CN208429170U - A kind of wall-climbing device robot movement mechanism suitable for curved surface - Google Patents
A kind of wall-climbing device robot movement mechanism suitable for curved surface Download PDFInfo
- Publication number
- CN208429170U CN208429170U CN201820831413.8U CN201820831413U CN208429170U CN 208429170 U CN208429170 U CN 208429170U CN 201820831413 U CN201820831413 U CN 201820831413U CN 208429170 U CN208429170 U CN 208429170U
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- China
- Prior art keywords
- rotary pawl
- axle sleeve
- pawl
- chassis
- curved surface
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- 230000007246 mechanism Effects 0.000 title claims abstract description 17
- 230000009194 climbing Effects 0.000 abstract description 11
- 238000000034 method Methods 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000003463 adsorbent Substances 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006835 compression Effects 0.000 description 1
- 238000007906 compression Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
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Abstract
The utility model discloses a kind of wall-climbing device robot movement mechanisms suitable for curved surface.Chassis in the utility model is fixed by bolt and the wheel shaft in train, and axle sleeve is socketed in outside buffer, and axle sleeve and buffer are hinged with the chassis simultaneously；The steering pawl passes through fixed on the upside of vertical beam and axle sleeve；There are two the steering pawls, it is preceding rotary pawl and rear rotary pawl respectively, wherein preceding rotary pawl is connect by preceding rotating connector with push rod one end, and the push rod other end is flexibly connected with the output end of steering motor, and the fixing end of steering motor is connect by rear rotating connector with rear rotary pawl；The both ends of the steering link are connect with preceding rotary pawl, rear rotary pawl respectively, coordinate the angle that front and back rotates；The both ends of the transverse tube crossbeam are connect with the vertical beam of rear and front end respectively.The utility model is rotated by the front and back on preceding train and chassis, is rotated left and right, drift along three degree of freedom up and down, realizes flexible motion of the climbing robot on curved surface.
Description
Technical field
The utility model belongs to climbing robot field, is a kind of movement mechanism design scheme, makees applied on curved surface
The climbing robot of industry.
Background technique
Existing climbing robot, generallys use negative-pressure adsorption or magnetic suck principle is adsorbed in vertical walls, general logical
Reduction robot volume is crossed to pass through the biggish work surface of curvature, but such that the operating efficiency of climbing robot is lower.
When machine artificially improves operating efficiency and uses the biggish structure of volume, to guarantee that its adsorbs safety, its general fitness machine
Structure freedom degree is less, can only the operation on smooth wall surface.To solve this contradiction, research and development large volume, can be high on deep camber face
The robot for imitating operation is particularly significant.
Summary of the invention
The utility model relies on a kind of climbing robot of large size, proposes a kind of wall-climbing device robot movement mechanism, uses
The technical problem unstable by curved surface of high curvature, absorption is difficult to solve large-scale climbing robot.
To achieve the above object, the technical solution particular content of the utility model is as follows:
The utility model includes train, chassis, buffer, axle sleeve, rotary pawl, transverse tube crossbeam, steering link and turns to electricity
Machine.The chassis is fixed by bolt and the wheel shaft in train, and the axle sleeve is socketed in outside buffer, and axle sleeve and slow
It is hinged with the chassis simultaneously to rush device, changes movement mechanism height by stretching and shrinking buffer, is turned round by applying to axle sleeve
Square drives chassis rotation；The steering pawl makes axle sleeve by fixed on the upside of vertical beam and axle sleeve, by applying thrust to steering pawl
It is acted on by torque；There are two the steering pawls, is preceding rotary pawl and rear rotary pawl respectively, wherein preceding rotary pawl passes through preceding rotation
Connector is connect with push rod one end, and the push rod other end is flexibly connected with the output end of steering motor, and the fixing end of steering motor is logical
Later rotating connector is connect with rear rotary pawl；The both ends of the steering link are connect with preceding rotary pawl, rear rotary pawl respectively, association
The angle for adjusting front and back to rotate；The both ends of the transverse tube crossbeam are connect with the vertical beam of rear and front end respectively.
Furtherly, the fixed form turned on the upside of pawl and axle sleeve is bolt or pin connection.
Furtherly, the push rod and steering motor are connected through a screw thread.
Furtherly, the push rod and front steering pawl or rear steering pawl use pin connection.
The utility model has the beneficial effects that
1. the utility model is bonded front and back wheel and chassis with curved surface always, conveniently installed under chassis stable
Adsorbent equipment.
2. the utility model is rotated by the front and back on preceding train and chassis, is rotated left and right, drift along three degree of freedom up and down, real
Flexible motion of the climbing robot on curved surface is showed.
3. climbing robot, when passing through curved surface, the horizontal velocity of front and back wheel drive may inconsistent, axle sleeve and chassis
Certain buffering can be hingedly provided.
Detailed description of the invention
Fig. 1 is the climbing robot complete machine normal axomometric drawing that the utility model is relied on；
Fig. 2 is the movement mechanism normal axomometric drawing of the utility model；
Fig. 3 is the buffer main view being hidden in inside axle sleeve；
In figure: 1- train, the chassis 2-, the fixed pad of 3-, 4- axle sleeve, 5- front-drive pawl, 6- push rod, 7- transverse tube crossbeam, 8-
Steering motor, 9- rotating connector, 10- rear wheel pawl, 11- vertical beam, 12- steering link, 13- buffer.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.In addition, institute in the various embodiments of the present invention described below
The technical characteristic being related to can be combined with each other as long as they do not conflict with each other.
Below in conjunction with attached drawing, the utility model is described in further detail.
The utility model includes: train, chassis, buffer, axle sleeve, rotary pawl, steering link and steering motor.Described
Chassis is fixed by bolt and the wheel shaft in train, and train includes but is not limited to the design pattern in the utility model.Described
Axle sleeve is socketed in outside buffer, and axle sleeve and buffer are hinged with chassis simultaneously.It should by stretching and shrinking buffer change
Mechanism height, by applying the rotation of torque drive chassis to axle sleeve.It is fixed on the upside of the steering pawl and axle sleeve, preferentially select bolt
Or pin connection, by applying thrust to steering pawl axle sleeve is acted on by torque.The steering motor is pushed by push rod to be turned
It is rotated to pawl, push rod and steering motor are connected through a screw thread, and push rod and steering pawl preferentially use pin connection.The steering link is logical
It crosses pin to connect with forward and backward rotary pawl, coordinates the angle that front and back rotates, link mechanism includes but is not limited to the design of the utility model
Pattern.
The working method of wall-climbing device robot movement mechanism:
1. when robot passes through curved surface, since chassis and axle sleeve are hinged, front-wheel train and chassis can follow curved surface to rotate,
It is bonded front-wheel effectively with curved surface；
2. the buffer in axle sleeve is compressible or extends with rising or falling for curved surface, make front-wheel and chassis height can
It adjusts；
3. robot needs deflecting, pushes front and back to turn to pawl by push rod by steering motor, torque is applied to axle sleeve, is driven
Dynamic front and back wheel and chassis rotation.
Embodiment:
Fig. 1 is the climbing robot complete machine structure normal axomometric drawing that the present embodiment is relied on, which has that volume is big, makees
The high-efficient feature of industry.Originally the movement mechanism for being embodied as Robot Design is as shown in Figures 2 and 3.The following are the movement mechanisms
Working principle: chassis 2 is fixed by bolt and the wheel shaft of train 1, due to train 1 have 3 wheel be used as fulcrum, chassis always with
Working face is parallel；Chassis 2 and axle sleeve 4 pass through fixed pad 3 hingedly, and axle sleeve 4 can carry out the rotation of certain angle around wheel shaft；Buffer
13 are mounted on inside axle sleeve 4, and when robot moves on curved surface, front-wheel train and chassis are raised and lowered, and buffer 13 can
Corresponding compression or elongation；Front-drive pawl 5 and axle sleeve 4 are fixed by spiral shell peg or pin；Steering motor 8 passes through 9 He of rotating connector
Push rod 6 connects front-drive pawl 5 and rear wheel pawl 10, and when steering motor 8 pushes push rod 6, thrust makes front-drive pawl 5
Torque is transmitted simultaneously with rear wheel pawl 10, turns to preceding train and rear train；Steering link 12 passes through rotating connector
Front-drive pawl 5 and rear wheel pawl 10 are connected, keeps its rotational angle identical.
Claims (4)
1. a kind of wall-climbing device robot movement mechanism suitable for curved surface, including train, chassis, buffer, axle sleeve, rotary pawl, cross
Pipe crossbeam, steering link and steering motor, it is characterised in that:
The chassis is fixed by bolt and the wheel shaft in train, and the axle sleeve is socketed in outside buffer, and axle sleeve with
Buffer is hinged with the chassis simultaneously, changes movement mechanism height by stretching and shrinking buffer, by applying to axle sleeve
The rotation of torque drive chassis；The rotary pawl makes axis by fixed on the upside of vertical beam and axle sleeve, by applying thrust to rotary pawl
Set is acted on by torque；There are two the rotary pawls, is preceding rotary pawl and rear rotary pawl respectively, wherein preceding rotary pawl passes through forward
Follower link is connect with push rod one end, and the push rod other end is flexibly connected with the output end of steering motor, the fixing end of steering motor
It is connect by rear rotating connector with rear rotary pawl；The both ends of the steering link are connect with preceding rotary pawl, rear rotary pawl respectively,
Coordinate the angle that front and back rotates；The both ends of the transverse tube crossbeam are connect with the vertical beam of rear and front end respectively.
2. a kind of wall-climbing device robot movement mechanism suitable for curved surface according to claim 1, it is characterised in that: described turn
Fixed form on the upside of pawl and axle sleeve is bolt or pin connection.
3. a kind of wall-climbing device robot movement mechanism suitable for curved surface according to claim 1, it is characterised in that: described to push away
Bar and steering motor are connected through a screw thread.
4. a kind of wall-climbing device robot movement mechanism suitable for curved surface according to claim 1, it is characterised in that: described to push away
Bar and preceding rotary pawl or rear rotary pawl use pin connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820831413.8U CN208429170U (en) | 2018-05-31 | 2018-05-31 | A kind of wall-climbing device robot movement mechanism suitable for curved surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820831413.8U CN208429170U (en) | 2018-05-31 | 2018-05-31 | A kind of wall-climbing device robot movement mechanism suitable for curved surface |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208429170U true CN208429170U (en) | 2019-01-25 |
Family
ID=65100668
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820831413.8U Expired - Fee Related CN208429170U (en) | 2018-05-31 | 2018-05-31 | A kind of wall-climbing device robot movement mechanism suitable for curved surface |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208429170U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108482505A (en) * | 2018-05-31 | 2018-09-04 | 浙江大学 | Wall-climbing device robot movement mechanism suitable for curved surface |
| CN111483278A (en) * | 2020-06-28 | 2020-08-04 | 之江实验室 | Vertical buffer integrated suspension-steering mechanism |
-
2018
- 2018-05-31 CN CN201820831413.8U patent/CN208429170U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN111483278A (en) * | 2020-06-28 | 2020-08-04 | 之江实验室 | Vertical buffer integrated suspension-steering mechanism |
| CN111483278B (en) * | 2020-06-28 | 2020-10-13 | 之江实验室 | Vertical buffer integrated suspension-steering mechanism |
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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 |
Granted publication date: 20190125 Termination date: 20210531 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |