CN103847826B - Bionical crawler type adheres to walking mechanism and movement technique thereof - Google Patents
Bionical crawler type adheres to walking mechanism and movement technique thereof Download PDFInfo
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- CN103847826B CN103847826B CN201310030131.XA CN201310030131A CN103847826B CN 103847826 B CN103847826 B CN 103847826B CN 201310030131 A CN201310030131 A CN 201310030131A CN 103847826 B CN103847826 B CN 103847826B
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Abstract
The invention discloses a kind of bionical crawler type and adhere to walking mechanism and movement technique thereof, including fuselage ring, strainer, driving mechanism, adherent zone, driving mechanism includes drive motor, drive motor gear, drivewheel, driven pulley, drivewheel is connected to fuselage ring one end by gear shaft, driven pulley is connected to the fuselage ring other end by follower shaft, drive motor drives drive motor gear, drive motor gear is meshed with gear shaft, strainer includes tensioning wheel carrier, tensioning spring, micro-force sensor, regulating wheel, sleeve, regulating wheel, drivewheel, driven pulley is connected by adherent zone, also include the mechanism's connecting device being located on fuselage ring.The present invention exports certain tangential displacement and pose angle by robot body, it is achieved sole adhesion, desorption and pressing, helps robot walk on wall and stop.
Description
Technical field
The present invention relates to bio-robot field, be specifically related to a kind of bionical crawler type and adhere to walking mechanism and movement technique thereof, be mainly used in climbing robot to realize the adhesion of different angle wall, walking, stop and obstacle crossing function.
Background technology
Three dimensions surface creep robot is always up robot field's study hotspot.Climbing robot is utilized to can substitute for mankind's execution task on precipitous wall, for instance the maintenance of skyscraper outside Wall Cleaning, oil gas tank, nuclear facilities maintenance etc..Research finds that gecko toe superficial growth has the micron order bristle of millions of, and there are again thousands of nanoscale fine hair on every bristle top.Van der Waals force (i.e. molecular separating force) between these bristle array and walls adheres to walking on wall for gecko and provides support.Research worker adopts MEMS (MEMS) technology, NEMS (nano electromechanical systems) technology etc., with high polymer or silicon chips etc. such as PDMS (polydimethylsiloxane), PU (polyurethane) for substrate, imitative gecko toe surface micro-nano bristle array is gone out in Surface Machining, and it is equipped in robot, it is made to obtain three dimensions surface creep ability, be conducive to improving climbing robot and climb wall energy power, reduce the unfavorable factor such as energy consumption, noise.Research process also finds, some high polymer such as silica gel etc., although its surface is without processing, but also have certain adhesiveness, therefore often by the researcher both domestic and external feasibility for mechanism for testing.Above Surface Machining or untreated adhesion material need apply certain normal pressure before use to improve adhesion strength, therefore also known as " presser sensor adhesion material " (PressureSensitiveMaterial).
The imitative Gekko Swinhonis adhesive toe of a kind of robot has been invented by domestic Nanjing Aero-Space University, and provides movement technique.This bionic gecko foot toe is applicable to the imitative Gekko Swinhonis climbing robot sole adhered at smooth surface and designs and in motion realization, can simulate the anisotropy mechanical characteristics of the bigger adhesion of gecko toe adhesion Array one direction and the less desorption power of opposite direction completely.But, this kind of toe rigidity is mainly determined by spring and flexible material, and the self-adaptative adjustment for different occasions is indifferent.Stanford Univ USA develops has four toes on the four-footed each foot of climbing robot Stickybot, Stickybot, realizes toe by embedded steel wire and digs.Walking can be stably adhered on 90 ° of walls.But, its structure is complex, and range of movement is limited.Geckobot climbing robot that Carnegie Mellon Univ USA develops, Four-bar climbing robot, Waalbot series climbing robot etc. adopt plate-like sole as adhering to ground-engaging element, are undertaken peeling off or adhering to action by rectilinear motion or rotation.The type sole material mechanical performance is fixed, it is impossible to carries out adaptivity when wall angle change or plus load change and regulates to keep optimal adhesion state, it is to avoid adhesion failure.
Summary of the invention
(1) to solve the technical problem that
The technical problem to be solved in the present invention is to provide a kind of bionical crawler type and adheres to walking mechanism and movement technique thereof.This sole structure can help bionic wall climbing robot to adhere at three dimensions smooth surface, walking.Can be implemented in arbitrarily angled wall by robot body output rotary motion and tangential motion to stop, adapt to different plus load and different angles wall.Can carry out adhering to crawler belt inner tensions adjustment by strainer, adjust peel angle, adapt to plus load, wall angle and wall Curvature varying.
(2) technical scheme
For solving above-mentioned technical problem, the technical solution adopted in the present invention is:
nullA kind of bionical crawler type adheres to walking mechanism，Including fuselage ring、Strainer、Driving mechanism、Adherent zone，Described driving mechanism includes drive motor、Drive motor gear、Drivewheel、Driven pulley，Described drivewheel is connected to described fuselage ring one end by gear shaft，Described driven pulley is connected to the described fuselage ring other end by follower shaft，Described drive motor drives described drive motor gear，Described drive motor gear is meshed with described gear shaft，Described strainer includes tensioning wheel carrier、Tensioning spring、Micro-force sensor、Regulating wheel、Sleeve，Described fuselage ring upper surface is located at by described sleeve，Described sleeve top surface is provided with described micro-force sensor，Described tensioning wheel carrier includes axle and stretches and installation end，Described axle stretches the lower end described micro-force sensor of traverse and sleeve，Described axle is stretched and is arranged with described tensioning spring，Described tensioning spring is located between described micro-force sensor and installation end，Described regulating wheel is installed on described installation end by tension wheel shaft，Described regulating wheel、Drivewheel、Driven pulley is connected by described adherent zone，Also include the mechanism's connecting device being located on fuselage ring.
Wherein, described sleeve is the fixing sleeve being fixed on described fuselage ring upper surface.
Wherein, described sleeve is the jacking sleeve being located at described fuselage ring upper surface, described jacking sleeve lateral surface is provided with tooth bar, and described fuselage ring is provided with a driving gear being connected to tensioning motor, and described driving gear engages the tooth bar of described jacking sleeve and drives described jacking sleeve to lift.
Wherein, described mechanism connecting device includes the sliding tray being located at described fuselage ring side, is provided with lateral sliding part in described sliding tray, and described lateral sliding part both sides are installed in described sliding tray by lateral springs.
Wherein, described adhesion crawler belt is made by fixing one layer of adhesion material outside soft rubber flat rubber belting.
This bionical crawler type adheres to the movement technique of walking mechanism,
(1) robot body is by controlling lateral sliding part, exports to described adhesion walking mechanism and rotates peace shifting movement in x-y plane, by rotary motion, makes between principal and subordinate wheel line and wall in certain pose angle；
(2) the adhesion walking mechanism of unsettled phase it is in, robot body is by controlling described lateral sliding part, the described drivewheel making adhesion walking mechanism touches wall, walking mechanism forwards horizontal sliding will be adhered to subsequently, make drivewheel rolls forward, complete the contacting of adherent zone and wall, adhesion in the process.After realizing adhering to completely, namely enter and support phase；
(3) being in the adhesion walking mechanism supporting phase, robot body, by controlling lateral sliding part, makes adhesion walking mechanism lift, desorption；It addition, when being in high inclination-angle wall, robot body gives attachment mechanism certain pose angle, and export the reciprocating motion being parallel to wall.When peel tip adherent zone is peeled off with certain peel angle, it is depressed that peeling force makes non-peel-away end adherent zone enter during non-peel-away end wheel lower edge；Then, non-peel-away end becomes peel tip and provides downforce；Move back and forth and advance；
(4) when running into obstacle, lift attachment mechanism and surmount obstacles or avoid obstacle.
(3) beneficial effect
The present invention is compared to prior art, has the advantages that
(1) relative to tradition climbing robot sole, caterpillar belt structure will be adhered to as adhering to sole, it is only necessary to only small normal direction presses pressure, and can realize adhering to by input tangential displacement.
(2) single attachment mechanism has oneself provides precompression effect.Particularly at high inclination-angle walls such as ceilings, it is possible to by long-time to position, diagonal angle attachment mechanism output reciprocating motion, it is achieved robot original place hovering.And tradition foot formula climbing robot, the foot of its unsettled phase is being converted into support phase time, it is necessary to relies on and is in the foot supporting phase, provides precompression by body；
(3) strainer micro-force sensor can experience spring force size, then draws belt tension size Real-time Feedback by conversion.
(4) lateral sliding part connects body and sole, coordinates lateral springs, it is possible to solve climbing robot built-in redundancy power problem under diagonal gait.
A kind of improved form of this programme, stationary drive gear on tensioning motor output shaft, engages with jacking sleeve upper rack.A straight line kinematic pair is had between tensioning wheel carrier and jacking sleeve.Micro-force sensor is fixed in jacking sleeve upper end.Tensioning spring is installed, it is possible to transmission power and displacement between micro-force sensor and tensioning wheel carrier.
In motor process, tensioning electric machine rotation, drive jacking sleeve to move up and down, transmitted power and motion by tensioning spring, active accommodation adheres to the internal tensile force of crawler belt, then actively adapts to different plus load, different angles wall or has certain curvature wall.Exported certain tangential displacement and pose angle by robot body, it is achieved sole adhesion, desorption and pressing, help robot walk on wall and stop.Undertaken being passively or actively adjustment by strainer, it is possible to increase the bionic wall climbing robot adaptability to plus load, multiple angles wall and certain curvature wall.
Accompanying drawing explanation
Fig. 1 a is the structural representation of embodiments of the invention one；
Fig. 1 b is the front view of Fig. 1 a；
Fig. 2 a is the structural representation of embodiments of the invention two；
Fig. 2 b is the front view of Fig. 2 a；
Fig. 2 c is the left view of Fig. 2 a；
The bionical crawler type that Fig. 3 is the embodiment of the present invention two adheres to the schematic diagram that walking mechanism is advanced in the plane；
Fig. 4 a is that the bionical crawler type of the embodiment of the present invention two adheres to walking mechanism and lifts the schematic diagram of obstacle detouring；
Fig. 4 b is that the bionical crawler type of the embodiment of the present invention two adheres to walking mechanism and lifts the schematic diagram of obstacle detouring；
The bionical crawler type that Fig. 5 is the embodiment of the present invention two adheres to the schematic diagram that walking mechanism is advanced when moving on certain curvature surface.
Detailed description of the invention
Below in conjunction with drawings and Examples, the specific embodiment of the present invention is described in further detail.Following example are used for illustrating the present invention, but are not limited to the scope of the present invention.
Embodiment one
nullAs illustrated in figs. ia and ib，A kind of bionical crawler type adheres to walking mechanism，Including fuselage ring 1、Strainer、Driving mechanism、Adherent zone 12，Described driving mechanism includes drive motor 3、Drive motor gear 4、Drivewheel 6、Driven pulley 13，Described drivewheel 6 is connected to described fuselage ring 1 one end by gear shaft 5，Described driven pulley 13 is connected to described fuselage ring 1 other end by follower shaft 14，Described drive motor 3 drives described drive motor gear 4，Described drive motor gear 4 is meshed with described gear shaft 5，Described strainer includes tensioning wheel carrier 7、Tensioning spring 10、Micro-force sensor 11、Regulating wheel 9、Sleeve 17，Described fuselage ring 1 upper surface is located at by described sleeve 17，Described sleeve 17 upper surface is provided with described micro-force sensor 11，Described tensioning wheel carrier 7 includes axle and stretches 702 and installation end 701，Described axle stretches the 702 lower ends described micro-force sensor 11 of traverse and sleeves 17，Described axle is stretched and is arranged with described tensioning spring 10 on 702，Described tensioning spring 10 is located between described micro-force sensor 11 and installation end 701，Described regulating wheel 9 is installed on described installation end 701 by tension wheel shaft 8，Described regulating wheel 9、Drivewheel 6、Driven pulley 13 is connected by described adherent zone 12，Also include the mechanism's connecting device being located on fuselage ring 1.
Described sleeve 17 is the fixing sleeve being fixed on described fuselage ring 1 upper surface.
Described mechanism connecting device includes the sliding tray 16 being located at described fuselage ring 1 side, is provided with lateral sliding part 2 in described sliding tray 16, and described lateral sliding part 2 both sides are installed in described sliding tray 16 by lateral springs 15.
Described adhesion crawler belt 12 is made by fixing one layer of adhesion material outside soft rubber flat rubber belting.
Embodiment two
As shown in Fig. 2 a, Fig. 2 b and Fig. 2 c, described sleeve 17 is the jacking sleeve being located at described fuselage ring 1 upper surface, described jacking sleeve lateral surface is provided with tooth bar, described fuselage ring 1 is provided with a driving gear 18 being connected to tensioning motor 19, and described driving gear 18 engages the tooth bar of described jacking sleeve and drives described jacking sleeve to lift.
Fig. 3 show and adheres to the schematic diagram that second embodiment of walking mechanism is advanced at flat surfaces.Robot body, by controlling lateral sliding part 2, rotates peace shifting movement to adhering in walking mechanism output x-y plane；First robot body exports rotary motion, makes between adhesion walking mechanism principal and subordinate wheel line and wall α (pose angle) at an angle.Direct current generator 3 rotates, and drives attachment mechanism and body to advance.Adherent zone rear portion is peeled off with certain peel angle θ, the pick-up point adhesion Fpeeling produced makes adherent zone 12 enter depressed power Fpreload during drivewheel 6 lower edge, it is adherent zone 12 lateral surface adhesion material and provides precompression, ensure that it has certain adhesion, and then provide adhesion continuously for adhering to walking mechanism and robot body.By changing direct current generator 3 velocity of rotation speed, pose angle [alpha], regulate adherent zone tensile force, thus it is possible to vary adherent zone adhesion section length a and peel angle θ, thus adapting to different wall angles of inclination.Rotated by tensioning motor 19 output, can promote or reduce jacking sleeve 17, then transmit power by tensioning spring 10 and be displaced to tensioning wheel carrier 7, play actively tensioning or loosen the effect of adherent zone 12, actively adapting to the adherent zone tension variation that peeling force causes with this.
Respectively adhere to second embodiment of walking mechanism shown in Fig. 4 a and Fig. 4 b lift leaping over obstacles and directly cross the schematic diagram of obstacle.Such as Fig. 4 a, for bigger obstacle 100, robot body lifts attachment mechanism by lateral sliding part 2, is directed across obstacle.Such as Fig. 4 b, for less obstacle 150, rotated by tensioning motor 19, make regulating wheel 9 decline, loosen adherent zone 12 so that it is can adapt to barrier shape, help attachment mechanism stably to cross barrier.
Fig. 5 show adhesion second embodiment of walking mechanism and has the traveling signal of certain radian smooth surface.Rotated by tensioning motor 19, make regulating wheel 9 decline, loosen adherent zone 12 so that it is adapt to have certain radian smooth surface 200, help to adhere to walking mechanism and adhere at this kind of surface-stable.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the technology of the present invention principle; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (6)
- null1. a bionical crawler type adheres to walking mechanism，It is characterized in that: include fuselage ring、Strainer、Driving mechanism、Adherent zone，Described driving mechanism includes drive motor、Drive motor gear、Drivewheel、Driven pulley，Described drivewheel is connected to described fuselage ring one end by gear shaft，Described driven pulley is connected to the described fuselage ring other end by follower shaft，Described drive motor drives described drive motor gear，Described drive motor gear is meshed with described gear shaft，Described strainer includes tensioning wheel carrier、Tensioning spring、Micro-force sensor、Regulating wheel、Sleeve，Described fuselage ring upper surface is located at by described sleeve，Described sleeve top surface is provided with described micro-force sensor，Described tensioning wheel carrier includes axle and stretches and installation end，Described axle stretches the lower end described micro-force sensor of traverse and sleeve，Described axle is stretched and is arranged with described tensioning spring，Described tensioning spring is located between described micro-force sensor and installation end，Described regulating wheel is installed on described installation end by tension wheel shaft，Described regulating wheel、Drivewheel、Driven pulley is connected by described adherent zone，Also include the mechanism's connecting device being located on fuselage ring.
- 2. bionical crawler type according to claim 1 adheres to walking mechanism, it is characterised in that: described sleeve is the fixing sleeve being fixed on described fuselage ring upper surface.
- 3. adhere to walking mechanism according to bionical crawler type according to claim 1, it is characterized in that: described sleeve is the jacking sleeve being located at described fuselage ring upper surface, described jacking sleeve lateral surface is provided with tooth bar, described fuselage ring is provided with a driving gear being connected to tensioning motor, and described driving gear engages the tooth bar of described jacking sleeve and drives described jacking sleeve to lift.
- 4. the bionical crawler type according to Claims 2 or 3 adheres to walking mechanism, it is characterized in that: described mechanism connecting device includes being located at the sliding tray of described fuselage ring side, being provided with lateral sliding part in described sliding tray, described lateral sliding part both sides are installed in described sliding tray by lateral springs.
- 5. bionical crawler type according to claim 4 adheres to walking mechanism, it is characterised in that: described adhesion crawler belt is made by fixing one layer of adhesion material outside soft rubber flat rubber belting.
- 6. bionical crawler type according to claim 4 adheres to the movement technique of walking mechanism, it is characterised in that:(1) robot body is by controlling lateral sliding part, exports to described adhesion walking mechanism and rotates peace shifting movement in x-y plane, by rotary motion, makes between principal and subordinate wheel line and wall in certain pose angle；(2) the adhesion walking mechanism of unsettled phase it is in, robot body is by controlling described lateral sliding part, the described drivewheel making adhesion walking mechanism touches wall, walking mechanism forwards horizontal sliding will be adhered to subsequently, make drivewheel rolls forward, complete the contacting of adherent zone and wall, adhesion in the process, after realizing adhering to completely, namely enter and support phase；(3) being in the adhesion walking mechanism supporting phase, robot body, by controlling lateral sliding part, makes adhesion walking mechanism lift, desorption；Additionally, when being in high inclination-angle wall, robot body gives attachment mechanism certain pose angle, and exports the reciprocating motion being parallel to wall, when peel tip adherent zone is peeled off with certain peel angle, it is depressed that peeling force makes non-peel-away end adherent zone enter during non-peel-away end wheel lower edge；Then, non-peel-away end becomes peel tip and provides downforce；Move back and forth and advance；(4) when running into obstacle, lift attachment mechanism and surmount obstacles or avoid obstacle.
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| CN110143245B (en) * | 2019-05-28 | 2021-11-02 | 重庆邮电大学 | Magnetic control bionic adhesion sole device based on magnetic sensitive adhesion material |
| CN110435785A (en) * | 2019-07-31 | 2019-11-12 | 山东科技大学 | A kind of gear type running gear |
| CN110524563B (en) * | 2019-08-15 | 2020-10-30 | 清华大学 | Control device for adhesion and desorption |
| CN113029023A (en) * | 2021-03-01 | 2021-06-25 | 李柏松 | Wall-climbing robot, working method and three-dimensional health diagnosis method for large equipment |
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