CN104354780B - Grasping claw mechanism of rough wall climbing robot - Google Patents
Grasping claw mechanism of rough wall climbing robot Download PDFInfo
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- CN104354780B CN104354780B CN201410454048.XA CN201410454048A CN104354780B CN 104354780 B CN104354780 B CN 104354780B CN 201410454048 A CN201410454048 A CN 201410454048A CN 104354780 B CN104354780 B CN 104354780B
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- flexible strand
- hook
- drive mechanism
- climbing robot
- spring
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/02—Arm motion controller
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/19—Drive system for arm
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10S—TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10S901/00—Robots
- Y10S901/30—End effector
- Y10S901/31—Gripping jaw
- Y10S901/36—Actuating means
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a grasping claw mechanism of a rough wall climbing robot. The grasping claw mechanism comprises a base, a driving mechanism and one or more falcula mechanisms connected with the power take-off end of the driving mechanism, wherein the driving mechanism comprises a driving motor, a reciprocating linear move mechanism and one or more flexible rope driving mechanisms; each falcula mechanism is connected with the corresponding flexible rope driving mechanism; each flexible rope driving mechanism is assembled with a flexible rope tensioning mechanism; the power take-off end of the driving motor is connected with each flexible rope driving mechanism through the reciprocating linear move mechanism; the power take-off end of each flexible rope driving mechanism is connected with the corresponding falcula mechanism. Therefore, the grasping claw mechanism is greatly simplified and lightened, so as to adapt to more complex work environments.
Description
Technical field
The present invention relates to a kind of graping chaw mechanism of hydraulically rough surface climbing robot, belong to Intelligent bionic machinery people neck
Domain.
Background technology
At present, climbing robot has been widely used for the detection work of hydraulically smooth surface, but irregular recessed for existing
The wall in convex crack, the dust being material as rough concrete, square brick and rock is more, high-altitude wall that is being in small size low-frequency vibration
, not yet preferable adsorption method in face.In recent years, domestic building accident is of common occurrence, such as Hunan phoenix bridge bridge in 2007
Beam cave-in accident, Changzhou highway bridge caves within 2007, Harbin in 2012 sun bright stand bridge fracture, Henan Yi Chang bridge in 2013
Cave-in accident, etc..Therefore, high vacant building is carried out with periodic detection is significant, because the cycle of manual detection is long,
Dangerous high, difficulty is big, and the special high vacant building testing machine device people of exploitation replaces manual detection work becomes inevitable requirement.
The attachment of robot and coarse metope is grasping movement realization, its action principle and the roach by grasping mechanism
The principle that dung beetle, hornet, beetle etc. climb metope is essentially identical, and hook is equivalent to the claw of toy.Hook is grabbed with metope
Power taking and stability are subject to the shadow of the factors such as grasping mechanism, hook structure, the apparent condition of wall, external disturbance load
Ring, the mechanism of action is complex.The technology of the core as high vacant building climbing robot for the grasping mechanism, realizes to robot
Stable, efficient, safe climbing operation has decisive role.
For the particularity of such wall, the Alcula type wall climbing robot that Harbin Engineering University is proposed, using barb
Thorn extension is invested rough wall surface and is creeped by realization that arm is stretched, and its technical scheme is published in Patent No.
200710072237.0 patent document in.According to this patent document contents it is known that: 1, this robot metope climb
When, hook (14) and the concavo-convex interphase interaction of metope, only can produce along metope direction active force straight up, this effect
Power and robot self gravitation balance, are capable of the climbing of vertical direction by this dynamic balance state.Due to cannot be set up it
The dynamic balance state in his direction, thus robot metope horizontal, turn to etc. climbing motion be difficult to, its subject range has
Limit；2nd, this mechanism is by, on hook (14) " hanging over " metope, not forming stable seized condition and between metope, therefore its
" sticking " effect stability and between metope is not high, easily comes off with metope, causes security incident.
For the detection work on Cable-stayed Bridge Pylon surface, apply lasso trick to drive multiple miniature point hook crawl walls, devise
Claw grab-type wall-climbing robot, technical scheme is published in the patent of invention of Patent No. 201010290721.2, the design
Each hook be equipped with multiple miniature point hooks, its grasping stability, but apply many lasso tricks transmission power, structure is more multiple
Miscellaneous.
Content of the invention
The present invention is directed to the deficiency of existing suction type, from bionic structure angle, by Blatta seu periplaneta, hornet, first
The toy claw structure such as worm and the research of motion feature, devise a kind of grabbing of the small coarse projection of claw grab wall of application
Take mechanism, as the suction type of climbing robot.1st, the dynamic balance along metope all directions can be set up between hook and metope
State, the climbing motion of simple vertical direction not only can do in this mechanism, can also complete the complexity such as horizontal, steering simultaneously
Climbing motion is it might even be possible to realize being in the climbing motion on 180 ° of ceiling surface with metope as Gekko Swinhonis, with strong applicability；2、
This mechanism can set up stable seized condition and between metope, " sticking " and between metope effect is stable, have higher can
By property and safety；3rd, the grasping mechanism of the present invention adopts single drive mechanism to can achieve that " crawl " and " unclamping " two is dynamic
Make, greatly simplifie grasping mechanism, alleviate weight.The present invention can adapt to increasingly complex working environment, such as cable-stayed bridge
Sarasota and viaduct pier work high above the ground wall detection robot, overcome wall dust, crack and pit, high-altitude wind load and
The impact to robot climbing performance for the Wall Vibration, has wider array of range of application.
For realizing above technical purpose, the present invention will take following technical scheme:
A kind of graping chaw mechanism of hydraulically rough surface climbing robot, including base, drive mechanism and and drive mechanism
The hook mechanism that connects of clutch end, at least one, described hook mechanism, described drive mechanism include motor,
Reciprocating linear travel mechanism and flexible strand drive mechanism, described motor is fixedly mounted on base；Each hook
Mechanism all configures a flexible strand drive mechanism, and each flexible strand drive mechanism is then equipped with a flexible strand strainer；
The clutch end of described motor is connected with each flexible strand drive mechanism respectively through reciprocating linear travel mechanism, each flexibility
The clutch end of rope drive mechanism is then connected with corresponding hook mechanism；Flexible strand strainer one end is moved with reciprocating linear
The clutch end of mechanism connects, and the other end is then rotatably connected with base, and the rotatable end setting of flexible strand strainer
There is guide holder；The union joint of described hook mechanism is slidably mounted in guide holder.
As a further improvement on the present invention, described reciprocating linear travel mechanism be screw mechanism, including leading screw and with
The drive disk that threads of lead screw is connected；Leading screw is connected with the clutch end of motor, each flexible strand drive mechanism and
Corresponding flexible strand strainer is then fixedly connected with drive disk respectively.
As a further improvement on the present invention, described flexible strand drive mechanism includes flexible strand, one end of described flexible strand
It is connected with drive disk by second spring, and the other end of flexible strand is then connected with hook mechanism.
As a further improvement on the present invention, described flexible strand strainer includes connecting rod, suspension and torsion spring, described outstanding
One end of frame offers groove, and the other end is then hinged on base by torsion spring, and is provided with roller on suspension；One end of connecting rod
Hinged with drive disk, then location and installation is in the trench for the other end；The flexible strand of flexible strand drive mechanism passes through roller tensioning；Guiding
Seat nestles up the position setting installing torsion spring on suspension.
As a further improvement on the present invention, described hook mechanism includes hook, fixed mount and the first spring；Described
Fixed mount include hook installation portion and the head that is slidably connected, hook is movably mounted in hook installation portion, and the company of slip
Joint is then slidably mounted in guide holder, and periphery socket first spring of the head that is slidably connected, and the two of described first spring
End is connected with hook installation portion, guide holder respectively.
The present invention compared with prior art, has a clear superiority, using the present invention in terms of grasp force and grasp stability
The climbing robot of technical scheme can be not only used for the detection of common building thing hydraulically rough surface, applies also for Cable-stayed Bridge Pylon
Life searching work in wall detection, the detection of the overhead bridge pier in remote mountain areas, fire in high buildings and earthquake disaster ruins, overhanging cliff
Exploration etc..Furthermore it is also possible to be applied to the region having intense radiation to human body, the such as inspection of nuclear reactor wall, large-scale transformation
Stand inspection of rough concrete wall etc..There is extremely wide social need and using value.
Brief description
Fig. 1 is the perspective view of the graping chaw mechanism of hydraulically rough surface climbing robot of the present invention；
Fig. 2 is the perspective cross section structural representation of the graping chaw mechanism of hydraulically rough surface climbing robot of the present invention；
Fig. 3 is the sectional view of graping chaw mechanism of the present invention；
Fig. 4 is the structural representation of hook mechanism of the present invention；
Fig. 5 be graping chaw mechanism of the present invention schematic diagram；
Fig. 6 is that the present invention is in schematic diagram during free state；
Fig. 7 is that the present invention is in schematic diagram during seized condition；
Fig. 8 is that the present invention is in schematic diagram during releasing orientation；
In figure: 1, hook；2nd, fixed mount；3rd, the first spring；4th, suspension；5th, roller；6th, flexible strand；7th, second spring；8、
Connecting rod；9th, scroll spring；10th, drive disk；11st, leading screw；12nd, motor；13rd, base；14th, link；101st, pawl point；102、
Rotate secondary one；103rd, secondary two are rotated；201st, planar slide pair；202nd, cylinder on the right side of fixed mount；401st, moving sets；402nd, rotate
Secondary three；403rd, secondary four are rotated；404th, sheave pair；1001st, screw-driven pair；1002nd, secondary five are rotated；1301st, secondary six are rotated.
Specific embodiment
Accompanying drawing discloses the structural representation of preferred embodiment involved in the present invention without limitation；Below with reference to accompanying drawing
Explain technical scheme.
As Figure 1-5, grasping mechanism of the present invention mainly by hook 1, fixed mount 2, the first spring 3, suspension 4,
The part such as roller 5, flexible strand 6, second spring 7, connecting rod 8, scroll spring 9, drive disk 10, leading screw 11, motor 12 forms；
Described hook 1 structure in the form of sheets, the bottom of hook is provided with pawl point 101, and right side is provided with two circular holes；Described fixed mount
2 left parts are provided with groove, and right side is provided with cylinder 202；Described hook 1 forms planar slide pair with the groove of fixed mount 2
201, hook 1 is connected formation by bottom circular hole and rotates secondary 1, top circular hole formation rotation secondary 2 103 with fixed mount 2；
Described suspension 4 structure triangular in shape, before left lower is provided with the circular hole of left and right directions, the top in left side is provided with
The circular hole of rear direction, bottom is provided with fore-and-aft direction circular hole near the position on right side, and the top on right side is provided with groove；Fixed mount
The cylinder 202 on 2 right side is matched with the circular hole of the left lower left and right directions of suspension and constitutes moving sets 401, and suspension passes through
The circular hole of left upper portion formation hinged with base 13 rotation secondary 3 402, roller 5 and bottom are near the hinged shape of circular hole of right positions
Become to rotate secondary 4 403；The left side of the first spring 3 is fixedly connected with the left of fixed mount cylinder 202, and right side is firm with the left side of suspension
Property connect；
Described scroll spring 9 is arranged on suspension 4 and the rotation secondary 3 402 of base 13, in suspension 4 and base 13 two
Around secondary 3 402 one torsional moment of formation of rotation between part；
As shown in figure 3, described drive disk 10 center is provided with the screw thread of vertical direction, bottom is provided with circular hole 1002；
Described drive disk 10 is only capable of with respect to base 13 doing the translational motion of the single-degree-of-freedom of above-below direction；The lower end of described flexible strand 6
It is fixedly connected with the right-hand member of fixed mount 2 cylinder 202, after supporting through roller 5, upper end is fixedly connected with the bottom of second spring 7；
The described upper end of second spring 7 and the outside of the circumferencial direction of drive disk 10 are rigidly connected；The upper end of described connecting rod 8 and driving
The hinged formation of the circular hole of disk 10 bottom rotates secondary 5 1002, and lower end constitutes sheave pair 404 with the groove cooperation on the right side of suspension；
Described motor 12 is fixed on base 13 top, and motor shaft is fixedly connected with the top diameter of axle of described leading screw 11,
The bottom of described leading screw 11 coordinates stroke screw-driven pair 1001 with the screw thread of drive disk center；
Constitute between link 14 and base 13 and rotate secondary 6 1301, link 14 is used for and robot main body mechanism phase
Even, base 13 can rotate around rotating secondary 6 1301 together with whole grasping mechanism.
Fig. 6-8 discloses the fundamental diagram of grasping mechanism of the present invention, and wherein Fig. 6 is the position of mechanism under free state
Put and attitude schematic diagram.Fig. 7 is the schematic diagram that the present invention is in during seized condition, wherein: motor 12 drives leading screw 11 to revolve
Turn drive drive disk 10 move upwards, second spring 7 produce stretcher strain, in the presence of flexible strand 6 pulling force fixed mount 2 to
Right motion, the support reaction producing at roller 5 makes suspension produce anticlockwise rotation, and now the first spring 3 produces pressure
Compression deformation, scroll spring 9 also produces elastic deformation, and fixed mount 2 drives hook 1 fit to the right metope slip, when pawl point 101 reaches
During optimal crawl point, the motion of pawl point stops, and whole grasping movement completes.Unclamp action as shown in figure 8, motor 12 drives
Leading screw 11 rotarily drives drive disk 10 and moves downward, and now in second spring 7, the elastic force of deposit progressively discharges, in-house
Grasp force reduces, and the lower end edge sheave pair 404 of connecting rod 8 moves downward.The continuation moving downward with drive disk 10, in-house
Grasp force be reduced to zero, the bottom of connecting rod 8 lower end arrival slot wheel set 404.Drive disk continues to move downward, and drivening rod leads to
Cross the secondary 404 promotion suspensions 4 of sheave to turn clockwise so that pawl point departs from metope around rotating secondary 3 402, complete whole " unclamping " and move
Make.
The present invention by bionics, structural mechanics, theory of mechanisms achievement in research be applied to climbing robot hook design,
Carry out certain innovation in the configuration aspects of hook, there is provided a kind of structure is simpler, exquisite, and cost is lower, more easily
In manufacture, grasp force is bigger, and the crawl hook of the more preferable climbing robot of stability, for the reality of intelligent bionic climbing robot
Test advanced development and the popularization of practical application is respectively provided with significance.
Claims (5)
1. a kind of graping chaw mechanism of hydraulically rough surface climbing robot, including base, drive mechanism and with drive mechanism
The hook mechanism that clutch end connects, at least one, described hook mechanism it is characterised in that: described drive mechanism includes
Motor, reciprocating linear travel mechanism and flexible strand drive mechanism, described motor is fixedly mounted on base；Often
One hook mechanism all configures a flexible strand drive mechanism, and each flexible strand drive mechanism is then equipped with a flexible strand and opens
Tight mechanism；The clutch end of described motor is through reciprocating linear travel mechanism respectively with each flexible strand drive mechanism even
Connect, the clutch end of each flexible strand drive mechanism is then connected with corresponding hook mechanism；Flexible strand strainer one end with past
The clutch end of complex line travel mechanism connects, and the other end is then rotatably connected with base, and flexible strand strainer can
Round end is provided with guide holder；The union joint of described hook mechanism is slidably mounted in guide holder.
2. according to claim 1 hydraulically rough surface climbing robot graping chaw mechanism it is characterised in that: described back and forth straight
Line travel mechanism is screw mechanism, the drive disk be connected including leading screw and with threads of lead screw；Leading screw and motor
Clutch end connects, and each flexible strand drive mechanism and corresponding flexible strand strainer are then fixed even with drive disk respectively
Connect.
3. according to claim 2 hydraulically rough surface climbing robot graping chaw mechanism it is characterised in that: described flexible strand
Drive mechanism includes flexible strand, and one end of described flexible strand is connected with drive disk by second spring, and the other end of flexible strand
Then it is connected with hook mechanism.
4. according to Claims 2 or 3 hydraulically rough surface climbing robot graping chaw mechanism it is characterised in that: described soft
Property rope strainer includes connecting rod, suspension and torsion spring, and one end of described suspension offers groove, and the other end is then cut with scissors by torsion spring
It is connected on base, and roller is provided with suspension；One end of connecting rod is hinged with drive disk, the other end then location and installation in groove
In；The flexible strand of flexible strand drive mechanism passes through roller tensioning；Guide holder nestles up the position setting installing torsion spring on suspension.
5. according to Claims 2 or 3 hydraulically rough surface climbing robot graping chaw mechanism it is characterised in that: described
Hook mechanism includes hook, fixed mount and the first spring；Described fixed mount includes hook installation portion and the head that is slidably connected,
Hook is movably mounted in hook installation portion, and the head that is slidably connected then is slidably mounted in guide holder, and the company of slip
Periphery socket first spring of joint, the two ends of described first spring are connected with hook installation portion, guide holder respectively.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410454048.XA CN104354780B (en) | 2014-09-05 | 2014-09-05 | Grasping claw mechanism of rough wall climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410454048.XA CN104354780B (en) | 2014-09-05 | 2014-09-05 | Grasping claw mechanism of rough wall climbing robot |
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| CN104354780A CN104354780A (en) | 2015-02-18 |
| CN104354780B true CN104354780B (en) | 2017-01-25 |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105128971B (en) * | 2015-09-07 | 2017-05-17 | 南京航空航天大学 | Bionic four-footed wall-climbing robot based on falcula attachment |
| CN105690414B (en) * | 2016-03-08 | 2018-04-24 | 四川大学 | A kind of end clamping apparatus for overhauling climbing robot automatically for steel tower |
| CN106494652B (en) * | 2016-09-20 | 2019-01-04 | 北京工业大学 | It is a kind of that mechanism dry is sticked based on the bionical of compound constant force spring load |
| 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 |
| CN108888922B (en) * | 2018-06-26 | 2020-11-24 | 上海交通大学 | Manipulator device |
| CN109278892B (en) * | 2018-10-16 | 2020-08-07 | 北京理工大学 | Cat-claw-imitated anti-skidding humanoid robot foot |
| CN110228541B (en) * | 2019-05-08 | 2021-01-15 | 西安理工大学 | Claw-thorn-pair-grabbing type crawler wall-climbing robot |
| CN110561482A (en) * | 2019-08-27 | 2019-12-13 | 南京理工大学 | Bionic flexible claw thorn type opposite grabbing mechanism |
| CN110758585B (en) * | 2019-11-11 | 2022-04-05 | 江苏科技大学 | Shank structure of disk-shaped claw thorn type wall-climbing robot |
| CN113635330A (en) * | 2021-07-09 | 2021-11-12 | 上海大学 | Claw thorn of hard and soft coupling is grabbed and is attached device |
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