CN101734301B - Gluing type climbing multi-foot robot - Google Patents
Gluing type climbing multi-foot robot Download PDFInfo
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- CN101734301B CN101734301B CN2010100182463A CN201010018246A CN101734301B CN 101734301 B CN101734301 B CN 101734301B CN 2010100182463 A CN2010100182463 A CN 2010100182463A CN 201010018246 A CN201010018246 A CN 201010018246A CN 101734301 B CN101734301 B CN 101734301B
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Abstract
The invention discloses a gluing type climbing multi-foot robot which comprises a body, a motion control module, at least four motion legs and feet. One end of each motion leg is connected with the body while the other end is provided with the foot; a glue storage can is arranged on the body; a glue transporting channel is arranged on each motion leg; an underside of a base of each foot is a flexible contact side; a glue outlet is formed on the underside of each foot and the glue outlet of the glue storage can is communicated with the glue outlet of each foot through the glue transporting channels. The glue storage can comprises a pressure device, wherein the glue in the glue storage can is transported to the glue outlets of the feet under the action of the pressure device. Adhesion is provided by gluing. A mechanism is simple and is easy to realize. Compared with the traditional absorption manner, the robot greatly decreases the weight of adhering mechanisms and promotes the reliability of adhesion, and adsorption equipment almost has no noise.
Description
Technical field
The present invention relates to climbing robot, it can be worked under dangerous situation and harsh environment, accomplishes specific task, and especially it can be attached on the vertical wall and top ceiling.
Background technology
In many occasions, the mankind itself is difficult to arrive and accomplish corresponding task.Such as the place that the exterior wall of skyscraper, the radiation field of nuke industry, high top ceiling, fire, earthquake or other disaster take place, these are local, and then danger is very high as adopting manual work, and this just makes that climbing robot arises at the historic moment.Climbing robot be because its foot can produce adsorption affinity, thereby improved the action radius and the application scenario of robot greatly, and it can creep even can also bear certain load at vertical wall.
The core technology of climbing robot is the running surface that is parked in that how to provide adsorption affinity to make that climbing robot can be firm.According to the difference of absorption principle, that present climbing robot mainly contains is magnetic-type, aspirated-air type, vacuum adsorption type.More than several kinds of suction types exist and adapt to wall material narrow range, noise is big, shortcomings such as power consumption height.And, often too heavy based on the climbing robot of above suction type, to move slowly, the load that can bear is little, and continuous working period is short.
Summary of the invention
Technical matters to be solved by this invention is the deficiency that exists to above-mentioned prior art, and a kind of climbing multi-foot robot based on gluing suction type is provided.It has, and the material of adaptation scope is wide, and noise is little, and it is little to conduct oneself with dignity, and moves advantages such as light.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is:
A kind of gluing type climbing multi-foot robot comprises: trunk, motion-control module, at least four motion legs and foot, and described motion leg one end is connected with trunk; The other end of described motion leg is provided with described foot; On described trunk, also be provided with storage glue jar, described motion leg is provided with defeated glue passage, and the bottom surface of described sufficient base is flexible contact surface; Described sufficient bottom surface is provided with the plastic hole; The gum outlet of described storage glue jar is communicated with described sufficient plastic hole through defeated glue passage, and described storage glue jar also comprises pressure apparatus, and the glue of described storage glue jar is transported to sufficient plastic hole under the effect of pressure apparatus.
Described storage glue jar comprises tank body; Described pressure apparatus comprises piston plate and air bag, and described piston plate is arranged in the middle of the tank body, at an end of described tank body described gum outlet is set; The other end at tank body is provided with the air bag induction opening, and described air bag is arranged on the air inlet nose end of tank body.
The foot of described robot is made up of base, support and end cap three parts; Directly be provided with spring at support and end cap, end cap and base are provided with rack leg through adhesive sealing in the lower end of support; Base holes is set on base, and described rack leg and described base holes are suitable.
Robot of the present invention adopts the polypody design, can get foots such as 4,6,8 or more than, the vola is a flexible contact surface.Storage glue jar is installed on the trunk of robot, and before robot work, the glue that when gum-injecting port pours into work, uses is sealed gum-injecting port.Again from induction opening (valve inside) to air bag towards sufficient gas, the trend of airbag inflation all the time with piston plate to pressing down, force glue be delivered to each vola of robot through glue conveying box.Cover thin adhesive layer in the vola, stick to running surface.
The mode of creeping that the motor-driven employing of robot is bionical, promptly its all pin are all being grabbed with the surface, only allow a pin at every turn and come to nothing, and produce shift action.It is motor-driven to carry out through making its all pin implement " come to nothing (extracting)-move-grabbing " in turn.Motion-control module is through mcu programming control; Send the control voltage signal in turn successively every foot; Make the control motor rotation (other foot keep motionless) of shank; Completion is extracted-is moved forward-grabbing and moving, and when all legs were all accomplished once this action, robot totally promptly moved and moves a step.If the common limb number is n, like this, always there is n-1 pin to be connected with the surface, thereby guarantees that it can be attached at the surface through glue.But it moves also convenient, because only need spend a small amount of power to extract out by gluing this pin of living just.Imagination reversal of the natural order of things state supposes that every sufficient binding force is f, and then the total power that can bear of robot is (n-1) f, but robot extract a foot need with power be f.Therefore adopt the polypody design can guarantee that robot moves easily but can not fall down.
The design of polypody makes that robot single-piece binding force is very big, guarantees the machine man-hour securely attached to running surface, but that monopodia is extracted used power is little, to guarantee its motor-driven convenience.
Beneficial effect of the present invention:
Flexible contact surface can well be adhered with the surface of most of material through thin adhesive layer, even its surface possibly be uneven, makes that the application scenario of climbing robot is very wide; 2. the mode through applying glue provides adhesive ability, and mechanism is simple, is easy to realize.Compared with traditional suction type, can alleviate the weight of attachment mechanism greatly, and improve the reliability of adhesive ability; 3. binding force does not need extra expenditure of energy, and the covering that only needs to guarantee thin adhesive layer gets final product, and energy consumption is very low, and this helps working long hours of robot; 4. adsorption plant does not have noise to produce basically.
Description of drawings
Fig. 1, Fig. 2 are the robot design sketchs;
Fig. 3 is a storage glue jar structure scheme drawing;
Fig. 4 is the robot foot structural representation;
Fig. 5 is sufficient base front view.
Fig. 6 is the birds-eye view of Fig. 5.
The specific embodiment
Robot construction is as shown in Figure 1.It mainly comprises trunk 1, motion-control module 2, and storage glue jar 5, the motion leg is held concurrently and is failed glue passage 3, has the foot 4 of flexible contact surface.Storage glue jar 5 constantly is transported to glue on the flexible contact surface in vola through the glue conveying box that is embedded on the robot leg, makes it form thin adhesive layer.Motion-control module 2 moves and work through micro-control circuit control miniature motor drive machines people intelligence, places the energy that storage battery is supplied with motion in the module.
Structure such as Fig. 3 of storage glue jar 5.Store up glue jar 5 by tank body 7, base 10, base end cap 11 and pressure apparatus are formed, and wherein pressure apparatus comprises piston plate 9 and rubber bag tank 8.After storage glue jar 5 assembles, tank body 7 and base 10 adhesive sealings.Storage glue jar 5 inside are separated into two parts up and down by piston plate 9.Upper end is the pressurized air filler opening, and what stretch from this hole is a valve inside 14 that is installed on the rubber bag tank 8.Before robot enforcement task; With Floor Pump or air compressor air is injected rubber bag tank 8; The swelling force of rubber bag tank 8 acts on the piston plate 9; Piston plate 9 promotes aperture 12 outflows of the glue of bottom storage through the base end cap downwards, and 8 apertures 12 are to link to each other with 4 ones on 8 foots of robot respectively through plastic hose.Base end cap 11 middle parts are filler openings 13 of glue.
Design such as Fig. 4 of foot 4, by upper end cover 15, support 16, base 17 constitutes.In support 16 and end cap 15 junctions spring 20 is arranged.Foot end cap 15 passes through adhesive sealing with base 17.Nonmetallic flexible material is adopted in the bottom surface of base 17, such as rubber, forms flexible contact surface, increases the force of cohesion that glue produces, and robot can be creeped on the surface of more materials.Upper opening 21 is connected with storage glue jar through defeated glue flexible pipe.Glue is extruded from storage glue jar 5, is flowed out by 9 base holes in 4 ends of foot 18, forms thin adhesive layer at 4 ends of foot.Every foot 4 moves and moves a step, and storage glue jar 5 all to its defeated glue is once failed the quantity of glue at every turn and can be adjusted.
The working process of the defeated adhesive dispenser of robot of the present invention.Before robot enforcement task,, seal gum-injecting port 13 from the required glue of gum-injecting port 13 filling operation in jar of base end cap 11.With Floor Pump or air compressor extraneous air is injected rubber bag tank 8, robot just can have been worked.Valve inside 14 stops air to leak, and the pressure of rubber bag tank exists all the time, so when work, do not need to inflate to air bag again.
The swelling force compressing piston plate 9 of rubber bag tank 8, the glue that all the time storage glue jar 5 lower parts is stored produces pressure, makes glue that the trend that flows out from end cap aperture 12 arranged, and uses up until glue.The design of piston plate 9 makes also that when robot is hung by the feet on top ceiling glue can not flow backwards and can not arrive 4 ones on foot to storage glue jar 5 tops.
The foot 4 of robot is made up of base 17, support 16 and end cap 15 3 parts.And spring 20 is arranged in support 16 and end cap 15 junctions.Spring 20 is in compressive state, produces less power support 16 is pushed up to base 17.Just fit in the rack leg 19 that support is following and base holes 18 bottoms of base 17, and rack leg 19 protuberate basic unit 1mm, can adjust this parameter according to the amount of each defeated glue; The diameter of rack leg 19 is than base holes 18 little 2mm; The lower end of the lower end of rack leg 19 and base holes 18 is taper, when foot 4 when unsettled, because the pressure of the effect of spring 20 and glue; Make the front end of rack leg 19 and the front end of base holes 18 prop up gradually, glue will can be not excessive.A foot of motion-control module 2 control robot carries out " come to nothing extract-move-grabbing " action; When " grabbing ", unsettled foot 4 is firmly pressed to body surface 6; Application force equals or is a bit larger tham spring 20 pressure, makes rack leg 19 and base holes open in 18 minutes, and glue overflows from the slit.After waiting several seconds, adjust the amount that this time can change each defeated glue, shed the pressure to foot, then rack leg 19 props up again with base holes 18 gradually, and glue stops excessive, like Fig. 5, shown in Figure 6.
Because the rubber bag tank 8 in the storage glue jar 5 has the pressure effect to piston plate 9 all the time, so the infiltration of glue is automatically fully, do not need by other external force.Robot in the process of walking like this.Behind foot applying metope or top ceiling, foot will discharge thin adhesive layer in 4 ends, and the about 1mm of glue-line can adjust when thick, and glue also can stop excessive.Robot similarly is naturally to be attached on metope or the top ceiling, only need to consider to the motion of robot with the movement posture that will finish the work control, and need not consider whether robot can fall down.
The illustrated adhesive system of this instance can be applied to most of multi-foot robots, has well solved climbing wall or climbing the top ceiling problem of robot, does not but need big energy consumption, does not also have big noise, is a kind of very practical suction type.
Claims (2)
1. gluing type climbing multi-foot robot; Comprise: trunk (1), motion-control module (2), at least four motion legs (3) and foot (4), described motion leg (3) one ends are connected with trunk (1), motion under the effect of motion-control module (2); The other end of described motion leg (3) is provided with described foot (4); It is characterized in that: on described trunk (1), also be provided with storage glue jar (5), described motion leg (3) is provided with defeated glue passage, and the bottom surface of the base (17) of described foot (4) is flexible contact surface; The bottom surface of described foot (4) is provided with the plastic hole; The gum outlet of described storage glue jar (5) is communicated with the plastic hole of described foot (4) through defeated glue passage, and described storage glue jar (5) also comprises pressure apparatus, and the glue of described storage glue jar (5) is transported to the plastic hole of foot (4) under the effect of pressure apparatus; Described storage glue jar (5) comprises tank body (7); Described pressure apparatus comprises piston plate (9) and air bag (8); Described piston plate (9) is arranged in the middle of the tank body (7); End at described tank body (7) is provided with described gum outlet, at the other end of tank body (7) the air bag induction opening is set, and described air bag (8) is arranged on the air inlet nose end of tank body (7).
2. gluing type climbing multi-foot robot according to claim 1; It is characterized in that: the foot of described robot (4) is made up of base (17), support (16) and end cap (15) three parts; Between support (16) and end cap (15), be provided with spring (20), end cap (15) and base (17) are provided with rack leg (19) through adhesive sealing in the lower end of support (16); Base holes (18) is set on base (17), and described rack leg (19) is suitable with described base holes (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010100182463A CN101734301B (en) | 2010-01-20 | 2010-01-20 | Gluing type climbing multi-foot robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010100182463A CN101734301B (en) | 2010-01-20 | 2010-01-20 | Gluing type climbing multi-foot robot |
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| Publication Number | Publication Date |
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| CN101734301A CN101734301A (en) | 2010-06-16 |
| CN101734301B true CN101734301B (en) | 2012-11-28 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010100182463A Expired - Fee Related CN101734301B (en) | 2010-01-20 | 2010-01-20 | Gluing type climbing multi-foot robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103599624B (en) * | 2013-11-04 | 2015-12-30 | 国家电网公司 | A kind of creeping motion type pole climbing device |
| CN109533072A (en) * | 2018-12-21 | 2019-03-29 | 杭州测质成科技有限公司 | A kind of leg attachment device of climbing robot |
| CN114348139B (en) * | 2022-01-29 | 2022-12-23 | 宁波大学 | Visual inspection wall-climbing robot and control method |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201784730U (en) * | 2010-01-20 | 2011-04-06 | 南京航空航天大学 | Adhesive type wall-climbing multi-legged robot |
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Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201784730U (en) * | 2010-01-20 | 2011-04-06 | 南京航空航天大学 | Adhesive type wall-climbing multi-legged robot |
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| CN101734301A (en) | 2010-06-16 |
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