CN203831405U - Gait pole-climbing robot - Google Patents
Gait pole-climbing robot Download PDFInfo
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- CN203831405U CN203831405U CN201420188904.7U CN201420188904U CN203831405U CN 203831405 U CN203831405 U CN 203831405U CN 201420188904 U CN201420188904 U CN 201420188904U CN 203831405 U CN203831405 U CN 203831405U
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- clamping hand
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- gait
- finger
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Abstract
The utility model discloses a gait pole-climbing robot. The gait pole-climbing robot comprises a vertically arranged connecting arm, a first clamping hand, a first steering engine driving the first clamping hand to perform clamping and loosening motion, a second steering engine, a second clamping hand, a fourth steering engine and a fifth steering engine, wherein the second steering engine connects the upper end of the connecting arm with one end of the first clamping hand and can drive the connecting arm and the first clamping hand to rotate in the vertical surface, the fourth steering engine drives the second clamping hand to perform clamping and loosening motion, and the fifth steering engine connects the lower end of the connecting arm with one end of the second clamping hand and can drive the connecting arm and the first clamping hand to rotate in the vertical surface. The gait pole-climbing robot is simple in structure, moves in a coordinated mode, can quickly climb rod bodies of various radians and can climb over a barrier.
Description
Technical field
The utility model relates to a kind of gait climbing level robot, belongs to climbing level robot field.
Background technology
At present, robot has been applied to military affairs, medical treatment, space flight, education, amusement, rescue and relief work, home services and community service various aspects, and constantly stretches to new technical field.
On market, have the climbing robot of multiple design moulding, these robot great majority adopt the form of inch-worm to realize pole-climbing action, as shown in Figure 1 to Figure 3, first, fore paw 110 is fixing, second joint 140 promotes rear solid end 120 along bar 100 upward slidings, and litter 150 passes the first joint 130 under the drive of second joint 140 simultaneously; Then, the first joint 130 promotes fore paw 110 along bar 100 upward slidings, until the relative position between fore paw 110 and rear solid end 120 restPoses, completes a walking and walks, and by that analogy, completes climbing action.
Be subject to the restriction of this climbing operating principle, this robot is merely able to low speed to be climbed vertical bar and cannot climb the bar of certain radian, and in addition, imitative inch-worm formula climbing robot can only be climbed on the smooth body of rod, cannot across obstacle, there is in actual applications inconvenience.Certainly, in a lot of field of precision instruments, also occurred the robot of humanoid, but its structure is very complicated, and cost is too expensive.
Therefore, how to provide a kind of simple in structure, can climb the body of rod of various radians and climbing robot and climbing mode thereof that can throwing over barrier is those skilled in the art's technical problem urgently to be resolved hurrily.
Utility model content
The utility model object is: for the problems referred to above, propose a kind of simple in structurely, motor coordination, can climb the body of rod of various radians and gait climbing level robot that can throwing over barrier fast.
The technical solution of the utility model is that described gait climbing level robot comprises:
The vertical linking arm of arranging,
The first clamping hand,
Drive described the first clamping hand to make the first steering wheel of clamping and release action,
Link together, also can drive described linking arm and first to clamp the second steering wheel that hand rotates in vertical plane described linking arm upper end and described first clamping hand one end,
The second clamping hand,
Drive described the second clamping hand to make the 4th steering wheel of clamping and release action, and
Link together, also can drive described linking arm and first to clamp the 5th steering wheel that hand rotates in vertical plane described linking arm lower end and described second clamping hand one end.
As preferably, described linking arm is by upper arm section, underarm section, and by described upper arm section lower end and described underarm section upper end link together, and the 3rd steering wheel formation that can drive described upper arm section and underarm section to rotate in vertical plane.
As preferably, described the first clamping hand is made up of the first clamping hand support, the first parallelogram linkage, the first finger and the second finger that are connected with described the first parallelogram linkage and the travelling gear being connected between described the first steering wheel and the first parallelogram linkage of being arranged on this first clamping hand support, described the first steering wheel is arranged on described the first clamping hand support, and described the second steering wheel (is connected with described the first clamping hand support.
As preferably, described the first finger and second finger are semicircle.
As preferably, described the second clamping hand by the second clamping hand support, be arranged on the second parallelogram linkage on this second clamping hand support, travelling gear that the 3rd finger and the 4th that is connected with described the second parallelogram linkage is pointed and is connected between described the 4th steering wheel and the second parallelogram linkage forms, described the 4th steering wheel is arranged on described the second clamping hand support, and described the 5th steering wheel is connected with described the second clamping hand support.
As preferably, described the 3rd finger and the 4th is pointed and is semicircle.
The utility model has the advantages that: this robot of the utility model adopts gait walking manner, swing leaping over obstacles by upset, and simple in structure, motor coordination, can climb fast various radians the body of rod and can throwing over barrier, more realistic applied environment.
Brief description of the drawings
Below in conjunction with the drawings and specific embodiments, the utility model is described further:
Fig. 1～Fig. 3 is the climbing process schematic diagram of existing climbing robot;
Fig. 4 is the perspective view of this gait climbing level robot of the utility model embodiment;
Fig. 5 is the front view of this gait climbing level robot of the utility model embodiment;
Wherein: 100-bar, 110-fore paw, 120-rear solid end, 130-the first joint, 140-second joint, 150-litter;
210-upper arm section, 220-underarm section, 230-first clamps hand, and 231-first points, 232-second finger, 233-the first parallelogram linkage, 234,235,236,245,246,247-travelling gear, 237-first clamps hand frame, 240-second clamps hand, 241-the 3rd finger, 242-the 4th finger, 243-the second parallelogram linkage, 244-the 4th gear, 247-second clamps hand frame, 251-the first steering wheel, 52-the second steering wheel, 253-the 3rd steering wheel, 254-the 4th steering wheel, 255-the 5th steering wheel, 260-linking arm.
Detailed description of the invention
Fig. 1 and Fig. 2 have shown a specific embodiment of this gait climbing level robot of the utility model, it comprises: the vertical linking arm 260 of arranging, the first clamping hand 230, drive described the first clamping hand to make the first steering wheel 251 of clamping and release action, described linking arm upper end and described first clamping hand one end are linked together, and second steering wheel 252 that can drive described linking arm and the first clamping hand to rotate in vertical plane, the second clamping hand 240, drive described the second clamping hand to make the 4th steering wheel 254 of clamping and release action, and described linking arm lower end and described second clamping hand one end are linked together, and the 5th steering wheel 255 that can drive described linking arm and the first clamping hand to rotate in vertical plane.
In conjunction with shown in Fig. 1 and Fig. 2, now the climbing process of this robot of the present embodiment is simply described below again:
1) first by the first steering wheel 251 and the 4th steering wheel 254, the clamping hand 230 of first in this robot and second is clamped after hand 240 is opened and is put on the rod member that will climb, drive the first clamping hand 230 and the second clamping hand 240 to do to clamp action by the first steering wheel 251 and the 4th steering wheel 254 again, to allow the first clamping hand 230 and the second clamping hand 240 be fixedly clamped on the rod member that will climb.
2) the 4th steering wheel 254 drives the second clamping hand 240 open and make it and be separated by climbing rod member.
3) the 5th steering wheel 255 drives the second clamping hand 240 to rotate counterclockwise 90 ° taking linking arm lower end as pivot in Fig. 1, and now the second clamping hand 240 and linking arm 260 are substantially on same straight line.
4) the second steering wheel 252 drives linking arm 260 to rotate counterclockwise 180 ° with the first center, clamping hand right-hand member position in Fig. 1, now the second top of clamping hand 240 in the first clamping hand 230, the top of underarm section 220 in upper arm section 210.
5) the 4th steering wheel 254 drives the second clamping hand 240 to be clamped by climbing rod member again, thereby makes the second clamping hand 240 and fixed by climbing rod member.
6) the first steering wheel 251 drives the first clamping hand 230 open and make it and be separated by climbing rod member.
7) the second steering wheel 252 drives the first clamping hand 230 to rotate counterclockwise 90 °, and now the first clamping hand 230 and linking arm 260 are substantially on same straight line.
8) the 5th steering wheel 255 drives linking arm 260 rotating counterclockwise 180 °, thereby makes the first clamping hand 230 top in the second clamping hand 240 again.
9) the first steering wheel 251 drives the first clamping hand 230 to be clamped by climbing rod member again, thereby makes the first clamping hand 240 and fixed by climbing rod member.
Constantly repeat above-mentioned steps 2) to the action of step 8), until this robot arrives assigned address.
Therefore, the acrobat that this robot of the utility model upwards turns a somersault continuously as same position in the time of climbing rod member.
In the present embodiment, described linking arm 260 forms by upper arm section 210, underarm section 220 and by the 3rd steering wheel 253 that described upper arm section lower end and described underarm section upper end link together, and described the 3rd steering wheel 253 can drive described upper arm section 210 and underarm section 220 to rotate in vertical plane.Linking arm 260 adopts the benefit of these structures to be: the above-mentioned the 4th) in step carries out, can drive underarm section 220 centered by the lower end of upper arm section 210, to clockwise rotate 90～145 ° (now in a certain angle between underarm section and upper arm section and do not go out on same straight line) by the 3rd steering wheel 253, to reduce linking arm 260 moment of torsion that the second steering wheel 252 is born in switching process.
Described the first clamping hand 230 is by the first clamping hand support 237, be arranged on the first parallelogram linkage 233 on this first clamping hand support, the first finger 231 and the second finger 232 being connected with described the first parallelogram linkage, and the travelling gear 234,235,236 being connected between described the first steering wheel 251 and the first parallelogram linkage forms.Wherein the first steering wheel 251 is arranged on described the first clamping hand support 237, and described the second steering wheel 252 is connected with described the first clamping hand support 237.When practical application, the first steering wheel 251 is with nutating gear 234,235,236 to rotate, drive the first parallelogram linkage 233 to deform by travelling gear 234,235,236 again, and then make to be connected to first on the first parallelogram linkage 233 finger 231 and second finger 232 closes up/be separated from each other (this structure is mechanical field mature technology) mutually, realize the clamping of the first clamping hand/unclamp.
In order to make the first clamping hand 230 and to be had good laminating degree between climbing rod member, described the first finger 231 and second finger 232 are all arranged structure semicircular structure by this example.
The structure of the second clamping hand 240 described in the present embodiment is similar to the first clamping hand 230, it is by the second clamping hand support 247, be arranged on the second parallelogram linkage 243 on this second clamping hand support, the 3rd finger 241 being connected with described the second parallelogram linkage and the 4th finger 242, and the travelling gear 244,245,246 being connected between described the 4th steering wheel 254 and the second parallelogram linkage forms.Wherein the 4th steering wheel 254 is arranged on described the second clamping hand support 247, and described the 5th steering wheel 255 is connected with described the second clamping hand support 247.
And described the 3rd finger 241 and the 4th finger 242 are also arranged to semicircular structure by this example.
The action of above-mentioned the first steering wheel 251, the second steering wheel 252, the 3rd steering wheel 253, the 4th steering wheel 254 and the 5th steering wheel 255 can be controlled by computer intelligence system.
Certainly, above-described embodiment is only explanation technical conceive of the present utility model and feature, and its object is to allow people can understand content of the present utility model and implement according to this, can not limit protection domain of the present utility model with this.All equivalent transformations doing according to the Spirit Essence of the utility model main technical schemes or modification, within all should being encompassed in protection domain of the present utility model.
Claims (6)
1. a gait climbing level robot, is characterized in that it comprises:
The vertical linking arm (260) of arranging,
The first clamping hand (230),
Drive described the first clamping hand to make first steering wheel (251) of clamping and release action,
Link together, also can drive described linking arm and first to clamp the second steering wheel (252) that hand rotates in vertical plane described linking arm upper end and described first clamping hand one end,
The second clamping hand (240),
Drive described the second clamping hand to make the 4th steering wheel (254) of clamping and release action, and
Link together, also can drive described linking arm and first to clamp the 5th steering wheel (255) that hand rotates in vertical plane described linking arm lower end and described second clamping hand one end.
2. gait climbing level robot according to claim 1, it is characterized in that: described linking arm (260) is by upper arm section (210), underarm section (220), and link together, also can drive the 3rd steering wheel (253) that described upper arm section and underarm section are rotated in vertical plane to form described upper arm section lower end and described underarm section upper end.
3. gait climbing level robot according to claim 1 and 2, it is characterized in that: described the first clamping hand (230) is by the first clamping hand support (237), be arranged on the first parallelogram linkage (233) on this first clamping hand support, the first finger (231) and the second finger (232) being connected with described the first parallelogram linkage, and be connected to the travelling gear (234 between described the first steering wheel (251) and the first parallelogram linkage, 235, 236) form, described the first steering wheel (251) is arranged on described the first clamping hand support (237), described the second steering wheel (252) is connected with described the first clamping hand support (237).
4. gait climbing level robot according to claim 3, is characterized in that: described the first finger (231) and second finger (232) are semicircle.
5. gait climbing level robot according to claim 1 and 2, it is characterized in that: described the second clamping hand (240) is by the second clamping hand support (247), be arranged on the second parallelogram linkage (243) on this second clamping hand support, the 3rd finger (241) being connected with described the second parallelogram linkage and the 4th finger (242), and be connected to the travelling gear (244 between described the 4th steering wheel (254) and the second parallelogram linkage, 245, 246) form, described the 4th steering wheel (254) is arranged on described the second clamping hand support (247), described the 5th steering wheel (255) is connected with described the second clamping hand support (247).
6. gait climbing level robot according to claim 5, is characterized in that: described the 3rd finger (241) and the 4th finger (242) are semicircle.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420188904.7U CN203831405U (en) | 2014-04-17 | 2014-04-17 | Gait pole-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420188904.7U CN203831405U (en) | 2014-04-17 | 2014-04-17 | Gait pole-climbing robot |
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| Publication Number | Publication Date |
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| CN203831405U true CN203831405U (en) | 2014-09-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201420188904.7U Expired - Fee Related CN203831405U (en) | 2014-04-17 | 2014-04-17 | Gait pole-climbing robot |
Country Status (1)
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| CN (1) | CN203831405U (en) |
Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059416A (en) * | 2015-09-02 | 2015-11-18 | 哈尔滨工业大学 | Pole-climbing robot with stabilizing device |
| CN105253213A (en) * | 2015-10-27 | 2016-01-20 | 昆明理工大学 | Pole-climbing robot |
| CN105540503A (en) * | 2016-03-01 | 2016-05-04 | 重庆海装风电工程技术有限公司 | Climbing apparatus |
| CN107398908A (en) * | 2017-08-03 | 2017-11-28 | 聊城职业技术学院 | Pneumatic pole-climbing robot |
| CN107769075A (en) * | 2017-11-09 | 2018-03-06 | 梁瑞城 | A kind of electric power automatic climbing pole wire-sending device |
| CN109202951A (en) * | 2018-11-22 | 2019-01-15 | 广东工业大学 | A kind of holding finger of antiskid, gripper jaw and clamper |
| CN109455241A (en) * | 2018-04-09 | 2019-03-12 | 国家电网公司 | A kind of indexing pole-climbing mechanism |
| CN109895114A (en) * | 2019-03-12 | 2019-06-18 | 广东机电职业技术学院 | A kind of climbing robot of the polygonized structure of pneumatic muscles driving |
| CN110239641A (en) * | 2019-06-27 | 2019-09-17 | 安徽理工大学 | A kind of step-by-step movement climbing level robot |
| CN110498374A (en) * | 2019-07-04 | 2019-11-26 | 国网安徽省电力有限公司电力科学研究院 | A kind of automatic rod rising device with motion arm |
| CN111845987A (en) * | 2020-06-09 | 2020-10-30 | 南方电网科学研究院有限责任公司 | Pole-climbing operation robot and operation control method thereof |
| CN112353579A (en) * | 2020-11-13 | 2021-02-12 | 长春理工大学 | Traction type device for assisting old people in climbing stairs and using method thereof |
| CN112572631A (en) * | 2020-12-07 | 2021-03-30 | 马鞍山学院 | Wheeled outer pipeline climbing manipulator device |
| CN113479270A (en) * | 2021-07-26 | 2021-10-08 | 广东电网有限责任公司 | Clamping type tree climbing robot |
| CN113752291A (en) * | 2021-11-05 | 2021-12-07 | 广东电网有限责任公司江门供电局 | Manipulator and robot |
| CN114655331A (en) * | 2022-04-22 | 2022-06-24 | 湖北工业大学 | Claw holding type inchworm robot |
-
2014
- 2014-04-17 CN CN201420188904.7U patent/CN203831405U/en not_active Expired - Fee Related
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105059416B (en) * | 2015-09-02 | 2017-05-03 | 哈尔滨工业大学 | Pole-climbing robot with stabilizing device |
| CN105059416A (en) * | 2015-09-02 | 2015-11-18 | 哈尔滨工业大学 | Pole-climbing robot with stabilizing device |
| CN105253213A (en) * | 2015-10-27 | 2016-01-20 | 昆明理工大学 | Pole-climbing robot |
| CN105540503B (en) * | 2016-03-01 | 2018-04-13 | 重庆海装风电工程技术有限公司 | A kind of climbing device |
| CN105540503A (en) * | 2016-03-01 | 2016-05-04 | 重庆海装风电工程技术有限公司 | Climbing apparatus |
| CN107398908A (en) * | 2017-08-03 | 2017-11-28 | 聊城职业技术学院 | Pneumatic pole-climbing robot |
| CN107398908B (en) * | 2017-08-03 | 2023-08-08 | 聊城职业技术学院 | Pneumatic pole climbing robot |
| CN107769075A (en) * | 2017-11-09 | 2018-03-06 | 梁瑞城 | A kind of electric power automatic climbing pole wire-sending device |
| CN109455241A (en) * | 2018-04-09 | 2019-03-12 | 国家电网公司 | A kind of indexing pole-climbing mechanism |
| CN109202951A (en) * | 2018-11-22 | 2019-01-15 | 广东工业大学 | A kind of holding finger of antiskid, gripper jaw and clamper |
| CN109202951B (en) * | 2018-11-22 | 2023-09-12 | 广东工业大学 | Anti-slip clamping finger, clamping claw and clamping device |
| CN109895114A (en) * | 2019-03-12 | 2019-06-18 | 广东机电职业技术学院 | A kind of climbing robot of the polygonized structure of pneumatic muscles driving |
| CN109895114B (en) * | 2019-03-12 | 2024-02-27 | 广东机电职业技术学院 | Pneumatic muscle driven climbing robot with polygonal structure |
| CN110239641A (en) * | 2019-06-27 | 2019-09-17 | 安徽理工大学 | A kind of step-by-step movement climbing level robot |
| CN110239641B (en) * | 2019-06-27 | 2024-04-02 | 安徽理工大学 | Stepping pole-climbing robot |
| CN110498374A (en) * | 2019-07-04 | 2019-11-26 | 国网安徽省电力有限公司电力科学研究院 | A kind of automatic rod rising device with motion arm |
| CN111845987A (en) * | 2020-06-09 | 2020-10-30 | 南方电网科学研究院有限责任公司 | Pole-climbing operation robot and operation control method thereof |
| CN112353579A (en) * | 2020-11-13 | 2021-02-12 | 长春理工大学 | Traction type device for assisting old people in climbing stairs and using method thereof |
| CN112572631A (en) * | 2020-12-07 | 2021-03-30 | 马鞍山学院 | Wheeled outer pipeline climbing manipulator device |
| CN113479270B (en) * | 2021-07-26 | 2022-10-11 | 广东电网有限责任公司 | Clamping type tree climbing robot |
| CN113479270A (en) * | 2021-07-26 | 2021-10-08 | 广东电网有限责任公司 | Clamping type tree climbing robot |
| CN113752291A (en) * | 2021-11-05 | 2021-12-07 | 广东电网有限责任公司江门供电局 | Manipulator and robot |
| CN114655331A (en) * | 2022-04-22 | 2022-06-24 | 湖北工业大学 | Claw holding type inchworm robot |
| CN114655331B (en) * | 2022-04-22 | 2023-02-03 | 湖北工业大学 | Claw holding type inchworm robot |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20140917 Termination date: 20170417 |
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| CF01 | Termination of patent right due to non-payment of annual fee |