CN205499107U - Intelligence shaft alternating robot that climbs - Google Patents
Intelligence shaft alternating robot that climbs Download PDFInfo
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- CN205499107U CN205499107U CN201620301821.3U CN201620301821U CN205499107U CN 205499107 U CN205499107 U CN 205499107U CN 201620301821 U CN201620301821 U CN 201620301821U CN 205499107 U CN205499107 U CN 205499107U
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Abstract
The utility model belongs to the intelligent robot field relates to an intelligence shaft alternating robot that climbs. The intelligence shaft alternating robot that climbs who includes constitutions such as the alternative mechanism of shaft, preceding seat in turn, the alternative seat in back, control system. Shaft mechanism in turn includes front axle actuating mechanism, trailing axle actuating mechanism, shaft axle adjustment mechanism in turn. Front axle seat, the alternative seat of trailing axle are in turn drawn together to the stationary ladle in turn. Control system includes main control unit, front axle servo motor driver, trailing axle servo motor driver, shaft axle servo motor driver, front axle wireless transceiver module, trailing axle wireless transceiver module, inferior controller in turn. The utility model discloses an use shaft mechanism in turn, utilize the gear engagement principle, realized alternative seat of front axle and the trailing axle alternative continuous operation of two mechanisms of seat in turn to simulated climbing the building and moving of robot downstairs, mechanical structure is simple, is applicable to the occasion of different stair width, height.
Description
Technical field
This utility model belongs to field in intelligent robotics, relates to a kind of intelligent wheel shaft alternative expression climbing machine
Device people.
Background technology
Along with economy and the development of human society, owing to land resource is extremely limited, country is in order to improve
The utilization rate in soil, the newly-built building number of plies is more and more higher, and especially in China, high buildings and large mansions have become
Typical characteristic for China's modern city.Height built by building, can be time saving and energy saving despite elevator.
But, elevator can not replace traditional stair completely, especially when running into power failure or disaster
Time, the effect of stair is extremely important；It addition, be not the highest for floor, such as the building of 5,6 layers,
Or for the building that the age is the most remote, be not the most equipped with elevator, therefore without
The help of extraneous personnel, is a thing the most difficult from the point of view of the stair activity for disability personnel.
Currently, stairs climbing robot is studied, but is much made by domestic expert, engineer
Product are in the theoretical and layout design stage, and materialization becomes the few, even if there is currently a small amount of climbing of material object
Stair machine, the prototype test stage being also limited only in the ecotopia of laboratory, not
The real life being transformed into reality services for the mankind.It addition, existing structure is mostly planetary gear
Formula, crawler type, lower limb foot formula and parallelogram lindage formula, these structures have respective shortcoming, and
Mechanical mechanism is huge, sport efficiency is low, it is therefore necessary to a kind of wheel shaft alternative expression of research and development climbs
Robot
Utility model patent 201510027482.4 discloses a kind of stair cleaning machine, and this utility model relates to
And cleaning field of mechanical technique, espespecially ground both can be carried out by one, can hang down to ground again
The stair cleaning machine that straight corner is carried out.Can the while of by original ground level is cleaned and increases to
Carry out corner perpendicular to the ground, wall limit are cleaned work, be substantially reduced original cleaning worker
Labor intensity, and labor efficiency is greatly improved.But can only be hung down in ground and ground by this robot
Straight corner is cleared up, and can not clear up stairway step, and function is limited.
Utility model patent 201420289782.0 discloses a kind of intelligent stair floor cleaning machine, and this machine is complete
Entirely break traditional floor cleaning machine and can only clean the single-mode on level land, use multiple step format to imitate human body downstairs
Action, omnidirectional's automated manner eliminates radius of turn, and transverse movement mode cleans stair and corridor, it is achieved
The most downstairs, automated cleaning, the function such as automatic non-angular turning, make cleaning not stay dead angle,
Clean thorough, its Design of Mechanical Structure is novel, simple to operation, time saving and energy saving.But this patent
Also problematic, this machine uses the structures such as motor, leading screw and gripper shoe to realize the upper and lower of simulation people
Stair, inefficient, it is achieved to get up and unrealistic.Same utility model patent 201410146501.0
Also a kind of translation rotating lower limb formula stair clean robot and upper method downstairs are disclosed, including: fuselage,
Be symmetrically distributed in fuselage both sides includes supporting leg and the translation rotating leg mechanism of pivoted arm, range finding and close
Sensor.Time upstairs, supporting leg prop up fuselage by pivoted arm, translation rotating to upper level step,
Continue to rotate pivoted arm to supporting leg and be retracted in fuselage both sides；Time downstairs, by fuselage by rotating pivoted arm band
Fuselage, to next stage step, is propped up by dynamic supporting leg translation rotating from when front step, continues to rotate pivoted arm
Fall after rise at next stage step to fuselage, and supporting leg is retracted in fuselage both sides.The machine of this utility model
It is succinctly efficient that people and upper method downstairs have upper action downstairs, compact conformation, it is simple in stair step face
On clear up back and forth, also taken into account level land cleaning function, extended its range of application.But it is similar this
The structure of patent, specific stair can only be adapted to, working range is narrow, and efficiency is low.
Utility model content
The purpose of this utility model is to overcome above-mentioned the deficiencies in the prior art, it is provided that one is handed over by wheel shaft
For mechanism, front alternately seat, afterwards replace seat, control system, etc. the intelligent wheel shaft alternative expression of composition climb
Robot.This robot architecture is simple, practical, and control flow is simple, the stair activity of robot is fast
Speed, work efficiency are high, further relate to a kind of method of climbing of corresponding stair.
A kind of intelligence wheel shaft alternative expression climbing robot, including: wheel shaft alternate mechanisms 1, alternately seat 2,
Control system 3, power supply 4.
Described wheel shaft alternate mechanisms 1 includes: front axle drive mechanism 1-1, hind axle drive mechanism 1-2,
Wheel shaft replaces axle governor motion 1-3.
Described alternately seat 2 includes: front axle replaces seat 2-1, hind axle replaces seat 2-2.
Described control system 3 includes: master controller 3-1, front axle motor servo driver 3-2, after
Wheel shaft motor servo driver 3-3, wheel shaft replace axle motor servo driver 3-4, front axle is wireless receipts
Send out module 3-5, hind axle radio receiving transmitting module 3-6, secondary control device 3-7.
Described power supply 4 includes: front axle lithium battery 4-1, hind axle lithium battery 4-2.
Further, front axle drive mechanism 1-1 in described wheel shaft alternate mechanisms 1 includes: front-wheel
Axle drives servomotor 1-1a, front axle reduction box 1-1b, and front axle drives servomotor master gear
1-1c, front axle pinion 1-1d, front axle L bracket 1-1e, front axle transverse axis 1-1f, front
Wheel bearing 1-1g, front axle bearing block 1-1h；
Accordingly, hind axle drive mechanism 1-2 in described wheel shaft alternate mechanisms 1 includes: hind axle
Driving servomotor 1-2a, hind axle reduction box 1-2b, hind axle drives servomotor master gear 1-2c,
Hind axle pinion 1-2d, hind axle L bracket 1-2e, hind axle transverse axis 1-2f, hind axle axle
Hold 1-2g, hind axle bearing block 1-2h；
Wheel shaft in described wheel shaft alternate mechanisms 1 alternately axle governor motion 1-3 includes: wheel shaft is the most main
Axle 1-3a, wheel shaft replaces countershaft 1-3b, lock sleeve 1-3c.
Specifically connect and the relation that cooperates be:
Front axle drive mechanism 1-1 in described wheel shaft alternate mechanisms 1 and hind axle drive mechanism 1-2
Replace axle governor motion 1-3 by wheel shaft to connect, and wheel shaft alternately axle governor motion 1-3 be two sets,
In the past the left and right sides of axle driving mechanism 1-1 respectively with the left and right sides of hind axle drive mechanism 1-2
Connect.
Concrete is:
Front axle transverse axis 1-1f two ends are fixed with front axle bearing 1-1g, front axle bearing 1-1g and fix
Being arranged on front axle bearing block 1-1h, front axle bearing block 1-1h is fixedly mounted on front axle alternately
The front side center position of seat 2-1.And it is fixed with front axle pinion on front axle transverse axis 1-1f
1-1d；Front axle drives servomotor 1-1a to be fixed with front axle reduction box 1-1b, and front axle slows down
The output shaft of case 1-1b is provided with front axle and drives servomotor master gear 1-1c, and front axle drives
Servomotor 1-1a is fixed on front axle and replaces on seat 2-1, and front axle drives servomotor master gear
1-1c and the engagement of front axle pinion 1-1d just mechanical gear.Effect is: front axle drives servo
Motor 1-1a rotates, and drives front axle reduction box 1-1b, thus drives front axle to drive servomotor
Master gear 1-1c, by gear engagement, front axle pinion 1-1d rotates, and then front axle
Transverse axis 1-1f rotates.Owing to the two ends of front axle transverse axis 1-1f are by front axle L bracket 1-1e
Replace the wheel shaft in axle governor motion 1-3 with wheel shaft and replace the head end connection of main shaft 1-3a, so that
Drive wheel shaft to replace main shaft 1-3a to swing.Final effect is: owing to front axle replaces in seat 2-1
Mechanically and electrically structure drives wheel shaft to replace main shaft 1-3a swing, then a whole set of hind axle can be driven to replace seat
2-2 swings, and eventually makes hind axle replace seat 2-2 opposing front wheels axle and replaces seat 2-1 and with front-wheel
On front side of axle alternately seat 2-1, central point is the center of circle, the actual range replacing main shaft 1-3a with current wheel shaft
Do the circular motion of certain angle for the center of circle, hand over so that hind axle replaces seat 2-2 opposing front wheels axle
The displacement movement of forward upward is produced, it is achieved climb the simulated action in building for seat 2-1；When downstairs, dynamic
Make contrary.
Axle governor motion 1-3, concrete knot are replaced for the wheel shaft in described wheel shaft alternate mechanisms 1
Structure and annexation be:
Wheel shaft replaces head end and the connection of front axle L bracket 1-1e of main shaft 1-3a, and wheel shaft is the most main
It is provided with alignment pin 1-3a1 on axle 1-3a, wheel shaft alternately countershaft 1-3b is provided with aperture supporting
Positioning hole 1-3a2, and alignment pin 1-3a1 and location hole 1-3a2 is multiple, effect is: wheel shaft
Alternately main shaft 1-3a can be different with the relative position of location hole 1-3a2 by alignment pin 1-3a1, from
And change and replace countershaft 1-3b distance relation with wheel shaft, and then wheel shaft is made to replace the length of main shaft 1-3a
Degree changes, owing to front axle alternately seat 2-1 and hind axle alternately seat 2-2 is to be replaced by wheel shaft
Main shaft 1-3a links together, and therefore wheel shaft replaces the difference of main shaft 1-3a and can change front axle and hand over
Replace the distance of seat 2-2 for seat 2-1 and hind axle, thus change climbing robot and climb or decline
Step size, adapts to different in width, the stair of height then.Meanwhile, main shaft 1-3a is replaced when wheel shaft
In alignment pin 1-3a1 and wheel shaft replace hole, location 1-3a2 in countershaft 1-3b by manual adjustment also
After being combined together, it is necessary to by lock sleeve 1-3c, alignment pin 1-3a1 and location hole 1-3a2 is locked
Together, prevent from staggering and ftractureing so that front axle replaces seat 2-1 and hind axle replaces seat 2-2 and takes off
From.
The most corresponding:
Hind axle transverse axis 1-2f two ends are fixed with hind axle bearing 1-2g, hind axle bearing 1-2g and fix
Being arranged on hind axle bearing block 1-2h, hind axle bearing block 1-2h is fixedly mounted on hind axle alternately
The front side center position of seat 2-2.And it is fixed with hind axle pinion on hind axle transverse axis 1-2f
1-2d；Hind axle drives servomotor 1-2a to be fixed with hind axle reduction box 1-2b, and hind axle slows down
The output shaft of case 1-2b is provided with hind axle and drives servomotor master gear 1-2c, and hind axle drives
Servomotor 1-2a is fixed on hind axle and replaces on seat 2-2, and hind axle drives servomotor master gear
1-2c and the engagement of hind axle pinion 1-2d just mechanical gear.Effect is: hind axle drives servo
Motor 1-2a rotates, and drives hind axle reduction box 1-2b, thus drives hind axle to drive servomotor
Master gear 1-2c, by gear engagement, hind axle pinion 1-2d rotates, and then hind axle
Transverse axis 1-2f rotates.Owing to the two ends of hind axle transverse axis 1-2f are by hind axle L bracket 1-2e
Replace the wheel shaft in axle governor motion 1-3 with wheel shaft and replace the head end connection of countershaft 1-3b, so that
Drive wheel shaft to replace countershaft 1-3b to swing.Final effect is: owing to hind axle replaces in seat 2-2
Mechanically and electrically structure drives wheel shaft to replace main shaft 1-3a swing, then a whole set of front axle can be driven to replace seat
2-1 swings, and eventually makes front axle replace seat 2-1 opposing rear wheels axle and replaces seat 2-2 and with trailing wheel
On front side of axle alternately seat 2-2, central point is the center of circle, the actual range replacing main shaft 1-3a with current wheel shaft
Do the circular motion of certain angle for the center of circle, hand over so that front axle replaces seat 2-1 opposing rear wheels axle
The displacement movement to the back lower place is produced, it is achieved simulated action downstairs for seat 2-2；When upstairs, dynamic
Make contrary.
Further, replace seat 2-1 due to front axle and hind axle replaces seat 2-2 and needs to hand over continuously
Temporary substitute is made, but both need continual electric energy, therefore replace seat 2-1 and trailing wheel at front axle
Axle alternately seat 2-2 is separately installed with front axle lithium battery 4-1 and hind axle lithium battery 4-2.But
When front axle replaces seat 2-1 and hind axle replaces seat 2-2 work, need collaborative work, just can reach
To the purpose alternately climbed, therefore also need to front axle at work and replace seat 2-1 and hind axle replaces seat
2-2 carries out communication cooperative work, so this utility model replaces seat 2-1 and hind axle friendship at front axle
Master controller 3-1 and secondary control device 3-7 also it is separately installed with for seat 2-2；And replace seat at front axle
2-1 and hind axle alternately seat 2-2 be also separately installed with front axle radio receiving transmitting module 3-5, hind axle without
Line transceiver module 3-6.
Further, described master controller 3-1 passes through Serial Port Line and front axle radio receiving transmitting module 3-5
Transmitting signal connects, before described master controller 3-1 and front axle radio receiving transmitting module 3-5 is installed in
Wheel shaft replaces in seat 2-1；Accordingly, described secondary control device 3-7 is wireless by Serial Port Line and hind axle
Transceiver module 3-6 launches signal and connects, described secondary control device 3-7 and hind axle radio receiving transmitting module 3-6
It is installed in hind axle to replace in seat 2-2.
Further, described front axle lithium battery 4-1, hind axle lithium battery 4-2 fixing peace respectively
Be contained in front axle and replace seat 2-1 and hind axle replaces in seat 2-2, and front axle lithium battery 4-1 with
Master controller 3-1, front axle motor servo driver 3-2 and front axle radio receiving transmitting module 3-5 are even
Connect and be its power supply；Hind axle lithium battery 4-2 and secondary control device 3-7, hind axle driven by servomotor
Device 3-3 and hind axle radio receiving transmitting module 3-6 connects and is its power supply.
This utility model overcomes the shortcoming of prior art stair climbing robot being greatly improved and climbs building effect
Rate, in the robot supporting with this utility model mechanical mechanism, downstairs step is specific as follows:
Step one:
When building is climbed by robot: master controller 3-1 launches letter by front axle radio receiving transmitting module 3-5
Number, secondary control device 3-7 launches signal, master controller 3-1 by hind axle radio receiving transmitting module 3-6
After receiving the instruction of this controller 3-7, carry out the instruction that information fusion concurrently makes new advances.
Step 2: master controller 3-1 controls front axle motor servo driver 3-2 and drives front axle to drive
Dynamic servomotor 1-1a rotates, above-mentioned know: front axle drives servomotor 1-1a to be fixed with front-wheel
Axle reduction box 1-1b, the output shaft of front axle reduction box 1-1b is provided with front axle and drives servomotor
Master gear 1-1c, and front axle drives servomotor 1-1a to be fixed on front axle and replace on seat 2-1,
Front axle drives servomotor master gear 1-1c and the engagement of front axle pinion 1-1d just mechanical gear.
Effect is: front axle drives servomotor 1-1a to rotate, and drives front axle reduction box 1-1b, thus
Front axle is driven to drive servomotor master gear 1-1c, by gear engagement, front axle pinion
1-1d rotates, and then front axle transverse axis 1-1f rotates.Owing to the two ends of front axle transverse axis 1-1f are passed through
The wheel shaft that front axle L bracket 1-1e and wheel shaft replace in axle governor motion 1-3 replaces main shaft 1-3a
Head end connect so that drive wheel shaft replace main shaft 1-3a swing.Final effect is: due to
Mechanically and electrically structure in front axle alternately seat 2-1 drives wheel shaft to replace main shaft 1-3a and swings, then can
Drive a whole set of hind axle to replace seat 2-2 to swing, eventually make hind axle replace seat 2-2 opposing front wheels
Axle replace seat 2-1 and with front axle replace seat 2-1 on front side of central point as the center of circle, hand over current wheel shaft
Actual range for main shaft 1-3a is the circular motion that certain angle is done in the center of circle, so that hind axle is handed over
Replace seat 2-1 for seat 2-2 opposing front wheels axle and produce the displacement movement of forward upward, it is achieved climb the mould in building
Plan action.
Step 3: after completing above-mentioned steps, front axle alternately seat 2-1 should be in hind axle and replace seat
At the front upper place of 2-2, now due to the change of relative position so that hind axle replaces this place of seat 2-2
At the front upper place that front axle replaces seat 2-1.Now, master controller 3-1 passes through the wireless receipts of front axle
Sending out module 3-5 and launch signal, secondary control device 3-7 launches letter by hind axle radio receiving transmitting module 3-6
Number, after master controller 3-1 receives the instruction of this controller 3-7, carry out information fusion and concurrently make new advances
Instruction.Then, secondary control device 3-7 controls hind axle motor servo driver 3-3 driving hind axle
Drive servomotor 1-2a to rotate, be above-mentioned know: after hind axle drives servomotor 1-2a to be fixed with
Wheel shaft reduction box 1-2b, the output shaft of hind axle reduction box 1-2b is provided with hind axle and drives servo electricity
Owner gear 1-2c, and hind axle drives servomotor 1-2a to be fixed on hind axle and replace on seat 2-2,
Hind axle drives servomotor master gear 1-2c and the engagement of hind axle pinion 1-2d just mechanical gear.
Effect is: hind axle drives servomotor 1-2a to rotate, and drives hind axle reduction box 1-2b, thus
Hind axle is driven to drive servomotor master gear 1-2c, by gear engagement, hind axle pinion
1-2d rotates, and then hind axle transverse axis 1-2f rotates.Owing to the two ends of hind axle transverse axis 1-2f are passed through
The wheel shaft that hind axle L bracket 1-2e and wheel shaft replace in axle governor motion 1-3 replaces countershaft 1-3b
Head end connect so that drive wheel shaft replace countershaft 1-3b swing.
Final effect is: drive wheel shaft owing to hind axle replaces the mechanically and electrically structure in seat 2-2
Alternately main shaft 1-3a swings, then a whole set of front axle can be driven to replace seat 2-1 and swing, before eventually making
Wheel shaft replaces seat 2-1 opposing rear wheels axle and replaces seat 2-2 and replace central point on front side of seat 2-2 with hind axle
For the center of circle, the circumference that does certain angle with the actual range of current wheel shaft alternately main shaft 1-3a for the center of circle
Motion, so that front axle replaces seat 2-1 opposing rear wheels axle replaces seat 2-2 generation forward upward
Displacement movement, it is achieved climb the simulated action in building.
Step 4: repeat step one, two and three, now robot can realize continuous print and simulates upstairs
Action, so that robot realizes continuous print climbs building.
Step 5: when robot goes downstairs, the opposite action in above-mentioned steps one, two and three is down
Building simulated action, repeats the action in contrary step one, two and three, can realize the company of robot
Continue downstairs, so that robot realizes continuous print downstairs.
The beneficial effects of the utility model are:
(1) this utility model is by using wheel shaft alternate mechanisms, utilizes Principles of Gear Connection, it is achieved that
Front axle alternately seat and hind axle alternately Zuo Liangge mechanism alternately continuously runs, thus simulates machine
Ren Pa building and downstairs action, frame for movement is simple, easily realizes.
(2) this utility model ingenious utilizes wheel shaft to replace main shaft, wheel shaft replaces countershaft and the machine of lock sleeve
Tool structure, it is achieved that wheel shaft replaces the adjustable length of main shaft, manual operation is convenient, easily completes
Robot is applicable to different stairway width, the occasion of height, and practical ranges is wide.
(3) this utility model utilizes wireless sending module, by the collaborative work of primary and secondary controller,
Achieve front axle and replace seat and hind axle replaces the cooperating of seat so that robot climb building and under
The coordination in building, efficiently, has played pivotal role for improving machine task efficiency.
Accompanying drawing explanation
Accompanying drawing 1 is the overall structure schematic diagram of this utility model intelligence wheel shaft alternative expression climbing robot.
Accompanying drawing 2 is the main TV structure schematic diagram of this utility model intelligence wheel shaft alternative expression climbing robot.
Accompanying drawing 3 is that the front axle of this utility model intelligence wheel shaft alternative expression climbing robot replaces the upper of seat
End cap open after plan structure schematic diagram.
Accompanying drawing 4 be the front axle of this utility model intelligence wheel shaft alternative expression climbing robot replace seat and after
The upper end cover of wheel shaft alternately seat all open after plan structure schematic diagram.
Accompanying drawing 5 is the perspective view of this utility model intelligence wheel shaft alternative expression climbing robot.
What accompanying drawing 6 was this utility model intelligence wheel shaft alternative expression climbing robot looks up structural representation.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, to the skill in this utility model embodiment
Art scheme is clearly and completely described, it is clear that described embodiment is only this utility model
A part of embodiment rather than whole embodiments.Based on the embodiment in this utility model, ability
The every other embodiment that territory those of ordinary skill is obtained under not making creative work premise,
Broadly fall into the scope of this utility model protection.
Below in conjunction with accompanying drawing, the utility model is described in more detail.
Embodiment 1.
As illustrated in fig. 1 and 2.A kind of intelligence wheel shaft alternative expression climbing robot, including: wheel shaft is alternately
Mechanism 1, alternately seat 2, control system 3, power supply 4.
Embodiment 2.
As shown in Figure 2.Described wheel shaft alternate mechanisms 1 includes: front axle drive mechanism 1-1, trailing wheel
Axle drive mechanism 1-2, wheel shaft replace axle governor motion 1-3,
Embodiment 3.
As shown in Figure 2,3, 4.Described alternately seat 2 includes: front axle replaces seat 2-1, hind axle
Alternately seat 2-2,
Described control system 3 includes: master controller 3-1, front axle motor servo driver 3-2, after
Wheel shaft motor servo driver 3-3, wheel shaft replace axle motor servo driver 3-4, front axle is wireless receipts
Send out module 3-5, hind axle radio receiving transmitting module 3-6, secondary control device 3-7.
Embodiment 4.
As shown in figures 1 to 6.Further, the front axle drive mechanism in described wheel shaft alternate mechanisms 1
1-1 includes: front axle drives servomotor 1-1a, front axle reduction box 1-1b, and front axle drives and watches
Take motor master gear 1-1c, front axle pinion 1-1d, front axle L bracket 1-1e, front axle
Transverse axis 1-1f, front axle bearing 1-1g, front axle bearing block 1-1h；
Accordingly, hind axle drive mechanism 1-2 in described wheel shaft alternate mechanisms 1 includes: hind axle
Driving servomotor 1-2a, hind axle reduction box 1-2b, hind axle drives servomotor master gear 1-2c,
Hind axle pinion 1-2d, hind axle L bracket 1-2e, hind axle transverse axis 1-2f, hind axle axle
Hold 1-2g, hind axle bearing block 1-2h；
Wheel shaft in described wheel shaft alternate mechanisms 1 alternately axle governor motion 1-3 includes: wheel shaft is the most main
Axle 1-3a, wheel shaft replaces countershaft 1-3b, lock sleeve 1-3c.
Specifically connect and the relation that cooperates be:
Front axle drive mechanism 1-1 in described wheel shaft alternate mechanisms 1 and hind axle drive mechanism 1-2
Replace axle governor motion 1-3 by wheel shaft to connect, and wheel shaft alternately axle governor motion 1-3 be two sets,
In the past the left and right sides of axle driving mechanism 1-1 respectively with the left and right sides of hind axle drive mechanism 1-2
Connect.
Concrete is:
Front axle transverse axis 1-1f two ends are fixed with front axle bearing 1-1g, front axle bearing 1-1g and fix
Being arranged on front axle bearing block 1-1h, front axle bearing block 1-1h is fixedly mounted on front axle alternately
The front side center position of seat 2-1.And it is fixed with front axle pinion on front axle transverse axis 1-1f
1-1d；Front axle drives servomotor 1-1a to be fixed with front axle reduction box 1-1b, and front axle slows down
The output shaft of case 1-1b is provided with front axle and drives servomotor master gear 1-1c, and front axle drives
Servomotor 1-1a is fixed on front axle and replaces on seat 2-1, and front axle drives servomotor master gear
1-1c and the engagement of front axle pinion 1-1d just mechanical gear.Effect is: front axle drives servo
Motor 1-1a rotates, and drives front axle reduction box 1-1b, thus drives front axle to drive servomotor
Master gear 1-1c, by gear engagement, front axle pinion 1-1d rotates, and then front axle
Transverse axis 1-1f rotates.Owing to the two ends of front axle transverse axis 1-1f are by front axle L bracket 1-1e
Replace the wheel shaft in axle governor motion 1-3 with wheel shaft and replace the head end connection of main shaft 1-3a, so that
Drive wheel shaft to replace main shaft 1-3a to swing.Final effect is: owing to front axle replaces in seat 2-1
Mechanically and electrically structure drives wheel shaft to replace main shaft 1-3a swing, then a whole set of hind axle can be driven to replace seat
2-2 swings, and eventually makes hind axle replace seat 2-2 opposing front wheels axle and replaces seat 2-1 and with front-wheel
On front side of axle alternately seat 2-1, central point is the center of circle, the actual range replacing main shaft 1-3a with current wheel shaft
Do the circular motion of certain angle for the center of circle, hand over so that hind axle replaces seat 2-2 opposing front wheels axle
The displacement movement of forward upward is produced, it is achieved climb the simulated action in building for seat 2-1；When downstairs, dynamic
Make contrary.
Axle governor motion 1-3, concrete knot are replaced for the wheel shaft in described wheel shaft alternate mechanisms 1
Structure and annexation be:
Wheel shaft replaces head end and the connection of front axle L bracket 1-1e of main shaft 1-3a, and wheel shaft is the most main
It is provided with alignment pin 1-3a1 on axle 1-3a, wheel shaft alternately countershaft 1-3b is provided with aperture supporting
Positioning hole 1-3a2, and alignment pin 1-3a1 and location hole 1-3a2 is multiple, effect is: wheel shaft
Alternately main shaft 1-3a can be different with the relative position of location hole 1-3a2 by alignment pin 1-3a1, from
And change and replace countershaft 1-3b distance relation with wheel shaft, and then wheel shaft is made to replace the length of main shaft 1-3a
Degree changes, owing to front axle alternately seat 2-1 and hind axle alternately seat 2-2 is to be replaced by wheel shaft
Main shaft 1-3a links together, and therefore wheel shaft replaces the difference of main shaft 1-3a and can change front axle and hand over
Replace the distance of seat 2-2 for seat 2-1 and hind axle, thus change climbing robot and climb or decline
Step size, adapts to different in width, the stair of height then.Meanwhile, main shaft 1-3a is replaced when wheel shaft
In alignment pin 1-3a1 and wheel shaft replace hole, location 1-3a2 in countershaft 1-3b by manual adjustment also
After being combined together, it is necessary to by lock sleeve 1-3c, alignment pin 1-3a1 and location hole 1-3a2 is locked
Together, prevent from staggering and ftractureing so that front axle replaces seat 2-1 and hind axle replaces seat 2-2 and takes off
From.
The most corresponding:
Hind axle transverse axis 1-2f two ends are fixed with hind axle bearing 1-2g, hind axle bearing 1-2g and fix
Being arranged on hind axle bearing block 1-2h, hind axle bearing block 1-2h is fixedly mounted on hind axle alternately
The front side center position of seat 2-2.And it is fixed with hind axle pinion on hind axle transverse axis 1-2f
1-2d；Hind axle drives servomotor 1-2a to be fixed with hind axle reduction box 1-2b, and hind axle slows down
The output shaft of case 1-2b is provided with hind axle and drives servomotor master gear 1-2c, and hind axle drives
Servomotor 1-2a is fixed on hind axle and replaces on seat 2-2, and hind axle drives servomotor master gear
1-2c and the engagement of hind axle pinion 1-2d just mechanical gear.Effect is: hind axle drives servo
Motor 1-2a rotates, and drives hind axle reduction box 1-2b, thus drives hind axle to drive servomotor
Master gear 1-2c, by gear engagement, hind axle pinion 1-2d rotates, and then hind axle
Transverse axis 1-2f rotates.Owing to the two ends of hind axle transverse axis 1-2f are by hind axle L bracket 1-2e
Replace the wheel shaft in axle governor motion 1-3 with wheel shaft and replace the head end connection of countershaft 1-3b, so that
Drive wheel shaft to replace countershaft 1-3b to swing.Final effect is: owing to hind axle replaces in seat 2-2
Mechanically and electrically structure drives wheel shaft to replace main shaft 1-3a swing, then a whole set of front axle can be driven to replace seat
2-1 swings, and eventually makes front axle replace seat 2-1 opposing rear wheels axle and replaces seat 2-2 and with trailing wheel
On front side of axle alternately seat 2-2, central point is the center of circle, the actual range replacing main shaft 1-3a with current wheel shaft
Do the circular motion of certain angle for the center of circle, hand over so that front axle replaces seat 2-1 opposing rear wheels axle
The displacement movement to the back lower place is produced, it is achieved simulated action downstairs for seat 2-2；When upstairs, dynamic
Make contrary.
Further, replace seat 2-1 due to front axle and hind axle replaces seat 2-2 and needs to hand over continuously
Temporary substitute is made, but both need continual electric energy, therefore replace seat 2-1 and trailing wheel at front axle
Axle alternately seat 2-2 is separately installed with front axle lithium battery 4-1 and hind axle lithium battery 4-2.But
When front axle replaces seat 2-1 and hind axle replaces seat 2-2 work, need collaborative work, just can reach
To the purpose alternately climbed, therefore also need to front axle at work and replace seat 2-1 and hind axle replaces seat
2-2 carries out communication cooperative work, so this utility model replaces seat 2-1 and hind axle friendship at front axle
Master controller 3-1 and secondary control device 3-7 also it is separately installed with for seat 2-2；And replace seat at front axle
2-1 and hind axle alternately seat 2-2 be also separately installed with front axle radio receiving transmitting module 3-5, hind axle without
Line transceiver module 3-6.
Further, described master controller 3-1 passes through Serial Port Line and front axle radio receiving transmitting module 3-5
Transmitting signal connects, before described master controller 3-1 and front axle radio receiving transmitting module 3-5 is installed in
Wheel shaft replaces in seat 2-1；Accordingly, described secondary control device 3-7 is wireless by Serial Port Line and hind axle
Transceiver module 3-6 launches signal and connects, described secondary control device 3-7 and hind axle radio receiving transmitting module 3-6
It is installed in hind axle to replace in seat 2-2.
Embodiment 5.
In robot of the present utility model, downstairs step is:
Step one: when building is climbed by robot: master controller 3-1 passes through front axle radio receiving transmitting module 3-5
Launching signal, secondary control device 3-7 launches signal, main control by hind axle radio receiving transmitting module 3-6
After device 3-1 receives the instruction of this controller 3-7, carry out the instruction that information fusion concurrently makes new advances.
Step 2: master controller 3-1 controls front axle motor servo driver 3-2 and drives front axle to drive
Dynamic servomotor 1-1a rotates, above-mentioned know: front axle drives servomotor 1-1a to be fixed with front-wheel
Axle reduction box 1-1b, the output shaft of front axle reduction box 1-1b is provided with front axle and drives servomotor
Master gear 1-1c, and front axle drives servomotor 1-1a to be fixed on front axle and replace on seat 2-1,
Front axle drives servomotor master gear 1-1c and the engagement of front axle pinion 1-1d just mechanical gear.
Effect is: front axle drives servomotor 1-1a to rotate, and drives front axle reduction box 1-1b, thus
Front axle is driven to drive servomotor master gear 1-1c, by gear engagement, front axle pinion
1-1d rotates, and then front axle transverse axis 1-1f rotates.Owing to the two ends of front axle transverse axis 1-1f are passed through
The wheel shaft that front axle L bracket 1-1e and wheel shaft replace in axle governor motion 1-3 replaces main shaft 1-3a
Head end connect so that drive wheel shaft replace main shaft 1-3a swing.Final effect is: due to
Mechanically and electrically structure in front axle alternately seat 2-1 drives wheel shaft to replace main shaft 1-3a and swings, then can
Drive a whole set of hind axle to replace seat 2-2 to swing, eventually make hind axle replace seat 2-2 opposing front wheels
Axle replace seat 2-1 and with front axle replace seat 2-1 on front side of central point as the center of circle, hand over current wheel shaft
Actual range for main shaft 1-3a is the circular motion that certain angle is done in the center of circle, so that hind axle is handed over
Replace seat 2-1 for seat 2-2 opposing front wheels axle and produce the displacement movement of forward upward, it is achieved climb the mould in building
Plan action.
Step 3: after completing above-mentioned steps, front axle alternately seat 2-1 should be in hind axle and replace seat
At the front upper place of 2-2, now due to the change of relative position so that hind axle replaces this place of seat 2-2
At the front upper place that front axle replaces seat 2-1.Now, master controller 3-1 passes through the wireless receipts of front axle
Sending out module 3-5 and launch signal, secondary control device 3-7 launches letter by hind axle radio receiving transmitting module 3-6
Number, after master controller 3-1 receives the instruction of this controller 3-7, carry out information fusion and concurrently make new advances
Instruction.Then, secondary control device 3-7 controls hind axle motor servo driver 3-3 driving hind axle
Drive servomotor 1-2a to rotate, be above-mentioned know: after hind axle drives servomotor 1-2a to be fixed with
Wheel shaft reduction box 1-2b, the output shaft of hind axle reduction box 1-2b is provided with hind axle and drives servo electricity
Owner gear 1-2c, and hind axle drives servomotor 1-2a to be fixed on hind axle and replace on seat 2-2,
Hind axle drives servomotor master gear 1-2c and the engagement of hind axle pinion 1-2d just mechanical gear.
Effect is: hind axle drives servomotor 1-2a to rotate, and drives hind axle reduction box 1-2b, thus
Hind axle is driven to drive servomotor master gear 1-2c, by gear engagement, hind axle pinion
1-2d rotates, and then hind axle transverse axis 1-2f rotates.Owing to the two ends of hind axle transverse axis 1-2f are passed through
The wheel shaft that hind axle L bracket 1-2e and wheel shaft replace in axle governor motion 1-3 replaces countershaft 1-3b
Head end connect so that drive wheel shaft replace countershaft 1-3b swing.
Final effect is: drive wheel shaft owing to hind axle replaces the mechanically and electrically structure in seat 2-2
Alternately main shaft 1-3a swings, then a whole set of front axle can be driven to replace seat 2-1 and swing, before eventually making
Wheel shaft replaces seat 2-1 opposing rear wheels axle and replaces seat 2-2 and replace central point on front side of seat 2-2 with hind axle
For the center of circle, the circumference that does certain angle with the actual range of current wheel shaft alternately main shaft 1-3a for the center of circle
Motion, so that front axle replaces seat 2-1 opposing rear wheels axle replaces seat 2-2 generation forward upward
Displacement movement, it is achieved climb the simulated action in building.
Step 4: repeat step one, two and three, now robot can realize continuous print and simulates upstairs
Action, so that robot realizes continuous print climbs building.
Embodiment 6.
As shown in the figure.
When robot goes downstairs: it is dynamic that the opposite action in above-mentioned steps one, two and three is simulation downstairs
Make, repeat the action in contrary step one, two and three, going downstairs continuously of robot can be realized,
So that robot realizes continuous print downstairs.
The foregoing is only preferred embodiment of the present utility model, not new in order to limit this practicality
Type, all within spirit of the present utility model and principle, any amendment, the equivalent made, change
Enter, within should be included in protection domain of the present utility model.
Claims (8)
1. an intelligent wheel shaft alternative expression climbing robot, it is characterised in that: include wheel shaft alternate mechanisms,
Alternately seat, control system, power supply, described wheel shaft alternate mechanisms, alternately seat, control system, power supply
Be connected to each other, described wheel shaft alternate mechanisms include front axle drive mechanism, hind axle drive mechanism,
Wheel shaft replaces axle governor motion, and described front axle drive mechanism includes that front axle drives servomotor, front
Wheel shaft reduction box, front axle drive servomotor master gear, front axle pinion, front axle L-shaped to prop up
Frame, front axle transverse axis, front axle bearing, front axle bearing block, described hind axle drive mechanism includes
Hind axle drives servomotor, hind axle reduction box, hind axle to drive servomotor master gear, trailing wheel
Axle pinion, hind axle L bracket, hind axle transverse axis, hind axle bearing, hind axle bearing block,
Described wheel shaft alternately axle governor motion includes that wheel shaft replaces main shaft, wheel shaft replaces countershaft, lock sleeve.
2. a kind of intelligence wheel shaft alternative expression climbing robot as claimed in claim 1, it is characterised in that:
Front axle drive mechanism and hind axle drive mechanism in described wheel shaft alternate mechanisms replace axle by wheel shaft
Governor motion connects, and wheel shaft alternately axle governor motion is two sets, the left and right of axle driving mechanism in the past
Both sides connect with the left and right sides of hind axle drive mechanism respectively, and front axle transverse axis two ends are fixed with front-wheel
Axle bearing, front axle bearing is fixedly mounted on front axle bearing block, and front axle bearing block fixedly mounts
Replace the front side center position of seat at front axle, and on front axle transverse axis, be fixed with front axle pinion；
Front axle drives servomotor to be fixed with front axle reduction box, and the output shaft of front axle reduction box is provided with
Front axle drives servomotor master gear, and front axle driving servomotor is fixed on front axle and replaces seat
On, front axle drives servomotor master gear and the engagement of front axle pinion just mechanical gear.
3. a kind of intelligence wheel shaft alternative expression climbing robot as claimed in claim 2, it is characterised in that:
The two ends of front axle transverse axis replace the wheel shaft in axle governor motion by front axle L bracket and wheel shaft and hand over
Head end for main shaft connects, so that drive wheel shaft to replace spindle swing.
4. a kind of intelligence wheel shaft alternative expression climbing robot as claimed in claim 1, it is characterised in that:
Hind axle transverse axis two ends are fixed with hind axle bearing, and hind axle bearing is fixedly mounted on hind axle bearing block
On, hind axle bearing block is fixedly mounted on hind axle and replaces the front side center position of seat；And hind axle
Being fixed with hind axle pinion on transverse axis, hind axle drives servomotor to be fixed with hind axle reduction box,
The output shaft of hind axle reduction box is provided with hind axle and drives servomotor master gear, and hind axle drives
Servomotor is fixed on hind axle and replaces on seat, and hind axle drives servomotor master gear and hind axle secondary
Gear just mechanical gear engages.
5. a kind of intelligence wheel shaft alternative expression climbing robot as claimed in claim 4, it is characterised in that:
The two ends of hind axle transverse axis replace the wheel shaft in axle governor motion by hind axle L bracket and wheel shaft and hand over
Head end for countershaft connects, and swings so that drive wheel shaft to replace countershaft.
6. a kind of intelligence wheel shaft alternative expression climbing robot as claimed in claim 5, it is characterised in that:
Wheel shaft replaces head end and the connection of front axle L bracket of main shaft, and wheel shaft alternately main shaft is provided with location
Pin, wheel shaft alternately countershaft is provided with the hole, location that aperture is supporting, and alignment pin and location Kong Douwei many
Individual.
7. a kind of intelligence wheel shaft alternative expression climbing robot as claimed in claim 1, it is characterised in that:
Front axle drives servomotor to be fixed with front axle reduction box, and the output shaft of front axle reduction box is provided with
Front axle drives servomotor master gear, and front axle driving servomotor is fixed on front axle and replaces seat
On, front axle drives servomotor master gear and the engagement of front axle pinion just mechanical gear.
8. a kind of intelligence wheel shaft alternative expression climbing robot as claimed in claim 1, it is characterised in that:
Hind axle drives servomotor to be fixed with hind axle reduction box, and the output shaft of hind axle reduction box is provided with
Hind axle drives servomotor master gear, and hind axle driving servomotor is fixed on hind axle and replaces seat
On, hind axle drives servomotor master gear and the engagement of hind axle pinion just mechanical gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620301821.3U CN205499107U (en) | 2016-04-12 | 2016-04-12 | Intelligence shaft alternating robot that climbs |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620301821.3U CN205499107U (en) | 2016-04-12 | 2016-04-12 | Intelligence shaft alternating robot that climbs |
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| CN205499107U true CN205499107U (en) | 2016-08-24 |
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ID=56737544
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896356A (en) * | 2021-04-21 | 2021-06-04 | 衡昇科技有限公司 | Controllable wall climbing adsorption device of magnetic force constructs and wall climbing robot |
-
2016
- 2016-04-12 CN CN201620301821.3U patent/CN205499107U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112896356A (en) * | 2021-04-21 | 2021-06-04 | 衡昇科技有限公司 | Controllable wall climbing adsorption device of magnetic force constructs and wall climbing robot |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Bao Mingsong Inventor after: Guo Tingting Inventor after: Li Xibin Inventor after: Liu Wentao Inventor after: Zheng An Inventor after: Bao Wei Inventor after: Zhang Haowen Inventor after: Li Juan Inventor after: Chi Ronghu Inventor before: Bao Mingsong Inventor before: Guo Tingting Inventor before: Bao Wei Inventor before: Zhang Haowen |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20180420 Address after: 264006 Yantai economic and Technological Development Zone, Shandong, No. 18 Hongkong Road Patentee after: SHANDONG ATU ROBOT TECHNOLOGY CO.,LTD. Address before: 264000 Hongkong Road, Yantai Development Zone, Shandong Province, No. 18 Patentee before: SHANDONG GUOXING SMARTECH Co.,Ltd. |
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| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220706 Address after: 264006 No. 18 Hong Kong Road, Yantai Economic and Technological Development Zone, Shandong Province Patentee after: SHANDONG ATU ROBOT TECHNOLOGY CO.,LTD. Patentee after: Shandong Guoxing Robot Joint Research Institute Co., Ltd Address before: 264006 No. 18 Hong Kong Road, Yantai Economic and Technological Development Zone, Shandong Province Patentee before: SHANDONG ATU ROBOT TECHNOLOGY CO.,LTD. |