existing permanent magnet crawler walking robots can adsorb and move on the ground and a vertical plane, but the wall surface can not be effectively attached and adsorbed on the large-curvature wall surface, the adaptability of the curved surface is poor, the deformation and the falling of the whole mechanism can be caused, and the safety of the robot is influenced.
Disclosure of Invention
The invention aims to solve the problems and provides a flexible tracked robot connecting device which comprises a walking device and a flexible rod; the walking mechanism comprises two groups of frameworks which are parallel to each other; each framework extends along a first direction; the two groups of frameworks are arranged along a second direction, and the second direction is vertical to the first direction; each group of frameworks comprises a front framework and a rear framework which are arranged along a first direction and are mutually hinged, and the direction of the hinged shaft is parallel to a second direction; the first ends of the two frameworks are connected through a flexible rod, so that the first ends of the two frameworks can be displaced relative to a third direction, and the third direction is perpendicular to the first direction and the second direction; the second ends of the two frameworks are connected through a flexible rod, so that the second ends of the two frameworks can move relative to the third direction.
According to the technical scheme that this application embodiment provided, preceding skeleton includes first connecting piece, back skeleton one end is kept away from to first connecting piece is equipped with the preceding bone fragment of two sets of parallels, preceding bone fragment extends along the first direction.
According to the technical scheme that this application embodiment provided, back skeleton includes the second connecting piece, the second connecting piece is kept away from preceding skeleton one end and is equipped with the back bone section of two sets of parallels, back bone section extends along first direction.
According to the technical scheme provided by the embodiment of the application, the first connecting piece is I-shaped, one side of the first connecting piece is provided with a connecting flange which can be connected with the front framework, and the other side of the first connecting piece is provided with a hinge hole; the second I-shaped part is provided with a connecting flange which can be connected with the rear framework on one side.
According to the technical scheme provided by the embodiment of the application, a limiter is further arranged between the first I-shaped part and the second connecting part, a limiter is further arranged between the first connecting part and the second connecting part, a notch capable of being inserted into a branch end of the first connecting part is formed in one side of the limiter, a through hole corresponding to the hinge hole is formed in the inner wall of the notch, and the limiter is hinged to the first connecting part; one end, far away from the rear framework, of the second connecting piece is fixedly connected with the limiting device. According to the technical scheme that this application embodiment provided, flexible pole includes elastic element, the elastic element both ends are equipped with the sleeve, sleeve axis direction is perpendicular with first direction.
According to the technical scheme that this application embodiment provided, the skeleton both ends are equipped with the sleeve axle, the sleeve axle with the sleeve is articulated, and the articulated shaft direction is perpendicular with first direction.
According to the technical scheme that this application embodiment provided, two the driving shaft is installed along the second direction between the back bone section, be equipped with on the driving shaft and follow the rotatory driving gear of self axis, two install the driven shaft along the second direction between the preceding bone section, who has on the driven shaft and can follow the rotatory driven gear of self axis, correspond the driving gear with driven gear is equipped with the chain that matches, the chain is kept away from the driving gear with driven gear one side is equipped with the magnetism adsorption unit who arranges in proper order along the walking direction.
According to the technical scheme provided by the embodiment of the application, the rear bone section is provided with the motor mounting hole, and the driving gear is driven by the motor.
The invention has the beneficial effects that: the flexible rod is arranged between the two parallel walking devices, so that the fitting capacity of the robot during steering is enhanced; the curved surface adaptability of the crawler robot perpendicular to the wall surface is realized through the hinging of the front framework and the rear framework.
Drawings
Other features, objects and advantages of the present application will become more apparent upon reading of the following detailed description of non-limiting embodiments thereof, made with reference to the accompanying drawings in which:
FIG. 1 is a schematic illustration of an application of a flexible tracked robotic linkage of the present application;
FIG. 2 is a schematic view of one embodiment of a flexible tracked robotic coupling of the present application;
FIG. 3 is a flexible rod schematic of a flexible tracked robotic linkage of the present application;
FIG. 4 is a schematic view of a running gear of a flexible tracked robotic linkage of the present application;
1. a framework; 2. a flexible rod; 3. a stopper; 4. a driving gear; 5. a driven gear; 6. a chain; 7. a magnetic adsorption unit; 11. an anterior bone segment; 12. a posterior bone segment; 110. a first connecting member; 120. a second connecting member; 21. an elastic element; 22. a sleeve; 23. and (4) sleeving a shaft.
Detailed Description
The present invention will be described in detail below with reference to the accompanying drawings in order to make those skilled in the art better understand the technical solution of the present invention, and the description in this section is only exemplary and illustrative, and should not be construed as limiting the scope of the present invention in any way.
As shown in fig. 1, a flexible tracked robot coupling device comprises a walking device and a flexible rod 2; the walking mechanism comprises two groups of frameworks 1 which are parallel to each other; each of the bobbins 1 extends in a first direction; the two groups of frameworks 1 are arranged along a second direction, and the second direction is vertical to the first direction; each group of frameworks 1 comprises a front framework and a rear framework which are arranged along a first direction and are mutually hinged, and the direction of a hinged shaft is parallel to a second direction; the first ends of the two frameworks 1 are connected through a flexible rod, so that the first ends of the two frameworks can be displaced relative to a third direction, and the third direction is perpendicular to the first direction and the second direction; the second ends of the two frameworks 1 are connected through a flexible rod, so that the second ends of the two frameworks can move relative to the third direction.
Preferably, the two frameworks 1 are arranged in parallel and in opposite directions, and the flexible rod 2 is arranged at two ends of the two frameworks perpendicular to the frameworks 1, so as to form a quadrangle with symmetrical center. The two ends of the flexible rod are hinged to the two groups of frameworks 1 respectively, and the connection shaft is perpendicular to the first direction. The symmetry of the whole tracked robot is facilitated, and the stability of the tracked robot is further ensured.
As shown in fig. 2, the front frame includes a first connecting member 110, two sets of parallel front frame segments 11 are disposed at an end of the first connecting member 110 away from the rear frame, and the front frame segments 11 extend along a first direction. Through setting up two sets of parallel bone sections, be favorable to increasing the rigidity of skeleton.
Further, a connecting flange is arranged between the first connecting piece 110 and the front bone segments 11, a through hole is formed in the connecting flange, and the first workpiece 110 is connected with the two front bone segments 11 through bolts. The detachable design is favorable for replacing each part independently when the part is damaged.
Further, the back skeleton includes second connecting piece 120, second connecting piece 120 is kept away from preceding skeleton one end and is equipped with two sets of parallel back bone fragments 12, back bone fragment 12 extends along first direction.
Furthermore, a connecting flange is arranged between the second connecting piece 120 and the rear bone segment 12, a through hole is arranged on the connecting flange, and the first workpiece 120 is connected with the two rear bone segments 12 through bolts.
Preferably, the first connecting member 110 is i-shaped, and one side of the first connecting member is provided with a connecting flange capable of being connected with the front framework, and the other side of the first connecting member is provided with a hinge hole; the second connecting member 120 is i-shaped, and a connecting flange capable of being connected with the rear frame is disposed on one side of the second connecting member.
Optionally, the PPS material is used for the first connecting member 110 and the second connecting member 120, so that the weight of the framework is reduced and the mechanical performance is good.
Preferably, a stopper 3 is further disposed between the first connecting member 110 and the second connecting member 120, a notch into which a branch end of the first connecting member 110 can be inserted is disposed on one side of the stopper 3, a through hole corresponding to the hinge hole is disposed on an inner wall of the notch, and the stopper 3 is hinged to the first connecting member 110; one end of the second connecting piece 120, which is far away from the rear framework 12, is fixedly connected with the limiter 3.
Preferably, the stopper 3 is provided with two sets and is installed between the first connecting piece 110 and the second connecting piece 120, a through hole is formed in the stopper, and a through hole hinged to the stopper 3 is formed in one end, away from the front framework, of the first connecting piece 110.
Preferably. The notch of the stopper 3 may limit the angle of the first and second connectors 110 and 120, which are hinged to each other, to an angle ranging from 0 ° to 30 °. Through the setting of stopper, the skeleton takes place great angle's rotation around preventing to reduce the adsorption efficiency to the wall, lead to the emergence of the robot condition of dropping.
Further, the flexible rod 2 comprises an elastic element 21, sleeves 22 are arranged at two ends of the elastic element 21, and the axial direction of the sleeves 22 is perpendicular to the first direction.
Preferably, the elastic element 21 in the middle of the flexible rod 2 is a carbon spring steel wire, and the inner walls of the sleeves 22 fixedly connected at the two sides are finely ground; further, the sleeves 22 can be selectively and rotatably mounted at two ends of the elastic element 21, so that the curved surface resilience is further increased.
Further, sleeve shafts 23 are arranged at two ends of the framework 1, the sleeve shafts 23 are hinged to the sleeve 22, and the direction of the hinged shaft is perpendicular to the first direction.
As shown in fig. 3, two the driving shaft is installed along the second direction between back bone section 12, be equipped with on the driving shaft and follow the rotatory driving gear 4 of self axis, two install the driven shaft along the second direction between preceding bone section 11, who has on the driven shaft and can follow the rotatory driven gear 5 of self axis, correspond the driving gear 4 with driven gear 5 is equipped with the chain 6 of matcing, chain 6 is kept away from driving gear 4 with driven gear 5 one side is equipped with the magnetism adsorption unit 7 of arranging in proper order along the walking direction.
Furthermore, a motor mounting hole is formed in the posterior bone segment 12, and the driving gear 4 is driven by a motor.
The working principle is as follows: the motor drives the starting gear 4, and the driven gear 5 is driven to rotate through the chain 6, so that the external magnetic adsorption unit 7 is driven to walk.
The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present invention. It should be noted that there are no specific structures but rather a few limitations to the preferred embodiments of the present invention, and that many modifications, adaptations, and variations are possible and can be made by one skilled in the art without departing from the principles of the present invention; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments.
Claims (3)
1. The utility model provides a flexible track robot coupling device which characterized in that: comprises a walking device and a flexible rod (2);
the walking device comprises two groups of mutually parallel frameworks (1); each of said armatures (1) extending in a first direction; the two groups of frameworks (1) are arranged along a second direction, and the second direction is vertical to the first direction; each group of frameworks (1) comprises a front framework and a rear framework which are arranged along a first direction and are mutually hinged, and the direction of a hinged shaft is parallel to a second direction;
the first ends of the two frameworks (1) are connected through a flexible rod, so that the first ends of the two frameworks can be displaced relative to a third direction, and the third direction is perpendicular to the first direction and the second direction; the flexible rod (2) comprises an elastic element (21), two ends of the elastic element (21) are provided with fixedly connected sleeves (22), the axial direction of the sleeves (22) is vertical to the first direction, two ends of the framework (1) are provided with sleeve shafts (23), the sleeve shafts (23) are hinged with the sleeves (22), and the direction of a hinged shaft is vertical to the first direction;
the second ends of the two frameworks (1) are connected through a flexible rod so that the second ends of the two frameworks can move in a third direction, the two frameworks (1) are arranged in parallel and in opposite directions, and the flexible rod (2) is perpendicular to the frameworks (1) and is arranged at the two ends of the two frameworks to form a quadrangle with symmetrical center; two ends of the flexible rod are respectively hinged with the two groups of frameworks (1), and the hinged shaft is perpendicular to the first direction, so that the symmetry of the whole track robot is facilitated;
the front framework comprises a first connecting piece (110), two groups of parallel front framework sections (11) are arranged at one end, far away from the rear framework, of the first connecting piece (110), and the front framework sections (11) extend along a first direction;
the rear framework comprises a second connecting piece (120), two groups of parallel rear framework sections (12) are arranged at one end, far away from the front framework, of the second connecting piece (120), and the rear framework sections (12) extend along a first direction; the first connecting piece (110) is I-shaped, one side of the first connecting piece is provided with a connecting flange which can be connected with the front framework, and the other side of the first connecting piece is provided with a hinge hole; the second connecting piece (120) is I-shaped, and one side of the second connecting piece is provided with a connecting flange which can be connected with the rear framework;
a limiter (3) is further arranged between the first connecting piece (110) and the second connecting piece (120), a notch capable of being inserted into one branch end of the first connecting piece (110) is formed in one side of the limiter (3), a through hole corresponding to the hinge hole is formed in the inner wall of the notch, and the limiter (3) is hinged to the first connecting piece (110); one end, far away from the rear framework, of the second connecting piece (120) is fixedly connected with the limiting stopper (3);
the two groups of the limiting devices (3) are arranged between the first connecting piece (110) and the second connecting piece (120), through holes are formed in the limiting devices, and through holes hinged with the limiting devices (3) are formed in one ends, far away from the front framework, of the first connecting pieces (110);
the notch of stopper (3) can restrict the angle of first connecting piece (110) and second connecting piece (120) of mutual articulated, and angle range is 0 to 30, through the setting of stopper, the skeleton takes place the rotation of great angle around preventing to reduce the adsorption efficiency to the wall, lead to the emergence of the robot condition of dropping.
2. A flexible tracked robot coupling as claimed in claim 1, wherein: two install the driving shaft along the second direction between back bone section (12), be equipped with on the driving shaft and follow self axis rotation driving gear (4), two install the driven shaft along the second direction between preceding bone section (11), be equipped with on the driven shaft and follow self axis rotation driven gear (5), correspond driving gear (4) with driven gear (5) are equipped with chain (6) of matching, keep away from chain (6) driving gear (4) with driven gear (5) one side is equipped with magnetism adsorption unit (7) of arranging in proper order along the direction of walking.
3. A flexible tracked robot linkage according to claim 2, characterized in that: the rear bone section (12) is provided with a motor mounting hole, and the driving gear (4) is driven by a motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111101398.4A CN113696986B (en) | 2021-09-18 | 2021-09-18 | Flexible tracked robot connecting device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111101398.4A CN113696986B (en) | 2021-09-18 | 2021-09-18 | Flexible tracked robot connecting device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN113696986A CN113696986A (en) | 2021-11-26 |
| CN113696986B true CN113696986B (en) | 2023-03-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202111101398.4A Active CN113696986B (en) | 2021-09-18 | 2021-09-18 | Flexible tracked robot connecting device |
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| CN (1) | CN113696986B (en) |
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| US4926957A (en) * | 1987-04-01 | 1990-05-22 | Uragami Fukashi | Device capable of suction-adhering to a wall surface and moving therealong |
| JP2002145139A (en) * | 2000-11-09 | 2002-05-22 | Fukashi Uragami | Running carrier |
| JP4644861B2 (en) * | 2002-09-20 | 2011-03-09 | ウラカミ合同会社 | A moving cart that is attracted to the surface by suction means such as negative pressure |
| JP6079997B2 (en) * | 2012-11-08 | 2017-02-15 | 国立大学法人東京工業大学 | Group moving body of magnetic adsorption vehicle |
| CN103863432B (en) * | 2014-02-28 | 2016-04-06 | 浙江海洋学院 | A kind of flexible back bone formula hull climbs wall carrying platform |
| CN107127177B (en) * | 2017-06-08 | 2019-08-27 | 武汉理工大学 | A kind of cleaning device of Coupled Rigid-flexible |
| CN108082319A (en) * | 2017-12-15 | 2018-05-29 | 长沙志唯电子科技有限公司 | The flexible adaptive wall-surface mobile robot of magnetic adsorption type |
| CN208149120U (en) * | 2017-12-25 | 2018-11-27 | 杭州龙创汽车技术有限公司 | Car and boat six-degree-of-freedom parallel connection mechanism shock absorbing seat |
| WO2019207623A1 (en) * | 2018-04-23 | 2019-10-31 | 三菱電機株式会社 | Endless track traveling device and moving body for generator inspection robot equipped with same |
| CN108609048A (en) * | 2018-06-07 | 2018-10-02 | 张家港江苏科技大学产业技术研究院 | A kind of multi-track walking mechanism |
| CN110001811B (en) * | 2019-03-11 | 2024-07-26 | 广东水利电力职业技术学院（广东省水利电力技工学校） | Wall climbing robot |
| CN110948497B (en) * | 2019-10-29 | 2024-06-18 | 河北工业大学 | Ship attached organism cleaning robot |
| CN110815178B (en) * | 2019-10-29 | 2022-04-26 | 汕头大学 | Rope-driven robot |
| CN110861723B (en) * | 2019-10-29 | 2020-10-02 | 河北工业大学 | Magnetic adsorption wall-climbing robot |
| CN111251278B (en) * | 2020-03-12 | 2021-06-08 | 广东省智行机器人科技有限公司 | Rigid-flexible coupling three-rotation parallel robot |
| CN111391937A (en) * | 2020-04-13 | 2020-07-10 | 高路平 | Four-footed bionic robot with flexible spine |
| CN112356936A (en) * | 2020-11-26 | 2021-02-12 | 河北工业大学 | Wall-climbing robot |
| CN112356935A (en) * | 2020-11-26 | 2021-02-12 | 河北工业大学 | Load dispersion wall-climbing robot |
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2021
- 2021-09-18 CN CN202111101398.4A patent/CN113696986B/en active Active
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| CN113696986A (en) | 2021-11-26 |
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