CN206049845U - A kind of omnidirectional of robot pawl - Google Patents
A kind of omnidirectional of robot pawl Download PDFInfo
- Publication number
- CN206049845U CN206049845U CN201620877985.0U CN201620877985U CN206049845U CN 206049845 U CN206049845 U CN 206049845U CN 201620877985 U CN201620877985 U CN 201620877985U CN 206049845 U CN206049845 U CN 206049845U
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- China
- Prior art keywords
- omnidirectional
- pawl
- state
- claw
- bake
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Abstract
This utility model is related to robotics, refers to more specifically to a kind of omnidirectional of robot pawl, including some claws, and omnidirectional's pawl also includes linear electric motors, fixed support, push pedal, run-bake-needle fault device and connector.The linear electric motors are located in the fixed support, and end is connected with the push pedal；The claw refers to that one end is located at below the push pedal, it is rotatably connected with the fixed support in the middle part of which, the claw refers to and is also associated with spring between the fixed support, the run-bake-needle fault device is located at the other end that the claw refers to, and torsion spring is connected between the crank and pedestal of the run-bake-needle fault device, described connector one end is located on the crank, the other end is located in the push pedal, bourdon tube is arranged with the outside of the connector, described bourdon tube one end is fixed on the pedestal of the run-bake-needle fault device, and the other end is fixed on the fixed support.Omnidirectional's pawl is stable, efficient.
Description
Technical field
This utility model is related to robotics, more specifically to a kind of omnidirectional of robot pawl.
Background technology
With the continuous progress and development of science and technology, the research of climbing robot is no longer limited under two dimensional surface environment
Operation, the robot capable of climbing trees under three dimensions becomes the new study hotspot of robot field.Climbing robot is examined in trees
Survey and safeguard, field is scouted the numerous areas such as operation and all has great using value and potentiality.
Used as the important reptile fashion of robot capable of climbing trees, adhesive mechanism is always a difficult point in the field of creeping.Mainly
Factor is the complexity in two-dimensional manifold tree face ring border, and dry adhesion or wet adhesion etc. are used for climbing robot it is difficult to ensure that creeping
The stability and fastness of random is grabbed by robot, it is difficult to ensures the safety and stability of climbing mechanism, flexible and efficient operate.
Coarse and scrambling for climbing surface, pawl thorn formula adherent fashion show more preferable adaptability.Which
Compare to do and adhere to and wet viscous pair, pawl thorn can be embedded in deeply by climbing surface with needle tip crunch such that it is able to preferably hold
Carry own wt.But in existing apparatus, during climbing claw promptly and open and can not effectively coordinate with run-bake-needle fault action, and run-bake-needle fault is dynamic
Make heavy and consume energy big, easily cause that climbing mechanism pawl thorn can not be extracted in time and generation action is moderate, affect its normal climbing.
Utility model content
Technical problem to be solved in the utility model is to provide the omnidirectional of robot of a kind of safety and stability, Efficient Operation
Pawl.
What this utility model was realized in：
A kind of omnidirectional of robot pawl, including some claws refer to, omnidirectional's pawl also includes linear electric motors, fixed support, pushes away
Plate, run-bake-needle fault device and connector；
The linear electric motors are located in the fixed support, and end is connected with the push pedal；
The claw refers to that one end is located at below the push pedal, is rotatably connected with the fixed support in the middle part of which, the claw
Referring to and spring being also associated with and the fixed support between, when omnidirectional's pawl is in promptly state, the spring is in non-telescoping
State, when omnidirectional's pawl is in open configuration, the spring is in compressive state；
The run-bake-needle fault device is located at the other end that the claw refers to, and connects between the crank and pedestal of the run-bake-needle fault device
There is torsion spring, described connector one end is located on the crank, and the other end is located in the push pedal, is arranged with the outside of the connector
Bourdon tube, described bourdon tube one end are fixed on the pedestal of the run-bake-needle fault device, and the other end is fixed on the fixed support, when
Omnidirectional's pawl in promptly state when, the torsion spring is in non-twisted state, and the bourdon tube is in non-telescoping state, the run-bake-needle fault
In attached state is grabbed, when omnidirectional's pawl is in open configuration, the torsion spring is in twist compression state, the bourdon tube to device
In compressive state, the run-bake-needle fault device is in detachment status.
Further, sleeve is additionally provided with below the fixed support, the sleeve is provided with overhead gage and lower baffle plate, described
Linear electric motors are located in the overhead gage, and the push pedal is located between overhead gage and lower baffle plate, and the claw refers to that one end is located at
Below the sleeve.
Further, the bourdon tube is connected on the sleeve through the fixed support.
Further, shell fragment is connected with the sleeve outer wall and the fixed support inwall, be in grab in omnidirectional's pawl
During tight state, the shell fragment is in non-telescoping state, and in the open-shaped state of omnidirectional's pawl, the shell fragment is in compressive state.
Further, the claw refers to and refers to including the first claw and refer to the second claw, and one end that first claw refers to sets
Below the push pedal, the other end is referred to the fixed support bottom and second claw respectively and is rotatably connected, the run-bake-needle fault
Device is located at the other end that second claw refers to.
Further, first claw refers to that the junction referred to the second claw is also associated with spring, in omnidirectional's pawl
During in promptly state, the spring is in non-telescoping state, and in the open-shaped state of omnidirectional's pawl, the spring is in compression shape
State.
Further, the crank of the run-bake-needle fault device is provided with connecting hole, and the connector is located in the connecting hole.
Further, the fixed support and the sleeve are in cylinder.
Compared with prior art, this utility model has advantages below：
Omnidirectional's pawl only one of which linear electric motors provide driving force, reduce own wt, reduce energy consumption.
When omnidirectional's pawl is from promptly state motion to open configuration, when linear electric motors are moved downward, push pedal is promoted to move downward,
Touch one end that claw refers to and refer to claw and start rotation, open so as to drive claw to refer to, compression spring, because bourdon tube itself
There is the opposite force for keeping original length, after shrinking to a certain extent, connector just drives the crank of run-bake-needle fault device to rotate so that de-
Needle device becomes detachment status, so as to be desorbed climbing surface.
Omnidirectional's pawl from open configuration move to promptly state when, linear electric motors are moved upwards, drive push pedal move upwards, pawl
Son refers to that drive claw refers to promptly in the presence of spring force, while in run-bake-needle fault device, effect of the crank in torsion spring elastic force
Lower rotation so that run-bake-needle fault device becomes to grab attached state, so as to grab attached climbing surface.
Omnidirectional's pawl also ensures that the efficient desorption of needle point while powerful adhesive force is provided, and efficiently solves existing
Have present in climbing mechanism promptly open, grab it is attached be desorbed the problems such as replacing.While omnidirectional's pawl opens, needle point desorption,
While promptly, needle point grabs attached, and activity is flexibly, stable, it is ensured that needle point is not blocked and affects the effect of grasp device
Effect.Under complicated climbing surface, attached climbing surface can be grabbed with security and stability, omnidirectional's pawl energy consumption is low, efficiency high, be easy to
Install and keep in repair.
Description of the drawings
Fig. 1：Omnidirectional's pawl open configuration structural representation in this utility model embodiment；
Fig. 2：In embodiment illustrated in fig. 1, omnidirectional's pawl firmly grasps status architecture schematic diagram.
In figure：1- linear electric motors 2- fixed support 3- push pedal 4- sleeve 41- overhead gage 42- lower baffle plate 5- run-bake-needle faults are filled
Put 6- connector 7- bourdon tube 8- claws and refer to that the first claws of 81- refer to that the second claws of 82- refer to 9- spring 10- shell fragments
Specific embodiment
In order that the purpose of this utility model, technical scheme and advantage become more apparent, below in conjunction with accompanying drawing and enforcement
Example, is further elaborated to this utility model.
As depicted in figs. 1 and 2, it is one preferred embodiment of this utility model, a kind of omnidirectional of robot pawl, including some claws
Refer to 8, omnidirectional's pawl also includes linear electric motors 1, fixed support 2, push pedal 3, run-bake-needle fault device 5 and connector 6.Linear electric motors 1 are located in
In fixed support 2, and end is connected with push pedal 3.Claw refers to that 8 one end are located at below push pedal 3, rotates with fixed support 2 in the middle part of which
Connection, claw refer to spring 9 are also associated between 8 and fixed support 2.When omnidirectional's pawl is in promptly state, spring 9 is in non-telescoping
State, when omnidirectional's pawl is in open configuration, spring 9 is in compressive state.Run-bake-needle fault device 5 refers to 8 other end positioned at claw, and
Torsion spring (not shown) is connected between the crank (not shown) and pedestal (not shown) of run-bake-needle fault device 5.Connection
6 one end of part is located on crank, and the other end is located in push pedal 3.Bourdon tube 7 is arranged with the outside of connector 6,7 one end of bourdon tube is fixed
On the pedestal of run-bake-needle fault device 5, the other end is fixed on fixed support 2.When omnidirectional's pawl is in promptly state, torsion spring is in non-torsion
Turn state, bourdon tube 7 is in non-telescoping state, and run-bake-needle fault device 5 is in grab attached state, when omnidirectional's pawl is in open configuration, at torsion spring
In twist compression state, bourdon tube 7 is in compressive state, and run-bake-needle fault device 5 is in detachment status.
Specifically, connector 6 can adopt steel wire rope.Sleeve 4 is additionally provided with below fixed support 2, sleeve 4 is provided with gear
Plate 41 and lower baffle plate 42.Linear electric motors 1 are located in overhead gage 41, and push pedal 3 is located between overhead gage 41 and lower baffle plate 42.Claw
Refer to that 8 one end are located at below sleeve 4.Bourdon tube 7 is connected on sleeve 4 through fixed support 2.Increase a sleeve 4 and cause mechanism
Operation is more flexible.Shell fragment 10 is connected with 4 outer wall of sleeve and 2 inwall of fixed support.When omnidirectional's pawl is stated in promptly state, shell fragment
10 is in non-telescoping state, and when the open-shaped state of omnidirectional's pawl is stated, shell fragment 10 is in compressive state.
Claw refer to 8 include the first claw refer to 81 and second claw refer to 82.First claw refers to that 81 one end is located under push pedal 3
With 2 bottom of fixed support and the second claw, side, the other end refer to that 82 are rotatably connected respectively.Junction is additionally provided with spring 9 and connects, run-bake-needle fault
Device 5 is located at the other end that the second claw refers to 82.Crank is provided with 2 connecting hole (not shown)s, the two ends point of connector 6
Not Chuan Guo connecting hole, be then passed through fixed support 2 and sleeve 4 and be installed in push pedal 3.Fixed support 2 is in cylinder with sleeve 4,
Claw refers to that 8 are distributed in below fixed support 2 in a ring.Rational utilization space, increases claw according to demand and refers to 8.
The course of work of above-mentioned whole body pawl is as follows：
When omnidirectional's pawl is from promptly state motion to open configuration, when linear electric motors 1 are moved downward, push pedal 3 is promoted to drive set
Cylinder 4 is moved downward, and is touched the first claw and is referred to that 81 one end makes the first claw refer to that 81 start rotation, so as to drive the first claw to refer to
81 open, compression spring 9, while connector 6 drives crank to move upwards, also drive the second claw to refer to that 82 open, compression spring
9, because bourdon tube 7 has the opposite force for keeping original length in itself, after shrinking to a certain extent, crank starts rotation so that de-
Needle device 5 becomes detachment status, so as to be desorbed climbing surface.
Omnidirectional's pawl from open configuration move to promptly state when, linear electric motors 1 are moved upwards, drive push pedal 3 with moving sleeve 4
Move upwards, the first claw refer to 81 and second claw refer to 82 in the presence of 9 elastic force of spring rotate, drive the first claw refer to 81 Hes
Second claw refers to that 82 firmly grasp, while crank is rotated in the presence of torsion spring elastic force so that run-bake-needle fault device 5 becomes to grab attached state, from
And grab attached climbing surface.
Omnidirectional's pawl also ensures that the efficient desorption of needle point (not shown) while powerful adhesive force is provided, and has
Effect ground solve present in existing climbing mechanism promptly open, grab it is attached be desorbed the problems such as replacing.Omnidirectional's pawl open it is same
When, needle point desorption, while promptly, needle point grabs attached, and activity is flexibly, stable, it is ensured that needle point is not blocked and affects to grab
The action effect of tight device.Under complicated climbing surface, attached climbing surface can be grabbed with security and stability, omnidirectional's pawl energy consumption
Low, efficiency high, it is easily installed and keeps in repair.Omnidirectional pawl only one of which linear electric motors 1 provide driving force, reduce own wt,
Reduce energy consumption.
Preferred embodiment of the present utility model is the foregoing is only, it is not to limit this utility model, all at this
Any modification, equivalent and improvement made within the spirit and principle of utility model etc., should be included in this utility model
Protection domain within.
Claims (8)
1. a kind of omnidirectional of robot pawl, including some claws refers to, it is characterised in that：Omnidirectional's pawl also includes linear electric motors, consolidates
Fixed rack, push pedal, run-bake-needle fault device and connector；
The linear electric motors are located in the fixed support, and end is connected with the push pedal；
The claw refer to one end be located at the push pedal below, be rotatably connected with the fixed support in the middle part of which, the claw refer to
Spring is also associated between the fixed support, when omnidirectional's pawl is in promptly state, the spring is in non-telescoping state,
When omnidirectional's pawl is in open configuration, the spring is in compressive state；
The run-bake-needle fault device is located at the other end that the claw refers to, and is connected with torsion between the crank and pedestal of the run-bake-needle fault device
Spring, described connector one end are located on the crank, and the other end is located in the push pedal, are arranged with spring on the outside of the connector
Pipe, described bourdon tube one end are fixed on the pedestal of the run-bake-needle fault device, and the other end is fixed on the fixed support, when described
Omnidirectional's pawl in promptly state when, the torsion spring is in non-twisted state, and the bourdon tube is in non-telescoping state, the run-bake-needle fault device
In attached state is grabbed, when omnidirectional's pawl is in open configuration, the torsion spring is in twist compression state, and the bourdon tube is in pressure
Contracting state, the run-bake-needle fault device are in detachment status.
2. a kind of omnidirectional of robot pawl according to claim 1, it is characterised in that：Set is additionally provided with below the fixed support
Cylinder, the sleeve are provided with overhead gage and lower baffle plate, and the linear electric motors are located in the overhead gage, and the push pedal is located at
Between baffle plate and lower baffle plate, the claw refers to that one end is located at below the sleeve.
3. a kind of omnidirectional of robot pawl according to claim 2, it is characterised in that：The bourdon tube is through the fixation
Frame is connected on the sleeve.
4. a kind of omnidirectional of robot pawl according to claim 2, it is characterised in that：The sleeve outer wall and the fixation
Shell fragment is connected with frame inwall, when omnidirectional's pawl is in promptly state, the shell fragment is in non-telescoping state, in omnidirectional's pawl
During open-shaped state, the shell fragment is in compressive state.
5. a kind of omnidirectional of robot pawl according to claim 1, it is characterised in that：The claw refers to and refers to including the first claw
Refer to the second claw, one end that first claw refers to is located at below the push pedal, the other end respectively with the fixed support bottom
Portion and second claw refer to and are rotatably connected that the run-bake-needle fault device is located at the other end that second claw refers to.
6. a kind of omnidirectional of robot pawl according to claim 5, it is characterised in that：First claw refers to and the second claw
The junction of finger is also associated with spring, and when omnidirectional's pawl is in promptly state, the spring is in non-telescoping state, described complete
During state open-shaped to pawl, the spring is in compressive state.
7. a kind of omnidirectional of robot pawl according to claim 6, it is characterised in that：The crank of the run-bake-needle fault device is provided with
Connecting hole, the connector are located in the connecting hole.
8. a kind of omnidirectional of robot pawl according to claim 2, it is characterised in that：The fixed support with the sleeve is in
Cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620877985.0U CN206049845U (en) | 2016-08-12 | 2016-08-12 | A kind of omnidirectional of robot pawl |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620877985.0U CN206049845U (en) | 2016-08-12 | 2016-08-12 | A kind of omnidirectional of robot pawl |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206049845U true CN206049845U (en) | 2017-03-29 |
Family
ID=58380415
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620877985.0U Withdrawn - After Issue CN206049845U (en) | 2016-08-12 | 2016-08-12 | A kind of omnidirectional of robot pawl |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206049845U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143668A (en) * | 2016-08-12 | 2016-11-23 | 香港中文大学（深圳） | Omnidirectional of a kind of robot pawl |
-
2016
- 2016-08-12 CN CN201620877985.0U patent/CN206049845U/en not_active Withdrawn - After Issue
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106143668A (en) * | 2016-08-12 | 2016-11-23 | 香港中文大学（深圳） | Omnidirectional of a kind of robot pawl |
| CN106143668B (en) * | 2016-08-12 | 2018-11-02 | 香港中文大学（深圳） | A kind of omnidirectional of robot pawl |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20170329 Effective date of abandoning: 20181102 |