CN214356345U - Biped type walking rock climbing robot - Google Patents
Biped type walking rock climbing robot Download PDFInfo
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- CN214356345U CN214356345U CN202023143385.7U CN202023143385U CN214356345U CN 214356345 U CN214356345 U CN 214356345U CN 202023143385 U CN202023143385 U CN 202023143385U CN 214356345 U CN214356345 U CN 214356345U
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Abstract
The utility model relates to a biped formula walking rock climbing robot belongs to mobile robot technical field. The utility model comprises a middle part and two side parts; the middle part comprises a first double-shaft double-connecting-rod steering joint; the two side parts are arranged symmetrically left and right about the middle part; the two side parts have the same structure, wherein one side part comprises a single-shaft rotating joint, a second double-shaft double-connecting-rod steering joint and a drilling machine mechanism; the drilling machine mechanism is connected with a second double-shaft double-connecting-rod steering joint, the second double-shaft double-connecting-rod steering joint is connected with a single-shaft rotating joint, and the single-shaft rotating joint is connected with the first double-shaft double-connecting-rod steering joint through a connecting rod. The utility model can realize multi-degree-of-freedom movement, can replace professionals to carry out high-altitude operation work with higher danger, and saves human resources to a certain extent; the device has certain wall face operation capacity, can be used as a carrying platform to carry other equipment to walk and work on the rock wall, and improves the working efficiency.
Description
Technical Field
The utility model relates to a biped formula walking rock climbing robot belongs to mobile robot technical field.
Background
With the development of the robot technology, more and more countries realize the importance of the technology and actively invest in the research and development work of the robot; compared with foreign countries, the time for putting into the rock wall climbing robot research and development project in China is late, but considerable research results are obtained at present. The defects in the United states are limited by the intelligent complexity of target work and the condition limitation of functions and occasions, high-risk high-level operation projects such as lifesaving, rock climbing and the like cannot be replaced, and the project quality can be ensured only by being completed by professionals in person. Aiming at high-altitude operation, such as gallery construction, rock wall open-line operation, scenic spot cliff wall maintenance work and the like, the currently developed designs generally comprise a sucker type robot, a crawler type robot and a bionic type robot, but the suction type robot has the defects of limitation in the field of industrial application, poor safety performance, poor research value and the like.
Disclosure of Invention
The to-be-solved technical problem of the utility model is: the utility model provides a biped walking rock climbing robot, which can realize multi-degree-of-freedom movement, can replace professionals to carry out high-altitude operation work with higher danger, and saves human resources to a certain extent; the device has certain wall face operation capacity, can be used as a carrying platform to carry other equipment to walk and work on the rock wall, and improves the working efficiency.
The utility model adopts the technical scheme that: a biped walking rock climbing robot comprises a middle part and two side parts;
the intermediate portion includes a first double-shaft double-link steering knuckle 30;
the two side parts are arranged symmetrically left and right about the middle part; the two side parts have the same structure, wherein one side part comprises a single-shaft rotating joint 31, a second double-shaft double-link steering joint 30 and a drilling machine mechanism 29; the drilling mechanism 29 is connected to a second double-shaft double-link steering joint 30, the second double-shaft double-link steering joint 30 is connected to a single-shaft rotating joint 31, and the single-shaft rotating joint 31 and the first double-shaft double-link steering joint 30 are connected by a link 27.
As a further aspect of the present invention, the first dual-shaft dual-link steering joint 30 and the second dual-shaft dual-link steering joint 30 have the same structure, wherein the second dual-shaft dual-link steering joint 30 includes a dual-shaft dual-link steering joint i and a dual-shaft dual-link steering joint ii, the dual-shaft dual-link steering joint i and the dual-shaft dual-link steering joint ii have the same structure, and are distributed in central symmetry about a gear shaft ii 32, wherein the dual-shaft dual-link steering joint i includes a joint frame i 20, a bevel gear i 21, a bevel gear ii 22, a coupling sleeve 23, a reduction motor 24, a joint frame ii 25, and a slotted pan head screw 26;
the joint frame I20 and the joint frame II 25 are used as a shell structure of a second double-shaft double-connecting-rod steering joint 30; a speed reducing motor 24 is selected as a power source in the second double-shaft double-connecting-rod steering joint 30, four slotted pan head screws 26 are used for being fixed in a joint frame I20, the output end of the speed reducing motor 24 is connected with a coupling sleeve 23, the coupling sleeve is provided with a bearing cover and two slotted pan head screws 26 for fixing, the other end of the coupling sleeve 23 is connected with a group of conical gear meshing transmission mechanisms, each conical gear meshing transmission mechanism consists of a conical gear I21 and a conical gear II 22, the other end of the coupling sleeve 23 is connected with the conical gear II 22, the conical gear II 22 is meshed with the conical gear I21, and the conical gear I21 is fixedly sleeved on a gear shaft II 32;
two ends of the gear shaft II 32 are movably connected with two sides of the joint frame I20, one end of the joint frame II 25 is fixedly connected with the joint frame I20, and the other end of the joint frame II 25 is fixedly connected with the gear shaft II 32 of the double-shaft double-connecting-rod steering joint II;
similarly, the two ends of the gear shaft II 32 of the double-shaft double-connecting-rod steering joint II are movably connected with the two sides of the joint frame I20 of the double-shaft double-connecting-rod steering joint II, one end of the joint frame II 25 of the double-shaft double-connecting-rod steering joint II is fixedly connected with the joint frame I20 of the double-shaft double-connecting-rod steering joint II, and the other end of the joint frame II 25 of the double-shaft double-connecting-rod steering joint II is fixedly connected with the gear shaft II 32 of the double-shaft double-connecting-rod steering joint I.
As a further aspect of the present invention, the end of the first double-shaft double-link steering joint 30 is connected to the connecting rod 27, and the connecting rod 27 is connected to the rotating tray 16 in the single-shaft rotating joint 31 through the hexagon bolt nut iii 28, and the upper end of the rotating tray 16 in the single-shaft rotating joint 31 is connected to the first double-shaft double-link steering joint 30 through the connecting rod 27, and the lower end is connected to the joint shaft 19 through the hexagon bolt nut ii 15.
As a further scheme of the present invention, the single-shaft rotary joint 31 includes a reduction motor 10, a joint cover plate 11, a coupling 12, a cylindrical gear i 13, a hexagon bolt and nut i 14, a hexagon bolt and nut ii 15, a rotary tray 16, a joint housing 17, a cylindrical gear ii 18, and a joint shaft 19; the speed reducing motor 10 is arranged on a joint shell 17, the output end of the speed reducing motor 10 is connected with a cylindrical gear I13, a coupler 12 is arranged between the speed reducing motor and the cylindrical gear I13 and used for guaranteeing power transmission, the cylindrical gear I13 is meshed with a cylindrical gear II 18 to form a group of gear transmission mechanisms, the cylindrical gear II 18 is nested on a joint shaft 19, the joint shaft 19 is movably connected with the upper side and the lower side of the joint shell 17 through bearings, the upper bottom end of the joint shaft 19 is fixedly connected with a rotating tray 16 through a hexagon bolt nut II 15, the rotating tray 16 is connected with a connecting rod 27 through a hexagon bolt nut III 28, and the connecting rod 27 is further connected with a first double-shaft double-connecting-rod steering joint 30; the lower end of the joint shell 17 is connected with a joint frame I20 of a second double-shaft double-connecting-rod steering joint 30;
the number of the joint shells 17 is two, the number of the joint cover plates 11 is one, the two joint shells 17 and one joint cover plate 11 form a shell of a single-shaft rotating joint 31, the two identical semi-cylindrical joint shells 17 are locked by adopting hexagon nut matching 14, the right end of each semi-cylindrical joint shell is packaged by being provided with the joint cover plate 11, and the locking mode is that four cross-groove small pan head screws are matched.
As a further scheme of the utility model, the drilling machine mechanism 29 comprises a drilling machine motor 1, an elastic coupling 2, a cylindrical gear shaft 3, a cylindrical gear III 4, a gear shaft I5 and a straight shank short twist drill 9;
the tail end of the drilling machine mechanism 29 is provided with a straight shank short twist drill 9, the output end of a drilling machine motor 1 is connected with a cylindrical gear shaft 3, and two elastic couplings 2 are arranged between the straight shank short twist drill and the cylindrical gear shaft to adapt to deviation and accurately transmit torque; cylindrical gear axle 3 and the meshing of cylindrical gear III 4 constitute an axle gear drive mechanism, and cylindrical gear III 4 is fixed in on the I5 of gear shaft, gear shaft I5 and the short fluted drill 9 fixed connection of straight shank.
As a further proposal of the utility model, the drilling mechanism 29 further comprises a locking nut 6, a spring 7 and an expansion sleeve 8;
the locking nut 6 is arranged outside the gear shaft I5 and the straight shank short twist drill 9 and used for locking the gear shaft I5 and the straight shank short twist drill 9, and the spring 7 is positioned on the locking nut 6; expansion bolt jacking rings 34 are arranged outside the locking nut 6 and the spring 7; the expansion bolt nut 33 and the expansion sleeve 8 are installed on the straight shank short twist drill 9, the expansion sleeve 8 is in contact with the expansion bolt nut 33, the expansion bolt nut 33 is in threaded connection with the straight shank short twist drill 9, and the expansion bolt nut 33 is fixedly connected with the expansion bolt jacking ring 34.
The utility model has the advantages that:
the utility model has the advantages that the walking mode is biped walking, the two ends of the two feet of the mirror-oriented mechanism with the center as the symmetrical point are both working ends, the drilling operation can be carried out on the cliff wall, and other operations can be carried out on the cliff wall by carrying camera equipment and other small-sized working mechanisms, so that the robot is suitable for the occasions with complex advancing road surfaces; the sole fixing mechanism adopts a combined mode of an expansion sleeve and a drill bit, and the design is based on the working principle of expansion bolts: firstly, a drill bit with a proper caliber is selected to drill a hole in a wall surface at a certain depth, an expansion bolt is placed in the hole and then a nut is screwed, an expansion sleeve expands, and meanwhile, the bolt can have a certain load, so that the bolt is better fixed, and the method is increasingly widely applied to engineering; the movable joint is designed by adopting the comprehensive application of a single-shaft rotary joint and a double-shaft double-connecting-rod steering joint, and the two ends can carry out the same operation.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
fig. 2 is an assembly view of the connection mechanism between the connecting rod (27) and the rotating tray (16) of the present invention;
fig. 3 is a mechanism assembly cross-sectional view of the double-shaft double-link steering joint (30) of the present invention;
fig. 4 is a mechanism assembly cross-sectional view of the uniaxial rotary joint (31) of the present invention;
fig. 5 is an assembled cross-sectional view of the drill mechanism (29) of the present invention.
The respective reference numerals in FIGS. 1 to 5: 1-drilling machine motor, 2-elastic coupling, 3-cylindrical gear shaft, 4-cylindrical gear III, 5-gear shaft I, 6-lock nut, 7-spring, 8-expansion sleeve, 9-straight shank short twist drill, 10-gear motor, 11-joint cover plate, 12-coupling, 13-cylindrical gear I, 14-hexagon bolt nut I, 15-hexagon bolt nut II, 16-rotary tray, 17-joint shell, 18-cylindrical gear II, 19-joint shaft, 20-joint frame I, 21-cone gear I, 22-cone gear II, 23-coupling sleeve, 24-gear motor, 25-joint frame II, 26-slotted pan head screw, 27-connecting rod, 28-hexagon bolt nut III, 29-a drilling machine mechanism, 30-a double-shaft double-connecting-rod steering joint, 31-a single-shaft rotating joint, 32-a gear shaft II, 33-an expansion bolt nut and 34-an expansion bolt jacking ring.
Detailed Description
The present invention will be further described with reference to the accompanying drawings and specific embodiments.
Example 1: as shown in fig. 1-5, a biped walking rock climbing robot comprises a middle part and two side parts;
the intermediate portion includes a first double-shaft double-link steering knuckle 30;
the two side parts are arranged symmetrically left and right about the middle part; the two side parts have the same structure, wherein one side part comprises a single-shaft rotating joint 31, a second double-shaft double-link steering joint 30 and a drilling machine mechanism 29; the drilling mechanism 29 is connected to a second double-shaft double-link steering joint 30, the second double-shaft double-link steering joint 30 is connected to a single-shaft rotating joint 31, and the single-shaft rotating joint 31 and the first double-shaft double-link steering joint 30 are connected by a link 27.
As a further aspect of the present invention, the first dual-shaft dual-link steering joint 30 and the second dual-shaft dual-link steering joint 30 have the same structure, wherein the second dual-shaft dual-link steering joint 30 includes a dual-shaft dual-link steering joint i and a dual-shaft dual-link steering joint ii, the dual-shaft dual-link steering joint i and the dual-shaft dual-link steering joint ii have the same structure, and are distributed in central symmetry about a gear shaft ii 32, wherein the dual-shaft dual-link steering joint i includes a joint frame i 20, a bevel gear i 21, a bevel gear ii 22, a coupling sleeve 23, a reduction motor 24, a joint frame ii 25, and a slotted pan head screw 26;
the joint frame I20 and the joint frame II 25 are used as a shell structure of a second double-shaft double-connecting-rod steering joint 30; a speed reducing motor 24 is selected as a power source in the second double-shaft double-connecting-rod steering joint 30, four slotted pan head screws 26 are used for being fixed in a joint frame I20, the output end of the speed reducing motor 24 is connected with a coupling sleeve 23, the coupling sleeve is provided with a bearing cover and two slotted pan head screws 26 for fixing, the other end of the coupling sleeve 23 is connected with a group of conical gear meshing transmission mechanisms, each conical gear meshing transmission mechanism consists of a conical gear I21 and a conical gear II 22, the other end of the coupling sleeve 23 is connected with the conical gear II 22, the conical gear II 22 is meshed with the conical gear I21, and the conical gear I21 is fixedly sleeved on a gear shaft II 32;
two ends of the gear shaft II 32 are movably connected with two sides of the joint frame I20, one end of the joint frame II 25 is fixedly connected with the joint frame I20, and the other end of the joint frame II 25 is fixedly connected with the gear shaft II 32 of the double-shaft double-connecting-rod steering joint II;
similarly, the two ends of the gear shaft II 32 of the double-shaft double-connecting-rod steering joint II are movably connected with the two sides of the joint frame I20 of the double-shaft double-connecting-rod steering joint II, one end of the joint frame II 25 of the double-shaft double-connecting-rod steering joint II is fixedly connected with the joint frame I20 of the double-shaft double-connecting-rod steering joint II, and the other end of the joint frame II 25 of the double-shaft double-connecting-rod steering joint II is fixedly connected with the gear shaft II 32 of the double-shaft double-connecting-rod steering joint I.
As a further aspect of the present invention, the end of the first double-shaft double-link steering joint 30 is connected to the connecting rod 27, and the connecting rod 27 is connected to the rotating tray 16 in the single-shaft rotating joint 31 through the hexagon bolt nut iii 28, and the upper end of the rotating tray 16 in the single-shaft rotating joint 31 is connected to the first double-shaft double-link steering joint 30 through the connecting rod 27, and the lower end is connected to the joint shaft 19 through the hexagon bolt nut ii 15.
As a further scheme of the present invention, the single-shaft rotary joint 31 includes a reduction motor 10, a joint cover plate 11, a coupling 12, a cylindrical gear i 13, a hexagon bolt and nut i 14, a hexagon bolt and nut ii 15, a rotary tray 16, a joint housing 17, a cylindrical gear ii 18, and a joint shaft 19; the speed reducing motor 10 is arranged on a joint shell 17, the output end of the speed reducing motor 10 is connected with a cylindrical gear I13, a coupler 12 is arranged between the speed reducing motor and the cylindrical gear I13 and used for guaranteeing power transmission, the cylindrical gear I13 is meshed with a cylindrical gear II 18 to form a group of gear transmission mechanisms, the cylindrical gear II 18 is nested on a joint shaft 19, the joint shaft 19 is movably connected with the upper side and the lower side of the joint shell 17 through bearings, the upper bottom end of the joint shaft 19 is fixedly connected with a rotating tray 16 through a hexagon bolt nut II 15, the rotating tray 16 is connected with a connecting rod 27 through a hexagon bolt nut III 28, and the connecting rod 27 is further connected with a first double-shaft double-connecting-rod steering joint 30; the lower end of the joint shell 17 is connected with a joint frame I20 of a second double-shaft double-connecting-rod steering joint 30;
the number of the joint shells 17 is two, the number of the joint cover plates 11 is one, the two joint shells 17 and one joint cover plate 11 form a shell of a single-shaft rotating joint 31, the two identical semi-cylindrical joint shells 17 are locked by adopting hexagon nut matching 14, the right end of each semi-cylindrical joint shell is packaged by being provided with the joint cover plate 11, and the locking mode is that four cross-groove small pan head screws are matched.
As a further scheme of the utility model, the drilling machine mechanism 29 comprises a drilling machine motor 1, an elastic coupling 2, a cylindrical gear shaft 3, a cylindrical gear III 4, a gear shaft I5 and a straight shank short twist drill 9;
the tail end of the drilling machine mechanism 29 is provided with a straight shank short twist drill 9, the output end of a drilling machine motor 1 is connected with a cylindrical gear shaft 3, and two elastic couplings 2 are arranged between the straight shank short twist drill and the cylindrical gear shaft to adapt to deviation and accurately transmit torque; cylindrical gear axle 3 and the meshing of cylindrical gear III 4 constitute an axle gear drive mechanism, and cylindrical gear III 4 is fixed in on the I5 of gear shaft, gear shaft I5 and the short fluted drill 9 fixed connection of straight shank.
As a further proposal of the utility model, the drilling mechanism 29 further comprises a locking nut 6, a spring 7 and an expansion sleeve 8;
the locking nut 6 is arranged outside the gear shaft I5 and the straight shank short twist drill 9 and used for locking the gear shaft I5 and the straight shank short twist drill 9, and the spring 7 is positioned on the locking nut 6; expansion bolt jacking rings 34 are arranged outside the locking nut 6 and the spring 7; the expansion bolt nut 33 and the expansion sleeve 8 are installed on the straight shank short twist drill 9, the expansion sleeve 8 is in contact with the expansion bolt nut 33, and the expansion bolt nut 33 is in threaded connection with the straight shank short twist drill 9. The expansion bolt nut 33 is fixedly connected with the expansion bolt jacking ring 34.
As a further explanation of the present invention, the lock nut 6 is used for locking the gear shaft i 5 and the straight shank short twist drill 9, and the spring 7 is located on the lock nut 6; expansion bolt jacking rings 34 are arranged outside the locking nut 6 and the spring 7; the expansion bolt nut 33 and the expansion sleeve 8 are arranged on the straight shank short twist drill 9. When the expansion sleeve fixing device works, a hole with a certain depth is punched by the straight-shank short twist drill 9, then the drill motor 1 rotates reversely, the expansion bolt and the nut 33 feed forwards, the expansion sleeve 8 is pushed forwards, and the front end of the expansion sleeve expands to achieve the fixing effect.
Because the thread direction of the straight shank short twist drill 9 and the expansion bolt nut 33 determines that the expansion bolt nut 33 cannot advance forwards when the drill motor 1 rotates forwards, and only the original position is kept. And just when the drill motor 1 reverses, the expansion bolt nut 33 can be fed in the thread direction, the expansion sleeve 8 is pushed forwards and expanded to achieve the fixing effect, the spring 7 is always kept in a certain compression state, the expansion bolt nut 33 can be in contact with the thread on the straight shank short twist drill 9, and the fact that the expansion bolt nut 33 can be fed forwards in the reversing process is guaranteed.
The utility model discloses a concrete working process as follows:
the utility model discloses a walking mode is biped running gear, and overall structure adopts the symmetrical design, and is unilateral to turn to joint 30 and unipolar rotary joint 31 and rig mechanism 29 by the double-shaft double-connecting rod of second and constitutes.
The first double-shaft double-connecting-rod steering joint 30 is positioned at the center of a symmetrical design, is used as the middle part of a symmetrical structure of the robot and is connected with double feet of a double-foot type design, a speed reducing motor 24 is selected as a power source in the double-shaft double-connecting-rod steering joint to provide rotary power for the double feet, the output end of the speed reducing motor 24 is connected with a coupling sleeve 23, the other end of the coupling sleeve 23 is connected with a group of conical gear meshing mechanisms, the conical gear meshing mechanisms are composed of a conical gear I21 and a conical gear II 22 to realize the conversion of the rotary direction and the vertical direction, the conical gear I21 is connected with a gear shaft II 32 to further transmit the power, and therefore the rotary power of the speed reducing motor 24 is transmitted to the gear shaft II 32. When in work, the power transmission route of the part is as follows: the gear motor 24, the coupling sleeve 23, the conical gear transmission mechanism (the conical gear II 22 and the conical gear I21) and the gear shaft II 32. The second double-shaft double-connecting-rod steering joint 30 is composed of two identical parts, and comprises a double-shaft double-connecting-rod steering joint I and a double-shaft double-connecting-rod steering joint II, the structures of the double-shaft double-connecting-rod steering joint I and the double-shaft double-connecting-rod steering joint II are identical, and the double-shaft double-connecting-rod steering joint I and the double-shaft double-connecting-rod steering joint II are centrally and symmetrically distributed about a gear shaft II 32, wherein the double-shaft double-connecting-rod steering joint I comprises a joint frame I20, a conical gear I21, a conical gear II 22, a coupling sleeve 23, a speed reducing motor 24, a joint frame II 25 and a slotted pan head screw 26, the double-shaft double-connecting-rod steering joint I and the gear shaft II 32 of the double-shaft double-connecting-rod steering joint II rotate, the whole structure of the figure 3 can be bent, the design of the first double-shaft double-connecting-rod steering joint 30 is matched to realize double-shaft double-connecting-rod steering, the similar to human hip, and the double-foot walking effect is achieved.
Connected between the first double-shaft double-link steering knuckle 30 and the second double-shaft double-link steering knuckle 30 is a single-shaft rotary joint 31. The part selects the gear motor 10 as a power source, in the working process, the gear motor 10 outputs power, the output end of the gear motor is connected with the cylindrical gear I13, a coupler 12 is arranged between the gear motor and the cylindrical gear I13 and used for compensating offset between two shafts, power transmission is guaranteed simultaneously, the cylindrical gear I13 is meshed with the cylindrical gear II 18 to form a group of gear transmission mechanisms, and the effect of changing the rotating direction is achieved. The cylindrical gear II 18 is nested on the joint shaft 19 and transmits power to the joint shaft 19. The joint shaft 19 penetrates through the whole single-shaft rotary joint, the power transmitted from the cylindrical gear transmission mechanism can be transmitted to the whole mechanism, the rotary motion of the whole mechanism is realized, and meanwhile, the left end and the right end of the joint shaft are respectively provided with an angular contact ball bearing for bearing radial load and axial load. The power transmission route in the whole single-shaft rotary joint 31 mechanism is as follows: the speed reducing motor 10, the coupler 12, the cylindrical gear transmission mechanism (the cylindrical gear I13 and the cylindrical gear II 18), the joint shaft 19, the first double-shaft double-connecting-rod steering joint 30, and the drilling machine mechanism 29 on the right part in the figure 1 is driven to rotate by the rotation of the first double-shaft double-connecting-rod steering joint 30; specifically, after the left drilling mechanism 29 in fig. 1 is inserted into a wall surface, the rotation of the joint shaft 19 of the left single-shaft rotating joint 31 drives the middle first double-shaft double-link steering joint 30 to rotate, and finally drives the right part of the second double-shaft double-link steering joint 30 and the drilling mechanism 29 in fig. 1 to rotate. The end of the first double-shaft double-link steering joint 30 is connected with the link 27, and the link 27 is connected with the rotary tray 16 in the single-shaft rotary joint 31 in a mode of adopting three hexagon bolts and nuts iii 28. The part is the connection mode of the first double-shaft double-link steering joint 30 and the single-shaft rotating joint 31, and the connection design is only carried out here, so that the part does not have the rotating function, cannot rotate by itself, and can provide the freedom degree of single-shaft rotation for the subsequent mechanism.
The lower end of the single-shaft rotary joint 31 is connected to the second double-shaft double-link steering joint 30. The joint housing 17 in the single-shaft rotary joint 31 is in threaded connection with the joint frame I20 in the second double-shaft double-link steering joint 30. The second two-axis two-link steering knuckle 30 here still functions as a mechanism flexure, with an effect mainly similar to a bipedal knee, providing bending freedom for subsequent results with the overall structural flexure for bipedal walking.
The other end of the second double-axle double-link steering knuckle 30 is connected to the drill mechanism 29. The part still selects a motor as a power source, a drill shell fixes a drill motor 1 by utilizing a geometric shape constraint principle, the output end of the drill motor 1 is connected with a cylindrical gear shaft 3, the rotary power of the drill motor 1 is transmitted out in sequence, and in order to achieve the effects of adapting to deviation and accurately transmitting torque, two elastic couplings 2 are arranged between the drill motor 1 and the cylindrical gear shaft to improve the reliability of the system. The cylindrical gear shaft 3 is meshed with the cylindrical gear III 4 to form a shaft gear transmission mechanism, so that the rotary power is transmitted, and the rotary direction is changed. Cylindrical gear III 4 is fixed in on the I5 of gear shaft, and I5 of gear shaft extends to the short fluted drill of straight shank of rig end effector 9, with the further transmission of power, is equipped with lock nut 6 and spring 7 on the short fluted drill of straight shank 9 to this provides axial displacement's activity space for the short fluted drill of straight shank 9. The end of the drill mechanism 29, which is a drill bit, is also the end effector of the overall structure. The end effector comprises an expansion sleeve 8 and a straight shank short twist drill 9, and the wall fixing work during rock climbing is carried out by transmitted power, so that the end effector is suitable for the complex wall fixing requirement, has higher load capacity and can play a role of a fixing mechanism. Therefore, the transmission route of the rotary power of the drilling machine part is as follows: the drilling machine comprises a drilling machine motor 1, an elastic coupling 2, a cylindrical gear shaft 3, a cylindrical gear III 4, a gear shaft I5 and an end actuator.
In conclusion, when the biped walking rock climbing robot works, each part is provided with an independent motor as a power source, and the independent motors do not intersect with each other to cause distortion and damage to the running of the mechanism. The middle first double-shaft double-connecting-rod steering joint 30 is similar to a human hip bone and plays a role in opening double feet, the single-shaft rotating joint 31 positioned on the single foot can play a role in rotating around a single shaft, the second double-shaft double-connecting-rod steering joint 30 is similar to a human knee and plays a role in bending the single foot, and meanwhile, the steering can be adjusted, so that the requirements in different directions are met. Finally, the end effector of the drilling machine mechanism 29 is designed by adopting an expansion sleeve 8 and a straight shank short twist drill 9, and the wall fixing work during rock climbing is carried out under the power provided by the drilling machine motor 1, so that the drilling machine mechanism is suitable for the complex wall fixing requirement, has higher load capacity, can play the role of a fixing mechanism, simultaneously gives a certain load to the bolt, and further improves the fixing effect.
While the present invention has been particularly shown and described with reference to the preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention.
Claims (6)
1. The utility model provides a biped formula walking rock climbing robot which characterized in that:
comprises a middle part and two side parts;
the intermediate portion comprises a first double-shaft double-link steering knuckle (30);
the two side parts are arranged symmetrically left and right about the middle part; the two side parts have the same structure, wherein one side part comprises a single-shaft rotary joint (31), a second double-shaft double-link steering joint (30) and a drilling machine mechanism (29); the drilling machine mechanism (29) is connected with a second double-shaft double-connecting-rod steering joint (30), the second double-shaft double-connecting-rod steering joint (30) is connected with a single-shaft rotating joint (31), and the single-shaft rotating joint (31) is connected with the first double-shaft double-connecting-rod steering joint (30) through a connecting rod (27).
2. The bipedal walking rock-wall climbing robot of claim 1, wherein:
the first double-shaft double-connecting-rod steering joint (30) and the second double-shaft double-connecting-rod steering joint (30) are identical in structure, wherein the second double-shaft double-connecting-rod steering joint (30) comprises a double-shaft double-connecting-rod steering joint I and a double-shaft double-connecting-rod steering joint II, the double-shaft double-connecting-rod steering joint I and the double-shaft double-connecting-rod steering joint II are identical in structure and are distributed in a central symmetry mode about a gear shaft II (32), and the double-shaft double-connecting-rod steering joint I comprises a joint frame I (20), a conical gear I (21), a conical gear II (22), a coupling sleeve (23), a speed reduction motor (24), a joint frame II (25) and a slotted pan head screw (26);
the joint frame I (20) and the joint frame II (25) are used as a shell structure of a second double-shaft double-connecting-rod steering joint (30); a speed reducing motor (24) is selected as a power source in the second double-shaft double-connecting-rod steering joint (30), four slotted pan head screws (26) are fixed in a joint frame I (20), the output end of the speed reducing motor (24) is connected with a coupling sleeve (23), a bearing cover and two slotted pan head screws (26) are matched for fixing, the other end of the coupling sleeve (23) is connected with a group of bevel gear meshing transmission mechanisms, each bevel gear meshing transmission mechanism consists of a bevel gear I (21) and a bevel gear II (22), the other end of the coupling sleeve (23) is connected with a bevel gear II (22), the bevel gear II (22) is meshed with the bevel gear I (21), and the bevel gear I (21) is fixedly sleeved on a gear shaft II (32);
two ends of the gear shaft II (32) are movably connected with two sides of the joint frame I (20), one end of the joint frame II (25) is fixedly connected with the joint frame I (20), and the other end of the joint frame II (25) is fixedly connected with the gear shaft II (32) of the double-shaft double-connecting-rod steering joint II;
similarly, the two ends of a gear shaft II (32) of the double-shaft double-connecting-rod steering joint II are movably connected with the two sides of a joint frame I (20) of the double-shaft double-connecting-rod steering joint II, one end of a joint frame II (25) of the double-shaft double-connecting-rod steering joint II is fixedly connected with the joint frame I (20) of the double-shaft double-connecting-rod steering joint II, and the other end of the joint frame II (25) of the double-shaft double-connecting-rod steering joint II is fixedly connected with the gear shaft II (32) of the double-shaft double-connecting-rod steering joint I.
3. The bipedal walking rock-wall climbing robot of claim 2, wherein:
the tail end of the first double-shaft double-connecting-rod steering joint (30) is connected with the connecting rod (27), meanwhile, the connecting rod (27) is connected with a rotating tray (16) in the single-shaft rotating joint (31) through a hexagon bolt nut III (28), the upper end of the rotating tray (16) in the single-shaft rotating joint (31) is connected with the first double-shaft double-connecting-rod steering joint (30) through the connecting rod (27), and the lower end of the rotating tray is connected to the joint shaft (19) through a hexagon bolt nut II (15).
4. The bipedal walking rock-wall climbing robot of claim 1, wherein:
the single-shaft rotary joint (31) comprises a speed reducing motor (10), a joint cover plate (11), a coupler (12), a cylindrical gear I (13), a hexagonal bolt and nut I (14), a hexagonal bolt and nut II (15), a rotary tray (16), a joint shell (17), a cylindrical gear II (18) and a joint shaft (19); the speed reducing motor (10) is arranged on a joint shell (17), the output end of the speed reducing motor (10) is connected with a cylindrical gear I (13), a coupler (12) is arranged between the speed reducing motor and the cylindrical gear I (13) and used for ensuring power transmission, the cylindrical gear I (13) is meshed with a cylindrical gear II (18) to form a group of gear transmission mechanism, the cylindrical gear II (18) is nested on a joint shaft (19), the joint shaft (19) is movably connected with the upper side and the lower side of the joint shell (17) through a bearing, the upper bottom end of the joint shaft (19) is fixedly connected with a rotating tray (16) through a hexagonal bolt nut II (15), the rotating tray (16) is connected with a connecting rod (27) through a hexagonal bolt nut III (28), and the connecting rod (27) is further connected with a first double-shaft double-connecting-rod steering joint (30); the lower end of the joint shell (17) is connected with a joint frame I (20) of a second double-shaft double-connecting-rod steering joint (30);
the joint shell (17) has two, and joint apron (11) have one, and two joint shells (17) and a joint apron (11) constitute the shell of unipolar rotary joint (31), and two identical semi-cylindrical joint shells (17) adopt hexagon bolt nut I (14) to lock, and its right-hand member is furnished with joint apron (11) and encapsulates, and the locking mode is four cross recess small pan head screw cooperations.
5. The bipedal walking rock-wall climbing robot of claim 1, wherein: the drilling machine mechanism (29) comprises a drilling machine motor (1), an elastic coupling (2), a cylindrical gear shaft (3), a cylindrical gear III (4), a gear shaft I (5) and a straight-shank short twist drill (9);
the tail end of the drilling machine mechanism (29) is provided with a straight shank short twist drill (9), the output end of a drilling machine motor (1) is connected with a cylindrical gear shaft (3), and two elastic couplings (2) are arranged between the straight shank short twist drill and the cylindrical gear shaft to adapt to deviation and accurately transmit torque; the cylindrical gear shaft (3) is meshed with the cylindrical gear III (4) to form an axle gear transmission mechanism, the cylindrical gear III (4) is fixed on the gear shaft I (5), and the gear shaft I (5) is fixedly connected with the straight shank short twist drill (9).
6. The bipedal walking rock-wall climbing robot according to claim 5, characterized in that: the drilling machine mechanism (29) further comprises a locking nut (6), a spring (7) and an expansion sleeve (8);
the locking nut (6) is arranged outside the gear shaft I (5) and the straight shank short twist drill (9) and used for locking the gear shaft I (5) and the straight shank short twist drill (9), and the spring (7) is positioned on the locking nut (6); expansion bolt jacking rings (34) are arranged outside the locking nut (6) and the spring (7); the expansion bolt nut (33) and the expansion sleeve (8) are installed on the straight shank short twist drill (9), the expansion sleeve (8) is in contact with the expansion bolt nut (33), the expansion bolt nut (33) is in threaded connection with the straight shank short twist drill (9), and the expansion bolt nut (33) is fixedly connected with the expansion bolt jacking ring (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023143385.7U CN214356345U (en) | 2020-12-24 | 2020-12-24 | Biped type walking rock climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202023143385.7U CN214356345U (en) | 2020-12-24 | 2020-12-24 | Biped type walking rock climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN214356345U true CN214356345U (en) | 2021-10-08 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202023143385.7U Active CN214356345U (en) | 2020-12-24 | 2020-12-24 | Biped type walking rock climbing robot |
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| Country | Link |
|---|---|
| CN (1) | CN214356345U (en) |
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