CN204355186U - Combined type steps climbing robot - Google Patents
Combined type steps climbing robot Download PDFInfo
- Publication number
- CN204355186U CN204355186U CN201420843535.0U CN201420843535U CN204355186U CN 204355186 U CN204355186 U CN 204355186U CN 201420843535 U CN201420843535 U CN 201420843535U CN 204355186 U CN204355186 U CN 204355186U
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- claw
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- contiguous block
- frame
- slideway
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Abstract
The purpose of this utility model is to provide combined type steps climbing robot, is made up of frame, motor, slide block, slideway, turning cylinder, synchronous pulley, band wheel seat, synchronous cog belt, size movable block, claw, claw contiguous block, rubber band.Frame is main support section, motor is propulsion source, belt wheel is fixed on band wheel seat, thus be connected and fixed with frame, the contiguous block that claw is installed to claw completes 90 degree of rotary spacings, form the integral structure of claw, be connected with slide block, movable block by bolt simultaneously, whole device just can complete motion of translation on slideway, rotating and reverse by motor, shows as sliding up and down of size movable block, and claw contacts with ladder pipe, produce an antagonistic force, thus drive whole stair-climbing mechanism to complete the climbing of ladder.The utility model have employed the method for type of drive compound, completes the cat ladder action of robot more efficiently.
Description
Technical field
The utility model relates to a kind of robot, specifically steps climbing robot.
Background technology
Robot is the complex art integrating the multi-door subjects such as machinery, electronics, computing machine, sensor, control technology, reflects the research level of a national intellectuality and automation, is also the general performance of a national high-tech technology simultaneously.Steps climbing robot is the one in numerous robot, its climbing mechanism generally comprise can up-and-down movement movable arm and robot can be made to hang over hanging part on ladder, to realize climbing function.Stair-climbing mechanism according to principle of work generally can be divided into crawler type, wheels formula, legged three kinds, the development and progression of stair-climbing mechanism substantially increases the field of application of robot, can carry out exploring, reconnoitring under the condition with stair landform.
The stair-climbing mechanism merits and faults of different motion form is different, and the advantage of legged stair-climbing mechanism operates steadily, and place comformability is good; Shortcoming controls complexity, poor operability.The advantage of crawler type stair-climbing mechanism is that driving efficiency is high, and place comformability is good; Shortcoming is that quality comparation is large, turns to difficulty.The advantage of wheels formula stair-climbing mechanism is that the scope of movement is large, and motion flexibly; Shortcoming is poor stability, and center of gravity fluctuates greatly.
Summary of the invention
The purpose of this utility model is to provide the combined type steps climbing robot of the problems such as the stair-climbing mechanism cat ladder speed in the past that solves is slow, poor stability, driving efficiency are not high.
The purpose of this utility model is achieved in that
The utility model combined type steps climbing robot, it is characterized in that: comprise frame, motor, imput shaft, driven shaft, large movable block, little movable block, frame comprises upper strata slideway, lower floor's first crossbeam, lower floor's second cross beam, lower floor's first crossbeam is connected with the second frame contiguous block respectively by the first frame contiguous block with the two ends of lower floor's second cross beam, first frame contiguous block is fixed with the first back-up block and the second back-up block, the first slideway adapter plate fixed by first back-up block and the second back-up block, second frame contiguous block is fixed with the 3rd back-up block and the 4th back-up block, the second slideway adapter plate fixed by 3rd back-up block and the 4th back-up block, slideway is fixed with between first slideway adapter plate and the second slideway adapter plate, motor is arranged on the second frame contiguous block, the output shaft of motor is imput shaft, in imput shaft, cover has the first synchronous pulley, between first back-up block and the second back-up block, driven shaft is installed, on driven shaft, cover has the second synchronous pulley, first synchronous pulley and the second synchronous pulley are wound around Timing Belt, Timing Belt is positioned on the position above the first synchronous pulley and is installed with large movable block, slide block is fixed above large movable block, slide block to be positioned at below slideway and to coordinate with slideway, Timing Belt is positioned on the position below the first Timing Belt and fixedly mounts little movable block, the two ends of large movable block fix the first claw contiguous block and the second claw contiguous block respectively, the two ends of little movable block fix third claw sub-connection block and four paws sub-connection block respectively, first claw is arranged on the first claw contiguous block by the first S. A., the first rubber band realizing the first claw and reset is installed between the first claw lower end and the first claw contiguous block upper end, second claw contiguous block, third claw sub-connection block, four paws sub-connection block installs the second claw respectively, third claw, 4th claw, second claw, third claw, the mounting means of the 4th claw is identical with the first claw.
The utility model can also comprise:
1, the first claw front end exceed the 2/3rds, second claw that the length of frame base plane part is the first claw entire length, third claw, the 4th claw structure identical with the first claw.
2, the first claw contiguous block is installed the part of the first claw for realizing the circular arc position limiting structure of 90 degree of rotary spacings, the shape of this circular arc position limiting structure is the circle of deduction 1/4th, and the structure of the second claw contiguous block, third claw sub-connection block, four paws sub-connection block is identical with the first claw contiguous block.
Advantage of the present utility model is:
1, the utility model breaches three kinds of modes of traditional cat ladder: crawler type, wheels formula, legged, have employed the method for type of drive compound, completes the cat ladder action of robot more efficiently.
2, the utility model is more fast in the speed of cat ladder, can make full use of the rotating speed of motor, the climbing that used time 6.5s completes 6 beams, spacing is the ladder of 250mm in the middle of experiment.
3, the utility model motion is more steady.Mechanism make use of the type of drive of synchronous pulley and synchronous cog belt, because have fixing transmitting ratio, thus improve the stationarity of Movement transmit, add slide block, slideway as mobile guide simultaneously, the rigidity of whole mechanism is improved, thus substantially increases the stationarity of cat ladder.
Accompanying drawing explanation
Fig. 1 is structural representation a of the present utility model;
Fig. 2 is structural representation b of the present utility model;
Fig. 3 is front view of the present utility model;
Fig. 4 is the structural scheme of mechanism of the utility model claw contiguous block;
Fig. 5 is the utility model claw integral structure schematic diagram;
Fig. 6 is experimental installation platform of the present utility model.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the utility model is described in more detail:
Composition graphs 1 ~ 6, the propulsion source of whole stair-climbing mechanism is motor 4, motor 4 and motor cabinet 6 are bolted and are fixed in frame 1, imput shaft 9 and synchronous pulley 5 are also fixed in this way, synchronous pulley 5 engages compact with synchronous cog belt 15, drive driven shaft 10 to rotate simultaneously, thus the transmission of power of motor 4 has been arrived on synchronous cog belt 15.Large movable block 11 and little movable block 12 are distributed in the both sides of synchronous cog belt 15, are connected on slideway 7 and synchronous cog belt 15 with slide block 8 by connecting panel simultaneously, thus by the straight-line motion of movable block sized by the movement transition of synchronous cog belt 15 11,12.The integral structure of claw is made up of claw 2, claw contiguous block 14, rubber band 3 three part, claw 2 is fixed on movable block 11,12 by contiguous block 14, follow movable block 11,12 to move together, and the effect of rubber band 3 is to provide an elastic force, make claw 2 vertical with sense of motion, when claw 2 runs into obstacle time, rubber band 3 stretches, claw 2 rotates 90 degree, clears the jumps; In time clearing the jumps, rubber band 3 shrinks, and claw 2 pulls back by the elastic force utilizing it to store.
Cat ladder working process of the present utility model is as follows: to climb the ladder of tubular type.Claw 2 on little movable block 12 is placed on the bottom pipe of ladder, starter motor 4, motor shaft rotates and drives imput shaft 9 to rotate, by the transmission of synchronous pulley 5, synchronous cog belt 15, driven shaft 10, give large movable block 11 by transmission of power, thus drive claw 2 upward movement on large movable block 11, after moving to the pipe of upper class, claw 2 will rotate 90 degree, crosses pipe, is ridden on pipe by the recovering state of claw 2 afterwards by the elastic force of rubber band 3 to initial position and claw 2.Later action is the same with above-mentioned working process, and by regulating the rotating of electrical motor 4, the motion up and down reciprocatingly of large and small movable block 11,12, shows as the up-and-down movement of claw 2, thus complete the climbing of ladder.
Compound steps climbing robot is made up of frame, motor, slide block, slideway, turning cylinder, synchronous pulley, band wheel seat, synchronous cog belt, size movable block, claw, claw contiguous block, rubber band.Frame is main support section, motor is propulsion source, belt wheel is fixed on band wheel seat, thus be connected and fixed with frame, the contiguous block that claw is installed to claw completes 90 degree of rotary spacings, form the integral structure of claw, be connected with slide block, movable block by bolt simultaneously, whole device just can complete motion of translation on slideway, rotating and reverse by motor, shows as sliding up and down of size movable block, and claw contacts with ladder pipe, produce an antagonistic force, thus drive whole stair-climbing mechanism to complete the climbing of ladder.
The integral structure of claw is made up of claw, claw contiguous block, rubber band.Claw contiguous block is designed with 90 degree spacing, and is connected with rubber band, store certain elastic force.
The length that claw front end exceeds frame base plane part is 2/3rds of claw entire length.
Claw 90 degree of rotary spacings are completed by mechanism's mechanical position limitation of design, and the circular arc of claw contiguous block and claw connecting bridge deducts 1/4th.
The square aluminium tube that frame is 20mm × 20mm by two cross-sectional areas forms, and the mode be bolted by frame connecting strap is fixed.
Synchronous pulley is rigidly connected by bolt and band wheel seat, and is fixed in frame.
Claims (3)
1. combined type steps climbing robot, it is characterized in that: comprise frame, motor, imput shaft, driven shaft, large movable block, little movable block, frame comprises upper strata slideway, lower floor's first crossbeam, lower floor's second cross beam, lower floor's first crossbeam is connected with the second frame contiguous block respectively by the first frame contiguous block with the two ends of lower floor's second cross beam, first frame contiguous block is fixed with the first back-up block and the second back-up block, the first slideway adapter plate fixed by first back-up block and the second back-up block, second frame contiguous block is fixed with the 3rd back-up block and the 4th back-up block, the second slideway adapter plate fixed by 3rd back-up block and the 4th back-up block, slideway is fixed with between first slideway adapter plate and the second slideway adapter plate, motor is arranged on the second frame contiguous block, the output shaft of motor is imput shaft, in imput shaft, cover has the first synchronous pulley, between first back-up block and the second back-up block, driven shaft is installed, on driven shaft, cover has the second synchronous pulley, first synchronous pulley and the second synchronous pulley are wound around Timing Belt, Timing Belt is positioned on the position above the first synchronous pulley and is installed with large movable block, slide block is fixed above large movable block, slide block to be positioned at below slideway and to coordinate with slideway, Timing Belt is positioned on the position below the first Timing Belt and fixedly mounts little movable block, the two ends of large movable block fix the first claw contiguous block and the second claw contiguous block respectively, the two ends of little movable block fix third claw sub-connection block and four paws sub-connection block respectively, first claw is arranged on the first claw contiguous block by the first S. A., the first rubber band realizing the first claw and reset is installed between the first claw lower end and the first claw contiguous block upper end, second claw contiguous block, third claw sub-connection block, four paws sub-connection block installs the second claw respectively, third claw, 4th claw, second claw, third claw, the mounting means of the 4th claw is identical with the first claw.
2. combined type steps climbing robot according to claim 1, it is characterized in that: the length that the first claw front end exceeds frame base plane part be the 2/3rds, second claw of the first claw entire length, third claw, the 4th claw structure identical with the first claw.
3. combined type steps climbing robot according to claim 1 and 2, it is characterized in that: the first claw contiguous block is installed the part of the first claw for realizing the circular arc position limiting structure of 90 degree of rotary spacings, the shape of this circular arc position limiting structure is the circle of deduction 1/4th, and the structure of the second claw contiguous block, third claw sub-connection block, four paws sub-connection block is identical with the first claw contiguous block.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420843535.0U CN204355186U (en) | 2014-12-25 | 2014-12-25 | Combined type steps climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420843535.0U CN204355186U (en) | 2014-12-25 | 2014-12-25 | Combined type steps climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204355186U true CN204355186U (en) | 2015-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420843535.0U Active CN204355186U (en) | 2014-12-25 | 2014-12-25 | Combined type steps climbing robot |
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| CN (1) | CN204355186U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527829A (en) * | 2014-12-25 | 2015-04-22 | 哈尔滨工程大学 | Combined ladder climbing robot |
-
2014
- 2014-12-25 CN CN201420843535.0U patent/CN204355186U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104527829A (en) * | 2014-12-25 | 2015-04-22 | 哈尔滨工程大学 | Combined ladder climbing robot |
| CN104527829B (en) * | 2014-12-25 | 2017-02-22 | 哈尔滨工程大学 | Combined ladder climbing robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |