CN206855432U - Spherical Wire walking robot - Google Patents
Spherical Wire walking robot Download PDFInfo
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- CN206855432U CN206855432U CN201720743387.9U CN201720743387U CN206855432U CN 206855432 U CN206855432 U CN 206855432U CN 201720743387 U CN201720743387 U CN 201720743387U CN 206855432 U CN206855432 U CN 206855432U
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- spherical shell
- shell
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- arm
- lateral pin
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Abstract
The utility model discloses a kind of spherical Wire walking robot, including outer spherical shell, middle spherical shell and interior spherical shell with the centre of sphere.Outer spherical shell is placed in horizontal ring stand, and its left and right Loadings On Hemispherical Shell is rotatablely connected by left and right roll shaft and ring stand, and left and right Loadings On Hemispherical Shell center caves inward to form annular semi-circular recesses；Connected between outer spherical shell and middle spherical shell by support column；Three omni-directional wheels installed by wheel carrier are equipped with the upper and lower Loadings On Hemispherical Shell of middle spherical shell, each wheel carrier is provided with motor and encoder, and spherical shell is interior during each omni-directional wheel enters and contradicts on interior spherical shell；Left and right annular suspension bracket is arranged with the left and right Loadings On Hemispherical Shell of semi-circular recesses both sides, left and right annular suspension bracket bottom hanging has locking device to prevent from dropping.Whole mechanism is encapsulated in inside spherical shell by the utility model, improves compactedness, inertia rotors produce a resultant moment while the lateral balance and drive mechanism of adjustment mechanism are advanced, and have preferable control effect.
Description
Technical field
Wire walking robot balancing technique is the utility model is related to, specially a kind of spherical Wire walking robot.
Background technology
Wire walking robot derives from the behavior with robot simulation mankind's tight-wire walking, and it can automatically on a steel cord
Fang Pingheng walks, and is mainly used in the fields such as entertainment or deicing of high-voltage wires.
Balance is the key issue that Wire walking robot needs to solve, and rotational swing rod is that existing Wire walking robot is adjustment
A kind of important way laterally balanced.Patent No. CN201510669449.1 patent application discloses one kind《Swing arm is only
Take turns Wire walking robot》, the robot utilizes the left and right movement of swing arm and the rotation of swing rod to simulate the balance of mankind's tight-wire walking
Behavior.In order to reach preferable balance adjustment effect, the balance bull stick of Wire walking robot allows for producing sufficiently large tune
Whole torque, this can be realized by increasing the rotary inertia of swing rod, therefore the size of bar-turning mechanism is often larger, therefore its work
It is also required to larger space；Simultaneously in order to avoid bar-turning mechanism and steel wire rope interfere, the hunting range and swing speed of bull stick
Degree is generally extremely limited, therefore the regulating power of meeting limiting mechanism.
In addition, most of Wire walking robot fails to take into account shatter-resistant protection device at present, tight-wire walking machine is constrained significantly
The application of people.
Utility model content
In view of the shortcomings of the prior art, technical problem to be solved in the utility model is to propose a kind of posture to be easy to control
System and the spherical Wire walking robot with protective capacities.
Can solve the problem that the spherical Wire walking robot of above-mentioned technical problem, its technical scheme include the outer spherical shell with the centre of sphere,
Middle spherical shell and interior spherical shell, except that
1st, the outer spherical shell is coaxially placed in horizontal ring stand, and the left and right Loadings On Hemispherical Shell of outer spherical shell passes through left and right level
Roll shaft is rotatablely connected with ring stand, the parameter that the rotatable connecting portion rotates provided with encoder detection ring stand relative to outer spherical shell, left,
The intersection of right Loadings On Hemispherical Shell caves inward the annular semi-circular recesses to be formed and be matched with steel wire external diameter.
2nd, connected between the outer spherical shell and middle spherical shell by uniform support column.
3rd, be equipped with the upper and lower Loadings On Hemispherical Shell of the middle spherical shell by wheel carrier install three omni-directional wheels to form,
Lower three pairs of trains, the axis of three omni-directional wheels on episphere housing are orthogonal to a bit upwards, and three on lower semisphere housing are complete
It is orthogonal to downwards a bit to the axis of wheel, the upper and lower omni-directional wheel in each pair of train is symmetrical with the centre of sphere, and each wheel carrier is provided with driving pair
The encoder of the motor omni-directional wheel rotational parameters corresponding with detection of omni-directional wheel rotation is answered, corresponds to each omni-directional wheel on the middle spherical shell
Offer omni-directional wheel and avoid mouth, each omni-directional wheel is avoided during mouth enters in spherical shell and contradicted in interior spherical shell by corresponding omni-directional wheel
On.
4th, left and right annular suspension bracket, left and right annular are arranged with the left and right Loadings On Hemispherical Shell of the semi-circular recesses both sides
The hanging of suspension bracket bottom has can be in the left and right arm slided on suspension bracket, and an arm is provided with horizontal set, is stretched in the horizontal set provided with elasticity
The lateral pin of contracting, the lateral pin can be connecteds when stretching out horizontal set with another arm, lateral pin retract horizontal set when can make horizontal set and another arm
Between formed width be more than steel wire diameter breach.
A kind of structure of each annular suspension bracket uses left and right clamp ring, and spaced left and right ring is set at the outer shroud of left and right clamp ring
Shape slide rail, left and right pulley is respectively equipped with left and right endless glide, is connected between left and right pulley by rotating shaft, corresponding arm
In rotating shaft between left and right pulley.
Further, it is described it is horizontal put provided with control lateral pin elastic telescopic cross locking electromagnet, the arm that can be connected with lateral pin
It is provided with the latch of elastic telescopic in perpendicular set, described erect puts the upright lock electromagnet provided with control latch elastic telescopic, described
The connected mode of lateral pin and arm is that lateral pin is inserted in the pin-and-hole on arm.Under normality, latch elasticity is stretched out and inserted on lateral pin
Fore shaft in, latch elasticity then latch of retracting in perpendicular set leaves the fore shaft of lateral pin, and lateral pin can be in the horizontal set of elasticity retraction.
The wheel carrier is installed using flexible structure, and the flexible structure includes cushion and compression spring assembly, and wheel carrier passes through
Cushion is installed on middle spherical shell, and the compression spring assembly is radially fitted between wheel carrier and outer spherical shell.
The interior spherical shell has larger rotary inertia as inertia rotors.
The beneficial effects of the utility model：
1st, whole mechanism is encapsulated in inside spherical shell by the utility model, using being placed in in-house inertia ball, mechanism chi
It is very little smaller, it is compact-sized, it is stronger to the adaptability of working environment, because inertia ball can arbitrarily have enough to meet the need in-house, adjust
Scope is bigger, and by controlling the motion of inertia ball, shell produces one and is used for what the lateral balance of governor motion was advanced with drive mechanism
Resultant moment, so as to realize the control of ectosphere posture and motion.
2nd, the utility model has protector, and lasting protection can be formed to mechanism, securely and reliably, is carried for its application
Wide prospect is supplied.
3rd, the utility model can be used on power transmission line walking, and can be in carrying equipment on ring stand.
4th, installation manipulator or deicing equipment on ring stand of the present utility model, available for high-voltage line maintenance and deicing etc.
Different purposes.
Brief description of the drawings
Fig. 1 is a kind of dimensional structure diagram of embodiment of the utility model.
Fig. 2 is the top view of Fig. 1 embodiments.
Fig. 3 is the profile of the A-A in Fig. 2.
Fig. 4 is to remove the inside dimensional structure diagram after outer spherical shell in Fig. 1 embodiments.
Fig. 5 is annular suspension bracket in Fig. 1 embodiments, arm, endless glide, pulley, rotating shaft, horizontal set, lateral pin, perpendicular set, slotting
The component drawings of pin.
Figure number identifies：1st, outer spherical shell；2nd, middle spherical shell；3rd, interior spherical shell；4th, semi-circular recesses；5th, ring stand；6th, roll shaft；7th, support
Post；8th, wheel carrier；9th, omni-directional wheel；10th, motor；11st, annular suspension bracket；12nd, arm；13rd, horizontal set；14th, lateral pin；15th, clamp ring；16th, ring
Shape slide rail；17th, pulley；18th, rotating shaft；19th, cross locking electromagnet；20th, set is erected；21st, latch；22nd, upright lock electromagnet；23rd, cushion；
24th, compression spring assembly.
Embodiment
Illustrated embodiment is described further to the technical solution of the utility model below in conjunction with the accompanying drawings.
The spherical Wire walking robot of the utility model, its structure include the outer spherical shell 1, middle spherical shell 2 and interior spherical shell with the centre of sphere
3, the interior spherical shell 3 has larger rotary inertia as inertia rotors, and the outer spherical shell 1 is placed in horizontal ring stand 5, outside
Horizontal left and right roll shaft 6 is respectively equipped with the top of the left and right Loadings On Hemispherical Shell of spherical shell 1, left and right roll shaft 6 passes through bearing arrangement respectively
It is installed on ring stand 5, the bearing arrangement is provided with the encoder of the detection relatively outer rotational parameters of spherical shell 1 of ring stand 5；Outer spherical shell 1
Left and right hemisphere intersection housing on cave in and have one of semi-circular recesses 4 (size matches with steel wire diameter), the semicircle
Left and right annular suspension bracket 11 is installed with the left and right Loadings On Hemispherical Shell of the left and right side of groove 4 respectively, left and right annular suspension bracket 11
Bottom is lifted with locking device, as shown in Figure 1 and Figure 2.
Each annular suspension bracket 11 includes left and right clamp ring 15, be provided with the outer shroud of left and right clamp ring 15 left side spaced apart,
Right endless glide 16, left and right pulley 17 is respectively equipped with left and right endless glide 16, is connected between left and right pulley 17 by rotating shaft 18
Connect, as shown in Figure 1, Figure 2, shown in Fig. 3, Fig. 5.
The locking device includes left and right arm 12 and horizontal set 13, lateral pin 14 and perpendicular set 20, latch 21, left and right arm
12 upper end is arranged in the rotating shaft 18 on corresponding annular suspension bracket 11 between left and right pulley 17；The left end suit of the horizontal set 13
It is fixed on the lower end of left arm 12, the horizontal set 13 of the end is provided with cross locking electromagnet 19, and the lateral pin 14 is by spring from horizontal stroke
The right output port of set 13 is fitted in horizontal set 13, and the flexible of lateral pin 14 is controlled by cross locking electromagnet 19, i.e. the dead electricity of cross locking electromagnet 19
When the elasticity of lateral pin 14 extend out to from 13 right output ports of horizontal set in the pin-and-hole of the right lower end of arm 12, cross locking electromagnet 19 it is electric when lateral pin 14
Elasticity is retracted from 13 right output ports of horizontal set, so that reserving lacking more than steel wire diameter between 13 right output ports of horizontal set and right arm 12
Mouthful；The perpendicular set 20 is installed on the right left side of arm 12, and the upper end of perpendicular set 20 is provided with upright lock electromagnet 22, and the latch 21 passes through bullet
The lower port of spring from perpendicular set 20 is fitted in perpendicular set 20, and the flexible of latch 21 is controlled by upright lock electromagnet 22, i.e. upright lock electromagnet
The elasticity of (elasticity of lateral pin 14 now is stretched out into the pin-and-hole of right arm 12) latch 21 is stretched out from 20 lower ports of perpendicular set during 22 dead electricity
And be stuck in the fore shaft opened up on lateral pin 14, the elasticity of latch 21 is retracted from 20 lower ports of perpendicular set when upright lock electromagnet 22 obtains electric, from
And lateral pin 14 is unlocked, as shown in Fig. 3, Fig. 5.
Installation is connected by uniform radial support post 7 between the outer spherical shell 1 and middle spherical shell 2, the middle spherical shell 2 it is upper
Horizontal three omni-directional wheels 9 of circumference uniform distribution on Loadings On Hemispherical Shell, each omni-directional wheel 9 are based on corresponding wheel carrier 8 and installed, same scheme, in
Horizontal circumference uniform distribution installs three omni-directional wheels 9 (being installed by corresponding wheel carrier 8), episphere housing on the lower semisphere housing of spherical shell 2
On the axis of three omni-directional wheels 9 be orthogonal to upwards a bit, the axis of three omni-directional wheels 9 on lower semisphere housing is orthogonal to downwards
A bit, three omni-directional wheels 9 of upper and lower are paired into three pairs of trains two-by-two, and the upper and lower omni-directional wheel 9 in each pair of train is relative to ball
The heart is symmetrical；Mouth is avoided in the omni-directional wheel that rectangle is opened up on middle spherical shell 2 corresponding to each omni-directional wheel 9, the inner side wheel body of each omni-directional wheel 9 leads to
Cross corresponding omni-directional wheel to avoid the inside of spherical shell 2 during mouth enters and compress contact on interior spherical shell 3, as shown in Figure 3, Figure 4.
The mounting means in place of each wheel carrier 8 is：Wheel carrier 8 is inner to be installed on middle spherical shell 2 by cushion 23, the outer end of wheel carrier 8
The compression spring assembly 24 of radial direction is provided with, each wheel carrier 8 is fitted in the outer inwall of spherical shell 1 by corresponding compression spring assembly 24
On；Each wheel carrier 8 is provided with the motor 10 that the corresponding omni-directional wheel 9 of driving rotates, and corresponding 9 turns of the omni-directional wheel of detection is additionally provided with each wheel carrier 8
The encoder of dynamic parameter, as shown in Figure 3, Figure 4.
The spherical Wire walking robot of the utility model is in the traveling method on steel wire, including following operating procedure：
1st, upright lock electromagnet 22 it is electric, control latch 21 retracts perpendicular set 20 and unlocks lateral pin 14, cross locking electromagnet 19 it is electric,
Control lateral pin 14 is retracted in horizontal set 13 and opens the breach between left and right arm 12, by the breach by the semicircle on outer spherical shell 1
Connected in star 4 is stuck on steel wire.
2nd, the dead electricity of cross locking electromagnet 19, lateral pin 14 stretch out horizontal set 13 and are connected and locking gap with the pin-and-hole of opposite arm 12,
To prevent robot from being dropped from steel wire, at the same time, the dead electricity of upright lock electromagnet 22, latch 21 stretches out perpendicular set 20 and is stuck in lateral pin
Lateral pin 14 is locked in fore shaft on 14.
3rd, starting each motor 10 drives each omni-directional wheel 9 to rotate, three pairs of omni-directional wheels 9 by friction-driven control in 3 turns of spherical shell
It is dynamic, wherein the synchronous driving of omni-directional wheel 9 in each pair of train.
4th, the rotation of interior spherical shell 3 reacts on outer spherical shell 1 and makes its rotation so that outer spherical shell 1 rolls row on steel wire
Walk, by the motion of spherical shell in control 3, it is produced one and be used to adjust the lateral balance of robot and drive robot ambulation
Resultant moment, realize the control of posture and walking on steel wire of outer spherical shell 1.
Claims (5)
1. spherical Wire walking robot, including outer spherical shell (1), middle spherical shell (2) and interior spherical shell (3) with the centre of sphere, it is characterised in that：
1., the outer spherical shell (1) be coaxially placed in horizontal ring stand (5), the left and right Loadings On Hemispherical Shell of outer spherical shell (1) passes through left and right
Horizontal roll shaft (6) and ring stand (5) be rotatablely connected, the rotatable connecting portion is provided with encoder detection ring stand (5) with respect to ectosphere
Shell (1) rotate parameter, the intersection of left and right Loadings On Hemispherical Shell cave inward to be formed match with steel wire external diameter annular semicircle it is recessed
Groove (4)；
2., be connected between the outer spherical shell (1) and middle spherical shell (2) by uniform support column (7)；
3., be equipped with three omni-directional wheels (9) installed by wheel carrier (8) and structure on the upper and lower Loadings On Hemispherical Shell of the middle spherical shell (2)
Into upper and lower three pairs of trains, the axis of three omni-directional wheels (9) on episphere housing is orthogonal to a bit upwards, on lower semisphere housing
The axis of three omni-directional wheels (9) be orthogonal to downwards a bit, the upper and lower omni-directional wheel (9) in each pair of train is symmetrical with the centre of sphere, each wheel
Frame (8) is provided with the coding for motor (10) omni-directional wheel (9) rotational parameters corresponding with detection that the corresponding omni-directional wheel (9) of driving rotates
Device, omni-directional wheel is offered corresponding to each omni-directional wheel (9) on the middle spherical shell (2) and avoids mouth, each omni-directional wheel (9) passes through corresponding complete
Spherical shell (2) is interior in entering to wheel avoidance mouth and contradicts on interior spherical shell (3)；
4., be arranged with left and right annular suspension bracket (11) on the left and right Loadings On Hemispherical Shell of the semi-circular recesses (4) both sides, it is left and right
Annular suspension bracket (11) bottom hanging has can be in the left and right arm (12) slided on suspension bracket, and an arm (12) is provided with horizontal set (13),
It is provided with lateral pin (14) of elastic telescopic in the horizontal set (13), the lateral pin (14) can be with another arm when stretching out horizontal set (13)
(12) connect, lateral pin (14) retract horizontal set (13) when formation width between horizontal set (13) and another arm (12) can be made to be more than steel wire
The breach of diameter.
2. spherical Wire walking robot according to claim 1, it is characterised in that：Each annular suspension bracket (11) includes left and right
Clamp ring (15), sets spaced left and right endless glide (16) at the outer shroud of left and right clamp ring (15), in left and right endless glide (16)
Left and right pulley (17) is respectively equipped with, is connected between left and right pulley (17) by rotating shaft (18), corresponding arm (12) is arranged on
In rotating shaft (18) between left and right pulley (17).
3. spherical Wire walking robot according to claim 2, it is characterised in that：It is horizontal that the horizontal set (13) is provided with control
The cross locking electromagnet (19) of (14) elastic telescopic is sold, the arm (12) that can be connected with lateral pin (14) is provided with perpendicular set (20) interior bullet
Property flexible latch (21), the perpendicular set (20) is provided with upright lock electromagnet (22) of control latch (21) elastic telescopic, described
The connected mode of lateral pin (14) and arm (12) is inserted in the pin-and-hole on arm (12) for lateral pin (14)；Under normality, latch (21)
Elasticity is stretched out and inserted in the fore shaft on lateral pin (14), and then latch (21) leaves lock in the perpendicular set (20) of latch (21) elasticity retraction
Mouthful, lateral pin (14) elasticity is retracted in horizontal set (13).
4. the spherical Wire walking robot according to any one in claims 1 to 3, it is characterised in that：The wheel carrier (8)
Installed using flexible structure, the flexible structure includes cushion (23) and compression spring assembly (24), and wheel carrier (8) passes through cushion
(23) it is installed on middle spherical shell (2), the compression spring assembly (24) is radially fitted between wheel carrier (8) and outer spherical shell (1).
5. the spherical Wire walking robot according to any one in claims 1 to 3, it is characterised in that：The interior spherical shell
(3) there is larger rotary inertia as inertia rotors.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720743387.9U CN206855432U (en) | 2017-06-23 | 2017-06-23 | Spherical Wire walking robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720743387.9U CN206855432U (en) | 2017-06-23 | 2017-06-23 | Spherical Wire walking robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206855432U true CN206855432U (en) | 2018-01-09 |
Family
ID=60827869
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720743387.9U Withdrawn - After Issue CN206855432U (en) | 2017-06-23 | 2017-06-23 | Spherical Wire walking robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206855432U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243883A (en) * | 2017-06-23 | 2017-10-13 | 桂林电子科技大学 | Spherical Wire walking robot and its traveling method |
-
2017
- 2017-06-23 CN CN201720743387.9U patent/CN206855432U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107243883A (en) * | 2017-06-23 | 2017-10-13 | 桂林电子科技大学 | Spherical Wire walking robot and its traveling method |
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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 | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20180109 Effective date of abandoning: 20230523 |
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| AV01 | Patent right actively abandoned |
Granted publication date: 20180109 Effective date of abandoning: 20230523 |