CN103056882B - Inchworm gait imitation climbing robot - Google Patents
Inchworm gait imitation climbing robot Download PDFInfo
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- CN103056882B CN103056882B CN201310012815.7A CN201310012815A CN103056882B CN 103056882 B CN103056882 B CN 103056882B CN 201310012815 A CN201310012815 A CN 201310012815A CN 103056882 B CN103056882 B CN 103056882B
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Abstract
The invention provides an inchworm gait imitation climbing robot which mainly comprises a bowing portion, a turning portion, a front claw and a rear claw. The bowing portion and the turning portion are fixedly connected with each other by two connecting plates with identical structures. The front claw is fixedly connected with two side frames of a first section of the bowing portion by a claw fixing plate and a connecting frame. The rear claw is fixedly connected with two side frames of a third section of the bowing portion by two identical claw fixing plates and a connecting frame. The robot climbs mainly by the aid of coordinated movement of the bowing portion, the turning portion, the front claw and the rear claw. The robot is simple in structure and convenient to operate, can act flexibly, not only can linearly move along a rod, but also can cross sway rods, further can climb on trees owing to a special structural design of a manipulator, and accordingly is applicable to a wide range and broad fields.
Description
Technical field
The present invention relates to a kind of robot, especially relate to a kind of climbing robot.
Background technology
Along with the development of Robotics, the fields such as China's agricultural, forestry and building industry will become the wide world of robot application.The features such as high-altitude dangerous operation, bad environments, workload are large are that the worker in these fields wants problems faced always.Therefore, people urgently wish to need robot to help people from dangerous, severe working environment, free in hard work.Therefore, develop climbing robot to replace manually going to be engaged in these high-altitude dangerous operations by significant.
At present, some mechanisms depending on body of rod surface automatic creeping proposed both at home and abroad mainly through pneumatic, surge and electric transmission to provide power.。The Pneumatic pole-climbing robot of Zhejiang University professor Chen Junlong design, and all belong to pneumatic crawling formula climbing level robot at number of patent application for " managing outer climbing level robot grasp device " disclosed in the patent document of 200420041989.2, realize alternately clamping with air cylinder driven mechanism and move, when it is upwards creeped, the process of cylinder action one-period is lower cylinder clamping, upper cylinder is unclamped, lifting cylinder piston rod stretches out, and top rises; Upper cylinder clamps, and lower cylinder is unclamped, and lifting cylinder body rises, and bottom rises.So repeatedly, robot just can creep continuously.In view of its rising and descending motion realize controlling by air pressure, need source of the gas and atmospheric control, complex structure, equipment cost is higher.In addition, also require that robot climbs to far distance and must have sufficiently long pipe to support, which limit the scope of activities of robot.
A kind of stepped pipe, the line climbing mechanism of Beijing Institute of Technology's research and development.This mechanism, by two pawls, arm assembly and organizations, is connected with arthrodia by cradle head, can keep away more flange obstacle.There is side direction slide rail between body, pole-climbing attitude can be corrected by the side direction slide rail between two bodies in crawling process, but the attitude rectify effect of its side direction slide rail is passive, does not have initiative, can not realize flexible motion veritably.Record in addition little just, number of patent application is provide in the patent document of 200910031199.3 a kind ofly can do the wider pole-climbing robot with multiple postures of rectilinear motion and rotary motion, the scope of application and field.But this robot adopts wheeled climbing mode, although control conveniently, translational speed is fast, and obstacle climbing ability is poor, easily skids.
Summary of the invention
The object of the present invention is to provide a kind of more coarse trees of shaft-like building and surface that can climb certain diameter scope, flexibly, steadily, control convenient, and structure is simple, easy to operate, the readily removable imitative looper gait formula climbing robot easily changed in motion.
The object of the present invention is achieved like this:
Mainly comprise and bend forward bent portions, turn fractions, front claw portion and rear claw portion;
Described bent portions of bending forward comprises three joints, each joint mainly comprises frame, bends forward bent motor, rotating shaft, transmission mechanism and link, bending forward bent motor is fixed in frame, the two ends of rotating shaft to be arranged in frame by bearing and to stretch out frame, personally bent motor and rotating shaft are by transmission mechanism transmission, and the two ends of link and rotating shaft are connected; The link of first segment and second section is connected with turn fractions respectively, and the frame of the link of second section and Section three is connected;
Described turn fractions mainly comprises the turning motors be fixed on motor cabinet, the first ring flange, turning cylinder and rotating turret, first ring flange is connected with turning motors, one end and first ring flange of rotating turret are fixed, the other end overlaps on the rotating shaft, and turning cylinder is fixed on motor cabinet;
Described front claw portion mainly comprises fore paw drive motors, the second ring flange, second connecting rod, front manipulator, fore paw drive motors is fixed on first segment by link and bends forward in the frame of bent portions, second ring flange is connected with fore paw drive motors, and, the other end hinged with one end second ring flange of second connecting rod are connected front manipulator;
Drive motors, three-flange dish, first connecting rod, driving shaft, two identical rear manipulators are grabbed after described rear claw portion mainly comprises, rear solid end drive motors is fixed in Section of three frame bending forward bent portions by link, three-flange dish with after grab drive motors and be connected, one end of first connecting rod is hinged with three-flange dish, the other end is connected driving shaft, and after two, manipulator is arranged on described driving shaft.
The present invention can also comprise:
1, front manipulator is identical with the structure of rear manipulator mainly comprises identical eight the manipulator connecting rods that four are pointed, structure is identical of structure, push rod, a gathering sill and a bearing, gathering sill and bearing are positive cross shape, one end of push rod is arranged in gathering sill, the other end is connected with bearing, an end points of the top of each finger and the positive cross of gathering sill is hinged, one end of the centre of each finger and two manipulator connecting rods is hinged, and an end points of the other end of manipulator connecting rod and the positive cross of bearing is hinged.
2, described frame comprises U-shaped frame and the side frame be connected on two U-shaped arms of U-shaped frame, and also comprise L-type support, L-type support is fixed on U-shaped frame, bends forward bent motor and is fixed in L-type support.
3, described transmission mechanism is made up of the first straight spur gear, the second straight spur gear and power transmission shaft, one end of power transmission shaft by bearings on a side frame, the other end with bend forward bent motor and be connected, first straight spur gear is connected on power transmission shaft, second straight spur gear is connected in rotating shaft, and the first straight spur gear is meshed with the second straight spur gear.
4, turning motors is fixed on motor cabinet by gland, is provided with rubber between turning motors and motor cabinet.
Imitative looper gait formula climbing robot of the present invention mainly comprises bends forward bent portions I, turn fractions II, front claw portion III and rear claw portion IV 4 part.Climbing process mainly realizes by the motion of this four Partial coordination.
Realistic meaning of the present invention and advantage are:
Imitative looper gait formula climbing robot disclosed by the invention, structure is simple, easy to operate, and motion is flexibly; Be provided with turning mechanism, make robot along bar rectilinear motion, can cross over again brace motion.Based on modular design concept, this robot is readily removable easily to be changed, diverse in function, can climb the shaft-like building of certain diameter scope and surperficial more coarse trees.
Accompanying drawing explanation
Fig. 1 is the general assembly drawing of imitative looper gait formula climbing robot of the present invention.
Fig. 2 bends forward bent portions structure chart.
Fig. 3 is turn fractions structure chart.
Fig. 4 is fore paw part-structure figure.
Fig. 5 is the manipulator sectional view along D-D line in Fig. 1.
Fig. 6 is rear solid end part-structure figure.
Detailed description of the invention
Below in conjunction with accompanying drawing citing, the present invention is described in more detail.
Composition graphs 1, robot of the present invention is primarily of bending forward bent portions I, turn fractions II, front claw portion III and rear claw portion IV 4 part composition.The climbing process of robot mainly realizes by the motion of this four Partial coordination.
Composition graphs 2, bend forward bent portions and comprise three joints, mechanism mainly comprises: three are fixed on the personally bent motor in L-type support 9, three U-shaped framves, three power transmission shafts 5 and three rotating shafts, 16, three spur gear transmission mechanisms.Power transmission shaft 5 one end by flat key 6 with bend forward that bent motor is connected, one end carries out circumference by deep groove ball bearing 26 and locate.First spur gear wheel 2 is connected with power transmission shaft 5 by the first flat key 3, second spur gear wheel 4 is connected with rotating shaft 16 by the second flat key 7, first spur gear wheel 2, second spur gear wheel 4 carries out axial location respectively by the first axle sleeve 15, second axle sleeve 13 with the shaft shoulder, and rotating shaft 16 is carried out circumference by a pair, bottom deep groove ball bearing 11 and located.First spur gear wheel, the second spur gear wheel and power transmission shaft composition transmission mechanism, drives rotating shaft 16 to rotate by gear drive.The frame of first segment is made up of U-shaped frame 1, side frame D10 and side frame C27, and the frame of second section is made up of U-shaped frame 22, side frame B14 and side frame A20, and the frame of Section three is made up of U-shaped frame 1, side frame E17 and side frame F19.Side frame A20, side frame B14 and frame 12 are connected by key and rotating shaft 16 is connected.Bend forward bent motor for three to fix with side frame F19, side frame E17, side frame A20, side frame B14, side frame C27 and side frame D10 respectively by a first U-shaped frame 1, two the second U-shaped framves 22.In climbing process, coordinate driving three and bend forward bent motor, first bends forward bent motor 8 is with moving frame 12 to turn over certain angle a, thus claw portion has individual angle a before making turn fractions relatively, 3rd bends forward bent motor 18 drives side frame A20 and side frame B14 to turn over equal angular a, under simultaneously bending forward the cooperation of bent motor 23 second, the Distance Shortened between fore paw and rear solid end, realizes robot and imitates looper and to walk arc attitude.
Composition graphs 2, Fig. 4 and Fig. 6.The connecting plate 24 bending forward bent portions I and turn fractions II two structures identical is connected.Front claw portion III is connected by pawl fixed head 52, link B44 and side frame C27 and side frame D10.Rear claw portion IV is connected by two identical pawl fixed heads 61 and a link A58 and side frame F19 and side frame E17.In order to ensure that robot is in climbing process, be unlikely to because robot head weight is comparatively large and cause entirety to topple, rear claw portion adopts two manipulators, ensures the stationarity of robot motion.
Composition graphs 3, turn fractions mechanism mainly comprises: be fixed on turning motors 28, first ring flange 36 on Z-type motor cabinet 38, turning cylinder 32, rotating turret 34 and the second link 35.In order to prevent robot in climbing process, because motor own wt causes robot motion not steady, with four hexagon socket head cap screws, gland 29 and Z-type motor cabinet 38 are fixed between turning motors 28 and Z-type motor cabinet 38, motor bottom rubber 30 fixed support.First ring flange 36 is connected with turning motors 28 by exempting from key axle bush 37, second link 35 four equally distributed bolts and the first ring flange 36 are fixed, turning cylinder 32 bottom is fixed on transverse slat 31, formed by a pair taper roll bearing 33 and rotating turret 34 and relatively rotate, rotating turret 34 and the second link 35 bolt that six are evenly distributed are fixed.Drive turning motors 28, drive the second link 35 and rotating turret 34 to rotate, realize robot head turning motion.
Composition graphs 4, Fig. 5 and Fig. 6, fore paw part body mainly comprises: fore paw drive motors 43, second ring flange 41, second connecting rod 39, manipulator A, second ring flange 41 is connected with fore paw drive motors 43 by exempting from key axle bush 42, and second connecting rod 39 one end is hinged by eccentric block 40 and the second ring flange 41, one end by split pin 53 and push rod A50 hinged.The transmission mechanism of manipulator is slider-crank mechanism, and power source is that fore paw drive motors 43, second ring flange 41 is equivalent to crank, and push rod A50 is slide block.Robot manipulator structure and slider-crank mechanism similar, the driving link controlling manipulator opening and closing is push rod A50, and driven member is four fingers 46, and each cradle head is hinged by split pin 45.Rear solid end part body mainly comprises: rear solid end drive motors 57, second ring flange 56, first connecting rod 54, driving shaft 64, two same mechanical hand B, and the second ring flange 56 is connected with rear solid end drive motors 57 by exempting from key axle bush.First connecting rod 54 one end by eccentric block 55 and the second ring flange 56 hinged, one end is connected with driving shaft 64 by two bolts, relatively rotates between first connecting rod 54 and driving shaft 64.Two manipulator B are fixed by the circular hole of push rod B60 end and driving shaft 64, and in order to prevent manipulator from loosening, driving shaft 64 two ends are extremely fixing with locking nut 59.Rear solid end two manipulator B power source can realize being synchronized with the movement.Front manipulator is identical with the structure of rear manipulator mainly comprises eight manipulator connecting rods, 47, push rod, 50, gathering sill 51 and a bearing 48 that identical four of structure point 46, structure is identical, gathering sill and bearing are positive cross shape, one end of push rod is arranged in gathering sill, the other end is connected with bearing, an end points of the top of each finger and the positive cross of gathering sill is hinged, one end of the centre of each finger and two manipulator connecting rods is hinged, and an end points of the other end of manipulator connecting rod and the positive cross of bearing is hinged.
Composition graphs 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6, carry out following explanation to the climbing process of imitative looper gait formula climbing robot: inactive state, fore paw mechanism and the rear solid end mechanism of robot hold bar tightly simultaneously; Uphill process, fore paw holds bar tightly, rear solid end two manipulator B driving shafts 64 connect, and being fixed on pawl fixed head 61, rear solid end drive motors 57 drives the second ring flange 56 to rotate, and eccentric block 55 above drives first connecting rod 54, driving shaft 64 is moved up and down, thus drive push rod B60 to be synchronized with the movement along gathering sill about 62, drive 4 fingers 63 of two manipulator B around respective axis of rotation, realize unclamping of rear solid end.Meanwhile, 3rd bends forward bent motor 18 rotates clockwise (seeing towards motor) and drives the first straight spur gear 2 be fixedly connected with motor output end, the second straight spur gear 4 is driven to rotate, realize side frame A20 and turn over certain angle a, make between side frame A20 and side frame F19, there is an angle a in relative rotation.First bends forward bent motor 8 rotates counterclockwise (seeing towards motor), the first straight spur gear 2 be fixedly connected with motor output end drives the first straight spur gear 4 to rotate, thus band moving frame 12 turns over certain angle a, makes have to relatively rotate an angle a between side frame C27 and turning mechanism.Under bending forward the cooperation of bent motor 23 second, what complete the isosceles triangle of imitative Inchworm type bends forward curved shape, and Distance Shortened between fore paw and rear solid end, realizes ascending motion simultaneously.Rear solid end holds bar tightly, and fore paw drive motors 43 drives the second ring flange 41 to rotate, and eccentric block 40 above drives second connecting rod 39, thus drives push rod A50 to move up and down along gathering sill 51, makes 4 to point 46 around respective axis of rotation, realizes unclamping of fore paw.Meanwhile, 3rd bends forward bent motor 18 rotates counterclockwise (seeing towards motor) and drives the first straight spur gear 2 be fixedly connected with motor output end, thus drive the second straight spur gear 4 to rotate, realize side frame A20 and turn over certain angle b, make between side frame A20 and side frame F19, there is an angle b in relative rotation.First bends forward bent motor 8 rotates clockwise (seeing towards motor), the first straight spur gear 2 be fixedly connected with motor output end drives the second straight spur gear 4 to rotate, thus band moving frame 12 turns over certain angle a, between side frame C27 and turning mechanism, angle is 180 °.Under bending forward the cooperation of bent motor 23 second, the angle between side frame B14 and turning mechanism is also 180 ° simultaneously, and bend forward bent portions full extension and open, fore paw lifts.Now turning mechanism motor 28 drives the first ring flange 36 to rotate, second link 35 and rotating turret 34 and the first ring flange 36 are fixed together, turning cylinder 32 one end is fixed on transverse slat 31, relative rear solid end mechanism transfixion, rotating turret 34 and turning cylinder 32 realize relatively rotating by a pair taper roll bearing 33, thus drive fore paw mechanism to horizontally rotate, realize the turning motion of robot.3rd bends forward bent motor 18 rotates counterclockwise (seeing towards motor) and drives the first straight spur gear 2 be fixedly connected with motor output end, thus drive the second straight spur gear 4 rotates, and makes side frame 20 get back to original state.Fore paw drive motors 43 drives the second ring flange 41 to rotate, and eccentric block 40 above drives second connecting rod 39, thus drives push rod A50 to move up and down along gathering sill 51, makes 4 to point 46 around respective axis of rotation, realizes the clamping of fore paw.So far, robot completes a climbing process, and periodic motion is gone down, and can realize the climbing that robot imitates looper gait formula.
Claims (3)
1. an imitative looper gait formula climbing robot, mainly comprises and bends forward bent portions, turn fractions, front claw portion and rear claw portion; It is characterized in that:
Described bent portions of bending forward comprises three joints, each joint mainly comprises frame, bends forward bent motor, rotating shaft, transmission mechanism and link, bending forward bent motor is fixed in frame, the two ends of rotating shaft to be arranged in frame by bearing and to stretch out frame, personally bent motor and rotating shaft are by transmission mechanism transmission, and the two ends of link and rotating shaft are connected; The link of first segment and second section is connected with turn fractions respectively, and the frame of the link of second section and Section three is connected;
Described turn fractions mainly comprises the turning motors be fixed on motor cabinet, the first ring flange, turning cylinder and rotating turret, first ring flange is connected with turning motors, one end and first ring flange of rotating turret are fixed, the other end overlaps on the rotating shaft, and turning cylinder is fixed on motor cabinet;
Described front claw portion mainly comprises fore paw drive motors, the second ring flange, second connecting rod, front manipulator, fore paw drive motors is fixed on first segment by link and bends forward in the frame of bent portions, second ring flange is connected with fore paw drive motors, and one end of second connecting rod is hinged with the second ring flange, the other end is connected front manipulator;
Described rear claw portion mainly comprises rear solid end drive motors, three-flange dish, first connecting rod, driving shaft, rear manipulator, rear solid end drive motors is fixed in Section of three frame bending forward bent portions by link, three-flange dish is connected with rear solid end drive motors, one end of first connecting rod is hinged with three-flange dish, the other end is connected driving shaft, and rear manipulator is arranged on described driving shaft;
Front manipulator is identical with the structure of rear manipulator, mainly comprise four identical fingers of structure, eight manipulator connecting rods that structure is identical, push rod, a gathering sill and a bearing, gathering sill and bearing are positive cross shape, one end of push rod is arranged in gathering sill, the other end is connected with bearing, an end points of the top of each finger and the positive cross of gathering sill is hinged, one end of the centre of each finger and two manipulator connecting rods is hinged, and an end points of the other end of manipulator connecting rod and the positive cross of bearing is hinged;
Described frame comprises U-shaped frame and the side frame be connected on two U-shaped arms of U-shaped frame, and also comprise L-type support, L-type support is fixed on U-shaped frame, bends forward bent motor and is fixed in L-type support.
2. imitative looper gait formula climbing robot according to claim 1, it is characterized in that: described transmission mechanism is made up of the first straight spur gear, the second straight spur gear and power transmission shaft, one end of power transmission shaft by bearings in frame, the other end with bend forward bent motor and be connected, first straight spur gear is connected on power transmission shaft, second straight spur gear is connected in rotating shaft, and the first straight spur gear is meshed with the second straight spur gear.
3. imitative looper gait formula climbing robot according to claim 1 and 2, is characterized in that: turning motors is fixed on motor cabinet by gland, is provided with rubber between turning motors and motor cabinet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310012815.7A CN103056882B (en) | 2013-01-14 | 2013-01-14 | Inchworm gait imitation climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201310012815.7A CN103056882B (en) | 2013-01-14 | 2013-01-14 | Inchworm gait imitation climbing robot |
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| CN103056882A CN103056882A (en) | 2013-04-24 |
| CN103056882B true CN103056882B (en) | 2015-05-27 |
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| CN201310012815.7A Expired - Fee Related CN103056882B (en) | 2013-01-14 | 2013-01-14 | Inchworm gait imitation climbing robot |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106313077B (en) * | 2016-10-27 | 2018-06-15 | 东北林业大学 | A kind of pole-climbing clean robot for adapting to different-diameter |
| CN107399379A (en) * | 2017-07-25 | 2017-11-28 | 林总良 | One kind building town road environment protection multifunctional robot |
| CN108945141B (en) * | 2018-07-11 | 2023-08-15 | 西南交通大学 | Climbing robot and compound foot end thereof |
| CN109263742B (en) * | 2018-09-29 | 2020-06-26 | 山东建筑大学 | Transmission tower climbing robot clamping device and robot thereof |
| CN113075743B (en) * | 2021-03-11 | 2023-12-22 | 哈尔滨工业大学 | Climbing robot for star watch detection and application method thereof |
| CN113547529B (en) * | 2021-07-01 | 2022-08-19 | 徐州工程学院 | Small-size intelligent defrosting robot of freezer refrigeration calandria |
| CN114655331B (en) * | 2022-04-22 | 2023-02-03 | 湖北工业大学 | Claw holding type inchworm robot |
| CN117578258B (en) * | 2023-10-13 | 2024-05-28 | 武汉理工大学 | Bionic multifunctional high-voltage cable crawler |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09168982A (en) * | 1995-12-20 | 1997-06-30 | Mitsubishi Heavy Ind Ltd | Articulated robot |
| JP2909461B1 (en) * | 1998-06-09 | 1999-06-23 | 三菱重工業株式会社 | Articulated robot |
| CN2920577Y (en) * | 2006-05-24 | 2007-07-11 | 伍回平 | Jaw type article-grasping dredger |
| CN100567068C (en) * | 2007-12-10 | 2009-12-09 | 北京航空航天大学 | Tandem modularized wall-climbing robot |
| CN100554068C (en) * | 2008-07-31 | 2009-10-28 | 北京航空航天大学 | Multi-node wall-climbing worm type robot |
| EP2172390A1 (en) * | 2008-10-06 | 2010-04-07 | Niederberger Engineering AG | Mobile climbing robot and service system with climbing robot |
| CN101664927B (en) * | 2009-09-15 | 2011-04-27 | 华南理工大学 | Modularized biomimetic climbing robot |
| CN101695835B (en) * | 2009-10-29 | 2012-05-09 | 哈尔滨工程大学 | Intelligent turn-over type climbing robot |
| CN201597031U (en) * | 2010-03-09 | 2010-10-06 | 沈观耕 | Manipulator |
| CN201800041U (en) * | 2010-08-09 | 2011-04-20 | 西安石油大学 | Holding device for rescue |
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2013
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Effective date of registration: 20201203 Address after: Area A129, 4th floor, building 4, Baitai Industrial Park, Yazhou Bay science and Technology City, Yazhou District, Sanya City, Hainan Province, 572024 Patentee after: Nanhai innovation and development base of Sanya Harbin Engineering University Address before: 150001 Heilongjiang, Nangang District, Nantong street,, Harbin Engineering University, Department of Intellectual Property Office Patentee before: HARBIN ENGINEERING University |
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