CN108202779A - A kind of transmission single input and multi-output climbing robot - Google Patents
A kind of transmission single input and multi-output climbing robot Download PDFInfo
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- CN108202779A CN108202779A CN201611181811.1A CN201611181811A CN108202779A CN 108202779 A CN108202779 A CN 108202779A CN 201611181811 A CN201611181811 A CN 201611181811A CN 108202779 A CN108202779 A CN 108202779A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/04—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or kind of gearing
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
- B60K17/00—Arrangement or mounting of transmissions in vehicles
- B60K17/28—Arrangement or mounting of transmissions in vehicles characterised by arrangement, location, or type of power take-off
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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- Mechanical Engineering (AREA)
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- Transmission Devices (AREA)
Abstract
The present invention relates to climbing robot technical fields,Specifically a kind of transmission single input and multi-output climbing robot,Including single input and multi-output transmission system,Export transfer transmission system,Scissor driving mechanism and clasp mechanism,Single input and multi-output transmission system is set there are one power intake and three power output ends,Driving power source is connected with the power intake,The output transfer transmission system includes three transmission mechanisms,Three power output ends are connected respectively from different transmission mechanism in output transfer transmission system,Engine base head end is equipped with driving wheel of creeping,Engine base both sides are equipped with scissor driving mechanism and clasp mechanism,And the scissor driving mechanism is equipped with the turn-screw that driving scissor is closed,The mechanism that clasps drives deformation by the scissor opening and closing,The turn-screw of creep driving wheel and the engine base both sides drives rotation by exporting transmission mechanism different in transfer transmission system respectively.Present invention driving number is few and controls simply, compact-sized.
Description
Technical field
The present invention relates to climbing robot technical field, specifically a kind of transmission single input and multi-output climbing machine
People.
Background technology
With development in science and technology, reptiles robot has been applied to industrial and agricultural production more and more and neck is explored in scientific research
Domain, especially in the environment of the complicated dangerous or mankind can not reach, reptiles robot has been able to that the mankind is replaced to complete respectively
Kind operation.In the prior art, scholar expert both domestic and external has developed the climbing robot that shape is various and principle is different and carrys out needle
To the task that specific environment completion is specified, but its structure is relative complex, and driving number is more and control is cumbersome, and adaptivity is poor,
So that the application of climbing robot is limited to.
Invention content
The purpose of the present invention is to provide a kind of transmission single input and multi-output climbing robots, can realize the difference of three outputs
Dynamic related and equal three output torques effect, driving number is few and control is simple, and climbing flexibility is good, has different shape object
Body adaptively clasps climbing function, and light structure is compact, and manufacture, maintenance cost are low.
The purpose of the present invention is achieved through the following technical solutions：
A kind of transmission single input and multi-output climbing robot, including engine base, driving power source, single input and multi-output power train
System exports transfer transmission system, scissor driving mechanism and clasps mechanism, and wherein single input and multi-output transmission system is set to engine base
On, the single input and multi-output transmission system is set there are one power intake, power drive mechanism and three power output ends, institute
It states driving power source with the power intake to be connected, three power output ends are driven simultaneously by the power intake
Rotation, the power intake transmit torque by the power drive mechanism, and the output transfer transmission system includes three
Transmission mechanism, and three power output ends in the single input and multi-output transmission system export transfer power train with described respectively
Different transmission mechanisms is connected in system, and the engine base head end is equipped with driving wheel of creeping, and the engine base tail end is equipped with auxiliary wheel of creeping,
The driving wheel of creeping drives rotation by the first transmission mechanism in the output transfer transmission system, and the engine base both sides are equal
Equipped with scissor driving mechanism and mechanism is clasped, the scissor driving mechanism includes turn-screw and is set on the turn-screw
And two screws that moving direction is opposite, the scissor in the scissor driving mechanism pass through the movement driving of described two screws
It closes, the mechanism that clasps includes multiple podomeres, and the mechanism that clasps drives deformation by the scissor opening and closing, and the engine base is right
Turn-screw in the scissor driving mechanism of side drives rotation, institute by the second transmission mechanism in the output transfer transmission system
The turn-screw on the left of engine base in scissor driving mechanism is stated to drive by the third transmission mechanism in the output transfer transmission system
Dynamic rotation.
The second power output end in the single input and multi-output transmission system is sheathed on the first power output end, third
Power output end is sheathed on the second power output end, and the power drive mechanism includes three gear sets and an intermediate transmission
Frame, wherein first gear group include the first planetary gear, the first internal gear and the first output gear, first planetary gear with
The power intake be connected and with the first output gear external toothing, with the first internal gear internal messing, described first
Output gear is connected with first power output end, and first internal gear is connected with the intermediate transmission frame, and described second
Gear set includes the second planetary gear and the second output gear, and the third gear set includes third planet gear and third exports
Internal gear, second planetary gear and the coaxial arrangement of third planet gear simultaneously rotate, described second with the intermediate transmission frame
Planetary gear and the second output gear external toothing, second output gear are connected with second power output end, and described
Three planetary gears and third output inner gear internal messing, the third output inner gear are connected with the third power output end.
It is equal that three power output ends of the single input and multi-output transmission system turn to identical and output torque.
It creeps there are one being set between the first transmission mechanism and the driving wheel of creeping of the output transfer transmission system
Wheel drive mechanism is driven, first transmission mechanism is synchronous belt drive mechanism, and the driving wheel drive mechanism of creeping is umbrella tooth
Wheel drive mechanism, and the driving pulley in first transmission mechanism is mounted on the first of the single input and multi-output transmission system
On power output end, the driven pulley in first transmission mechanism and the active umbrella tooth in the driving wheel drive mechanism of creeping
Wheel is connected, and the wheel shaft of driven bevel pinion and the driving wheel of creeping in the driving wheel drive mechanism of creeping is connected.
The driving wheel of creeping is equipped with quil.
The second transmission mechanism and third transmission mechanism in the output transfer transmission system are synchronous belt drive mechanism,
Driving pulley in wherein described second transmission mechanism is mounted on the second power output of the single input and multi-output transmission system
On end, the driven pulley in second transmission mechanism is mounted on the turn-screw on the right side of the engine base, the third transmission
Driving pulley in mechanism is mounted on the third power output end of the single input and multi-output transmission system, the third transmission
Driven pulley in mechanism is mounted on the turn-screw on the left of the engine base.
The scissor driving mechanism includes hinged the first scissors rod and the second scissors rod, and in first scissors rod and
The hinged place of second scissors rod is set there are one hinged middleware, and first scissors rod is hinged intermediate one end and biography far from described
The first screw on dynamic leading screw is hinged, on second scissors rod one end and same turn-screw far from the hinged middleware
The second screw be hinged, the hinged middleware is connected by a drive rod with the mechanism that clasps.
The mechanism that clasps includes head end podomere, intermediate podomere and end podomere, and each podomere is hinged successively and each limb
Section is internal to be equipped with auxiliary wheel, and the first drive link frame is equipped on head end podomere, and the second driving is equipped on intermediate podomere and is connected
Bridge, the hinged shaft end of the drive link group outermost ends of each drive link frame both sides respectively between adjacent podomere are hinged,
The first drive link frame drives opening and closing by the scissor driving mechanism, and the second drive link frame passes through a upper podomere
On the driving opening and closing of drive link frame, pass through in the middle part of the power output rod on each drive link frame spring in the middle part of the podomere of place
It is connected.
The second power input lever shape bending in obtuse angle on the second drive link frame, and second power input lever
Middle part bending part and the power output rod of the drive link frame on a upper podomere are hinged, on the intermediate podomere adjacent with end podomere
The second power output rod be connected by the hinged shaft end between a swing rod and end podomere and adjacent intermediate podomere.
The engine base tail end is equipped with power input side baffle, is equipped with partition board in the middle part of the engine base, the engine base head end is equipped with
Power output side shield, the power intake in the single input and multi-output transmission system are set to the power input side baffle
On, each power output end in the single input and multi-output transmission system is set on the power output side shield, described
Single input and multi-output transmission system pass through the partition board, set on the outside of the power output side shield there are one crawling wheel install
Seat, the driving wheel of creeping are set in the crawling wheel mounting base.
Advantages of the present invention is with good effect：
1. the present invention ensures that the differential related and output torque of each output is equal using single input and multi-output transmission system,
It realizes and drives while realize that robot clasps function and climbing function with single motor, driving number is few and control is simple.
2. the present invention clasps mechanism using connecting rod drive lacking, it can realize and climbing work(is clasped to different shape body self-adaptation
Can, light structure is compact, and manufacture, maintenance cost are low.
3. the driving wheel of creeping of the present invention is realized that driving wheel of creeping is contacted with object more, is eliminated using thorn type structure
The shake and slipping phenomenon that climbing process occurs.
Description of the drawings
Fig. 1 is the vertical view of the present invention；
Fig. 2 is stereogram of the invention in Fig. 1；
Fig. 3 is the structure diagram of single input and multi-output transmission system in Fig. 1；
Fig. 4 is the principle schematic of single input and multi-output transmission system in Fig. 3；
Fig. 5 is the schematic diagram that mechanism is clasped in Fig. 1；
Schematic diagrames of the Fig. 6 for driving wheel of creeping in Fig. 1；
Fig. 7 is the schematic diagram of scissor driving mechanism in Fig. 1.
Wherein, 1 is engine base, and 11 be power input side baffle, and 12 be partition board, and 13 be power output side shield, and 14 is creep
Take turns mounting base；2 be single input and multi-output transmission system, and 21 be power intake, and 22 be intermediate transmission frame, and 23 be intermediate supports
Plate, 24 be third power output end, and 25 be the second power output end, and 26 be the first power output end, and 27 be first gear group,
271 be the first planetary gear, and 272 be the first internal gear, and 273 be the first output gear, and 28 be second gear group, and 281 be second
Planetary gear, 282 be the second output gear, and 29 be third gear set, and 291 be third planet gear, and 292 export internal tooth for third
Wheel；3 is clasp mechanism, telopodite headed by 31, and 32 be intermediate podomere, and 33 be end podomere, and 34 be spring, and 35 be auxiliary wheel, and 36
It is the first power output rod for the first drive link frame, 361,362 be the first power input lever, and 37 be the second drive link frame,
371 be the second power input lever, and 372 be the second power output rod；4 be driving wheel of creeping, and 41 be quil；5 be auxiliary wheel of creeping；
6 be driving power source；7 be scissor driving mechanism, and 71 be the first scissors rod, and 72 be the second scissors rod, and 73 be the second screw, and 74 are
Turn-screw, 741 be the first thread segment, and 742 be the second thread segment, and 75 be the first screw, and 76 be hinged middleware, and 77 be driving
Bar, 8 be output transfer transmission system, and 81 be third transmission mechanism, and 82 be the second transmission mechanism, and 83 be the first transmission mechanism, and 9 are
It creeps and drives wheel drive mechanism, 91 be driving bevel gear, and 92 be driven bevel pinion.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
As shown in Fig. 1~2, the present invention includes engine base 1, driving power source 6, single input and multi-output transmission system 2, output point
It moves transmission system 8, scissor driving mechanism 7 and clasps mechanism 3, wherein single input and multi-output transmission system 2 is set on engine base 1
Side, the single input and multi-output transmission system 2 are set there are one power intake 21 and three power output ends, the driving power
Source 6 is set to 1 tail end of engine base and is connected with the power intake 21 of the single input and multi-output transmission system 2, in the present embodiment,
The driving power source 6 is direct current brushless servo motor, and the output transfer transmission system 8 is set to 1 head end of engine base, and described
It exports transfer transmission system 8 and includes three transmission mechanisms, three power output ends in the single input and multi-output transmission system 2
The transmission mechanism different from the output transfer transmission system 8 is connected respectively, and 1 head end of engine base is equipped with driving wheel 4 of creeping,
1 tail end of engine base is equipped with auxiliary wheel 5 of creeping, wherein the driving wheel 4 of creeping passes through in the output transfer transmission system 8
The driving rotation of first transmission mechanism 83,1 both sides of engine base are equipped with scissor driving mechanism 7 and clasp mechanism 3, and the scissor drives
Motivation structure 7 includes turn-screw 74 and is set to two screws that on the turn-screw 74 and moving direction is opposite, described to cut
The scissor pitched in driving mechanism 7 moves driving opening and closing by described two screws, and the mechanism 3 that clasps is including multiple hinged successively
Podomere, and it is described clasp mechanism 3 and driven by the scissor opening and closing deform, in the 1 right side scissor driving mechanism 7 of engine base
Turn-screw 74 drives rotation by the second transmission mechanism 82 in the output transfer transmission system 8, and 1 left side of engine base is cut
The turn-screw 74 pitched in driving mechanism 7 drives rotation by the third transmission mechanism 81 in the output transfer transmission system 8.
In the present embodiment, 1 right side of the engine base is set there are one clasping mechanism 3, and 1 left side of engine base sets that there are two clasp mechanism 3.
As shown in figs. 34, the single input and multi-output transmission system 2 includes power intake 21, the first power output end
26th, the second power output end 25, third power output end 24 and power drive mechanism, wherein as shown in Figure 1,1 tail of the engine base
End is equipped with power input side baffle 11, and 1 middle part of engine base is equipped with partition board 12, and 1 head end of engine base is equipped with power output side block
Plate 13, the power intake 21 in the single input and multi-output transmission system 2 are set to the power by bearing bearing and input
On side shield 11, each output terminal in the single input and multi-output transmission system 2 is set to the power by bearing bearing
It exports on side shield 13, the pedestal of the single input and multi-output transmission system 2 passes through the partition board 12.
As shown in figs. 2 to 4, first power output end 26, the second power output end 25 and third power output end 24
It is set using axle sleeve mode, i.e., the second power output end 25 is sheathed on first power output end 26, third power output
End 24 is sheathed on the second power output end 25, and output terminal each so just realizes concentric setting and rotation independently of each other.
As shown in figs. 2 to 4, the power drive mechanism includes first gear group 27, second gear group 28, third gear set
29 and intermediate transmission frame 22.Wherein described first gear group 27 includes the first planetary gear 271, the first internal gear 272 and first
Output gear 273, first planetary gear 271 and the power intake 21 be connected and with first output gear 273
External toothing and 272 internal messing of the first internal gear, 273 middle part of the first output gear and first power output end
26 are connected, and first internal gear 272 is connected with the intermediate transmission frame 22, and the intermediate transmission frame 22 is rotatablely arranged at
In the pedestal of the single input and multi-output transmission system 2, and the intermediate transmission frame 22 is driven by first internal gear 272
Rotation, the second gear group 28 include the second planetary gear 281 and the second output gear 282, and the third gear set 29 wraps
Third planet gear 291 and third output inner gear 292 are included, as shown in figure 3, being set on the intermediate transmission frame 22 there are one in
Between support plate 23, second planetary gear 281 and third planet gear 291 are coaxially disposed and are set on by bearing bearing described
Eccentric position on intermediate support plate 23 rotates in this way when the intermediate transmission frame 22 is driven by first internal gear 272
When, the intermediate support plate 23 rotates with the intermediate transmission frame 22 and drives second planetary gear 281 and third planet
Gear 291 rotates, 281 and second output gear of the second planetary gear, 282 external toothing, in second output gear 282
Portion is connected with second power output end 25, the third planet gear 291 and 292 internal messing of third output inner gear, institute
292 middle part of third output inner gear is stated to be connected with the third power output end 24.First power output end 26, second is dynamic
Power output terminal 25 is identical to 24 rotation direction of third power output end, differential related and output torque is equal, the power intake 21
Torque give each output terminal.
As shown in Fig. 1~2, three transmission mechanisms in the output transfer transmission system 8 are synchronous belt drive mechanism,
It is set in 13 outside of power output side shield of 1 head end of engine base there are one crawling wheel mounting base 14, the driving wheel 4 of creeping is set
It is placed in the crawling wheel mounting base 14, the first power output end 26 of the single input and multi-output transmission system 2 passes through output
The first transmission mechanism 83 in transfer transmission system 8 drives the driving wheel 4 of creeping to rotate.As shown in Figure 1, it is passed described first
It creeps there are one being set between motivation structure 83 and the driving wheel 4 of creeping and drives wheel drive mechanism 9, the driving wheel driver of creeping
Structure 9 is bevel gear transmission mechanism, and the driving pulley in first transmission mechanism 83 is mounted on first power output end 26
On, the driven pulley in first transmission mechanism 83 and the driving bevel gear 91 in the driving wheel drive mechanism 9 of creeping are solid
Even, the driven bevel pinion 92 in the driving wheel drive mechanism 9 of creeping is connected with the wheel shaft for creeping driving wheel 4.Such as Fig. 6 institutes
Show, quil 41 is equipped on the driving wheel 4 of creeping, the quil 41 is made by the rubber of soft texture, to object shape
Into more contacts so as to mitigate shake and slipping phenomenon, ensure that climbing motion is smoothed out.
Scissor driving mechanism 7 is equipped in 1 both sides of engine base, and is equipped with to drive in each scissor driving mechanism 7
The turn-screw 74 of dynamic scissor opening and closing, as shown in Fig. 1~2, the second power output end of the single input and multi-output transmission system 2
25 by exporting the second transmission mechanism 82 in transfer transmission system 8 and the turn-screw in 1 right side scissor driving mechanism 7 of engine base
74 are connected, wherein driving pulley in second transmission mechanism 82 is mounted on second power output end 25, described the
Driven pulley in two transmission mechanisms 82 is mounted on the turn-screw 74 on 1 right side of engine base, and the single input and multi-output passes
The third power output end 24 of dynamic system 2 is cut by exporting the third transmission mechanism 81 in transfer transmission system 8 with 1 left side of engine base
The turn-screw 74 pitched in driving mechanism 7 is connected, wherein driving pulley in the third transmission mechanism 81 is mounted on described the
On three power output ends 24, the driven pulley in the third transmission mechanism 81 is mounted on the turn-screw in 1 left side of engine base
On 74.
The scissor driving mechanism 7 includes turn-screw 74 and is set on the turn-screw 74 and moving direction is opposite
Two screws, as shown in fig. 7, on the turn-screw 74 be equipped with two sections of oppositely oriented thread segments, wherein close to engine base 1
The first screw 75 of power output side shield 18 be mounted on the first thread segment 741 of the turn-screw 74, close to engine base 1
Power input side baffle 11 the second screw 73 be mounted on the turn-screw 74 the second thread segment 742 on, the scissor
Scissor in driving mechanism 7 includes hinged the first scissors rod 71 and the second scissors rod 72, and in 71 He of the first scissors rod
The hinged place of second scissors rod 72 is set there are one hinged middleware 76, and first scissors rod 71 is hinged middleware 76 far from described
One end and first screw 75 it is hinged, the one end of second scissors rod 72 far from the hinged middleware 76 and described the
Two screws 73 are hinged, the rotation of the turn-screw 74 driving two screws reverse movement, so as to make first scissors rod 71 and the
Two scissors rods 72 are opened or are closed, and the hinged middleware 76 is connected by a drive rod 77 with the mechanism 3 that clasps.
The mechanism 3 that clasps of the present invention clasps mechanism for connecting rod drive lacking.As shown in figure 5, the mechanism 3 that clasps includes head end
Podomere 31, intermediate podomere 32 and end podomere 33, the head end podomere 31 are articulated with 1 side of engine base, and each podomere is hinged successively
And auxiliary wheel 35 is equipped with inside each podomere, in addition drive link frame is equipped on head end podomere 31 and intermediate podomere 32.
As shown in Fig. 2, the drive link frame both sides are equipped with the drive link group including multiple connecting rods, and the driving
The connecting rod of connecting rod rest both sides realizes the synchronization opening and closing of both sides drive link group, each drive link frame by the way that fulcrum is assisted to be connected
The drive link group outermost end of both sides is hinged respectively with the hinged shaft end of adjacent podomere.
As shown in Figure 2 and Figure 5, the head end podomere 31 is equipped with the first drive link frame 36, the scissor driving mechanism 7
On hinged middleware 76 pass through the drive rod 77 and 362 phase of the first power input lever on the first drive link frame 36
Even, to drive 36 opening and closing of the first drive link frame, the intermediate podomere 32 is equipped with the second drive link frame 37, and described the
The second power input lever 371 outside bending of shape in obtuse angle on two drive link framves 37, and in second power input lever 371
Portion's bending part is hinged with the power output rod in the drive link frame on a upper podomere, the power output rod of each drive link frame
Middle part is equipped with elongated slot, the bullet by being hinged in the middle part of spring 34 and place podomere in the middle part of each power output connecting rod
34 end position of spring is adjustable in the elongated slot.
The present invention can set an intermediate podomere 32, can also set multiple intermediate podomeres 32.When setting, there are one intermediate
During podomere 32, the first power output rod 361 on the first drive link frame 36 and the second power on intermediate podomere 32 are defeated
Enter 371 middle part bending part of connecting rod to be hinged, and drive 37 opening and closing of the second drive link frame on the intermediate podomere 32, the centre
The second power output rod 372 on podomere 32 is directly by between a swing rod and the intermediate podomere 32 and end podomere 33
Hinged shaft end is connected end podomere 33 is driven to deform.When equipped with multiple intermediate podomeres 32, except podomere 32 among least significant end
In the second power input lever 371 on 372 end of the second power output rod and next podomere on other outer intermediate podomeres 32
Portion's bending part is hinged, and drives the second drive link frame opening and closing on next podomere, the second power among least significant end on podomere 32
Output rod 372 is connected by the hinged shaft end among a swing rod and the least significant end between podomere 32 and end podomere 33,
Driving end podomere 310 deforms.
It is described to clasp mechanism 3 as pseudo- rigid body close to clasping object when clasping mechanism work, until head end podomere 31 with
Object contact is clasped, intermediate podomere 32 overcomes the spring-force driven dual on head end podomere 31 as pseudo- rigid body and leaned on to object is clasped
Closely, until being contacted with clasping object, end podomere 33 overcomes the spring force on head end joint 31 in simultaneously as pseudo- rigid body
Between spring force on podomere 32 it is close to object is clasped, clasped until contacting to be formed with object.
The present invention operation principle be：
The single input and multi-output transmission system 2 of the present invention is set there are one power intake 21 and three power output ends, institute
It states driving power source 6 with the power intake 21 to be connected, each power output is given in the torque of the power intake 21
End, the output transfer transmission system 8 include three transmission mechanisms, and three in the single input and multi-output transmission system 2 are dynamic
The transmission mechanism different from the output transfer transmission system 8 is connected power output terminal respectively, the wherein drive of creeping of 1 head end of engine base
Driving wheel 4 drives rotation by the first transmission mechanism 83 in the output transfer transmission system 8, and 1 both sides of engine base are equipped with
Scissor driving mechanism 7 includes turn-screw 74 and is set to the turn-screw with mechanism 3, the scissor driving mechanism 7 is clasped
On 74 and two screws that moving direction is opposite, the turn-screw 74 in the 1 right side scissor driving mechanism 7 of engine base is by described
The second transmission mechanism 82 driving exported in transfer transmission system 8 rotates, the biography in the 1 left side scissor driving mechanism 7 of engine base
Dynamic leading screw 74 drives rotation by the third transmission mechanism 81 in the output transfer transmission system 8, and the turn-screw 74 is
The two screws reverse movement of driving thereon, so as to open the scissor in the scissor driving mechanism 7 or be closed, and then drive
The deformation of mechanism 3 of clasping of 1 both sides of engine base realizes that object is clasped or discharged.
Claims (10)
1. a kind of transmission single input and multi-output climbing robot, it is characterised in that：Including engine base (1), driving power source (6), list
Input multi output transmission system (2) exports transfer transmission system (8), scissor driving mechanism (7) and clasps mechanism (3), wherein singly
Input multi output transmission system (2) is set on engine base (1), and the single input and multi-output transmission system (2) is set there are one power
Input terminal (21), power drive mechanism and three power output ends, the driving power source (6) and the power intake (21)
It is connected, three power output ends are rotated simultaneously by the power intake (21) driving, the power intake (21)
Torque is transmitted by the power drive mechanism, the output transfer transmission system (8) includes three transmission mechanisms, and the list
It is different from the output transfer transmission system (8) respectively to input three power output ends in multi output transmission system (2)
Transmission mechanism is connected, and engine base (1) head end is equipped with driving wheel (4) of creeping, and engine base (1) tail end is equipped with auxiliary wheel of creeping
(5), the driving wheel of creeping (4) drives rotation by the first transmission mechanism (83) in the output transfer transmission system (8),
Engine base (1) both sides are equipped with scissor driving mechanism (7) and clasp mechanism (3), and the scissor driving mechanism (7) includes transmission
It leading screw (74) and is set on the turn-screw (74) and two screws that moving direction is opposite, the scissor driving mechanism
(7) scissor in moves driving opening and closing by described two screws, and the mechanism (3) that clasps includes multiple podomeres, and described armful
It holds mechanism (3) to deform by scissor opening and closing driving, the turn-screw on the right side of the engine base (1) in scissor driving mechanism (7)
(74) rotation is driven by the second transmission mechanism (82) in the output transfer transmission system (8), is cut on the left of the engine base (1)
The turn-screw (74) pitched in driving mechanism (7) passes through the third transmission mechanism (81) in the output transfer transmission system (8)
Driving rotation.
2. transmission single input and multi-output climbing robot according to claim 1, it is characterised in that：How defeated the single input is
The second power output end (25) gone out in transmission system (2) is sheathed on the first power output end (26), third power output end
(24) it is sheathed on the second power output end (25), the power drive mechanism includes three gear sets and an intermediate transmission frame
(22), wherein first gear group (27) includes the first planetary gear (271), the first internal gear (272) and the first output gear
(273), first planetary gear (271) and the power intake (21) be connected and with first output gear (273)
External toothing and the first internal gear (272) internal messing, first output gear (273) and first power output end
(26) it is connected, first internal gear (272) and the intermediate transmission frame (22) are connected, and the second gear group (28) includes the
Two planetary gears (281) and the second output gear (282), the third gear set (29) including third planet gear (291) and
Third output inner gear (292), second planetary gear (281) and third planet gear (291) are coaxially disposed and with described
Intermediate transmission frame (22) rotates, and second planetary gear (281) and the second output gear (282) external toothing, described second is defeated
Go out gear (282) to be connected with second power output end (25), the third planet gear (291) and third output inner gear
(292) internal messing, the third output inner gear (292) are connected with the third power output end (24).
3. transmission single input and multi-output climbing robot according to claim 1 or 2, it is characterised in that：The single input
It is equal that three power output ends of multi output transmission system (2) turn to identical and output torque.
4. transmission single input and multi-output climbing robot according to claim 1, it is characterised in that：In the output transfer
Set that there are one creep driving wheel driver between the first transmission mechanism (83) of transmission system (8) and the driving wheel of creeping (4)
Structure (9), first transmission mechanism (83) are synchronous belt drive mechanism, and the driving wheel drive mechanism (9) of creeping is bevel gear
Transmission mechanism, and the driving pulley in first transmission mechanism (83) is mounted on the single input and multi-output transmission system (2)
The first power output end (26) on, driven pulley in first transmission mechanism (83) and the driving wheel driver of creeping
Driving bevel gear (91) in structure (9) is connected, the driven bevel pinion (92) in the driving wheel drive mechanism (9) of creeping with it is described
The wheel shaft of driving wheel (4) of creeping is connected.
5. transmission single input and multi-output climbing robot according to claim 4, it is characterised in that：The driving wheel of creeping
(4) it is equipped with quil (41).
6. the transmission single input and multi-output climbing robot according to claim 1 or 4, it is characterised in that：The output point
The second transmission mechanism (82) and third transmission mechanism (81) in dynamic transmission system (8) are synchronous belt drive mechanism, wherein institute
State the second power output that the driving pulley in the second transmission mechanism (82) is mounted on the single input and multi-output transmission system (2)
It holds on (25), the driven pulley in second transmission mechanism (82) is mounted on the turn-screw (74) on the right side of the engine base (1)
On, the third that the driving pulley in the third transmission mechanism (81) is mounted on the single input and multi-output transmission system (2) is moved
On power output terminal (24), the driven pulley in the third transmission mechanism (81) is mounted on the driving wire on the left of the engine base (1)
On thick stick (74).
7. transmission single input and multi-output climbing robot according to claim 1, it is characterised in that：The scissor driving machine
Structure (7) includes hinged the first scissors rod (71) and the second scissors rod (72), and is cut in first scissors rod (71) and second
The hinged place of fork arm (72) is set there are one hinged middleware (76), and first scissors rod (71) is hinged middleware far from described
(76) one end and the first screw (75) on turn-screw (74) are hinged, and second scissors rod (72) is far from described be hinged
Between part (76) one end and same turn-screw (74) on the second screw (73) it is hinged, the hinged middleware (76) passes through one
A drive rod (77) is connected with the mechanism (3) that clasps.
8. transmission single input and multi-output climbing robot according to claim 1, it is characterised in that：It is described to clasp mechanism
(3) including head end podomere (31), intermediate podomere (32) and end podomere (33), each podomere is hinged and successively inside each podomere
Auxiliary wheel (35) is equipped with, the first drive link frame (36) is equipped on head end podomere (31), is equipped on intermediate podomere (32)
Second drive link frame (37), the drive link group outermost ends of each drive link frame both sides hinge between adjacent podomere respectively
Spindle end is hinged, and the first drive link frame (36) drives opening and closing by the scissor driving mechanism (7), and described second drives
Dynamic connecting rod rest (37) drives opening and closing by the drive link frame on a upper podomere, in the power output rod on each drive link frame
Portion in the middle part of spring (34) and place podomere by being connected.
9. transmission single input and multi-output climbing robot according to claim 8, it is characterised in that：Second driving connects
The second power input lever (371) shape bending in obtuse angle on bridge (37), and bending in the middle part of second power input lever (371)
Locate to be hinged with the power output rod of the drive link frame on a upper podomere, on the intermediate podomere (32) adjacent with end podomere (33)
The second power output rod (372) pass through the hinged shaft end between a swing rod and end podomere (33) and adjacent intermediate podomere (32)
Portion is connected.
10. transmission single input and multi-output climbing robot according to claim 1, it is characterised in that：Engine base (1) tail
End is equipped with power input side baffle (11), and partition board (12) is equipped in the middle part of the engine base (1), and engine base (1) head end is equipped with power
Side shield (13) is exported, it is defeated that the power intake (21) on the single input and multi-output transmission system (2) is set to the power
Enter on side shield (11), it is defeated that each power output end on the single input and multi-output transmission system (2) is set to the power
Go out on side shield (13), the single input and multi-output transmission system (2) is across the partition board (12), in the power output side block
It is set on the outside of plate (13) there are one crawling wheel mounting base (14), the driving wheel of creeping (4) is set to the crawling wheel mounting base
(14) in.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201611181811.1A CN108202779B (en) | 2016-12-20 | 2016-12-20 | A kind of transmission single input and multi-output climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611181811.1A CN108202779B (en) | 2016-12-20 | 2016-12-20 | A kind of transmission single input and multi-output climbing robot |
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| CN108202779A true CN108202779A (en) | 2018-06-26 |
| CN108202779B CN108202779B (en) | 2019-07-26 |
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| CN202201081U (en) * | 2011-05-20 | 2012-04-25 | 华北电力大学（保定） | Automatic obstacle-surmounting rod-climbing cleaning robot |
| WO2012106809A1 (en) * | 2011-02-11 | 2012-08-16 | University Of Regina | Adaptable vehicle |
| CN202593674U (en) * | 2012-05-04 | 2012-12-12 | 安徽工业大学 | Wriggling type rope robot climbing mechanism |
| KR20140010467A (en) * | 2014-01-06 | 2014-01-24 | 한국교통대학교산학협력단 | Robot for exploring |
| CN203592483U (en) * | 2013-10-25 | 2014-05-14 | 厦门至慧机器人有限公司 | Four-joint robot palletizer |
| CN105460099A (en) * | 2015-12-21 | 2016-04-06 | 西安交通大学 | Multifunctional six-legged climbing robot |
| CN105711672A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Walking and climbing robot based on joint coupling hand wheel mechanism |
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2016
- 2016-12-20 CN CN201611181811.1A patent/CN108202779B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012106809A1 (en) * | 2011-02-11 | 2012-08-16 | University Of Regina | Adaptable vehicle |
| CN202201081U (en) * | 2011-05-20 | 2012-04-25 | 华北电力大学（保定） | Automatic obstacle-surmounting rod-climbing cleaning robot |
| CN202593674U (en) * | 2012-05-04 | 2012-12-12 | 安徽工业大学 | Wriggling type rope robot climbing mechanism |
| CN203592483U (en) * | 2013-10-25 | 2014-05-14 | 厦门至慧机器人有限公司 | Four-joint robot palletizer |
| KR20140010467A (en) * | 2014-01-06 | 2014-01-24 | 한국교통대학교산학협력단 | Robot for exploring |
| CN105711672A (en) * | 2014-11-30 | 2016-06-29 | 中国科学院沈阳自动化研究所 | Walking and climbing robot based on joint coupling hand wheel mechanism |
| CN105460099A (en) * | 2015-12-21 | 2016-04-06 | 西安交通大学 | Multifunctional six-legged climbing robot |
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| CN108202779B (en) | 2019-07-26 |
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