CN204871273U - Surface robot of crawling - Google Patents
Surface robot of crawling Download PDFInfo
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- CN204871273U CN204871273U CN201520518529.2U CN201520518529U CN204871273U CN 204871273 U CN204871273 U CN 204871273U CN 201520518529 U CN201520518529 U CN 201520518529U CN 204871273 U CN204871273 U CN 204871273U
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- telescoping cylinder
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Abstract
The utility model discloses a surface robot of crawling, its characterized in that: the robot include outer frame (1) that two symmetries set up, the both ends of frame outside every (1) all articulated have outside landing leg (2), be provided with the telescoping cylinder in outer landing leg (2), the terminal of telescoping cylinder work end is connected with outer sucking disc (3) sphere, still be provided with internal frame (4) between frame outside two (1), internal frame (4) are through sharp drive unit and outer frame (1) sliding connection, the four corners department of internal frame (4) all hinges there are interior landing leg (5), and also be provided with the telescoping cylinder in interior landing leg (5), the terminal of telescoping cylinder work end is connected with interior sucking disc (6) sphere. This is a simple structure, design benefit, the surface robot of crawling that can advance on multiple irregular road surface.
Description
Technical field
The utility model relates to a kind of robot, particularly a kind of surface creep robot.
Background technology
In the activity such as commercial production, processing, need to use various robot to carry out the transport of workpiece, the arm-type isostructural robot of trolley type, manipulator can be adopted traditionally to realize, but under some working condition: if basic carrying surface is the situation of Irregular Boundary Surface, above-mentioned robot then cannot complete the transport work of workpiece.Therefore now a kind of novel robot that can solve the problem is needed.
Summary of the invention
The utility model is the above-mentioned deficiency in order to solve existing for prior art, proposes a kind of structure simple, designs ingenious, the surface creep robot can advanced on multiple irregular road surface.
Technical solution of the present utility model is: a kind of surface creep robot, it is characterized in that: described robot comprises two symmetrically arranged outside framves 1, outer supporting leg 2 is all hinged with at the two ends of each outside frame 1, telescoping cylinder is provided with in outer supporting leg 2, the end of telescoping cylinder working end is connected with outer sucker 3 sphere, inner frame 4 is also provided with between two outside framves 1, inner frame 4 is by straight spur unit and outside frame 1 sliding block joint, the corner place of inner frame 4 is all hinged with interior supporting leg 5, and be also provided with telescoping cylinder in interior supporting leg 5, the end of telescoping cylinder working end is connected with interior sucker 6 sphere.
Compared with the existing technology, tool has the following advantages the utility model:
The surface creep robot of this kind of version, its structure is simple, design ingenious, rationally distributed, it only can deliver the problem of workpiece in the plane for traditional mobile robot, design the special construction that a kind of step wise is advanced, in it utilizes, outer supporting leg reciprocating support, in, the mode of outside frame relative motion realizes the action of advancing, can not only walk in the plane, can also walk on the curved surface with certain curvature simultaneously, and when walking on curved surface, it can also make adaptive pose adjustment, it can be widely used in the transport work of workpiece under complex working condition environment.And its manufacture craft is simple, and cheap for manufacturing cost, therefore can say that it has possessed multiple advantage, its market outlook are very wide.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model embodiment.
Fig. 2 to Fig. 7 is the process schematic that the utility model embodiment is advanced on curved surface.
Detailed description of the invention
Below in conjunction with accompanying drawing, detailed description of the invention of the present utility model is described.As shown in Figures 1 to 7: a kind of surface creep robot, it comprises two symmetrically arranged outside framves 1, outer supporting leg 2 is all hinged with at the two ends of each outside frame 1, and be provided with telescoping cylinder in supporting leg 2 outside, the end of this telescoping cylinder working end is connected with sphere between outer sucker 3, inner frame 4 is also provided with between two outside framves 1, and this inner frame 4 is by sliding block joint between straight spur unit and outside frame 1, interior supporting leg 5 is all hinged with at the corner place of inner frame 4, and in each interior supporting leg 5, be also provided with telescoping cylinder, and sphere is connected between the end of telescoping cylinder working end with interior sucker 6.
The working process of the surface creep robot of the utility model embodiment is as follows: when the climbing robot of the present embodiment needs to advance in the plane, first the outer sucker 3 of four of robot outer supporting leg 2 bottoms and earth surface, the interior sucker 6 of four interior supporting leg 5 bottoms is unsettled, under the driving of straight spur unit, inner frame 4 moves relative to outside frame 1, inner frame 4 is towards the direction motion that robot advances, after moving to end position, telescoping cylinder work in four interior supporting legs 5, drive four interior suckers 6 descending and and earth surface, outer sucker 3 now on outer supporting leg 2 rises, in robot relies on, supporting leg 5 supports, then straight spur unit drives inner frame 4 relative to outside frame 1 counter motion, because inner frame 4 is motionless relative to foundation ground, therefore above-mentioned sport drives outside frame 1 towards the direction motion that robot advances, after moving to end position, telescoping cylinder work in four outer supporting legs 2, drive four outer suckers 3 descending and and earth surface, the interior sucker 6 in right rear inner leg 5 rises, and robot relies on outer supporting leg 2 to support again, so repeatedly, robot advancing in the plane is realized,
When the climbing robot of the present embodiment needs to advance on curved surface, first the outer sucker 3 of four of robot outer supporting leg 2 bottoms contacts with curved surface, the interior sucker 6 of four interior supporting leg 5 bottoms is unsettled, under the driving of straight spur unit, inner frame 4 moves relative to outside frame 1, inner frame 4 is towards the direction motion that robot advances, after moving to end position, telescoping cylinder work in four interior supporting legs 5, drive four interior suckers 6 descending and contact with curved surface, outer sucker 3 now on outer supporting leg 2 rises, and in robot relies on, supporting leg 5 supports; Then straight spur unit drives inner frame 4 relative to outside frame 1 counter motion, because inner frame 4 is motionless relative to base curve surface, therefore above-mentioned sport drives outside frame 1 towards the direction motion that robot advances, after moving to end position, telescoping cylinder work in four outer supporting legs 2, drive four outer suckers 3 descending and contact with curved surface, the interior sucker 6 in right rear inner leg 5 rises, and robot relies on outer supporting leg 2 to support again; In the process of above-mentioned motion, although because the face contacted with different outer suckers 3 is curved surface, outside frame 1 is caused to there is certain angle with respect to the horizontal plane, but owing to being hinged annexation between outside frame 1 and outer supporting leg 2, as long as the telescoping cylinder work therefore on outer supporting leg 2, outside frame 1 just can make adaptive swing, makes the adjustment in attitude, advances with the surface smoothly at curved surface.
Claims (1)
1. a surface creep robot, it is characterized in that: described robot comprises two symmetrically arranged outside framves (1), outer supporting leg (2) is all hinged with at the two ends of each outside frame (1), outer supporting leg is provided with telescoping cylinder in (2), the end of telescoping cylinder working end is connected with outer sucker (3) sphere, inner frame (4) is also provided with between two outside framves (1), inner frame (4) is by straight spur unit and outside frame (1) sliding block joint, the corner place of inner frame (4) is all hinged with interior supporting leg (5), and interior supporting leg is also provided with telescoping cylinder in (5), the end of telescoping cylinder working end is connected with interior sucker (6) sphere.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520518529.2U CN204871273U (en) | 2015-07-17 | 2015-07-17 | Surface robot of crawling |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520518529.2U CN204871273U (en) | 2015-07-17 | 2015-07-17 | Surface robot of crawling |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204871273U true CN204871273U (en) | 2015-12-16 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520518529.2U Active CN204871273U (en) | 2015-07-17 | 2015-07-17 | Surface robot of crawling |
Country Status (1)
| Country | Link |
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| CN (1) | CN204871273U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059414A (en) * | 2015-07-17 | 2015-11-18 | 大连四达高技术发展有限公司 | Climb-on-surface robot |
| CN106006405A (en) * | 2016-06-30 | 2016-10-12 | 山东聚天工工业自动化有限公司 | Load moving platform and load platform moving control method |
| CN107235087A (en) * | 2017-06-01 | 2017-10-10 | 北京航空航天大学 | A kind of robot vehicle |
| CN107512323A (en) * | 2017-09-08 | 2017-12-26 | 重庆大学 | A kind of climbing robot |
| CN110466636A (en) * | 2019-08-27 | 2019-11-19 | 徐州鑫科机器人有限公司 | A kind of intelligence adjusts the climbing robot of suction and Support Position |
-
2015
- 2015-07-17 CN CN201520518529.2U patent/CN204871273U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059414A (en) * | 2015-07-17 | 2015-11-18 | 大连四达高技术发展有限公司 | Climb-on-surface robot |
| CN106006405A (en) * | 2016-06-30 | 2016-10-12 | 山东聚天工工业自动化有限公司 | Load moving platform and load platform moving control method |
| CN107235087A (en) * | 2017-06-01 | 2017-10-10 | 北京航空航天大学 | A kind of robot vehicle |
| CN107512323A (en) * | 2017-09-08 | 2017-12-26 | 重庆大学 | A kind of climbing robot |
| CN110466636A (en) * | 2019-08-27 | 2019-11-19 | 徐州鑫科机器人有限公司 | A kind of intelligence adjusts the climbing robot of suction and Support Position |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant |