CN103950030B - A kind of four-footed climbing mobile robot - Google Patents
A kind of four-footed climbing mobile robot Download PDFInfo
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- CN103950030B CN103950030B CN201410175899.0A CN201410175899A CN103950030B CN 103950030 B CN103950030 B CN 103950030B CN 201410175899 A CN201410175899 A CN 201410175899A CN 103950030 B CN103950030 B CN 103950030B
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Abstract
A kind of four-footed climbing mobile robot, belongs to climbing mobile robot technology field.Prow climbing foot of the present invention is climbed foot with the first fuselage and is connected, first fuselage climbing foot is climbed foot with the second fuselage and is connected, second fuselage climbing foot is climbed foot with tail and is connected, it is identical that prow climbing foot and tail climb sufficient structure, it is identical that first fuselage climbing foot and the second fuselage climb sufficient structure, prow climbing foot, tail climbing foot are driven by single-DOF-joint, first fuselage climbing foot, the second fuselage climbing foot are driven by two degree-of-freedom joint, and single-DOF-joint and two degree-of-freedom joint are all connected with gripper jaw.The present invention compared with prior art, when the electric power pylon of complicated shape and type, easily can adapt to electric power pylon and carry out climbing operation, can realize carrying out climbing between main material, tiltedly material and cross-arm to cross over, climbing flexibility is higher, can ensure in climbing process that having two to climb foot is all the time in clamped condition, ensure that climbing security.
Description
Technical field
The invention belongs to climbing mobile robot technology field, particularly relate to a kind of four-footed climbing mobile robot.
Background technology
In China's power system, patrolling and examining of electric power pylon is mostly manual inspection, but manual inspection efficiency is general not high, and it is greatly dangerous, then person skilled just have developed climbing mobile robot in order to replace manually carrying out patrolling and examining operation, but existing climbing mobile robot is not also very perfect, and more or less come with some shortcomings, wherein climb mobile robot to the shape of electric power pylon and types entail high, be difficult to the oblique material and the cross-arm that adapt to complicated type, poor to climbing environmental suitability, in climbing process, be difficult to realize main material, climbing between oblique material and cross-arm is crossed over, climbing flexibility is poor, and climbing security is not high.
Summary of the invention
For prior art Problems existing, the invention provides a kind of compact conformation, to climbing the four-footed climbing mobile robot that environmental suitability is strong, climbing flexibility is good and security is high.
To achieve these goals, the present invention adopts following technical scheme: a kind of four-footed climbing mobile robot, comprise prow climbing foot, first fuselage climbing foot, second fuselage climbing foot and tail climbing foot, described prow climbing foot is climbed foot with the first fuselage and is connected, first fuselage climbing foot is climbed foot with the second fuselage and is connected, second fuselage climbing foot is climbed foot with tail and is connected, it is identical that described prow climbing foot and tail climb sufficient structure, it is identical that first fuselage climbing foot and the second fuselage climb sufficient structure, described prow climbing foot, tail climbing foot comprises single-DOF-joint, described first fuselage climbing foot, second fuselage climbing foot comprises two degree-of-freedom joint, described single-DOF-joint and two degree-of-freedom joint are all connected with gripper jaw.
Described single-DOF-joint comprises the first bearing, the first drive motors, the first turning cylinder, the second turning cylinder, the first gripper jaw drive motors and the first gripper jaw driving shaft, described first drive motors is fixed on the first bearing, the motor shaft of the first drive motors is connected with worm screw, described first turning cylinder is arranged on the first bearing by bearing, on the first turning cylinder, fixed cover is equipped with worm gear, and worm gear is meshed with worm screw; Described second turning cylinder is arranged on the first bearing by bearing, and the second turning cylinder parallels with the first turning cylinder; Described first turning cylinder is coordinated by belt and pulley drive with between the second turning cylinder;
Described second turning cylinder is fixed with transfer block, first gripper jaw drive motors is installed in transfer block, described first gripper jaw driving shaft to be arranged in transfer block and perpendicular to the second turning cylinder, first gripper jaw driving shaft is rotatable but axially immovable relative to transfer block, in first gripper jaw driving shaft one end, driven gear is installed, the motor shaft of the first gripper jaw drive motors is provided with driving gear, and driving gear is meshed with driven gear; The described first gripper jaw driving shaft other end is connected with gripper jaw.
Described two degree-of-freedom joint comprises the second bearing, the second drive motors, the 3rd turning cylinder, the 4th turning cylinder, the 5th turning cylinder, cross axle, three abutments, the 3rd drive motors, the second gripper jaw drive motors and the second gripper jaw driving shaft, described second drive motors is fixed on the second bearing, the motor shaft of the second drive motors is connected with worm screw, described 3rd turning cylinder is arranged on the second bearing by bearing, on the 3rd turning cylinder, fixed cover is equipped with worm gear, and worm gear is meshed with worm screw; The transverse axis of described cross axle is arranged on the second bearing by bearing, and the transverse axis of cross axle parallels with the 3rd turning cylinder; Described 3rd is coordinated by belt and pulley drive between turning cylinder and the transverse axis of cross axle;
The longitudinal axis of described cross axle is arranged on three abutments by bearing, and described 4th turning cylinder is arranged on three abutments by bearing, and the 4th turning cylinder parallels with the longitudinal axis of cross axle; Described 3rd drive motors is fixed on three abutments, and the motor shaft of the 3rd drive motors is connected with worm screw, and on the 4th turning cylinder, fixed cover is equipped with worm gear, and worm gear is meshed with worm screw; Described 4th is coordinated by belt and pulley drive between turning cylinder and the longitudinal axis of cross axle;
Described 5th turning cylinder is arranged on three abutments by bearing, and the 5th turning cylinder parallels with the longitudinal axis of cross axle; Described second gripper jaw drive motors is fixed on three abutments, and the motor shaft of the second gripper jaw drive motors is connected with worm screw, and on the 5th turning cylinder, fixed cover is equipped with worm gear, and worm gear is meshed with worm screw; Described 5th turning cylinder is connected by swivel joint with the second gripper jaw driving shaft, is coordinated between the second gripper jaw driving shaft with the 5th turning cylinder by belt and pulley drive.
Described gripper jaw comprises electronic clamp-type paw, magnetic suck type paw or vacuum adsorption paw.
Climb between foot at described prow climbing foot and the first fuselage, the first fuselage climb foot and the second fuselage climb sufficient between, the second fuselage climb foot and tail climb sufficient between be all provided with sufficient between connecting rod.
Beneficial effect of the present invention:
The present invention compared with prior art, when the electric power pylon of complicated shape and type, easily can adapt to electric power pylon and carry out climbing operation, can realize carrying out climbing between main material, tiltedly material and cross-arm to cross over, climbing flexibility is higher, can ensure in climbing process that having two to climb foot is all the time in clamped condition, ensure that climbing security.
Accompanying drawing explanation
Fig. 1 is a kind of four-footed climbing mobile robot structural representation of the present invention;
Fig. 2 is single-DOF-joint structural representation of the present invention;
Fig. 3 is two degree-of-freedom joint structural representation of the present invention;
Fig. 4 climbs gait decomposition principle figure in embodiment one;
Fig. 5 climbs gait decomposition principle figure in embodiment two;
In figure, 1-prow climbing foot, 2-the first fuselage climbing foot, 3-the second fuselage climbing foot, 4-tail climbing foot, 5-gripper jaw, connecting rod between 6-foot, 7-the first bearing, 8-the first drive motors, 9-the first turning cylinder, 10-the second turning cylinder, 11-the first gripper jaw drive motors, 12-the first gripper jaw driving shaft, 13-transfer block, 14-driving gear, 15-driven gear, 16-the second bearing, 17-the second drive motors, 18-the three turning cylinder, 19-cross axle, 20-the three abutments, 21-the three drive motors, 22-the second gripper jaw drive motors, 23-the second gripper jaw driving shaft.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.
As Fig. 1, 2, shown in 3, a kind of four-footed climbing mobile robot, comprise prow climbing foot 1, first fuselage climbing foot 2, second fuselage climbing foot 3 and tail climbing foot 4, described prow climbing foot 1 is climbed foot 2 with the first fuselage and is connected, first fuselage climbing foot 2 is climbed foot 3 with the second fuselage and is connected, second fuselage climbing foot 3 is climbed foot 4 with tail and is connected, described prow climbing foot 1 and tail climb enough that 4 structures are identical, it is identical that first fuselage climbing foot 2 and the second fuselage climb enough 3 structures, described prow climbing foot 1, tail climbing foot 4 comprises single-DOF-joint, described first fuselage climbing foot 2, second fuselage climbing foot 3 comprises two degree-of-freedom joint, described single-DOF-joint and two degree-of-freedom joint are all connected with gripper jaw 5.
Described single-DOF-joint comprises the first bearing 7, first drive motors 8, first turning cylinder 9, second turning cylinder 10, first gripper jaw drive motors 11 and the first gripper jaw driving shaft 12, described first drive motors 8 is fixed on the first bearing 7, the motor shaft of the first drive motors 8 is connected with worm screw, described first turning cylinder 9 is arranged on the first bearing 7 by bearing, on the first turning cylinder 9, fixed cover is equipped with worm gear, and worm gear is meshed with worm screw; Described second turning cylinder 10 is arranged on the first bearing 7 by bearing, and the second turning cylinder 10 parallels with the first turning cylinder 9; Described first turning cylinder 9 is coordinated by belt and pulley drive with between the second turning cylinder 10;
Described second turning cylinder 10 is fixed with transfer block 13, first gripper jaw drive motors 11 is installed in transfer block 13, described first gripper jaw driving shaft 12 to be arranged in transfer block 13 and perpendicular to the second turning cylinder 10, first gripper jaw driving shaft 12 is rotatable but axially immovable relative to transfer block 13, in first gripper jaw driving shaft 12 one end, driven gear 15 is installed, the motor shaft of the first gripper jaw drive motors 11 is provided with driving gear 14, and driving gear 14 is meshed with driven gear 15; Described first gripper jaw driving shaft 12 other end is connected with gripper jaw 5.
Described two degree-of-freedom joint comprises the second bearing 16, second drive motors 17, the 3rd turning cylinder 18, the 4th turning cylinder, the 5th turning cylinder, cross axle 19, three abutments 20, the 3rd drive motors 21, second gripper jaw drive motors 22 and the second gripper jaw driving shaft 23, described second drive motors 17 is fixed on the second bearing 16, the motor shaft of the second drive motors 17 is connected with worm screw, described 3rd turning cylinder 18 is arranged on the second bearing 16 by bearing, on the 3rd turning cylinder 18, fixed cover is equipped with worm gear, and worm gear is meshed with worm screw; The transverse axis of described cross axle 19 is arranged on the second bearing 16 by bearing, and the transverse axis of cross axle 19 parallels with the 3rd turning cylinder 18; Coordinated by belt and pulley drive between described 3rd turning cylinder 18 and the transverse axis of cross axle 19;
The longitudinal axis of described cross axle 19 is arranged on three abutments 20 by bearing, and described 4th turning cylinder is arranged on three abutments 20 by bearing, and the 4th turning cylinder parallels with the longitudinal axis of cross axle 19; Described 3rd drive motors 21 is fixed on three abutments 20, and the motor shaft of the 3rd drive motors 21 is connected with worm screw, and on the 4th turning cylinder, fixed cover is equipped with worm gear, and worm gear is meshed with worm screw; Coordinated by belt and pulley drive between described 4th turning cylinder and the longitudinal axis of cross axle 19;
Described 5th turning cylinder is arranged on three abutments 20 by bearing, and the 5th turning cylinder parallels with the longitudinal axis of cross axle 19; Described second gripper jaw drive motors 22 is fixed on three abutments 20, and the motor shaft of the second gripper jaw drive motors 22 is connected with worm screw, and on the 5th turning cylinder, fixed cover is equipped with worm gear, and worm gear is meshed with worm screw; Described 5th turning cylinder is connected by swivel joint with the second gripper jaw driving shaft 23, is coordinated between the second gripper jaw driving shaft 23 with the 5th turning cylinder by belt and pulley drive.
According to the difference of climbing environment, described gripper jaw 5 comprises electronic clamp-type paw, magnetic suck type paw or vacuum adsorption paw.
Climb between foot 2 at described prow climbing foot 1 and the first fuselage, the first fuselage climb foot 2 and the second fuselage climb between foot 3, the second fuselage climb sufficient 3 and tail climb sufficient 4 between be all provided with sufficient between connecting rod 6, according to the needs of reality climbing distance, to have between some different bars long foot connecting rod 6 with satisfied replacing needs.
Below in conjunction with accompanying drawing, use procedure of the present invention is described:
Application Example one
In the present embodiment, the present invention is for climbing the main material of electric power pylon, main material is angle steel pylon, and electronic clamp-type paw selected by gripper jaw 5, before climbing, first the present invention is delivered on angle steel pylon, make prow climb foot 1 and the first fuselage climbing foot 2 angle of pinching steel towers, the second fuselage climbing foot 3 and tail climbing foot 4 are in releasing orientation, are now in the original state before climbing, as shown in Figure 4, be climbing gait decomposition principle figure;
Action one: the first fuselage climbing foot 2 controls the second fuselage climbing foot 3 by its two degree-of-freedom joint and lifts, second fuselage climbing foot 3 is upwards climbed along angle steel tower surface by its two degree-of-freedom joint control tail climbing foot 4 simultaneously, after reaching predetermined altitude, tail climbing foot 4 angle of pinching steel towers, then the second fuselage climbing foot 3 unclamps;
Action two: prow climbing foot 1 controls the first fuselage climbing foot 2 by its single-DOF-joint and lifts, the foot of tail climbing simultaneously 4 controls the second fuselage climbing foot 3 by its single-DOF-joint and falls, until the second fuselage climbing foot 3 angle of pinching steel towers, then prow climbing foot 1 unclamps;
Action three: the second fuselage climbing foot 3 controls the first fuselage climbing foot 2 by its two degree-of-freedom joint and falls, first fuselage climbing foot 2 is upwards climbed along angle steel tower surface by its two degree-of-freedom joint control prow climbing foot 1 simultaneously, until the gripper jaw 5 of the first fuselage climbing foot 2 contacts with angle steel tower surface, now prow climbing foot 1 and the first fuselage climbing foot 2 angle of pinching steel tower simultaneously, then the second fuselage climbing foot 3 and tail climbing foot 4 unclamp successively, now complete a climbing gait, repeat gait and complete climbing operation.
Application Example two
In the present embodiment, the present invention is for climbing the oblique material of span power transmission tower, oblique material is slotted-angle shelving, and electronic clamp-type paw selected by gripper jaw 5, before climbing, first tail is made to climb foot 4 and the second fuselage climbing foot 3 clamping ground floor slotted-angle shelving, with seasonal prow climbing foot 1 clamping second layer slotted-angle shelving, the first fuselage climbing foot 2 is unsettled, is now in the original state before climbing, as shown in Figure 5, be climbing gait decomposition principle figure;
Action one: the second fuselage climbing foot 3 unclamps, tail climbing foot 4 controls the second fuselage climbing foot 3 by its single-DOF-joint and lifts, the foot of prow climbing simultaneously 1 controls the first fuselage climbing foot 2 by its single-DOF-joint and lifts and contact second layer slotted-angle shelving, now the first fuselage climbing foot 2 clamping second layer slotted-angle shelving, the second fuselage climbing foot 3 is unsettled;
Action two: prow climbing foot 1 unclamps, first fuselage climbing foot 2 controls prow climbing foot 1 by its two degree-of-freedom joint and lifts, until prow climbing foot 1 contacts with third layer slotted-angle shelving, now prow climbing foot 1 clamping third layer slotted-angle shelving, then tail climbing foot 4 unclamps, second fuselage climbing foot 3 controls tail climbing foot 4 by its two degree-of-freedom joint and lifts, until tail climbing foot 4 contacts with second layer slotted-angle shelving, and now tail climbing foot 4 clamping second layer slotted-angle shelving;
Action three: the first fuselage climbing foot 2 unclamps, tail climbing foot 4 controls the second fuselage climbing foot 3 by its single-DOF-joint and lifts, the foot of prow climbing simultaneously 1 controls the first fuselage climbing foot 2 by its single-DOF-joint and lifts, until the second fuselage climbing foot 3 contacts with second layer slotted-angle shelving, now the second fuselage climbing foot 3 clamping second layer slotted-angle shelving, first fuselage climbing foot 2 is unsettled simultaneously, now completes a climbing gait, repeats gait and complete climbing operation.
Scheme in embodiment is also not used to limit scope of patent protection of the present invention, and the equivalence that all the present invention of disengaging do is implemented or changed, and is all contained in the scope of the claims of this case.
Claims (4)
1. a four-footed climbing mobile robot, it is characterized in that: comprise prow climbing foot, first fuselage climbing foot, second fuselage climbing foot and tail climbing foot, described prow climbing foot is climbed foot with the first fuselage and is connected, first fuselage climbing foot is climbed foot with the second fuselage and is connected, second fuselage climbing foot is climbed foot with tail and is connected, it is identical that described prow climbing foot and tail climb sufficient structure, it is identical that first fuselage climbing foot and the second fuselage climb sufficient structure, described prow climbing foot, tail climbing foot comprises single-DOF-joint, described first fuselage climbing foot, second fuselage climbing foot comprises two degree-of-freedom joint, described single-DOF-joint and two degree-of-freedom joint are all connected with gripper jaw,
Described single-DOF-joint comprises the first bearing, the first drive motors, the first turning cylinder, the second turning cylinder, the first gripper jaw drive motors and the first gripper jaw driving shaft, described first drive motors is fixed on the first bearing, the motor shaft of the first drive motors is connected with worm screw, described first turning cylinder is arranged on the first bearing by bearing, on the first turning cylinder, fixed cover is equipped with worm gear, and worm gear is meshed with worm screw; Described second turning cylinder is arranged on the first bearing by bearing, and the second turning cylinder parallels with the first turning cylinder; Described first turning cylinder is coordinated by belt and pulley drive with between the second turning cylinder;
Described second turning cylinder is fixed with transfer block, first gripper jaw drive motors is installed in transfer block, described first gripper jaw driving shaft to be arranged in transfer block and perpendicular to the second turning cylinder, first gripper jaw driving shaft is rotatable but axially immovable relative to transfer block, in first gripper jaw driving shaft one end, driven gear is installed, the motor shaft of the first gripper jaw drive motors is provided with driving gear, and driving gear is meshed with driven gear; The described first gripper jaw driving shaft other end is connected with gripper jaw.
2. a kind of four-footed climbing mobile robot according to claim 1, it is characterized in that: described two degree-of-freedom joint comprises the second bearing, second drive motors, 3rd turning cylinder, 4th turning cylinder, 5th turning cylinder, cross axle, three abutments, 3rd drive motors, second gripper jaw drive motors and the second gripper jaw driving shaft, described second drive motors is fixed on the second bearing, the motor shaft of the second drive motors is connected with worm screw, described 3rd turning cylinder is arranged on the second bearing by bearing, on the 3rd turning cylinder, fixed cover is equipped with worm gear, worm gear is meshed with worm screw, the transverse axis of described cross axle is arranged on the second bearing by bearing, and the transverse axis of cross axle parallels with the 3rd turning cylinder, described 3rd is coordinated by belt and pulley drive between turning cylinder and the transverse axis of cross axle,
The longitudinal axis of described cross axle is arranged on three abutments by bearing, and described 4th turning cylinder is arranged on three abutments by bearing, and the 4th turning cylinder parallels with the longitudinal axis of cross axle; Described 3rd drive motors is fixed on three abutments, and the motor shaft of the 3rd drive motors is connected with worm screw, and on the 4th turning cylinder, fixed cover is equipped with worm gear, and worm gear is meshed with worm screw; Described 4th is coordinated by belt and pulley drive between turning cylinder and the longitudinal axis of cross axle;
Described 5th turning cylinder is arranged on three abutments by bearing, and the 5th turning cylinder parallels with the longitudinal axis of cross axle; Described second gripper jaw drive motors is fixed on three abutments, and the motor shaft of the second gripper jaw drive motors is connected with worm screw, and on the 5th turning cylinder, fixed cover is equipped with worm gear, and worm gear is meshed with worm screw; The longitudinal axis of described cross axle is connected by swivel joint with the second gripper jaw driving shaft, is coordinated between the second gripper jaw driving shaft with the 5th turning cylinder by belt and pulley drive.
3. a kind of four-footed climbing mobile robot according to claim 1, is characterized in that: described gripper jaw comprises electronic clamp-type paw, magnetic suck type paw or vacuum adsorption paw.
4. a kind of four-footed climbing mobile robot according to claim 1, is characterized in that: climb between foot at described prow climbing foot and the first fuselage, the first fuselage climb foot and the second fuselage climb sufficient between, the second fuselage climb foot and tail climb sufficient between be all provided with sufficient between connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201410175899.0A CN103950030B (en) | 2014-04-28 | 2014-04-28 | A kind of four-footed climbing mobile robot |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410175899.0A CN103950030B (en) | 2014-04-28 | 2014-04-28 | A kind of four-footed climbing mobile robot |
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| CN103950030A CN103950030A (en) | 2014-07-30 |
| CN103950030B true CN103950030B (en) | 2015-11-04 |
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| CN201410175899.0A Active CN103950030B (en) | 2014-04-28 | 2014-04-28 | A kind of four-footed climbing mobile robot |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105564532B (en) * | 2016-02-19 | 2017-08-01 | 常州大学 | Series-parallel connection low frequency apery Three Degree Of Freedom machinery foot |
| CN107309902A (en) * | 2017-08-21 | 2017-11-03 | 福建龙溪轴承(集团)股份有限公司 | Cross axle articulation structure |
| CN108436964A (en) * | 2018-04-02 | 2018-08-24 | 西南交通大学 | A kind of pylon climbing robot |
| CN108820062B (en) * | 2018-07-05 | 2019-08-02 | 武汉科技大学 | Super-long cylindrical structure surface detection robot |
| CN108909867B (en) * | 2018-08-31 | 2023-11-03 | 西南交通大学 | Climbing robot |
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| EP1373783B1 (en) * | 2001-03-07 | 2005-08-03 | Carnegie-Mellon University | Gas main robotic inspection system |
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