CN205203188U - Wall climbing robot running gear - Google Patents
Wall climbing robot running gear Download PDFInfo
- Publication number
- CN205203188U CN205203188U CN201521029649.2U CN201521029649U CN205203188U CN 205203188 U CN205203188 U CN 205203188U CN 201521029649 U CN201521029649 U CN 201521029649U CN 205203188 U CN205203188 U CN 205203188U
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- China
- Prior art keywords
- gear
- climbing robot
- support
- sun
- adsorption
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn - After Issue
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Abstract
The utility model discloses a wall climbing robot running gear, including the planetary gear mechanism of running gear with the motion of drive running gear, running gear and planetary gear establishment of institution are on the support, planetary gear mechanism includes outer ring gear, sun gear, planetary gear, planet carrier and motor, outer ring gear solidifies in the support, the sun gear is the drive wheel, is connected with the motor, planetary gear has threely, installs three epaxial at the planet carrier respectively, running gear includes five adsorption equipment, and wherein three adsorption equipment passes through connecting rod and the even periphery that sets up at the support of foot rest, two other adsorption equipment pass through the connecting rod and install in the through -hole of two axles of planet carrier, the three adsorption equipment who installs when wall climbing robot walks on the support replaces absorption with two adsorption equipment that install on the planet carrier each other. This running gear has simple structure, turns to easy characteristics, is applicable to the wall climbing robot that various walls adsorb the form.
Description
Technical field
The utility model relates to climbing robot field, particularly relates to a kind of climbing robot traveling gear.
Background technology
The design of traveling gear is one of gordian technique of climbing robot.The traveling gear of current climbing robot mainly contains wheeled, crawler type, bionic leg foot formula and frame-type etc.Wheeled construction is comparatively difficult to ensure the continous-stable of card adsorption affinity, and it is not very convenient to turn to; Track structure mechanism is complicated, turns to difficulty; The structure control of bionic leg foot formula is complicated, and cost is high, and shift action is intermittent; Tower structure is of limited application, and comformability is poor.Therefore, need to design a kind of structure simple, mobile continuously, turn to climbing robot traveling gear easily.
Summary of the invention
The purpose of this utility model is the shortcoming and defect overcoming above-mentioned prior art, provides a kind of climbing robot traveling gear.
The utility model is achieved through the following technical solutions:
A kind of climbing robot traveling gear, the sun and planet gear comprising traveling gear and drive traveling gear to move, described traveling gear and sun and planet gear are arranged on support 1;
Described sun and planet gear comprises external toothing 4, sun gear 5, planetary wheel 7, pinion carrier 9 and motor 8; Described external toothing 4 is cemented in support 1; Described sun gear 5 is drive wheel, is connected with motor 8; Described planetary wheel 7 has three, is arranged on three axles of pinion carrier 9 respectively;
Described traveling gear comprises five adsorption plants 3, and wherein three adsorption plants 3 are evenly arranged on the periphery of support 1 by pipe link 6 and foot rest 2; Two other adsorption plant 3 is arranged in the through hole of two axles of pinion carrier 9 by connecting rod; Three adsorption plants 3 on support 1 and two adsorption plants 3 be arranged in pinion carrier 9 alternating sorbent is mutually arranged on when climbing robot is walked.
Described support 1 is disc-shaped structure, and described foot rest 2 is elastic steel sheet structure; When motor 8 drives sun gear 5 to rotate, sun gear 5 drives planetary wheel 7 to rotate, utilize the bias of planetary wheel 7, the rotation of restrictions planetary gear 7 and external toothing 4 is distinguished by adsorption plant, thus make two adsorption plant 3 reciprocally swingings being arranged in pinion carrier 9, realize turning to and walking of climbing robot.
The utility model, relative to prior art, has following advantage and effect:
Compared with prior art, the utility model adopts sun and planet gear as drive system, utilize planetary bias, the rotation of restrictions planetary gear and external toothing is distinguished by adsorption plant, by cooperatively interacting with the control system of outside, turning to and walking of climbing robot can be realized easily, have structure simple, turn to easy feature, be applicable to the climbing robot of various wall adsorption form.
The utility model technological means is simple and easy to do, easy to utilize.
Accompanying drawing explanation
Fig. 1 is the utility model structural upright structural representation.
Fig. 2 is another side structural representation of the present utility model.
Detailed description of the invention
Below in conjunction with specific embodiment, the utility model is more specifically described in detail.
Embodiment
As shown in Figure 1, 2.The utility model discloses a kind of climbing robot traveling gear, the sun and planet gear comprising traveling gear and drive traveling gear to move, described traveling gear and sun and planet gear are arranged on support 1; Described sun and planet gear comprises external toothing 4, sun gear 5, planetary wheel 7, pinion carrier 9 and motor 8; Described external toothing 4 is cemented in support 1; Described sun gear 5 is drive wheel, is connected with motor 8; Described planetary wheel 7 has three, is arranged on three axles of pinion carrier 9 respectively;
Described traveling gear comprises five adsorption plants 3, and wherein three adsorption plants 3 are evenly arranged on the periphery of support 1 by pipe link 6 and foot rest 2; Two other adsorption plant 3 is arranged in the through hole of two axles of pinion carrier 9 by connecting rod; Three adsorption plants 3 on support 1 and two adsorption plants 3 be arranged in pinion carrier 9 alternating sorbent is mutually arranged on when climbing robot is walked.Described support 1 is disc-shaped structure, and described foot rest 2 is elastic steel sheet structure; When motor 8 drives sun gear 5 to rotate, sun gear 5 drives planetary wheel 7 to rotate, utilize the bias of planetary wheel 7, the rotation of restrictions planetary gear 7 and external toothing 4 is distinguished by adsorption plant, thus make two adsorption plant 3 reciprocally swingings being arranged in pinion carrier 9, realize turning to and walking of climbing robot.
As mentioned above, just the utility model can be realized preferably.
Embodiment of the present utility model is not restricted to the described embodiments; other are any do not deviate from Spirit Essence of the present utility model and principle under do change, modification, substitute, combine, simplify; all should be the substitute mode of equivalence, be included within protection domain of the present utility model.
Claims (2)
1. a climbing robot traveling gear, is characterized in that, the sun and planet gear comprising traveling gear and drive traveling gear to move, and described traveling gear and sun and planet gear are arranged on support (1);
Described sun and planet gear comprises external toothing (4), sun gear (5), planetary wheel (7), pinion carrier (9) and motor (8); Described external toothing (4) is cemented in support (1); Described sun gear (5) is drive wheel, is connected with motor (8); Described planetary wheel (7) has three, is arranged on three axles of pinion carrier (9) respectively;
Described traveling gear comprises five adsorption plants (3), and wherein three adsorption plants (3) are evenly arranged on the periphery of support (1) by pipe link (6) and foot rest (2); Two other adsorption plant (3) is arranged in the through hole of two axles of pinion carrier (9) by connecting rod; Three adsorption plants (3) on support (1) and two adsorption plants (3) be arranged in pinion carrier (9) alternating sorbent is mutually arranged on when climbing robot is walked.
2. climbing robot traveling gear according to claim 1, is characterized in that, described support (1) is disc-shaped structure, and described foot rest (2) is elastic steel sheet structure; When motor (8) drives sun gear (5) to rotate, sun gear (5) drives planetary wheel (7) to rotate, utilize the bias of planetary wheel (7), the rotation of restrictions planetary gear (7) and external toothing (4) is distinguished by adsorption plant, thus make two adsorption plant (3) reciprocally swingings being arranged in pinion carrier (9), realize turning to and walking of climbing robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521029649.2U CN205203188U (en) | 2015-12-10 | 2015-12-10 | Wall climbing robot running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521029649.2U CN205203188U (en) | 2015-12-10 | 2015-12-10 | Wall climbing robot running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205203188U true CN205203188U (en) | 2016-05-04 |
Family
ID=55840920
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201521029649.2U Withdrawn - After Issue CN205203188U (en) | 2015-12-10 | 2015-12-10 | Wall climbing robot running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205203188U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416429A (en) * | 2015-12-10 | 2016-03-23 | 华南理工大学 | Walking mechanism for wall-climbing robot |
| CN109878592A (en) * | 2019-04-15 | 2019-06-14 | 北京建筑大学 | A kind of compound running gear of wheel leg |
-
2015
- 2015-12-10 CN CN201521029649.2U patent/CN205203188U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105416429A (en) * | 2015-12-10 | 2016-03-23 | 华南理工大学 | Walking mechanism for wall-climbing robot |
| CN109878592A (en) * | 2019-04-15 | 2019-06-14 | 北京建筑大学 | A kind of compound running gear of wheel leg |
| CN109878592B (en) * | 2019-04-15 | 2020-12-15 | 北京建筑大学 | Wheel-leg composite walking device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20160504 Effective date of abandoning: 20190514 |