CN110406609A - A kind of the bionical of intelligent robot seeks connections with movement mechanism - Google Patents
A kind of the bionical of intelligent robot seeks connections with movement mechanism Download PDFInfo
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- CN110406609A CN110406609A CN201910685342.4A CN201910685342A CN110406609A CN 110406609 A CN110406609 A CN 110406609A CN 201910685342 A CN201910685342 A CN 201910685342A CN 110406609 A CN110406609 A CN 110406609A
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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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Abstract
Bionical the invention discloses a kind of intelligent robot seeks connections with movement mechanism, including robot base, fixing groove one, fixing groove two, linking arm one, connecting rod one, connecting rod two, connecting rod three, sucker and hook, the bottom end of robot base is fixed with fixing groove one, the bottom end of fixing groove one is fixed with fixing groove two, it and inside fixing groove one and fixing groove two is engraved structure, gear one is fixed in the middle part of the inner tip of robot base, a side of gear one and the output axis connection of motor one, two side bottoms of gear one are connected with gear two compatible with gear one and gear three, the middle part of gear two and gear three is respectively and fixedly provided with connecting shaft, and the both ends of connecting shaft run through robot base and extend to the outside of robot base, the both sides external side of robot base position corresponding with connecting shaft is respectively and fixedly provided with terminal pad, The side that two sides terminal pad deviates is connect with one end of connecting rod two.
Description
Technical field
The present invention relates to intelligent robot technology fields, it particularly relates to which a kind of the bionical of intelligent robot seeks connections with fortune
Motivation structure.
Background technique
Climbing robot is an important branch in mobile robot field, can be climbed in perpendicular walls, and carry
Tool completes the automatic machinery people of certain job task, the very big application range for extending robot.Currently, climbing wall machine
Device people high-rise outer face clean, rescue and relief work and it is special in terms of carried out certain application, achieve good
Social and economic benefit is one of the hot spot of current robot field's research, but existing robot of seeking connections with often can only be single
One use absorption or hook are fixed, so that fixed is not firm enough when encountering the contact surface of smooth and coarse combination
Gu there are security risks to be unfavorable for the safety and use of robot.
Summary of the invention
Technical assignment of the invention is against the above deficiency, to provide a kind of the bionical of intelligent robot and seek connections with movement mechanism,
To solve the above problems.
The technical scheme of the present invention is realized as follows:
A kind of the bionical of intelligent robot seeks connections with movement mechanism, including robot base, fixing groove one, fixing groove two, linking arm
One, connecting rod one, connecting rod two, connecting rod three, sucker and hook, the bottom end of the robot base are fixed with the fixing groove
One, the bottom end of the fixing groove one is fixed with the fixing groove two, and is inside the fixing groove one and the fixing groove two
Engraved structure is fixed with gear one, a side and motor of the gear one in the middle part of the inner tip of the robot base
Three output axis connection, two side bottoms of the gear one are connected with gear two compatible with the gear one and gear three,
The middle part of the gear two and the gear three is respectively and fixedly provided with connecting shaft, and the robot bottom is run through at the both ends of the connecting shaft
Seat and the outside for extending to robot base, the both sides external side of robot base position corresponding with the connecting shaft
Be respectively and fixedly provided with terminal pad, the side that two sides terminal pad deviates is connect with one end of connecting rod two, the connecting rod two it is another
One end is flexibly connected with the middle part of linking arm one, and the top of the linking arm one is flexibly connected with one end of connecting rod one, described
The other end of connecting rod one is connect with the top edge of the robot base, middle part and the connecting rod three of the connecting rod two
One end connection, the other end of the connecting rod three are connect with the bottom margin of the robot base, the bottom of the fixing groove one
End two sides are symmetrically fixed with fixed plate one, and bottom end a side of the fixed plate one is fixed with fixed plate two, the fixed plate
One middle part slidably connects slide bar, and the top of the slide bar extends to the inside of the fixing groove one and pushing structure connects
It connects, the bottom end of the slide bar is fixed with connection frame, and the connection frame is U-shaped connection frame, and the bottom end of the connection frame is respectively and fixedly provided with
Traveller, the center bottom of the fixed plate two pass through movable bolt and connect with one end of linking arm two and linking arm three, the connection
The top of arm two and the linking arm three position corresponding with the traveller offers hollow slots compatible with the traveller,
The bottom end of the linking arm two and the linking arm three is respectively and fixedly provided with the hook, and the two bottom end two sides of fixing groove are fixed with
The sucker；Can not only adsorption capacity be provided by hook and sucker but also adhesive force can be provided, and ensure the stabilization of robot.
Preferably, offering accommodating chamber in the middle part of the inner bottom of the fixing groove one, the inside of the accommodating chamber is
The bottom end two sides of engraved structure, the accommodating chamber are fixed by support rod and the top of the fixing groove two, and the support
The accommodating chamber is run through in the bottom end of bar, and accommodating chamber bottom position corresponding with the support rod offers and the support
The compatible through-hole one of bar；It can be convenient the sliding of support rod by through-hole one.
Preferably, being fixed with motor one, the output shaft and spiral shell of the motor one in the middle part of the inner tip of the accommodating chamber
Rasp bar one connects, and the bottom end of the threaded rod one is fixed in the middle part of the inner bottom of the accommodating chamber, outside the threaded rod one
Portion is arranged with sliding sleeve one compatible with the threaded rod one, and the both ends of the sliding sleeve one are respectively and fixedly provided with fixed link, the fixation
Fixing sleeve compatible with the fixed link is respectively and fixedly provided on bar, the bottom end of the fixing sleeve is fixed with the support rod, described
The bottom end of support rod is connect through the accommodating chamber with the top two sides of the fixing groove two；It can be square by the sliding of support rod
Just the lifting for adjusting fixing groove two, to facilitate the absorption and use of sucker.
Preferably, the top of the fixing sleeve is fixed on the inside of the accommodating chamber by spring one；It can be improved solid
Surely the stability covered, while playing the role of buffering to fixing sleeve.
Preferably, the fixed link is respectively and fixedly provided with slide plate one far from one end of the sliding sleeve one, the accommodating chamber it is interior
Portion position corresponding with the slide plate one offers sliding slot one compatible with the slide plate one, can be convenient by sliding slot one
The sliding of slide plate one reduces mutual friction.
Preferably, the inside top of the fixing groove one is fixed with the pushing structure, the pushing structure includes cone
Gear one, bevel gear two, bevel gear three, partition and mandril, the inside of the fixing groove one and the top for being located at the accommodating chamber
It is fixed with the partition, inner tip a side of the fixing groove one and be located at partition be fixedly arranged above motor two is described
The output shaft of motor two is connect with shaft, and bevel gear one and bevel gear two, the bevel gear one and institute are fixed in the shaft
It states the bottom end of bevel gear two and identical side is respectively and fixedly provided with cone tooth compatible with the bevel gear one and the bevel gear two
Wheel three, the bottom end of the bevel gear three is respectively and fixedly provided with threaded rod two, and the bottom end of the threaded rod two through the partition and is prolonged
The outer sheath of the lower section for extending to the partition, the threaded rod two below the partition is equipped with and the threaded rod two-phase
The sliding sleeve two of adaptation, the inside of the sliding sleeve two position corresponding with the threaded rod two offer through-hole two, the sliding sleeve
Two bottom end a side is fixed with the mandril, and the bottom end of the mandril is solid through the fixing groove one and the top of the slide bar
It is fixed；It can be convenient the crawl between control hook and contact surface by pushing structure, robot fixed more stable.
Preferably, the sliding sleeve two is respectively and fixedly provided with connecting column, the connection close to one end of one inner wall of fixing groove
Column is fixed with slide plate two far from one end of the sliding sleeve two, and the inner wall two sides of the fixing groove one are corresponding with the slide plate two
Position offer sliding slot two compatible with the slide plate two.
It, can be with preferably, the bottom end of the threaded rod two is fixed on the inner bottom of the fixing groove one by cutting ferrule
Threaded rod two is fixed more stable.
Preferably, the number of the terminal pad is four, and the two sides for being located at robot base are symmetrical arranged；Pass through
Symmetrical four terminal pads are more favorable for the stability of structure.
Preferably, top a side of the sliding sleeve two is fixed by spring two and the top of the partition；Spring two
It can play the role of to sliding sleeve two fixed and buffer.
Compared with prior art, the advantages and positive effects of the present invention are:
1, making robot not only by sucker and hook can climb in smooth place, while in the thick of surface irregularity
Rough bottom end can also be climbed.
2, climb robot more efficient, fixed stronger box is stablized between robot and climbing surface, from
And it is more favorable for the safety of robot.
3, facilitate the operation and control of people, it is more convenient for people to use, not only increase the efficiency of work, same to time
The time of labour and operation is saved.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the bionical structural schematic diagram for seeking connections with movement of intelligent robot according to an embodiment of the present invention；
Fig. 2 is the structural schematic diagram inside robot base according to an embodiment of the present invention；
Fig. 3 is the connection schematic diagram of fixing groove one and fixing groove two according to an embodiment of the present invention；
Fig. 4 is the structural schematic diagram of the pushing structure inside fixing groove one according to an embodiment of the present invention；
Fig. 5 is the structural schematic diagram of hook according to an embodiment of the present invention；
Fig. 6 is the connection schematic diagram inside accommodating chamber according to an embodiment of the present invention.
In figure:
1, robot base；2, fixing groove one；3, fixing groove two；4, linking arm one；5, connecting rod one；6, connecting rod two；7, even
Extension bar three；8, sucker；9, hook；10, gear one；11, motor three；12, gear two；13, gear three；14, connecting shaft；15, sliding
Bar；16, terminal pad；17, fixed plate one；18, fixed plate two；19, pushing structure；20, frame is connected；21, traveller；22, linking arm
Two；23, linking arm three；24, hollow slots；25, accommodating chamber；26, support rod；27, motor one；28, threaded rod one；29, sliding sleeve one；
30, fixed link；31, fixing sleeve；32, spring one；33, slide plate one；34, sliding slot one；35, bevel gear one；36, bevel gear two；37,
Bevel gear three；38, partition；39, mandril；40, motor two；41, shaft；42, threaded rod two；43, sliding sleeve two；44, connecting column；
45, slide plate two；46, sliding slot two；47, spring two.
Specific embodiment
To better understand the objects, features and advantages of the present invention, with reference to the accompanying drawings and examples
The present invention will be further described.It should be noted that in the absence of conflict, in embodiments herein and embodiment
Feature can be combined with each other.
The present invention will be further explained below with reference to the attached drawings and specific examples.
Embodiment one, as shown in figures 1 to 6, a kind of the bionical of intelligent robot according to an embodiment of the present invention seek connections with fitness machine
Structure, including robot base 1, fixing groove 1, fixing groove 23, linking arm 1, connecting rod 1, connecting rod 26, connecting rod three
7, sucker 8 and hook 9, the bottom end of the robot base 1 are fixed with the fixing groove 1, and the bottom end of the fixing groove 1 is solid
Surely there is a fixing groove 23, robot base 1, fixing groove 1 and fixing groove 23 are rectangular parallelepiped structure, and the fixing groove
1 and the fixing groove 23 inside be engraved structure, the structure of hollow out can mitigate the weight of robot, be more favorable for machine
The movement of device people is fixed with gear 1, the middle part one of the gear 1 in the middle part of the inner tip of the robot base 1
The output axis connection of side and motor 3 11, two side bottoms of the gear 1 are connected with compatible with the gear 1
The middle part of gear 2 12 and gear 3 13, the gear 2 12 and the gear 3 13 is respectively and fixedly provided with connecting shaft 14, and two sides connect
The both ends of spindle 14 run through the robot base 1 and extend to the outside of robot base 1, outside the robot base 1
Portion, position corresponding with the connecting shaft 14, two sides is respectively and fixedly provided with terminal pad 16, and the number of terminal pad 16 is four, can
To ensure the stabilization and walking of robot, the side that two sides terminal pad 16 deviates is connect with one end of connecting rod 26, and position
In the connecting rod 26 that robot base 1 is ipsilateral, one of them connect with the top movable of terminal pad 16, another and terminal pad
16 bottom is flexibly connected, and the other end of the connecting rod 26 is flexibly connected with the middle part of linking arm 1, the bottom of linking arm 1
End is respectively and fixedly provided with walking foot, and the top of the linking arm 1 is flexibly connected with one end of connecting rod 1, the connecting rod 1
The other end is connect with the top edge of the robot base 1, and the middle part of the connecting rod 26 and one end of connecting rod 37 connect
It connects, the other end of the connecting rod 37 is connect with the bottom margin of the robot base 1, and connecting rod 1, connecting rod two
6, it is flexibly connected by movable bolt between connecting rod 37 and linking arm 1, is not only conducive to mutual activity while mutually
Between it is fixed stronger, the bottom end two sides of the fixing groove 1 are symmetrically fixed with fixed plate 1, the fixed plate 1
Bottom end a side be fixed with the fixed plate two 18 thinner than fixed plate 1, the middle part of the fixed plate 1 slidably connects cunning
Bar 15 can be convenient the sliding of slide bar 15 by the fixed plate 2 18 thinner than fixed plate 1, and the top of the slide bar 15 is prolonged
The inside for extending to the fixing groove 1 is connect with pushing structure 19, and the bottom end of the slide bar 15 is fixed with connection frame 20, the company
Connecing frame 20 is U-shaped connection frame 20, and bottom end a side of the connection frame 20 is respectively and fixedly provided with traveller 21, the bottom of the fixed plate 2 18
A side of end middle part and close connection frame 20 passes through movable bolt and connect with one end of linking arm 2 22 and linking arm 3 23, described
The top of linking arm 2 22 and the linking arm 3 23 position corresponding with the traveller 21 offers and 21 phase of traveller
The bottom end of the hollow slots 24 of adaptation, the linking arm 2 22 and the linking arm 3 23 is respectively and fixedly provided with the hook 9, the fixation
23 bottom end two sides of slot are fixed with the sucker 8, and sucker 8 is negative pressure sucker 8, and negative pressure sucker 8 is controlled by vacuum pump.
Embodiment two, as seen in figs, by offering accommodating chamber 25 in the middle part of the inner bottom of fixing groove 1,
And the inside of the accommodating chamber 25 is engraved structure；It can be convenient the connection between fixing groove, while facilitating fixing groove 23
Lifting, the bottom end two sides of the accommodating chamber 25 are fixed by support rod 26 and the top of the fixing groove 23, and the support
The accommodating chamber 25 is run through in the bottom end of bar 26, by offering in 25 bottom of accommodating chamber position corresponding with the support rod 26
Through-hole one compatible with the support rod 26, can be convenient the movement of support rod 26, fix to be driven by support rod 26
The lifting of slot 23.
Embodiment three, as shown in fig. 6, motor 1 is fixed in the middle part of the inner tip of the accommodating chamber 25, and pedestal
External side, which is fixed with control button one, can be convenient the rotation of control motor 1, the output shaft and screw thread of the motor 1
Bar 1 connects, and the bottom end of the threaded rod 1 is fixed in the middle part of the inner bottom of the accommodating chamber 25 by axle sleeve, and spiral shell
Rasp bar 1 is located at the middle part of accommodating chamber 25 and is vertically arranged, and the outer cover of the threaded rod 1 is equipped with and the threaded rod one
28 compatible sliding sleeves 1, the two sides of the sliding sleeve 1 are symmetrically fixed with fixed link 30, solid in the fixed link 30
Surely there is fixing sleeve 31 compatible with the fixed link 30, and fixing sleeve 31 is welded in fixed link 30, the fixing sleeve 31
Bottom end is fixed with the support rod 26, and the bottom end of the support rod 26 is through the top of the accommodating chamber 25 and the fixing groove 23
Hold two sides connection.
Example IV, as shown in fig. 6, the top of the fixing sleeve 31 is fixed on the accommodating chamber 25 by spring 1
It is internal；Not only fixed function can be played to fixing sleeve 31 and fixed link 30 by spring 1, while play buffer function, more
Add the stabilization and use conducive to fixing sleeve 31, to be more favorable for the safe handling of fixing groove 23.
Embodiment five, as shown in fig. 6, the fixed link 30 is respectively and fixedly provided with slide plate one far from one end of the sliding sleeve 1
33, for slide plate 1 close to a side of 25 inner wall of accommodating chamber, the inside of the accommodating chamber 25 is corresponding with the slide plate 1
Position offers sliding slot 1 compatible with the slide plate 1；It can be convenient slide plate one by sliding slot 1 and slide plate 1
33 sliding reduces the friction between 25 inner wall of accommodating chamber, while being kept fixed the stabilization of bar 30 and device.
Embodiment six, as shown in figure 4, the inside top of the fixing groove 1 is fixed with the pushing structure 19, it is described to push away
Dynamic structure 19 includes bevel gear 1, bevel gear 2 36, bevel gear 3 37, partition 38 and mandril 39, the fixing groove 1 it is interior
The portion and top for being located at the accommodating chamber 25 is fixed with the partition 38, inner tip a side of the fixing groove 1 and position
It is fixedly arranged above motor 2 40 in partition 38, the output shaft of the motor 2 40 is connect with shaft 41, solid in the shaft 41
Surely there are a bevel gear 1 and bevel gear 2 36, the bottom end and identical side of the bevel gear 1 and the bevel gear 2 36 are equal
It is fixed with bevel gear 3 37 compatible with the bevel gear 1 and the bevel gear 2 36, the bottom end of the bevel gear 3 37
It is respectively and fixedly provided with threaded rod 2 42, and the bottom end of the threaded rod 2 42 through the partition 38 and extends under the partition 38
Side, the outer sheath positioned at the threaded rod 2 42 of 38 lower section of partition are equipped with sliding sleeve compatible with the threaded rod 2 42
2 43, the inside of the sliding sleeve 2 43 position corresponding with the threaded rod 2 42 offers through-hole two, the sliding sleeve 2 43
Bottom end a side be fixed with the mandril 39, the bottom end of the mandril 39 is through the fixing groove 1 and the slide bar 15
Top is fixed.
Embodiment seven, as shown in figure 4, the sliding sleeve 2 43 is respectively and fixedly provided with company close to one end of one 2 inner wall of fixing groove
Column 44 is connect, the connecting column 44 is fixed with slide plate 2 45, the inner wall two of the fixing groove 1 far from one end of the sliding sleeve 2 43
Side position corresponding with the slide plate 2 45 offers sliding slot 2 46 compatible with the slide plate 2 45；Pass through sliding slot two
46 and slide plate 2 45 can reduce the friction between one 2 inner wall of fixing groove, while sliding sleeve two can be ensured by connecting column 44
43 stabilization.
Embodiment eight, as shown in figure 4, the bottom end of the threaded rod 2 42 is fixed on the fixing groove 1 by cutting ferrule
Inner bottom；Threaded rod 2 42 can be fixed on to the inside of fixing groove 1 by cutting ferrule, be more favorable for the steady of threaded rod 2 42
Fixed and use.
Embodiment nine as shown in Figure 1, the number of the terminal pad 16 is four, and is located at the two sides of robot base 1
It is symmetrical arranged；The walking and stabilization of robot are more favorable for by the symmetrically arranged terminal pad 16 in two sides.
Embodiment ten, as shown in figure 4, top a side of the sliding sleeve 2 43 passes through spring 2 47 and the partition 38
Top is fixed；It can play the role of to sliding sleeve 2 43 fixed by spring 2 47 and buffer, be more favorable for the peace of sliding sleeve 2 43
It is complete and stable.
In order to facilitate above-mentioned technical proposal of the invention is understood, below just present invention working principle in the actual process or
Person's mode of operation is described in detail.
In practical application, robot body and external controller are controlled and are connected, and controller and motor 1, motor
2 40 and motor 3 11 control connection, as robot motion, pass through control motor 3 11 rotation, the rotation of motor 3 11
Rotation with moving gear 1, and then the rotation of the rotation driven gear 2 12 and gear 3 13 by gear 1, gear two
12 and gear 3 13 rotation connection axis 14 and two sides terminal pad 16 movement, and then driven and connected by the rotation of terminal pad 16
The movement of extension bar 26, when needing to provide adhesive force, passes through control motor 2 40 and motor to control the movement of robot
One 27 rotation, the rotation of motor 1 drive the rotation of threaded rod 1, and the rotation of threaded rod 1 drives sliding sleeve 1
Sliding, and then the fixed link 30 of two sides and the movement of support rod 26 are driven by the sliding of sliding sleeve 1, to pass through support rod
26 movement drives the movement of fixing groove 23, and the movement of fixing groove 23 drives the movement of negative pressure sucker 8, passes through negative pressure sucker 8
Adsorption capacity can be generated between contact surface, to be adsorbed, ensure the stabilization of robot, while the rotation of motor 2 40
Drive the rotation of shaft 41, bevel gear 1 and bevel gear 2 36, the rotation band mantle tooth of bevel gear 1 and bevel gear 2 36
3 37 rotation is taken turns, and then drives the movement of threaded rod 2 42, the movement band of threaded rod 2 42 by the rotation of bevel gear 3 37
The sliding of dynamic sliding sleeve 2 43, so that the movement of mandril 39 is driven by the sliding of sliding sleeve 2 43, it can be to slide bar by mandril 39
15 are pushed, to push the movement of connection frame 20 by slide bar 15, the movement of connection frame 20 drives traveller 21 in hollow slots
Sliding inside 24, and then pass through the rotation that traveller 21 drives angle between linking arm 2 22 and linking arm 3 23, so as to
Grip is generated to contact surface by hook 9, can will be fixed more between robot and contact surface by hook 9 and sucker 8
Securely, so that robot both can in shiny surface or the adhesive force on rough surface, raising can working efficiency, while may be used also
Individually to control the rotation of motor 1 and motor 2 40, single adhesive force is provided, the operation of more convenient people, when being not required to
Adhesive force is provided, the movement of the i.e. controllable robot of reversion of motor 1 and motor 2 40 need to be only controlled, to save labor
Power, the degree of automation are relatively high.
The technical personnel in the technical field can readily realize the present invention with the above specific embodiments,.But it answers
Work as understanding, the present invention is not limited to above-mentioned specific embodiments.On the basis of the disclosed embodiments, the technical field
Technical staff can arbitrarily combine different technical features, to realize different technical solutions.
Claims (10)
1. a kind of the bionical of intelligent robot seeks connections with movement mechanism, which is characterized in that including robot base (1), fixing groove one
(2), fixing groove two (3), linking arm one (4), connecting rod one (5), connecting rod two (6), connecting rod three (7), sucker (8) and hook
(9), the bottom end of the robot base (1) is fixed with the fixing groove one (2), and the bottom end of the fixing groove one (2) is fixed with
The fixing groove two (3), and the fixing groove one (2) and the fixing groove two (3) inside are engraved structure, the robot
Gear one (10), a side and the motor three (11) of the gear one (10) are fixed in the middle part of the inner tip of pedestal (1)
Export axis connection, two side bottoms of the gear one (10) be connected with the gear one (10) compatible gear two (12) and
Gear three (13) is respectively and fixedly provided with connecting shaft (14) in the middle part of the gear two (12) and the gear three (13), and the connection
The both ends of axis (14) run through the robot base (1) and extend to the outside of robot base (1), the robot base
(1) both sides external side position corresponding with the connecting shaft (14) is respectively and fixedly provided with terminal pad (16), two sides terminal pad (16)
The side deviated is connect with one end of connecting rod two (6), the other end and the linking arm one (4) of the connecting rod two (6)
Middle part is flexibly connected, and the top of the linking arm one (4) is flexibly connected with one end of connecting rod one (5), the connecting rod one (5)
The other end connect with the top edge of the robot base (1), the middle part of the connecting rod two (6) and connecting rod three (7)
One end connection, the other end of the connecting rod three (7) connect with the bottom margin of the robot base (1), the fixation
The bottom end two sides of slot one (2) are symmetrically fixed with fixed plate one (17), and bottom end a side of the fixed plate one (17) is fixed with
Fixed plate two (18) slidably connects slide bar (15) in the middle part of the fixed plate one (17), and the top of the slide bar (15) is prolonged
The inside for extending to the fixing groove one (2) is connect with pushing structure (19), and the bottom end of the slide bar (15) is fixed with connection frame
(20), the connection frame (20) is U-shaped connection frame (20), and the bottom end of connection frame (20) is respectively and fixedly provided with traveller (21), described
The center bottom of fixed plate two (18) passes through movable bolt and connect with one end of linking arm two (22) and linking arm three (23), the company
The top position corresponding with the traveller (21) for connecing arm two (22) and the linking arm three (23) offers and the traveller
(21) bottom end of compatible hollow slots (24), the linking arm two (22) and the linking arm three (23) is respectively and fixedly provided with the hook
Pawl (9), fixing groove two (3) the bottom end two sides are fixed with the sucker (8).
2. the bionical of a kind of intelligent robot according to claim 1 seeks connections with movement mechanism, which is characterized in that the fixation
It is offered in the middle part of the inner bottom of slot one (2) accommodating chamber (25), the inside of the accommodating chamber (25) is engraved structure, the appearance
It receives the bottom end two sides of chamber (25) and is fixed by support rod (26) and the top of the fixing groove two (3), and the support rod
(26) accommodating chamber (25) are run through in bottom end, and accommodating chamber (25) bottom position corresponding with the support rod (26) is opened
Equipped with through-hole one compatible with the support rod (26).
3. the bionical of a kind of intelligent robot according to claim 2 seeks connections with movement mechanism, which is characterized in that the receiving
Motor one (27) is fixed in the middle part of the inner tip of chamber (25), the output shaft and threaded rod one (28) of the motor one (27) are even
It connects, the bottom end of the threaded rod one (28) is fixed in the middle part of the inner bottom of the accommodating chamber (25), the threaded rod one (28)
Outer cover be equipped with compatible sliding sleeve one (29), the both ends of the sliding sleeve one (29) are respectively and fixedly provided with the threaded rod one (28)
Fixed link (30) is respectively and fixedly provided with the compatible fixing sleeve (31) with the fixed link (30) on the fixed link (30), described solid
The bottom end of fixed set (31) is fixed with the support rod (26), and the accommodating chamber (25) and institute are run through in the bottom end of the support rod (26)
State the top two sides connection of fixing groove two (3).
4. the bionical of a kind of intelligent robot according to claim 3 seeks connections with movement mechanism, which is characterized in that the fixation
The top of set (31) is fixed on the inside of the accommodating chamber (25) by spring one (32).
5. the bionical of a kind of intelligent robot according to claim 3 seeks connections with movement mechanism, which is characterized in that the fixation
Bar (30) is respectively and fixedly provided with slide plate one (33), the inside of the accommodating chamber (25) and the cunning far from one end of the sliding sleeve one (29)
The corresponding position of plate one (33) offers the compatible sliding slot one (34) with the slide plate one (33).
6. the bionical of a kind of intelligent robot according to claim 2 seeks connections with movement mechanism, which is characterized in that the fixation
The inside top of slot one (2) is fixed with the pushing structure (19), and the pushing structure (19) includes bevel gear one (35), cone tooth
Take turns two (36), bevel gear three (37), partition (38) and mandril (39), the inside of the fixing groove one (2) and positioned at the receiving
The top of chamber (25) is fixed with the partition (38), inner tip a side of the fixing groove one (2) and be located at partition (38)
Be fixedly arranged above motor two (40), the output shaft of the motor two (40) is connect with shaft (41), solid on the shaft (41)
Surely there are a bevel gear one (35) and bevel gear two (36), the bottom end of the bevel gear one (35) and the bevel gear two (36) and identical
Side be respectively and fixedly provided with and the bevel gear one (35) and the compatible bevel gear three (37) of the bevel gear two (36), the cone
The bottom end of gear three (37) is respectively and fixedly provided with threaded rod two (42), and the partition (38) are run through in the bottom end of the threaded rod two (42)
And the lower section of the partition (38) is extended to, the outer sheath for being located at the threaded rod two (42) below the partition (38) is equipped with
The compatible sliding sleeve two (43) with the threaded rod two (42), the inside of the sliding sleeve two (43) and threaded rod two (42) phase
Corresponding position offers through-hole two, and bottom end a side of the sliding sleeve two (43) is fixed with the mandril (39), the mandril
(39) bottom end is fixed through the fixing groove one (2) and the top of the slide bar (15).
7. the bionical of a kind of intelligent robot according to claim 6 seeks connections with movement mechanism, which is characterized in that the sliding sleeve
Two (43) are respectively and fixedly provided with connecting column (44) close to one end of fixing groove one (2) inner wall, and the connecting column (44) is far from described
One end of sliding sleeve two (43) is fixed with slide plate two (45), the inner wall two sides of the fixing groove one (2) and the slide plate two (45)
Corresponding position offers the compatible sliding slot two (46) with the slide plate two (45).
8. the bionical of a kind of intelligent robot according to claim 6 seeks connections with movement mechanism, which is characterized in that the screw thread
The bottom end of bar two (42) is fixed on the inner bottom of the fixing groove one (2) by cutting ferrule.
9. the bionical of a kind of intelligent robot according to claim 1 seeks connections with movement mechanism, which is characterized in that the connection
The number of disk (16) is four, and the two sides for being located at robot base (1) are symmetrical arranged.
10. the bionical of a kind of intelligent robot according to claim 6 seeks connections with movement mechanism, which is characterized in that the cunning
Top a side of two (43) of set is fixed by spring two (47) and the top of the partition (38).
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| CN202010897299.0A CN112224295B (en) | 2019-07-27 | 2019-07-27 | Bionic climbing movement method of intelligent robot |
| CN201910685342.4A CN110406609B (en) | 2019-07-27 | 2019-07-27 | Bionic climbing motion mechanism of intelligent robot |
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| Publication number | Publication date |
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| CN112224295A (en) | 2021-01-15 |
| CN112224295B (en) | 2021-07-30 |
| CN110406609B (en) | 2020-10-02 |
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