CN114655331B - Claw holding type inchworm robot - Google Patents
Claw holding type inchworm robot Download PDFInfo
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- CN114655331B CN114655331B CN202210429295.9A CN202210429295A CN114655331B CN 114655331 B CN114655331 B CN 114655331B CN 202210429295 A CN202210429295 A CN 202210429295A CN 114655331 B CN114655331 B CN 114655331B
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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
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
The application discloses formula inchworm robot is embraced to claw. In the technical scheme, the claw holding type inchworm robot comprises a power trunk and two grippers, wherein the power trunk comprises a body arm mechanism and a holder mechanism, the grippers comprise a cam mechanism, a claw holding mechanism, a gear transmission mechanism, a positioning mechanism and a body frame mechanism for connecting the mechanisms, and the claw holding type inchworm robot is reliable and simple in work, high in bionic degree and suitable for two situations of pipeline climbing and ground crawling.
Description
Technical Field
The application relates to the technical field of bionic machinery, in particular to a claw-clasping inchworm robot.
Background
With the development of society and the progress of science, the figure of a robot appears in many fields, and the robot plays an extremely important role in each field. In the industrial field, the robot can replace workers to finish various dangerous and complicated works, the burden of the workers is reduced, the safety of the workers is ensured, and the working efficiency is improved; in the detection field, the robot can go deep into a space where people cannot enter or a place with potential safety hazards to execute tasks; in the service field, the robot can replace service personnel to carry out various service works, such as a medical robot, a cleaning robot and the like; in the military field, the military robot can perform actions such as reconnaissance, attack, rescue and the like under remote control, so that casualties are reduced; in the field of ocean development, the robot can carry out deep sea salvage, submarine facility maintenance, submarine cable laying and other works, and meanwhile, with the national modernization construction and urban greening construction, the fields of agriculture, forestry, building industry and the like also provide wider application space for the robot. In these fields, many works are required to be carried out in high altitude, which causes great working pressure on workers, and some of the works required to be carried out in high altitude have potential safety hazards, such as paint spraying work on the surface of the outer wall of a building; some work is labor-intensive and long in time, such as cleaning of high-rise glass, picking of fruits and the like; some high-altitude operations are not suitable for workers to finish the operations in person, such as the conditions of severe working environment or boring and repeating working properties. For tasks that are not well done by these workers or that cannot be done at all, climbing robots are an inadequate choice.
The inchworm is an insect with strong climbing capability and is a suitable bionic object of the climbing robot. The omega-shaped body can realize a large stride and can bend towards all directions in space. In addition, both the forefoot and hindfoot of the inchworm can be stably attached to the environment. According to the climbing action of the biological inchworm, a novel climbing robot which has a simple structure, low cost and simple and convenient operation and is suitable for trees or rod-shaped buildings is developed to replace human beings to carry out high-altitude operation.
The current inchworm robots are roughly divided into three types, namely dry-dipping type, wet-dipping type and claw-stabbing type. All the three robot researches have been developed for many years, and the design scheme and the preventive case are rich and complete, have various characteristics and have various limitations. The dry-sticking inchworm-like robot can stably climb on a smooth wall surface. However, the bionic dry adhesive material lacking the self-cleaning function is particularly sensitive to dust particles and the like, is easily polluted by dust to lose effectiveness, and is not suitable for climbing on rough and dusty wall surfaces. The wet inchworm-like robot adopts the wet adhesion force among materials, is also suitable for smooth wall surfaces, and has higher material research and development difficulty and higher cost. The claw-pricked inchworm robot is suitable for a rough environment and has better adaptability, but the claw-pricked penetration force is too large and easily damages climbing objects.
Disclosure of Invention
In view of this, the application provides a formula inchworm robot is embraced to claw to realize nimble self-adaptation's climbing motion and high altitude construction, and be applicable to two kinds of scenes of pipeline climbing and ground crawling.
The application provides a grab and hold formula inchworm robot, including power truck and install two grab ware at power truck both ends, power truck includes body arm mechanism and cloud platform mechanism, grab ware includes cam mechanism, claw and embraces mechanism, gear drive mechanism, positioning mechanism and body frame mechanism, body frame mechanism assembles cam mechanism, claw and embraces mechanism, gear drive mechanism and positioning mechanism;
the cam mechanism comprises an interchangeable groove cam, a driven push rod, an upper jaw limiting clamping piece of a jaw shaft and a lower jaw limiting clamping piece of the jaw shaft, wherein the interchangeable groove cam is matched with the driven push rod, the driven push rod is connected with the upper jaw limiting clamping piece and the lower jaw limiting clamping piece of the jaw shaft, the upper jaw limiting clamping piece and the lower jaw limiting clamping piece of the jaw shaft are connected through bolts, the interchangeable groove cam is connected with the front end of a long U-shaped frame in the body frame mechanism, and guide grooves formed by the left and right matching of the upper jaw limiting clamping piece and the lower jaw limiting clamping piece of the jaw shaft are respectively matched with a left shaft and a right shaft of the lower jaw holding mechanism;
the claw holding mechanism comprises a plurality of claw pieces, a right claw shaft and a left claw shaft, wherein two claw pieces are matched with the right claw shaft to be fixed by bolts, and the other two claw pieces are matched with the left claw shaft to be fixed by bolts;
the gear transmission mechanism comprises an upper incomplete gear, a middle right inner gear, a middle right outer gear, a middle left gear, a lower right gear, a lower left gear, a middle right gear shaft, a middle left gear shaft, a lower right gear shaft, a lower left gear shaft, a first guide rod rotating part and a second guide rod rotating part, wherein the upper incomplete gear is matched with the middle right inner gear, the middle right outer gear and the middle right gear shaft are in bolted connection, the middle right outer gear is matched with the middle left gear, the middle right outer gear is matched with the lower right gear, the lower right gear is in key connection with the lower right gear shaft, the middle left gear is matched with the lower left gear shaft, the lower right gear shaft is in bolted connection with the first guide rod rotating part, the lower left gear shaft is in bolted connection with the second guide rod rotating part, the upper incomplete gear is connected with the rear end of a long U-shaped frame in the body frame mechanism, and the first guide rod rotating part and the second guide rod rotating part are respectively in groove fit with the left and right shaft in the claw mechanism.
Optionally, the body arm mechanism comprises pad columns, a rear half arm long plate, a rear half arm transverse plate, a first short U-shaped frame, a second short U-shaped frame, a third short U-shaped frame, a front half arm short plate, a flange plate, a first double-shaft steering engine, a second double-shaft steering engine and a third double-shaft steering engine, wherein the first short U-shaped frame is connected to two sides of a shaft end of the first double-shaft steering engine, the flange plate is simultaneously connected with the tail end of the rear half arm long plate through bolts, two ends of the pad columns are respectively connected with the two plates between the two rear half arm long plates through the bolts, the front ends of the two rear half arm long plates are in mortise-tenon joint with the rear half arm transverse plate, the rear half arm transverse plate is connected with the second short U-shaped frame, the second short U-shaped frame is connected to two sides of the shaft end of the second double-shaft steering engine, the flange plate is simultaneously connected with the tail end of the front half arm short plate through the bolts, the two rear arm short plate are connected with the two plate through the pad columns through the three pad columns and the third double-shaft steering engine is connected with the third short U-shaft steering engine.
Optionally, the holder mechanism comprises a single-shaft steering engine, a flange plate, a square plate, a circular big bearing, a copper column and a circular plate, the single-shaft steering engine and the flange plate are connected through bolts, the square plate is connected with an outer ring of the circular big bearing, an inner ring of the circular big bearing is connected with a top plate in the body arm mechanism through bolts, the square plate is connected with the circular plate through the copper column, the circular plate is connected with a short U-shaped frame in the body arm mechanism above the circular plate or connected through bolts, and the flange plate of the holder mechanism is connected with the top plate of the body arm mechanism through bolts.
Optionally, the body frame mechanism comprises a guide groove front plate, a rear plate, a top plate, a left side plate, a right side plate, a double-shaft steering engine, a short U-shaped frame, a flange plate, a long U-shaped frame and a bearing, the guide groove front plate is connected with the top plate through bolts, the left side plate is connected with the right side plate through bolts, the rear plate is connected with the top plate through bolts, the left side plate is connected with the right side plate through bolts, the bearing is in interference fit with hole positions on the rear plate, the top plate is connected with the left side plate and the right side plate through mortise and tenon joints, the top plate is connected with the short U-shaped frame, the double-shaft steering engine is connected with the short U-shaped frame, and the double-shaft steering engine, the flange plate and the long U-shaped frame are connected simultaneously.
Optionally, the upper incomplete gear is provided with a notch with an angle of 120 degrees.
Optionally, a stripe rubber sheet with the thickness of 3mm is pasted on the inner side of the claw sheet.
Optionally, the positioning mechanism comprises a gear shaft positioning plate, positioning plate bolts, bearing rollers, a bearing roller beam and a bearing, the gear positioning plate is matched with the positioning plate bolts, the two bearing rollers are connected with two ends of the bearing roller beam, the bearing is in interference fit with the gear positioning plate and the bearing roller beam, the gear positioning plate traverses through the left side plate and the right side plate in the frame mechanism, the two positioning plate bolts are respectively connected with the left side plate and the right side plate through bolts, and the bearing is respectively matched with all shafts in the gear transmission mechanism one by one.
Therefore, the application has the following beneficial effects:
1. this application has adopted including power truck and two grab holders, and the power truck includes body arm mechanism and cloud platform mechanism, and the grab holder includes cam mechanism, claw embracing mechanism, gear drive mechanism, positioning mechanism and puts up the mechanism with the body that above-mentioned mechanism couples, and reliable operation is simple, and bionical degree is high, adapts to the diversified body of sight
2. Cam mechanism in this application can let the claw embrace the mechanism and stretch out, contracts to inside, improves the bionical degree of this application greatly, and wherein interchangeability grooved cam can change the pipeline in order to adapt to different thicknesses, increases wide application scope.
3. The claw embracing mechanism in this application, wherein the strip rubber increase frictional force that 3mm is thick is pasted to the claw piece inboard, and the power is grabbed in the increase, makes the process of marcing more firm reliable.
4. The positioning mechanism in the application uses the bearing roller as a bolt to fix the bearing roller beam, and the bearing roller can crawl on the ground.
5. The long U-shaped frame both ends in this application frame mechanism respectively with among the cam mechanism interchangeability grooved cam and the gear drive in the middle of the gear cooperation of last incomplete gear, the steering wheel drives interchangeability grooved cam and last incomplete gear and rotates simultaneously promptly, the complicated action of single power supply completion promptly, the realization is grabbed and is embraced stretching out and retracting and grab the action of holding tightly of embracing the mechanism.
Drawings
The technical solutions and other advantages of the present application will become apparent from the following detailed description of specific embodiments of the present application when taken in conjunction with the accompanying drawings.
Fig. 1 is an overall structural diagram of a grasping looper-like robot according to an embodiment of the present disclosure.
Fig. 2 is a block diagram of a powered torso provided in accordance with an embodiment of the present application.
Figure 3 is a block diagram providing a perspective of a gripper according to an embodiment of the present application.
Fig. 4 is a block diagram providing another perspective of a gripper according to an embodiment of the present application.
Wherein the elements in the figures are identified as follows:
1-a cushion column; 2-rear half arm long plate; 3-rear half arm transverse plate; 4-short u-shaped frame; 5-front half arm short plate; 6-a flange plate; 7-a double-shaft steering engine; 8-single-shaft steering engine; 9-square board; 10-circular big bearing; 11-copper pillars; 12-a circular plate; 13-channel front plate; 14-a back plate; 15-a top plate; 16-left side plate; 17-right side panel; 18-long U-shaped frame; 19-a bearing; 20-interchangeable grooved cams; 21-a driven push rod; 22-limiting upper clamping piece of claw shaft; 23-limiting the lower clamping piece by the claw shaft; 24-claw piece; 25-right jaw shaft; 26-left jaw shaft; 27-upper incomplete gear; 28-right central internal gear; 29-a right-middle outer gear; 30-middle left gear; 31-lower right gear; 32-lower left gear; 33-middle right gear shaft; 34-middle left gear shaft; 35-lower right gear shaft; 36-lower left gear shaft; a 37-bond; 38-a guide rod rotating member; 39-gear shaft positioning plate; 40-positioning plate bolt; 41-bearing rollers; 42-bearing roller beam.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. It is to be understood that the embodiments described are only a few embodiments of the present application and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
In the description of the present application, it is to be understood that the terms "first", "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated. Thus, features defined as "first", "second", may explicitly or implicitly include one or more of the described features. In the description of the present application, "a plurality" means two or more unless specifically limited otherwise.
In the description of the present application, it is to be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and "connected" are to be construed broadly, e.g., as meaning either a fixed connection, a removable connection, or an integral connection; may be mechanically, electrically or may be in communication with each other; either directly or indirectly through intervening media, either internally or in any other relationship. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art as appropriate.
The following disclosure provides many different embodiments or examples for implementing different features of the application. In order to simplify the disclosure of the present application, specific example components and arrangements are described below. Of course, they are merely examples and are not intended to limit the present application. Moreover, the present application may repeat reference numerals and/or letters in the various examples, such repetition is for the purpose of simplicity and clarity and does not in itself dictate a relationship between the various embodiments and/or configurations discussed. In addition, examples of various specific processes and materials are provided herein, but one of ordinary skill in the art may recognize applications of other processes and/or use of other materials.
Before the technical solutions of the present application are introduced, it is necessary to explain the background of the invention of the present application.
It is common that, in the related art, the flexible self-adaptability of the inchworm robot climbing or crawling operation is not ideal. Particularly, the dry-sticking inchworm-like robot can stably climb on a smooth wall surface. However, the bionic dry adhesive material lacking the self-cleaning function is particularly sensitive to dust particles and the like, is easily polluted by dust to lose effectiveness, and is not suitable for climbing on rough and dusty wall surfaces. The wet inchworm-like robot adopts the wet adhesion force among materials, is also suitable for smooth wall surfaces, and has higher material research and development difficulty and higher cost. The claw-pricked inchworm robot is suitable for a rough environment and has better adaptability, but the claw-pricked penetration force is too large and easily damages climbing objects.
Based on the above difficulties of the inventor, the inventor proposes that when the device is in a pipeline climbing state, the steering engine in the rear gripper drives the cam mechanism to move the claw-holding mechanism along the clamping piece guide groove, and the front plate guide groove moves downwards to the lowest end, namely the claw-holding mechanism extends out; the gear transmission mechanism transmits power to the grabbing mechanism, the grabbing mechanism is used for grabbing a pipeline, the body arm mechanism drives the front grabbing device to extend out of a specified distance, the cloud platform mechanism rotates to adjust the advancing direction and the falling position of the front grabbing device in the process, the front grabbing device repeats the action of the rear grabbing device to grab the pipeline, the steering engine in the rear grabbing device reverses and is transmitted to the grabbing mechanism by the gear transmission mechanism to release the pipeline, the cam mechanism continues to rotate to recover the grabbing mechanism, the rear grabbing device moves forwards under the driving of the body arm mechanism to complete the advancing action of one period, and the climbing on the pipeline is achieved in a reciprocating mode.
When the robot is in a ground crawling state, the positioning mechanism is provided with a bearing roller. The rear gripper claw holding mechanism contacts the ground, the body arm mechanism rotates to enable the front gripper to slightly lift up by an elevation angle of 20 degrees to enable the bearing roller to contact the ground, the rear end of the front gripper slides and rubs, the front end rolls and rubs to cause a difference between front and rear friction forces, the rear gripper does not move, the body arm mechanism stretches forwards to drive the front gripper to slide forwards by a distance, the rear front gripper rotates by 20 degrees, the front gripper claw holding mechanism contacts the ground, the rear gripper slightly lifts up by an elevation angle of 20 degrees to enable the bearing roller to contact the ground, the front gripper does not move, the body arm mechanism drives the rear gripper to contract forwards to complete a periodic motion, and the periodic motion is continuously and repeatedly executed, so that the crawler type robot disclosed by the invention can realize crawling on the ground. Compared with the traditional bionic machinery of the same type, the bionic machinery has higher bionic degree and more diversified applicable scenes. Therefore, the invention is created.
Referring to fig. 1 to 4, the claw looper robot of the present application includes two main parts, namely, a power trunk including a body arm mechanism and a pan/tilt head mechanism, and two grippers (a front gripper and a rear gripper are distinguished based on the description requirement), including a cam mechanism, a claw mechanism, a gear transmission mechanism, a positioning mechanism, and a body frame mechanism connecting the above mechanisms. When being in the pipeline climbing state, the biax steering wheel 7 among the gripper drives cam mechanism after this application and embraces the claw with the claw and embraces the mechanism along the spacing upper jaw 25 of claw axle and grab the spacing guide slot that forms of clamping piece 26 cooperation down of axle, and the guide slot in the guide slot front bezel 13 is down to the least significant end, and the claw is embraced the mechanism and is stretched out promptly, and last incomplete gear 27 is in the toothless state in the gear drive mechanism this moment, goes up incomplete gear 27 promptly and does not mesh with well right internal gear 28. After the grabbing mechanism completely extends out, the double-shaft steering engine 7 continues to rotate the incomplete gear 27 and finishes the toothless angle stroke rotation, the double-shaft steering engine starts to be meshed with the middle and right inner gears 28, the gear transmission mechanism transmits power to the grabbing mechanism, the guide rod rotating piece 38 in the gear transmission mechanism rotates to drive the left and right claw shafts to rotate, the grabbing mechanism tightly holds a pipeline, the body arm mechanism drives the front grabbing device to extend out a specified distance, the single-shaft steering engine 8 in the cloud platform mechanism rotates to adjust the advancing direction and the falling position of the front grabbing device in the process, the front grabbing device repeatedly performs the action of the rear grabbing device to tightly hold the pipeline, the double-shaft steering engine 7 in the rear grabbing device reversely rotates to loosen the pipeline and retracts the grabbing mechanism into the rear grabbing device, the rear grabbing device moves forward under the driving of a power truck, a period of moving action is completed, and the climbing of the pipeline is realized in a reciprocating mode. In the ground crawling state, the positioning mechanism is provided with bearing rollers 41. The claw piece 20 in the claw holding mechanism of the rear gripper is in contact with the ground, the double-shaft steering engine 7 above the front gripper in the body arm mechanism rotates to enable the front gripper to slightly lift 20-degree elevation angle upwards to enable the bearing roller 41 to be in contact with the ground, the rear end of the body arm mechanism slides and rubs, the front end of the body arm mechanism rolls to cause the difference between front friction and rear friction, the rear gripper does not move, the body arm mechanism stretches forwards to drive the front gripper to slide forwards for a certain distance, the front gripper rotates for 20 degrees, the claw piece 20 in the front gripper holding mechanism is in contact with the ground, the double-shaft steering engine 7 above the rear gripper in the body arm mechanism rotates to enable the rear gripper to slightly lift 20-degree elevation angle upwards to enable the bearing roller 41 to be in contact with the ground, the front gripper does not move, the body arm mechanism drives the rear gripper to contract forwards, a periodic motion is completed, and the periodic motion is continuously and repeatedly executed, so that the robot crawling on the ground is realized.
As shown in fig. 2, the body arm mechanism of the application comprises 50mm pad columns 1, rear half arm long plates 2, rear half arm transverse plates 3, short U-shaped frames 4, front half arm short plates 5, flange plates 6 and double-shaft steering engines 7, wherein the short U-shaped frames 4-1 are connected with the first double-shaft steering engines 7, two shaft ends of the first double-shaft steering engines 7 are arranged on two sides of the shaft ends, the flange plates 6 are simultaneously connected with the tail ends of the rear half arm long plates 2 through bolts, two ends of the two rear half arm long plates 2 are respectively connected with the two plates through three pad columns 1, the front ends of the two rear half arm long plates 2 are in mortise-tenon joint with the rear half arm transverse plates 3, the rear half arm transverse plates 3 are connected with the second short U-shaft frame 4, the second short U-shaped frames 4 are connected with the second double-shaft steering engines 7, two shaft ends of the second double-shaft steering engines 7 are arranged on two sides of the shaft ends, the flange plates 6 are simultaneously connected with the front half arm short plates 5 through bolts, two ends of the two front half arm short plates 5 are respectively connected with the two pad columns 2 through three bolt bolts, and the third double-shaft steering engines are connected with the front half arm short plates 4.
As shown in fig. 2, the holder mechanism of the present application includes a single-shaft steering engine 8, a flange plate 6, a square plate 9, a large circular bearing 10, a copper column 11, and a circular plate 12, wherein the single-shaft steering engine 8 and the flange plate 6 are connected by bolts, the square plate 9 is connected with an outer ring of the large circular bearing 10, an inner ring of the large circular bearing 10 is connected with a top plate 15 in the body arm mechanism by bolts, the square plate 9 is connected with the circular plate 12 by the copper column 11, the circular plate 12 is connected with a short U-shaped frame 4-1 or 4-3 in the body arm mechanism above by bolts, and the flange plate 6 in the holder mechanism is connected with the top plate 15 in the body arm mechanism by bolts. This application is at pipeline climbing in-process, and back gripper holds pipeline tightly, and 8 axles of unipolar steering wheel 8 rotate this moment in the cloud platform mechanism that back gripper top is connected, and 8 fuselages of unipolar steering wheel drive body arm mechanism and preceding gripper rotate in the horizontal direction, carry out the coarse adjustment to the direction of advance, make preceding gripper central point be in the top that needs to climb the pipeline axis on next step. The single-shaft steering engine 8 in the holder mechanism above the rear gripper rotates, the machine body of the single-shaft steering engine 8 does not move at the moment, and the shaft of the single-shaft steering engine 8 rotates to drive the front gripper to rotate, so that the axis of the front gripper is parallel to the axis of the pipeline.
As shown in fig. 3, the body frame mechanism of the present application includes a guide slot front plate 13, a rear plate 14, a top plate 15, a left side plate 16, a right side plate 17, a dual-axis steering engine 7, a short U-shaped frame 4, a flange plate 6, a long U-shaped frame 18, and a bearing 19, wherein the guide slot front plate 13, the top plate 14, the left side plate 16, and the right side plate 17 are respectively connected by bolts, the rear plate 14, the top plate 15, the left side plate 16, and the right side plate 17 are respectively connected by bolts, the bearing 19 is in interference fit with a hole site on the rear plate 14, the top plate 15, the left side plate 16, and the right side plate 17 are in mortise-tenon joint, the top plate 15 is connected with the short U-shaped frame 4, the dual-axis steering engine 7 is connected with the short U-shaped frame 4, and the dual-axis steering engine 7, the flange plate 6, and the long U-shaped frame 18 are simultaneously connected together.
As shown in fig. 3, the cam mechanism of the present application includes an interchangeable grooved cam 20, a driven push rod 21, an upper jaw shaft limiting clamping piece 22, and a lower jaw shaft limiting clamping piece 23, the interchangeable grooved cam 20 is engaged with the driven push rod 21, the driven push rod 21 is connected with the upper jaw shaft limiting clamping piece 22 and the lower jaw shaft limiting clamping piece 23, the upper jaw shaft limiting clamping piece 22 is connected with the lower jaw shaft limiting clamping piece 23 through a bolt, the interchangeable grooved cam 20 is connected with the front end of the long U-shaped frame 18 in the frame mechanism, and left and right guide grooves formed by the engagement of the upper jaw shaft limiting clamping piece 22 and the lower jaw shaft limiting clamping piece 23 are engaged with a left jaw shaft 26 and a right jaw shaft 25 of the lower jaw holding mechanism respectively. The cam mechanism is used for realizing the extension and retraction of the grabbing mechanism, the interchangeable grooved cam 20 is at a near-rest angle in an initial state, the dual-shaft steering engine 7 in the frame mechanism rotates the interchangeable grooved cam 20 to enter a push stroke motion angle, the driven push rod 21 vertically moves downwards under the action of the cam, the left claw shaft 26 and the right claw shaft 25 in the left and right guide grooves formed by the matching of the claw shaft limiting upper clamping piece 22 connected with the driven push rod 21 and the claw shaft limiting lower clamping piece 23 extend downwards, the interchangeable grooved cam 20 enters a far-rest angle after the push stroke motion angle is finished, and at the moment, the left claw shaft 26 and the right claw shaft 25 are at the lowest ends and keep the positions in the subsequent holding motion. The retraction of the grabbing mechanism is the reverse movement. The interchangeable grooved cam 20 and the driven push rod 21 matched with the interchangeable grooved cam have interchangeability, and the downward extending distance of the claws can be realized by replacing the two parts so as to be better suitable for pipelines with different thicknesses.
As shown in fig. 3, the claw holding mechanism of the present application includes a claw piece 24, a right claw shaft 25, and a left claw shaft 26, wherein the first claw piece 24 and the second claw piece 24 are engaged with the right claw shaft 25 for bolt fastening, and the third claw piece 24 and the fourth claw piece 24 are engaged with the left claw shaft 26 for bolt fastening.
As shown in fig. 4, the gear transmission mechanism of the present application includes an upper incomplete gear 27, a middle right internal gear 28, a middle right external gear 29, a middle left gear 30, a lower right gear 31, a lower left gear 32, a middle right gear shaft 33, a middle left gear shaft 34, a lower right gear shaft 35, a lower left gear shaft 36, a key 37, and a guide rod rotation member 38, wherein the upper incomplete gear 27 is engaged with the middle right internal gear 28, the middle right external gear 29, and the middle right gear shaft 35 are connected by bolts, the middle right external gear 29 is engaged with the middle left gear 30, the middle right external gear 29 is engaged with the lower right gear shaft 31, the lower right gear 31 is connected with the lower right gear shaft 35 by a key 37-1, the middle left gear 30 is engaged with the lower left gear 32, the lower left gear 32 is connected with the lower left gear shaft 36 by a key 37-2, the lower right gear shaft 35 is connected with the first guide rod rotation member 38 by bolts, the lower left guide rod rotation member 38 is connected with the upper incomplete gear 27 and the middle body frame 18, the middle right gear shaft 33 is connected with the left positioning plate 34, and the middle body positioning plate. The first guide rod rotating piece 38 and the second guide rod rotating piece 38 are respectively matched with notches on the right claw shaft 25 and the left claw shaft 26 in the claw-holding mechanism. The gear transmission mechanism is used for holding and releasing the claw holding mechanism, and the gear transmission mechanism and the cam mechanism are driven by a double-shaft steering engine simultaneously. When the interchangeable grooved cam 20 of the cam mechanism is near the angle of repose and the angle of push stroke movement, the upper incomplete gear 27 is a toothless part which is not meshed with the middle right internal gear 28 in the rotating process. When the interchangeability groove cam 20 enters the far angle of repose, the upper incomplete gear 27 starts to mesh with the middle right internal gear 28. At this time, the left claw shaft 25 and the right claw shaft 26 in the grabbing mechanism descend to the lowest end, and the central axes of the left claw shaft and the right claw shaft coincide with the central axes of the lower left gear shaft 36 and the lower right gear shaft 35 respectively. At the moment, the power of the double-shaft steering engine 8 is transmitted to the left claw shaft 25 and the right claw shaft 26 under the action of the gear transmission mechanism, so that the claw-holding mechanism holds the pipeline tightly, and the releasing of the claw-holding mechanism is the reverse motion of the claw-holding mechanism.
As shown in fig. 4, the positioning mechanism of the present application includes a gear shaft positioning plate 39, positioning plate pins 40, bearing rollers 41, a bearing roller beam 42, and a bearing 19, the gear positioning plate 39 is matched with the positioning plate pins 40-1 and 40-2, the bearing rollers 41-1 and 41-2 are connected with two ends of the bearing roller beam 42, the bearing 19 is in interference fit with the gear positioning plate 39 and the bearing roller beam 42, the gear positioning plate 39 traverses the left side plate 16 and the right side plate 17 in the body frame mechanism, the first positioning plate pin 40 and the second positioning plate pin 40 are respectively connected with the left side plate 16 and the right side plate 17 by bolts, and the bearing 19 is respectively matched with all shafts in the gear transmission mechanism one by one. The positioning holes arranged on the gear shaft positioning plate 39 and the bearing roller beam 42 in the positioning mechanism are positioned on the same axis with the positioning holes corresponding to the rear plate 14 in the frame mechanism to ensure the relative position of each shaft in the gear transmission mechanism to ensure stable and reliable transmission, and the bearings 19 arranged in the positioning holes are in clearance fit with the shafts to ensure smooth transmission. The bearing roller 41 has two functions, one is that a bolt is arranged on the bearing roller and can be matched with a nut to fix the bearing roller beam 42, and the other is that rolling friction is provided when the bearing roller creeps on the ground.
The working process of the application is as follows: when the pipeline climbing device is in a pipeline climbing state, the cam mechanism in the front gripper pushes the claw holding mechanism downwards to the lowest end, the gear transmission mechanism transmits power to the claw holding mechanism, the claw holding mechanism rotates to hold a pipeline tightly, the holder mechanism adjusts the direction, the body arm mechanism stretches out forwards, the cam mechanism in the rear gripper pushes the claw holding mechanism downwards to the lowest end, the gear transmission mechanism transmits power to the claw holding mechanism, the claw holding mechanism rotates to hold the pipeline tightly, the cam mechanism reversely rotates to transmit power to the claw holding mechanism in the front gripper, the claw holding mechanism rotates to release the pipeline, the cam mechanism upwards recovers the claw holding mechanism to the highest end, the holder mechanism adjusts the direction, the body arm mechanism contracts forwards, a periodic motion is completed, the periodic motion is repeatedly executed continuously, and the device is enabled to realize crawling on the pipeline. When the robot is in a ground crawling state, a claw sheet in a claw holding mechanism in a rear gripper contacts the ground in a sliding friction mode, a body arm mechanism rotates to enable a front gripper to slightly elevate by 20 degrees of elevation angle, a bearing roller in a positioning mechanism contacts the ground in a rolling friction mode, the body arm mechanism extends forwards, the rear gripper does not move forwards due to the difference of friction force between the front gripper and the rear gripper, the front gripper extends forwards, the body arm mechanism rotates to enable the front gripper to rotate downwards by 20 degrees to enable the claw sheet in the claw holding mechanism in the front gripper to contact the ground in a sliding friction mode, the body arm mechanism rotates to enable the rear gripper to slightly elevate by 20 degrees of elevation angle, the bearing roller in the positioning mechanism contacts the ground in a rolling friction mode, the body arm mechanism extends forwards, the front gripper does not move forwards due to the difference of friction force between the front gripper and the rear gripper, the rear gripper retracts forwards to complete a periodic motion, the periodic motion is continuously and repeatedly executed, the application enables the robot to crawl on the ground, and the tripod head mechanism can adjust the direction to crawl in any direction in the process.
While the invention has been described with reference to specific preferred embodiments, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the following claims.
Claims (5)
1. A claw holding type inchworm robot is characterized by comprising a power trunk and two grippers arranged at two ends of the power trunk, wherein the power trunk comprises a body arm mechanism and a holder mechanism, each gripper comprises a cam mechanism, a claw holding mechanism, a gear transmission mechanism, a positioning mechanism and a body frame mechanism, and the body frame mechanism assembles the cam mechanism, the claw holding mechanism, the gear transmission mechanism and the positioning mechanism;
the cam mechanism comprises an interchangeable grooved cam, a driven push rod, a claw shaft limiting upper clamping piece and a claw shaft limiting lower clamping piece, the interchangeable grooved cam is matched with the driven push rod, the driven push rod is connected with the claw shaft limiting upper and lower clamping pieces, the claw shaft limiting upper and lower clamping pieces are connected through bolts, the interchangeable grooved cam is connected with the front end of a long U-shaped frame in the frame mechanism, and guide grooves formed by the claw shaft limiting upper and lower clamping pieces in a matched left-right mode are respectively matched with a left shaft and a right shaft of a lower claw holding mechanism;
the claw holding mechanism comprises a plurality of claw pieces, a right claw shaft and a left claw shaft, wherein two claw pieces are matched with the right claw shaft to be fixed by bolts, and the other two claw pieces are matched with the left claw shaft to be fixed by bolts;
the gear transmission mechanism comprises an upper incomplete gear, a middle right internal gear, a middle right external gear, a middle left gear, a lower right gear, a lower left gear, a middle right gear shaft, a middle left gear shaft, a lower right gear shaft, a lower left gear shaft, a first guide rod rotating part and a second guide rod rotating part, wherein the upper incomplete gear is matched with the middle right internal gear, the middle right external gear and the middle right gear shaft are in bolted connection;
the cradle head mechanism comprises a single-shaft steering engine, a flange plate, a square plate, a circular large bearing, a copper column and a circular plate, wherein the single-shaft steering engine and the flange plate are connected through bolts;
the positioning mechanism comprises a gear shaft positioning plate, positioning plate bolts, bearing rollers, a bearing roller beam and bearings, the gear positioning plate is matched with the positioning plate bolts, the two bearing rollers are connected with two ends of the bearing roller beam, the bearings are in interference fit with the gear positioning plate and the bearing roller beam, the gear positioning plate traverses the left side plate and the right side plate in the body frame mechanism, the two positioning plate bolts are respectively connected with the left side plate and the right side plate through bolts, and the bearings are respectively matched with all shafts in the gear transmission mechanism one by one.
2. The claw holding type inchworm robot as claimed in claim 1, wherein the body arm mechanism comprises pad columns, rear half arm long plates, rear half arm transverse plates, first short U-shaped frames, second short U-shaped frames, third short U-shaped frames, front half arm short plates, flange plates, a first double-shaft steering engine, a second double-shaft steering engine and a third double-shaft steering engine, the first short U-shaped frames are connected to two sides of the shaft end of the first double-shaft steering engine, the flange plates are simultaneously connected with the tail end of the rear half arm long plates through bolts, two ends of the pad columns are respectively connected with the two plates through bolts between the two rear half arm long plates, the front ends of the two rear half arm long plates are in tenon-mortise joint with the rear half arm transverse plates, the rear half arm transverse plates are connected with the second short U-shaped frames, the second short U-shaped frames are connected to two sides of the second double-shaft steering engine, the flange plates are simultaneously connected with the front half arm short plates through bolts, and the two rear half arm short plate short plates are connected with the third double-shaft steering engine through three pad columns.
3. The claw-holding inchworm-like robot according to claim 1, wherein the frame mechanism comprises a guide slot front plate, a back plate, a top plate, a left side plate, a right side plate, a double-shaft steering engine, a short U-shaped frame, a flange plate, a long U-shaped frame and a bearing, the guide slot front plate is connected with the top plate, the left side plate and the right side plate through bolts respectively, the back plate is connected with the top plate, the left side plate and the right side plate through bolts respectively, the bearing is in interference fit with hole sites on the back plate, the top plate is connected with the left side plate and the right side plate in a mortise-tenon manner, the top plate is connected with the short U-shaped frame, the double-shaft steering engine is connected with the short U-shaped frame, and the double-shaft steering engine, the flange plate and the long U-shaped frame are connected simultaneously.
4. The claw-gripping inchworm robot of claim 1, wherein the upper incomplete gear is notched at an angle of 120 °.
5. The claw looper robot according to claim 1, wherein a 3mm thick striped rubber sheet is adhered to the inner side of the claw sheet.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210429295.9A CN114655331B (en) | 2022-04-22 | 2022-04-22 | Claw holding type inchworm robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210429295.9A CN114655331B (en) | 2022-04-22 | 2022-04-22 | Claw holding type inchworm robot |
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| CN114655331A CN114655331A (en) | 2022-06-24 |
| CN114655331B true CN114655331B (en) | 2023-02-03 |
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| CN103056882A (en) * | 2013-01-14 | 2013-04-24 | 哈尔滨工程大学 | Inchworm gait imitation climbing robot |
| CN203831405U (en) * | 2014-04-17 | 2014-09-17 | 上海电机学院 | Gait pole-climbing robot |
| CN105128970A (en) * | 2015-08-12 | 2015-12-09 | 山东建筑大学 | Pole-climbing robot with grippers controlled by cams |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN108382477A (en) * | 2018-02-10 | 2018-08-10 | 郑州大学 | A kind of imitative looper climbing robot suitable for truss structure |
| CN212149086U (en) * | 2020-04-13 | 2020-12-15 | 北京理工大学 | Cam linkage type four-foot walking machine |
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2022
- 2022-04-22 CN CN202210429295.9A patent/CN114655331B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB275055A (en) * | 1926-11-15 | 1927-08-04 | Franz Gerdes | Improvements in and relating to automatic crane grabs |
| JPS63219490A (en) * | 1987-03-06 | 1988-09-13 | Res Dev Corp Of Japan | Self-control type piping maintenance robot |
| CN103056882A (en) * | 2013-01-14 | 2013-04-24 | 哈尔滨工程大学 | Inchworm gait imitation climbing robot |
| CN203831405U (en) * | 2014-04-17 | 2014-09-17 | 上海电机学院 | Gait pole-climbing robot |
| CN105128970A (en) * | 2015-08-12 | 2015-12-09 | 山东建筑大学 | Pole-climbing robot with grippers controlled by cams |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN108382477A (en) * | 2018-02-10 | 2018-08-10 | 郑州大学 | A kind of imitative looper climbing robot suitable for truss structure |
| CN212149086U (en) * | 2020-04-13 | 2020-12-15 | 北京理工大学 | Cam linkage type four-foot walking machine |
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|---|---|
| CN114655331A (en) | 2022-06-24 |
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