CN206856828U - Biped climbing robot - Google Patents
Biped climbing robot Download PDFInfo
- Publication number
- CN206856828U CN206856828U CN201720670842.7U CN201720670842U CN206856828U CN 206856828 U CN206856828 U CN 206856828U CN 201720670842 U CN201720670842 U CN 201720670842U CN 206856828 U CN206856828 U CN 206856828U
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- connecting rod
- installation frame
- motor
- stepper motor
- motor installation
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Abstract
The utility model, which provides a kind of foot, has spinfunction, mobile flexible, has the biped climbing robot of wall transition and obstacle climbing ability, it has intermediate connecting rod, left connecting rod, right connecting rod；Left contiguous block bottom is provided with left electromagnet or left vacuum cup；Left contiguous block is rotatably arranged on the motor installation frame of lower-left by left thrust bearing, and lower-left stepper motor is arranged on the motor installation frame of lower-left, and the output shaft of lower-left stepper motor is connected with left contiguous block to drive it to be rotated relative to lower-left motor installation frame；Lower-left motor installation frame is connected with the other end of left connecting rod；Right contiguous block bottom is provided with right electromagnet or right vacuum cup；Right contiguous block is rotatably arranged on the motor installation frame of bottom right by right thrust bearing, and bottom right stepper motor is arranged on the motor installation frame of bottom right, and the output shaft of bottom right stepper motor is connected with right contiguous block to drive it to be rotated relative to bottom right motor installation frame；Bottom right motor installation frame is connected with the other end of right connecting rod.
Description
Technical field
A kind of climbing robot is the utility model is related to, especially a kind of climbing robot that can cross different walls,
Belong to industrial technical field.
Background technology
Compared with the robot of ground moving, climbing robot needs to overcome the gravity of itself and various loads, therefore needs
Want enough absorption affinities, it is also necessary to higher reliability.For work high above the ground, then untethered climbing robot is needed.Because problem
Complexity, the progress of climbing robot substantially lags behind ground mobile robot.
For many years, many researchs have been carried out to climbing robot both at home and abroad.It is different with working media according to working environment, climb
The suction type of wall robot mainly has negative-pressure adsorption, the absorption of bionical dry adhesive and magnetic-adsorption etc..Negative-pressure adsorption not by
Condition of work and working media limitation, but when adsorb wall have crackle or it is concavo-convex when, the easy gas leakage of sucker.Dry adhesive is inhaled
Attached adsorbed using the molecular force between various object contact surfaces, and the suction type is not by working media and working environment
Influence, can be in any applications.Magnetic-adsorption is not influenceed by absorption wall bumps or wall crackle, and absorption is stable can
Lean on.The suction type is only applicable to the wall of permeability magnetic material.Magnetic-adsorption can be divided into electromagnet absorption, permanent magnet absorption, electricity
Magnetic and permanent magnetism mixing and absorption.
Walking mechanism is one of critical component of mobile robot, can be divided into wheeled（Including crawler type）With sufficient formula（Leg
Formula）Etc. form.The motion of leg formula is suitable for coarse and unstructured landform, and mechanism freedom is more, and control is complicated.Leg formula is moved with one
Point contact between Series machine people and ground is characterized, and its major advantage is adaptivity and machine good on bold relief
Dynamic property.Because only needing one group of point contact, as long as robot can keep appropriate ground step pitch, the ground between these points
Face quality is inessential.In addition, as long as the step pitch of walking robot is more than the width in cave, it just can across cave or
Breach.The most important shortcoming of leg formula motion is power and mechanical complexity.Sufficient formula（Leg formula）Walking mechanism is equally applicable to
Climbing robot.
Researcher proposes a variety of wheeled（Including crawler type）Climbing robot, also have four-footed, six foot climb wall machine
Device people（Such as application number CN201620810094.3 Chinese patent " a kind of climbing robot " and application number
CN201620412255.3 Chinese patent " novel bionic climbing robot "）, but comparatively speaking, all some are multiple for structure
It is miscellaneous.For small space or the wall of complexity, it is necessary to more compact climbing robot.
Retrieval finds that application number CN201410253377.8 Chinese patent proposes a kind of " negative pressure of climbing robot
Absorption type biped ", the robot architecture is succinct, and flexibility is good, but foot does not have spinfunction, causes robot can only straight line
Walking.Application number CN201010217822.7 Chinese patent proposes " a kind of modularized bionic wall climbing robot ", the machine
Device people has 5 frees degree, and the bottom of each foot is installed with 3 vacuum cups, can be with Inchworm type, torsional mode and the gait such as convertible
The comprehensive climbing on bright and clean smooth wall, there is wall transition and obstacle climbing ability.Because using vacuum suction, need
Source of the gas is provided, there can only be cable climbing robot, and is controlled complex.
The content of the invention
The purpose of this utility model, which is to provide a kind of foot, has spinfunction, mobile flexible, has wall transition and gets over
The biped climbing robot of barrier ability.
Biped climbing robot described in the utility model, has an intermediate connecting rod, the both ends of intermediate connecting rod respectively with left company
Bar and right connecting rod form cradle head；
The upper left stepper motor that driving left connecting rod rotates relative to intermediate connecting rod is provided between intermediate connecting rod and left connecting rod；
Left contiguous block bottom is provided with left electromagnet or left vacuum cup；Left contiguous block is rotatably arranged on lower-left by left thrust bearing
On motor installation frame, lower-left stepper motor is arranged on the motor installation frame of lower-left, output shaft and the left side of lower-left stepper motor
Contiguous block is connected to drive it to be rotated relative to lower-left motor installation frame；The other end of lower-left motor installation frame and left connecting rod
It is connected；
The upper right stepper motor that driving right connecting rod rotates relative to intermediate connecting rod is provided between intermediate connecting rod and right connecting rod；
Right contiguous block bottom is provided with right electromagnet or right vacuum cup；Right contiguous block is rotatably arranged on bottom right by right thrust bearing
On motor installation frame, bottom right stepper motor is arranged on the motor installation frame of bottom right, output shaft and the right side of bottom right stepper motor
Contiguous block is connected to drive it to be rotated relative to bottom right motor installation frame；The other end of bottom right motor installation frame and right connecting rod
It is connected.
Above-mentioned biped climbing robot, is provided with camera on intermediate connecting rod.
Above-mentioned biped climbing robot, it also includes the battery powered to each stepper motor.
The beneficial effects of the utility model：
It is real due to left and right contiguous block and lower-left, bottom right motor installation frame are rotatedly connected using left and right thrust bearing
The spinfunction of robot or so foot, flexible movements are showed.
When being arranged on using left and right electromagnet on the contiguous block of left and right, robot can is adsorbed in steel by electromagnet
Iron wall.When the absorption of right electromagnet is when on wall, left electromagnet power-off loses magnetism, upper left stepper motor and/or upper right step
Stepper motor rotates, and allows for lifting on the left of this climbing robot, leaves wall, at this moment bottom right stepper motor rotates so that on the right side
Climbing robot other parts can be rotated to next position while electromagnet adsorbs wall.Such alternating movement, it is real
Now move.
Using left and right vacuum cup be arranged on left and right contiguous block on when, its action process with it is above-mentioned similar.
Brief description of the drawings
Fig. 1 is the overall pattern of biped climbing robot；
Fig. 2 is the connection relationship diagram of intermediate connecting rod in Fig. 1, right connecting rod, right contiguous block etc..
Fig. 3 is different posture schematic diagrames of the biped climbing robot when crossing wall in Fig. 1.
Fig. 4 is the overall pattern of another biped climbing robot；
Fig. 5 is the connection relationship diagram of intermediate connecting rod in Fig. 4, right connecting rod, right contiguous block etc..
Fig. 6 is different posture schematic diagrames of the biped climbing robot when crossing wall in Fig. 4.
Embodiment
Embodiment 1
Referring to biped climbing robot of the electromagnet shown in Fig. 1,2 as absorbing unit, there is intermediate connecting rod 10, it is middle
The both ends of connecting rod form cradle head with left connecting rod 12 and right connecting rod 7 respectively；
The upper left stepper motor that driving left connecting rod rotates relative to intermediate connecting rod is provided between intermediate connecting rod and left connecting rod
11；The left bottom of contiguous block 17 is provided with left electromagnet 18.Left contiguous block top is rotatably arranged on lower-left by left thrust bearing 16
On motor installation frame 15, lower-left stepper motor 14 is arranged on the motor installation frame of lower-left, the output shaft of lower-left stepper motor
It is connected with left contiguous block by straight pin to drive it to be rotated relative to lower-left motor installation frame；Lower-left motor installation frame with
The other end of left connecting rod is connected.
The upper right stepper motor that driving right connecting rod rotates relative to intermediate connecting rod is provided between intermediate connecting rod and right connecting rod 7
8；Right contiguous block bottom is provided with right electromagnet 1；Right contiguous block top is rotatably arranged on bottom right motor by right thrust bearing 4 and pacified
Frame up on frame 5, bottom right stepper motor 6 is arranged on the motor installation frame of bottom right, the output shaft of bottom right stepper motor and right connection
Block is connected by straight pin 3 to drive it to be rotated relative to bottom right motor installation frame；Bottom right motor installation frame and right connecting rod
The other end be connected.
For to upper left stepper motor, lower-left stepper motor, upper right stepper motor, bottom right stepper motor, left electromagnet, the right side
The battery 13 of the power supplies such as electromagnet is arranged on lower-left motor installation frame 15.
Panorama camera 9 is provided with intermediate connecting rod.
Move mode：When right electromagnet 1 is adsorbed when on steel wall, allow left electromagnet power-off to lose magnetism, rotate left
Upper stepper motor 11 and/or upper right stepper motor 8, allow for lifting on the left of climbing robot, leave wall, at this moment rotate bottom right
Stepper motor 6 so that climbing robot other parts can be rotated to next position while right electromagnet 1 adsorbs wall
Put.Such alternating movement, movement is realized, and the function of crossing different walls can be realized, referring to Fig. 3.
Panorama camera both can be used for control machine people motion, by wall IMAQ and can also be transferred to rear and is used for
Defects detection.Robot is powered by battery 13, and robot uses remote control mode, and control system is by handheld terminal and on-board controller
Composition（It is not drawn into）.
The program, motor and electromagnet are all battery powered, therefore can realize untethered mode.
Embodiment 2
Referring to biped climbing robot of the vacuum cup shown in Fig. 4,5 as absorbing unit,
The present embodiment 2 is as different from Example 1：Replaced in the present embodiment 2 with left vacuum cup 18, right vacuum cup 1
Left electromagnet, right electromagnet in embodiment 1.Certainly, left and right vacuum cup needs to connect by the equipment such as flexible pipe and vavuum pump
Connect.
Move mode：When right vacuum cup 1 is adsorbed when on steel wall, allow left vacuum cup 18 to lose suction, rotate
Upper left stepper motor 11 and/or upper right stepper motor 8, allow for lifting on the left of climbing robot, leave wall, at this moment rotate right
Lower stepper motor 6 so that climbing robot other parts can be rotated to next while left vacuum cup 1 adsorbs wall
Individual position.Such alternating movement, movement is realized, and the function of crossing different walls can be realized, referring to Fig. 6.
Panorama camera both can be used for control machine people motion, by wall IMAQ and can also be transferred to rear and is used for
Defects detection.Motor is powered by battery 13, and robot uses remote control mode, and control system is by handheld terminal and on-board controller group
Into（It is not drawn into）.
The program, motor are battery powered, and vacuum cup needs to be connected with equipment such as vavuum pumps by flexible pipe, therefore can only
Realization has cable mode.
Claims (3)
1. biped climbing robot, having intermediate connecting rod, the both ends of intermediate connecting rod are formed with left connecting rod and right connecting rod respectively to be rotated
Joint；
It is characterized in that：
The upper left stepper motor that driving left connecting rod rotates relative to intermediate connecting rod is provided between intermediate connecting rod and left connecting rod；Zuo Lian
Connect block bottom and left electromagnet or left vacuum cup are installed；Left contiguous block is rotatably arranged on lower-left motor by left thrust bearing
On installation frame, lower-left stepper motor is arranged on the motor installation frame of lower-left, the output shaft of lower-left stepper motor and left connection
Block is connected to drive it to be rotated relative to lower-left motor installation frame；Lower-left motor installation frame and the other end phase of left connecting rod
Even；
The upper right stepper motor that driving right connecting rod rotates relative to intermediate connecting rod is provided between intermediate connecting rod and right connecting rod；Right company
Connect block bottom and right electromagnet or right vacuum cup are installed；Right contiguous block is rotatably arranged on bottom right motor by right thrust bearing
On installation frame, bottom right stepper motor is arranged on the motor installation frame of bottom right, the output shaft of bottom right stepper motor and right connection
Block is connected to drive it to be rotated relative to bottom right motor installation frame；The other end phase of bottom right motor installation frame and right connecting rod
Even.
2. biped climbing robot as claimed in claim 1, it is characterized in that：Camera is provided with intermediate connecting rod.
3. biped climbing robot as claimed in claim 1, it is characterized in that：It also includes the electricity powered to each stepper motor
Pond.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720670842.7U CN206856828U (en) | 2017-06-11 | 2017-06-11 | Biped climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720670842.7U CN206856828U (en) | 2017-06-11 | 2017-06-11 | Biped climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206856828U true CN206856828U (en) | 2018-01-09 |
Family
ID=60830654
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720670842.7U Expired - Fee Related CN206856828U (en) | 2017-06-11 | 2017-06-11 | Biped climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206856828U (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108296686A (en) * | 2018-02-17 | 2018-07-20 | 李大德 | Shipbuilding Intelligent welding equipment walking robot |
| CN108482505A (en) * | 2018-05-31 | 2018-09-04 | 浙江大学 | Wall-climbing device robot movement mechanism suitable for curved surface |
| CN108502042A (en) * | 2018-04-02 | 2018-09-07 | 北京航空航天大学 | A kind of biped magnetic adsorption wall climbing robot |
| CN108608438A (en) * | 2018-05-18 | 2018-10-02 | 安徽商贸职业技术学院 | A kind of trackless movement rapping machine device people |
| CN109334803A (en) * | 2018-10-26 | 2019-02-15 | 国网湖南省电力有限公司 | Electric power tower climbs crusing robot |
| CN110244740A (en) * | 2019-06-27 | 2019-09-17 | 北京克莱明科技有限公司 | The method that climbing robot patrols side with dibit displacement sensor |
| CN111746678A (en) * | 2019-03-29 | 2020-10-09 | 杭州萤石软件有限公司 | Wall surface cleaning robot and control method thereof |
| CN111976857A (en) * | 2020-08-25 | 2020-11-24 | 广东省智能制造研究所 | Self-rotating double-body wall-climbing robot |
| CN113122838A (en) * | 2019-12-31 | 2021-07-16 | 大族激光科技产业集团股份有限公司 | Cladding cleaning device and cladding cleaning method |
| CN113276155A (en) * | 2021-04-22 | 2021-08-20 | 上海扩博智能技术有限公司 | Adsorption device and robot for pasting plates |
| CN113771981A (en) * | 2021-10-08 | 2021-12-10 | 浙江友联修造船有限公司 | Crawler-type wall-climbing robot for ship and control method thereof |
-
2017
- 2017-06-11 CN CN201720670842.7U patent/CN206856828U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108296686A (en) * | 2018-02-17 | 2018-07-20 | 李大德 | Shipbuilding Intelligent welding equipment walking robot |
| CN108502042A (en) * | 2018-04-02 | 2018-09-07 | 北京航空航天大学 | A kind of biped magnetic adsorption wall climbing robot |
| CN108608438A (en) * | 2018-05-18 | 2018-10-02 | 安徽商贸职业技术学院 | A kind of trackless movement rapping machine device people |
| CN108482505A (en) * | 2018-05-31 | 2018-09-04 | 浙江大学 | Wall-climbing device robot movement mechanism suitable for curved surface |
| CN108482505B (en) * | 2018-05-31 | 2023-09-29 | 浙江大学 | Wall climbing robot motion mechanism suitable for curved surface |
| CN109334803A (en) * | 2018-10-26 | 2019-02-15 | 国网湖南省电力有限公司 | Electric power tower climbs crusing robot |
| CN111746678A (en) * | 2019-03-29 | 2020-10-09 | 杭州萤石软件有限公司 | Wall surface cleaning robot and control method thereof |
| CN110244740A (en) * | 2019-06-27 | 2019-09-17 | 北京克莱明科技有限公司 | The method that climbing robot patrols side with dibit displacement sensor |
| CN113122838A (en) * | 2019-12-31 | 2021-07-16 | 大族激光科技产业集团股份有限公司 | Cladding cleaning device and cladding cleaning method |
| CN111976857A (en) * | 2020-08-25 | 2020-11-24 | 广东省智能制造研究所 | Self-rotating double-body wall-climbing robot |
| CN111976857B (en) * | 2020-08-25 | 2024-01-30 | 广东省智能制造研究所 | Self-rotating double-body wall climbing robot |
| CN113276155A (en) * | 2021-04-22 | 2021-08-20 | 上海扩博智能技术有限公司 | Adsorption device and robot for pasting plates |
| CN113771981A (en) * | 2021-10-08 | 2021-12-10 | 浙江友联修造船有限公司 | Crawler-type wall-climbing robot for ship and control method thereof |
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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: 20180109 Termination date: 20200611 |