CN205554360U - Flying robot of convertible angle climbs wall running gear - Google Patents
Flying robot of convertible angle climbs wall running gear Download PDFInfo
- Publication number
- CN205554360U CN205554360U CN201620406359.3U CN201620406359U CN205554360U CN 205554360 U CN205554360 U CN 205554360U CN 201620406359 U CN201620406359 U CN 201620406359U CN 205554360 U CN205554360 U CN 205554360U
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- China
- Prior art keywords
- wheel
- wall
- connecting piece
- walking
- steering wheel
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Abstract
The utility model discloses a flying robot of convertible angle climbs wall running gear, including the chassis, the walking wheel, gear motor, steering wheel and electric telescopic handle, wherein walking wheel symmetry is equipped with two sets of four, every walking wheel all is connected with gear motor, two walking wheels in the every group are all established on a support, electric telescopic handle's one end articulates on this support, electric telescopic handle's the other end articulates on the connecting piece, electric telescopic handle and connecting piece symmetry are equipped with two, the connecting piece shape is M shape, the connecting piece both ends respectively with chassis and leg joint, every connecting piece intermediate position all is connected with the steering wheel, the steering wheel orders about the connecting piece rotation and cooperatees with electric telescopic handle, thereby adjust the height and the angle of walking wheel. Beneficial effect: reach single module and realize climbing two kinds of functions on the wall and ground walking, simplify the whole structure. And then the wall walking that realizes there is being certain bending.
Description
Technical field
Wall walking mechanism is climbed, particularly to the flight of a kind of angle variable by a kind of robot of this utility model design
Wall walking mechanism is climbed by robot.
Background technology
In recent years, along with the development of society, the application of robot is got more and more, as being used for investigating, rescuing,
Job that requires special skills etc..But traditional flying robot is short for cruising time, and during investigation, disguise is poor；Climbing robot
Translational speed is slow, and obstacle climbing ability is poor.This patent 201110322551.6 discloses one there is flight and inhale
The robot of attached two kinds of functions, this robot, based on four rotors, makes robot have by adsorbent equipment
In the ability that wall surface is perched, its absorption power, much smaller than flight power, detects the time for fixing target
It is significantly increased.But its function that cannot realize climbing wall, reduces the motility of robot.Patent
201510066785.7 disclose a kind of flight climbing robot, and this robot is except having flight and inhabiting wall
Outside the function of wall, also have a wall climbing function, but motility, stability and disguise when it climbs wall is poor.
Summary of the invention
The purpose of this utility model is to exist all in carrying out relevant operation process to solve existing robot
Many problems and the flying robot of a kind of angle variable that provides climbs wall walking mechanism.
The flying robot of angle variable that this utility model provides climbs wall walking mechanism and includes chassis, OK
Travelling wheel, reducing motor, steering wheel and electric expansion bar, wherein road wheel is arranged with two groups four, Mei Gehang
Travelling wheel is respectively connected with reducing motor, and often two road wheels of group are each provided on a support, one end of electric expansion bar
Being hinged on this support, the other end of electric expansion bar is hinged on connector, electric expansion bar and connector
Being arranged with two, connector is shaped as M shape, and connector two ends are connected with chassis and support respectively, each
Connector centre position is respectively connected with steering wheel, and steering wheel orders about connector rotation and matches with electric expansion bar, from
And regulate height and the angle of road wheel.
Operation principle of the present utility model:
One, ground running principle:
When ground running, first with steering wheel, road wheel is adjusted to extreme lower position, then adjusted by electric expansion bar
Joint road wheel, makes road wheel keep vertically, and now the lower surface of road wheel contacts with ground.
By regulation the turning to of four reducing motors, it is possible to realize robot all around with the merit such as original place spin
Energy.Four reducing motor forwards simultaneously realize advancement function；Four reducing motors turn round after realization simultaneously
Move back function；Two reducing motors in left side do not turn, and two, right side reducing motor forwards realizes left-hand rotation function；Right
Two, side reducing motor does not turns, and two, left side reducing motor forwards realizes right-hand rotation function；Two decelerations in left side
Motor forwards, two, right side reducing motor turns round and realizes flicker function；Two reducing motors in left side
Turning round, two, right side reducing motor forwards realizes flicker function.
Two, plane wall is creeped principle:
When plane wall is creeped, first with steering wheel, road wheel is adjusted to extreme higher position, then passes through electric expansion
Bar regulation road wheel, makes road wheel keep vertically, and now the upper surface of road wheel contacts with wall.Planar walls
The creep control method of four reducing motors of wall is identical with ground running.
Three, curved wall is creeped principle:
When curved wall is creeped, first with steering wheel, road wheel is adjusted to extreme higher position, then passes through electric expansion
Bar regulation road wheel, makes road wheel keep vertical with wall, to ensure robot stabilized being attached on wall,
The control method of four reducing motors of creeping of bending metope is identical with normal metope.
The beneficial effects of the utility model:
1, climb wall walking mechanism can up-down adjustment, reach single module and realize climbing wall and two kinds of functions of ground running,
Simplify complete machine structure.
2, climb the angle of road wheel in wall walking mechanism can regulate, and then the real wall now with certain bending
Walking.
Accompanying drawing explanation
Fig. 1 is this utility model overall structure schematic diagram.
Fig. 2 is this utility model overall structure decomposing schematic representation.
1, chassis 2, road wheel 3, reducing motor 4, steering wheel 5, electric expansion bar
6, support 7, connector.
Detailed description of the invention
Refer to shown in Fig. 1 and Fig. 2:
The flying robot of angle variable that this utility model provides climbs wall walking mechanism and includes chassis 1, OK
Travelling wheel 2, reducing motor 3, steering wheel 4 and electric expansion bar 5, wherein road wheel 2 is arranged with two groups four,
Each road wheel 2 is respectively connected with reducing motor 3, and often two road wheels 2 of group are each provided on a support 6, electronic
One end of expansion link 5 is hinged on this support 6, and the other end of electric expansion bar 5 is hinged on connector 7,
Electric expansion bar 5 and connector 7 are arranged with two, and connector 7 is shaped as M shape, connector 7 two ends
Being connected with chassis 1 and support 6 respectively, each connector 7 centre position is respectively connected with steering wheel 4, and steering wheel 4 drives
Make connector 7 rotate to match with electric expansion bar 5, thus regulate height and the angle of road wheel 2.
Operation principle of the present utility model:
One, ground running principle:
When ground running, first with steering wheel 4, road wheel 2 is adjusted to extreme lower position, then passes through electric expansion
Bar 5 regulates road wheel 2, makes road wheel 2 keep vertical, and now the lower surface of road wheel 2 contacts with ground.
By regulation the turning to of four reducing motors 3, it is possible to realize robot all around with original place spin etc.
Function.Four reducing motor 3 forwards simultaneously realize advancement function；Four reducing motors 3 turn round simultaneously
Realize fallback function；Two reducing motors 3 in left side do not turn, and two, right side reducing motor 3 forwards realizes a left side
Rotating function；Two reducing motors 3 in right side do not turn, and two, left side reducing motor 3 forwards realizes right-hand rotation function；
Two reducing motor 3 forwards in left side, two, right side reducing motor 3 turns round and realizes flicker function；
Two reducing motors 3 in left side turn round, and two, right side reducing motor 3 forwards realizes flicker function.
Two, plane wall is creeped principle:
When plane wall is creeped, first with steering wheel 4, road wheel 2 is adjusted to extreme higher position, then by electronic
Expansion link 5 regulates road wheel 2, makes road wheel 2 keep vertical, and now the upper surface of road wheel 2 connects with wall
Touch.The creep control method of four reducing motors 3 of plane wall is identical with ground running.
Three, curved wall is creeped principle:
When curved wall is creeped, first with steering wheel 4, road wheel 2 is adjusted to extreme higher position, then by electronic
Expansion link 5 regulates road wheel 2, makes road wheel 2 keep vertical, to ensure robot stabilized attaching with wall
On wall, the control method of four reducing motors 3 of creeping of bending metope is identical with normal metope.
Claims (1)
1. the flying robot of an angle variable climbs wall walking mechanism, it is characterised in that: include chassis,
Road wheel, reducing motor, steering wheel and electric expansion bar, wherein road wheel is arranged with two groups four, each
Road wheel is respectively connected with reducing motor, and often two road wheels of group are each provided on a support, the one of electric expansion bar
End is hinged on this support, and the other end of electric expansion bar is hinged on connector, electric expansion bar and connection
Part is arranged with two, and connector is shaped as M shape, and connector two ends are connected with chassis and support, often respectively
Individual connector centre position is respectively connected with steering wheel, and steering wheel orders about connector rotation and matches with electric expansion bar,
Thus regulate height and the angle of road wheel.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620406359.3U CN205554360U (en) | 2016-05-06 | 2016-05-06 | Flying robot of convertible angle climbs wall running gear |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620406359.3U CN205554360U (en) | 2016-05-06 | 2016-05-06 | Flying robot of convertible angle climbs wall running gear |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205554360U true CN205554360U (en) | 2016-09-07 |
Family
ID=56803619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620406359.3U Expired - Fee Related CN205554360U (en) | 2016-05-06 | 2016-05-06 | Flying robot of convertible angle climbs wall running gear |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205554360U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323524A (en) * | 2017-07-20 | 2017-11-07 | 浙江国自机器人技术有限公司 | A kind of mobile chassis and moving method of place crusing robot |
| CN107999488A (en) * | 2017-11-30 | 2018-05-08 | 哈尔滨工业大学（威海） | Clear up robot |
-
2016
- 2016-05-06 CN CN201620406359.3U patent/CN205554360U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107323524A (en) * | 2017-07-20 | 2017-11-07 | 浙江国自机器人技术有限公司 | A kind of mobile chassis and moving method of place crusing robot |
| CN107999488A (en) * | 2017-11-30 | 2018-05-08 | 哈尔滨工业大学（威海） | Clear up robot |
| CN107999488B (en) * | 2017-11-30 | 2020-09-22 | 哈尔滨工业大学（威海） | Cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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: 20160907 Termination date: 20170506 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |