CN207129036U - Worm robot - Google Patents
Worm robot Download PDFInfo
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- CN207129036U CN207129036U CN201720718635.4U CN201720718635U CN207129036U CN 207129036 U CN207129036 U CN 207129036U CN 201720718635 U CN201720718635 U CN 201720718635U CN 207129036 U CN207129036 U CN 207129036U
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- lock tube
- lock
- connecting rod
- crank
- ball
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Abstract
The utility model discloses a kind of worm robot, it includes, from lock tube pair, including on from lock tube and lower from lock tube, on put and be provided with for being enclosed on the through hole creeped on column from lock tube and lower self-locking, it is described on from lock tube and lower be provided with a trapezoidal circular arc structure from the both ends of lock tube；From lock ball, the trapezoidal circular arc structure with from lock tube, under be provided with from lock ball from the cavity that lock tube is formed, the diameter from lock ball is more than the top margin length of above-mentioned trapezoidal circular arc structure, and is less than the base length of trapezoidal circular arc structure from the diameter of lock ball；The self-locking ball has sufficiently large coefficient of friction to realize self-locking to provide enough frictional force；Toggle, one end of the toggle are rotatably connected on self-locking and put, and the other end is rotatably connected on lower self-locking and put；The utility model provides a kind of worm robot, is creeped with realizing on the column of complexity.
Description
Technical field
A kind of worm robot is the utility model is related to, belongs to worm robotic technology field.
Background technology
With human society productivity continuous improvement and develop rapidly, the world stepped into one it is more and more intelligentized when
Generation, and robot is one of representational product.Existing robot is confined to the motion in plane, few robots mostly
Can be moved on column, and the more existing robot that can be creeped on column due to complicated cost mistake
It is high.These baroque robots can only also be run on straight-bar, it is impossible to adapted to some complicated bars, can not be adjusted row
Journey realizes some complicated operations.
The content of the invention
Technical problem to be solved in the utility model is：Overcome the deficiencies in the prior art, there is provided a kind of worm robot,
Creeped with realizing on the column of complexity.
In order to solve the above-mentioned technical problem, the technical solution of the utility model is：A kind of worm robot, it includes,
From lock tube pair, including on from lock tube and lower from lock tube, on put and be provided with for being enclosed on from lock tube and lower self-locking
The through hole creeped on column, it is described on from lock tube and lower be provided with a trapezoidal circular arc structure from the both ends of lock tube；
From lock ball, the trapezoidal circular arc structure with from lock tube, under from lock tube formed cavity in be provided with from lock ball,
The diameter from lock ball is more than the top margin length of above-mentioned trapezoidal circular arc structure, and is less than trapezoidal circular arc knot from the diameter of lock ball
The base length of structure；The self-locking ball has sufficiently large coefficient of friction to realize self-locking to provide enough frictional force；
Toggle, one end of the toggle are rotatably connected on self-locking and put, and the other end, which rotates, to be connected
Lower self-locking is connected on to put.
Further, on described from lock tube and under from being connected with spring between lock tube.
Further, the toggle includes crank and connecting rod, and one end of the crank rotates with from lock tube to be connected
Connect, the other end of crank and one end of connecting rod are rotatablely connected, and the other end of connecting rod is rotatablely connected with lower from lock tube.
Further, the upper self-locking, which is put, is provided with pin-and-hole, and the first connecting pin is provided with pin-and-hole, on from lock tube pass through
One end of one connecting pin and crank connects；The lower self-locking, which is put, is also equipped with pin-and-hole, and the second connecting pin is provided with pin-and-hole, under
Connected from lock tube by the other end of the second connecting pin and connecting rod.
Further, the one side that first connecting pin and the second connecting pin contact with from lock tube, lower self-locking set is circular arc
Shape face.
Further, it is described to be provided with toggle from the both sides of lock tube pair, it is described to use elastomeric material from lock ball
It is made.
Further, the diameter for being used to be enclosed on the through hole creeped on column put on described from lock tube and lower self-locking is bigger
It is slidably connected in the diameter of column, and with column.
Further, it is identical with the lower structure from lock tube from lock tube on described, on from lock tube or under from lock tube include left external member
With right external member, the junction of the left external member and right external member is provided with the projection and recess of mutual cooperation, and projection and recess use
First connecting pin or the second connection pin connection.
Further, the connecting rod uses channel-section steel structure, and the cross section of connecting rod is fluted body, and multiple fixations are provided with connecting rod
Hole, one end that the crank is connected with connecting rod are provided with sliding block, and sliding block coordinates with the fixing hole on connecting rod to realize crank and company
The connection of bar.
Further, the worm robot also includes drive mechanism, and drive mechanism is used to drive toggle to rotate,
So that from lock tube to being creeped on column.
After employing above-mentioned technical proposal, the utility model has following beneficial effect：
The utility model is driven from lock tube to being creeped on column by toggle, is arranged on from lock ball
Under from the cavity that lock tube and trapezoidal circular arc structure are formed, realize self-locking using from the frictional force of lock ball so that one of them from
Lock tube self-locking, it is another to be slided from lock tube along column, so as to complete action of consistently creeping；
The utility model from spring is set between lock tube, is on the one hand playing a part of support up and down from lock tube up and down, separately
On the one hand make up and down between lock tube can corner, realize it is automatic turn round, spring coordinates with toggle makes this worm machine
Device people has some strength on the basis of it can flexibly turn round；Also continue to transport in the case of any crank mechanism failure in both sides
OK,
Crank of the present utility model and connecting rod are provided with the sliding block and fixing hole of adjustable length, sliding block and diverse location
Fixing hole coordinates, and can change the length of connecting rod, so as to adjust the stroke that this worm robot once wriggles；
The utility model is easy for installation, and mechanism is simple, and cost is cheap, and motion is reliable, strong adaptability, can substitute high-altitude work
Industry personnel realize work high above the ground.
Brief description of the drawings
Fig. 1 is stereogram of the worm robot crawling of the present utility model on column；
Fig. 2 is worm robot crawling front view on column of the present utility model；
Fig. 3 is worm robot crawling left view on column of the present utility model；
Fig. 4 is Fig. 1 front sectional view；
Fig. 5 is from the stereogram of lock tube on of the present utility model；
Fig. 6 is Fig. 5 top view；
Fig. 7 is schematic diagram of the worm robot of the present utility model when excessively curved on column；
Fig. 8 is the front view of connecting rod of the present utility model；
Fig. 9 is the horizontal interface schematic diagram of connecting rod of the present utility model；
Figure 10 is the front view of crank of the present utility model；
Figure 11 is the top view of crank of the present utility model.
Embodiment
In order that content of the present utility model is easier to be clearly understood, below according to specific embodiment and combine attached
Figure, is described in further detail to the utility model.
As shown in Fig. 1~11, a kind of worm robot, it includes,
From lock tube pair, including on from lock tube 20 and lower from lock tube 21, on lower be provided with from lock tube 20 and from lock tube 21
For being enclosed on the through hole creeped on column 30, it is described on from lock tube 20 and the lower both ends from lock tube 21 be provided with a trapezoidal circle
Arc structure；
From lock ball 213, the trapezoidal circular arc structure with from lock tube 20, under from lock tube 21 formed cavity in be provided with
From lock ball 213, the diameter from lock ball 213 is more than the top margin length of above-mentioned trapezoidal circular arc structure, and from lock ball 213
Diameter is less than the base length of trapezoidal circular arc structure, described to have sufficiently large coefficient of friction enough to provide from lock ball 213
Frictional force realizes self-locking；
Toggle, one end of the toggle are rotatably connected on from lock tube 20, and the other end rotates
It is connected to down from lock tube 21.
As shown in figure 1, on described from lock tube 20 and under from spring 22 is connected between lock tube 21, the spring is provided with four
Root, the both sides from lock tube pair are separately positioned on, it is described to be provided with toggle from the both sides of lock tube pair, to ensure machine
People has enough power to creep, and when side toggle failure, can ensure the operation of robot by spring so that
Robot is unlikely to stop because two lateral movements are asynchronous.
As shown in Figure 1, 2, 3, the toggle includes crank 10 and connecting rod 11, one end of the crank 10 with it is upper
It is rotatablely connected from lock tube 20, the other end of crank 10 is rotatablely connected with one end of connecting rod 11, the other end of connecting rod 11 and lower self-locking
The rotation connection of set 21.
As shown in Fig. 1,2,5, it is described on pin-and-hole 212 is provided with from lock tube 20, the first connecting pin is installed on pin-and-hole 212
110, on be connected from lock tube 20 by the first connecting pin 110 with one end of crank 10；Under described pin is also equipped with from lock tube 21
Hole 212, the second connecting pin 111 is installed on pin-and-hole 212, under from lock tube 21 pass through the another of the second connecting pin 111 and connecting rod 11
End connection；Lower a pair of pin-and-holes 212 are provided with from lock tube 20 and from lock tube 21 on described.
As shown in figure 1, the connecting pin 111 of the first connecting pin 110 and second with from lock tube 20, under connect from lock tube 21
Tactile one side is arc-shaped surface, ensures that two pins are close to, from lock tube, prevent connecting pin from rotating.
As shown in Fig. 1,4,5,6, it is described on from lock tube 20 and lower be used to be enclosed on column 30 and creeping from lock tube 21
The diameter of through hole be slightly larger than the diameter of column 30, and be slidably connected with column 30, to ensure that robot can be in post
Smoothly walk and turn round on shape thing 30.
As shown in Figure 5,6, it is identical with the lower structure from lock tube 21 from lock tube 20 on described, on from lock tube 20 or under from lock tube
21 include left external member and right external member, and the junction of the left external member and right external member is provided with the projection and recess of mutual cooperation, convex
Block and recess are connected using the first connecting pin 110 or the second connecting pin 111, it is easily installed on some bars closed at both ends.
As shown in Fig. 8,9,10,11, the connecting rod 11 uses channel-section steel structure, and the cross section of connecting rod 11 is fluted body, connecting rod
Multiple fixing holes are provided with 11, the crank 10 is provided with sliding block 101, sliding block 101 and connecting rod with one end that connecting rod 11 is connected
Fixing hole on 11 coordinates to realize the connection of crank 10 and connecting rod 11.When need adjust once creep apart from when, it is only necessary to
The sliding block 101 of change crank 10 is in the position of the fixing hole of connecting rod 11.
In order to larger coefficient of friction, ensure that from lock ball sufficiently large frictional force can be provided to be better achieved certainly
Lock, it is described to be made from lock ball 213 of elastomeric material.
Further, the worm robot also includes drive mechanism, and drive mechanism is used to drive toggle to rotate,
So that from lock tube to being creeped on column 30.
Operation principle of the present utility model is as follows：
Crank 10 rotates clockwise drivening rod 11 and rotated, and two have the trend widened from lock tube distance, under from lock tube 21
There is the trend moved downward, due to being more than the lower top margin length from the trapezoidal circular arc structure of lock tube 21, self-locking from the diameter of lock ball 213
Ball 213 is extruded, under it is locked by frictional force from lock tube 21, therefore have a upward active force to connecting rod 11 so that
On have the trend moved upwards from lock tube 20, and be less than the bottom side length from the trapezoidal circular arc structure of lock tube 20 from the diameter of lock ball 213
Degree, do not influence from the upward sliding of lock tube 20, on moved upwards from lock tube 20, it is upward from lock tube 20 along column so as to realize
Creep；
Crank 10 continues to rotate clockwise, until there is the trend being reduced from lock tube distance up and down, on it is oriented from lock tube 20
The trend of lower motion, under have the trend moved upwards from lock tube 21, due to being more than from the diameter of lock ball 213 from the ladder of lock tube 20
The top margin length of shape arc structure, on it is locked from lock tube 20, and from the diameter of lock ball 213 be less than it is lower from the trapezoidal circular arc of lock tube 21
The base length of structure, not under the influence of from the upward sliding of lock tube 21, under moved upwards from lock tube 21, so as to realize down from lock tube 21
Creeped upwards along column.Alternately creeped upwards from lock tube up and down, the action of climbing for completing this worm robot is made.
When crank 10 turns counterclockwise, same principle, this worm robot can complete action of creeping downwards.
Particular embodiments described above, technical problem, technical scheme and the beneficial effect solved to the utility model are entered
Further description is gone, should be understood that and the foregoing is only specific embodiment of the utility model, and do not have to
In limitation the utility model, all within the spirit and principles of the utility model, any modification, equivalent substitution and improvements done
Deng should be included within the scope of protection of the utility model.
Claims (10)
- A kind of 1. worm robot, it is characterised in that：It includes,From lock tube pair, including on from lock tube (20) and lower from lock tube (21), on lower be all provided with from lock tube (20) and from lock tube (21) Be equipped with for being enclosed on the through hole creeped on column (30), it is described on be respectively provided with from lock tube (20) and the lower both ends from lock tube (21) There is a trapezoidal circular arc structure；From lock ball (213), the trapezoidal circular arc structure with from lock tube (20), under from lock tube (21) formed cavity in be respectively provided with Having from lock ball (213), the diameter from lock ball (213) is more than the top margin length of above-mentioned trapezoidal circular arc structure, and from lock ball (213) diameter is less than the base length of trapezoidal circular arc structure；It is described from lock ball (213) to there is sufficiently large coefficient of friction to carry Self-locking is realized for enough frictional force；Toggle, one end of the toggle are rotatably connected on from lock tube (20), and the other end, which rotates, to be connected It is connected on down from lock tube (21).
- 2. worm robot according to claim 1, it is characterised in that：From lock tube (20) and lower from lock tube (21) on described Between be connected with spring (22).
- 3. worm robot according to claim 1, it is characterised in that：The toggle include crank (10) and Connecting rod (11), one end of the crank (10) are rotatablely connected with from lock tube (20), the other end and the connecting rod (11) of crank (10) One end rotation connection, the other end of connecting rod (11) with it is lower from lock tube (21) be rotatablely connected.
- 4. worm robot according to claim 3, it is characterised in that：Lock tube (20) is provided with pin-and-hole on described (212) the first connecting pin (110), is installed on pin-and-hole (212), on from lock tube (20) pass through the first connecting pin (110) and crank (10) one end connection；Pin-and-hole (212) is also equipped with described from lock tube (21), pin-and-hole is provided with the second connection on (212) Sell (111), under be connected from lock tube (21) by the second connecting pin (111) with the other end of connecting rod (11).
- 5. worm robot according to claim 4, it is characterised in that：First connecting pin (110) and the second connection Sell (111) with from lock tube (20), under the one side that is contacted from lock tube (21) be arc-shaped surface.
- 6. worm robot according to claim 1, it is characterised in that：It is described to be provided with crank from the both sides of lock tube pair Linkage, it is described to be made from lock ball (213) of elastomeric material.
- 7. worm robot according to claim 1, it is characterised in that：From lock tube (20) and lower from lock tube (21) on described On the diameter for being used to be enclosed on the through hole creeped on column (30) be slightly larger than the diameter of column (30), and and column (30) it is slidably connected.
- 8. worm robot according to claim 4, it is characterised in that：From lock tube (20) and lower from lock tube (21) on described Structure it is identical, on from lock tube (20) or under from lock tube (21) include left external member and right external member, the left external member and right external member Junction is provided with the projection and recess of mutual cooperation, and projection and recess use the first connecting pin (110) or the second connecting pin (111) connect.
- 9. worm robot according to claim 3, it is characterised in that：The connecting rod (11) uses channel-section steel structure, connecting rod (11) cross section is fluted body, and multiple fixing holes are provided with connecting rod (11), what the crank (10) was connected with connecting rod (11) One end is provided with sliding block (101), and sliding block (101) coordinates with the fixing hole on connecting rod (11) to realize crank (10) and connecting rod (11) Connection.
- 10. worm robot according to claim 1, it is characterised in that：The worm robot also includes drive mechanism, Drive mechanism is used to drive toggle to rotate, so that from lock tube to being creeped on column (30).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720718635.4U CN207129036U (en) | 2017-06-20 | 2017-06-20 | Worm robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720718635.4U CN207129036U (en) | 2017-06-20 | 2017-06-20 | Worm robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207129036U true CN207129036U (en) | 2018-03-23 |
Family
ID=61632262
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720718635.4U Active CN207129036U (en) | 2017-06-20 | 2017-06-20 | Worm robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207129036U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107235088A (en) * | 2017-06-20 | 2017-10-10 | 常州机电职业技术学院 | Worm robot |
| CN111443604A (en) * | 2020-03-31 | 2020-07-24 | 南京航空航天大学 | Fuzzy sliding mode controller of worm pipeline robot and design method thereof |
| CN115214814A (en) * | 2022-06-06 | 2022-10-21 | 生钦丞 | Parallel RRS pipe climbing robot |
-
2017
- 2017-06-20 CN CN201720718635.4U patent/CN207129036U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107235088A (en) * | 2017-06-20 | 2017-10-10 | 常州机电职业技术学院 | Worm robot |
| CN111443604A (en) * | 2020-03-31 | 2020-07-24 | 南京航空航天大学 | Fuzzy sliding mode controller of worm pipeline robot and design method thereof |
| CN111443604B (en) * | 2020-03-31 | 2021-04-06 | 南京航空航天大学 | Fuzzy sliding mode controller of worm pipeline robot and design method thereof |
| CN115214814A (en) * | 2022-06-06 | 2022-10-21 | 生钦丞 | Parallel RRS pipe climbing robot |
| CN115214814B (en) * | 2022-06-06 | 2024-02-20 | 生钦丞 | Parallel RRS pipe climbing robot |
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