CN108202779B - 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
- Publication number
- CN108202779B CN108202779B CN201611181811.1A CN201611181811A CN108202779B CN 108202779 B CN108202779 B CN 108202779B CN 201611181811 A CN201611181811 A CN 201611181811A CN 108202779 B CN108202779 B CN 108202779B
- Authority
- CN
- China
- Prior art keywords
- output
- power
- transmission
- driving
- transmission system
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- 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 equipped with a 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 from different transmission mechanism in output transfer transmission system respectively, base head end is equipped with driving wheel of creeping, base two sides are equipped with scissor driving mechanism and clasp mechanism, and the scissor driving mechanism is equipped with the turn-screw of driving scissor closure, the mechanism that clasps is deformed by scissor opening and closing driving, the turn-screw difference of creep driving wheel and the base two sides Rotation is driven by transmission mechanism different in output transfer transmission system.The present invention drives number 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 climbs machine
People.
Background technique
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, the climbing robot that scholar expert both domestic and external has developed that shape is various and principle is different carrys out needle
Specified task is completed to specific environment, but its structure is relative complex, driving number is more and control is cumbersome, and adaptivity is poor,
So that the application of climbing robot is limited to.
Summary of the invention
The purpose of the present invention is to provide a kind of transmission single input and multi-output climbing robots, can be realized 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 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 base
On, the single input and multi-output transmission system is equipped with a power intake, power drive mechanism and three power output ends, institute
It states driving power source to be connected with the power intake, 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 respectively with the output transfer power train
Different transmission mechanisms is connected in system, and the base head end is equipped with driving wheel of creeping, and the base tail end is equipped with auxiliary wheel of creeping,
For the driving wheel of creeping by the first transmission mechanism driving rotation in the output transfer transmission system, the base two 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 mobile driving of described two screws
It closes, the mechanism that clasps includes multiple podomeres, and the mechanism that clasps is deformed by scissor opening and closing driving, and the 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 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 includes first planetary gear, the first internal gear and the first output gear, the 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 and first power output end are connected, and first internal gear and the intermediate transmission frame are connected, 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 output
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 and second power output end are connected, and described the
Three planetary gears and third output inner gear internal messing, the third output inner gear and the third power output end are connected.
It is equal that three power output ends of the single input and multi-output transmission system turn to identical and output torque.
One is equipped between the first transmission mechanism and the driving wheel of creeping of the output transfer transmission system to creep
Wheel drive mechanism is driven, first transmission mechanism is synchronous belt drive mechanism, and described creep drives wheel drive mechanism for 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
Driven pulley and the active umbrella tooth driven in wheel drive mechanism of creeping on power output end, in first transmission mechanism
Wheel is connected, and described creep drives the wheel shaft of the driven bevel pinion in wheel drive mechanism and the driving wheel of creeping to be 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,
Wherein the driving pulley in 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 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 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 equipped with a hinged middleware, first scissors rod one end and biography far from the hinged centre
First wire nut on dynamic lead screw is hinged, on the one end of second scissors rod far from the hinged middleware and same turn-screw
The second screw it is 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 successively hinged 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, articulated shaft end of the drive link group outermost end of each drive link frame two sides respectively between adjacent podomere is 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 drive link frame drive opening and closing, in the middle part of the power output rod on each drive link frame by spring and place podomere in the middle part of
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 articulated shaft end between a swing rod and end podomere and adjacent intermediate podomere.
The base tail end is equipped with power input side baffle, is equipped with partition in the middle part of the base, the base head end is equipped with
Power output side baffle, 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 baffle, described
Single input and multi-output transmission system passes through the partition, and a crawling wheel installation is equipped on the outside of the power output side baffle
Seat, the driving wheel of creeping are set in the crawling wheel mounting base.
Advantages of the present invention and good effect are as follows:
1. the present invention uses single input and multi-output transmission system, and guarantees that the differential related and output torque of each output is equal,
It realizes with single motor driving while realizing that robot clasps function and climbing function, driving number is few and control is simple.
2. the present invention clasps mechanism using connecting rod drive lacking, it can be realized and climbing function is clasped to different shape body self-adaptation
Can, light structure is compact, and manufacture, maintenance cost are low.
3. driving wheel of creeping of the 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.
Detailed description of the invention
Fig. 1 is top view of the invention；
Fig. 2 is perspective view of the invention in Fig. 1；
Fig. 3 is the structural schematic diagram of single input and multi-output transmission system in Fig. 1；
Fig. 4 is the schematic illustration of single input and multi-output transmission system in Fig. 3；
Fig. 5 is the schematic diagram that mechanism is clasped in Fig. 1；
Fig. 6 is the schematic diagram of driving wheel of creeping in Fig. 1；
Fig. 7 is the schematic diagram of scissor driving mechanism in Fig. 1.
Wherein, 1 is base, and 11 be power input side baffle, and 12 be partition, and 13 be power output side baffle, and 14 be to 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 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 first wire nut, 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 with reference to the accompanying drawing.
As shown in Fig. 1~2, the present invention includes 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 base 1
Side, the single input and multi-output transmission system 2 are equipped with a power intake 21 and three power output ends, the driving power
Source 6 is set to 1 tail end of 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 base, and described
Exporting transfer transmission system 8 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 base is equipped with driving wheel 4 of creeping,
1 tail end of 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 two sides of 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 in driving mechanism 7 is pitched by the mobile driving opening and closing of described two screws, the mechanism 3 that clasps includes multiple successively hinged
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 base
Turn-screw 74 drives rotation by the second transmission mechanism 82 in the output transfer transmission system 8, cuts on the left of the base 1
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, one is equipped on the right side of the base 1 and clasps mechanism 3, set on the left of the base 1 there are two clasping 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
26, 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 base
End is equipped with power input side baffle 11, and partition 12 is equipped in the middle part of the base 1, and 1 head end of 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 baffle 11, each output end in the single input and multi-output transmission system 2 is set to the power by bearing bearing
It exports on side baffle 13, the pedestal of the single input and multi-output transmission system 2 passes through the partition 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 arranged 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 end each so just realizes concentric setting and mutually indepedent rotation.
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 the first gear group 27 includes first planetary gear 271, the first internal gear 272 and first
Output gear 273, the first planetary gear 271 be connected with the power intake 21 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 equipped in one on the intermediate transmission frame 22
Between support plate 23, second planetary gear 281 and third planet gear 291 are coaxially disposed and described in being set to by bearing bearing
Eccentric position on intermediate support plate 23, in this way when the intermediate transmission frame 22 drives rotation 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, 282 external toothing of second planetary gear 281 and the second output gear, in second output gear 282
Portion and second power output end 25 are connected, 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 end 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 end.
As shown in Fig. 1~2, three transmission mechanisms in the output transfer transmission system 8 are synchronous belt drive mechanism,
A crawling wheel mounting base 14 is equipped on the outside of the power output side baffle 13 of 1 head end of base, 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 rotation of driving wheel 4 of creeping.As shown in Figure 1, being passed described first
It creeps between motivation structure 83 and the driving wheel 4 of creeping equipped with one 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, driven pulley and described creep in first transmission mechanism 83 drive the driving bevel gear 91 in wheel drive mechanism 9 solid
Even, described creep drives the wheel shaft of the driven bevel pinion in wheel drive mechanism 9 92 and the driving wheel 4 of creeping to be connected.Such as Fig. 6 institute
Show, quil 41 is equipped on the driving wheel 4 of creeping, the quil 41 is made by soft rubber, to object shape
At more contacts to mitigate shake and slipping phenomenon, guarantee that climbing motion is gone on smoothly.
It is equipped with scissor driving mechanism 7 in 1 two sides of base, and is equipped in each scissor driving mechanism 7 for driving
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 pass through the second transmission mechanism 82 in output transfer transmission system 8 and the turn-screw in 1 right side scissor driving mechanism 7 of base
74 are connected, wherein the 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 base, and the single input and multi-output passes
The third power output end 24 of dynamic system 2 on the left of the third transmission mechanism 81 and base 1 in output transfer transmission system 8 by cutting
The turn-screw 74 pitched in driving mechanism 7 is connected, wherein the 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 base
On 74.
The scissor driving mechanism 7 includes turn-screw 74 and be 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 base 1
The first wire nut 75 of power output side baffle 18 be mounted on the first thread segment 741 of the turn-screw 74, close to base 1
The second screw 73 of power input side baffle 11 be mounted on the second thread segment 742 of the turn-screw 74, 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 equipped with a hinged middleware 76, and first scissors rod 71 is far from the hinged middleware 76
One end and the first wire nut 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, 74 rotate driving of turn-screw, the two screw reverse movement, to make first scissors rod 71 and the
Two scissors rods 72 open or closure, 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 invention is that connecting rod drive lacking clasps mechanism.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 base, and each podomere is successively hinged
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, drive link frame two sides are equipped with the drive link group including multiple connecting rods, and the driving
The connecting rod of connecting rod rest two sides is connected by auxiliary fulcrum to realize the synchronization opening and closing of two sides drive link group, each drive link frame
The drive link group outermost end of two sides is hinged with the articulated shaft end of adjacent podomere respectively.
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 and the power output rod in the drive link frame on a upper podomere are hinged, the power output rod of each drive link frame
Middle part is by hingedly, being equipped with elongated slot, the bullet in the middle part of each power output connecting rod in the middle part of spring 34 and place podomere
34 end position of spring is adjustable in the elongated slot.
An intermediate podomere 32 can be set in the present invention, and multiple intermediate podomeres 32 also can be set.When equipped with a centre
When 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 that 371 middle part bending part of connecting rod is hinged, and drives 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
Articulated shaft end is connected to drive end podomere 33 to deform.When being 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, 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 articulated shaft end among a swing rod and the least significant end between podomere 32 and end podomere 33,
End podomere 310 is driven to deform.
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 leans on to object is clasped
Closely, until contacting with object is clasped, 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 operation principle of the present invention is that:
Single input and multi-output transmission system 2 of the invention is equipped with a power intake 21 and three power output ends, institute
It states driving power source 6 to be connected with the power intake 21, 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
Power output end is connected from different transmission mechanism in the output transfer transmission system 8 respectively, the wherein drive of creeping of 1 head end of base
Driving wheel 4 drives rotation by the first transmission mechanism 83 in the output transfer transmission system 8, and 1 two sides of 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 base passes through described
It exports the second transmission mechanism 82 in transfer transmission system 8 and drives rotation, the biography in the 1 left side scissor driving mechanism 7 of base
Dynamic lead 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 that the scissor in the scissor driving mechanism 7 be made to open or be closed, and then drives
The deformation of mechanism 3 of clasping of 1 two sides of 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 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 single
Input multi output transmission system (2) is set on base (1), and the single input and multi-output transmission system (2) is equipped with a 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 driven while being rotated, the power intake (21) by 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
Three power output ends inputted in multi output transmission system (2) are different from the output transfer transmission system (8) respectively
Transmission mechanism is connected, and base (1) head end is equipped with and creeps driving wheel (4), and 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 output transfer transmission system (8),
Base (1) two sides are equipped with scissor driving mechanism (7) and clasp mechanism (3), and the scissor driving mechanism (7) includes transmission
It lead 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 is by the mobile driving opening and closing of described two screws, and the mechanism (3) that clasps includes multiple podomeres, and described armful
It holds mechanism (3) and drives deformation by the scissor opening and closing, the turn-screw on the right side of the base (1) in scissor driving mechanism (7)
(74) rotation is driven by the second transmission mechanism (82) in output transfer transmission system (8), is cut on the left of the base (1)
The turn-screw (74) pitched in driving mechanism (7) passes through the third transmission mechanism (81) in 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) in transmission system (2) is sheathed on the first power output end (26) out, 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 first planetary gear (271), the first internal gear (272) and the first output gear
(273), the 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 second gear group (28) includes the second row
Star gear (281) and the second output gear (282), third gear set (29) include third planet gear (291) and third output
Internal gear (292), second planetary gear (281) and third planet gear (291) are coaxially disposed and with the intermediate transmissions
Frame (22) rotation, second planetary gear (281) and the second output gear (282) external toothing, second output gear
(282) it is 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) and the third power output end (24) are connected.
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
A driving wheel driver of creeping is equipped between the first transmission mechanism (83) and the driving wheel of creeping (4) of transmission system (8)
Structure (9), first transmission mechanism (83) are synchronous belt drive mechanism, and described creep drives wheel drive mechanism (9) for 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, it is described creep drive driven bevel pinion (92) in wheel drive mechanism (9) with it is described
Creep driving wheel (4) wheel shaft be 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) quil (41) are equipped with.
6. 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 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 dynamic
On power output end (24), the driven pulley in the third transmission mechanism (81) is mounted on the driving wire on the left of the 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 equipped with a hinged middleware (76), and first scissors rod (71) is far from the hinged middleware
(76) first wire nut (75) on one end and turn-screw (74) hingedly, second scissors rod (72) far from it is described it is hinged in
Between part (76) one end and same turn-screw (74) on the second screw (73) hingedly, the hinged middleware (76) pass 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: described to clasp mechanism
(3) include head end podomere (31), intermediate podomere (32) and end podomere (33), each podomere is successively hinged and each podomere inside
Auxiliary wheel (35) are 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 end of each drive link frame two 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) drive 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)
Place is 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 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: base (1) tail
End is equipped with power input side baffle (11), is equipped with partition (12) in the middle part of the base (1), and base (1) head end is equipped with power
It exports side baffle (13), 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 baffle (11), it is defeated that each power output end on the single input and multi-output transmission system (2) is set to the power
Out on side baffle (13), the single input and multi-output transmission system (2) passes through the partition (12), in the power output side block
A crawling wheel mounting base (14) is equipped on the outside of plate (13), 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 |
|---|---|---|---|
| CN201611181811.1A CN108202779B (en) | 2016-12-20 | 2016-12-20 | A kind of transmission single input and multi-output climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201611181811.1A CN108202779B (en) | 2016-12-20 | 2016-12-20 | A kind of transmission single input and multi-output climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108202779A CN108202779A (en) | 2018-06-26 |
| CN108202779B true CN108202779B (en) | 2019-07-26 |
Family
ID=62602025
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201611181811.1A Active CN108202779B (en) | 2016-12-20 | 2016-12-20 | A kind of transmission single input and multi-output climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108202779B (en) |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
-
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 |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108202779A (en) | 2018-06-26 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101234489B (en) | Belt wheel under-driven robot finger device | |
| CN104942818B (en) | Seven-freedom-degree five-finger mechanical arm | |
| CN101214649B (en) | Belt wheel multi-joint high under-driven robot finger device | |
| CN107363825A (en) | Under-actuated 2R mechanical arm device based on harmonic deceleration | |
| CN100581756C (en) | Double bevel wheel under-driven robot finger | |
| CN109877809A (en) | A kind of bidirectional self-adaptive telescopic mechanical arm | |
| CN110171011B (en) | Three-finger robot dexterous hand driven in coordination | |
| CN105881508A (en) | Novel three-degree-of-freedom translational parallel mechanism | |
| CN109176565B (en) | Coupled self-adaptive robot finger device with tail end moving along straight line | |
| CN109795685A (en) | Rack-and-pinion driving mechanism for flapping wing based on external toothing planetary reducer | |
| CN102179817B (en) | Double-flexibility piece composite under-actuated double-joint finger device for robot | |
| CN100551637C (en) | Rack bar under-driven robot finger device | |
| CN106903710B (en) | Humanoid dexterous hand base joint mechanism | |
| CN109877868B (en) | Coupling self-adaptive under-actuated human-simulated dexterous finger | |
| CN108202779B (en) | A kind of transmission single input and multi-output climbing robot | |
| CN107234631B (en) | Self-adaptive robot hand device for parallel clamping, coupling and switching of crankshaft connecting rod | |
| CN101444917A (en) | Mechanical finger device with functions of bionic displacement and self-adapting grasping | |
| CN109227583B (en) | Self-adaptive robot finger device with linear parallel clamping of gear idle stroke transmission swing rod chute | |
| CN107243915B (en) | Parallel-clamping coupling switching self-adaptive robot finger device with duplex racks | |
| CN206544178U (en) | A kind of new rope driver tool arm | |
| CN109722797A (en) | A kind of thread-trimming lifter-presser foot mechanism of sewing machine | |
| CN101664930B (en) | Coupling underactuated integral finger device of double-joint robot | |
| CN109079827B (en) | Integral lifting idle stroke transmission linear parallel clamping self-adaptive robot finger device | |
| CN102267137B (en) | Double-joint and three-shaft-wheeled hybrid under-actuated robotic finger device | |
| CN108202777B (en) | A kind of form adaptive climbing robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |