CN207737383U - A kind of walking mechanism of pawl thorn formula climbing robot - Google Patents
A kind of walking mechanism of pawl thorn formula climbing robot Download PDFInfo
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- CN207737383U CN207737383U CN201721875305.2U CN201721875305U CN207737383U CN 207737383 U CN207737383 U CN 207737383U CN 201721875305 U CN201721875305 U CN 201721875305U CN 207737383 U CN207737383 U CN 207737383U
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- pawl
- climbing
- thorn
- wall
- climbing mechanism
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Abstract
The utility model discloses the walking mechanisms that a kind of pawl pierces formula climbing robot, it is related to robotic technology field, including being used to support fixed chassis, two main motion steering engines and two switching steering engines are diagonally set on chassis, main motion steering engine is used to drive the first climbing mechanism and the second climbing mechanism to climb wall with realize robot, switching steering engine climbs wall action for switching the first climbing mechanism or the execution of the second climbing mechanism, and the first climbing mechanism and the second climbing mechanism are respectively used to climb in smooth and coarse wall environment.The utility model is equipped with switching steering engine, wall action is climbed for switching the first climbing mechanism or the execution of the second climbing mechanism, climbing of the robot on smooth and hydraulically rough surface is realized respectively, second climbing mechanism pierces crawler belt by the pawl thorn wheel and pawl that are pierced with pawl and firmly grasps hydraulically rough surface, realizes the climbing of hydraulically rough surface；Simple in structure, reliable, high degree of automation is particularly well suited to perform the cleaning, detection, rescue task of the particular surroundings such as precipitous wall surface, small space.
Description
Technical field
The utility model is related to robotic technology fields, and in particular to a kind of walking mechanism for climbing robot.
Background technology
Robot is the automatic installations for executing work.It can not only receive mankind commander, but also can run advance volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology.Robot is in necks such as production industry, construction industries
Domain is used widely, be especially commonly used for assist or substitute the mankind carry out dangerous operation or the region that the mankind can not reach into
Row operation.
Climbing robot is type common in robot, can climb and fulfil assignment in perpendicular walls.Climb wall machine
The mode of device people's generally use vacuum cup, magnet and common adhesion material adheres to.However, nature and human lives' ring
Most of wall surfaces are coarse, porous, multiple crackings and dusty (such as stone, cement, brick wall face) in border, these three
Adherent fashion is not applicable.
In recent years, the animal that can be climbed on metope by gecko, beetle etc. is inspired, with dry adhesion, it is wet adherency and
Pawl thorn is grabbed attached to be started to rise for the bionic adhesion mode of representative.Currently, artificial bionic dry adhesion and wet adhesion material are only applicable to
Clean, smooth wall surface can't adapt to the wall surface of coarse and more dusts.In addition, the robot using this kind of adherent fashion transports
Dynamic in the form of a single, holding load is smaller, also cannot achieve robot in the smooth perfect switching between Rough Horizontal Plane.
By patent retrieval, there are following known technical solutions：
Patent 1：
Application number：201610870706.2 the applying date：2016.09.30 authorized announcement date：2017.02.15, this practicality
It is novel to disclose a kind of wheeled climbing robot and its working method, belong to robotic technology field.Robot body mainly wraps
Including rack (2), N number of adherency wheel type drive device (1) and ducted fan (3)；Above-mentioned adherency wheel type drive device (1) installation
In in rack (2), each adherency wheel type drive device (1) is by active synchronization wheel (8), inducer (9), traction synchronizing wheel
(10) and synchronous belt (11) forms；It pastes adhesion material (12) and forms in synchronous belt (11) outer surface；Above-mentioned ducted fan (3) peace
Loaded in rack (2), thrust is provided, as the precompression of adhesion material (12), robot is made to be adhered on vertical plane.Robot
Movement speed it is fast, work efficiency is high, can be used for the cleaning on the surfaces such as building, solar energy sailboard, large fan, also can be used for big
The status monitoring etc. of type vertical surface.
It, can not because using adhering apparatus although the patent robot can realize the climbing of building, solar energy sailboard surface
Realize the climbing of the larger rough surface of surface roughness.
Patent 2：
Application number：201610966884.5 the applying date：2016.10.28 authorized announcement date：2017.03.15, this practicality
A kind of novel inspection method for disclosing hole wall adsorption wall climbing robot and power station power tunnels, robot are carried out using absorption
Band (1) cooperation negative pressure chamber (2) and suction pump (7) realize absorption of the robot on the wall of hole, while being coordinated using driving wheel (9)
Attitude-control device realizes pose adjustment and the movement of robot.The underwater adsorbed wall-climbing TV inspection of the utility model design
Robot, manually diving does not check, there is safety, check image to cover, and full hole section all directions, examination scope is big, image is clear
Clear, information truth comprehensively, check efficient, can be widely used for the diversion tunnel of large medium-size station, the underwater inspection on dam surface
Look into work.
The patent is only applicable in creeping for relative smooth surface using absorption caterpillar manner, is not applied for hydraulically rough surface work
Industry.
Patent 3：
Application number：201611095707.0 the applying date：2016.12.02 authorized announcement date：2017.02.22, this practicality
It is novel to disclose a kind of double-crawler type cleaning climbing robot based on electrostatic absorption principle comprising robot body, absorption mould
Block, motion module, cleaning module and control module, the adsorption module include HV generator and two crawler belt electrodes,
The electrostatic that the HV generator generates is transmitted on two crawler belt electrodes, and the adsorption module is arranged in the machine
The left and right sides of device human body；The motion module includes two driving motors and two driving wheels, and two driving wheels are set
Set the both sides at the robot body rear portion；The control module can control two driving motor differential rotations, real
Function is turned now to, is arranged at the middle part of the robot body；The cleaning module is arranged in the front of the robot body,
Convenient for cleaning.In this way, crawler belt electrode is tightly adsorbed with wall surface to be cleaned, safety and stability, control module, which controls robot and realizes, to be turned
Curved, turn-around zone is small, and cleaning cleanliness factor is high.
The applicable clean surface of the patent is relatively smooth, is also creeped using crawler belt pattern, cannot achieve rough surface
Grab it is attached.
Through the above search, it has been found that above technical scheme does not influence the novelty of the utility model；And it is above special
Creativeness of the intercombination of sharp file without destruction the utility model.
Utility model content
The utility model provides a kind of pawl thorn formula and climbs precisely in order to avoid above-mentioned existing deficiencies in the technology
The walking mechanism of wall robot.
The utility model is to solve technical problem to adopt the following technical scheme that：A kind of vehicle with walking machine of pawl thorn formula climbing robot
Structure, including it is used to support fixed chassis, two main motion steering engines and two switching steering engines are diagonally set on the chassis, it is described
Main motion steering engine is for driving the first climbing mechanism and the second climbing mechanism to realize that the wall of climbing of robot, the switching steering engine are used
Wall action is climbed in switching first climbing mechanism or second climbing mechanism execution, first climbing mechanism and second is climbed
Row mechanism is respectively used to climb in smooth and coarse wall environment；
Synchronizing shaft is connected to the pawl by bearing and pierces wheeled stand front end, and inside connects pawl thorn wheel, and two pawls pierce band
Wheel is located at pawl thorn wheeled stand front end and end, and be connected on the outside of the synchronizing shaft and by axis with it is described
Pawl pierces wheeled stand rotation connection, and pawl pierces crawler belt and two pawl thorn belt wheel cooperations；Both ends of the spring respectively with transmission bracket end and
Pawl thorn wheeled stand front end connection, constitutes second climbing mechanism；
Each switching steering engine drives two transmission brackets for being symmetrically set in its both sides by switching transmission mechanism, each to be driven
Stent ends pierce wheeled stand connection by a pawl, and there are one the second climbing mechanisms；Each main motion steering engine passes through driver
Structure drives two synchronizing shafts for being symmetrically set in its both sides, and then the second climbing mechanism execution is driven to climb wall action.
Further, the pawl thorn wheel is made of multiple elastic sheet structures.
Further, the inclination angle of the pawl thorn wheel dewclaw thorn is 45 °.
The utility model provides a kind of walking mechanism of pawl thorn formula climbing robot, has the advantages that：
1, it is equipped with the second climbing mechanism, crawler belt is pierced by the pawl thorn wheel and pawl that are pierced with pawl and firmly grasps hydraulically rough surface, is realized thick
The climbing of coarse, the precipitous wall surface of robot；
2, it is equipped with switching steering engine, wall action is climbed for switching the first climbing mechanism or the execution of the second climbing mechanism, it is real respectively
Climbing of the existing robot on smooth and hydraulically rough surface；
3, spring connect respectively with transmission bracket end and pawl thorn wheeled stand front end equipped with both ends, switch steering engine into
During row switching, it is ensured that pawl thorn crawler belt firmly grasps wall surface, and wall robot is slid by metope, realizes the first climbing mechanism and the
Two climbing mechanisms climb the steady switching of wall；
4, pawl thorn wheel and pawl thorn belt wheel are driven by synchronizing shaft, it is ensured that the two angular speed is consistent and realizes synchronous transfer, carries
Rise stability and reliability that wall is climbed by robot；
5, simple in structure, reliable, high degree of automation, especially suitable for executing the Special Rings such as precipitous wall surface, small space
The cleaning in border, detection, rescue task.
Description of the drawings
Fig. 1 is the structural schematic diagram of the utility model；
Fig. 2 is the upward view of the second climbing mechanism of the utility model；
Fig. 3 is the structural schematic diagram that the utility model pawl pierces crawler belt.
In figure：
1, chassis；2, the first climbing mechanism, 21, main motion steering engine, 22, synchronous pulley, 221, driving wheel, 23, absorption carries out
Band；3, switching mechanism, 31, switching steering engine, 32, transmission bracket；4, the second climbing mechanism, 41, transmission mechanism, 42, synchronizing shaft,
43, pawl thorn wheel, 44, pawl pierce belt wheel, 45, pawl pierce crawler belt, 46, pawl pierce wheeled stand, 47, spring.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described implementation
Example is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, this field
The every other embodiment that those of ordinary skill is obtained without creative efforts, belongs to the utility model
The range of protection.
Embodiment 1
As shown in FIG. 1 to 3, structural relation is：Including being used to support fixed chassis 1, diagonally it is arranged two on chassis 1
A main motion steering engine 21 and two switching steering engines 31, main motion steering engine 21 is for driving the first climbing mechanism 2 and the second creeper
Structure 4 is to realize that the wall of climbing of robot, switching steering engine 31 climb wall for switching the first climbing mechanism 2 or the execution of the second climbing mechanism 4
Action, the first climbing mechanism 2 and the second climbing mechanism 4 are respectively used to climb in smooth and coarse wall environment；
Synchronizing shaft 42 is connected to pawl by bearing and pierces 46 front end of wheeled stand, inside connection pawl thorn wheel 43, two pawl thorns
Belt wheel 44 is located at pawl thorn 46 front end of wheeled stand and end, and is connected on the outside of synchronizing shaft 42 and by axis and pawl
It pierces wheeled stand 46 to be rotatablely connected, pawl pierces crawler belt 45 and two pawl thorn belt wheels 44 coordinate；47 both ends of spring respectively with transmission bracket
32 ends and the 46 front end connection of pawl thorn wheeled stand, constitute the second climbing mechanism 4；
Each switching steering engine 31 drives two transmission brackets 32 for being symmetrically set in its both sides by switching transmission mechanism, each
The connection of wheeled stand 46 is pierced in 32 end of transmission bracket by a pawl, and there are one the second climbing mechanisms 4；Each main motion steering engine
21 drive two synchronizing shafts 42 for being symmetrically set in its both sides by transmission mechanism, and then the execution of the second climbing mechanism 4 is driven to climb wall
Action.
Preferably, each main motion steering engine 21 drives two synchronous belts for being symmetrically set in its both sides by gear and transmission shaft
Wheel 22, two absorption crawler belts 23 coordinate with the synchronous pulley of two groups of homonymies 22 respectively, constitute the first climbing mechanism 2, first creeps
Wall realization climbing is adsorbed by adsorbing crawler belt 23 in mechanism 2；22 outside of synchronous pulley sets driving wheel 221, and passes through driving wheel
Power is transferred to the second climbing mechanism by 221 through transmission mechanism 41.
Preferably, secondary synchronous pulley and secondary absorption crawler belt can be also set in the first climbing mechanism 2, to increase adsorption capacity.
Preferably, pawl thorn crawler belt 45 is formed by pasting material and pawl thorn composite manufacturing, and pawl thorn is arranged along wiring direction array
The inclination angle of cloth, totally ten one row, pawl thorn and wall surface is 45 °.
Preferably, pawl thorn wheel 43 is made of multiple elastic sheet structures.
Preferably, the inclination angle of 43 dewclaw of pawl thorn wheel thorn is 45 °
When specifically used, main motion steering engine 21 drives the first climbing mechanism 2 or the execution of the second climbing mechanism 4 to climb wall action,
That realizes robot climbs wall.When wall surface is smooth, carry out climbing wall using the first climbing mechanism 2, absorption crawler belt 23 and secondary absorption are carried out
Band absorption wall, and being rotated by main motion steering engine 21, that realizes robot climbs wall；When wall surface is coarse, is used
Two climbing mechanisms 4 carry out climbing wall, and the pawl thorn on pawl thorn wheel 43 and pawl thorn crawler belt 45 firmly grasps wall surface, and in the drive of main motion steering engine 21
Dynamic lower rotation, that realizes robot climbs wall.
When wall surface by it is coarse be excessively smooth when, need to switch to and carry out climbing wall using the first climbing mechanism 2.At this point, cutting
Changing steering engine 31 drives transmission bracket 32 to rotate, and makes chassis 1 gradually close to wall surface.In handoff procedure, spring 47 is by transmission bracket 32
It is tensed with pawl thorn wheeled stand 46, so that pawl is pierced wheeled stand 46 and rotated to wall direction, ensure that pawl thorn crawler belt 45 firmly grasps wall always
Face avoids declining with the pawl thorn number contacted between the walls after 43 driven holder of pawl thorn wheel, 32 lifting force when switching, cause
Robot gribing power deficiency is slid by avoiding.
Embodiment 2
As shown in FIG. 1 to 3, structural relation is：Including being used to support fixed chassis 1, diagonally it is arranged two on chassis 1
A main motion steering engine 21 and two switching steering engines 31, main motion steering engine 21 is for driving the first climbing mechanism 2 and the second creeper
Structure 4 is to realize that the wall of climbing of robot, switching steering engine 31 climb wall for switching the first climbing mechanism 2 or the execution of the second climbing mechanism 4
Action, the first climbing mechanism 2 and the second climbing mechanism 4 are respectively used to climb in smooth and coarse wall environment；
Synchronizing shaft 42 is connected to pawl by bearing and pierces 46 front end of wheeled stand, inside connection pawl thorn wheel 43, two pawl thorns
Belt wheel 44 is located at pawl thorn 46 front end of wheeled stand and end, and is connected on the outside of synchronizing shaft 42 and by axis and pawl
It pierces wheeled stand 46 to be rotatablely connected, pawl pierces crawler belt 45 and two pawl thorn belt wheels 44 coordinate；47 both ends of spring respectively with transmission bracket
32 ends and the 46 front end connection of pawl thorn wheeled stand, constitute the second climbing mechanism 4；
Each switching steering engine 31 drives two transmission brackets 32 for being symmetrically set in its both sides by switching transmission mechanism, each
The connection of wheeled stand 46 is pierced in 32 end of transmission bracket by a pawl, and there are one the second climbing mechanisms 4；Each main motion steering engine
21 drive two synchronizing shafts 42 for being symmetrically set in its both sides by transmission mechanism, and then the execution of the second climbing mechanism 4 is driven to climb wall
Action.
Preferably, using Beijing, intelligently good AX-18 numeric types, output end use spline steering wheel and transmission to main motion steering engine 21
Mechanism 41 connects, and pierces crawler belt 45 by two-stage gear drive band pawl thorn wheel 43 and pawl and rotates simultaneously.
Preferably, the two-stage gear of transmission mechanism 41 is arranged in parallel and the number of teeth is equal, and mechanism resultant gear ratio is 1.In order to subtract
Few rigging error and mitigation own wt, intermediate gear are integrally formed with its accessory using 3D printing.All gear materials
Material is nylon 2200.
Preferably, 32 middle part hollow processing of transmission bracket, to mitigate total quality.
When specifically used, main motion steering engine 21 drives the first climbing mechanism 2 or the execution of the second climbing mechanism 4 to climb wall action,
That realizes robot climbs wall.When wall surface is smooth, carry out climbing wall using the first climbing mechanism 2；When wall surface is coarse, second is used
Climbing mechanism 4 carries out climbing wall, and the pawl thorn on pawl thorn wheel 43 and pawl thorn crawler belt 45 firmly grasps wall surface, and in the driving of main motion steering engine 21
Lower rotation, that realizes robot climbs wall.
When wall surface by it is coarse be excessively smooth when, need to switch to and carry out climbing wall using the first climbing mechanism 2.At this point, cutting
Changing steering engine 31 drives transmission bracket 32 to rotate, and makes chassis 1 gradually close to wall surface.In handoff procedure, spring 47 is by transmission bracket 32
It is tensed with pawl thorn wheeled stand 46, so that pawl is pierced wheeled stand 46 and rotated to wall direction, ensure that pawl thorn crawler belt 45 firmly grasps wall always
Face avoids declining with the pawl thorn number contacted between the walls after 43 driven holder of pawl thorn wheel, 32 lifting force when switching, cause
Robot gribing power deficiency is slid by avoiding.
Embodiment 3
A kind of installation method of the pawl thorn wheel of pawl thorn formula wall-climbing device, includes the following steps：Pawl thorn is installed on pawl thorn wheel
Pipeline in, then by pipeline and pawl thorn groove bonding.
Currently, pawl thorn is generally directly installed in pawl thorn groove by the installation of pawl thorn, installation effectiveness is extremely low, and single pawl thorn is time-consuming
About 5min.Meanwhile because fixing glue and pawl thorn contact area are limited, pawl thorn easily loose or dislocation.
Pawl thorn is installed in the pipeline of pawl thorn wheel by this method, and then by pipeline and pawl thorn groove bonding, adhesive strength is
Be mounted directly pawl thorn five times of method, installation effectiveness be 1 minute 5.
It should be noted that herein, relational terms such as first and second and the like are used merely to a reality
Body or operation are distinguished with another entity or operation, are deposited without necessarily requiring or implying between these entities or operation
In any actual relationship or order or sequence.Moreover, the terms "include", "comprise" or its any other variant are intended to
Non-exclusive inclusion, so that the process, method, article or equipment including a series of elements is not only wanted including those
Element, but also include other elements that are not explicitly listed, or further include for this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
There is also other identical elements in process, method, article or equipment including the element.
Above example is only to illustrate the technical solution of the utility model, rather than its limitations；Although with reference to aforementioned reality
Example is applied the utility model is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding
The technical solution recorded in each embodiment is stated to modify or equivalent replacement of some of the technical features；And these
Modification or replacement, the spirit and model of various embodiments of the utility model technical solution that it does not separate the essence of the corresponding technical solution
It encloses.
Claims (4)
1. a kind of walking mechanism of pawl thorn formula climbing robot, including it is used to support fixed chassis (1), it is characterised in that：Institute
It states and two main motion steering engines (21) and two switching steering engines (31) is diagonally set on chassis (1), the main motion steering engine (21) is used
In the first climbing mechanism of driving (2) and the second climbing mechanism (4) to realize that the wall of climbing of robot, the switching steering engine (31) are used for
Switch first climbing mechanism (2) or wall action, first climbing mechanism (2) are climbed in second climbing mechanism (4) execution
It is respectively used to climb in smooth and coarse wall environment with the second climbing mechanism (4)；
Synchronizing shaft (42) is connected to the pawl by bearing and pierces wheeled stand (46) front end, inside connection pawl thorn wheel (43), and two
A pawl thorn belt wheel (44) is located at pawl thorn wheeled stand (46) front end and end, and is connected to the synchronizing shaft
(42) it on the outside of and pierces wheeled stand (46) by axis and the pawl to be rotatablely connected, pawl pierces crawler belt (45) and two pawls pierce belt wheels (44)
Cooperation；Spring (47) both ends are connect with transmission bracket (32) end and pawl thorn wheeled stand (46) front end respectively, constitute institute
State the second climbing mechanism (4)；
Each switching steering engine (31) drives two transmission brackets (32) for being symmetrically set in its both sides by switching transmission mechanism, each
Wheeled stand (46) connection is pierced in transmission bracket (32) end by a pawl, and there are one the second climbing mechanisms (4)；Each main fortune
Dynamic steering engine (21) drives two synchronizing shafts (42) for being symmetrically set in its both sides by transmission mechanism, and then drives described second to creep
Wall action is climbed in mechanism (4) execution.
2. a kind of walking mechanism of pawl thorn formula climbing robot according to claim 1, it is characterised in that：The pawl thorn is carried out
Band (45) is formed by pasting material and pawl thorn composite manufacturing, and the pawl thorn being arranged thereon pierces crawler belt (45) nodel line direction along the pawl
The inclination angle of array arrangement, totally ten one row, pawl thorn and wall surface is 45 °.
3. a kind of walking mechanism of pawl thorn formula climbing robot according to claim 1 or 2, it is characterised in that：The pawl
Thorn wheel (43) is made of multiple elastic sheet structures.
4. a kind of walking mechanism of pawl thorn formula climbing robot according to claim 1 or 2, it is characterised in that：The pawl
The inclination angle of thorn wheel (43) dewclaw thorn is 45 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721875305.2U CN207737383U (en) | 2017-12-28 | 2017-12-28 | A kind of walking mechanism of pawl thorn formula climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721875305.2U CN207737383U (en) | 2017-12-28 | 2017-12-28 | A kind of walking mechanism of pawl thorn formula climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN207737383U true CN207737383U (en) | 2018-08-17 |
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ID=63120457
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| Application Number | Title | Priority Date | Filing Date |
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| CN201721875305.2U Active CN207737383U (en) | 2017-12-28 | 2017-12-28 | A kind of walking mechanism of pawl thorn formula climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038615A (en) * | 2019-12-31 | 2020-04-21 | 安徽延达智能科技有限公司 | Auxiliary climbing system for robot |
-
2017
- 2017-12-28 CN CN201721875305.2U patent/CN207737383U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111038615A (en) * | 2019-12-31 | 2020-04-21 | 安徽延达智能科技有限公司 | Auxiliary climbing system for robot |
| CN111038615B (en) * | 2019-12-31 | 2021-01-05 | 安徽延达智能科技有限公司 | Auxiliary climbing system for robot |
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