CN100554068C - Multi-node wall-climbing worm type robot - Google Patents
Multi-node wall-climbing worm type robot Download PDFInfo
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- CN100554068C CN100554068C CNB2008101174734A CN200810117473A CN100554068C CN 100554068 C CN100554068 C CN 100554068C CN B2008101174734 A CNB2008101174734 A CN B2008101174734A CN 200810117473 A CN200810117473 A CN 200810117473A CN 100554068 C CN100554068 C CN 100554068C
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- steering wheel
- sucker
- coupling end
- absorbent module
- terminal pad
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Abstract
The invention discloses a kind of multi-node wall-climbing worm type robot is made up of head (1), trunk (2) and afterbody (3) three parts, be connected with two output shafts of steering wheel by terminal pad between head (1), trunk (2) and afterbody (3) three, thereby realize the whole configuration of multi-node wall-climbing worm type robot.Wherein, head (1) includes the identical connecting arm of two structures, two different housings unit, identical suction unit, the absorbent module of vibration unit, three steering wheels, eight Hall elements are formed; Trunk (2) includes three identical passive component, two identical absorbent module, five steering wheels, eight Hall elements of structure of structure and forms; Afterbody (3) includes two identical connecting arm, two absorbent module, four steering wheels, eight Hall elements of structure and forms.The motion process of multi-joint worm type robot of the present invention is: at first afterbody lifts and falls under the effect of steering wheel and makes robot produce a step pitch, trunk is coordinated wriggling with afterbody under the effect of steering wheel then, this step pitch is delivered to head, last head lifts and falls the advance that this step pitch is converted into robot under the effect of steering wheel, thereby realizes moving ahead of robot.
Description
Technical field
The present invention relates to a kind of wall-surface mobile robot, more particularly say, be meant a kind of have modularization, restructural, multi-node wall-climbing worm type robot.
Background technology
The principle that wall-surface mobile robot adsorbs on the nonferromagnetic wall probably can be divided into three kinds: 1. vacuum suction apparatus---get rid of the fixedly gas formation vacuum in the confined space of sucker by the swabbing action of high velocity air; 2. dilatation vacuum---utilize and decide the principle that mass gas increase volume reduces pressure and in annular seal space (sucker), produce vacuum; 3. rotor absorption---the vectored thrust that rotation produces by screw propeller is pressed to wall to robot.
Generally speaking, when miniaturization designs, they all expose some common problems:
(1) intrinsic contradiction and ground mobile phase ratio, the difficult point that wall moves is in the influence of gravity.On wall, absorption and move both and constitute a pair of contradiction all the time: prevent to fall, sucker can not break away from wall with regard to the moment, and this depends on enough friction force, and the cost that obtains it is to keep powerful positive pressure; But move, the sucker overcome friction of having to is again done tangential slip along wall.Robot forward compressing wall is heavy more, and friction force is big more, and is just safe more, but mobile just difficult more, obviously this is a kind of " internal conflict ", " in-fighting ", has reduced the utilization ratio of energy.
(2) scale effect is as aircraft, and behind the span＜150mm, traditional theory of flight is no longer suitable, and needs the Pneu theory under low reynolds number, the non-permanent condition, and wing also should make flapping wing into.For enough adsorption affinitys and suitable safety factor are provided, above-mentioned 1., 2. two kinds of suction types all need relatively large plane sucking disc area, otherwise can't adsorb reliably.Wall-surface mobile robot faces the difficulty of what is called " scale effect " equally when miniaturization, the adsorption theory that needs innovation is dissolved.But countries in the world may still be studied seldom the variation that science mechanism is brought the wall-surface mobile robot miniaturization at present, know little about it.
(3) sucker of keeping of vacuum leaks unavoidably, and adsorption affinity is very responsive to leaking, therefore be no lack of in domestic and international tens kinds of representational wall-surface mobile robots and design the vacuum environment that has originally formed in order to maintain cleverly, but also paid high cost for this reason.If in the face of hydraulically rough surface,, leak puzzlement factor especially as ceramic tile, cement mortar, mosaic, cob brick wall etc.As everyone knows, according to present gas circuit design-calculated level, in order to make up and keep vacuum environment, mass air flow is emptied in the atmosphere in vain, and rate of energy can be greater than 20%.Therefore characteristics such as small-sized wall-climbing robot has lightly, low-power consumption, low danger are widely used in building detection, Urban Search and Rescue and to the detection of circumstances not known etc.But because its running surface mostly is complex-curved greatly, and need overcome gravity, it is light and handy flexible with motion that existing climbing robot is difficult to take into account structure.
Summary of the invention
The purpose of this invention is to provide a kind of multi-node wall-climbing worm type robot, this robot adopts head, afterbody, trunk modular design, the vibration unit in six absorbent module, suction unit is adopted modular design, helps the reconstruct of robot; Use 12 steering wheels and realize the vermicular movement of robots, make robot have that structure is light and handy, the motion flexible characteristic.
Multi-node wall-climbing worm type robot of the present invention is made up of head 1, trunk 2 and afterbody 3 three parts, be connected with two output shafts of steering wheel by terminal pad between head 1, trunk 2 and afterbody 3 threes, thereby realize the whole configuration of multi-node wall-climbing worm type robot.Wherein, head 1 includes the identical connecting arm (A connecting arm 21, B connecting arm 22) of two structures, two different housings unit, identical suction unit, the absorbent module (A absorbent module 11, B absorbent module 12) of vibration unit, three steering wheels (A steering wheel 4A, B steering wheel 4B, C steering wheel 4C), eight Hall elements are formed; Trunk 2 is made up of three identical passive component (A passive component 31, B passive component 32, C passive component 33), two identical absorbent module (C absorbent module 13, D absorbent module 14), eight steering wheels, eight Hall elements of structure of structure; Afterbody 3 is made up of two identical connecting arm (C connecting arm 23, D connecting arm 24), two absorbent module (E absorbent module 15, F absorbent module 16), four steering wheels, eight Hall elements of structure.Four per two of connecting arms are one group, one group of head that is installed in robot, and another group is installed in the afterbody of robot, is used to realize the open chain motion of robot head and the tail, has solved the redundant drive problem of robot.Three passive components are installed on the metastomium of robot, and with absorbent module layout at interval, the internal force that is used for realizing the passive turning of robot and eliminating motion process is interfered.Six absorbent module are used to realize the absorption of robot and wall, and the suction unit in each absorbent module is the identical modular design of structure with vibration unit, has only the housing unit of head, afterbody that difference is arranged approximately, helps the restructural of robot.
The advantage of multi-node wall-climbing worm robot of the present invention is: the absorbent module of (1) identical molds blocking and the vibration component of identical molds blocking are installed in the housing with frame feature, are convenient to realize the miniaturization and the restructural of robot; (2) connection mode by steering wheel realizes the series-mode frame of robot, makes robot have multivariant feature; (3) adopt four connecting arms can realize the open chain motion of robot head and the tail at head and the tail, solved the redundant drive problem of robot; (4) adopt three passive components as the flexibly connecting of trunk, can reduce the internal force interference that produces in robot motion's process effectively, improved the installation coefficient that robot wall of the present invention is creeped; (5) vibration component adopts the actuator of motor as sucker, has avoided the bulky construction of vacuum generator and used tracheae producing vacuum, is convenient to robot and realizes no cable operation; (6) stage clip in the passive component, extension spring adopt couple of force to close design, can realize the turning of robot and reset; (7) the installation employing of steering wheel and housing be in same plane, can reduce robot and climb overturning couple in the wall process.
Description of drawings
Fig. 1 is the integral structure figure of robot of the present invention.
Fig. 2 is the constructional drawing of head of the present invention.
Fig. 2 A is the constructional drawing of A connecting arm and B connecting arm in the head of the present invention.
Fig. 2 B is the constructional drawing of B absorbent module in the head of the present invention.
Fig. 2 C is the constructional drawing of the B housing of B absorbent module in the head of the present invention.
Fig. 2 D is another angle constructional drawing of the B housing of B absorbent module in the head of the present invention.
Fig. 2 E is the B frame construction drawing of the B housing of B absorbent module in the head of the present invention.
Fig. 2 F is the suction unit of unassembled B housing of B absorbent module in the head of the present invention and the constructional drawing of vibration unit.
Fig. 2 G is the blast diagrammatic sketch of Fig. 2 F.
Fig. 2 H is the constructional drawing of A absorbent module in the head of the present invention.
Fig. 2 I is the constructional drawing of the A housing of A absorbent module in the head of the present invention.
Fig. 3 is the constructional drawing of trunk of the present invention.
Fig. 3 A is the constructional drawing of A passive component in the trunk of the present invention.
Fig. 3 B is the constructional drawing of the U-shaped frame of the A passive component in the trunk of the present invention.
Fig. 3 C is the constructional drawing of the T shape frame of the A passive component in the trunk of the present invention.
Fig. 4 is the constructional drawing of afterbody of the present invention.
Fig. 4 A is the constructional drawing of C connecting arm and D connecting arm in the afterbody of the present invention.
Fig. 4 B is the constructional drawing of F absorbent module in the afterbody of the present invention.
Fig. 4 C is the blast diagrammatic sketch of the F housing of F absorbent module in the afterbody of the present invention.
Among the figure: 1. head 2. trunks 3. afterbodys
11.A absorbent module 11a.A sucker 11b.B sucker 11c.C sucker 11d.D sucker
12.B absorbent module 12a.E sucker 12c.G sucker 12d.H sucker
13.C absorbent module 13a.I sucker 13b.J sucker 13c.K sucker 13d.L sucker
14.D absorbent module 14a.M sucker 14b.N sucker 14c.O sucker 14d.P sucker
15.E absorbent module 15a.Q sucker 15b.R sucker 15c.S sucker 15d.T sucker
16.F absorbent module 16a.U sucker 16b.V sucker 16c.W sucker 16d.X sucker
21.A connecting arm 22.B connecting arm 23.C connecting arm 24.D connecting arm
101.A coupling end 102.B coupling end 103.C coupling end 104.D coupling end 105.E coupling end
106.F coupling end 107.A connector 110.G coupling end 111.H coupling end 112.B connector
201.K coupling end 202.L coupling end 203.M coupling end 204.N coupling end 205.O coupling end
206.P coupling end 207.C connector 210.Q coupling end 211.R coupling end 212.D connector
31.A passive component 32.B passive component 33.C passive component 31a.U shape frame 31b.T shape frame
301.A extension spring 302.B extension spring 303.A stage clip 304.B stage clip 305.A guide rod
306.B guide rod 311.I coupling end 312.J coupling end 313. lightening holes 314. transverse slats
315.A through hole 316.B through hole 317.A snap close 318.B snap close 321. lower branch arms
322. upper branch arm 323. linear bearings 324. transverse slats 325. top chocks 326. steps
327.C rotating shaft on snap close 328.D snap close 329. linear bearings 330. linear bearings 331.
332. lower rotary shaft 4A.A steering wheel 4B.B steering wheel 4C.C steering wheel 4D.D steering wheel
4E.E steering wheel 4F.F steering wheel 4G.G steering wheel 4H.H steering wheel 4I.I steering wheel
4J.J steering wheel 4K.K steering wheel 4L.L steering wheel
401.A terminal pad 402.B terminal pad 403.C terminal pad 404.D terminal pad 405.E terminal pad
406.F terminal pad 407.G terminal pad 408.H terminal pad 409.I terminal pad 410.J terminal pad
411.K terminal pad 412.L terminal pad 413.M terminal pad 414.N terminal pad 415.O terminal pad
416.P connect 417.Q terminal pad 418.R terminal pad 419.S terminal pad 420.T terminal pad
421.U terminal pad 422.V terminal pad 423.W terminal pad 424.X terminal pad
5A.A vibration unit 5B.B vibration unit 5B-1.A linear slider 5B-11.A pin
5B-12.A eccentric wheel 5B-13.A antifriction-bearing box 5B-14. pin coupling end 5B-15. upper hopper chute
5B-16. eccentric housing 5B-17. gliding groove 5B-2.B linear slider 5B-21.B pin
5B-22.B eccentric wheel 5B-23.B antifriction-bearing box 5B-24. pin coupling end 5B-25. upper hopper chute
5B-26. eccentric housing 5B-27. gliding groove 5B-3. upper limit position block 5B-4. lower position block 5B-5. motor
5B-6. interior axle 5B-7. unilateral bearing 5B-8. cam 5C.C vibration unit 5D.D vibration unit
5E.E 7B.B suction unit, vibration unit 5F.F vibration unit 7A.A suction unit 7B-1.A lever
7B-2.B lever 7B-3. suction casting die 7B-11.A linear bearing 7B-12.B linear bearing
7B-13.C linear bearing 7B-14.D linear bearing 7B-21.A sucker guide pillar
7B-22.B sucker guide pillar 7B-23.C sucker guide pillar 7B-24.D sucker guide pillar
7C.C 7F.F suction unit, 7E.E suction unit, 7D.D suction unit, suction unit 8A.A housing unit
8A-1.A upper cover plate 8A-2.A framework 8A-3.A base plate 8A-2a.A bearing seat 8A-2b.B bearing seat
8A-2c.C connecting panel behind the right connecting panel 8A-23. of bearing seat 8A-2d.D bearing seat 8A-21. left side connecting panel 8A-22.
8A-24. preceding connecting panel 8A-25. cavity 8B.B housing unit 8B-1.B upper cover plate 8B-2.B framework
8B-3.B base plate 8B-2a.A bearing seat 8B-2b.B bearing seat 8B-2c.C bearing seat 8B-2d.D bearing seat
8B-21. connecting panel 8B-25. cavity before the connecting panel 8B-24. behind the right connecting panel 8B-23. of left connecting panel 8B-22.
8B-26. upper branch arm 8B-27. lower branch arm 8C.C housing unit 8D.D housing unit 8E.E housing unit
8F.F housing unit 8F-1.F upper cover plate 8F-2.F framework 8F-3.F base plate 8F-2a.A bearing seat
8F-2b.B the right connecting panel of bearing seat 8F-2c.C bearing seat 8F-2d.D bearing seat 8F-21. left side connecting panel 8F-22.
8F-23. connecting panel 8F-25. cavity 8F-26. upper branch arm 8F-27. lower branch arm before the back connecting panel 8F-24.
6A.A Hall element 6B.B Hall element 6C.C Hall element 6D.D Hall element
6E.E Hall element 6F.F Hall element 6G.G Hall element 6H.H Hall element
6I.I Hall element 6J.J Hall element 6K.K Hall element 6L.L Hall element
6M.M Hall element 6N.N Hall element 6O.O Hall element 6P.P Hall element
6Q.Q Hall element 6R.R Hall element 6S.S Hall element 6T.T Hall element
6U.U Hall element 6V.V Hall element 6W.W Hall element 6X.X Hall element
The specific embodiment
The present invention is described in further detail below in conjunction with accompanying drawing.
Multi-node wall-climbing worm type robot of the present invention is made up of head 1, trunk 2 and afterbody 3 three parts.Wherein, six absorbent module are used to realize the absorption of robot and wall.Three passive components are used for realizing the passive turning of robot and the internal force interference of elimination motion process.Four connecting arms are used to realize the open chain motion of robot head and the tail, have solved the redundant drive problem of robot.12 steering wheels are realized the vermicular movement of robot.24 Hall elements are used to detect the vibration position of sucker at state of kinematic motion.
In the present invention, six absorbent module are meant A absorbent module 11, B absorbent module 12, C absorbent module 13, D absorbent module 14, E absorbent module 15, F absorbent module 16, and wherein the structure of B absorbent module 12, C absorbent module 13, D absorbent module 14, E absorbent module 15 is identical;
Each absorbent module is made of housing unit, suction unit, vibration unit, and described housing unit includes A housing unit 8A, B housing unit 8B, C housing unit 8C, D housing unit 8D, E housing unit 8E, F housing unit 8F; Described vibration unit includes A vibration unit 8A, B vibration unit 8B, C vibration unit 8C, D vibration unit 8D, E vibration unit 8E, F vibration unit 8F; Described suction unit includes A suction unit 8A, B suction unit 8B, C suction unit 8C, D suction unit 8D, E suction unit 8E, F suction unit 8F; Four guide pillars in each suction unit are separately installed with four suckers, amount to 24 suckers, i.e. four guide pillars among the A suction unit 8A are separately installed with A sucker 11a, B sucker 11b, C sucker 11c, D sucker 11d (shown in Fig. 2 H); Four guide pillars among the B suction unit 8B (A sucker guide pillar 7B-21, B sucker guide pillar 7B-22, C sucker guide pillar 7B-23, D sucker guide pillar 7B-24) are separately installed with E sucker 12a, F sucker (not shown among Fig. 2 B), G sucker 12c, H sucker 12d (shown in Fig. 2 B, Fig. 2 H); Four guide pillars among the C suction unit 8C are separately installed with I sucker 13a, J sucker 13b, K sucker 13c, L sucker 13d; Four guide pillars among the D suction unit 8D are separately installed with M sucker 14a, N sucker 14b, O sucker 14c, P sucker 14d; Four guide pillars among the E suction unit 8E are separately installed with Q sucker 15a, R sucker 15b, S sucker 15c, T sucker 15d; Four guide pillars among the F suction unit 8F are separately installed with U sucker 16a, V sucker 16b, W sucker 16c, X sucker 16d.
Suction unit, vibration unit structure in six absorbent module are identical, and the housing unit in six absorbent module is except that A absorbent module 11, F absorbent module 16 differences, and the housing unit structure of all the other four absorbent module is identical; See also the constructional drawing of the B absorbent module 12 shown in Fig. 2 F, Fig. 2 G in the present invention for the concrete structure of suction unit, vibration unit, for brief, all the other five absorbent module do not provide diagram and explanatory note.Four housing units for B absorbent module 12, C absorbent module 13, D absorbent module 14, E absorbent module 15 see also shown in Fig. 2 B～Fig. 2 E in the present invention, but the housing unit structure of A absorbent module 11 and F absorbent module 16 sees also shown in Fig. 2 H, Fig. 2 I, Fig. 4 C.
In the present invention, three passive components are meant identical in structure A passive component 31, B passive component 32, C passive component 33, wherein, A passive component 31 is installed between B absorbent module 12 and the C absorbent module 13, B passive component 32 is installed between C absorbent module 13 and the D absorbent module 14, and C passive component 33 is installed between D absorbent module 14 and the E absorbent module 15.
In the present invention, 12 steering wheels are held respectively and are installed on connecting arm or the housing.24 per four Hall elements of Hall element are one group, and each group is installed on the housing unit, and two preceding connecting panel outsides that are installed in a housing unit, in addition two back connecting panel outsides that are installed in housing unit.
Multi-node wall-climbing worm type robot of the present invention, the annexation to afterbody is from the head: A absorbent module 11 is connected on two output shafts of A steering wheel 4A, and A steering wheel 4A is installed on the A connecting arm 21; A connecting arm 21 is connected on two output shafts of B steering wheel 4B, and B steering wheel 4B is installed on the B connecting arm 22; B connecting arm 22 is connected on two output shafts of C steering wheel 4C, and C steering wheel 4C is installed on the B absorbent module 12; B absorbent module 12 is connected on two output shafts of D steering wheel 4D, and D steering wheel 4D is installed on the A passive component 31; A passive component 31 is connected on two output shafts of E steering wheel 4E, and E steering wheel 4E is installed on the C absorbent module 13; C absorbent module 13 is connected on two output shafts of F steering wheel 4F, and F steering wheel 4F is installed on the B passive component 32; B passive component 32 is connected on two output shafts of G steering wheel 4G, and G steering wheel 4G is installed on the D absorbent module 14; D absorbent module 14 is connected on two output shafts of H steering wheel 4H, and H steering wheel 4H is installed on the C passive component 33; C passive component 33 is connected on two output shafts of I steering wheel 4I, and I steering wheel 4I is installed on the E absorbent module 15; E absorbent module 15 is connected on two output shafts of J steering wheel 4J, and J steering wheel 4J is installed on the C connecting arm 23; C connecting arm 23 is connected on two output shafts of K steering wheel 4K, and K steering wheel 4K is installed on the D connecting arm 24; D connecting arm 24 is connected on two output shafts of L steering wheel 4L, and L steering wheel 4L is installed on the F absorbent module 16.
About multi-node wall-climbing worm type robot of the present invention, will carry out detailed structure explanation to each several part below.Not shown at what have among the identification number figure as sucker, Hall element, terminal pad, be for convenience of additional symbols.Terminal pad can be from Fig. 1, Fig. 2, Fig. 2 B, Fig. 2 H, Fig. 3, Fig. 4, Fig. 4 A its structure and annexation as can be seen, terminal pad is to be used for being connected usefulness with the output shaft of steering wheel.The part sucker can be from Fig. 1, Fig. 2, Fig. 2 B, Fig. 2 H, Fig. 3, Fig. 4, Fig. 4 B its structure and annexation as can be seen, sucker is used for contacting with wall, realizes moving of robot simultaneously in the motion process that lifts and fall.
One, head
Shown in Fig. 1, Fig. 2, Fig. 2 A, head 1 includes two identical connecting arm (A connecting arm 21, B connecting arm 22), two absorbent module (A absorbent module 11, B absorbent module 12), three steering wheels (A steering wheel 4A, B steering wheel 4B, C steering wheel 4C), eight Hall elements of structure and forms; A Hall element 6A, B Hall element 6B, C Hall element 6C, D Hall element 6D are installed on the A absorbent module 11, E Hall element 6E, F Hall element 6F, G Hall element 6G, H Hall element 6H are installed on the B absorbent module 12;
Shown in Fig. 2 A, A connecting arm 21 is identical with B connecting arm 22 structures, and the Y shape structure that is formed in one; A connecting arm 21 is provided with A coupling end 101, B coupling end 102, C coupling end 103, D coupling end 104; The end of C coupling end 103 is equipped with C terminal pad 403; The end of D coupling end 104 is equipped with D terminal pad 404; A coupling end 101 constitutes A connector 107 with the end of B coupling end 102, and A connector 107 is used for a screw and passes, and by A steering wheel 4A is clamped between A coupling end 101 and the B coupling end 102.C terminal pad 403 is connected with the output shaft of B steering wheel 4B respectively with D terminal pad 404.B connecting arm 22 is provided with E coupling end 105, F coupling end 106, G coupling end 110, H coupling end 111; The end of G coupling end 110 is equipped with E terminal pad 405; The end of H coupling end 111 is equipped with F terminal pad 406; E coupling end 105 constitutes B connector 112 with the end of F coupling end 106, and B connector 112 is used for a screw and passes, and by B steering wheel 4B is clamped between E coupling end 105 and the F coupling end 106.E terminal pad 405 is connected with the output shaft of C steering wheel 4C respectively with F terminal pad 406.Adopt one machine-shaping connecting arm, help reducing the morpheme error.A connecting arm 21 is linked as a movable body with the B steering wheel 4B that passes through of B connecting arm 22, can make the head 1 of multi-node wall-climbing worm robot of the present invention realize the open chain motion.
Shown in Fig. 2 H, Fig. 2 I, A absorbent module 11 is made up of A housing unit 8A, A suction unit 7A, A vibration unit 5A; And A suction unit 7A is identical with the structure of B suction unit 7B, A vibration unit 5A is identical with the structure of B vibration unit 5B, so do not elaborate, as those skilled in the art can be by B suction unit 7B, B vibration unit 5B structure and Figure of description in learn its assembly relation.On the lateral surface of connecting panel 8A-24, C Hall element 6C, D Hall element 6D were installed on the lateral surface of back connecting panel 8A-23 before A Hall element 6A, B Hall element 6B were installed in;
A housing unit 8A is made up of A upper cover plate 8A-1, A-Frame 8A-2, A base plate 8A-3, A upper cover plate 8A-1, A base plate 8A-3 be installed in respectively A-Frame 8A-2 about; A suction unit 7A, A vibration unit 5A are installed on the A base plate 8A-3, and A suction unit 7A, A vibration unit 5A place in the cavity 8A-25 of A-Frame 8A-2; A upper cover plate 8A-1 is provided with the loss of weight square hole; The A left side connecting panel 8A-21 of A-Frame 8A-2 is relative with the right connecting panel 8A-22 of A, and connecting panel 8A-24 is relative with connecting panel 8A-23 behind the A before the A; The U-shaped end of left side connecting panel 8A-21 is equipped with B terminal pad 402, and the U-shaped end of right connecting panel 8A-22 is equipped with A terminal pad 401; Place, four right angles in the cavity 8A-25 of A-Frame 8A-2 is provided with A bearing seat 8A-2a, B bearing seat 8A-2b, C bearing seat 8A-2c, D bearing seat 8A-2d respectively; Be separately installed with four linear bearings (described four linear bearings are the part among the A suction unit 7A) in A bearing seat 8A-2a, B bearing seat 8A-2b, C bearing seat 8A-2c, the D bearing seat 8A-2d; The lower end of these four linear bearings is separately installed with A sucker 11a, B sucker 11b, C sucker 11c, D sucker 11d.The structure of A upper cover plate 8A-1 can be referring to shown in Fig. 4 C.The structure of A base plate 8A-3 can be referring to shown in Fig. 4 C.The structure of B upper cover plate 8B-1 can be referring to shown in Fig. 4 C.The structure of B base plate 8B-3 can be referring to shown in Fig. 4 C.
Among the present invention, shown in Fig. 2 B, Fig. 2 C, Fig. 2 D, Fig. 2 E, B absorbent module 12 is made up of B housing unit 8B, B suction unit 7B, B vibration unit 5B.On the lateral surface of connecting panel 8B-24, G Hall element 6G, H Hall element 6H were installed on the lateral surface of back connecting panel 8B-23 before E Hall element 6E, F Hall element 6F were installed in;
Shown in Fig. 2 C, Fig. 2 D, B housing unit 8B is made up of B upper cover plate 8B-1, B framework 8B-2, B base plate 8B-3, B upper cover plate 8B-1, B base plate 8B-3 be installed in respectively B framework 8B-2 about; B suction unit 7B, B vibration unit 5B are installed on the B base plate 8B-3, and B suction unit 7B, B vibration unit 5B place in the cavity 8B-25 of B framework 8B-2; B upper cover plate 8B-1 is provided with the loss of weight square hole; The left connecting panel 8B-21 of B framework 8B-2 is relative with right connecting panel 8B-22, connecting panel 8B-24 is relative with connecting panel 8B-23 behind the B before the B, on the lateral surface of connecting panel 8B-24 upper branch arm 8B-26, lower branch arm 8B-27 are arranged before the B, upper branch arm 8B-26 is relative with lower branch arm 8B-27, and upper branch arm 8B-26, lower branch arm 8B-27 are used to clamp C steering wheel 4C; Place, four right angles in the cavity 8B-25 of B framework 8B-2 is provided with A bearing seat 8B-2a, B bearing seat 8B-2b, C bearing seat 8B-2c, D bearing seat 8B-2d respectively; Be separately installed with A linear bearing 7B-11, B linear bearing 7B-12, C linear bearing 7B-13, D linear bearing 7B-14 in A bearing seat 8B-2a, B bearing seat 8B-2b, C bearing seat 8B-2c, the D bearing seat 8B-2d; The U-shaped end of B left side connecting panel 8B-21 is equipped with H terminal pad 408, and the U-shaped end of the right connecting panel 8B-22 of B is equipped with G terminal pad 407;
Shown in Fig. 2 F, B suction unit 7B is made up of four linear bearings (A linear bearing 7B-11, B linear bearing 7B-12, C linear bearing 7B-13, D linear bearing 7B-14), four sucker guide pillars (A sucker guide pillar 7B-21, B sucker guide pillar 7B-22, C sucker guide pillar 7B-23, D sucker guide pillar 7B-24), A lever 7B-1, B lever 7B-2, B suction casting die 7B-3; A linear bearing 7B-11, B linear bearing 7B-12, C linear bearing 7B-13, D linear bearing 7B-14 are socketed in respectively on A sucker guide pillar 7B-21, B sucker guide pillar 7B-22, C sucker guide pillar 7B-23, the D sucker guide pillar 7B-24; The lower end of A sucker guide pillar 7B-21, B sucker guide pillar 7B-22, C sucker guide pillar 7B-23, D sucker guide pillar 7B-24 is separately installed with E sucker 12a, F sucker 12b (not shown), G sucker 12c, H sucker 12d, the upper end of A sucker guide pillar 7B-21 and D sucker guide pillar 7B-24 is connected the two ends of A lever 7B-1, the fulcrum of A lever 7B-1 is connected on the medial surface of back connecting panel 8B-23, the upper end of B sucker guide pillar 7B-22 and C sucker guide pillar 7B-23 is connected the two ends of B lever 7B-2, and the fulcrum of B lever 7B-2 is connected on the medial surface of preceding connecting panel 8B-24; B suction casting die 7B-3 is installed on the B base plate 8B-3; In the present invention, be plugged with A tracheae, B tracheae, C tracheae, D tracheae (these four tracheaes do not indicate among the figure) in the center guide hole of A sucker guide pillar 7B-21, B sucker guide pillar 7B-22, C sucker guide pillar 7B-23 and D sucker guide pillar 7B-24 respectively.One end of B tracheae, C tracheae is plugged on respectively in the center guide hole of B sucker guide pillar 7B-22, C sucker guide pillar 7B-23, the other end of B tracheae, C tracheae is compressed by the end of B suction casting die 7B-3, and the other end of B suction casting die 7B-3 compresses the other end of A tracheae, D tracheae; One end of A tracheae, D tracheae is plugged on respectively in the center guide hole of A sucker guide pillar 7B-21, D sucker guide pillar 7B-24, and the other end of A tracheae, D tracheae is pressed under the other end of B suction casting die 7B-3.
Shown in Fig. 2 G, B vibration unit 5B includes A linear slider 5B-1, B linear slider 5B-2, upper limit position block 5B-3, lower position block 5B-4, motor 5B-5, unilateral bearing 5B-7, A eccentric wheel 5B-12, B eccentric wheel 5B-22, A antifriction-bearing box 5B-13, B antifriction-bearing box 5B-23; Motor 5B-5 is installed on the A base plate 8B-3, axle 5B-6, B eccentric wheel 5B-22, A eccentric wheel 5B-12 in being connected with in turn on the motor 5B-5 output shaft, the outer cover of interior axle 5B-6 is connected to unilateral bearing 5B-7, the outer cover of unilateral bearing 5B-7 is connected to cam 5B-8, the outer cover of B eccentric wheel 5B-22 is connected to B antifriction-bearing box 5B-23, B antifriction-bearing box 5B-23 places in the eccentric housing 5B-26 of B linear slider 5B-2, the outer cover of A eccentric wheel 5B-12 is connected to A antifriction-bearing box 5B-13, and A antifriction-bearing box 5B-13 places in the eccentric housing 5B-16 of A linear slider 5B-1; The end of A pin 5B-11 is connected on the pin coupling end 5B-14 of A linear slider 5B-1, and the other end of A pin 5B-11 is connected with the end of A lever 7B-1; The end of B pin 5B-21 is connected on the pin coupling end 5B-24 of B linear slider 5B-2, and the other end of B pin 5B-21 is connected with the end of B lever 7B-2; Upper limit position block 5B-3 is installed in the upper hopper chute 5B-15 of A linear slider 5B-1, and in the upper hopper chute 5B-25 of B linear slider 5B-2, lower position block 5B-4 is installed in the gliding groove 5B-17 of A linear slider 5B-1, and in the gliding groove 5B-27 of B linear slider 5B-2.A linear slider 5B-1 and overlapping the putting together of B linear slider 5B-2.
In the present invention, A absorbent module 11 and B absorbent module 12 are except housing unit is different, and the structure of suction unit and vibration unit is identical.
Write out the motion process of suction unit and vibration unit: the just commentaries on classics of motor 5B-5 drives B eccentric wheel 5B-22, A eccentric wheel 5B-12 and rotates, make B linear slider 5B-2, A linear slider 5B-1 drive four sucker guide pillar alternatively up and down vibrations, and then make four sucker alternatively up and down vibrations; The counter-rotating of motor 5B-5 is rotated cam 5B-8, and then B suction casting die 7B-3 is lifted to four sucker venting.
A absorbent module 11 by the B terminal pad 402 on the left connecting panel 8A-21 of A-Frame 8A-2 be connected with the mouth of A steering wheel 4A, A terminal pad 401 on the right connecting panel 8A-22 is connected with another mouth of A steering wheel 4A, be connected (being clamped in because of A steering wheel 4A between the A coupling end 101 and B coupling end 102 of A connecting arm 21) of realization A absorbent module 11 and A connecting arm 21;
A connecting arm 21 is connected with the mouth of B steering wheel 4B by the C terminal pad 403 on the C coupling end 103, and the D terminal pad 404 on the D coupling end 104 is connected with another mouth of B steering wheel 4B, and realization A connecting arm 21 is connected with B connecting arm 22;
B absorbent module 12 by the H terminal pad 408 on the left connecting panel 8B-21 of B framework 8B-2 be connected with the mouth of D steering wheel 4D, G terminal pad 407 on the right connecting panel 8B-22 is connected with another mouth of D steering wheel 4D, realization B absorbent module 12 is connected with A passive component 31.
Two, trunk
Three passive components are meant A passive component 31, B passive component 32, C passive component 33;
Five steering wheels are meant D steering wheel 4D, E steering wheel 4E, F steering wheel 4F, G steering wheel 4G, H steering wheel 4H;
Two absorbent module are meant C absorbent module 13, D absorbent module 14; Four Hall elements (I Hall element 6I, J Hall element 6J, K Hall element 6K, L Hall element 6L) are installed on the C absorbent module 13, four Hall elements (M Hall element 6M, N Hall element 6N, O Hall element 6O, P Hall element 6P) are installed on the D absorbent module 14;
In trunk 2 of the present invention, C absorbent module 13, D absorbent module 14 are identical with the structure of B absorbent module 12, see also shown in Fig. 2 B～Fig. 2 I, so do not elaborate in this part.
Shown in Fig. 3, Fig. 3 A, A passive component 31 is made up of two groups of extension springs (A extension spring 301, B extension spring 302), two groups of stage clips (A stage clip 303, B stage clip 304), U-shaped frame 31a and T shape frame 31b,
Referring to Fig. 3, shown in Fig. 3 B, the end of the I coupling end 311 of U-shaped frame 31a is equipped with I terminal pad 409 (I terminal pad 409 is connected with the output shaft of E steering wheel 4E), the end of the J coupling end 312 of U-shaped frame 31a is equipped with J terminal pad 410 (J terminal pad 410 is connected with another output shaft of E steering wheel 4E), the center of the transverse slat 314 of U-shaped frame 31a has lightening hole 313, transverse slat 314 is equipped with B snap close 318 with the joint of I coupling end 311, transverse slat 314 is equipped with A snap close 317 with the joint of J coupling end 312, on transverse slat 314, be provided with A through hole 315, B through hole 316, and A through hole 315, B through hole 316 and lightening hole 313 coaxial lines; In the present invention, B snap close 318 is used to articulate an end of B extension spring 302, and the other end of B extension spring 302 is articulated on the D snap close 328 on the T shape frame 31b.A snap close 317 is used to articulate an end of A extension spring 301, and the other end of A extension spring 301 is articulated on the C snap close 327 on the T shape frame 31b.The end that A through hole 315 is used for A guide rod 305 passes.The end that B through hole 316 is used for B guide rod 306 passes.
Shown in Fig. 3, Fig. 3 C, on the upper branch arm 322 of T shape frame 31b top chock 325 is installed, on the lower branch arm 321 of T shape frame 31b step 326 is installed, top chock 325 is identical with step 326 structures; Top chock 325 is the concave body structure, in the through hole of two protuberances of concave body two linear bearings (linear bearing 323, linear bearing 330) is installed, and these two linear bearings are socketed on the A guide rod 305; Step 326 is the concave body structure, and two linear bearings (linear bearing 329, another linear bearing not shown) are installed in the through hole of two protuberances of concave body, and these two linear bearings are socketed on the B guide rod 306; The two ends of the transverse slat 324 of T shape frame 31b are equipped with C snap close 327, D snap close 328.
In the present invention, an end of A extension spring 301 is articulated on the A snap close 317, and the other end of A extension spring 301 is articulated on the C snap close 327.One end of B extension spring 302 is articulated on the B snap close 318, and the other end of B extension spring 302 is articulated in D snap close 328.When T shape frame 31b around last rotating shaft 331, when lower rotary shaft 332 rotates, A extension spring 301, B extension spring 302 can reset T shape frame 31b, make the internal force interference of A passive component 31 be eliminated.
In the present invention, A stage clip 303 is socketed on the A guide rod 305.B stage clip 304 is socketed on the B guide rod 306.When the distance between T shape frame 31b and the U-shaped frame 31a reduced, A stage clip 303, B stage clip 304 can reset the distance between T shape frame 31b and the U-shaped frame 31a, make the internal force interference of A passive component 31 be eliminated.
In the present invention, A passive component 31 has two effects in whole multi-node wall-climbing worm robot: be that the multi-node wall-climbing worm robot can be eliminated IA power interference in straight ahead on the one hand; Be to realize the turning of torso portion during at turning motion and reset on the other hand when the multi-node wall-climbing worm robot.
Three, afterbody
Two connecting arms are meant C connecting arm 23, D connecting arm 24; In the present invention, A connecting arm 21, B connecting arm 22, C connecting arm 23 are identical with D connecting arm 24 structures.
Four steering wheels are meant I steering wheel 4I, J steering wheel 4J, K steering wheel 4K, L steering wheel 4L;
Two absorbent module are meant E absorbent module 15, F absorbent module 16; Q Hall element 6Q, R Hall element 6R, S Hall element 6S, T Hall element 6T are installed on the E absorbent module 15, U Hall element 6U, V Hall element 6V, W Hall element 6W, X Hall element 6X are installed on the F absorbent module 16;
Shown in Fig. 4, Fig. 4 A, C connecting arm 23 is identical with D connecting arm 24 structures, and the Y shape structure that is formed in one; C connecting arm 23 is provided with K coupling end 201, L coupling end 202, M coupling end 203, N coupling end 204; The end of M coupling end 203 is equipped with U terminal pad 421; The end of N coupling end 204 is equipped with V terminal pad 422; K coupling end 201 constitutes C connector 207 with the end of L coupling end 202, and C connector 207 is used for a screw and passes, and by J steering wheel 4J is clamped between K coupling end 201 and the L coupling end 202.U terminal pad 421 is connected with the output shaft of K steering wheel 4K respectively with V terminal pad 422.D connecting arm 24 is provided with O coupling end 205, P coupling end 206, Q coupling end 210, R coupling end 211; The end of Q coupling end 210 is equipped with W terminal pad 423; The end of R coupling end 211 is equipped with X terminal pad 424; O coupling end 205 constitutes D connector 212 with the end of P coupling end 206, and D connector 212 is used for a screw and passes, and by L steering wheel 4L is clamped between O coupling end 205 and the P coupling end 206.W terminal pad 423 is connected with the output shaft of L steering wheel 4L respectively with X terminal pad 424.Adopt one machine-shaping connecting arm, help reducing the morpheme error.C connecting arm 23 is linked as a movable body with the K steering wheel 4K that passes through of D connecting arm 24, can make the afterbody 3 of multi-node wall-climbing worm robot of the present invention realize the open chain motion.
Shown in Fig. 4 B, F absorbent module 16 is made up of F housing unit 8F, F suction unit 7F, F vibration unit 5F; And F suction unit 7F is identical with the structure of B suction unit 7B, F vibration unit 5F is identical with the structure of B vibration unit 5B, so do not elaborate, as those skilled in the art can be by B suction unit 7B, B vibration unit 5B structure and Figure of description in learn its assembly relation.(not shown) on the lateral surface of connecting panel 8F-24 before U Hall element 6U, V Hall element 6V are installed in, W Hall element 6W, X Hall element 6X are installed on the lateral surface of back connecting panel 8F-23;
F housing unit 8F is made up of F upper cover plate 8F-1, F framework 8F-2, F base plate 8F-3, F upper cover plate 8F-1, F base plate 8F-3 be installed in respectively F framework 8F-2 about; F suction unit 7F, F vibration unit 5F are installed on the F base plate 8F-3, and F suction unit 7F, F vibration unit 5F place in the cavity 8F-25 of F framework 8F-2; F upper cover plate 8F-1 is provided with the loss of weight square hole; The F left side connecting panel 8F-21 of F framework 8F-2 is relative with the right connecting panel 8F-22 of F, and connecting panel 8F-24 is relative with connecting panel 8F-23 behind the F before the F; Place, four right angles in the cavity 8F-25 of F framework 8F-2 is provided with A bearing seat 8F-2a, B bearing seat 8F-2b, C bearing seat 8F-2c, D bearing seat 8F-2d respectively; Be separately installed with four linear bearings (described four linear bearings are the part among the F suction unit 7F) in A bearing seat 8F-2a, B bearing seat 8F-2b, C bearing seat 8F-2c, the D bearing seat 8F-2d; The lower end of these four linear bearings is separately installed with U sucker 16a, V sucker 16b, W sucker 16c, X sucker 16d.
The motion process of multi-joint worm type robot of the present invention is: at first afterbody lifts and falls under the effect of steering wheel and makes robot produce a step pitch, trunk is coordinated wriggling with afterbody under the effect of steering wheel then, this step pitch is delivered to head, last head lifts and falls the advance that this step pitch is converted into robot under the effect of steering wheel, thereby realizes moving ahead of robot.
Claims (6)
1, a kind of multi-node wall-climbing worm type robot is characterized in that: this robot is made up of head (1), trunk (2) and afterbody (3) three parts; Be connected with two output shafts of steering wheel by terminal pad between head (1), trunk (2) and the afterbody (3), thereby realize the whole configuration of multi-node wall-climbing worm type robot;
Head (1) is made up of A connecting arm (21), B connecting arm (22), A absorbent module (11), B absorbent module (12), A steering wheel (4A), B steering wheel (4B), C steering wheel (4C), eight Hall elements;
Trunk (2) is made up of A passive component (31), B passive component (32), C passive component (33), C absorbent module (13), D absorbent module (14), D steering wheel (4D), E steering wheel (4E), F steering wheel (4F), G steering wheel (4G), H steering wheel (4H), eight Hall elements;
Afterbody (3) is made up of C connecting arm (23), D connecting arm (24), E absorbent module (15), F absorbent module (16), I steering wheel (4I), J steering wheel (4J), K steering wheel (4K), L steering wheel (4L), eight Hall elements;
A connecting arm (21), B connecting arm (22), C connecting arm (23), D connecting arm (24) structure are identical;
B absorbent module (12), C absorbent module (13), D absorbent module (14), E absorbent module (15) structure are identical; A absorbent module (11), B absorbent module (12), C absorbent module (13), D absorbent module (14), E absorbent module (15) and F absorbent module (16) are made of housing unit, suction unit and vibration unit respectively;
A passive component (31), B passive component (32), C passive component (33) structure are identical;
This robot to the annexation of afterbody is from the head: A absorbent module (11) is connected on two output shafts of A steering wheel (4A), and A steering wheel (4A) is installed on the A connecting arm (21); A connecting arm (21) is connected on two output shafts of B steering wheel (4B), and B steering wheel (4B) is installed on the B connecting arm (22); B connecting arm (22) is connected on two output shafts of C steering wheel (4C), and C steering wheel (4C) is installed on the B absorbent module (12); B absorbent module (12) is connected on two output shafts of D steering wheel (4D), and D steering wheel (4D) is installed on the A passive component (31); A passive component (31) is connected on two output shafts of E steering wheel (4E), and E steering wheel (4E) is installed on the C absorbent module (13); C absorbent module (13) is connected on two output shafts of F steering wheel (4F), and F steering wheel (4F) is installed on the B passive component (32); B passive component (32) is connected on two output shafts of G steering wheel (4G), and G steering wheel (4G) is installed on the D absorbent module (14); D absorbent module (14) is connected on two output shafts of H steering wheel (4H), and H steering wheel (4H) is installed on the C passive component (33); C passive component (33) is connected on two output shafts of I steering wheel (4I), and I steering wheel (4I) is installed on the E absorbent module (15); E absorbent module (15) is connected on two output shafts of J steering wheel (4J), and J steering wheel (4J) is installed on the C connecting arm (23); C connecting arm (23) is connected on two output shafts of K steering wheel (4K), and K steering wheel (4K) is installed on the D connecting arm (24); D connecting arm (24) is connected on two output shafts of L steering wheel (4L), and L steering wheel (4L) is installed on the F absorbent module (16);
A connecting arm (21) is identical with B connecting arm (22) structure, and the Y shape structure that is formed in one; A connecting arm (21) is provided with A coupling end (101), B coupling end (102), C coupling end (103), D coupling end (104); The end of C coupling end (103) is equipped with C terminal pad (403); The end of D coupling end (104) is equipped with D terminal pad (404); A coupling end (101) constitutes A connector (107) with the end of B coupling end (102), and A connector (107) is used for a screw and passes, and by A steering wheel (4A) is clamped between A coupling end (101) and the B coupling end (102); C terminal pad (403) is connected with the output shaft of B steering wheel (4B) respectively with D terminal pad (404); B connecting arm (22) is provided with E coupling end (105), F coupling end (106), G coupling end (110), H coupling end (111); The end of G coupling end (110) is equipped with E terminal pad (405); The end of H coupling end (111) is equipped with F terminal pad (406); E coupling end (105) constitutes B connector (112) with the end of F coupling end (106), and B connector (112) is used for a screw and passes, and by B steering wheel (4B) is clamped between E coupling end (105) and the F coupling end (106); E terminal pad (405) is connected with two output shafts of C steering wheel (4C) respectively with F terminal pad (406);
C connecting arm (23) is identical with D connecting arm (24) structure, and the Y shape structure that is formed in one; C connecting arm (23) is provided with K coupling end (201), L coupling end (202), M coupling end (203), N coupling end (204); The end of M coupling end (203) is equipped with U terminal pad (421); The end of N coupling end (204) is equipped with V terminal pad (422); K coupling end (201) constitutes C connector (207) with the end of L coupling end (202), and C connector (207) is used for a screw and passes, and by J steering wheel (4J) is clamped between K coupling end (201) and the L coupling end (202); U terminal pad (421) is connected with two output shafts of K steering wheel (4K) respectively with V terminal pad (422); D connecting arm (24) is provided with O coupling end (205), P coupling end (206), Q coupling end (210), R coupling end (211); The end of Q coupling end (210) is equipped with W terminal pad (423); The end of R coupling end (211) is equipped with X terminal pad (424); O coupling end (205) constitutes D connector (212) with the end of P coupling end (206), and D connector (212) is used for a screw and passes, and by L steering wheel (4L) is clamped between O coupling end (205) and the P coupling end (206); W terminal pad (423) is connected with two output shafts of L steering wheel (4L) respectively with X terminal pad (424);
A absorbent module (11) is made up of A housing unit (8A), A suction unit (7A), A vibration unit (5A); And A suction unit (7A) is identical with the structure of B suction unit (7B), and A vibration unit (5A) is identical with the structure of B vibration unit (5B); A Hall element (6A), B Hall element (6B) are installed on the lateral surface of preceding connecting panel (8A-24), and C Hall element (6C), D Hall element (6D) are installed on the lateral surface of back connecting panel (8A-23); A housing unit (8A) is made up of A upper cover plate (8A-1), A-Frame (8A-2), A base plate (8A-3), A upper cover plate (8A-1), A base plate (8A-3) be installed in respectively A-Frame (8A-2) about; A suction unit (7A), A vibration unit (5A) are installed on the A base plate (8A-3), and A suction unit (7A), A vibration unit (5A) place in the cavity (8A-25) of A-Frame (8A-2): A upper cover plate (8A-1) is provided with the loss of weight square hole; The A left side connecting panel (8A-21) of A-Frame (8A-2) is relative with the right connecting panel of A (8A-22), and connecting panel (8A-24) is relative with connecting panel (8A-23) behind the A before the A; The U-shaped end of left side connecting panel (8A-21) is equipped with B terminal pad (402), and the U-shaped end of right connecting panel (8A-22) is equipped with A terminal pad (401); Place, four right angles in the cavity (8A-25) of A-Frame (8A-2) is provided with A bearing seat (8A-2a), B bearing seat (8A-2b), C bearing seat (8A-2c), D bearing seat (8A-2d) respectively; Be separately installed with four linear bearings in A bearing seat (8A-2a), B bearing seat (8A-2b), C bearing seat (8A-2c), the D bearing seat (8A-2d); These four linear bearings are socketed in respectively on four sucker guide pillars, and the lower end of these four sucker guide pillars is separately installed with A sucker (11a), B sucker (11b), C sucker (11c), D sucker (11d);
B absorbent module (12) is made up of B housing unit (8B), B suction unit (7B), B vibration unit (5B); E Hall element (6E), F Hall element (6F) are installed on the lateral surface of preceding connecting panel (8B-24), and G Hall element (6G), H Hall element (6H) are installed on the lateral surface of back connecting panel (8B-23); B housing unit (8B) is made up of B upper cover plate (8B-1), B framework (8B-2), B base plate (8B-3), B upper cover plate (8B-1), B base plate (8B-3) be installed in respectively B framework (8B-2) about; B suction unit (7B), B vibration unit (5B) are installed on the B base plate (8B-3), and B suction unit (7B), B vibration unit (5B) place in the cavity (8B-25) of B framework (8B-2); B upper cover plate (8B-1) is provided with the loss of weight square hole; The left connecting panel (8B-21) of B framework (8B-2) is relative with right connecting panel (8B-22), connecting panel (8B-24) is relative with connecting panel (8B-23) behind the B before the B, on the lateral surface of connecting panel (8B-24) upper branch arm (8B-26), lower branch arm (8B-27) are arranged before the B, upper branch arm (8B-26) is relative with lower branch arm (8B-27), and upper branch arm (8B-26), lower branch arm (8B-27) are used to clamp C steering wheel (4C); Place, four right angles in the cavity (8B-25) of B framework (8B-2) is provided with A bearing seat (8B-2a), B bearing seat (8B-2b), C bearing seat (8B-2c), D bearing seat (8B-2d) respectively; Be separately installed with A linear bearing (7B-11), B linear bearing (7B-12), C linear bearing (7B-13), D linear bearing (7B-14) in A bearing seat (8B-2a), B bearing seat (8B-2b), C bearing seat (8B-2c), the D bearing seat (8B-2d); The U-shaped end of B left side connecting panel (8B-21) is equipped with H terminal pad (408), and the U-shaped end of the right connecting panel of B (8B-22) is equipped with G terminal pad (407); B suction unit (7B) is made up of A linear bearing (7B-11), B linear bearing (7B-12), C linear bearing (7B-13), D linear bearing (7B-14), A sucker guide pillar (7B-21), B sucker guide pillar (7B-22), C sucker guide pillar (7B-23), D sucker guide pillar (7B-24), A lever (7B-1), B lever (7B-2), B suction casting die (7B-3); A linear bearing (7B-11), B linear bearing (7B-12), C linear bearing (7B-13), D linear bearing (7B-14) are socketed in respectively on A sucker guide pillar (7B-21), B sucker guide pillar (7B-22), C sucker guide pillar (7B-23), the D sucker guide pillar (7B-24); A sucker guide pillar (7B-21), B sucker guide pillar (7B-22), C sucker guide pillar (7B-23), the lower end of D sucker guide pillar (7B-24) is separately installed with E sucker (12a), F sucker (12b), G sucker (12c), H sucker (12d), the upper end of A sucker guide pillar (7B-21) and D sucker guide pillar (7B-24) is connected the two ends of A lever (7B-1), the fulcrum of A lever (7B-1) is connected on the medial surface of back connecting panel (8B-23), the upper end of B sucker guide pillar (7B-22) and C sucker guide pillar (7B-23) is connected the two ends of B lever (7B-2), and the fulcrum of B lever (7B-2) is connected on the medial surface of preceding connecting panel (8B-24); B suction casting die (7B-3) is installed on the B base plate (8B-3); Be plugged with A tracheae, B tracheae, C tracheae, D tracheae respectively in the center guide hole of A sucker guide pillar (7B-21), B sucker guide pillar (7B-22), C sucker guide pillar (7B-23) and D sucker guide pillar (7B-24); One end of B tracheae, C tracheae is plugged on respectively in the center guide hole of B sucker guide pillar (7B-22), C sucker guide pillar (7B-23), the other end of B tracheae, C tracheae is compressed by an end of B suction casting die (7B-3), and the other end of B suction casting die (7B-3) compresses the other end of A tracheae, D tracheae; One end of A tracheae, D tracheae is plugged on respectively in the center guide hole of A sucker guide pillar (7B-21), D sucker guide pillar (7B-24), and the other end of A tracheae, D tracheae is pressed under the other end of B suction casting die (7B-3); B vibration unit (5B) includes A linear slider (5B-1), B linear slider (5B-2), upper limit position block (5B-3), lower position block (5B-4), motor (5B-5), unilateral bearing (5B-7), A eccentric wheel (5B-12), B eccentric wheel (5B-22), A antifriction-bearing box (5B-13), B antifriction-bearing box (5B-23); Motor (5B-5) is installed on the A base plate (8B-3), be connected with interior axle (5B-6) on motor (5B-5) output shaft in turn, B eccentric wheel (5B-22), A eccentric wheel (5B-12), the outer cover of interior axle (5B-6) is connected to unilateral bearing (5B-7), the outer cover of unilateral bearing (5B-7) is connected to cam (5B-8), the outer cover of B eccentric wheel (5B-22) is connected to B antifriction-bearing box (5B-23), B antifriction-bearing box (5B-23) places in the eccentric housing (5B-26) of B linear slider (5B-2), the outer cover of A eccentric wheel (5B-12) is connected to A antifriction-bearing box (5B-13), and A antifriction-bearing box (5B-13) places in the eccentric housing (5B-16) of A linear slider (5B-1); One end of A pin (5B-11) is connected on the pin coupling end (5B-14) of A linear slider (5B-1), and the other end of A pin (5B-11) is connected with an end of A lever (7B-1); One end of B pin (5B-21) is connected on the pin coupling end (5B-24) of B linear slider (5B-2), and the other end of B pin (5B-21) is connected with an end of B lever (7B-2); Upper limit position block (5B-3) is installed in the upper hopper chute (5B-15) of A linear slider (5B-1), and in the upper hopper chute (5B-25) of B linear slider (5B-2), lower position block (5B-4) is installed in the gliding groove (5B-17) of A linear slider (5B-1), and in the gliding groove (5B-27) of B linear slider (5B-2); A linear slider (5B-1) and overlapping the putting together of B linear slider (5B-2);
F absorbent module (16) is made up of F housing unit (8F), F suction unit (7F), F vibration unit (5F); And F suction unit (7F) is identical with the structure of B suction unit (7B), and F vibration unit (5F) is identical with the structure of B vibration unit (5B); U Hall element (6U), V Hall element (6V) are installed on the lateral surface of preceding connecting panel (8F-24), and W Hall element (6W), X Hall element (6X) are installed on the lateral surface of back connecting panel (8F-23); F housing unit (8F) is made up of F upper cover plate (8F-1), F framework (8F-2), F base plate (8F-3), F upper cover plate (8F-1), F base plate (8F-3) be installed in respectively F framework (8F-2) about; F suction unit (7F), F vibration unit (5F) are installed on the F base plate (8F-3), and F suction unit (7F), F vibration unit (5F) place in the cavity (8F-25) of F framework (8F-2); F upper cover plate (8F-1) is provided with the loss of weight square hole; The F left side connecting panel (8F-21) of F framework (8F-2) is relative with the right connecting panel of F (8F-22), and connecting panel (8F-24) is relative with connecting panel (8F-23) behind the F before the F; Place, four right angles in the cavity (8F-25) of F framework (8F-2) is provided with A bearing seat (8F-2a), B bearing seat (8F-2b), C bearing seat (8F-2c), D bearing seat (8F-2d) respectively; Be separately installed with four linear bearings in A bearing seat (8F-2a), B bearing seat (8F-2b), C bearing seat (8F-2c), the D bearing seat (8F-2d); These four linear bearings are socketed on four sucker guide pillars, and the lower end of these four sucker guide pillars is separately installed with U sucker (16a), V sucker (16b), W sucker (16c), X sucker (16d);
A passive component (31) is by A extension spring (301), B extension spring (302), A stage clip (303), B stage clip (304), U-shaped frame (31a) and T shape frame (31b) are formed, the end of the I coupling end (311) of U-shaped frame (31a) is equipped with I terminal pad (409), the end of the J coupling end (312) of U-shaped frame (31a) is equipped with J terminal pad (410), the center of the transverse slat (314) of U-shaped frame (31a) has lightening hole (313), transverse slat (314) is equipped with B snap close (318) with the joint of I coupling end (311), transverse slat (314) is equipped with A snap close (317) with the joint of J coupling end (312), on transverse slat (314), be provided with A through hole (315), B through hole (316), and A through hole (315), B through hole (316) is coaxially set with lightening hole (313); B snap close (318) is used to articulate an end of B extension spring (302), and the other end of B extension spring (302) is articulated on the D snap close (328) on the T shape frame (31b); A snap close (317) is used to articulate an end of A extension spring (301), and the other end of A extension spring (301) is articulated on the C snap close (327) on the T shape frame (31b); The end that A through hole (315) is used for A guide rod (305) passes; The end that B through hole (316) is used for B guide rod (306) passes; On the upper branch arm (322) of T shape frame (31b) top chock (325) is installed, on the lower branch arm (321) of T shape frame (31b) step (326) is installed, top chock (325) is identical with step (326) structure; Top chock (325) is the concave body structure, in the through hole of two protuberances of concave body linear bearing (323), linear bearing (330) is installed, and these two linear bearings are socketed on the A guide rod (305); Step (326) is the concave body structure, in the through hole of two protuberances of concave body two linear bearings is installed, and these two linear bearings are socketed on the B guide rod (306); The two ends of the transverse slat (324) of T shape frame (31b) are equipped with C snap close (327), D snap close (328).
2, multi-node wall-climbing worm type robot according to claim 1 is characterized in that: A connecting arm (21) is linked as a movable body with the B steering wheel (4B) that passes through of B connecting arm (22), can make the head (1) of robot realize the open chain motion.
3, multi-node wall-climbing worm type robot according to claim 1 is characterized in that: C connecting arm (23) is linked as a movable body with the K steering wheel (4K) that passes through of D connecting arm (24), can make the afterbody (3) of robot realize the open chain motion.
4, multi-node wall-climbing worm type robot according to claim 1, it is characterized in that: the just commentaries on classics of the motor (5B-5) in the B vibration unit (5B) drives B eccentric wheel (5B-22), A eccentric wheel (5B-12) rotates, make B linear slider (5B-2), A linear slider (5B-1) drive four sucker guide pillar alternatively up and down vibrations, and then make four sucker alternatively up and down vibrations; The counter-rotating of motor (5B-5) is rotated cam (5B-8), and then B suction casting die (7B-3) is lifted to four sucker venting.
5, multi-node wall-climbing worm type robot according to claim 1 is characterized in that: three passive components have two effects in the multi-node wall-climbing worm robot: be that the multi-node wall-climbing worm robot can be eliminated IA power interference in straight ahead on the one hand; Be to realize the turning of torso portion during at turning motion and reset on the other hand when the multi-node wall-climbing worm robot.
6, multi-node wall-climbing worm type robot according to claim 1, it is characterized in that: this robot at first afterbody lifts and falls under the effect of steering wheel and makes robot produce a step pitch, trunk is coordinated wriggling with afterbody under the effect of steering wheel then, this step pitch is delivered to head, last head lifts and falls the advance that this step pitch is converted into robot under the effect of steering wheel, thereby realizes moving ahead of robot.
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| CNB2008101174734A CN100554068C (en) | 2008-07-31 | 2008-07-31 | Multi-node wall-climbing worm type robot |
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| CNB2008101174734A CN100554068C (en) | 2008-07-31 | 2008-07-31 | Multi-node wall-climbing worm type robot |
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| CN102632937A (en) * | 2012-05-04 | 2012-08-15 | 安徽工业大学 | Crawling mechanism for peristaltic cable robot |
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| CN103056882B (en) * | 2013-01-14 | 2015-05-27 | 哈尔滨工程大学 | Inchworm gait imitation climbing robot |
| CN103915026A (en) * | 2014-03-28 | 2014-07-09 | 江苏省华茂科教设备有限公司 | Bionic electronic helminth model applicable to teaching |
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| CN106945738B (en) * | 2017-03-31 | 2019-01-11 | 西南科技大学 | A kind of bio-robot of Variable Waveform driving |
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| CN110450134B (en) * | 2019-07-02 | 2021-01-08 | 清华大学 | Rope-controlled steering worm-imitating crawling robot device |
| CN110550120B (en) * | 2019-08-28 | 2020-07-24 | 华中科技大学 | Worm-imitated wireless drive soft robot and preparation method thereof |
| CN115056877B (en) * | 2022-07-15 | 2023-10-13 | 北京航空航天大学 | Wheeled wall climbing robot adsorption equipment based on sphere drive |
| CN116513332B (en) * | 2023-03-17 | 2024-01-05 | 广西南宁西格汇居电子科技有限公司 | Wall climbing robot framework structure and walking control method |
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