CN208576619U - A kind of intelligence climbing robot - Google Patents
A kind of intelligence climbing robot Download PDFInfo
- Publication number
- CN208576619U CN208576619U CN201820849936.5U CN201820849936U CN208576619U CN 208576619 U CN208576619 U CN 208576619U CN 201820849936 U CN201820849936 U CN 201820849936U CN 208576619 U CN208576619 U CN 208576619U
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- rack
- lifting
- type
- shaped rack
- control circuit
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Abstract
A kind of intelligent climbing robot of the utility model, mechanism, walking mechanism, horizontal sliding mechanism, braking exchange mechanism and power and intelligent electric control system are praised including E type rack, U-shaped rack, tote box, lifting, it is connected between U-shaped rack and E type rack by horizontal sliding mechanism, lifting praises mechanism embedded in E type rack corner position, braking exchange mechanism is mounted on the two sides of U-shaped rack, and intelligent electric control system includes visual sensor, touch sensor, driving power and control circuit；Its operation method includes lifting fuselage, translates U-shaped rack, four steps such as the translation of E type rack and robot translation.On the one hand the utility model effectively solves the transport weight in the environment such as corridor, the ramp of the ancillary equipments such as no elevator and assists personnel's operation of moving difficulty, on the other hand while effectively improving climbing work operations efficiency, the stability and comfort in climbing operation process are separately effectively raised.
Description
Technical field
The utility model relates to a kind of intelligent climbing robot, belongs to robotic technology field.
Background technique
In today's society, although elevator has been used commonplace, also there are also many places, as the number of plies is not high
Building, old residence building, there are many more tourist attractions and some hill path ladders etc., there is no installation electricity
Ladder.This is very inconvenient for the handicapped people's trip of the people in these places, particularly the elderly, leg, and transports weight
Also extremely difficult.
For many years, people always climb machinery and the equipment etc. in building, up to the present, what these researchs had in constantly research
It is that can only be watched in the experimental stage.Although what is had has produced model machine, use aspect is also difficult to achieve the desired results.These samples
The lack of wisdom that product have, some need human assistance could be completed to climb building, grasp when cannot put into practice or use substantially
Make difficulty, working efficiency is low, and safety and reliability are relatively poor.
In view of the above problems, it is a kind of with tactile, vision there is an urgent need to develop designing, it is climbed by the intelligence of intelligentized control method
Robot device.For realizing climbing corridor, hillside fields, be not required to human assistance in the course of work, can voluntarily going up or down stairway, with
Meet the needs of actual use, and creates great Social benefit and economic benefit.
Utility model content
In order to solve some shortcomings on existing sorting technique, the utility model provides a kind of intelligent climbing robot.
In order to realize effect above-mentioned, a kind of intelligent climbing robot and application method are proposed comprising following
Step:
A kind of intelligence climbing robot, including E type rack, U-shaped rack, tote box, lifting praise mechanism, walking mechanism,
Horizontal sliding mechanism, braking exchange mechanism and power and intelligent electric control system, wherein E type rack, U-shaped rack are coaxially divided
Cloth, and U-shaped rack is connected with each other embedded in E type front end of rack face and between E type rack by horizontal sliding mechanism, horizontal sliding machine
Structure is coaxially distributed with E type rack, U-shaped rack respectively, and distribution is parallel to the horizontal plane, and mechanism at least four is praised in lifting, respectively
Embedded in four corner positions of E type rack, and mechanism axis is praised in lifting and horizontal plane is distributed, and braking exchange mechanism shares two
Group is separately mounted to the two sides of U-shaped rack, and is connected with each other with walking mechanism, and walking mechanism at least three is separately mounted to E
Type rack, U-shaped rack lower end surface, wherein U-shaped rack lower end surface sets at least two walking mechanisms and connect with braking exchange mechanism,
E type rack lower end surface sets at least one walking mechanism, and tote box is mounted on U-shaped frame upper end face and is coaxially distributed with U-shaped rack,
Intelligent electric control system includes visual sensor, touch sensor, driving power and control circuit, wherein visual sensor,
Touch sensor several, one of visual sensor and touch sensor constitute a working group, each working group
In wherein E type rack, the front end face bottom of U-shaped rack and lower end surface front be all provided at least one working group, and in each working group
Visual sensor, touch sensor axis respectively with the end face vertical distribution where it, wherein E type rack lower end surface work
Touch sensor in group praises mechanism lower end surface embedded in lifting, and driving power and control circuit are installed in E type rack appearance
Face, wherein control circuit praises mechanism, walking mechanism, horizontal sliding mechanism, braking exchange mechanism and power with lifting respectively
With the visual sensor of intelligent electric control system, touch sensor, driving power electrical connection.
Further, the lifting praises mechanism and includes elevating screw, goes up and down silk braid, worm mechanism and lifting motor,
Wherein the lifting silk braid is in E type rack, and is coated on outside elevating screw, and the elevating screw and lifting silk braid
Between be intermeshed, the worm mechanism and lifting motor are installed in E type rack, and the lifting motor passes through worm screw
Mechanism and lifting silk braid are connected with each other, and the control circuit of the lifting motor and intelligent electric control system is electrically connected.
Further, the horizontal sliding mechanism include screw rod, division silk braid, division motor, stretched sheathed tube, guide post,
Sector gear group, wherein the division silk braid and stretched sheathed tube is embedded in U-shaped rack, wherein the division silk braid and U
Type rack is coaxially distributed, and is coated on outside screw rod and is intermeshed with lead screw, and the stretched sheathed tube is with division silk braid axis pair
Claim distribution, and with division silk braid axis parallelly distribute on, it is outer and be slidably connected between guide post that the stretched sheathed tube is coated on guide post,
The screw rod and guide post end is connected with each other with the type rear end of rack face E, wherein after the screw end is located at E type rack
It is connected with each other outside end face and by sector gear group and division motor, the division motor and sector gear group are installed in E
Type rear end of rack, wherein the control circuit of division motor and intelligent electric control system is electrically connected.
Further, the braking exchange mechanism includes ratchet, pawl, push-pull rod, electromagnet, wherein the ratchet
Be connected with each other with the wheel shaft of walking mechanism and be coaxially distributed, the pawl and U-shaped rack are hinged, and end pass through push-pull rod and
Electromagnet is connected with each other, and separately sets holddown spring between the pawl and U-shaped rack, and the holddown spring respectively with pawl and
The control circuit of U-shaped rack connection, the electromagnet and intelligent electric control system is electrically connected.
Further, the tote box lower end surface is evenly distributed at least four directive wheels, and by directive wheel and E type rack
End face connection.
Further, the corresponding E type frame upper end face of the directive wheel sets guided way.
Further, the control circuit is based on the automatic of any one in industrial single-chip microcontroller or programmable controller
Control circuit.
The utility model structure is simpler, and comparison is easy, at low cost, easy to install and use, integrated, automation journey
Degree is high, and bearing capacity, adaptive capacity to environment and versatility are good, on the one hand effectively solves in the building of the ancillary equipments such as no elevator
Personnel's operation of middle transport weight and assistance moving difficulty in the environment such as road, ramp, another aspect bearing capacity is good, and power is defeated
It is gentle out to stablize, while effectively improving climbing work operations efficiency, separately effectively raise in climbing operation process
Stability and comfort, cargo is undermined human body sense of discomfort and is increased caused by avoiding because of vibration.
Detailed description of the invention
It is described in detail the utility model with reference to the accompanying drawings and detailed description；
Fig. 1 is the utility model side schematic view；
Fig. 2 is the utility model positive structure schematic；
Fig. 3 is the utility model D to structural schematic diagram；
Fig. 4 is the utility model N-N to structural schematic diagram；
Fig. 5 is braking exchange mechanism structural schematic diagram
Fig. 6 the utility model method flow diagram.
Specific embodiment
To be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, below
In conjunction with specific embodiment, the utility model is further described.
A kind of intelligent climbing robot as described in Fig. 1-5, including E type rack 1, U-shaped rack 2, tote box 3, lifting lift
Mechanism 4, walking mechanism 5, horizontal sliding mechanism 6, braking exchange mechanism 7 and power and intelligent electric control system are lifted, wherein E
Type rack 1, U-shaped rack 2 are coaxially distributed, and U-shaped rack 2 is embedded in 1 front end face of E type rack and sliding by level between E type rack 1
Telephone-moving structure 6 is connected with each other, and horizontal sliding mechanism 6 with E type rack 1, the coaxial distribution of U-shaped rack 2, and is parallel to the horizontal plane point respectively
Mechanism 4 at least four is praised in cloth, lifting, is embedded in 1 four corner positions of E type rack respectively, and 4 axis of mechanism and water are praised in lifting
Plane vertical distribution, braking exchange mechanism 7 share two groups, are separately mounted to the two sides of U-shaped rack 2, and mutual with walking mechanism 5
Connection, walking mechanism 5 at least three is separately mounted to E type rack 1,2 lower end surface of U-shaped rack, wherein 2 lower end surface of U-shaped rack is set
At least two walking mechanisms 5 are simultaneously connect with braking exchange mechanism 7, and 1 lower end surface of E type rack sets at least one walking mechanism 5, loading
Case 3 be mounted on U-shaped 2 upper surface of rack and with the coaxial distribution of U-shaped rack 2, intelligent electric control system include visual sensor 8,
Touch sensor 9, driving power 10 and control circuit 11, wherein visual sensor 8, touch sensor 9 it is equal several, wherein one
A visual sensor 8 and touch sensor 9 constitute a working group, wherein E type rack 1, U-shaped rack 2 in each working group
Front end face bottom and lower end surface front be all provided at least one working group, and the visual sensor 8 in each working group, tactile sensing
9 axis of device is respectively with the end face vertical distribution where it, and wherein the touch sensor 9 in 1 lower end surface working group of E type rack is embedding
Mechanism lower end surface is praised in lifting, driving power 10 and control circuit 11 are installed in 1 outer surface of E type rack, wherein control electricity
Mechanism 4, walking mechanism 5, horizontal sliding mechanism 6, braking exchange mechanism 7 and power and intelligence electricity are praised with lifting respectively in road 11
Visual sensor 8, touch sensor 9, the driving power 10 of gas control system are electrically connected.
In the present embodiment, the lifting praise mechanism 4 include elevating screw 41, lifting silk braid 42, worm mechanism 43 and
Lifting motor 44 wherein the lifting silk braid 42 is embedded in E type rack 1, and is coated on outside elevating screw 41, and the liter
It is intermeshed between drop screw rod 41 and lifting silk braid 42, the worm mechanism 43 and lifting motor 44 are installed in E type rack 1
On, and the lifting motor 44 is connected with each other by worm mechanism 43 and lifting silk braid 42, the lifting motor 44 and intelligence
The control circuit 11 of energy electric control system is electrically connected.
In the present embodiment, 41 lower end surface of elevating screw sets positioning sucker disk 45.
In the present embodiment, the horizontal sliding mechanism 6 includes screw rod 61, division silk braid 62, division motor 63, extension set
Pipe 64, guide post 65, sector gear group 66, wherein the division silk braid 62 and stretched sheathed tube 64 is embedded in U-shaped rack 2,
Described in division silk braid 62 and the coaxial distribution of U-shaped rack 2, and it is outer and be intermeshed with lead screw 61 to be coated on screw rod 61, described
Stretched sheathed tube 64 with 62 axisymmetrical of division silk braid distribution, and with 62 axis parallelly distribute on of division silk braid, the extension set
Pipe 64 is coated on outside guide post 65 and is slidably connected between guide post 65, and the screw rod 61 and 65 end of guide post are and after E type rack 1
End face is connected with each other, wherein 61 end of screw rod is located at outside 1 rear end face of E type rack and by sector gear group 66 and division
Motor 63 is connected with each other, and the division motor 63 and sector gear group 66 are installed in 1 rear end of E type rack, wherein division electricity
The control circuit 11 of machine 63 and intelligent electric control system is electrically connected.
In the present embodiment, the braking exchange mechanism 7 includes ratchet 71, pawl 72, push-pull rod 73, electromagnet 74,
Described in ratchet 71 and walking mechanism 5 wheel shaft be connected with each other and be coaxially distributed, the pawl 72 and U-shaped rack 2 hinge
It connects, and end is connected with each other by push-pull rod 73 and electromagnet 74, separately sets holddown spring between the pawl 72 and U-shaped rack 2
75, and the holddown spring 75 is connect with pawl 72 and U-shaped rack 2 respectively, the electromagnet 74 and intelligent electric control
The control circuit 11 of system is electrically connected.
In the present embodiment, 3 lower end surface of tote box is evenly distributed at least four directive wheels 12, and passes through directive wheel 12 and E
1 upper surface of type rack is hinged.
In the present embodiment, corresponding 1 upper surface of E type rack of directive wheel 12 sets guided way 13.
In the present embodiment, the control circuit 11 is based on any one in industrial single-chip microcontroller or programmable controller
Automatic control circuit.
As shown in Fig. 2, a kind of operation method of intelligence climbing robot, comprising the following steps:
The first step is lifted fuselage, when encountering step in operation, first by being located at E type rack, U-shaped front end of rack face work
The touch sensor of work group detects stepped locations, is then driven and is risen by control circuit according to the stepped locations and height that detect
Drop praises mechanism operation, praises mechanism by going up and down for E type rack, U-shaped rack and is mounted on E type rack, setting in U-shaped rack
Standby whole lifting, and it is higher by least 5 millimeters of upper layer step upper surface, and in E type rack, the view of U-shaped front end of rack face working group
After feeling that sensor detects that E type rack, U-shaped bracket height reach lifting requirement, lifting is stopped by control circuit and praises mechanism fortune
Row terminates lifting operation；
Second step translates U-shaped rack, after completing the first step, by the operation of control circuit driving horizontal sliding mechanism, by level
Slipping mechanism pushes U-shaped rack to move to step plane direction, in the process of running, on the one hand by the row of U-shaped rack lower end surface
It walks mechanism and carrying guiding is carried out to U-shaped rack, on the other hand by the working group in U-shaped front end of rack face to U-shaped rack translational shifting
It sets and is positioned, and until U-shaped rack moves to rear on the step of upper layer completely and believed in place from working group to control circuit feedback
Number, the operation of horizontal sliding mechanism is then stopped by control circuit, terminates U-shaped rack translation operation, in U-shaped rack translation motion
In, the tote box positioned at U-shaped frame upper end face moves on the step of upper layer in company with U-shaped rack, while realizing robot fuselage
Center of gravity is moved integrally onto upper layer step；
Lifting in E type rack after completing second step operation, is praised mechanism in control electricity by third step, the translation of E type rack
Retracted for clearance is carried out under the driving effect of road, horizontal sliding mechanism inverted running is then driven by control circuit, by horizontal sliding machine
Structure draws E type rack and U-shaped shell outside is translated and be finally coated to upper layer step, completes robot and resets, then returns again
First step operation is returned to, until completing step climbing；
4th step, robot translation makes E type rack be coated to U-shaped shell outside after completing step climbing operation, complete
It is resetted at robot, then under control circuit driving, mobile operation is carried out by walking mechanism driving robot, and encountering platform
Climbing operation is carried out back to the first step when rank.
The utility model structure is simpler, and comparison is easy, at low cost, easy to install and use, integrated, automation journey
Degree is high, and bearing capacity, adaptive capacity to environment and versatility are good, on the one hand effectively solves in the building of the ancillary equipments such as no elevator
Personnel's operation of middle transport weight and assistance moving difficulty in the environment such as road, ramp, another aspect bearing capacity is good, and power is defeated
It is gentle out to stablize, while effectively improving climbing work operations efficiency, separately effectively raise in climbing operation process
Stability and comfort, cargo is undermined human body sense of discomfort and is increased caused by avoiding because of vibration.
The basic principles and main features of the present invention and the advantages of the present invention have been shown and described above.Current row
The technical staff of industry is described in above embodiments and description it should be appreciated that the present utility model is not limited to the above embodiments
Only illustrate the principles of the present invention, on the premise of not departing from the spirit and scope of the utility model, the utility model is also
It will have various changes and improvements, these various changes and improvements fall within the scope of the claimed invention.The utility model
Claimed range is defined by the appending claims and its equivalent thereof.
Claims (7)
1. it is a kind of intelligence climbing robot, it is characterised in that: the intelligent climbing robot include E type rack, U-shaped rack,
Tote box, lifting praise mechanism, walking mechanism, horizontal sliding mechanism, braking exchange mechanism and power and intelligent electric control
System, wherein the E type rack, U-shaped rack are coaxially distributed, and the U-shaped rack is embedded in E type front end of rack face and and E
It is connected with each other between type rack by horizontal sliding mechanism, the horizontal sliding mechanism is coaxial with E type rack, U-shaped rack respectively
Distribution, and distribution is parallel to the horizontal plane, mechanism at least four is praised in the lifting, is embedded in four apex angle positions of E type rack respectively
It sets, and mechanism axis is praised in the lifting and horizontal plane is distributed, the braking exchange mechanism shares two groups, pacifies respectively
It is connected with each other mounted in the two sides of U-shaped rack, and with walking mechanism, the walking mechanism at least three is separately mounted to E type machine
Frame, U-shaped rack lower end surface, wherein the U-shaped rack lower end surface sets at least two walking mechanisms and connects with braking exchange mechanism
It connects, the E type rack lower end surface sets at least one walking mechanism, and the tote box is mounted on U-shaped frame upper end face and and U
Type rack is coaxially distributed, and the intelligent electric control system includes visual sensor, touch sensor, driving power and control
Circuit, wherein the visual sensor, touch sensor several, one of visual sensor and a tactile sensing
Device constitutes a working group, in each working group wherein E type rack, the front end face bottom of U-shaped rack and lower end surface front be all provided with to
A few working group, and the visual sensor in each working group, touch sensor axis are vertical with the end face where it respectively
Distribution, wherein the touch sensor in the working group of E type rack lower end surface praises mechanism lower end surface, the driving electricity embedded in lifting
Source and control circuit are installed in E type rack outer surface, wherein the control circuit praises mechanism, vehicle with walking machine with lifting respectively
Structure, horizontal sliding mechanism, visual sensor, the tactile sensing for braking exchange mechanism and power and intelligent electric control system
Device, driving power electrical connection.
2. a kind of intelligent climbing robot according to claim 1, it is characterised in that: the lifting praises mechanism and includes
Elevating screw, lifting silk braid, worm mechanism and lifting motor, wherein the lifting silk braid is embedded in E type rack, and are coated on
It outside elevating screw, and is intermeshed between the elevating screw and lifting silk braid, the worm mechanism and lifting motor are pacified
In E type rack, and the lifting motor by worm mechanism and lifting silk braid be connected with each other, the lifting motor with
The control circuit of intelligent electric control system is electrically connected.
3. a kind of intelligent climbing robot according to claim 1, it is characterised in that: the horizontal sliding mechanism includes
Screw rod, division silk braid, division motor, stretched sheathed tube, guide post, sector gear group, wherein the division silk braid and stretched sheathed tube
In the U-shaped rack, wherein the division silk braid is coaxially distributed with U-shaped rack, and be coated on screw rod outside and with lead screw phase
Mutually engagement, the stretched sheathed tube with division silk braid axisymmetrical distribution, and with division silk braid axis parallelly distribute on, described prolongs
Stretching casing, to be coated on guide post outer and be slidably connected between guide post, the screw rod and guide post end with E type rear end of rack face phase
It connects, wherein the screw end is located at outside E type rear end of rack face and is mutually interconnected by sector gear group with division motor
It connects, the division motor and sector gear group are installed in E type rear end of rack, and wherein division motor and intelligent electric control is
The control circuit of system is electrically connected.
4. a kind of intelligent climbing robot according to claim 1, it is characterised in that: the braking exchange mechanism includes
Ratchet, pawl, push-pull rod, electromagnet, wherein the wheel shaft of the ratchet and walking mechanism is connected with each other and is coaxially distributed, it is described
Pawl and U-shaped rack it is hinged, and end is connected with each other by push-pull rod and electromagnet, another between the pawl and U-shaped rack
If holddown spring, and the holddown spring is connect with pawl and U-shaped rack respectively, the electromagnet and intelligent electric control
The control circuit of system is electrically connected.
5. a kind of intelligent climbing robot according to claim 1, it is characterised in that: the tote box lower end surface is uniformly distributed
At least four directive wheels, and connect by directive wheel with E type frame upper end face.
6. a kind of intelligent climbing robot according to claim 5, it is characterised in that: the corresponding E type of the directive wheel
Frame upper end face sets guided way.
7. a kind of intelligent climbing robot according to claim 1, it is characterised in that: the control circuit is based on work
The automatic control circuit of any one in industry single-chip microcontroller or programmable controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820849936.5U CN208576619U (en) | 2018-06-04 | 2018-06-04 | A kind of intelligence climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820849936.5U CN208576619U (en) | 2018-06-04 | 2018-06-04 | A kind of intelligence climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208576619U true CN208576619U (en) | 2019-03-05 |
Family
ID=65507683
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820849936.5U Expired - Fee Related CN208576619U (en) | 2018-06-04 | 2018-06-04 | A kind of intelligence climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208576619U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109916457A (en) * | 2019-04-23 | 2019-06-21 | 国网安徽省电力有限公司电力科学研究院 | A kind of deformation method of the miniature crusing robot of cable duct of substation and its inspection cable duct |
-
2018
- 2018-06-04 CN CN201820849936.5U patent/CN208576619U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109916457A (en) * | 2019-04-23 | 2019-06-21 | 国网安徽省电力有限公司电力科学研究院 | A kind of deformation method of the miniature crusing robot of cable duct of substation and its inspection cable duct |
| CN109916457B (en) * | 2019-04-23 | 2023-08-22 | 国网安徽省电力有限公司电力科学研究院 | Miniature inspection robot for cable trench of transformer substation and deformation method for inspection cable trench |
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| 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: 20190305 Termination date: 20190604 |