CN210850267U - Robot traction device - Google Patents
Robot traction device Download PDFInfo
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- CN210850267U CN210850267U CN201921545882.4U CN201921545882U CN210850267U CN 210850267 U CN210850267 U CN 210850267U CN 201921545882 U CN201921545882 U CN 201921545882U CN 210850267 U CN210850267 U CN 210850267U
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- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 claims abstract description 26
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- 230000005540 biological transmission Effects 0.000 claims description 28
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- 230000009193 crawling Effects 0.000 description 4
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- 230000009471 action Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
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- 206010057071 Rectal tenesmus Diseases 0.000 description 2
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- 238000005096 rolling process Methods 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 208000012271 tenesmus Diseases 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
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- 238000005516 engineering process Methods 0.000 description 1
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Abstract
The utility model discloses a robot traction device, including the robot, with this body coupling's of robot safety subassembly, safety subassembly includes one end and this body coupling's of robot haulage rope, is used for the magnetic force seat of fixed haulage rope, and the magnetic force seat includes first pedestal, is equipped with on the first pedestal to be used for controlling the tensile adjustment mechanism of haulage rope, and the haulage rope other end is established on adjustment mechanism. When the robot body of the utility model falls, the adjusting mechanism controls the tension of the traction rope, thereby preventing the robot body from falling; under the normal condition, when the robot body crawled, through the tension of adjusting the haulage rope to the distance and the speed of control robot body crawl.
Description
Technical Field
The utility model belongs to the technical field of the robot and specifically relates to a draw gear of robot is related to.
Background
The robot is a machine device which can automatically execute work, can receive human commands, can run a pre-programmed program, can perform actions according to principles formulated by artificial intelligence technology, can perform remote operation manually, and has the task of assisting or replacing the work of human work, such as production, construction or dangerous work, but the current crawling robot has the following defects:
1. when the robot slips down due to a fault in the crawling process, the falling tendency of the robot cannot be stopped in time, so that the robot is crashed;
2. the robot is bumped due to shaking generated in the falling process of the robot, and the bumping impact force is easy to cause the displacement of internal parts of the robot, so that the robot is damaged;
3. the existing device for traction or anti-falling is complex and has lower safety factor, which is not beneficial to carrying the robot or improving the production cost of the robot.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide a robot traction device to solve prior art after this robot breaks down gliding crawling the in-process, can't be timely prevent the tenesmus trend of robot, lead to the robot crash, rock the emergence and collide with owing to producing at the tenesmus in-process of robot, this collision impact force easily causes the displacement of robot internals, thereby causes the defect of the damage of robot.
The utility model provides a technical scheme that above-mentioned technical problem adopted is: the utility model provides a robot traction device, includes the robot, with this body coupling's safe subassembly of robot, safe subassembly includes one end and this body coupling's of robot haulage rope, is used for the magnetic force seat of fixed haulage rope, and the magnetic force seat includes first pedestal, is equipped with on the first pedestal to be used for controlling the tensile adjustment mechanism of haulage rope, and the haulage rope other end is established on adjustment mechanism. Through the technical scheme, when the robot body falls, the adjusting mechanism controls the tension of the traction rope so as to prevent the robot body from falling; under the normal condition, when the robot body crawled, through the tension of adjusting the haulage rope to the distance and the speed of control robot body crawl. Because the magnetic wheel of the robot has adsorption force, when the robot falls down, the robot can be adsorbed on the wall again in the falling process as long as the magnetic wheel meets the wall and is combined with the pulling force of the traction rope.
Preferably, the adjusting mechanism comprises a motor arranged on the first seat body, a transmission assembly connected with the motor, and a transmission rod connected with the transmission assembly, and the traction rope is arranged on the transmission rod. Through the setting of adjustment mechanism, thereby can adjust the tension of haulage rope through the rotational speed of adjusting the motor.
Preferably, the transmission assembly comprises a first belt wheel connected with the motor, a second belt wheel connected with the transmission rod, and a transmission belt connected with the first belt wheel and the second belt wheel.
Preferably, the magnetic base further comprises a base, a second base body arranged on the base, the first base body is arranged on the base, the second base body comprises a left base body, a right base body and a fixed rod, one end of a traction rope is arranged on the transmission rod, the traction rope is connected with the robot body after being wound by the fixed rod, a left fixing base used for fixing the left base body and a right fixing base used for fixing the right base body are arranged on the base, the left base body is arranged in the left fixing base, the right base body is arranged in the right fixing base, and the fixed rod is arranged on the left fixing base and the right fixing base. Through twine the haulage rope on the dead lever, can convert the tension of haulage rope into with the frictional force between haulage rope and the dead lever to make first pedestal just can hold robot with less power.
Preferably, the traction rope is provided with a sensor for sensing the tension of the traction rope, and the sensor is connected with the motor. Through the setting of tension sensor, can respond to the tensile change of haulage rope to make the motor adjust the motor rotational speed according to haulage rope tension change.
Preferably, the motor is provided with a current sensor for detecting a motor current. Because when the haulage rope is taut or loose, the pivoted speed of transfer line is different, and the electric current of motor is also different, through current sensor's setting, can detect the electric current on the motor, through the electric current of adjusting the motor to the rotational speed and the moment of control motor, and then the tension of control haulage rope.
Preferably, a first buckling part used for clamping the fixing rod is arranged on the left fixing seat, a second buckling part used for clamping the fixing rod is arranged on the right fixing seat, and the first buckling part and the second buckling part are connected with the fixing rod.
Preferably, the robot body is provided with a connecting groove, the connecting groove is provided with a connecting piece, and the connecting piece is connected with the traction rope.
Preferably, the base is a magnetizer. Through the setting of magnetizer, can set up base detachable in the place of difference, convenient dismantlement and installation.
Preferably, the robot body is provided with magnetic wheels. Through the arrangement of the magnetic wheels, the robot body can conveniently crawl on the wall surface.
The utility model has the advantages that:
1. when the robot body of the utility model falls, the adjusting mechanism controls the tension of the traction rope, thereby preventing the robot body from falling; under normal conditions, when the robot body crawls, the crawling distance and speed of the robot body are controlled by adjusting the tension of the traction rope;
2. the traction rope is wound on the fixed rod, so that the friction force between the traction rope and the fixed rod can be converted into the tension force of the traction rope, and the first seat body can pull the robot body with smaller force;
3. through current sensor's setting, can detect the electric current on the motor, through the electric current of adjustment motor to the rotational speed and the moment of control motor, and then the tension of control haulage rope.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic view of the structure of the magnetic wheel.
Fig. 3 is a schematic diagram of the structure of the magnet and the armature in the magnet wheel.
Fig. 4 is a schematic view of a structure of the first wheel block and the second wheel block of fig. 2.
Fig. 5 is a cross-sectional view of the first wheel block and the second wheel block of fig. 2 when the first wheel block and the second wheel block are over-ridden.
Fig. 6 is an exploded view of another configuration of a magnetic wheel.
Fig. 7 is a schematic view of the overall structure of fig. 6.
Fig. 8 is a schematic obstacle crossing view of fig. 6.
FIG. 9 is a schematic representation of pull-cord tension versus angle.
Fig. 10 is a mechanical analysis diagram.
In the figure: 1. magnet module, 10, magnet, 11, armature, 12, second wheel block, 121, second tooth, 2, first wheel block, 21, straight knurling line, 22, first tooth, 3, stopper, 4, center hole, 5, wheel axle, 51, retaining ring, 6, robot body, 61, magnetic wheel, 7, haulage rope, 8, first pedestal, 81, motor, 82, transfer bar, 83, first belt wheel, 84, second belt wheel, 85, transmission belt, 9, pedestal, 91, left pedestal, 911, first buckle, 92, right pedestal, 921, second buckle, 10, second pedestal, 11, left pedestal, 12, right, 13, fixing bar, 14, sensor, 15, connecting groove, 16, connecting piece
Detailed Description
The present invention will be further described with reference to the accompanying drawings and embodiments.
As shown in fig. 1-10, the utility model relates to a robot traction device, including robot 6, the safe subassembly of being connected with robot 6, the safe subassembly includes haulage rope 7 that one end is connected with robot 6, is used for the magnetic force seat of fixed haulage rope 7, and the magnetic force seat includes first pedestal 8, is equipped with on the first pedestal 8 to be used for controlling the tensile adjustment mechanism of haulage rope 7, and the haulage rope 7 other end is established on adjustment mechanism.
The adjusting mechanism comprises a motor 81 arranged on the first seat body 8, a transmission component connected with the motor 81, and a transmission rod 82 connected with the transmission component, and the traction rope 7 is arranged on the transmission rod 82.
The transmission assembly includes a first pulley 83 connected to the motor 81, a second pulley 84 connected to the transmission rod 82, and a belt 85 connected to the first pulley 83 and the second pulley 84.
The magnetic base also comprises a base 9 and a second base body 10 arranged on the base 9, the first base body 8 is arranged on the base 9, the second base body 10 comprises a left base body 11, a right base body 12 and a fixed rod 13, one end of a traction rope 7 is arranged on a transmission rod 82, and the traction rope 7 is wound by the fixed rod 13 and then is connected with the robot body 6; still be equipped with the left fixing base 91 that is used for fixed left pedestal 11 on the base 9, be used for the right fixing base 92 of fixed right pedestal 12, left pedestal 11 is established in left fixing base 91, and right pedestal 12 is established in right fixing base 92, and dead lever 13 is established on left fixing base 91 and right fixing base 92.
Be equipped with on the left fixing base 91 and be used for the card to establish first buckle piece 911 of dead lever 13, be equipped with on the right fixing base 92 and be used for the card to establish second buckle piece 921 of dead lever 13, first buckle piece 911, second buckle piece 921 all are connected with dead lever 13.
The pulling rope 7 is provided with a sensor 14 for sensing the tension of the pulling rope 7, and the sensor 14 is connected with the motor 81.
The motor 81 is provided with a current sensor 15 for detecting a current of the motor 81.
The robot body 6 is provided with a connecting groove 15, the connecting groove 15 is provided with a connecting piece 16, and the connecting piece 16 is connected with the traction rope 7. The base 9 is a magnetizer. The robot body 6 is provided with a magnetic wheel 61.
The traction rope 7 is wound on the transmission rod 82 and the fixed rod 13, the friction force existing between the transmission rod 82 and the fixed rod 13 and the traction rope 7 affects the tension part inside the traction rope 7, or the friction force existing between the transmission rod 82 and the fixed rod 13 and the traction rope 7 is converted into the rope tension, so that the motor 81 can hold a heavy object with small force by means of the friction force.
This embodiment is right through the following formula the utility model discloses a heavier object is held to less power and demonstrates:
as shown in FIGS. 9 to 10, assuming that the radius of the fixing bar 13 is R, the traction rope 7 is wound around the fixing bar 13, the friction coefficient between the traction rope 7 and the fixing bar is mu, and the load of the traction rope 7 on the robot body is TAThe tension of the transmission rod 82 on the traction rope 7 is TBAfter the traction rope 7 is wound on the fixed rod 13, TAAnd TBThe relationship of (a) varies with the friction between the traction rope 7 and the fixing lever 13 and the length of mutual contact between the traction rope 7 and the fixing lever 13, taking into account the circle corresponding to the angle thetaThe length of the traction rope 7 with the opening angle d theta is dl, the mass of the traction rope 7 is omitted, the infinitesimal rope section receives four forces, and the tension T at the two ends of the infinitesimal rope sectionA＝T(θ)，TBT (θ + d θ), the supporting force of the pulling rope of the normal direction fixing rod 13 is dN, the friction force between the pulling rope and the column is μ dN, and in the case of no acceleration, the four forces are in a balanced state, the resultant force is zero, and the normal and tangential component forces are:
the tangential direction is as follows: t (θ + d θ) cos (d θ/2) -T (θ) cosd θ/2+ μ dN is 0
Normal direction: -T (θ + d θ) sin (d θ/2) -T (θ) sincsd θ/2+ dN is 0
Because d θ is very small, we can approximate sin (d θ/2) ≈ d θ/2, cos (d θ/2) ≈ 1, T (θ + d θ) + T (θ) ≈ 2T, and let T (θ + d θ) -T (θ) equal to dT, where dT is equal to- μ dN, Td θ is equal to- μ d θ, and let the angle corresponding to the two ends of the traction rope be θAAnd thetaBIntegrating the above equation yields:
lnTB/TA＝-μ(θA-θB)＝-μθ。
or TB＝TAe-μθ. This equation shows that the tension relationship at the two ends of the traction rope 7 is exponential. From the formula, it can be concluded that as long as we increase the angle θ, that is, we only need to wind several more turns on the fixing rod, we can satisfy the requirement of TB＜＜TATo achieve the object of holding a large load with a small force, so that the motor 81 holds the suspended robot body 6 with a small force.
The magnetic wheel 61 includes two embodiments.
Example 1
As shown in fig. 2-5, the magnetic wheel 61 includes a magnet module 1, an obstacle crossing mechanism disposed outside the magnet module 1, and a wheel axle 5, the obstacle crossing mechanism includes a first wheel block 2 disposed outside the magnet module 1, the magnet module 1 is tangent to the first wheel block 2, and the magnet module 1 is connected to the wheel axle 5.
The magnet module 1 comprises a second wheel block 12 tangent to the first wheel block 2, the second wheel block 12 is arranged in the first wheel block 2, and the second wheel block 12 is connected with the wheel shaft 5.
The wheel is characterized by further comprising a limiting block 3 arranged on the outer side of the first wheel block 2, and the limiting block 3 is connected with the wheel shaft 5.
The magnet module 1 further comprises a magnet 10 and an armature 11 arranged outside the magnet 10, wherein the magnet 10 and the armature 11 are both connected with the wheel axle 5.
The magnet 10, the armature 11, the second wheel block 12 and the limiting block 3 are all provided with center holes 4, and the wheel shaft 5 penetrates through the center holes 4 to be connected with the magnet 10, the armature 11, the second wheel block 12 and the limiting block 3 respectively.
The inner side of the first wheel block 2 is provided with a concave first tooth part 22, the outer side of the second wheel block 12 is provided with a convex second tooth part 121, and the first tooth part 22 is meshed with the second tooth part 121. The meshing of the first tooth 22 with the second tooth 121 is a tangential one.
The outer side of the first wheel block 2 is provided with a knurled straight line 21.
The outer side of the limiting block 3 is also provided with a retaining ring 51, and the retaining ring 51 is connected with the wheel shaft 5.
The magnetic wheel 61 is adsorbed on the ground through the magnet 10, when the magnetic wheel 61 moves and the magnetic wheel 61 meets an obstacle, the second tooth part 121 on the second wheel block 12 is continuously meshed with the first tooth part 22 on the first wheel block 2, and the second wheel block 12 drives the first wheel block 2 to rotate, so that the magnetic wheel 61 crosses the obstacle. The process that the second tooth 121 on the second wheel block 12 is continuously meshed with the first tooth 22 on the first wheel block 2 is that the first wheel block 12 keeps static due to contacting with the obstacle, at this time, the second wheel block 12 still needs to rotate due to the driving of the wheel shaft 5, and the second tooth 121 on the second wheel block 12 is meshed to drive the first tooth 22 to rotate, so as to drive the first wheel block 2 to rotate, and the first wheel block 2 is enabled to cross over the obstacle. The outside of the wheel shaft 5 is connected with a power device, such as a motor, which provides power for the second wheel block 12 to rotate.
Example 2
As shown in fig. 6 to 8, the present embodiment is different from embodiment 1 in that the first wheel block 2 is a circular rolling member, and the second wheel block 12 is a circular rolling member. The magnetic wheel 61 is adsorbed on the wall surface through the magnet 10, when the magnetic wheel 61 moves, the magnetic wheel 61 meets the wall surface, and the second wheel block 12 performs inscribed movement relative to the first wheel block 2 to enable the magnetic wheel 61 to complete wall surface transition. The second wheel block 12 can do an inscribed movement process relative to the first wheel block 2, namely the first wheel block 12 keeps static due to the fact that the first wheel block 12 is in contact with a wall surface, at the moment, the second wheel block 12 still needs to do a rotary movement, the tangent surface of the second wheel block 12 and the tangent surface of the first wheel block 2 generate a large friction force, the first wheel block 2 moves upwards along the tangent surface, meanwhile, the magnet 10 provides power for the first wheel block 12 to move upwards under the action of the attractive force of the wall surface, and the robot body can complete wall surface transition. The outside of the wheel shaft 5 is connected with a power device, such as a motor, which provides power for the second wheel block 12 to rotate.
As shown in fig. 7, the single magnetic wheel 61 includes the following steps when the wall surface moves:
step one, when the magnetic wheel 61 moves in a horizontal plane at a position A, the magnetic wheel 61 is adsorbed on the wall surface through the magnet module 11, when the wheel shaft 5 starts to rotate, the second wheel block 12 connected with the wheel shaft 5 rotates along with the wheel shaft, and the first wheel block 2 moves forwards under the action force of the second wheel block 12.
Step two, the magnetic wheel 61 touches the intersecting wall surface at the position B, the first wheel block 2 firstly touches the other wall surface and keeps static, and at the moment, the second wheel block 12 still rotates, so that a larger friction force is generated on the tangent surface of the second wheel block 12 and the first wheel block 2, the first wheel block 2 moves upwards along the tangent surface, meanwhile, the magnet module 11 is under the attraction effect of the other wall surface, and the acting force also provides power for the upward movement of the second wheel block 12, so that the magnetic wheel 61 can easily complete the wall surface transition.
And step three, the magnetic wheel 61 moves on a vertical plane after the wall surface transition is finished, and at the moment, the magnet module 1 provides enough adsorption force to enable large friction force to be generated between the magnetic wheel 61 and the wall surface, so that the magnetic wheel 61 is prevented from falling.
The embodiments are described in a progressive manner in the specification, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A robot traction device is characterized in that: including robot body (6), the safe subassembly of being connected with robot body (6), the safe subassembly includes haulage rope (7) that one end and robot body (6) are connected, is used for the magnetic force seat of fixed haulage rope (7), and the magnetic force seat includes first pedestal (8), is equipped with on first pedestal (8) to be used for controlling the tensile adjustment mechanism of haulage rope (7), and haulage rope (7) other end is established on adjustment mechanism.
2. The robotic traction device of claim 1, wherein: the adjusting mechanism comprises a motor (81) arranged on the first seat body (8), a transmission component connected with the motor (81), and a transmission rod (82) connected with the transmission component, and the traction rope (7) is arranged on the transmission rod (82).
3. The robotic traction device of claim 2, wherein: the transmission assembly comprises a first belt wheel (83) connected with the motor (81), a second belt wheel (84) connected with the transmission rod (82), and a transmission belt (85) connected with the first belt wheel (83) and the second belt wheel (84).
4. A robotic traction device as claimed in claim 2 or 3, wherein: the magnetic base also comprises a base (9) and a second base body (10) arranged on the base (9), the first base body (8) is arranged on the base (9), the second base body (10) comprises a left base body (11), a right base body (12) and a fixed rod (13), one end of a traction rope (7) is arranged on a transmission rod (82), and the traction rope (7) is wound by the fixed rod (13) and then is connected with the robot body (6); still be equipped with left fixing base (91) that is used for fixed left pedestal (11), right fixing base (92) that is used for fixed right pedestal (12) on base (9), left pedestal (11) are established in left fixing base (91), and right pedestal (12) are established in right fixing base (92), and establish on left fixing base (91) and right fixing base (92) dead lever (13).
5. The robotic traction device of claim 4, wherein: be equipped with on left side fixing base (91) and be used for the card to establish first buckle spare (911) of dead lever (13), be equipped with on right side fixing base (92) and be used for the card to establish second buckle spare (921) of dead lever (13), first buckle spare (911), second buckle spare (921) all are connected with dead lever (13).
6. A robotic traction device as claimed in claim 2, 3 or 5, wherein: the pulling rope (7) is provided with a sensor (14) for sensing the tension of the pulling rope (7), and the sensor (14) is connected with the motor (81).
7. The robotic traction device of claim 6, wherein: the motor (81) is provided with a current sensor for detecting the current of the motor (81).
8. A robotic traction device as claimed in claim 1, 2, 3, 5 or 7, wherein: the robot is characterized in that a connecting groove (15) is formed in the robot body (6), a connecting piece (16) is arranged on the connecting groove (15), and the connecting piece (16) is connected with the traction rope (7).
9. The robotic traction device of claim 8, wherein: the base (9) is a magnetizer.
10. A robotic traction device as claimed in claim 1, 2, 3, 5, 7 or 9, wherein: the robot body (6) is provided with a magnetic wheel (61).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921545882.4U CN210850267U (en) | 2019-09-17 | 2019-09-17 | Robot traction device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921545882.4U CN210850267U (en) | 2019-09-17 | 2019-09-17 | Robot traction device |
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| CN210850267U true CN210850267U (en) | 2020-06-26 |
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| CN201921545882.4U Active CN210850267U (en) | 2019-09-17 | 2019-09-17 | Robot traction device |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110465930A (en) * | 2019-09-17 | 2019-11-19 | 衡昇科技有限公司 | A kind of robot traction apparatus |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110465930A (en) * | 2019-09-17 | 2019-11-19 | 衡昇科技有限公司 | A kind of robot traction apparatus |
| CN110465930B (en) * | 2019-09-17 | 2024-04-02 | 衡昇科技有限公司 | Robot traction device |
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Address after: Room 501, Building 1, No. 985, 16th Street, Baiyang Street, Qiantang District, Hangzhou City, Zhejiang Province, 311100 Patentee after: Zhejiang Hengsheng Technology Co.,Ltd. Country or region after: China Address before: Room 406, building 8, 1818-2, Wenyi West Road, Yuhang street, Yuhang District, Hangzhou City, Zhejiang Province 311100 Patentee before: TOP RISE TECHNOLOGIES Ltd. Country or region before: China |