CN208147891U - It is a kind of can real-time control climbing robot - Google Patents
It is a kind of can real-time control climbing robot Download PDFInfo
- Publication number
- CN208147891U CN208147891U CN201820362086.6U CN201820362086U CN208147891U CN 208147891 U CN208147891 U CN 208147891U CN 201820362086 U CN201820362086 U CN 201820362086U CN 208147891 U CN208147891 U CN 208147891U
- Authority
- CN
- China
- Prior art keywords
- arm
- steering engine
- control
- robot
- real
- Prior art date
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to robot field, more particularly, to it is a kind of can real-time control climbing robot.It is a kind of can real-time control climbing robot, including the components such as control centre, base, arm of creeping, electromagnet, control assembly, by six can the band electromagnet arm of creeping of multi-angle rotation mutually assemble with base, real-time control is integrally realized to robot using control system, various instruments can be carried simultaneously, climbing robot is set to be adapted to different terrain environments, robot is carried out according to different environment to adjust control in real time, the adaptive capacity to environment for largely improving climbing robot, makes robot be normally carried out work in different environments.
Description
Technical field
The utility model relates to robot field, more particularly, to it is a kind of can real-time control climbing robot.
Background technique
With being constantly progressive for science and technology, robot is all widely used and develops in all trades and professions,
Function, succinct operation and efficient work abundant are that people's lives and research bring great convenience and influences.
So far, many robots all use electromagnetic adsorption technology, are combined, are made with electromagnet using movement mechanism
Robot can creep on the substance of magnetic material.But since many takes the climbing robot structure of electromagnetic adsorption technology
Difference, magnetic suck climbing robot at this stage may be only available for certain single occasion substantially, such as can only creep on hawser
Cable robot capable of crawling cable, can only the robot creeped in plane, some also can only be in the machine of special apparent motion
People can not work, application is extremely limited since such robot environment's adaptability is poor in some complex environments.
Therefore, it for current situation, needs to improve existing climbing robot, design applicability is stronger to climb
Row robot.
Summary of the invention
The utility model in order to overcome at least one of the drawbacks of the prior art described above, provide it is a kind of can real-time control climb
Row robot, by six can the arm of creeping of multi-angle rotation be symmetrically mounted on robot base, controlled in real time by control system
Electromagnet power on/off and the steering engine rotation creeped on arm on arm of creeping are made, the movement of climbing robot is realized, has stronger
Adaptability.
In order to solve the above technical problems, the technical solution adopted in the utility model is：
It is a kind of can real-time control climbing robot, including control centre, base, arm of creeping；The base is equipped with and control
The control assembly that center processed has signal to transmit, the arm of creeping are connected by the first steering engine, cross linking arm, the second steering engine, a word
Arm, third steering engine, movement arm are successively movably connected to form；The base passes through the first steering engine and arm cooperation of creeping, the movement
Arm bottom end be equipped with can power on/off electromagnet；First steering engine, the second steering engine, third steering engine, electromagnet are and control assembly
Electrical connection.
By control of the arm by control assembly on base of creeping after assembly and connection, control assembly and control centre it
Between have signal transmission, therefore, control centre can to climbing robot carry out real-time control, allow climbing robot in different rings
Smooth motion under border.Movement arm bottom end be equipped with can power on/off electromagnet, when being mainly used for working under magnetic environment, can lead to
It crosses control centre and transmits open signal to control assembly, control assembly controls electromagnet and is powered, to generate magnetism, makes arm of creeping
Can electromagnetic adsorption in magnetic environment.When climbing robot is walked in magnetic environment, control centre can Instantaneous Control it is each
Creep the magnet switching electricity of arm, the arm that makes to creep loses magnetism in mobile moment, and generated in moment of standing it is magnetic to adsorb,
Resistance of the robot when creeping can be effectively reduced, energy is saved.
Further, the arm of creeping has six, and arm of creeping is centrosymmetrically arranged about base, angle phase between any two
Together.Six arms of creeping are centrosymmetrically arranged about base, and angle between any two is identical, keep climbing robot more steady
Ground is stood and walking even if climbing robot damages wherein 1-2 item during the work time and creeps arm also can control remaining four
Arm of creeping rotates certain angle in real time, so that robot is kept balance, continues to creep, work.
Further, first steering engine and cross linking arm, the second steering engine and cross linking arm, third steering engine and movement
Arm is rotatablely connected.First steering engine is mainly used for realizing the lateral rotation for arm of creeping；Second steering engine and third steering engine cooperate, mainly
For realizing the rotation of arm in the vertical direction of creeping.It is applied in combination by the first steering engine, the second steering engine, third steering engine, six
Root creep arm can be achieved multi-angle rotation, even creeping under rugged environment, the rotation by arm of respectively creeping is adjustable
Whole climbing robot remains that steady state, stabilization are creeped.
Robot creeps under magnetic channel environment when advancing, and successively control arm large rotation angle of creeping is upward, opens
Electromagnet is powered, and is directly adsorbed in above channel using electromagnet, hangs upside down robot above magnetic tunnel, continue steady row
Walk, can effectively avoid having in channel in this way ponding the case where, avoid the instrument in robot from meeting water and be damaged.
Further, the control assembly includes control mainboard and battery pack.Control mainboard is mainly used for and control centre
Signal is transmitted, real-time control is carried out to the first steering engine, the second steering engine, third steering engine and the electromagnet respectively creeped on arm, is met
It creeps purpose.Battery pack is mainly used for providing electric energy to each electrical component.
Further, the base is additionally provided with lighting apparatus or photographic equipment.
Further, lighting apparatus or photographic equipment are electrically connected with control assembly.
Lighting apparatus or photographic equipment are by the control of control assembly.When climbing robot is transported under the weaker environment of brightness
When making, lighting apparatus is opened in control, and photographic equipment is enable clearly to image to environment, and ambient conditions is transmitted by signal
Control centre is sent back, operator is facilitated to be best understood from the ambient conditions of climbing robot, thus real-time control creeper
The running of device people.Certainly, the instrument of robot delivery can also become varied, such as carry Measuring error instrument or temperature
Detecting devices etc. is spent, different instruments is carried, according to its function difference, achievable different types of work.
Compared with prior art, beneficial effect is：The utility model by six can multi-angle rotation band electromagnet creep
Arm is mutually assembled with base, integrally realizes real-time control to robot using control system, climbing robot is made to be adapted to difference
Terrain environment, according to different environment to robot carry out in real time adjust control, largely improve climbing robot
Adaptive capacity to environment, so that robot is normally carried out work in different environments, have very big practicability.
Detailed description of the invention
Fig. 1 is the utility model overall structure diagram.
Fig. 2 is the arm part explosive view of creeping of the utility model.
Fig. 3 is the control annexation figure of the utility model.
Wherein, 1 base, 11 control assemblies, 2 creep arm, 21 first steering engines, 22 cross linking arms, 23 second steering engines, and 24 1
Word linking arm, 25 third steering engines, 26 movement arms, 261 electromagnet.
Specific embodiment
The attached figures are only used for illustrative purposes and cannot be understood as limitating the patent；In order to better illustrate this embodiment, attached
Scheme certain components to have omission, zoom in or out, does not represent the size of actual product；To those skilled in the art,
The omitting of some known structures and their instructions in the attached drawings are understandable.Being given for example only property of positional relationship is described in attached drawing
Illustrate, should not be understood as the limitation to this patent.
The same or similar label correspond to the same or similar components in the attached drawing of the utility model embodiment；It is practical at this
In novel description, it is to be understood that if having the orientation or position of the instructions such as term " on ", "lower", "left", "right" " length " " short "
Setting relationship is to be based on the orientation or positional relationship shown in the drawings, and is merely for convenience of describing the present invention and simplifying the description, and
It is not that the device of indication or suggestion meaning or element must have a particular orientation, be constructed and operated in a specific orientation, therefore
The terms describing the positional relationship in the drawings are only for illustration, should not be understood as the limitation to this patent, for this field
Those of ordinary skill for, can understand the concrete meaning of above-mentioned term as the case may be.
Below by specific embodiment, and in conjunction with attached drawing, the technical solution of the utility model work is further specifically retouched
It states：
Embodiment 1
As shown in Figure 1-3, it is a kind of can real-time control climbing robot, including control centre, base 1, arm 2 of creeping；Machine
Seat 1 is equipped with the control assembly 11 for having signal to transmit with control centre, and arm 2 of creeping is by the first steering engine 21, cross linking arm 22, second
Steering engine 23, a word linking arm 24, third steering engine 25, movement arm 26 are successively movably connected to form；Base 1 by the first steering engine 21 with
Arm 2 of creeping cooperation, 26 bottom end of movement arm be equipped with can power on/off electromagnet 261；First steering engine 21, the second steering engine 23, third rudder
Machine 25, electromagnet 261 are electrically connected with control assembly 11.By the arm 2 of creeping after assembly and connection by control group on base 1
The control of part 11 has signal transmission between control assembly 11 and control centre, therefore, control centre is equivalent to entire robot
Brain carries out real-time control to climbing robot, allows climbing robot smooth motion under various circumstances.
Specifically, arm 2 of creeping has six, and arm 2 of creeping is centrosymmetrically arranged about base 1, and angle between any two is identical.
Six arms 2 of creeping are centrosymmetrically arranged about base 1, and angle between any two is identical, keep climbing robot more steady
Ground is stood and walking.
Specifically, the first steering engine 21 and cross linking arm 22, the second steering engine 23 and cross linking arm 22, third steering engine 25 with
Movement arm 26 is rotatablely connected.First steering engine 21 is mainly used for realizing the lateral rotation for arm 2 of creeping；Second steering engine 23 and third rudder
Machine 25 cooperates, and is mainly used for realizing the rotation of arm 2 in the vertical direction of creeping.Pass through the first steering engine 21, the second steering engine 23, third
Steering engine 25 is applied in combination, the six roots of sensation creep arm 2 can be achieved multi-angle rotation, even creeping under rugged environment, lead to
The rotation for crossing arm 2 of respectively creeping can adjust climbing robot and remain that steady state, stabilization are creeped.
Specifically, control assembly 11 includes control mainboard and battery pack.Control mainboard is mainly used for transmitting with control centre
Signal controls the first steering engine 21, the second steering engine 23, third steering engine 25 and the electromagnet 261 respectively creeped on arm 2 in real time
System meets purpose of creeping.Battery pack is mainly used for providing electric energy to each electrical component.
Specifically, base 1 is additionally provided with lighting apparatus or photographic equipment.
Specifically, lighting apparatus or photographic equipment are electrically connected with control assembly 11.Lighting apparatus or photographic equipment by
The control of control assembly 11.Certainly, the instrument of robot delivery can also become varied, such as carry Measuring error instrument
Or temperature sensing equipment etc., different instruments is carried, according to its function difference, achievable different types of work.
Specific mode of operation is as follows：
Operator first installs the instrument of needs according to the specific needs of robot working environment on robot base 1.
Climbing robot after being completed starts to work under the control of control centre.Specifically control centre believes correlation
The control assembly 11 number being transmitted on climbing robot base 1, after control assembly 11 receives signal, control immediately is respectively creeped arm 2
On the first steering engine 21, the second steering engine 23, third steering engine 25, be rotatably assorted using each steering engine, make to creep the rotation of arm 2, machine
People stands and creeps.
When climbing robot is creeped in magnetic environment to be crawled, control centre can Instantaneous Control respectively creep arm 2
261 power on/off of electromagnet keeps the climbing robot resistance being subject to of creeping on magnetisable material minimum, saves energy.Meanwhile working as ring
When border changes, such as when turning to diving plane from horizontal plane, robot can make transitional movement, and control is creeped arm 2
Rotational angle, firmly electromagnetic adsorption is not fallen easily on magnetisable material.
When climbing robot is creeped advance in magnetic tunnel, and encountering front has ponding or other obstacles, can pass through
Control centre successively controls 2 large rotation angle of arm of creeping, and opens electromagnet 261 and is powered, is directly adsorbed in using electromagnet 261 logical
Above road or side hangs upside down robot above magnetic tunnel or side, prolongs that pipeline is projecting or lateral walking, thus can be with
The ponding or other obstacles in channel are effectively avoided, the instrument in robot is avoided to meet water or collision and be damaged.
It, can by adjusting the corresponding position for arm 2 of creeping when climbing robot is worked under more rugged environment
So that robot is remained more stable state, stablize and move ahead, to avoid robot rolling damage or can not normally creep
Situation occurs.
When climbing robot operates under the weaker environment of brightness, lighting apparatus is opened in control, keeps photographic equipment clear
Environment is imaged clearly, ambient conditions is sent back into control centre by signal, facilitates operator preferably
The ambient conditions for solving climbing robot, thus the running of real-time control climbing robot.
The utility model is adapted to climbing robot different by the control of itself structure and control system
Terrain environment carries out robot according to different environment to adjust control in real time, largely improves climbing robot
Adaptive capacity to environment makes robot be normally carried out work in different environments, has very big practicability.
Obviously, the above embodiments of the present invention is merely examples for clearly illustrating the present invention, and
It is not limitations of the embodiments of the present invention.For those of ordinary skill in the art, in above description
On the basis of can also make other variations or changes in different ways.There is no need and unable to give all embodiments
Exhaustion.Any modifications, equivalent replacements, and improvements made within the spirit and principle of the present invention etc., should be included in
Within the protection scope of the utility model claims.
Claims (6)
1. one kind can real-time control climbing robot, it is characterised in that：Including control centre, base（1）, arm of creeping（2）；Institute
State base（1）Equipped with the control assembly for thering is signal to transmit with control centre（11）, the arm of creeping（2）By the first steering engine（21）,
Cross linking arm（22）, the second steering engine（23）, a word linking arm（24）, third steering engine（25）, movement arm（26）Successively activity connects
Connect composition；The base（1）Pass through the first steering engine（21）With arm of creeping（2）Cooperation, the movement arm（26）Bottom end, which is equipped with, to be led to
The electromagnet of power-off（261）；First steering engine（21）, the second steering engine（23）, third steering engine（25）, electromagnet（261）With
Control assembly（11）Electrical connection.
2. one kind according to claim 1 can real-time control climbing robot, it is characterised in that：The arm of creeping（2）
There are six, arm of creeping（2）About base（1）It is centrosymmetrically arranged, angle between any two is identical.
3. one kind according to claim 1 can real-time control climbing robot, it is characterised in that：First steering engine
（21）With cross linking arm（22）, the second steering engine（23）With cross linking arm（22）, third steering engine（25）With movement arm（26）?
Rotation connection.
4. one kind according to claim 1 can real-time control climbing robot, it is characterised in that：The control assembly
（11）Including control mainboard and battery pack.
5. one kind according to any one of claims 1 to 4 can real-time control climbing robot, it is characterised in that：The machine
Seat（1）It is additionally provided with lighting apparatus or photographic equipment.
6. one kind according to claim 5 can real-time control climbing robot, it is characterised in that：The lighting apparatus or
Photographic equipment is and control assembly（11）Electrical connection.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820362086.6U CN208147891U (en) | 2018-03-16 | 2018-03-16 | It is a kind of can real-time control climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820362086.6U CN208147891U (en) | 2018-03-16 | 2018-03-16 | It is a kind of can real-time control climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208147891U true CN208147891U (en) | 2018-11-27 |
Family
ID=64391838
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820362086.6U Expired - Fee Related CN208147891U (en) | 2018-03-16 | 2018-03-16 | It is a kind of can real-time control climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208147891U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181534A (en) * | 2019-06-24 | 2019-08-30 | 国网安徽省电力有限公司 | A kind of climbing robot |
-
2018
- 2018-03-16 CN CN201820362086.6U patent/CN208147891U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110181534A (en) * | 2019-06-24 | 2019-08-30 | 国网安徽省电力有限公司 | A kind of climbing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Fujii et al. | Endless flyer: a continuous flying drone with automatic battery replacement | |
| US9174338B2 (en) | Robotic movement system | |
| ES2911626T3 (en) | Mobile power supply device for outdoor power supply | |
| CN101259614A (en) | Portable multiple freedom small-sized explosive process intelligent mobile robot system | |
| US8977393B1 (en) | Methods and systems for charging a robotic device | |
| CN106184452A (en) | A kind of all fours type electromagnetic adsorption climbing robot | |
| CN205273662U (en) | For military use bionical operation robot based on bionics principle | |
| CN208147891U (en) | It is a kind of can real-time control climbing robot | |
| KR101753363B1 (en) | Flight management system with smart charge using solar power generation | |
| CN206218053U (en) | The sufficient search and rescue robot of wheel-leg combined type movement six | |
| CN106080834A (en) | Can pose adjustment and the mobile robot of operation | |
| CN104444418A (en) | Novel eighteen-degree-of-freedom robot with bucket | |
| CN108583182A (en) | A kind of amphibious ball shape robot in sky land | |
| CN106741263A (en) | Four crawler belt self adaptation road conditions gravity-center adjustable mechanisms | |
| CN103419854B (en) | Multi-joint pneumatic snake-shaped robot | |
| CN112327899A (en) | Variable-configuration quadruped robot motion control method and system | |
| CN110282045A (en) | Uneven section and/or avoidance robot and control method can be passed through | |
| CN207241835U (en) | A kind of barrier-surpassing robot | |
| Karakurt et al. | Design of six legged spider robot and evolving walking algorithms | |
| Jianhua | Design and kinematic simulation for Six-DOF leg mechanism of hexapod robot | |
| CN109649095A (en) | A kind of bionical crocodile amphibious robot | |
| CN109733500A (en) | A kind of restructural hexapod robot device | |
| Guarnieri et al. | HELIOS IX tracked vehicle for urban search and rescue operations: Mechanical design and first tests | |
| CN109911052A (en) | A kind of wheel leg type multi-mode inspection search and rescue robot | |
| CN208438335U (en) | A kind of compound mobile robot and compound Mobile Robot Control System |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20181127 Termination date: 20190316 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |