CN205524551U - Perpendicular climbing robot - Google Patents
Perpendicular climbing robot Download PDFInfo
- Publication number
- CN205524551U CN205524551U CN201620250256.2U CN201620250256U CN205524551U CN 205524551 U CN205524551 U CN 205524551U CN 201620250256 U CN201620250256 U CN 201620250256U CN 205524551 U CN205524551 U CN 205524551U
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- China
- Prior art keywords
- steering wheel
- underarm
- electric magnet
- arm
- seat
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Abstract
The utility model discloses a perpendicular climbing robot, including the controller seat, controller seat upper portion is provided with the control mainboard, controller seat lower part is provided with a set of base electro -magnet, controller seat and the cooperation of a set of steering wheel subassembly, the controller seat passes through steering wheel subassembly and a set of upper arm swing joint, the upper arm passes through steering wheel subassembly and well arm swing joint, well arm passes through steering wheel subassembly and underarm swing joint, the upper arm with all be provided with the group battery on the well arm, be provided with a set of underarm electro -magnet on the underarm, the base electro -magnet with all be provided with the silica gel layer on the underarm electro -magnet. This perpendicular climbing robot enclosure component all adopts the aluminium gold to belong to and makes, has lightened whole quality when having guaranteed intensity, through arduino mainboard control action state, possesses the bionical mode of creeping of spider, surrounding type thick pillar mode, three kinds of move modes of silkworm type removal mode, can satisfy the requirement of different occasions to the climbing function.
Description
Technical field
This utility model relates to robot field, is specially a kind of vertical climbing robot.
Background technology
In recent years, robot is obtained in all trades and professions and is widely applied and develops, its abundant function, succinct operation and life and research that efficient work is people bring great convenience and affect, wherein vertical climbing robot is as the robot apparatus of limit operation, gradually being subject to people's attention, the most vertical climbing robot is applied in fields such as nuclear industry, petrochemical industry, building industry, fire department, shipbuilding industry.
Up to now, the research about vertical climbing robot at home and abroad has successful example, and theory and technology also reaches its maturity.But due to the restriction of some factors, traditional vertical climbing robot also has the weak point of many, as higher to the requirement of absorption wall, adaptability is poor, power supply energy is difficult to overcome the contradiction etc. of electricity and device volume weight.Accordingly, it would be desirable to the defect for the most designed vertical climbing robot makes improvements so that it is existing shortcoming can be overcome, preferably complete to climb work.
Utility model content
The purpose of this utility model is to provide a kind of vertical climbing robot, with the problem solving to propose in above-mentioned background technology.
For achieving the above object, this utility model following technical scheme of offer: a kind of vertical climbing robot, including controller seat, described controller seat top is provided with control mainboard, described controller seat bottom is provided with one group of pedestal electric magnet, described controller seat and one group of steering wheel assembly coordinate, described controller seat is flexibly connected by steering wheel assembly and one group of upper arm, described upper arm is flexibly connected with middle arm by steering wheel assembly, described middle arm is flexibly connected with underarm by steering wheel assembly, it is provided with set of cells on described upper arm and described middle arm, one group of underarm electric magnet it is provided with on described underarm, it is provided with layer of silica gel on described pedestal electric magnet and described underarm electric magnet.
Preferably, on described upper arm arrange set of cells and described middle arm on arrange set of cells series connection, described control mainboard, described pedestal electric magnet, described underarm electric magnet all with connect after set of cells electrically connect.
Preferably, described steering wheel assembly includes that transverse axis steering wheel and vertical pivot steering wheel, described transverse axis steering wheel and described vertical pivot steering wheel are provided with output shaft, and described steering wheel assembly is connected with described upper arm, described middle arm, described underarm or described controller seat by described output shaft.
Preferably, described upper arm and described middle arm are link arm part, and described link arm part is provided with described set of cells, described link arm part one end is provided with transverse axis seat, the described link arm part other end is provided with vertical pivot seat, and described transverse axis seat coordinates with described transverse axis steering wheel, and described vertical pivot seat coordinates with described vertical pivot steering wheel.
Preferably, described control mainboard uses Arduino mainboard.
nullCompared with prior art，The beneficial effects of the utility model are: this vertical climbing robot has four by upper arm、Middle arm、The lower limb of underarm composition，Each upper arm、Middle arm、Underarm has three degree of freedom under the cooperation of steering wheel assembly，The bending fold within 120 degree and the swing of 120 degree, left and right can be realized，Pedestal electric magnet and underarm electric magnet can realize a certain degree of absorption，Pedestal electric magnet and underarm electric magnet periphery are provided with a circle layer of silica gel，The frictional force between robot and wall can be increased，It is powered to control mainboard and pedestal electric magnet and underarm electric magnet by the set of cells of series connection when robot runs，The climbing pattern of robot is switched over by controlling mainboard，When using Aranea simulating crawling pattern to climb，Control mainboard and control originally to be in the underarm electric magnet power-off of two forelegs of the state of rolling up，Suction disappears，Then two forelegs forward extend out simultaneously，The underarm electric magnet giving two forelegs after stretching again recovers magnetic force，Now the underarm electric magnet on four lower limbs is respectively provided with magnetic force，Article two, foreleg shrinks as driving part thus pulls whole robot to move up，Article two, back leg is stretched as slave unit and comes，The most again by the underarm electric magnet power-off on two back legs，Back leg shrinks back original position，Again give two back leg energisings，Back leg is adsorbed on wall，So far a climbing step is completed，Then the climbing of robot is realized with being repeatedly performed of this step；When using the climbing of circulating type thick pillar pattern, the underarm electric magnet power-off suction of left front leg disappears, then left front leg lifting, recover the underarm electric magnet magnetic force of left front leg again, then RAT repeats the action of left front leg, after completing this action, left and right foreleg is had an effect simultaneously and controller seat is raised to level, whole robot body moves up, the underarm electric magnet power-off of the most left back lower limb, left back lower limb raises, and then right rear leg repeats left back lower limb action, i.e. completing action of once climbing, the action that repeats to climb realizes the climbing of robot；During silkworm type Move Mode, left and right foreleg is simultaneously, first give the underarm electric magnet power-off of two forward foot in a step, by the effect of steering wheel assembly, two forward foot in a step are lifted and together to extension, now two rear feet maintain static, the underarm electric magnet energising of two forward foot in a step is given after two forward foot in a step of robot are stretched completely, the underarm electric magnet power-off of two rear feet simultaneously, again by steering wheel assembly, two rear feet are lifted and shrink, until stopping when the distance of two rear feet and two forward foot in a step is consistent with initial distance, so underarm electric magnet energising absorption of latter two rear foot, so robot has just moved forward some, the most repeatedly, just electric pole can be climbed；This crust of the device parts all use aluminum metal to make, total quality is alleviated while ensure that intensity, kinestate is controlled by Arduino mainboard, possess Aranea simulating crawling pattern, circulating type thick pillar pattern, three kinds of move modes of silkworm type Move Mode, disclosure satisfy that the different occasion requirement to climbing function, the suitability is the widest.
Accompanying drawing explanation
Fig. 1 is this utility model perspective view.
Fig. 2 is the upward view of Fig. 1.
Fig. 3 is the perspective view of this utility model steering wheel assembly.
Fig. 4 is the perspective view of this utility model link arm part.
In figure: 1, controller seat, 2, control mainboard, 3, pedestal electric magnet, 4, steering wheel assembly, 5, upper arm, 6, middle arm, 7, underarm, 8, set of cells, 9, underarm electric magnet, 10, layer of silica gel, 11, transverse axis steering wheel, 12, vertical pivot steering wheel, 13, output shaft, 14, link arm part, 15, transverse axis seat, 16, vertical pivot seat.
Detailed description of the invention
Below in conjunction with the accompanying drawing in this utility model embodiment, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment is only a part of embodiment of this utility model rather than whole embodiments.Based on the embodiment in this utility model, the every other embodiment that those of ordinary skill in the art are obtained under not making creative work premise, broadly fall into the scope of this utility model protection.
nullRefer to Fig. 1-4，A kind of technical scheme of this utility model offer: a kind of vertical climbing robot，Including controller seat 1，Described controller seat 1 top is provided with control mainboard 2，Described controller seat 1 bottom is provided with one group of pedestal electric magnet 3，Described controller seat 1 coordinates with one group of steering wheel assembly 4，Described controller seat 1 is flexibly connected with one group of upper arm 5 by steering wheel assembly 4，Described upper arm 5 is flexibly connected with middle arm 6 by steering wheel assembly 4，Described middle arm 6 is flexibly connected with underarm 7 by steering wheel assembly 4，It is provided with set of cells 8 on described upper arm 5 and described middle arm 6，One group of underarm electric magnet 9 it is provided with on described underarm 7，It is provided with layer of silica gel 10 on described pedestal electric magnet 3 and described underarm electric magnet 9，The set of cells 8 arranged in the set of cells 8 arranged on described upper arm 5 and described middle arm 6 is connected，Described control mainboard 2、Described pedestal electric magnet 3、Described underarm electric magnet 9 all with connect after set of cells 8 electrically connect，Described steering wheel assembly 4 includes transverse axis steering wheel 11 and vertical pivot steering wheel 12，Described transverse axis steering wheel 11 and described vertical pivot steering wheel 12 are provided with output shaft 13，Described steering wheel assembly 4 is by described output shaft 13 and described upper arm 5、Described middle arm 6、Described underarm 7 or described controller seat 1 connect，Described upper arm 5 and described middle arm 6 are link arm part 14，Described set of cells 8 it is provided with on described link arm part 14，Described link arm part 14 one end is provided with transverse axis seat 15，Described link arm part 14 other end is provided with vertical pivot seat 16，Described transverse axis seat 15 coordinates with described transverse axis steering wheel 11，Described vertical pivot seat 16 coordinates with described vertical pivot steering wheel 12，Described control mainboard 2 uses Arduino mainboard.
nullOperation principle: this vertical climbing robot has four by upper arm 5、Middle arm 6、The lower limb of underarm 7 composition，Each upper arm 5、Middle arm 6、Underarm 7 has three degree of freedom under the cooperation of steering wheel assembly 4，The bending fold within 120 degree and the swing of 120 degree, left and right can be realized，Pedestal electric magnet 3 and underarm electric magnet 9 can realize a certain degree of absorption，Pedestal electric magnet 3 and underarm electric magnet 9 periphery are provided with a circle layer of silica gel 10，The frictional force between robot and wall can be increased，It is powered to control mainboard 2 and pedestal electric magnet 3 and underarm electric magnet 9 by the set of cells 8 of series connection when robot runs，The climbing pattern of robot is switched over by controlling mainboard 2，When using Aranea simulating crawling pattern to climb，Control mainboard 2 and control originally to be in underarm electric magnet 9 power-off of two forelegs of the state of rolling up，Suction disappears，Then two forelegs forward extend out simultaneously，Recover magnetic force to again after stretching the underarm electric magnet 9 of two forelegs，Now the underarm electric magnet 9 on four lower limbs is respectively provided with magnetic force，Article two, foreleg shrinks as driving part thus pulls whole robot to move up，Article two, back leg is stretched as slave unit and comes，The most again by underarm electric magnet 9 power-off on two back legs，Back leg shrinks back original position，Again give two back leg energisings，Back leg is adsorbed on wall，So far a climbing step is completed，Then the climbing of robot is realized with being repeatedly performed of this step；When using the climbing of circulating type thick pillar pattern, the underarm electric magnet 9 power-off suction of left front leg disappears, then left front leg lifting, recover underarm electric magnet 9 magnetic force of left front leg again, then RAT repeats the action of left front leg, after completing this action, left and right foreleg is had an effect simultaneously and controller seat 1 is raised to level, whole robot body moves up, underarm electric magnet 9 power-off of the most left back lower limb, left back lower limb raises, and then right rear leg repeats left back lower limb action, i.e. completing action of once climbing, the action that repeats to climb realizes the climbing of robot；During silkworm type Move Mode, left and right foreleg is simultaneously, first give underarm electric magnet 9 power-off of two forward foot in a step, by the effect of steering wheel assembly 4, two forward foot in a step are lifted and together to extension, now two rear feet maintain static, it is energized to after two forward foot in a step of robot are stretched completely the underarm electric magnet 9 of two forward foot in a step, underarm electric magnet 9 power-off of two rear feet simultaneously, again by steering wheel assembly 4, two rear feet are lifted and shrink, until stopping when the distance of two rear feet and two forward foot in a step is consistent with initial distance, so underarm electric magnet 9 energising absorption of latter two rear foot, so robot has just moved forward some, the most repeatedly, just electric pole can be climbed.
Embodiment the most of the present utility model, for the ordinary skill in the art, being appreciated that in the case of without departing from principle of the present utility model and spirit and these embodiments can carry out multiple change, revise, replace and modification, scope of the present utility model is defined by the appended claims and the equivalents thereof.
Claims (5)
- null1. a vertical climbing robot，Including controller seat (1)，It is characterized in that: described controller seat (1) top is provided with control mainboard (2)，Described controller seat (1) bottom is provided with one group of pedestal electric magnet (3)，Described controller seat (1) coordinates with one group of steering wheel assembly (4)，Described controller seat (1) is flexibly connected with one group of upper arm (5) by steering wheel assembly (4)，Described upper arm (5) is flexibly connected with middle arm (6) by steering wheel assembly (4)，Described middle arm (6) is flexibly connected with underarm (7) by steering wheel assembly (4)，It is provided with set of cells (8) on described upper arm (5) and described middle arm (6)，One group of underarm electric magnet (9) it is provided with on described underarm (7)，It is provided with layer of silica gel (10) on described pedestal electric magnet (3) and described underarm electric magnet (9).
- The vertical climbing robot of one the most according to claim 1, it is characterized in that: the upper set of cells (8) arranged of described upper arm (5) and upper set of cells (8) series connection arranged of described middle arm (6), described control mainboard (2), described pedestal electric magnet (3), described underarm electric magnet (9) all with connect after set of cells (8) electrically connect.
- The vertical climbing robot of one the most according to claim 1, it is characterized in that: described steering wheel assembly (4) includes transverse axis steering wheel (11) and vertical pivot steering wheel (12), described transverse axis steering wheel (11) and described vertical pivot steering wheel (12) are provided with output shaft (13), and described steering wheel assembly (4) is connected with described upper arm (5), described middle arm (6), described underarm (7) or described controller seat (1) by described output shaft (13).
- The vertical climbing robot of one the most according to claim 3, it is characterized in that: described upper arm (5) and described middle arm (6) are link arm part (14), it is provided with described set of cells (8) on described link arm part (14), described link arm part (14) one end is provided with transverse axis seat (15), described link arm part (14) other end is provided with vertical pivot seat (16), described transverse axis seat (15) coordinates with described transverse axis steering wheel (11), and described vertical pivot seat (16) coordinates with described vertical pivot steering wheel (12).
- The vertical climbing robot of one the most according to claim 1, it is characterised in that: described control mainboard (2) uses Arduino mainboard.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620250256.2U CN205524551U (en) | 2016-03-29 | 2016-03-29 | Perpendicular climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620250256.2U CN205524551U (en) | 2016-03-29 | 2016-03-29 | Perpendicular climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205524551U true CN205524551U (en) | 2016-08-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620250256.2U Expired - Fee Related CN205524551U (en) | 2016-03-29 | 2016-03-29 | Perpendicular climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205524551U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600408A (en) * | 2017-09-21 | 2018-01-19 | 吉林大学 | A kind of magnetic-type flexible wing mechanism for foldable flapping-wing MAV |
| CN108381539A (en) * | 2018-04-20 | 2018-08-10 | 清华大学深圳研究生院 | A kind of soft robot |
| CN109647806A (en) * | 2018-12-11 | 2019-04-19 | 中南大学 | Boiler tubing cleans detection climbing robot |
-
2016
- 2016-03-29 CN CN201620250256.2U patent/CN205524551U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107600408A (en) * | 2017-09-21 | 2018-01-19 | 吉林大学 | A kind of magnetic-type flexible wing mechanism for foldable flapping-wing MAV |
| CN107600408B (en) * | 2017-09-21 | 2023-07-14 | 吉林大学 | Magnetic attraction type foldable wing mechanism for foldable flapping-wing micro air vehicle |
| CN108381539A (en) * | 2018-04-20 | 2018-08-10 | 清华大学深圳研究生院 | A kind of soft robot |
| CN109647806A (en) * | 2018-12-11 | 2019-04-19 | 中南大学 | Boiler tubing cleans detection 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: 20160831 Termination date: 20170329 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |