CN107336761A - A robot suction cup foot structure based on a fixed-axis gear train - Google Patents

Abstract

The invention discloses a robot sucker foot structure based on a fixed-axis gear train, which comprises a large sucker group and a small sucker group, and is characterized in that: the large sucker group comprises a large sucker (1), an upper knob (15), a first control mechanism, a large shell (11) and a middle shell (8), and the small sucker group comprises a small sucker (5), a lower knob (14), a small shell (3), a clamping column (7), a large gear (9), a small gear (10) and a second control mechanism. The sucker foot structure takes a fixed shaft gear train as a transmission system, and the small sucker acts on the large sucker. The invention utilizes the vacuum degree to generate the adsorption force of the sucker foot, does not pollute and damage the action surface, can walk on an irregular rough working surface, greatly expands the application range of the robot using the sucker foot, and enhances the adaptability and the adsorption capacity of the robot to the rough surface.

Description

A robot suction cup foot structure based on a fixed-axis gear train

technical field

The invention relates to the field of robots, in particular to a suction cup and a robot suction cup foot solution structure based on a fixed-axis wheel train in the field of robots.

Background technique

Suction cup-legged robots use suction cups to provide adsorption force, or support the robot body, or provide working force. Just like Spiderman in the movie, this robot regards tall buildings as flat ground and walks freely. In real life, the robot with sucker feet can walk on the glass surface of the building, replacing the high-altitude workers to complete the work of cleaning the glass. Or in the factory, a certain machine has a problem, and it is very dangerous for people to troubleshoot it. Due to the tricky angle, it is difficult for the manipulator to be in place. At this time, the robot with suction cup legs comes in handy. It can climb on the surface of the machine and deal with the fault in real time. . Even in the future, it can be used in the military to break through the enemy's defense line that is difficult for humans to cross, and become a rare weapon in war. Or it can engage in performing activities in the future to bring pleasant aesthetic experience to human beings.

At present, the sucker feet for robots at home and abroad can be classified as follows: electromagnetic type, vacuum type, and van der Waals force type. There are pros and cons to each of the three suckers. The vacuum suction cup uses atmospheric pressure to press the suction cup to provide suction, which has the advantages of extremely wide applicability and almost zero damage to the surface of the object. But it also has limited suction, and it is difficult to walk on non-smooth flat working surfaces. Overcoming these shortcomings will definitely greatly enhance the robot's working ability.

The robot needs to rely on the suction cup to overcome the gravity and realize the function of flying over the eaves and walls. It can be inferred as follows: theoretically, the suction cup foot must provide a force greater than or equal to the gravity equivalent. From the actual engineering point of view, the air pressure, wind, earth latitude and other influencing factors should also be considered. Therefore, according to the actual situation, an appropriate safety factor should be selected to calculate the critical force to be provided by the suction cup. If the working load of the robot is also taken into account, the force that the suction cup must provide may be even greater. It can be seen from the above that the greater the suction force that the suction cup foot can provide, the greater the reliability of the work of the suction cup foot and the robot.

When the ordinary suction cup encounters a non-smooth working surface, it is often impossible to maintain the pressure difference between the inside and outside of the suction cup due to gas leakage. But such rough surfaces are common in robotic work. This limits the ability of the robot to work. If this problem can be solved, it will definitely greatly expand the working space of the current robot. The sucker foot of this design acts on the big sucker through the small sucker, so that the big sucker can adapt to the working surface of the non-smooth plane.

The robot suction cup foot designed in this paper is dedicated to improving the suction force of the suction cup foot and the adaptability to rough surfaces.

Contents of the invention

The purpose of the present invention is to provide a robot suction cup foot structure based on a fixed-axis wheel train applied in the field of robots, which can make the robot work on a non-smooth plane working surface.

For realizing above-mentioned purpose of the invention, the technical scheme that the present invention adopts is:

A robot suction cup foot structure based on a fixed-axis gear train, comprising a large suction cup group and a small suction cup group, characterized in that: the large suction cup group includes a large suction cup (1), an upper knob (15), a first control mechanism, The large casing (11), the middle casing (8), the small suction cup set includes a small suction cup (5), a lower knob (14), a small casing (3), a support column (7), a large gear (9), a small Gear (10), second control mechanism; wherein, the small suction cup group is fixed in the middle casing (8) of the large suction cup group, and the large gear (9) is arranged on the large casing (11) and the middle casing (8) between; the connection mode of each part of the large suction cup group is: the upper knob (15) is screwed on one end of the first control mechanism, and the other end of the first control mechanism is connected with a large suction cup (1). By rotating the upper knob ( 15) Drive the first control mechanism to move linearly, thereby driving the deformation of the large suction cup (1), the first control mechanism, the upper knob (15), and the large suction cup (1) are concentrically connected; each of the small suction cup groups Part of the connection method is: the lower knob (14) is screwed on the holding column (7), the lower end of the holding column (7) is connected to the big gear (9), and is coaxial with the big gear (9), thereby driving the big gear (9) rotate, the said bull gear (9) and the pinion (10) are meshed with each other to complete the linkage, the pinion (10) is connected with one end of the second control mechanism, and the other end of the second control mechanism is connected with the small suction cup (5 ) connection, the rotation of the pinion (10) drives the second control mechanism to move linearly, thereby driving the deformation of the small sucker (5).

The first control mechanism includes a large coupling column (12), a large pull column (13), a large needle bar, and a large limit ring, and the lower end of the large coupling column (12) is installed in the middle shell ( 8), there is a groove in the large connecting column (12), and a large pulling column (13) is arranged in the groove. There is an opening on the large connecting column (13), and the large needle bar passes through the opening of the large pulling column (13). Opening, one end fits with the large limit ring, the other end is connected with the large pull column (13), and the other end of the large pull column (13) is connected with the large suction cup (1); the second control mechanism includes a small pull column ( 2), small coupling column (4), small needle bar (6), small limit ring (16), the small coupling column (4) is connected with the pinion (10), the lower end of the small coupling column (4) Installed on the small shell (3) through the small limit ring (16), there is a groove in the small coupling post (4), and a small pull post (2) is arranged in the groove, and there is an opening on the small pull post (2) , the small needle bar (6) passes through the opening of the small pull post (2), one end fits the small limit ring (16), the other end connects with the small pull post (2), and the other end of the small pull post (2) Connect with the small suction cup (5).

The connection mode between the large gear (9) and the supporting column (7) is a coaxial key connection, and the connection mode between the pinion gear (10) and the small connecting column (4) is a coaxial key connection.

The arrangement of small suction cups (5) in the small suction cup group is: n small suction cups (5) take the center of circle of the large suction cup (1) as the center, and any value from 1/4 to 3/4 of its radius The radii are equally angularly spaced.

The number n of the small suction cups (5) ranges from 3 to 12.

The modulus of the bull gear (9) and the pinion (10) can be any value in the first series in the standard modulus series table stipulated in my country, and the pressure angle is 20°. When the modulus is less than 1mm, the addendum The height coefficient is 0.8, and the top clearance coefficient is 0.35. When the modulus is greater than 1mm, the tooth top height coefficient is 1, and the top clearance coefficient is 0.25.

The working process of a robot sucker foot structure based on a fixed-axis gear train is as follows: on a plane, the upper knob (15) is rotated clockwise, and the upper knob (15) drives the big coupling column (12) of the big sucker (1) to rotate, The large connecting column (12) makes the large suction cup (1) deform and protrude through the control mechanism, and the large suction cup (1) generates an adsorption force. Then turn the lower knob (14) clockwise, the holding column (7) of the big sucker (1) rotates forward, the big gear (9) and the pinion (10) are meshed for transmission, the big gear (9) rotates clockwise, and the pinion ( 10) Rotate counterclockwise, the small gear (10) drives the small coupling column (4) of the small suction cup (5) to rotate, and the small suction cup (5) acts on the large suction cup (1) through the control mechanism of the small suction cup group. The large suction cup (1) is convex, and the adsorption force is increased; on the non-smooth plane working surface, the lower knob (14) is rotated counterclockwise, and the holding column (7) of the large suction cup (1) is reversed, and the large and small gears are meshed for transmission. The gear (9) rotates counterclockwise, the pinion (10) rotates clockwise, the pinion (10) drives the small coupling column (4) to rotate, and the small suction cup (5) acts on the large suction cup (1) through the control mechanism of the small suction cup group. ), so that the large suction cup (1) is concave, and tightly adheres to the non-smooth plane work surface. Turn the upper knob (15) clockwise afterwards, and the upper knob (15) drives the large coupling column (12) of the large suction cup (1) to rotate, and the large coupling column (12) deforms the large suction cup (1) through the control mechanism of the large suction cup group Convex up, produce adsorption force, so big sucker (1) just can walk on the working surface of non-smooth plane.

The beneficial effects of the present invention are: the vacuum degree is used to generate the adsorption force of the sucker foot, which will not cause pollution and damage to the working surface. The present invention can make the robot walk on the irregular rough working surface by using the new structure, which improves the use of the sucker. The scope of application of the robot is sufficient, and the adaptability and adsorption ability of the robot on the rough working surface are enhanced. The present invention makes the small suction cup act on the large suction cup through the fixed axle gear train. Controlling the working state of the small suction cup can increase the suction force of the large suction cup or help the large suction cup to adapt to irregular and rough surfaces. Due to the structural innovation, the new suction cup as the foot of the robot has advantages that ordinary suction cups cannot match. A robot suction cup foot structure based on a fixed-axis gear train not only allows the robot to move on the land plane, but also ensures that it can walk on walls, glass surfaces, and concave-convex surfaces, especially when encountering spherical surfaces. It broadens the application range of the robot; at the same time, the robot suction cup can also provide greater adsorption force to support the robot's work, increase the rated load of the robot's work, and complete more difficult tasks.

Description of drawings

Fig. 1 is a cross-sectional view of a robot sucker foot structure based on a fixed-axis gear train according to the present invention.

Fig. 2 is a schematic structural diagram of the second control mechanism in the robot sucker foot structure based on the fixed-axis gear train according to the present invention.

Among them: large suction cup: 1, small pulling column: 2, small shell: 3, small coupling column: 4, small suction cup: 5, small needle stick: 6, holding column: 7, middle shell: 8, large gear: 9, Small gear: 10, large shell: 11, large connecting column: 12, large pulling column: 13, lower knob: 14, upper knob: 15, small limit ring: 16.

detailed description

Below in conjunction with accompanying drawing (in Fig. 1, the number n of small suction cups takes a value of 6), the present invention will be further described.

As shown in Figure 1, a robot suction cup foot structure based on a fixed axis wheel train includes a large suction cup group and a small suction cup group, and the large suction cup group includes a large suction cup 1, an upper knob 15, a first control mechanism, and a large shell 11. The middle casing 8, the small suction cup group includes a small suction cup 5, a lower knob 14, a small casing 3, a holding column 7, a large gear 9, a pinion gear 10, and a second control mechanism; wherein, the small suction cup group is fixed In the middle casing 8 of the large suction cup group, the large gear 9 is arranged between the large casing 11 and the middle casing 8; the connection method of each part of the large suction cup group is: the upper knob 15 is screwed on one end of the first control mechanism Above, the other end of the first control mechanism is connected with a large suction cup 1, and the first control mechanism is driven to move linearly by rotating the upper knob 15, thereby driving the deformation of the large suction cup 1; the connection mode of each part of the small suction cup group is: the lower knob 14 Screwed on the holding column 7, the lower end of the holding column 7 is connected to the large gear 9 in a key connection, and is coaxial with the large gear 9, thereby driving the large gear 9 to rotate, and the large gear 9 and the small gear 10 are connected to each other The meshing completes the linkage, the pinion 10 is connected to one end of the second control mechanism, and the other end of the second control mechanism is connected to the small suction cup 5, and the rotation of the pinion 10 drives the second control mechanism to move linearly, thereby driving the small suction cup 5 out of shape.

The first control mechanism includes a large coupling column 12, a large pull column 13, a large needle bar, and a large limit ring. The lower end of the large coupling column 12 is installed on the middle shell 8 through the large limit ring. The large coupling column 12 There is a groove in the middle, and a large pull column 13 is arranged in the groove, and there is an opening on the large pull column 13. The large needle bar passes through the opening of the large pull column 13, and one end fits with the large limit ring, and the other end fits with the large pull column. The pull column 13 is connected, and the other end of the large pull column 13 is connected with the large sucker 1; the second control mechanism includes a small pull column 2, a small coupling column 4, a small needle bar 6, and a small limit ring 16, and the small coupling column 4 and the pinion 10 are connected together, and the connection method is a key connection. The lower end of the small coupling column 4 is installed on the small housing 3 through a small limit ring 16. There is a groove in the small coupling column 4, and a small coupling column is arranged in the groove. Pull post 2, there is an opening on the small post 2, the small needle bar 6 passes through the opening of the small post 2, one end fits with the small limit ring 16, and the other end is connected with the small post 2, the small post 2 The other end is connected with small suction cup 5.

Wherein, the gear modulus of the bull gear 9 and the pinion gear 10 can be any value in the first series in the standard modulus series table stipulated in my country, and the pressure angle is 20°. When the modulus is less than 1mm, the addendum height The coefficient is 0.8, and the top clearance coefficient is 0.35. When the modulus is greater than 1mm, the tooth top height coefficient is 1, and the top clearance coefficient is 0.25.

The small suction cup group is arranged in such a way that n small suction cups 5 are centered on the center of the large suction cup 1, and are distributed at equal angular intervals with any value from 1/4 to 3/4 of the radius, and the number of small suction cups is n , n ranges from 3 to 12.

As shown in Figure 2, a schematic diagram of the second control mechanism in the robot sucker foot based on the fixed-axis gear train, the second control mechanism includes a pinion, a small pull column 2, a small coupling column 4, a small limit ring 16, Small needle bar 6, small shell 3, small sucker. The function of the second control mechanism is to change the rotary motion of the small connecting column 4 in the small suction cup group into the linear motion of the small suction cup. The specific movement process is as follows: the small needle bar 6 passes through the hole of the small pull column 2, a part of the surface is attached to the surface of the small limit ring 16, and the two ends of the small needle bar 6 are inserted into the small coupling column 4 of the small suction cup group. In the needle groove, when the small coupling column 4 is driven by the pinion to rotate, the small coupling column 4 drives the small needle bar 6 to rotate, and the shape of the small limit ring 16 constrains the movement track of the small needle bar 6, and the small needle bar 6 can only Spiral up or down. The small needle bar 6 drives the small pulling column 2 to move, and the small pulling column 2 is connected to the small suction cup. The small pulling column 2 decomposes the spiral motion of the small needle bar 6 into rotation and linear motion, and drives the central part of the small suction cup to move linearly, thereby Controls the deformation of the small suction cups.

The principle of the first control mechanism is the same as that of the second control mechanism.

As shown in Figure 1 and Figure 2, the working process of a robot sucker foot based on a fixed-axis gear train is as follows:

On a smooth plane, the upper knob 15 is rotated clockwise, and the upper knob 15 drives the large coupling column 12 of the large suction cup group to rotate. The large coupling column 12 makes the large suction cup 1 deform and protrude through the control mechanism, and the large suction cup 1 generates adsorption force. Then turn the lower knob 14 clockwise, the holding column 7 of the large suction cup rotates forward, the large gear 9 and the pinion gear 10 are meshed for transmission, the large gear 9 rotates clockwise, the small gear 10 rotates counterclockwise, and the small gear 10 drives the small suction cup group. The coupling column 4 rotates, and the small suction cup 5 acts on the large suction cup 1 through the control mechanism. At this time, the large suction cup 1 is convex, and the adsorption force of the large suction cup increases.

On a non-smooth plane working surface, turn the lower knob 14 counterclockwise, the holding column 7 of the large suction cup set reverses, the large gear 9 and the small gear 10 mesh for transmission, the large gear 9 rotates counterclockwise, the small gear 10 rotates clockwise, and the small gear 10 rotates clockwise. The gear 10 drives the small coupling column 4 to rotate, and the small suction cup 5 acts on the large suction cup 1 through the control mechanism of the small suction cup group, so that the large suction cup 1 is concave and tightly attached to the non-smooth plane working surface; turn the knob 15 clockwise , the upper knob 15 drives the large coupling column 12 of the large suction cup group to rotate, the large coupling column 12 makes the deformation of the large suction cup 1 protrude through the control mechanism, and the large suction cup 1 produces adsorption force, so the device has just worked on the non-smooth plane working surface.

The present invention has been described by the above-mentioned related embodiments, however, the above-mentioned embodiments are only examples for implementing the present invention. It must be pointed out that the disclosed embodiments do not limit the scope of the present invention. On the contrary, changes and modifications made without departing from the spirit and scope of the present invention all belong to the scope of patent protection of the present invention.

Claims (5)

1. a kind of robot sucker foot structure based on fixed shaft gear train, including big sucker group, small sucker group, it is characterised in that：Institute The big sucker group stated includes big sucker (1), upper knob (15), the first controlling organization, big shell (11), middle shell (8), described Small sucker group includes small sucker (5), lower knob (14), small shell (3), accommodates post (7), gear wheel (9), little gear (10), the Two controlling organizations；Wherein, the small sucker group is arranged in the middle shell (8) of big sucker group, and the gear wheel (9) is arranged on greatly Between shell (11) and middle shell (8)；The connected mode of the big sucker group each several part is：Upper knob (15) is screwed in the first control On mechanism one end processed, the other end of the first controlling organization is connected with big sucker (1), and the first control is driven by rotating upper knob (15) Mechanism linear motion processed, so as to drive big sucker (1) to deform；The connected mode of the small sucker group each several part is：Lower knob (14) it is screwed in and accommodates on post (7), accommodates post (7) lower end and gear wheel (9) connection, and it is concentric with gear wheel (9), pass through rotation Turning lower knob (14) so as to drive gear wheel (9) to rotate, the gear wheel (9) completes linkage with little gear (10) intermeshing, The little gear (10) is connected with second controlling organization one end, and the other end of the second controlling organization is connected with small sucker (5), is passed through The rotation of little gear (10) drives the second controlling organization linear motion, so as to drive the deformation of small sucker (5).

A kind of 2. robot sucker foot structure of fixed shaft gear train according to claim 1, it is characterised in that：Described first Controlling organization include it is big be coupled post (12), big stay column (13), big needle bar, big spacing ring, big connection post (12) upper end with it is upper Knob (15) is connected, and lower end is arranged on middle shell (8) by big spacing ring, and be coupled in post (12) has groove greatly, is set in groove Big stay column (13) is equipped with, there is perforate on big stay column (13), big needle bar passes through the perforate of big stay column (13), and one end is pasted with big spacing ring Close, the other end is connected with big stay column (13), and big stay column (13) other end is connected with big sucker (1)；The second controlling organization bag Include small stay column (2), small connection post (4), small needle bar (6), small spacing ring (16), the small connection post (4) and the little gear (10) connect, small connection post (4) lower end is arranged on small shell (3) by small spacing ring (16), has ditch in small connection post (4) Groove, small stay column (2) being provided with groove, there is perforate on small stay column (2), small needle bar (6) passes through the perforate of small stay column (2), one end It is bonded with small spacing ring (16), the other end is connected with small stay column (2), and small stay column (2) other end is connected with small sucker (5).

A kind of 3. robot sucker foot structure based on fixed shaft gear train according to claim 2, it is characterised in that：It is described big Gear (9) is key connection with the connected mode for accommodating post (7), and the little gear (10) is with the small connected mode for being coupled post (4) Key connection.

4. a kind of robot sucker foot structure based on fixed shaft gear train according to claim 1-3 any one, its feature It is：The arrangement of small sucker (5) is in the small sucker group：N small sucker (5) centered on the center of circle of big sucker (1), Using the arbitrary value of a quarter of its radius to 3/4ths as the equiangularly spaced distribution of radius.

A kind of 5. robot sucker foot structure based on fixed shaft gear train according to claim 4, it is characterised in that：Small sucker (5) number n spans are 3~12.