CN103507870A - Wall-climbing robot with passive compression structure and biomimetic claws - Google Patents
Wall-climbing robot with passive compression structure and biomimetic claws Download PDFInfo
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- CN103507870A CN103507870A CN201210220235.2A CN201210220235A CN103507870A CN 103507870 A CN103507870 A CN 103507870A CN 201210220235 A CN201210220235 A CN 201210220235A CN 103507870 A CN103507870 A CN 103507870A
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Abstract
The invention belongs to the technical field of machine manufacturing, and particularly relates to a wall-climbing robot with a passive compression structure and biomimetic claws. The wall-climbing robot comprises an upper machine body plate, a lower machine body plate, a crank block, the claws and a tail. The upper machine body plate and the lower machine body plate are respectively connected with at least three claws, wherein the claws are symmetrically distributed left and right, and all the claws are connected with the upper machine body plate and the lower machine plate body through elastic leaf springs. The elastic leaf springs deform directionally to provide pre-compression for the claws in a passive mode. According to the wall-climbing robot, the structural design of the one-way elastic claws is adopted, and the claws have the characteristics of being capable of sliding and fixedly clawing and adhering when the wall-climbing robot moves. When the claws slide upward along a wall face along with a machine body, the claws cock backward, and therefore the resistance of upward movement is reduced; when the claws claw and adhere to a wall, the claws are fixed in position due to structural limit, and therefore clawing and adhering are firmer. In addition, the wall-climbing robot is simple in structure, convenient to operate and use, low in manufacturing cost, and suitable for being popularized and applied in related technical fields.
Description
Technical field
The invention belongs to machinery manufacturing technology field, specifically a kind of climbing robot with passive compressing structure and bionical claw.
Background technology
Climbing robot is significant for succouring under military surveillance, extreme environment etc.And the artificial function of creeping that realizes of wall-climbing device must have absorption and mobile two basic function.General climbing robot is attached by negative-pressure adsorption and magnetic, and the very fast bionic nano adhesion material of development in recent years.Wherein negative-pressure adsorption requires wall smooth smooth, and the attached wall that requires of magnetic has ferrimagnetism, and the manufacture of bionic nano adhesion material is more difficult and not good for coarse wall adhesiving effect.Therefore, three kinds of suction types all have limitation.
The move mode of climbing robot mainly contains two kinds of leg formula and crawler types, and leg formula structure is more complicated all, and the driving needing is more, and climbing stability is bad, and crawler type requires wall smooth.Therefore design a kind of hydraulically rough surface of climbing, simultaneously simple in structure, drive few climbing robot significant.
Summary of the invention
The object of the invention is, in order to solve deficiency of the prior art, provides a kind of hydraulically rough surface of climbing, simple in structure, drives few passive compressing structure and the climbing robot of bionical claw.
A climbing robot with passive compressing structure and bionical claw, comprises upper machine body plate, lower body plate, crank block, claw, tail, and wherein, upper machine body plate is equipped with the elasticity tail that is used to provide precompressed compression.Upper machine body plate is connected by crank block with lower body plate, and slide block is integrated in lower body plate, and chute is integrated in upper machine body plate.
Crank block of the present invention comprises that crank, connecting rod form.On upper machine body plate, DC machine is installed, the output shaft of DC machine is connected with crank, and the mode by crank block drives upper machine body plate, lower body plate to do relative motion.Wherein, DC machine is that single motor drives.
Upper machine body plate of the present invention, lower body plate are at least connected with respectively three claws, and left and right symmetrical, and each claw is connected with upper machine body plate, lower body plate by elastic spring.Elastic spring distortion has directivity, and the passive mode of take provides precompressed compression as claw.Each claw is comprised of elastic spring, hook thorn matrix, rigid hooks thorn, rubber elastic membrane, and wherein, rubber elastic membrane is wrapped in the tip end surface of rigid hooks thorn.
The present invention adopts unidirectional elasticity claw structure design, and climbing robot is in motion process, and claw has slippage and fixedly grabs attached feature.When claw makes progress slippage with body along wall, claw is perk backward, has reduced the resistance of upward movement; When claw, grab while being attached on wall, claw is due to structural limitations, and claw position immobilizes, and it is attached more firm to grab.In addition, the present invention is simple in structure, handled easily is used, cost is not high, is adapted at applying in correlative technology field.
Accompanying drawing explanation
Fig. 1 is perspective view of the present invention;
Fig. 2 is the auxiliary schematic diagram of spatial structure of the present invention;
Fig. 3 is claw structural representation of the present invention;
Fig. 4 is claw two anisotropy structural representations of the present invention.
In figure: 1, upper machine body plate; 2, lower body plate; 3, claw; 4, tail; 5, crank; 6, connecting rod; 7, DC machine; 8, elastic spring; 9, hook thorn matrix; 10, rigid hooks thorn; 11, rubber elastic membrane.
The specific embodiment
For making technical scheme of the present invention and feature clearer, below in conjunction with embodiment and accompanying drawing, the present invention is described in further detail.At this, following examples are used for illustrating the present invention, but are not used for limiting the scope of the invention.
As shown in Figure 1 and Figure 2, the present invention includes crank 5, connecting rod 6, claw 3, the tail 4 of upper machine body plate 1, lower body plate 2, crank block.DC machine 7 is housed on upper machine body plate 1, and upper machine body plate 1 is connected by crank block with lower body plate 2, and slide block is integrated in lower body plate 2, and chute is integrated in upper machine body plate 1.
DC machine 7 output shafts of the present invention are connected with crank 5, and driving crank slide block movement makes upper machine body plate 1 and lower body plate 2 produce relative motion.4 pairs of upper machine body plates 1 of tail of the present invention and lower body plate 2 have passive pressuring action, make climbing robot in motion process, and claw 3 is more easily grabbed attached.
As shown in Figure 3, Figure 4, claw 3 is comprised of elastic spring 8, hook thorn matrix 9, rigid hooks thorn 10, rubber elastic membrane 11.Wherein, rubber elastic membrane 11 also can adopt other flexible materials to substitute.Claw 3 stings 10 by rigid hooks and grabs in the pit that is attached to wall, and large deformations occur the rubber elastic membrane 11 that now stings 10 surfaces, and pit is played to filling effect, has increased the area of contact with wall, grabs attached more stable.
When the relative lower body plate 2 of upper machine body plate 1 is during along wall upward movement, the claw 3 that lower body plate 2 is installed is in fixedly grabbing attached state, and stable grabbing is attached in the pit of wall, and the claw 3 that upper machine body plate 1 is installed is in slip state, the rear portion of claw 3 is upturned, and has reduced resistance of motion.Therefore, just realized the stable climbing function of climbing robot on hydraulically rough surface.
Obviously, the above embodiment of the present invention is only for example of the present invention is clearly described, and is not the restriction to embodiments of the present invention.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here cannot give all embodiments exhaustive.Every still row in protection scope of the present invention of apparent variation that technical scheme of the present invention extends out or change that belong to.
Claims (6)
1. a climbing robot with passive compressing structure and bionical claw, it is characterized in that: comprise upper machine body plate, lower body plate, crank block, claw, tail, wherein, upper machine body plate is equipped with the elasticity tail that is used to provide precompressed compression, upper machine body plate is connected by crank block with lower body plate, slide block is integrated in lower body plate, and chute is integrated in upper machine body plate.
2. a kind of climbing robot with passive compressing structure and bionical claw according to claim 1, is characterized in that crank block comprises that crank, connecting rod form.
3. a kind of climbing robot with passive compressing structure and bionical claw according to claim 1, it is characterized in that, on upper machine body plate, DC machine is installed, the output shaft of DC machine is connected with crank, and the mode by crank block drives upper machine body plate, lower body plate to do relative motion.
4. a kind of climbing robot with passive compressing structure and bionical claw according to claim 3, is characterized in that described DC machine is that single motor drives.
5. a kind of climbing robot with passive compressing structure and bionical claw according to claim 1, it is characterized in that upper machine body plate, lower body plate are at least connected with respectively three claws, and left and right symmetrical, each claw is connected with upper machine body plate, lower body plate by elastic spring, elastic spring distortion has directivity, and the passive mode of take provides precompressed compression as claw.
6. a kind of climbing robot with passive compressing structure and bionical claw according to claim 5, it is characterized in that each claw is comprised of elastic spring, hook thorn matrix, rigid hooks thorn, rubber elastic membrane, wherein, rubber elastic membrane is wrapped in the tip end surface of rigid hooks thorn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210220235.2A CN103507870B (en) | 2012-06-29 | 2012-06-29 | A kind of climbing robot with passive compressing structure and bionical claw |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201210220235.2A CN103507870B (en) | 2012-06-29 | 2012-06-29 | A kind of climbing robot with passive compressing structure and bionical claw |
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| CN103507870A true CN103507870A (en) | 2014-01-15 |
| CN103507870B CN103507870B (en) | 2015-09-16 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210220235.2A Active CN103507870B (en) | 2012-06-29 | 2012-06-29 | A kind of climbing robot with passive compressing structure and bionical claw |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270501A (en) * | 2015-11-05 | 2016-01-27 | 东南大学 | Climbing robot based on crank block |
| CN108357582A (en) * | 2018-04-11 | 2018-08-03 | 中国科学院合肥物质科学研究院 | A kind of sufficient structure of Bionic flexible pawl thorn |
| CN108749944A (en) * | 2018-07-12 | 2018-11-06 | 中国科学院合肥物质科学研究院 | A kind of active pawl for climbing robot pierces foot |
| CN114475840A (en) * | 2022-01-13 | 2022-05-13 | 西安理工大学 | Bionic claw-pricking foot with endoskeleton constraint |
| CN114571911A (en) * | 2021-12-31 | 2022-06-03 | 南京赫曼机器人自动化有限公司 | Active wheel claw deformation mechanism for high-mobility robot |
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| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| WO2003013944A2 (en) * | 2001-08-06 | 2003-02-20 | Smart Robotics Ltd. | Vehicle with a mechanism for attachment to a surface |
| CN201914347U (en) * | 2010-09-21 | 2011-08-03 | 长春理工大学 | Multi-cavity negative-pressure-adsorption type wall-climbing robot |
| CN102211626A (en) * | 2010-04-08 | 2011-10-12 | 李远达 | Wall climbing robot airflow adsorption technology and walk operation platform |
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2012
- 2012-06-29 CN CN201210220235.2A patent/CN103507870B/en active Active
Patent Citations (4)
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|---|---|---|---|---|
| US5551525A (en) * | 1994-08-19 | 1996-09-03 | Vanderbilt University | Climber robot |
| WO2003013944A2 (en) * | 2001-08-06 | 2003-02-20 | Smart Robotics Ltd. | Vehicle with a mechanism for attachment to a surface |
| CN102211626A (en) * | 2010-04-08 | 2011-10-12 | 李远达 | Wall climbing robot airflow adsorption technology and walk operation platform |
| CN201914347U (en) * | 2010-09-21 | 2011-08-03 | 长春理工大学 | Multi-cavity negative-pressure-adsorption type wall-climbing robot |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105270501A (en) * | 2015-11-05 | 2016-01-27 | 东南大学 | Climbing robot based on crank block |
| CN108357582A (en) * | 2018-04-11 | 2018-08-03 | 中国科学院合肥物质科学研究院 | A kind of sufficient structure of Bionic flexible pawl thorn |
| CN108357582B (en) * | 2018-04-11 | 2023-10-13 | 中国科学院合肥物质科学研究院 | Bionic flexible claw thorn foot structure |
| CN108749944A (en) * | 2018-07-12 | 2018-11-06 | 中国科学院合肥物质科学研究院 | A kind of active pawl for climbing robot pierces foot |
| CN108749944B (en) * | 2018-07-12 | 2024-01-26 | 中国科学院合肥物质科学研究院 | Active claw thorn foot for wall climbing robot |
| CN114571911A (en) * | 2021-12-31 | 2022-06-03 | 南京赫曼机器人自动化有限公司 | Active wheel claw deformation mechanism for high-mobility robot |
| CN114571911B (en) * | 2021-12-31 | 2024-01-23 | 南京赫曼机器人自动化有限公司 | Active wheel claw deformation mechanism for high-mobility robot |
| CN114475840A (en) * | 2022-01-13 | 2022-05-13 | 西安理工大学 | Bionic claw-pricking foot with endoskeleton constraint |
| CN114475840B (en) * | 2022-01-13 | 2023-01-24 | 西安理工大学 | Bionic claw-pricking foot with endoskeleton constraint |
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| CN103507870B (en) | 2015-09-16 |
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