CN204726547U - A kind of caterpillar belt structure with function arm - Google Patents
A kind of caterpillar belt structure with function arm Download PDFInfo
- Publication number
- CN204726547U CN204726547U CN201520228389.5U CN201520228389U CN204726547U CN 204726547 U CN204726547 U CN 204726547U CN 201520228389 U CN201520228389 U CN 201520228389U CN 204726547 U CN204726547 U CN 204726547U
- Authority
- CN
- China
- Prior art keywords
- crawler belt
- function arm
- function
- arm
- district
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model proposes a kind of caterpillar belt structure with function arm.The function arm that the utility model comprises the gear district that coordinates with crawler haulage gear and point to be located at both sides, gear district increases district, described crawler belt function arm is arranged on function arm increases district, the Altitude control of crawler belt function arm does not produce with driving gearshaft when crawler belt crosses crawler haulage gear interferes, and mutually produces interference when also preventing crawler belt from doing class circular movement; The hardware support that described crawler belt function arm realizes as the various additional functions except walking.The utility model can complete the transformation of various existing crawler belt very well and simply, and to future intelligent caterpillar robot function crawler belt design and manufaction provide easy.Coordinate the configuration plate of machine human body again, allow the communication of itself and robot body body and resource or information exchange functions provide convenience.
Description
Technical field
The utility model belongs to robotics, especially a kind of caterpillar belt structure with function arm.
Background technology
The crawler belt function of track machines equipment all is at present substantially all walking and anti-slip.Along with the development of intelligent robot industry, the crawler belt of caterpillar robot, except completing the basic function such as walking, also needed various other function corresponding, and one of them function will keep in touch with robot body to work hard in glove with and resource or information exchange.Existing crawler belt pattern does not have this type of function.
As sensor installation on crawler belt, and sensor signal will carry out information exchange with the master control board in body, and the safest mode of its signal line is sent in body by wired physical channel.
As sucker crawler belt Climbing Robot, its crawler belt contacts with object plane and plays the sucker adsorbing walking function, if install negative pressure or vacuum air pump additional after each sucker, cost of product, weight and manufacture complexity etc. are just uncontrollable.If with the little air pump of cylinder piston one-stroke, then adsorption affinity is just restricted.At this moment the best way settles air pump exactly in machine human body.Each sucker is received again through distribution mode.But because of crawler belt class circular movement simultaneously gas distribution pipeline can cross the center shaft of transmission gear, also allow distribution difficulty increase.Therefore existing Climbing Robot is substantially without the reason of crawler belt sucker mode.
As electromagnetic adsorption crawler belt, because electromagnetism power taking is in body, and crawler belt to be class circular movement also can cause power taking difficulty.
Summary of the invention
For above-mentioned technological deficiency, the utility model proposes a kind of caterpillar belt structure with function arm.
In order to solve the problems of the technologies described above, the technical solution of the utility model is as follows:
The function arm that the utility model comprises the gear district that coordinates with crawler haulage gear and point to be located at both sides, gear district increases district, and described crawler belt function arm is arranged on function arm increase district; The hardware support that described crawler belt function arm realizes as the various additional functions except walking.
Furtherly, the shape of described crawler belt function arm is cylinder.
Furtherly, the inside of described crawler belt function arm is hollow.
Furtherly, described crawler belt function arm is multi-joint telescoping shape.
Furtherly, the Altitude control of described crawler belt function arm does not produce with driving gearshaft when crawler belt crosses crawler haulage gear interferes, and mutually produces interference when also preventing crawler belt from doing class circular movement.
The beneficial effects of the utility model are: the utility model proposes a kind of crawler belt structure with function arm, can complete the transformation of various existing crawler belt very well and simply, and to future intelligent caterpillar robot function crawler belt design and manufaction provide easy.Coordinate the configuration plate of machine human body again, allow the communication of itself and robot body body and resource or information exchange functions provide convenience.
Accompanying drawing explanation
Fig. 1 is the utility model is caterpillar belt structure schematic diagram;
Fig. 2 is the utility model is a kind of enforcement illustration;
Fig. 3 is function arm is T(L) the embodiment schematic diagram of type structure;
Fig. 4 is the A-A direction view of Fig. 3;
Fig. 5 is function arm is U(∏) type constructive embodiment schematic diagram;
Fig. 6 is the B-B direction view of Fig. 5;
Fig. 7 is scalable is Collapsible structure embodiment schematic diagram;
Fig. 8 is T(L) type function arm embodiment coordinates schematic diagram with transmission gear;
Fig. 9 is T(L) pneumatic panel schematic diagram in type function arm embodiment;
Figure 10 is the function crawler belt distribution embodiment operating diagram of the vacuum suction Climbing Robot utilizing L-type function caterpillar belt structure;
Figure 11 be U-shaped function carry out embodiment and transmission gear coordinate schematic diagram;
Figure 12 is Signal transmissions plate structure schematic diagram;
Figure 13 is electrical panel structural representation;
Figure 14 is the function arm configuration schematic diagram that U-shaped function carries out in embodiment;
Figure 15 is function crawler belt distribution and the detection of negative pressure pressure signal transmission embodiment operating diagram of the ELECTROMAGNETIC VACUUM absorption Climbing Robot of the U-shaped function caterpillar belt structure utilizing interval.
Detailed description of the invention
Below in conjunction with accompanying drawing, the utility model is described in further detail.
As depicted in figs. 1 and 2, the utility model basic structure increases function arm district B for realizing product needed function at the gear district A coordinated with crawler haulage gear, function arm 91 Altitude control in function arm district crosses the axle radius of crawler haulage gear at crawler belt within, interfere in case produce when crossing driving gearshaft, also should prevent from mutually producing interference when crawler belt does class circular movement.Contacting with the configuration plate be arranged on body by installing the target element mechanism that will complete on function arm, completing various information or the Resource Exchange of control desk in function block and body on crawler belt.
Essential characteristic of the present utility model is function arm and crawler belt base plate is approximately perpendicular connects as one.Its function arm can be designed to different bodies according to actual needs, as cylinder, hollow on demand solid.Its length also can be determined according to actual needs and the interference when crossing circumference of gear.
Below provide the various embodiments of function arm
As Fig. 3: a kind of T(L) the function arm crawler belt strand of type structure.Be made up of gear district A and function arm district B gear track 90() with function arm 91 composition function arm caterpillar chain, gear grooved 28 is on the track-face of the connection of function arm and track body.The various shape of track 90.
As Fig. 4: T(L) the function arm crawler belt strand cutaway view of type structure.Analyse and observe crawler belt strand according to A-A ' in Fig. 3, function arm and track are similar to the T(L capitalized).
As Fig. 5: a kind of U(∏) the function arm crawler belt strand of type structure.By gear track and function arm composition function arm caterpillar chain, gear grooved is on the track-face of the connection of function arm and track body.The various shape of track.
As Fig. 6: U(∏) the function arm crawler belt strand cutaway view of type structure.Analyse and observe crawler belt strand according to B-B ' in Fig. 5, function arm 91 and track are similar to the U(∏ capitalized).
As Fig. 7: a kind of T(L) the telescopic function arm crawler belt strand of type structure.Retractable arm and track section are similar to Fig. 4, the T(L of a capitalization).Track (90) various shape.
As Fig. 8, Fig. 9 and Figure 10, further illustrate the embody rule of technique scheme in conjunction with an example: the function crawler belt air distributing method utilizing the vacuum suction Climbing Robot of L-type function caterpillar belt structure.
Machine human body installs the pneumatic panel 255 of smooth flat, and pneumatic panel 255 is according to requiring out air distribution hole 256.Pneumatic panel can make guide rail 257 up and down according to hole.
L-type function arm caterpillar chain is by function arm and track global formation.Function arm adds hole and installs pressure-type check valve mechanism 238, pressure-type check valve mechanism is by boiler check valve body 235, and valve 236, spring 237 is formed.Pressure-type check valve mechanism 238 installs additional the distribution contact mechanism 239 contacted with pneumatic panel 255, then is formed by spring 240.Producing certain elasticity allows distribution contact mechanism 239 and pneumatic panel 255 keep close contact.Pneumatic panel 255 and machine human body side are joined flexible pipe 261 by gas again and are connected to negative pressure in body or vacuum air pump.L-type function arm installs exhaust valve mechanism 241.Exit when sucker moves to end for robot.
The job description of this embodiment: crawler haulage gear 283 rotates, and drive shoe chain movement.When distribution contact mechanism 239 in the check valve mechanism 238 of installing on the function arm of strand caterpillar chain forwards air distribution hole 256 position of pneumatic panel 255 to.The air flue 260 that negative-pressure gas is formed, negative pressure makes sucker 258 be adsorbed on body surface.Along with crawler haulage gear 283 rotates continuously, when distribution contact mechanism 239 leaves air distribution hole 256 position of pneumatic panel 255, pressure-type check valve mechanism 238 valve 236, under the application force of negative-pressure sucking and spring 237, is closed gas passage, and is kept sucker 258 negative pressure pressure.When having arrived next air distribution hole 256 position, then augment negative pressure pressure.Continuous action like this.Complete the absorption of robot and the distribution function of walking.When arriving pneumatic panel end when walking, then by exhaust valve mechanism 241, bleed off the negative pressure in sucker 258.Sucker 258 is departed from by the object adsorbed.
As Figure 11, Figure 12, Figure 13, Figure 14 and Figure 15, further illustrate the embody rule of technique scheme in conjunction with another example: the function crawler belt distribution and the detection of negative pressure pressure signal transmission method that utilize the ELECTROMAGNETIC VACUUM absorption Climbing Robot of the U-shaped function caterpillar belt structure at interval.
Machine human body installs the electrical panel 650 of smooth flat, the upper positive charge conductive strips 501 of electrical panel 650, cathode charge conductive strips 502.
The Signal transmissions plate 500 of smooth flat is installed in machine human body crawler belt another side, and Signal transmissions plate 500 is upper lays signal charge conductive strips 503, signal charge conductive strips 504.
Magnetic chuck body 560 is by electromagnetism generating coil 505, and electromagnetic piston 506, air extractor vent 507, electromagnetic piston cylinder block 508 and sucker 509 form.Wire conductor wire is connected to electromagnetism generating coil 505.
4 conductor elastic contact body 601A, 601B, 601C, 601D are separately fixed on the function arm of U-shaped function arm crawler belt.Contact is on the positive charge conductive strips 501, cathode charge conductive strips 502 of electrical panel 650.Also contact the signal charge conductive strips 503 at Signal transmissions plate 500, on signal charge conductive strips 504 simultaneously.Signal transmssion line is connected to negative pressure inductive probe 603.
Electrical panel 650 and Signal transmissions plate 500 stretch out by machine human body two sides that fixture screw locking is fixed on crawler belt.
The job description of this embodiment: crawler haulage gear 283 rotates, and drive shoe chain movement.The conductor elastic contact body 601A installed on the function arm of strand caterpillar chain, 601B touches the upper positive charge conductive strips 501 of electrical panel 6, during cathode charge conductive strips 502, because electric charge produces magnetic by electromagnetism generating coil 505, under the effect of magnetic, electromagnetic piston 506 produces a kind of motion upwards, and makes electromagnetic piston cylinder block 508 produce negative-pressure adsorption function when sucker 509 and object are closely sealed.Under transmission gear 283 rotates continuously, magnetic chuck body 560 advances to another end of Athey wheel, because of conductor elastic contact body 601A, 601B has crossed positive charge conductive strips 501, the end of cathode charge conductive strips 502, and allow electromagnetism generating coil 505 power-off losing magnetism, now electromagnetic piston 506 because there is no electromagnetic adsorption power to sucker 509 end motion under the effect of negative pressure.And relieve the adsorption affinity of sucker 509 and object.
Should produce in the process of motion by electricity at electromagnetic piston 506, have and do not produce enough negative pressure and sensed by negative pressure inductive probe 603, and by the signal wire (SW) connected and conductor elastic contact body 601C, conductor elastic contact body 601D is by the signal charge conductive strips 503 of signal configures dish, and signal charge conductive strips 504 are sent to the compute chip in machine human body.Again through compute chip time-ordered measurement and calculating, produce corresponding program behavior in conjunction with whether actual sucker has enough adsorption affinitys.
Described in upper example, by designing different crawler belt function arms, different crawler belt additional functions can be completed.Single-unit crawler belt with function arm also can be added in caterpillar chain at interval according to need.
The above is only preferred implementation of the present utility model; it should be pointed out that for those skilled in the art, without departing from the concept of the premise utility; can also make some improvements and modifications, these improvements and modifications also should be considered as in the utility model protection domain.
Claims (5)
1. the caterpillar belt structure with function arm, it is characterized in that: the function arm comprising the gear district that coordinates with crawler haulage gear and point to be located at both sides, gear district increases district, described crawler belt function arm is arranged on function arm increases district, the hardware support that described crawler belt function arm realizes as the various additional functions except walking.
2. a kind of caterpillar belt structure with function arm according to claim 1, is characterized in that: the shape of described crawler belt function arm is cylinder.
3. a kind of caterpillar belt structure with function arm according to claim 1, is characterized in that: the inside of described crawler belt function arm is hollow.
4. a kind of caterpillar belt structure with function arm according to claim 1, is characterized in that: described crawler belt function arm is multi-joint telescoping shape.
5. a kind of caterpillar belt structure with function arm according to claim 1, it is characterized in that: the Altitude control of described crawler belt function arm does not produce with driving gearshaft when crawler belt crosses crawler haulage gear interferes, and mutually produces interference when also preventing crawler belt from doing class circular movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520228389.5U CN204726547U (en) | 2015-04-15 | 2015-04-15 | A kind of caterpillar belt structure with function arm |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520228389.5U CN204726547U (en) | 2015-04-15 | 2015-04-15 | A kind of caterpillar belt structure with function arm |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204726547U true CN204726547U (en) | 2015-10-28 |
Family
ID=54384919
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520228389.5U Expired - Fee Related CN204726547U (en) | 2015-04-15 | 2015-04-15 | A kind of caterpillar belt structure with function arm |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204726547U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143663A (en) * | 2015-04-15 | 2016-11-23 | 罗权 | Caterpillar belt structure with function arm and application |
-
2015
- 2015-04-15 CN CN201520228389.5U patent/CN204726547U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143663A (en) * | 2015-04-15 | 2016-11-23 | 罗权 | Caterpillar belt structure with function arm and application |
| CN106143663B (en) * | 2015-04-15 | 2019-02-12 | 罗权 | Caterpillar belt structure and application with function arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107037814B (en) | Space positioning system and method for trackless sightseeing vehicle | |
| CN205819361U (en) | A kind of electromagnetic pneumatic formula sucker crawler belt | |
| CN204726547U (en) | A kind of caterpillar belt structure with function arm | |
| CN104787143A (en) | Negative pressure adsorption type biomimetic wall-climbing robot | |
| CN108563227A (en) | A kind of motion control method of the 2D wheeled robots based on movable castor | |
| CN204702200U (en) | The aerial feedway of a kind of automation | |
| CN204673636U (en) | For the vapour-pressure type electromagnetic force suction dish device of manipulator | |
| CN104908835B (en) | A kind of climbing mechanism of climbing robot | |
| CN106143663A (en) | Caterpillar belt structure with function arm and application | |
| CN206416174U (en) | The underwater robot location system of pile is encircled based on double-manipulator | |
| CN206115273U (en) | Autonomic mobile robot platform control device | |
| CN205649470U (en) | A wheel -slip detects and repaiies positive system for intelligence machine of sweeping floor | |
| CN104656676A (en) | Hand, leg and eye servo control device and method for humanoid robot | |
| CN103481276B (en) | A kind of absorption affinity adjustable permanent magnetism gap adsorbent equipment | |
| CN205468556U (en) | Separation and reunion footboard and separation and reunion master cylinder assembly | |
| CN109204785A (en) | A kind of full terrain self-adaptive unmanned plane VTOL undercarriage | |
| CN109001067B (en) | High-efficient tire wearability laboratory bench | |
| CN108556941B (en) | Wall surface walking mechanism and wall climbing robot | |
| CN202593675U (en) | Walking mechanism of water and underwater dual-purpose operating robot | |
| CN101734258B (en) | Brake apparatus of rail handling dolly | |
| CN103381860B (en) | Waterborne, dual-purpose Work robot traveling gear under water | |
| CN204659849U (en) | A kind of dual-purpose crawler belt wheel carrier | |
| CN206202109U (en) | Turn to lamp control device and vehicle | |
| CN204366974U (en) | Manipulator vapour-pressure type electromagnetic force Acetabula device | |
| CN209261308U (en) | Hydraulic oil cylinder type connecting rod steering mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151028 Termination date: 20200415 |