CN206679115U - Climbing robot - Google Patents
Climbing robot Download PDFInfo
- Publication number
- CN206679115U CN206679115U CN201720544016.8U CN201720544016U CN206679115U CN 206679115 U CN206679115 U CN 206679115U CN 201720544016 U CN201720544016 U CN 201720544016U CN 206679115 U CN206679115 U CN 206679115U
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- China
- Prior art keywords
- claw
- motor
- driven gear
- pusher dog
- roller
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Abstract
It the utility model is related to robot device's technical field,More particularly, to a kind of climbing robot,Including trunk,Power transmission shaft,Motor and controller,The both ends of the trunk are provided with claw group,The claw group relatively rotates the claw being arranged on trunk by two and formed,The trunk is provided with the actuating unit for being used for driving two claws relatively close or remote,Roller is equipped with the relative one side of two claws,The roller is arranged on the power transmission shaft,The center of rotation axis of the roller and the center of rotation axis of claw are arranged in parallel,The utility model climbing robot is when in use,By setting roller on claw,And there is the rotation of motor driven roller,Realize rotation of the climbing robot on climbing thing,Climbing robot is enabled to avoid the barrier in direction of advance,Avoid when barrier is occurring in robot during climbing,Existing robot can not cut-through thing,The problem of causing robot to block forwarding route by barrier.
Description
Technical field
Robot device's technical field is the utility model is related to, more particularly, to a kind of climbing robot.
Background technology
Robot has been employed various important events, and robot is in the transport of work high above the ground goods and materials, tubular service, trees diseases prevention
Insect pest, beta pruning and environmental monitoring etc. have practical application.Existing robot includes trunk and controller, and trunk is provided with upset
Arm, flip-arm are provided with turning arm, and turning arm is provided with gripping dogs, control the upset wall on trunk to overturn by controller,
Simultaneously the turning arm on flip-arm can also be controlled to rotate, then control the gripping dogs on turning arm to clamp or unclamp, so as to
Control machine people, which climbs, to be advanced, and when robot is in climbing columnar object, general robot is climbed by fixed trajectory, when
Robot when occurring barrier during climbing, existing robot can not cut-through thing, cause robot to be kept off by barrier
Street lamp on firmly forwarding route, such as electric pole, and robot needs to climb to the upper end operation of electric pole, when street lamp is just in machine
In the course of device people so that robot, to blocking, is caused robot can not continue to move ahead, reduced the work of robot by street lamp
Make efficiency.
Utility model content
The technical problems to be solved in the utility model is：In order to solve when barrier occurs during climbing in robot
When, existing robot can not cut-through thing, the problem of causing robot to block forwarding route by barrier, now provide one kind
Climbing robot.
Technical scheme is used by the utility model solves its technical problem：A kind of climbing robot, including trunk, biography
Moving axis, motor and controller, the both ends of the trunk are provided with claw group, and the claw group is arranged on by two relative rotations
Claw composition on trunk, the trunk are provided with the engine for being used for driving two claws relatively close or remote
Structure, roller is equipped with the relative one side of two claws, the roller is arranged on the power transmission shaft, the roller
The center of rotation axis of center of rotation axis and claw is arranged in parallel, offers chute on the claw, in the chute
Slip is provided with sliding block, and the drive axis is located on the sliding block, and the motor is located on the sliding block, and the motor leads to
Cross shaft coupling with transmission axis connection, and realize drive power transmission shaft on roller rotate, the sliding block slide along direction with it is described
The first spring is provided between chute, the one end of the power transmission shaft away from motor is provided with driving gear, rotates and set on the sliding block
The driven gear to match with the driving gear is equipped with, the driven gear is intermeshed with the driving gear, the master
Gearratio between moving gear and the driven gear is less than 1, is rotated on the driven gear and is provided with some pusher dogs, described group
The center of rotation axis of pawl and the center of rotation axis of the driven gear are arranged in parallel, the driven gear with described group
Second spring is provided between pawl, the sliding block is provided with brake posts, and the brake posts are with the claw close to the one of second spring
Side contacts with each other, the brake posts and the driven gear coaxial line, and the controller is used to controlling actuating unit and motor
Open and close.
The utility model controls actuating unit to drive the claw group at trunk both ends to clamp climbing thing by controller, when
When needing to rotate trunk, now the claw at trunk both ends is clamped on climbing thing, then controlled motor drives drive axis, so as to
The rotation for driving claw upper roller is realized, roller drives whole robot to be rotated on climbing thing so that robot avoids advancing
Barrier on direction, in motor operation course, pusher dog is under the influence of centrifugal force with braking post separation, when motor stops work
When making, remain that pusher dog contacts with brake posts in the presence of second spring, by the frictional force between pusher dog and brake posts,
So that the roller on power transmission shaft stops operating, and pair roller plays a part of braking, while sliding block can slide in chute, make
Obtaining roller has the floating space of one end, effectively roller can be prevented to be stuck, and the first spring has vibration reduction and cushioning effect, furthermore
Because the gearratio between driving gear and driven gear is less than 1 so that the rotating speed of driven gear is more than the rotating speed of driving gear,
So as to have the function that to increase driven gear upper poking claw centrifugal force.
In order to prevent the second spring between pusher dog and driven gear from failing, further, the driven gear is provided with
For the limited block of spacing pusher dog, the limited block corresponds with the pusher dog, and the limited block is located at pusher dog center of rotation
The side of axis.Due to the rotating speed comparison block of driven gear, so the centrifugal force of pusher dog is bigger so that pusher dog and driven gear
Between second spring second spring can be failed for a long time by very big pulling force, cause when motor is out of service dial
Pawl brake fade, by setting limited block on driven gear, effectively limit the rotation amplitude of pusher dog so that second spring
Stress will not be excessive, ensure that second spring is stable and reliable in work.
In order that obtaining pusher dog quick response when motor works, further, the pusher dog is provided with balancing weight, described to match somebody with somebody
Pouring weight is located remotely from one end of pusher dog fulcrum, the second spring be located at the balancing weight and pusher dog fulcrum it
Between.By setting balancing weight in the one end of pusher dog away from fulcrum, and second spring is located at balancing weight and rotated with pusher dog
Between central point, this structure is similar to lever principle so that balancing weight has the long arm of force, enables pusher dog in motor operation
Enough responses for quickly obtaining driven gear.
For the ease of controlling climbing robot, further, in addition to controller, the controller include control module and
Remote control module, the control module connect with remote control module signal, and the remote control module includes wireless transmitter module and wirelessly connect
Module is received, the wireless transmitter module connects with wireless receiving module signal, and the actuating unit and motor are and control module
Signal connects.The signal gone out by the way that module wirelessly occurs, receive what wireless generation module went out by wireless receiving module
Signal, the signal received is transferred to control module, so as to control module control actuating unit and motor, realized to climbing machine
The control of device people.
In order to preferably ensure roller stable and reliable operation, further, the claw is provided with line slideway, described straight
Line guide rail and the chute are arranged in parallel, and the motor is provided with the guide groove to match with the line slideway, described
Guide groove is slidably arranged on the line slideway.By setting line slideway on claw, the position of motor is effectively limited
Direction is moved, ensure that roller stable and reliable operation.
The beneficial effects of the utility model are：The utility model climbing robot when in use, by being set on claw
Roller, and have the rotation of motor driven roller, realize rotation of the climbing robot on climbing thing so that climbing robot can be kept away
The barrier in direction of advance is opened, while pusher dog coordinates the pair roller when motor is out of service to play braking action with brake posts,
Avoid when barrier is occurring in robot during climbing, existing robot can not cut-through thing, cause robot quilt
Barrier blocks the problem of forwarding route.
Brief description of the drawings
The utility model is further illustrated with reference to the accompanying drawings and examples.
Fig. 1 is the front view of the utility model climbing robot；
Fig. 2 is A-A sectional views in Fig. 1；
Fig. 3 is the partial enlarged drawing of B in Fig. 2；
Fig. 4 is structural representation when pusher dog contacts with brake posts in the utility model climbing robot；
Fig. 5 is pusher dog and structural representation during braking post separation in the utility model climbing robot.
In figure：1st, trunk, 2, motor, 3, claw, 301, chute, 4, roller, 5, sliding block, the 6, first spring, 7, driving tooth
Wheel, 8, driven gear, 9, pusher dog, 10, second spring, 11, brake posts, 12, limited block, 13, balancing weight, 14, controller, 15,
Line slideway, 16, power transmission shaft.
Embodiment
Presently in connection with accompanying drawing, the utility model is described in more detail.These accompanying drawings are simplified schematic diagram,
Only illustrate basic structure of the present utility model in a schematic way, therefore it only shows the composition relevant with the utility model.
Embodiment
As Figure 1-5, a kind of climbing robot, including trunk 1, power transmission shaft 16, motor 2 and controller 14, the body
Dry 1 both ends are provided with claw group, and the claw group relatively rotates the claw 3 being arranged on trunk 1 by two and formed, described
Trunk 1 is provided with the actuating unit for being used for driving two claws 3 relatively close or remote, and two claws 3 are relative
One side on be equipped with roller 4, the roller 4 is arranged on the power transmission shaft 16, by flat between claw 3 and power transmission shaft 16
Key is fixedly connected, and the center of rotation axis of the roller 4 and the center of rotation axis of claw 3 are arranged in parallel, the claw 3
On offer chute 301, slided in the chute 301 and be provided with sliding block 5, the power transmission shaft 16 is rotated and is located on the sliding block 5,
The motor 2 is located on the sliding block 5, and the motor 2 is connected by shaft coupling with power transmission shaft 16, and is realized and driven power transmission shaft 16
On roller 4 rotate, the sliding block 5, which slides along, is provided with the first spring 6, the transmission between direction and the chute 301
The one end of axle 16 away from motor 2 is provided with driving gear 7, is rotated on the sliding block 5 and is provided with what is matched with the driving gear 7
Driven gear 8, the driven gear 8 are intermeshed with the driving gear 7, the driving gear 7 and the driven gear 8 it
Between gearratio be less than 1, rotate on the driven gear 8 and be provided with some pusher dogs 9, one end of pusher dog 9 be rotatably arranged on from
On moving gear 8, pusher dog 9 is uniformly arranged on driven gear 8, the center of rotation axis of the pusher dog 9 and the driven gear 8
Center of rotation axis is arranged in parallel, and second spring 10, the sliding block 5 are provided between the driven gear 8 and the pusher dog 9
Brake posts 11 are provided with, the brake posts 11 contact with each other with the claw 3 close to the side of second spring 10, the brake posts
11 are used for the keying for controlling actuating unit and motor 2 with the coaxial line of driven gear 8, the controller 14.The both ends of trunk 1
Flip-arm is additionally provided with, overturns and is provided with turning arm on wall, while claw 3 is rotatably arranged on turning arm, passes through controller
14 can equally control that flip-arm rotates around trunk 1 and turning arm rotating operation on flip-arm, motor 2 are one-directional rotation,
Pusher dog 9 is enabled to separate under the influence of centrifugal force, that is, pusher dog 9 does not contact with brake posts 11, and the actuating unit
Including motor 2, screw mandrel and the nut being arranged on turning arm, waist-shaped hole, two cards are equipped with two claws 3 being oppositely arranged
What the waist-shaped hole of pawl 3 was staggered, nut is in the waist-shaped hole being slidably arranged on two claws 3, and screw mandrel is to rotate to set
Put on turning arm, nut is connected with wire rod thread, and motor 2 is connected with screw rod transmission, realizes nut in silk by controlled motor 2
Bar top offset, so that nut slides in the waist-shaped hole on claw 3, two claws 3 are driven to be rotated on turning arm and real
It is existing relatively close or remote.
The driven gear 8 is provided with the limited block 12 for spacing pusher dog 9, the limited block 12 and the pusher dog 9 one
One correspondence, the limited block 12 are located at the side of the center of rotation axis of pusher dog 9.
The pusher dog 9 is provided with balancing weight 13, and the balancing weight 13 is located remotely from one end of the fulcrum of pusher dog 9, institute
Second spring 10 is stated between the balancing weight 13 and the fulcrum of pusher dog 9.
The controller 14 includes control module and remote control module, and the control module connects with remote control module signal, institute
Stating remote control module includes wireless transmitter module and wireless receiving module, and wireless transmitter module and the wireless receiving module signal connects
Connect, the actuating unit and motor 2 are connected with control module signal.
The claw 3 is provided with line slideway 15, and the line slideway 15 and the chute 301 are arranged in parallel, institute
State motor 2 and be provided with the guide groove to match with the line slideway 15, the sliding guide groove is slidably arranged in the straight line and led
On rail 15.
Above-mentioned climbing robot sends signal by the way that module wirelessly occurs, receives nothing by wireless receiving module when using
The signal that module is sent occurs for line, and wireless reception module sends the signal received dynamic to control module, control module control
Force mechanisms and motor 2 are run.It again may be by the flip-arm upset that controller 14 controls the both ends of trunk 1 so that claw 3 is aligned
The climbing thing (such as cylindrical electric pole) of required clamping, then actuating unit on turning arm is controlled, so as to drive claw 3 to rotate
And climbing thing is clamped in fact, while roller 4 contacts with climbing thing, now the claw 3 at the both ends of trunk 1 is clamped on climbing thing, together
When claw 3 on roller 4 slide in the chute 301, and the first spring 6 between chute 301 and sliding block 5 is extruded, on motor 2
Guide groove slides on claw 3 on line slideway 15, and front runs into barrier during being climbed in climbing robot, now leads to
The controlled motor 2 of controller 14 is crossed, realizes that motor 2 drives power transmission shaft 16 to rotate, so that roller 4 rotates on climbing thing, and
Trunk 1 and claw 3 is driven to be rotated to same direction, while the driving gear 7 of the other end of power transmission shaft 16 drives 8 turns of driven gear
It is dynamic, because the gearratio between driving gear 7 and driven gear 8 is less than 1, that is, driving gear 7 rotating speed be less than it is driven
The rotating speed of gear 8, the effect of speedup is played to pusher dog 9 so that pusher dog 9 can quick separating under the influence of centrifugal force, and limit
Position block 12 plays position-limiting action to pusher dog 9, prevents the second spring 10 between pusher dog 9 and driven gear 8 from failing, while pusher dog 9
Balancing weight 13 is provided with, and second spring 10 is between the center of rotation of pusher dog 9 and balancing weight 13, it is remote similar to lever,
So that balancing weight 13 has the long arm of force, when motor 2 on startup, can pass through balancing weight 13 quickly pusher dog 9 with braking
The separation of post 11, the barrier in direction of advance is avoided when climbing robot, then stop motor 2, so as to the rolling on power transmission shaft 16
Wheel 4 stops operating with motor 2 so that outer peripheral face of the pusher dog 9 with brake posts 11 in the presence of balancing weight 13 contacts, so as to right
Driven gear 8 plays braking action, and drives driving gear 7 so that the roller 4 on power transmission shaft 16 stops operating, and climbs machine
People also just stops operating, and then controls flip-arm and claw 3 again so that climbing robot moves on.
It is above-mentioned according to desirable embodiment of the present utility model for enlightenment, pass through above-mentioned description, relevant staff
Various changes and amendments can be carried out in the range of without departing from this item utility model technological thought completely.This item is practical
New technical scope is not limited to the content on specification, it is necessary to determines that its is technical according to right
Scope.
Claims (5)
- A kind of 1. climbing robot, it is characterised in that：Including trunk (1), power transmission shaft (16), motor (2) and controller (14), institute The both ends for stating trunk (1) are provided with claw group, and the claw group relatively rotates the claw being arranged on trunk (1) by two (3) forming, the trunk (1), which is provided with, is used for the relatively close or remote actuating unit of two claws (3) of driving, and two Roller (4) is equipped with the relative one side of the individual claw (3), the roller (4) is arranged on the power transmission shaft (16), institute It is arranged in parallel to state the center of rotation axis of the center of rotation axis and claw (3) of roller (4), is opened up on the claw (3) There is chute (301), slided in the chute (301) and be provided with sliding block (5), the power transmission shaft (16) rotates and is located at the sliding block (5) on, the motor (2) is located on the sliding block (5), and the motor (2) is connected by shaft coupling with power transmission shaft (16), and in fact The roller (4) on power transmission shaft (16) is now driven to rotate, the sliding block (5) slides along and set between direction and the chute (301) It is equipped with the first spring (6), the one end of the power transmission shaft (16) away from motor (2) is provided with driving gear (7), on the sliding block (5) Rotation is provided with the driven gear (8) to match with the driving gear (7), the driven gear (8) and the driving gear (7) it is intermeshed, the gearratio between the driving gear (7) and the driven gear (8) is less than 1, the driven gear (8) Upper rotation is provided with some pusher dogs (9), the center of rotation axis of the pusher dog (9) and the center of rotation of the driven gear (8) Axis is arranged in parallel, and second spring (10), the sliding block (5) are provided between the driven gear (8) and the pusher dog (9) Brake posts (11) are provided with, the brake posts (11) contact with each other with the claw (3) close to the side of second spring (10), institute State brake posts (11) and the driven gear (8) coaxial line, the controller (14) is used to controlling actuating unit and motor (2) Open and close.
- 2. climbing robot according to claim 1, it is characterised in that：The driven gear (8) is provided with for spacing The limited block (12) of pusher dog (9), the limited block (12) correspond with the pusher dog (9), and the limited block (12), which is located at, dials The side of pawl (9) center of rotation axis.
- 3. climbing robot according to claim 2, it is characterised in that：The pusher dog (9) is provided with balancing weight (13), institute One end that balancing weight (13) is located remotely from pusher dog (9) fulcrum is stated, the second spring (10) is located at the balancing weight (13) between pusher dog (9) fulcrum.
- 4. climbing robot according to claim 1, it is characterised in that：The controller (14) includes control module and distant Module is controlled, the control module connects with remote control module signal, and the remote control module includes wireless transmitter module and wireless receiving Module, the wireless transmitter module connect with wireless receiving module signal, and the actuating unit and motor (2) are and control module Signal connects.
- 5. climbing robot according to claim 1, it is characterised in that：The claw (3) is provided with line slideway (15), The line slideway (15) and the chute (301) are arranged in parallel, and the motor (2) is provided with and the line slideway (15) guide groove to match, the guide groove are slidably arranged on the line slideway (15).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720544016.8U CN206679115U (en) | 2017-05-17 | 2017-05-17 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720544016.8U CN206679115U (en) | 2017-05-17 | 2017-05-17 | Climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206679115U true CN206679115U (en) | 2017-11-28 |
Family
ID=60407413
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720544016.8U Expired - Fee Related CN206679115U (en) | 2017-05-17 | 2017-05-17 | Climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206679115U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106985926A (en) * | 2017-05-17 | 2017-07-28 | 苏州科技大学 | Climbing robot |
| CN108693880A (en) * | 2018-05-15 | 2018-10-23 | 北京石头世纪科技有限公司 | Intelligent mobile equipment and its control method, storage medium |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
-
2017
- 2017-05-17 CN CN201720544016.8U patent/CN206679115U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106985926A (en) * | 2017-05-17 | 2017-07-28 | 苏州科技大学 | Climbing robot |
| CN108693880A (en) * | 2018-05-15 | 2018-10-23 | 北京石头世纪科技有限公司 | Intelligent mobile equipment and its control method, storage medium |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171128 Termination date: 20200517 |