CN204976638U - Snakelike net robot of climbing - Google Patents
Snakelike net robot of climbing Download PDFInfo
- Publication number
- CN204976638U CN204976638U CN201520266255.2U CN201520266255U CN204976638U CN 204976638 U CN204976638 U CN 204976638U CN 201520266255 U CN201520266255 U CN 201520266255U CN 204976638 U CN204976638 U CN 204976638U
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- gear
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- scale
- worm
- snakelikely
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Abstract
The utility model provides a snakelike net robot of climbing, including a plurality of unit module, establish ties mutually through the cardan shaft drive unit between the unit module, each unit module has two motor drive steering wheels and is located the scale mechanism of two motor drive steering wheel both sides, including driving motor in the scale mechanism, the fixed sun gear of output shaft with driving motor, sun gear's periphery is equipped with three planet wheel and meshes mutually with sun gear, the planet wheel outside is equipped with the ring gear, the ring gear has internal tooth and external tooth, the internal tooth meshes with the planet wheel mutually, external tooth and a plurality of transmission gear meshing, drive gear distributes in the periphery of ring gear, drive gear is fixed in on the worm, the snail worm and wheel is mutually supported, be fixed with the scale on the worm wheel. Adopt electric machine drive gear, and then the mode of worm shaft worm wheel making the scale grasp the net, reliably spending highly, easily control, and unit module both can be used to the climbing, can act as the manipulator again, carried out the maintenance task.
Description
Technical field
The utility model relates to bio-robot field, particularly the bionical snake-shaped robot of one.
Background technology
Snake-shaped robot be a kind of imitate snake movement mechanism and the robot that develops of behavioral approach, because its environmental suitability is strong, kinematic dexterity is good, the easy modularization of structure, wide accommodation, there is very large researching value and application prospect.
A kind of snake-shaped robot disclosed in Chinese patent CN201410663548.4, joined end to end by some unit modules and combine, unit module comprises Dual-motors Driving steering wheel 1, module framework 2 and scale mechanism, two identical motors are comprised in described Dual-motors Driving steering wheel 1, and the motor shaft of two motors be arranged in parallel, module framework 2 side is installed with two the first steering wheel linking arms 3, opposite side is installed with two the second steering wheel linking arms 4, article two, the first steering wheel linking arm 3 is connected with the motor shaft of the motor of Dual-motors Driving steering wheel 1, described scale mechanism comprises scale opening and closing motor 5, leading screw 6, screw 7, guiding plate 8, scale 9 and connecting rod 10, the root of scale 9 is hinged on module framework 2, described connecting rod 10 one end is hinged on the middle part of scale 9, connecting rod 10 other end is hinged on guiding plate 8.When needs snake-shaped robot creeps advance, adjustment scale opening and closing motor 5, scale 9 is opened, the now tip of scale 9 and earth surface, owing to being subject to the effect of scale tribological anisotropy, the frictional force that two ends unit module is subject to is different, is wherein subject to the large module of frictional force and substantially keeps motionless, the module being subject to frictional force little is pushed ahead, and then realizes creeping advance.Above-mentioned snake-shaped robot, by the rubbing action on scale and ground, makes snake-shaped robot creep.But this method needs the frictional force on scale and ground large, then the power consumption of motor is large, and scale is long-term and ground exists larger friction, causes scale easily to damage, and durability degree reduces.Meanwhile, the above-mentioned snake-shaped robot utilizing rubbing method to realize creeping can only be used for ground, and cannot be applied to grid.
About realizing the robot of climbing net, pertinent literature is recorded seldom both at home and abroad at present, six biped robots of the ASTERISK a by name only having Osaka, Japan university to develop, document " comprehensive reversal of the natural order of things Pa Wang limbs robot " (" Omni-directionalGaitofLimbMechanismRobotHangingfromGrid-LikeStructure ") IEEE/RSJ intelligent robot and system international conference in 2006, pp.1732-1737, 2006, record this six biped robot to creep on the grid of reversal of the natural order of things, but its free degree is too high, control difficulty is large, be not suitable for executing the task in complex environment out of doors.
Therefore, be necessary that design one climbs Web robot reliably.
Utility model content
For prior art Problems existing, the utility model provides a kind of and reliably, conveniently climbs the snakelike of net and climb Web robot.
To achieve these goals, the utility model adopts following technical scheme:
One is snakelike climbs Web robot, comprise multiple unit module, be in series by universal joint driver element between described unit module, unit module described in each has Dual-motors Driving steering wheel and is positioned at the scale mechanism of described Dual-motors Driving steering wheel both sides, two identical motors are comprised in described Dual-motors Driving steering wheel, and the motor shaft of two described motors be arranged in parallel, drive motors is comprised in scale mechanism described in each, with the central gear that the output shaft of described drive motors is fixing, the periphery of described central gear is provided with three planetary gears and is meshed with described central gear, the outside of described planetary gear is provided with gear ring, described gear ring has internal tooth and external tooth, described internal tooth is meshed with described planetary gear, described external tooth is meshed with multiple travelling gear, described travelling gear is distributed in the periphery of described gear ring, travelling gear described in each is fixed on a worm screw, described worm and wheel cooperatively interacts, described worm gear is fixed with scale.
Further, described universal joint driver element comprises two high-torque drive motors and universal joint connector, and two described high-torque drive motors are connected with mutually orthogonal method by described universal joint connector.
Further, power pack is connected with between adjacent described unit module.
Further, the two ends of described scale mechanism are provided with support disk, the described support disk of one end is extended with the first linking arm and is connected to described Dual-motors Driving steering wheel, the described support disk of the other end is extended with the second linking arm and is connected to described universal joint driver element, and described first linking arm differs 90 degree in a circumferential direction with described second linking arm.
Further, be provided with multiple support metal bar between the described support disk at two ends, described scale mechanism is installed between described support disk.
Further, the outside of described scale mechanism is provided with protecting sheathing.
Further, described travelling gear is provided with eight, along described gear ring even circumferential distribution, corresponding, described worm screw, described worm gear and described scale are equipped with eight, are circumferentially uniformly distributed.
Further, described unit module is provided with maintenance part, and when overhauling, one of them grid that links closely of described unit module, another carries out inspection operation.
The beneficial effects of the utility model:
Drive motors is utilized to drive central gear to rotate, and then by the power transmission of drive motors to central gear, planetary gear, gear ring, travelling gear, worm screw and worm gear, and then the scale on worm gear is rotated around certain angle, thus realize the fastening of grid and unclamp, and utilize Dual-motors Driving steering wheel to make adjacent scale mechanism close to each other, thus scale is fixed on grid, then moved on grid by universal joint driver element control unit module, what realize the snakelike Web robot of climbing climbs net.Adopt said method to make scale catch grid, reliability is high, and unit module both can be used for climbing, can serve as manipulator again, perform maintenance task, above-mentioned Crawl gait just can complete by controlling each motor, and only move forward and backward between unit module, the free degree is relatively less, is easy to control.
Accompanying drawing explanation
Fig. 1 is the snakelike overall structure schematic diagram of climbing Web robot of the utility model;
Fig. 2 is the snakelike structural representation of climbing scale mechanism in unit module in Web robot of the utility model;
Fig. 3 is the top view of Fig. 2;
Stem unit module 10 Dual-motors Driving steering wheel 1 scale mechanism 2 drive motors 21
Central gear 22 planetary gear 23 gear ring 24 internal tooth 241
External tooth 242 travelling gear 25 worm screw 26 worm gear 27
Scale 28 support disk 3 first linking arm 31 second linking arm 32
Support metal bar 4 protecting sheathing 5 tail units module 20 universal joint driver element 30
High-torque drive motors 301 universal joint connector 302 power pack 40
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the utility model is described in further detail.
As shown in Figure 1 to Figure 3, the snakelike Web robot of climbing of the utility model comprises multiple unit module, is in series between unit module by universal joint driver element 30, and namely multiple unit module joins end to end.In the present embodiment, described unit module has two, and be defined as stem unit module 10 and tail units module 20 respectively, stem unit module 10 is identical with the structure of tail units module 20.Power pack 40 is provided with between stem unit module 10 and tail units module 20, and connect the universal joint driver element 30 of power pack 40 and unit module, this universal joint driver element 30 comprises two high-torque drive motors 301 and universal joint connector 302, two high-torque drive motors 301 are rigidly connected with mutually orthogonal method by universal joint connector 302.By the driving effect of universal joint driver element 30, unit module movement arbitrarily within the scope of certain angle can be made.
Each unit module comprises the both sides that Dual-motors Driving steering wheel 1, Liang Ge scale mechanism 2 lays respectively at Dual-motors Driving steering wheel 1.Comprise two identical motors in Dual-motors Driving steering wheel 1, and the motor shaft of two motors be arranged in parallel.The two ends of each scale mechanism 2 are respectively equipped with support disk 3, the support disk 3 of one end is provided with the first linking arm 31 and is connected to Dual-motors Driving steering wheel 1, the support disk 3 of the other end is provided with the second linking arm 32 and is connected to universal joint driver element 30, first linking arm 31 and the second linking arm 32 are arranged relative to support disk 3 Central Symmetry respectively, and both differ 90 degree in a circumferential direction.Be provided with multiple support metal bar 4 between two support disk 3, scale mechanism 2 is installed between two support disk 3.
Scale mechanism 2 comprises drive motors 21, with the central gear 22 that the output shaft of drive motors 21 is fixing, central gear 22 periphery is uniformly distributed three planetary gears 23 and is meshed with central gear 22, gear ring 24 is provided with outside planetary gear 23, gear ring 24 has internal tooth 241 and external tooth 242, internal tooth 241 is meshed with planetary gear 23, external tooth 242 is meshed with multiple travelling gear 25, travelling gear 25 is uniformly distributed in the periphery of gear ring 24, each travelling gear 25 is fixed on a worm screw 26, worm screw 26 and worm gear 27 cooperatively interact, and each worm gear 27 is fixed with scale 28.In the present embodiment, scale 28 has eight, corresponding, worm gear 27, worm screw 26 and travelling gear 25 all have 8 one_to_one corresponding each other, all distribute relative to the even circumferential of gear ring 24.Wherein, travelling gear 25 is sheathed to be fixed on worm screw 26, and one end of worm screw 26 is sheathed in support disk 3, and the other end matches with worm gear 27, by travelling gear 25 around radial rotating be converted into worm gear 27 around axial rotation, and then control scale 28 around the rotation of axis.In the present embodiment, be arranged with protecting sheathing 5 outside the often pair of worm gear 27, worm screw 26, this protecting sheathing 5 is that plastic material is made, and shields to the rotation of worm gear 27.
When scale 28 moves, by drive motors 21 by power transmission to central gear 22, central gear 22 by with the engaging power transmission to planetary gear 23 of three planetary gears 23, and then engaging power transmission to gear ring 24 by the internal tooth 241 of planetary gear 23 and gear ring 24, engaging power transmission to travelling gear 25 again by external tooth 242 and travelling gear 25, travelling gear 25 is sheathed to be fixed on worm screw 26, worm screw 26 is rotated with the rotation of travelling gear 25, worm screw 26 and worm gear 27 interact, by power transmission to worm gear 27, make worm gear 27 around axial rotation, and then drive the scale 28 on it to rotate to an angle, therefore opening or closing of scale 28 can be realized.Snakelikely climb the interoperation of Web robot by scale 28 corresponding in universal joint driver element 30 and unit module, the net gait of climbing realized according to presetting completes and climbs net.
The whole network method of climbing of the described snakelike Web robot of climbing is as follows:
A. the drive motors 21 controlled in the Liang Ge scale mechanism 2 in stem unit module 10 rotates with contrary direction, central gear 22 is driven to rotate around contrary direction, then gear ring 24 is driven to rotate around contrary direction, and then by power transmission to worm gear 27, worm screw 26, and worm gear 27 rotates around contrary direction, scale 28 in Liang Ge scale mechanism 2 is rotated dorsad each other, thus described scale 28 is opened contact with grid;
B. drive the motor shaft of two motors in the Dual-motors Driving steering wheel 1 in stem unit module 10 to rotate with contrary direction, Shi Liangge scale mechanism 2 moves towards each other;
C. the drive motors 21 controlled again in the Liang Ge scale mechanism 2 in stem unit module 10 rotates with the direction contrary with step a respectively, and drive scale 28 to rotate toward each other, fastening grid makes stem unit module 10 be fixed on grid;
D. control the high-torque drive motors 301 in universal joint driver element 30, make tail units module 20 move to certain position, then control tail units module 20 and repeat step a to step c, be fixed on grid by tail units module 20;
E. control stem unit module 10 and tail units module 20 repeat step a in turn to steps d, realize snakelikely climbing net, even if stem unit module 10 and tail units module 20 carry out unclamping the step of grid-close to each other-fastening grid-move forward in turn, carry out complete climbing net action.
The utility model adopts the snakelike Web robot of climbing to creep on grid, scale 28 is adopted to catch the method reliability of grid high, and unit module both can be used for climbing, manipulator can be served as again, perform maintenance task, such as: stem unit module 10 or described tail units module 20 are provided with maintenance part (not shown), when the snakelike Web robot of climbing overhauls on grid, stem unit module 10 or one of them grid that links closely of tail units module 20, another carries out inspection operation.And above-mentioned Crawl gait just can complete by controlling each motor, and only moves forward and backward between unit module, and the free degree is relatively less, is easy to control.
Above embodiment is only in order to illustrate the technical solution of the utility model and unrestricted, although be described in detail the utility model with reference to preferred embodiment, those skilled in the art are to be understood that, can modify to the technical solution of the utility model or equivalent replacement, and not departing from aim and the scope of the technical program, it all should be encompassed in right of the present utility model.
Claims (8)
1. snakelikely climb Web robot for one kind, comprise multiple unit module, be in series by universal joint driver element between described unit module, unit module described in each has Dual-motors Driving steering wheel and is positioned at the scale mechanism of described Dual-motors Driving steering wheel both sides, two identical motors are comprised in described Dual-motors Driving steering wheel, and the motor shaft of two described motors be arranged in parallel, it is characterized in that: in scale mechanism described in each, comprise drive motors, with the central gear that the output shaft of described drive motors is fixing, the periphery of described central gear is provided with three planetary gears and is meshed with described central gear, the outside of described planetary gear is provided with gear ring, described gear ring has internal tooth and external tooth, described internal tooth is meshed with described planetary gear, described external tooth is meshed with multiple travelling gear, described travelling gear is distributed in the periphery of described gear ring, travelling gear described in each is fixed on a worm screw, described worm and wheel cooperatively interacts, described worm gear is fixed with scale.
2. according to claim 1ly snakelikely climb Web robot, it is characterized in that: described universal joint driver element comprises two high-torque drive motors and universal joint connector, two described high-torque drive motors are connected with mutually orthogonal method by described universal joint connector.
3. according to claim 1ly snakelikely climb Web robot, it is characterized in that: between adjacent described unit module, be connected with power pack.
4. according to claim 1ly snakelikely climb Web robot, it is characterized in that: the two ends of described scale mechanism are provided with support disk, the described support disk of one end is provided with the first linking arm and is connected to described Dual-motors Driving steering wheel, the described support disk of the other end is provided with the second linking arm and is connected to described universal joint driver element, and described first linking arm differs 90 degree in a circumferential direction with described second linking arm.
5. according to claim 4ly snakelikely climb Web robot, it is characterized in that: be provided with multiple support metal bar between the described support disk at two ends, described scale mechanism is installed between described support disk.
6. according to claim 1ly snakelikely climb Web robot, it is characterized in that: the outside of described scale mechanism is provided with protecting sheathing.
7. according to claim 1ly snakelikely climb Web robot, it is characterized in that: described travelling gear is provided with eight, along described gear ring even circumferential distribution, corresponding, described worm screw, described worm gear and described scale are equipped with eight, are circumferentially uniformly distributed.
8. according to claim 1ly snakelikely climb Web robot, it is characterized in that: described unit module is provided with maintenance part, when overhauling, one of them grid that links closely of described unit module, another carries out inspection operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520266255.2U CN204976638U (en) | 2015-04-27 | 2015-04-27 | Snakelike net robot of climbing |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520266255.2U CN204976638U (en) | 2015-04-27 | 2015-04-27 | Snakelike net robot of climbing |
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| Publication Number | Publication Date |
|---|---|
| CN204976638U true CN204976638U (en) | 2016-01-20 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520266255.2U Withdrawn - After Issue CN204976638U (en) | 2015-04-27 | 2015-04-27 | Snakelike net robot of climbing |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816302A (en) * | 2015-04-27 | 2015-08-05 | 东北大学 | Snakelike web crawling robot and web crawling method thereof |
| WO2018129837A1 (en) * | 2017-01-11 | 2018-07-19 | 成都中良川工科技有限公司 | Robot walking mechanism |
| CN111315532A (en) * | 2017-11-01 | 2020-06-19 | 超级螺栓有限公司 | Apparatus for simultaneously applying torque to multiple jackbolts of a multiple jackbolt tensioner |
| CN111343956A (en) * | 2017-11-10 | 2020-06-26 | 欧彼立孚特私人有限公司 | Vehicle for crossing obstacle |
-
2015
- 2015-04-27 CN CN201520266255.2U patent/CN204976638U/en not_active Withdrawn - After Issue
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104816302A (en) * | 2015-04-27 | 2015-08-05 | 东北大学 | Snakelike web crawling robot and web crawling method thereof |
| WO2018129837A1 (en) * | 2017-01-11 | 2018-07-19 | 成都中良川工科技有限公司 | Robot walking mechanism |
| CN111315532A (en) * | 2017-11-01 | 2020-06-19 | 超级螺栓有限公司 | Apparatus for simultaneously applying torque to multiple jackbolts of a multiple jackbolt tensioner |
| US11518008B2 (en) | 2017-11-01 | 2022-12-06 | Superbolt, Inc. | Apparatus for simultaneously applying torque to a plurality of jackbolts of a multi jackbolt tensioner |
| CN111343956A (en) * | 2017-11-10 | 2020-06-26 | 欧彼立孚特私人有限公司 | Vehicle for crossing obstacle |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160120 Effective date of abandoning: 20160831 |
|
| C25 | Abandonment of patent right or utility model to avoid double patenting |