CN205256481U - Remote control formula crawler -type wall climbing robot - Google Patents
Remote control formula crawler -type wall climbing robot Download PDFInfo
- Publication number
- CN205256481U CN205256481U CN201620005063.0U CN201620005063U CN205256481U CN 205256481 U CN205256481 U CN 205256481U CN 201620005063 U CN201620005063 U CN 201620005063U CN 205256481 U CN205256481 U CN 205256481U
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- motor
- transmission shaft
- tensioning
- power transmission
- climbing robot
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- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The utility model provides a remote control formula crawler -type wall climbing robot, include: fuselage, infrared transmitting tubes, infrared receiving tube, track, lifting sleeve, lift spring, singlechip, step motor, motor drive chip, gear box, transmission shaft, remote controller, wireless signal receiving and sending module, tensioning motor, drive gear, overspeed device tensioner transmission shaft, gyro wheel, acceleration sensor, button, display. The utility model provides a remote control formula crawler -type wall climbing robot, reasonable in design, has advantages such as easy operation, communication is convenient, the practicality is strong at simple structure, on the one hand, add a series of sensing device, better the control action gesture, on the other hand adds wireless communication device, realizes remote control, and it is more convenient to operate, this device market potential is big, can promote on market.
Description
Technical field
The utility model relates to a kind of remotely controlled tracked formula climbing robot, belongs to Machine Design application.
Background technology
Since entering 21 century, robot is all widely used and develops in all trades and professions, and its research and application level have become the important symbol of a national economic strength and Sci-Tech Level. Climbing robot is the one of specialized robot, it combines ground mobile robot technology and adsorption technology, be a kind of automated machine device that carries out operations specific in the situations such as severe, danger, the limit, be nowadays more and more subject to people's attention. At present, climbing robot is mainly used in the fields such as nuclear industry, petrochemical industry, shipbuilding industry, fire department and investigation and has obtained application. The application of climbing robot has obtained good Social benefit and economic benefit. Climbing robot has very wide application prospect, and climbing robot that can remote control will have more practical space.
For this reason, the utility model proposes a kind of remotely controlled tracked formula climbing robot, combined with remote-control technology and location technology, can realize long-range remote control function.
Summary of the invention
The purpose of this utility model is to provide a kind of remotely controlled tracked formula climbing robot.
The utility model solves the technical scheme that its technical problem adopts: remotely controlled tracked formula climbing robot, comprise: fuselage, infrared transmitting tube, infrared receiving tube, crawler belt, jacking sleeve, lifting spring, single-chip microcomputer, stepper motor, motor drive ic, gear-box, power transmission shaft, remote controller, wireless signal transceiver module, tensioning motor, driven wheel, tensioning apparatus power transmission shaft, roller, acceleration transducer, button, display, is characterized in that: robot comprises induction system, kinematic system, adsorption system, communication system and control module; Induction system is at front fuselage, comprise acceleration transducer, infrared transmitting tube and infrared receiving tube, acceleration transducer is used for obtaining angle information, infrared transmitting tube can send infrared light, after running into barrier, return, received and can trigger induction installation by infrared receiving tube, make processor acquired disturbance thing information; Kinematic system is two groups of stepper motor connection teeth roller boxs, and gear-box connects roller by power transmission shaft, and roller can drive caterpillar drive; Adsorption system comprises adhesion crawler belt and tensioning apparatus; Tensioning apparatus is made up of jacking sleeve, lifting spring, tensioning motor and driven wheel, tensioning apparatus power transmission shaft; Jacking sleeve is fixed in frame, connects lifting spring, and lifting spring connects driven wheel by tensioning apparatus power transmission shaft, and driven wheel connects tensioning motor; Communication system is made up of wireless signal transceiver module, and single-chip microcomputer, as control module, is connecting respectively induction system, kinematic system, adsorption system and communication system; Single-chip microcomputer is by two motor drive ics Driving Stepping Motor and tensioning motor respectively; Remote controller is made up of wireless signal transceiver module, button and display; Display above remote controller front, button below, inner by microprocessor control; Can also show the information of receiving by transmitting/receiving wireless signal.
The beneficial effects of the utility model are: on the one hand, add a series of sensing devices, better controlled motion attitude; On the other hand, add radio communication device, realize Remote, it is more convenient to operate.
Brief description of the drawings
Fig. 1 is remotely controlled tracked formula climbing robot connected mode schematic diagram.
Fig. 2 is remotely controlled tracked formula climbing robot remote controller structure schematic diagram.
Detailed description of the invention
Below in conjunction with accompanying drawing, the remotely controlled tracked formula climbing robot of the utility model is described further.
Fig. 1, in 2,1-fuselage, 2-infrared transmitting tube, 3-infrared receiving tube, 4-acceleration transducer, 5-tensioning motor, 6-driven wheel, 7-tensioning apparatus power transmission shaft, 8-lifting spring, 9-wireless signal transceiver module, 10-single-chip microcomputer, 11-roller, 12-power transmission shaft, 13-gear-box, 14-stepper motor, 15-motor drive ic, 16-crawler belt, 17-jacking sleeve, 18-remote controller, 19-button, 20-display
Robot fuselage 1 front end of remotely controlled tracked formula climbing robot is infrared transmitting tube 2 and infrared receiving tube 3, infrared transmitting tube 2 can send infrared light, after running into barrier, return, received and can trigger induction installation by infrared receiving tube 3, make processor acquired disturbance thing information, acceleration transducer 4 is for obtaining angle information. Kinematic system is two groups of stepper motors 14, in gear-box 13, is orthogonal gear train, can export translation and turning moment. Gear-box 13 can pass through power transmission shaft 12 driving rolls 11, drives crawler belt 16 to move. Adsorption system comprises adhesion crawler belt 16 and tensioning apparatus, can control absorption affinity by the tension force that regulates crawler belt. Tensioning apparatus is made up of jacking sleeve 17, lifting spring 8, tensioning motor 5 and driven wheel 6, tensioning apparatus power transmission shaft 7. The angle that can turn over by control tensioning motor 5 is controlled the height of jacking sleeve 17, thus tensioned tracks 16. Control module core is single-chip microcomputer 10, and it can send and drives signal to motor drive ic 15 and then drive the motion state of each motor, can also receiving sensor information, control communication etc. On robot and remote controller 18, wireless signal transceiver module 9 is all installed, can realizes communication by sending wireless signal. Display 20 on remote controller 18 can show the information of receiving, button 19 can send order to robot.
The kinematic system of remotely controlled tracked formula climbing robot is two groups of stepper motors 14, their connection teeth roller boxs 13, and gear-box 13 connects roller 11 by power transmission shaft 12, and roller 11 can drive crawler belt 16 to move. The jacking sleeve 17 of adsorption system is fixed in frame, connects lifting spring 8, and lifting spring 8 connects driven wheel 6 by tensioning apparatus power transmission shaft 7, and driven wheel 6 connects tensioning motor 5. Single-chip microcomputer 10, as control module, is connecting respectively induction system, kinematic system, adsorption system and communication system. Wherein, single-chip microcomputer 10 is to connect respectively stepper motor 14 and tensioning motor 5 by two motor drive ics 15. Remote controller 18 is made up of wireless signal transceiver module 9, button 19 and display 20. Display 20 above remote controller 18 fronts, button 19 below.
When use, user can hand-held remote controller 18 utilizes the tensioning of moving of button 19 controls and crawler belt all around, robot can send more specific location information and obstacle information is waited until remote controller 18, and show on display 20, user can be according to the motion of the information knowbot of receiving, as avoiding obstacles etc.
The utility model provides a kind of remotely controlled tracked formula climbing robot, reasonable in design, simple in structure, have simple to operate, a communication advantage such as convenient, practical; On the one hand, add a series of sensing devices, better controlled motion attitude; On the other hand, add radio communication device, realize Remote, it is more convenient to operate; This device market potential is large, can on market, promote.
Claims (1)
1. remotely controlled tracked formula climbing robot, comprise: fuselage, infrared transmitting tube, infrared receiving tube, crawler belt, jacking sleeve, lifting spring, single-chip microcomputer, stepper motor, motor drive ic, gear-box, power transmission shaft, remote controller, wireless signal transceiver module, tensioning motor, driven wheel, tensioning apparatus power transmission shaft, roller, acceleration transducer, button, display, is characterized in that: robot comprises induction system, kinematic system, adsorption system, communication system and control module; Induction system is at front fuselage, comprise acceleration transducer, infrared transmitting tube and infrared receiving tube, acceleration transducer is used for obtaining angle information, infrared transmitting tube can send infrared light, after running into barrier, return, received and can trigger induction installation by infrared receiving tube, make processor acquired disturbance thing information; Kinematic system is two groups of stepper motor connection teeth roller boxs, and gear-box connects roller by power transmission shaft, and roller can drive caterpillar drive; Adsorption system comprises adhesion crawler belt and tensioning apparatus; Tensioning apparatus is made up of jacking sleeve, lifting spring, tensioning motor and driven wheel, tensioning apparatus power transmission shaft; Jacking sleeve is fixed in frame, connects lifting spring, and lifting spring connects driven wheel by tensioning apparatus power transmission shaft, and driven wheel connects tensioning motor; Communication system is made up of wireless signal transceiver module, and single-chip microcomputer, as control module, is connecting respectively induction system, kinematic system, adsorption system and communication system; Single-chip microcomputer is by two motor drive ics Driving Stepping Motor and tensioning motor respectively; Remote controller is made up of wireless signal transceiver module, button and display; Display above remote controller front, button below, inner by microprocessor control; Can also show the information of receiving by transmitting/receiving wireless signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620005063.0U CN205256481U (en) | 2016-01-06 | 2016-01-06 | Remote control formula crawler -type wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620005063.0U CN205256481U (en) | 2016-01-06 | 2016-01-06 | Remote control formula crawler -type wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205256481U true CN205256481U (en) | 2016-05-25 |
Family
ID=55998026
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620005063.0U Expired - Fee Related CN205256481U (en) | 2016-01-06 | 2016-01-06 | Remote control formula crawler -type wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205256481U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110266369A (en) * | 2019-06-25 | 2019-09-20 | 南京凯瑞得信息科技有限公司 | A kind of satellite communication robot |
| CN113848909A (en) * | 2021-09-27 | 2021-12-28 | 北京理工大学 | Control system and control method of turnover paddle type wall-climbing robot |
-
2016
- 2016-01-06 CN CN201620005063.0U patent/CN205256481U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110266369A (en) * | 2019-06-25 | 2019-09-20 | 南京凯瑞得信息科技有限公司 | A kind of satellite communication robot |
| CN113848909A (en) * | 2021-09-27 | 2021-12-28 | 北京理工大学 | Control system and control method of turnover paddle type wall-climbing robot |
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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 |
Granted publication date: 20160525 Termination date: 20170106 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |