CN103587603B - One kind can barb type wall-climbing robot capable of performing steering flexibly - Google Patents
One kind can barb type wall-climbing robot capable of performing steering flexibly Download PDFInfo
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- CN103587603B CN103587603B CN201210288324.0A CN201210288324A CN103587603B CN 103587603 B CN103587603 B CN 103587603B CN 201210288324 A CN201210288324 A CN 201210288324A CN 103587603 B CN103587603 B CN 103587603B
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- body plate
- upper machine
- climbing robot
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Abstract
The invention belongs to machinery manufacturing technology field, specifically one kind can barb type wall-climbing robot capable of performing steering flexibly.One kind can barb type wall-climbing robot capable of performing steering flexibly, including upper machine body plate, lower body plate, crank block slider structure, flexible hook thorn claw, motor, wherein crank block slider structure is connected with the middle of upper machine body plate and lower body plate, the rotation of crank block slider structure motor, upper machine body plate is done linear relative motion with lower body plate, realize the advance or setback of robot.The rigid hooks puncture tip end surfaces of flexible hook thorn claw of the present invention wrap up one layer of elastic rubber layer, and when rigid hooks thorn, which is grabbed, to be attached in wall pit, rubber elastic membrane deforms, and fills pit, make to grab attached more stable.In addition, the present invention it is simple in construction, conveniently operate with, cost it is not high, be adapted to the popularization and application in correlative technology field.
Description
Technical field
The invention belongs to machinery manufacturing technology field, specifically one kind can barb type wall-climbing robot capable of performing steering flexibly.
Background technology
Climbing robot is significant for space flight and aviation, celestial body detecting, extreme environment search and rescue, military surveillance etc..And
Wall-climbing device artificially realizes function of creeping, it is necessary to have absorption and mobile two basic functions.General climbing robot passes through negative
Pressure absorption and magnetic suck, and the bionic nano adhesion material that have developed rapidly in recent years, wherein negative-pressure adsorption require that wall is smooth
Smooth, magnetic suck requires that wall has ferromagnetism, and the manufacture of bionic nano adhesion material is relatively difficult, at this stage bionic nano material
Material is easily polluted by dust etc. and adhesion property is declined or even is failed, and not good for coarse wall adhesiving effect.Three kinds
Suction type all has limitation, and the mission requirements of the invention based on hydraulically rough surface proposes Bionic flexible hook thorn adherent fashion.Climb
The move mode of wall robot mainly has two kinds of a leg formula and crawler type, leg formula structure it is all more complicated, it is necessary to driving it is more, climb
Climb stability bad, crawler type requires that wall is smooth, and climbing robot is moved on wall to be limited by mechanism and adherent fashion
System, it is impossible to freely turn to, therefore design one kind can climb hydraulically rough surface, while simple in construction, driving is less, can flexibly turn to
Climbing robot it is significant.
Chinese patent literature CN100455473C provides one kind《Alcula type wall climbing robot》, the patent document is certain
The problem of climbing robot is climbed on hydraulically rough surface is solved in degree, but attached be not sufficiently stable is grabbed by this robot, it is not possible to
Divertical motion is realized, practicality is not strong.
The content of the invention
The invention aims to solve of the prior art not enough there is provided one kind to climb hydraulically rough surface, structure letter
It is single, can barb type wall-climbing robot capable of performing steering flexibly.
One kind can barb type wall-climbing robot capable of performing steering flexibly, including upper machine body plate, lower body plate, crank block slider structure,
Flexible hook thorn claw, motor, are wherein connected with crank block slider structure in the middle of upper machine body plate and lower body plate, crank block slider structure
Mechanism driving-motor driving crank block motion, turning to motor makes robot divertical motion.
There is a rotational freedom between the upper machine body plate and lower body plate of the present invention, climbing robot can be flexible
Divertical motion.
The present invention crank block slider structure include sliding block, connecting rod, crank, crank be arranged on upper machine body plate on, motor it is defeated
Shaft is connected with crank, sliding block and lower body plate by motor connection, between can relatively rotate.Cunning is provided with upper machine body plate
Groove.
The climbing robot of the present invention is turned to freely, and the sliding block in crank block slider structure is connected with lower body plate by motor
Connect, motor can realize the relative rotation of sliding block and lower body plate, and not relatively rotated between upper machine body plate and sliding block,
It is achieved thereby that the relative rotation of upper machine body plate and lower body plate.
The flexible hook thorn claw of the present invention has six, wherein three are only installed on upper machine body plate, three are only installed at lower body
On plate.Six flexible hooks thorn claw of climbing robot can be symmetrical with circumference, symmetrical can also be distributed.Every flexibility
Hook pierces claw and is made up of motor, claw pedestal, driving gear, toe, rigid hooks thorn, rubber elastic membrane, wherein rubber elastic membrane
Around the tip end surface for being wrapped in rigid hooks thorn.The toe number of every flexible hook thorn claw is 4 to 10.
The present invention pierces formula adherent fashion using hook, can realize that stabilization of the robot on coarse or flexible wall is creeped,
And can flexibly turn to；The upper machine body plate of the present invention is connected with lower body plate by crank block slider structure, is driven with electric rotating machine
Dynamic crank is rotated, and alleviates the weight of robot；The rigid hooks puncture tip end surfaces of flexible hook thorn claw of the present invention wrap up one layer of bullet
Property rubber layer, when rigid hooks thorn, which is grabbed, to be attached in wall pit, rubber elastic membrane deforms, and fills pit, make to grab it is attached more
It is stable.In addition, the present invention it is simple in construction, conveniently operate with, cost it is not high, be adapted in correlative technology field promote should
With.
Brief description of the drawings
Fig. 1 is dimensional structure diagram of the invention；
Fig. 2 is action schematic diagram of the invention；
Fig. 3 is the claw structural representation of the present invention；
Fig. 4 is the toe structure schematic diagram of the present invention.
In figure：1st, sliding block；2nd, upper machine body plate；3rd, motor is turned to；4th, lower body plate；5th, connecting rod；6th, crank；7th, mechanism
Motor；8th, flexible hook thorn claw；9th, claw pedestal；10th, motor；11st, driving gear；12nd, toe；13rd, rigid hooks are pierced；
14th, rubber elastic membrane；15th, the bullet of claw end；16th, the white round dot of claw end.
Embodiment
To make technical scheme and feature clearer, with reference to embodiment and accompanying drawing, the present invention is done into
The detailed description of one step.Here, following examples are used to illustrate the present invention, but it is not limited to the scope of the present invention.
As shown in figure 1, climbing robot of the present invention includes upper machine body plate 2, lower body plate 4, steering motor 3, crank
Sliding block 1, connecting rod 5, the crank 6 of slide block structure, the mechanism driving-motor 7 of crank block, flexible hook thorn claw 8.In addition, chute is set
Put 2 on upper machine body plate, the mechanism driving-motor 7 of crank block slider structure is arranged on upper machine body plate 2, motor output shaft and crank
6 connections, driving crank block slider structure motion, make upper machine body plate 2 produce relative motion with lower body plate 4.Sliding block 1 and lower body plate
4 are connected by turning to motor 3, and robot divertical motion is driven by the rotary motion for turning to motor 3.
Flexibly turned to clockwise and anticlockwise as shown in Fig. 2 climbing robot can be realized, a step steering angle scope exists
0 degree to 40 degree.It is robot steering procedure shown in figure, the bullet 15 of claw end represents that claw is in and grabs attached state, pin
The white round dot 16 of pawl end represents that claw is in the state for departing from wall.
Here define：Lower body is the general name of lower body plate 4 and the claw being installed on lower body plate 4, and upper machine body is upper
The general name of body plate 2 and the claw being installed on upper machine body plate 2.Climbing robot turn to detailed process be： So the divertical motion of robot freedom and flexibility can be achieved in circulation.
As shown in Figure 3,4, flexible hook pierces claw 8 by motor 10, claw pedestal 9, driving gear 11, toe 12, rigid hooks
Thorn 13, rubber elastic membrane 14 are constituted.The output shaft of motor 10 is connected with driving gear 11, by gear drive, drives toe movement,
And then realize that claw and grabbing for wall echo desorption.In addition, rubber elastic membrane 14 (or other flexible materials) is wrapped in rigid hooks
Pierce around 13 tip end surfaces, rigid hooks thorn 13 grab attached wall pit when, rigid hooks pierce 13 surfaces rubber elastic membrane 14 due to
Extruding stress is deformed upon, and fills pit, is made to grab attached more stable, is not susceptible to rock.
Obviously, the above embodiment of the present invention is only intended to clearly illustrate example of the present invention, and is not pair
The restriction of embodiments of the present invention.For those of ordinary skill in the field, may be used also on the basis of the above description
To make other changes in different forms.Here all embodiments can not be exhaustive.It is every to belong to this hair
Row of the obvious changes or variations that bright technical scheme is extended out still in protection scope of the present invention.
Claims (7)
1. one kind can barb type wall-climbing robot capable of performing steering flexibly, it is including upper machine body plate, lower body plate, crank block slider structure, soft
Property hook thorn claw, steering motor, crank block slider structure motor, be wherein connected with crank in the middle of upper machine body plate and lower body plate
Slide block structure, it is characterised in that the rotation of crank block slider structure motor, makes upper machine body plate do linear relative with lower body plate
Motion, realizes the advance or setback of robot, and crank block slider structure includes sliding block, connecting rod, crank, and crank is arranged on upper machine
On body plate, the output shaft of motor is connected with crank, sliding block and lower body plate by motor connection, between can relatively rotate.
2. one kind according to claim 1 can barb type wall-climbing robot capable of performing steering flexibly, it is characterised in that upper machine body plate
There is a rotational freedom between lower body plate, robot often walks the scope rotated between upper machine body plate and lower body plate
It it is -60 ° -60 °, climbing robot can flexible divertical motion.
3. one kind according to claim 1 can barb type wall-climbing robot capable of performing steering flexibly, it is characterised in that upper machine body plate
On be provided with chute.
4. one kind according to claim 1 can barb type wall-climbing robot capable of performing steering flexibly, it is characterised in that flexible hook is pierced
Claw has six, wherein three are only installed on upper machine body plate, three are only installed on lower body plate.
5. one kind according to claim 4 can barb type wall-climbing robot capable of performing steering flexibly, it is characterised in that wall-climbing device
Six flexible hooks thorn claw of people can be symmetrical with circumference, symmetrical can also be distributed.
6. one kind according to claim 4 or 5 can barb type wall-climbing robot capable of performing steering flexibly, it is characterised in that every is soft
Property hook thorn claw be made up of motor, claw pedestal, driving gear, toe, rigid hooks thorn, rubber elastic membrane, wherein elastic caoutchouc
Film is wrapped in around the tip end surface of rigid hooks thorn.
7. one kind according to claim 6 can barb type wall-climbing robot capable of performing steering flexibly, it is characterised in that every flexibility
The toe number of hook thorn claw is 4 to 10.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210288324.0A CN103587603B (en) | 2012-08-14 | 2012-08-14 | One kind can barb type wall-climbing robot capable of performing steering flexibly |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210288324.0A CN103587603B (en) | 2012-08-14 | 2012-08-14 | One kind can barb type wall-climbing robot capable of performing steering flexibly |
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| Publication Number | Publication Date |
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| CN103587603A CN103587603A (en) | 2014-02-19 |
| CN103587603B true CN103587603B (en) | 2017-09-15 |
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| CN201210288324.0A Active CN103587603B (en) | 2012-08-14 | 2012-08-14 | One kind can barb type wall-climbing robot capable of performing steering flexibly |
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Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104118488B (en) * | 2014-08-14 | 2016-06-08 | 北京航空航天大学 | A kind of can the rolling robot of autonomous |
| CN105892558B (en) * | 2015-01-26 | 2018-08-17 | 郝成武 | A kind of robot toes bearing capacity balance mechanism |
| CN107757745B (en) * | 2017-08-31 | 2019-07-23 | 南京邮电大学 | Flexible multijaw climbing robot |
| CN109677498B (en) * | 2019-01-05 | 2020-10-20 | 蚌埠翰邦知识产权服务有限公司 | Steering device, locking structure and fixing method |
| CN110228541B (en) * | 2019-05-08 | 2021-01-15 | 西安理工大学 | Claw-thorn-pair-grabbing type crawler wall-climbing robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19907437A1 (en) * | 1999-02-22 | 2000-08-24 | Ridha Azaiz | Mobile robot, especially for moving across smooth surfaces, has mechanical connection between rotating drive part and reciprocating drive part, e.g. belt and wheel for transfer of rotation |
| DE10219740A1 (en) * | 2002-05-02 | 2003-11-27 | Martin Christoph Schwaiger | Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis |
| CN101049838A (en) * | 2007-05-22 | 2007-10-10 | 哈尔滨工程大学 | Alcula type wall climbing robot |
| CN101069890A (en) * | 2007-06-08 | 2007-11-14 | 浙江大学 | Central air-conditioner pipeline type ventilation system cleaning robot |
| CN102167102A (en) * | 2011-04-08 | 2011-08-31 | 上海电机学院 | Suction cup type pneumatic wall-climbing robot |
| CN201961406U (en) * | 2011-01-28 | 2011-09-07 | 东南大学 | Surface detection robot for concrete pylon of cable-stayed bridge based on grabbing knuckle |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8370990B2 (en) * | 2010-09-16 | 2013-02-12 | National Kaohsiung First University Of Science | Structural improvement for robotic cleaner |
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2012
- 2012-08-14 CN CN201210288324.0A patent/CN103587603B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE19907437A1 (en) * | 1999-02-22 | 2000-08-24 | Ridha Azaiz | Mobile robot, especially for moving across smooth surfaces, has mechanical connection between rotating drive part and reciprocating drive part, e.g. belt and wheel for transfer of rotation |
| DE10219740A1 (en) * | 2002-05-02 | 2003-11-27 | Martin Christoph Schwaiger | Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis |
| CN101049838A (en) * | 2007-05-22 | 2007-10-10 | 哈尔滨工程大学 | Alcula type wall climbing robot |
| CN101069890A (en) * | 2007-06-08 | 2007-11-14 | 浙江大学 | Central air-conditioner pipeline type ventilation system cleaning robot |
| CN201961406U (en) * | 2011-01-28 | 2011-09-07 | 东南大学 | Surface detection robot for concrete pylon of cable-stayed bridge based on grabbing knuckle |
| CN102167102A (en) * | 2011-04-08 | 2011-08-31 | 上海电机学院 | Suction cup type pneumatic wall-climbing robot |
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| CN103587603A (en) | 2014-02-19 |
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