CN201357411Y - Barrier-free constant-speed crawling robot - Google Patents
Barrier-free constant-speed crawling robot Download PDFInfo
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- CN201357411Y CN201357411Y CNU2009201058998U CN200920105899U CN201357411Y CN 201357411 Y CN201357411 Y CN 201357411Y CN U2009201058998 U CNU2009201058998 U CN U2009201058998U CN 200920105899 U CN200920105899 U CN 200920105899U CN 201357411 Y CN201357411 Y CN 201357411Y
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Abstract
The utility model relates to a barrier-free constant-speed crawling robot which belongs to robot technical field. The utility model comprises an external frame, an internal frame, a rotary mechanism, a linear movement mechanism fixed on the upper surface of the external frame and a linear motor used for fixing an actuation mechanism. A rotary mechanism is connected with the linear movement mechanism and the rotary mechanism is driven by the linear movement mechanism to have linear movement along the external frame. The internal frame is connected with the output shaft of the rotary mechanism and is driven by the rotary mechanism to rotate relative to the external frame. The linear motor is mounted on the upper surface of the external frame. The robot in the utility model can move across barrier in certain height and realize turning through the rotary mechanism between the internal and external frames; besides, the actuation mechanism realizes constant movement during operation through the dynamic velocity vector synthesis of the relative movements of linear motor and internal and external frames.
Description
Technical field
The utility model belongs to the Robotics field, is specifically related to a kind of barrier-free constant speed creeping robot.
Background technology
Present stage, researcher is to mobile robot's research, and main target is to be used for danger or adverse circumstances to substitute the mankind and finish a certain task, as lunar exploration, nuclear power station detect, explosive etc.; Aspects such as service robot and agricultural, forestry, animal husbandry.
The existing both at home and abroad mobile robot who is used for large-scale component processing, testing process has two kinds of patterns, first kind mainly is at the such magnetic material of steel, lead the all-position creeping-type arc welding robot as the trackless of Tsing-Hua University, second kind is utilized guide rail to creep, as the portable welding robot of Servo-robot company.The former can only finish the processing of magnetic material, and the latter can only realize the process automation under the higher structured environment of size and assembly precision.And for for example processing operation of the semi-structure environment component surface of classes such as large-scale, ultra-large type aluminum alloy materials, nonmetallic materials, structural member surface irregularity and partial-band obstacle, the robot of existing these two kinds of Move Modes all is difficult to adapt at present.
The utility model content
The purpose of this utility model has been to overcome the above-mentioned shortcoming of existing robot, a kind of barrier-free constant speed creeping robot of novel vacuum suction is provided, can realizes that by this robot executing agency carries out linear uniform motion, turning and leaping over obstacles on the nonferromugnetic material surface.
To achieve these goals, the utility model has been taked following technical scheme: mainly comprise outside framework, inner frame, rotating mechanism, be fixed on the straight-line motion mechanism of outside framework upper surface and be used for fixing the linear electric motors of executing agency.Wherein: rotating mechanism links to each other with straight-line motion mechanism, and rotating mechanism can be along the outside framework moving linearly under the drive of straight-line motion mechanism.Inner frame links to each other with rotating mechanism, can rotate with respect to outside framework under the drive of rotating mechanism, and linear electric motors are installed in the upper surface of outside framework.
Described outside framework comprises outer installing plate, outer sucker ejecting mechanism, outer sucker fixed head, outer sucker.Wherein: be separately installed with outer sucker ejecting mechanism on four angles of outer installing plate, the end of each outer sucker ejecting mechanism all passes through outer sucker fixed head and connects an outer sucker.
Described straight-line motion mechanism comprises nut, supporting base, drive motors and leading screw.Wherein: leading screw is installed on the output shaft of drive motors, and the leading screw two ends are by straight-line motion mechanism supporting base supporting, and nut sleeve is on leading screw.Straight-line motion mechanism is fixed on the upper surface of outer installing plate.
Described rotating mechanism comprises electric rotating machine, the decelerator that links to each other with electric rotating machine and is used for fixing the rotating mechanism mount pad of electric rotating machine, and the rotating mechanism mount pad is fixed on the nut in the straight-line motion mechanism.
Described inner frame comprises interior sucker ejecting mechanism, interior installing plate and interior sucker, and the upper end of interior sucker ejecting mechanism and the output shaft fixed connection of the decelerator in the rotating mechanism eject end and be connected with interior installing plate, are fixed with interior sucker on the interior installing plate.
Described outer sucker ejecting mechanism and interior sucker ejecting mechanism are cylinder or electrical pushing cylinder.
Robot in the utility model can be reduced to 8 frees degree, secondary and 1 revolute of 7 rectilinear motions wherein, as shown in Figure 1, O among the figure
iRepresent that (i is 1,2,3 to i the free degree ... 8).O
1, O
2, O
3, O
4Four frees degree representing outer sucker to eject, O
5The free degree that sucker ejects in the representative, O
6Represent rotating mechanism, O
7Represent straight-line motion mechanism, O
8Represent linear electric motors.
The beneficial effects of the utility model are:
1) adopt vacuum suction mechanism implementation framework formula structure in the walking fast of the surface of nonferromugnetic material.
2) ejecting mechanism makes this robot can cross the barrier of certain altitude.
3) rotating mechanism between the internal and external frame can be realized the robot turning function.
4) the dynamic speed vector of linear electric motors and internal and external frame relative motion is synthetic, can realize the uniform motion of executing agency when work.
Description of drawings
Fig. 1 is a free degree distribution schematic diagram of the present utility model;
Fig. 2 is the front view of robot of the present utility model;
Fig. 3 is the vertical view of robot of the present utility model;
Fig. 4 is the outside framework of robot of the present utility model;
Fig. 5 is the inner frame of robot of the present utility model;
Fig. 6 is the rotating mechanism of robot of the present utility model;
Fig. 7 is the straight-line motion mechanism of robot of the present utility model;
Fig. 8 is the A-A cutaway view of Fig. 2;
Among the figure: 1, outside framework, 2, inner frame, 3, rotating mechanism, 4, linear electric motors, 5, executing agency, 6, outer sucker ejecting mechanism, 7, outer sucker, 8, outer installing plate, 9, straight-line motion mechanism supporting base, 10, outer sucker fixed head, 11, straight-line motion mechanism, 12, interior sucker, 13, interior installing plate, 14, interior sucker ejecting mechanism, 15, decelerator, 16, electric rotating machine, 17, the rotating mechanism mount pad, 18, the linear electric motors supporting seat, 19, nut, 20, drive motors, 21, leading screw.
The specific embodiment
The utility model is described in further detail below in conjunction with accompanying drawing:
The structure of the climbing robot that the frame-type of the vacuum suction in the present embodiment, load are at the uniform velocity moved is made up of outside framework 1, inner frame 2, straight-line motion mechanism 11, rotating mechanism 3 and linear electric motors 4 five parts as shown in Figure 2.The robot body adopts the structure of frame-type multi-sucker vacuum suction in the utility model, and rotating mechanism is installed between the internal and external frame, carries linear electric motors on the outside framework, and executing agency is fixed on the linear motor rotor, and shank adopts ejecting mechanism.Outer sucker ejecting mechanism is installed respectively on four angles of outside framework, ejecting mechanism is terminal to be connected with outer sucker by outer sucker fixed head, linear electric motors are installed in the outside framework top, executing agency is fixed on the mover of linear electric motors, rotating mechanism is fixed on the nut of straight-line motion mechanism by the rotating mechanism mount pad, interior sucker ejecting mechanism is installed on the output of rotating mechanism, interior sucker by interior installing plate be installed in sucker ejecting mechanism end, below in conjunction with accompanying drawing to being elaborated with last part.
The structure of outside framework 1 such as Fig. 2, Fig. 3, Fig. 4 and shown in Figure 8, outside framework 1 is made up of outer installing plate 8, outer sucker ejecting mechanism 6, outer sucker fixed head 10 and outer sucker 7.Be separately installed with outer sucker ejecting mechanism 6 on four angles of outer installing plate 8, the end of outer sucker ejecting mechanism 6 is connected with outer sucker 7 by outer sucker fixed head 10.
Straight-line motion mechanism 11 is fixed on the upper surface of outside framework 1 China and foreign countries' installing plate 8, its concrete structure such as Fig. 2, Fig. 3, Fig. 4, Fig. 7 and shown in Figure 8, comprise straight-line motion mechanism supporting base 9, drive motors 20, nut 19 and leading screw 21, straight-line motion mechanism supporting base 9 is fixed on the top of outer installing plate 8, drive motors 20 is fixed on the straight-line motion mechanism supporting base 9, leading screw 21 is installed on the output shaft of straight-line motion mechanism drive motors 20, and nut 19 is enclosed within on the leading screw 21.
The structure of rotating mechanism 3 comprises rotating mechanism mount pad 17, electric rotating machine 16 and decelerator 15 as shown in Figure 6.Rotating mechanism mount pad 17 is fixed on the nut 19 in the straight-line motion mechanism 11, and electric rotating machine 16 is installed on the rotating mechanism mount pad 17, and decelerator 15 is installed on the output shaft of electric rotating machine 16.Be provided with groove with the corresponding position of leading screw on the installing plate outside, rotating mechanism mount pad 17 can slide along groove under the drive of leading screw.
The structure of inner frame 2 such as Fig. 2, Fig. 3 and shown in Figure 5, inner frame 2 comprise interior sucker ejecting mechanism 14, interior installing plate 13 and interior sucker 12.Interior sucker ejecting mechanism 14 is installed on the output shaft of decelerator 15, and the end of sucker ejecting mechanism 14 is equipped with four interior suckers 12 by interior installing plate 13.
As shown in Figure 2, linear electric motors 4 are fixed on the top of outer installing plate 8 by linear electric motors supporting base 18, and executing agency 5 is fixed on the mover of linear electric motors 4.
Outer sucker ejecting mechanism 6 described in the utility model and interior sucker ejecting mechanism 14 can be cylinder, electrical pushing cylinder or other straight-line motion mechanism.
Barrier-free constant speed creeping robot rectilinear motion process in the present embodiment: sucker 12 contacted with the part to be processed surface in interior sucker ejecting mechanism 14 ejected and makes, vacuumize, sucker 12 is in adsorbed state in making, outer sucker 7 is in vacant state, the drive motors 20 of straight-line motion mechanism drives straight-line motion mechanism 11 and does rectilinear motion, thereby driving outside framework 1 advances, behind a certain position in the stroke range of outside framework 1 arrival straight-line motion mechanism 11, outer sucker ejecting mechanism 6 ejects outer sucker 7 is contacted with surface of the work, vacuumize, make outer sucker 7 be in adsorbed state, interior sucker ejecting mechanism 14 is regained, sucker 12 leaves the part to be processed surface in making, the drive motors 20 of straight-line motion mechanism drives straight-line motion mechanism 11 and does rectilinear motion, nut 19 driven rotary mechanisms 3 and inner frame 2 advance, sucker ejecting mechanism 14 ejects and makes interior sucker 12 contact with the part to be processed surface in behind a certain position in the stroke range of arrival straight-line motion mechanism 11, vacuumize, sucker 12 is in adsorbed state in making, outer sucker 7 is in vacant state, the drive motors 20 of straight-line motion mechanism drives straight-line motion mechanism 11 and does rectilinear motion, driving outside framework 1 again advances, so circulate, can realize the straight ahead of robot.
Barrier-free constant speed creeping robot executing agency linear uniform motion process in the present embodiment: sucker 12 contacted with the part to be processed surface in interior sucker ejecting mechanism 14 ejected and makes, vacuumize, sucker 12 is in adsorbed state in making, outer sucker 7 is in vacant state, the drive motors 20 of straight-line motion mechanism drives straight-line motion mechanism 11 and does rectilinear motion, thereby drives outside framework 1 with speed v
1Advance, (engrave and make time t this moment behind a certain position in the stroke range of outside framework 1 arrival straight-line motion mechanism 11
0), sucker ejecting mechanism 6 ejects outer sucker 7 is contacted with surface of the work, vacuumize, make outer sucker 7 be in adsorbed state, interior sucker ejecting mechanism 14 is regained, sucker 12 leaves the part to be processed surface in making, the drive motors 20 of straight-line motion mechanism drives straight-line motion mechanism 11 and does rectilinear motion, nut 19 driven rotary mechanisms 3 and inner frame 2 advance, sucker ejecting mechanism 14 ejects and makes interior sucker 12 contact with the part to be processed surface in behind a certain position in the stroke range of arrival straight-line motion mechanism 11, vacuumize, sucker 12 is in adsorbed state in making, and outer sucker 7 is in vacant state, and (engrave and make time t this moment
1), simultaneously at t
0Constantly, linear electric motors 4 are finished start-up course, with speed v
1Driving executing agency advances until t
1Stop, the drive motors 20 of straight-line motion mechanism drives straight-line motion mechanism 11 and does rectilinear motion, drives outside framework 1 again with speed v
1Advance, so circulation can realize the linear uniform motion of executing agency.
Claims (7)
1, barrier-free constant speed creeping robot is characterized in that: comprise outside framework (1), inner frame (2), rotating mechanism (3), be fixed on the straight-line motion mechanism (11) of outside framework upper surface and be used for fixing the linear electric motors of executing agency; Wherein: rotating mechanism (3) links to each other with straight-line motion mechanism (11), and rotating mechanism (3) can be along outside framework (1) moving linearly under the drive of straight-line motion mechanism; Inner frame (2) links to each other with rotating mechanism (3), can rotate with respect to outside framework (1) under the drive of rotating mechanism; Linear electric motors are installed in the upper surface of outside framework (1).
2, barrier-free constant speed creeping robot according to claim 1 is characterized in that: described outside framework (1) comprises outer installing plate (8), outer sucker ejecting mechanism (6), outer sucker fixed head (10), outer sucker (7); Wherein: be separately installed with outer sucker ejecting mechanism (6) on four angles of outer installing plate (8), the end of each outer sucker ejecting mechanism (6) all passes through outer sucker fixed head (10) and connects an outer sucker (7); Straight-line motion mechanism (11) is fixed on the upper surface of outer installing plate (8).
3, barrier-free constant speed creeping robot according to claim 1 is characterized in that: described straight-line motion mechanism (11) comprises nut (19), supporting base (9), drive motors (20) and leading screw (21); Wherein: leading screw (21) is installed on the output shaft of drive motors (20), and leading screw (21) two ends are by straight-line motion mechanism supporting base (9) supporting, and nut (19) is enclosed within on the leading screw (21).
4, barrier-free constant speed creeping robot according to claim 3, it is characterized in that: described rotating mechanism (3) comprises electric rotating machine (16), the decelerator (15) that links to each other with electric rotating machine (16) and the rotating mechanism mount pad (17) that is used for fixing electric rotating machine, and rotating mechanism mount pad (17) is fixed on the nut (19) in the straight-line motion mechanism (11).
5, barrier-free constant speed creeping robot according to claim 1, it is characterized in that: described inner frame (2) comprises interior sucker ejecting mechanism (14), interior installing plate (13) and interior sucker (12), the output shaft fixed connection of the upper end of interior sucker ejecting mechanism (14) and the decelerator in the rotating mechanism (15), lower end and interior installing plate (13) are connected, and are fixed with interior sucker (12) on the interior installing plate (13).
6, barrier-free constant speed creeping robot according to claim 2 is characterized in that: described outer sucker ejecting mechanism (6) is cylinder or electrical pushing cylinder.
7, barrier-free constant speed creeping robot according to claim 5 is characterized in that: sucker ejecting mechanism (14) is cylinder or electrical pushing cylinder in described.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201058998U CN201357411Y (en) | 2009-02-27 | 2009-02-27 | Barrier-free constant-speed crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2009201058998U CN201357411Y (en) | 2009-02-27 | 2009-02-27 | Barrier-free constant-speed crawling robot |
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| Publication Number | Publication Date |
|---|---|
| CN201357411Y true CN201357411Y (en) | 2009-12-09 |
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ID=41423172
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2009201058998U Expired - Fee Related CN201357411Y (en) | 2009-02-27 | 2009-02-27 | Barrier-free constant-speed crawling robot |
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|---|---|
| CN (1) | CN201357411Y (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102168704A (en) * | 2010-01-27 | 2011-08-31 | 通用汽车环球科技运作有限责任公司 | Integrated linear and rotary locking device |
| CN103204382A (en) * | 2013-04-28 | 2013-07-17 | 苏州工业园区高登威科技有限公司 | Manipulator |
| CN103381528A (en) * | 2013-07-24 | 2013-11-06 | 苏州凯尔博精密机械有限公司 | Grasping and feeding device for welding machine for biological bacterium culturing films |
| CN104626202A (en) * | 2014-12-31 | 2015-05-20 | 无锡贝斯特精机股份有限公司 | Chassis special for steering of eight-foot crawling robot |
| CN104816761A (en) * | 2015-02-15 | 2015-08-05 | 南京航空航天大学 | Walking mechanism and walking method of crawling robot |
| CN104890754A (en) * | 2015-06-18 | 2015-09-09 | 华北理工大学 | Foot adsorption wall-climbing robot movement mechanism and movement method |
| CN106267641A (en) * | 2015-06-03 | 2017-01-04 | 齐鲁工业大学 | Wall fire fighting truck climbed by adsorption-type high building |
| CN108296686A (en) * | 2018-02-17 | 2018-07-20 | 李大德 | Shipbuilding Intelligent welding equipment walking robot |
-
2009
- 2009-02-27 CN CNU2009201058998U patent/CN201357411Y/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102168704A (en) * | 2010-01-27 | 2011-08-31 | 通用汽车环球科技运作有限责任公司 | Integrated linear and rotary locking device |
| CN102168704B (en) * | 2010-01-27 | 2014-07-02 | 通用汽车环球科技运作有限责任公司 | Integrated linear and rotary locking device |
| CN103204382A (en) * | 2013-04-28 | 2013-07-17 | 苏州工业园区高登威科技有限公司 | Manipulator |
| CN103381528A (en) * | 2013-07-24 | 2013-11-06 | 苏州凯尔博精密机械有限公司 | Grasping and feeding device for welding machine for biological bacterium culturing films |
| CN104626202A (en) * | 2014-12-31 | 2015-05-20 | 无锡贝斯特精机股份有限公司 | Chassis special for steering of eight-foot crawling robot |
| CN104626202B (en) * | 2014-12-31 | 2016-04-13 | 无锡贝斯特精机股份有限公司 | Eight foot crawling robots turn to chassis special |
| CN104816761A (en) * | 2015-02-15 | 2015-08-05 | 南京航空航天大学 | Walking mechanism and walking method of crawling robot |
| CN106267641A (en) * | 2015-06-03 | 2017-01-04 | 齐鲁工业大学 | Wall fire fighting truck climbed by adsorption-type high building |
| CN104890754A (en) * | 2015-06-18 | 2015-09-09 | 华北理工大学 | Foot adsorption wall-climbing robot movement mechanism and movement method |
| CN104890754B (en) * | 2015-06-18 | 2017-08-29 | 华北理工大学 | A kind of sufficient formula adsorption wall climbing robot motion and movement technique |
| CN108296686A (en) * | 2018-02-17 | 2018-07-20 | 李大德 | Shipbuilding Intelligent welding equipment walking robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20091209 Termination date: 20100227 |