CN101058321A - Mini micro-acoustic wall-climbing robot based on vacuum adsorption principle - Google Patents
Mini micro-acoustic wall-climbing robot based on vacuum adsorption principle Download PDFInfo
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- CN101058321A CN101058321A CN 200710072319 CN200710072319A CN101058321A CN 101058321 A CN101058321 A CN 101058321A CN 200710072319 CN200710072319 CN 200710072319 CN 200710072319 A CN200710072319 A CN 200710072319A CN 101058321 A CN101058321 A CN 101058321A
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Abstract
The invention relates to a small scale micro sound wall climbing robot based on vacuum absorption principle, comprising the vacuum generator installed on the displacement structure, and the sucker on the displacement structure, the said vacuum generator composed of drive generator single post plug pump and the film pump connected with it, and the two position three way valve. The said displacement structure is six leg walking structure, with each leg's drive joint made of the generator, harmonic decelerator installed at both ends of the generator and the planetary reducer connected to it and they are forming into a module with the umbrella gear connected to the planetary reducer, with both ends of the module linked with the passive pole through the joint with the machine, the sucker installed on the passive pole through the passive joint and connected to the two position three way valves. It is small in size, low in noise, free from cables. It has extensive applications.
Description
One, technical field
What the present invention relates to is a kind of robot, specifically a kind of climbing robot.
Two, background technology
Along with development of science and technology, fields such as anti-terrorism scouting, skyscraper detection, high-altitude rescue press for the robot that can realize climbing the wall function.This robot portability multiple sensors is finished detection mission.
Report about climbing robot is a lot, and for example number of patent application is 01274744.0, and name is called " crawler multi-sucker climbing robot "; Number of patent application is 200510086383.X, and name is called in the patent documents such as " a kind of non-contact magnetically adsorbed wall climbing robots " disclosed technical scheme etc.But the most of volume of the wall-climbing device philtrum of having reported is bigger, and utilizes the more of the attached principle of magnetic, and this kind robot can only be creeped at the magnetic conduction face, and relatively heavier, consumes energy is many, generally is difficult to accomplish not have cableization.There is the small-sized wall-climbing robot of a kind of employing " wind spout " principle in Israel, and volume is very little, no cable, but noise is bigger, is difficult to reach application request in anti-terrorism investigation field.
Three, summary of the invention
The object of the present invention is to provide that a kind of volume is little, noise is low, no cableization, the mini micro-acoustic wall-climbing robot that has broad application prospects at aspects such as anti-terrorism scouting, high building detections based on vacuum adsorption principle.
The object of the present invention is achieved like this: it comprises travel mechanism, and the vacuum that is installed in the travel mechanism produces mechanism and the sucker that is installed in the travel mechanism; Described vacuum produces mechanism and comprises the unidirectional plunger pump that has drive motor, diaphragm pump and the two position three-way valve that is connected with unidirectional plunger pump; Described travel mechanism is six sufficient walking structures, a module is formed by motor, the harmonic speed reducer that is installed in the motor two ends, planetary reduction gear that links to each other with harmonic speed reducer and the bevel gear that links to each other with planetary reduction gear in each sufficient driving joint, the two ends of module link to each other with the passive bar of body respectively by the joint, sucker is installed on the passive bar by passive joint, and sucker links to each other with two position three-way valve by pipeline.
The present invention can also comprise some architectural features like this:
1, the motor on the described driving joint is brushless disc type electric machine.
2, described sucker by the duralumin skeleton, be arranged on the skeleton periphery the rubber shell, be arranged at sucker in-to-in supporting pad and contact pickup is formed.
3, the described drive motor that has the unidirectional plunger pump of drive motor is a DC machine, and DC machine is furnished with the two-way travel switch by feed screw nut actuation plunger moving linearly on leading screw.
4, drive joint module and be provided with joint rotational limitation control travel switch.
5, described passive joint is made up of the maintenance spring outside universal-joint, the universal-joint and the spring stop at two ends.
The present invention utilizes vacuum adsorption principle, motor drives screw-nut body by gear transmission makes unidirectional plunger pump realize straight-line motion, cooperate small-sized diaphragm pump to carry out pressure simultaneously and keep, make and produce stable negative pressure in the vacuum cup, thereby provide positive pressure for robot wall.Travel mechanism adopts six sufficient walking structures, drives the joint and adopts modular design, and power is delivered to the joint by brushless disc type electric machine through harmonic speed reducer, planetary reduction gear, bevel gear.Passive joint adopts universal-joint, and has from reset function.Entire machine people can realize advancing, retreats, turns, actions such as wall switching, obstacle detouring.
Vacuum cup of the present invention is made up of duralumin skeleton, rubber shell, supporting pad, contact pickup.The duralumin skeleton has guaranteed the support stiffness of sucker, and the rubber shell makes sucker have certain wall adaptive capacity, and its rigidity has been passed through optimization, has guaranteed the rapidity that discharges.Supporting pad and contact pickup are used for providing necessary bearing capacity when absorption and detect the situation that contacts of sucker and wall.
Little vacuum of the present invention generates mechanism and adopts unidirectional piston structure.Unidirectional plunger pump uses DC machine to be driver element, realizes the straight-line motion of plunger by screw-nut body.On leading screw, be furnished with the two-way travel switch,, prevent thrashing in order to detect lead screw position.
Modularized joint of the present invention adopts brushless disc type electric machine to drive, and drives harmonic speed reducer successively, and planetary reduction gear and bevel gear are realized the rotation in joint.The rotational limitation in joint is controlled by travel switch.
The present invention is based on small size, low noise, and no cableization has broad application prospects at aspects such as anti-terrorism scouting, high building detections.Little vacuum generating device adopts unidirectional piston structure to cooperate small-sized diaphragm pump to carry out the pressure maintenance, and travel mechanism adopts the six-legged walking machine structure.Drive the joint and adopt modular design, passive joint adopts gimbal structure and has from reset function.
Four, description of drawings
Fig. 1 is a structural representation of the present invention;
Fig. 2 is the structural representation that vacuum produces mechanism;
Fig. 3 is the structural representation that drives the joint;
Fig. 4 is the structural representation of sucker;
Fig. 5 is the structural representation of unidirectional plunger pump;
Fig. 6 is the structural representation of passive joint.
Five, the specific embodiment
For a more detailed description to the present invention for example below in conjunction with accompanying drawing:
In conjunction with Fig. 1, comprise travel mechanism 3 based on the composition of the mini micro-acoustic wall-climbing robot of vacuum adsorption principle, be installed in vacuum in the travel mechanism and produce mechanism 1 and be installed in sucker 2 in the travel mechanism by passive joint 4.In conjunction with Fig. 2, vacuum produces mechanism and comprises the unidirectional plunger pump 8 that has drive motor, the diaphragm pump 7 that is connected with unidirectional plunger pump and two position three-way valve 5 simultaneously.Simultaneously in conjunction with Fig. 3, travel mechanism is six sufficient walking structures, each sufficient driving joint is formed a module by motor 10, the harmonic speed reducer 11 that is installed in the motor two ends, the planetary reduction gear 12 that links to each other with harmonic speed reducer with the bevel gear 13 that links to each other with planetary reduction gear, the two ends of module link to each other 14 with the passive bar of the body of travel mechanism respectively by the joint, sucker is installed on the passive bar by passive joint, and sucker links to each other with two position three-way valve by pipeline.Motor on the described driving joint is brushless disc type electric machine, drives joint module and is provided with joint rotational limitation control travel switch 23.Simultaneously in conjunction with Fig. 4, sucker by duralumin skeleton 15, be arranged on the skeleton periphery rubber shell 16, be arranged at sucker in-to-in supporting pad 17 and contact pickup 18 is formed.In conjunction with Fig. 5, the drive motor that has the unidirectional plunger pump of drive motor is a DC machine 19 simultaneously, and DC machine is furnished with two-way travel switch 22 by leading screw 20, nut 21 actuation plunger moving linearlies on leading screw.In conjunction with Fig. 6, passive joint is made up of the maintenance spring 24 outside universal-joint 23, the universal-joint and the spring stop 25 at two ends simultaneously.
Claims (6)
1, a kind of mini micro-acoustic wall-climbing robot based on vacuum adsorption principle, it comprises travel mechanism, the vacuum that is installed in the travel mechanism produces mechanism and the sucker that is installed in the travel mechanism; It is characterized in that: described vacuum produces mechanism and comprises the unidirectional plunger pump that has drive motor, diaphragm pump and the two position three-way valve that is connected with unidirectional plunger pump; Described travel mechanism is six sufficient walking structures, a module is formed by motor, the harmonic speed reducer that is installed in the motor two ends, planetary reduction gear that links to each other with harmonic speed reducer and the bevel gear that links to each other with planetary reduction gear in each sufficient driving joint, the two ends of module link to each other with the passive bar of body respectively by the joint, sucker is installed on the passive bar by passive joint, and sucker links to each other with two position three-way valve by pipeline.
2, the mini micro-acoustic wall-climbing robot based on vacuum adsorption principle according to claim 1 is characterized in that: the motor on the described driving joint is brushless disc type electric machine.
3, the mini micro-acoustic wall-climbing robot based on vacuum adsorption principle according to claim 1 is characterized in that: described sucker by the duralumin skeleton, be arranged on the skeleton periphery the rubber shell, be arranged at sucker in-to-in supporting pad and contact pickup is formed.
4, the mini micro-acoustic wall-climbing robot based on vacuum adsorption principle according to claim 1, it is characterized in that: the described drive motor that has the unidirectional plunger pump of drive motor is a DC machine, DC machine is furnished with the two-way travel switch by feed screw nut actuation plunger moving linearly on leading screw.
5, the mini micro-acoustic wall-climbing robot based on vacuum adsorption principle according to claim 1 is characterized in that: drive joint module and be provided with joint rotational limitation control travel switch.
6, the mini micro-acoustic wall-climbing robot based on vacuum adsorption principle according to claim 1 is characterized in that: described passive joint is made up of the maintenance spring outside universal-joint, the universal-joint and the spring stop at two ends.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100723195A CN100509525C (en) | 2007-06-06 | 2007-06-06 | Mini micro-acoustic wall-climbing robot based on vacuum adsorption principle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNB2007100723195A CN100509525C (en) | 2007-06-06 | 2007-06-06 | Mini micro-acoustic wall-climbing robot based on vacuum adsorption principle |
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| CN101058321A true CN101058321A (en) | 2007-10-24 |
| CN100509525C CN100509525C (en) | 2009-07-08 |
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| CNB2007100723195A Expired - Fee Related CN100509525C (en) | 2007-06-06 | 2007-06-06 | Mini micro-acoustic wall-climbing robot based on vacuum adsorption principle |
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| CN102008271A (en) * | 2010-11-22 | 2011-04-13 | 江苏申锡建筑机械有限公司 | Four-degree-of-freedom mechanical leg adsorption mechanism for window cleaning robot |
| CN102294502A (en) * | 2011-05-31 | 2011-12-28 | 上海交通大学 | Sucker type integrated robot |
| CN102398873A (en) * | 2011-10-26 | 2012-04-04 | 沈阳建筑大学 | Climbing extensible platform for maintenance of fan |
| CN102689659A (en) * | 2011-03-21 | 2012-09-26 | 洪浛檩 | Gait of precise positioning of three-steering engine hexapod robot |
| CN102101298B (en) * | 2009-12-18 | 2012-11-28 | 中国科学院沈阳自动化研究所 | Rotational joint module of modularized reconfigurable robot |
| CN103056881A (en) * | 2013-01-01 | 2013-04-24 | 许博 | Vertical plane exploration robot |
| CN103303383A (en) * | 2013-06-05 | 2013-09-18 | 西安电子科技大学 | Sliding type multi-sucking disc wall-climbing robot |
| CN104015829A (en) * | 2014-06-10 | 2014-09-03 | 西北工业大学 | Two negative pressure adsorption type feet of wall-climbing robot |
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| CN104443105A (en) * | 2014-10-29 | 2015-03-25 | 西南大学 | Low-energy-loss six-foot robot |
| CN104828171A (en) * | 2015-05-13 | 2015-08-12 | 浙江工业大学 | Negative pressure adsorption foot-based traveling mechanism for wall-climbing robot on oblique and smooth wall surface |
| CN105080872A (en) * | 2015-09-17 | 2015-11-25 | 重庆交通大学 | Underwater ship cleaning robot |
| CN105159325A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | STM32F407 and FPGA-based two-wheel high-speed fire-extinguishing robot servo controller |
| CN105235764A (en) * | 2015-10-30 | 2016-01-13 | 北京理工大学 | Vacuum suction wall-climbing robot and using method thereof |
| KR20160026436A (en) * | 2014-09-01 | 2016-03-09 | 지창욱 | Vertical Moving Robot and Moving Mechanism of the same |
| CN105730542A (en) * | 2016-03-31 | 2016-07-06 | 任宝全 | Manufacturing method of air sucker type wall crawler |
| CN105752195A (en) * | 2016-03-31 | 2016-07-13 | 重庆交通大学 | Bridge detecting robot |
| CN106078714A (en) * | 2016-07-29 | 2016-11-09 | 柳州福能机器人开发有限公司 | The assembly method of man-machine collaboration robot walking device |
| CN106166673A (en) * | 2016-07-29 | 2016-11-30 | 柳州福能机器人开发有限公司 | A kind of processing and assembling of articulated robot walking mechanism |
| CN106239128A (en) * | 2016-07-29 | 2016-12-21 | 柳州福能机器人开发有限公司 | A kind of assembly method in arc welding robot joint |
| CN106378776A (en) * | 2016-11-29 | 2017-02-08 | 闫建东 | Control method and device for hand and foot integrated robot |
| CN103847935B (en) * | 2014-02-24 | 2017-02-08 | 浙江海洋学院 | Underwater boat body surface walking machine |
| CN109204601A (en) * | 2018-10-11 | 2019-01-15 | 北京真机智能科技有限公司 | A kind of automatic cruising quadruped robot for logistics distribution |
| CN109823432A (en) * | 2019-01-19 | 2019-05-31 | 河北航轮科技有限公司 | Six pawls of one kind can climb wall mobile robot |
| CN109911048A (en) * | 2019-03-19 | 2019-06-21 | 武聚凤 | Climbing robot and control method |
| CN110203295A (en) * | 2019-05-14 | 2019-09-06 | 江苏科技大学 | One kind having the bionical characteristic sucker of height |
| CN112572632A (en) * | 2020-12-22 | 2021-03-30 | 重庆文高科技有限公司 | Vacuum adsorption type bionic wall-climbing robot |
| CN112896362A (en) * | 2021-03-27 | 2021-06-04 | 吉林大学 | Highly-bionic full-flexible-drive spider-imitating robot |
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| CN102101298B (en) * | 2009-12-18 | 2012-11-28 | 中国科学院沈阳自动化研究所 | Rotational joint module of modularized reconfigurable robot |
| CN102008271A (en) * | 2010-11-22 | 2011-04-13 | 江苏申锡建筑机械有限公司 | Four-degree-of-freedom mechanical leg adsorption mechanism for window cleaning robot |
| CN102689659A (en) * | 2011-03-21 | 2012-09-26 | 洪浛檩 | Gait of precise positioning of three-steering engine hexapod robot |
| CN102294502A (en) * | 2011-05-31 | 2011-12-28 | 上海交通大学 | Sucker type integrated robot |
| CN102398873B (en) * | 2011-10-26 | 2014-07-02 | 沈阳建筑大学 | Climbing extensible platform for maintenance of fan |
| CN102398873A (en) * | 2011-10-26 | 2012-04-04 | 沈阳建筑大学 | Climbing extensible platform for maintenance of fan |
| CN103056881B (en) * | 2013-01-01 | 2014-12-10 | 杭州锐冠精工机械有限公司 | Vertical plane exploration robot |
| CN103056881A (en) * | 2013-01-01 | 2013-04-24 | 许博 | Vertical plane exploration robot |
| CN103303383A (en) * | 2013-06-05 | 2013-09-18 | 西安电子科技大学 | Sliding type multi-sucking disc wall-climbing robot |
| CN103303383B (en) * | 2013-06-05 | 2015-10-28 | 西安电子科技大学 | A kind of sliding type multicup wall-lcimbing robot |
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| CN104421619A (en) * | 2013-08-26 | 2015-03-18 | 凌昕 | Pipe detector |
| CN103847935B (en) * | 2014-02-24 | 2017-02-08 | 浙江海洋学院 | Underwater boat body surface walking machine |
| CN104015829B (en) * | 2014-06-10 | 2016-05-18 | 西北工业大学 | A kind of negative-pressure adsorption-type biped of climbing robot |
| CN104015829A (en) * | 2014-06-10 | 2014-09-03 | 西北工业大学 | Two negative pressure adsorption type feet of wall-climbing robot |
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| CN104828171B (en) * | 2015-05-13 | 2017-01-18 | 浙江工业大学 | Negative pressure adsorption foot-based traveling mechanism for wall-climbing robot on oblique and smooth wall surface |
| CN104828171A (en) * | 2015-05-13 | 2015-08-12 | 浙江工业大学 | Negative pressure adsorption foot-based traveling mechanism for wall-climbing robot on oblique and smooth wall surface |
| CN105159325A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | STM32F407 and FPGA-based two-wheel high-speed fire-extinguishing robot servo controller |
| CN105080872A (en) * | 2015-09-17 | 2015-11-25 | 重庆交通大学 | Underwater ship cleaning robot |
| CN105235764A (en) * | 2015-10-30 | 2016-01-13 | 北京理工大学 | Vacuum suction wall-climbing robot and using method thereof |
| CN105235764B (en) * | 2015-10-30 | 2017-05-17 | 北京理工大学 | Vacuum suction wall-climbing robot and using method thereof |
| CN105752195A (en) * | 2016-03-31 | 2016-07-13 | 重庆交通大学 | Bridge detecting robot |
| CN105752195B (en) * | 2016-03-31 | 2018-09-21 | 重庆交通大学 | Bridge machinery robot |
| CN105730542A (en) * | 2016-03-31 | 2016-07-06 | 任宝全 | Manufacturing method of air sucker type wall crawler |
| CN106078714A (en) * | 2016-07-29 | 2016-11-09 | 柳州福能机器人开发有限公司 | The assembly method of man-machine collaboration robot walking device |
| CN106166673A (en) * | 2016-07-29 | 2016-11-30 | 柳州福能机器人开发有限公司 | A kind of processing and assembling of articulated robot walking mechanism |
| CN106239128A (en) * | 2016-07-29 | 2016-12-21 | 柳州福能机器人开发有限公司 | A kind of assembly method in arc welding robot joint |
| CN106378776A (en) * | 2016-11-29 | 2017-02-08 | 闫建东 | Control method and device for hand and foot integrated robot |
| CN109204601A (en) * | 2018-10-11 | 2019-01-15 | 北京真机智能科技有限公司 | A kind of automatic cruising quadruped robot for logistics distribution |
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| CN109823432A (en) * | 2019-01-19 | 2019-05-31 | 河北航轮科技有限公司 | Six pawls of one kind can climb wall mobile robot |
| CN109823432B (en) * | 2019-01-19 | 2021-07-16 | 河北航轮科技有限公司 | Six-claw wall-climbing mobile robot |
| CN109911048A (en) * | 2019-03-19 | 2019-06-21 | 武聚凤 | Climbing robot and control method |
| CN110203295A (en) * | 2019-05-14 | 2019-09-06 | 江苏科技大学 | One kind having the bionical characteristic sucker of height |
| CN112572632A (en) * | 2020-12-22 | 2021-03-30 | 重庆文高科技有限公司 | Vacuum adsorption type bionic wall-climbing robot |
| CN112896362A (en) * | 2021-03-27 | 2021-06-04 | 吉林大学 | Highly-bionic full-flexible-drive spider-imitating robot |
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