CN104443103A - Combined foot for wall climbing robot - Google Patents
Combined foot for wall climbing robot Download PDFInfo
- Publication number
- CN104443103A CN104443103A CN201410721465.6A CN201410721465A CN104443103A CN 104443103 A CN104443103 A CN 104443103A CN 201410721465 A CN201410721465 A CN 201410721465A CN 104443103 A CN104443103 A CN 104443103A
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- China
- Prior art keywords
- sucker
- robot
- foot
- climbing robot
- electromagnet
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a combined foot for a wall climbing robot. The combined foot comprises a foot rib connected with the leg of the robot, wherein a sucker and an electromagnet are connected to the lower end of the foot rib through a movable hinge; the sucker is of a cylindrical structure made of an elastic material; the peripheral wall surface of the sucker is wavy; a suction pipe connected with an air extraction pump is further arranged on the sucker; air can be extracted from the sucker by virtue of the air extraction pump, so that the sucker is endowed with suction force for sucking a wall surface; the electromagnet is positioned in the sucker, and can provide suction force for a metal wall surface. According to the combined foot, the sucker and the electromagnet are arranged, so that stronger suction force is ensured when the robot climbs on a magnetic metal surface; the combined foot can be freely stretched and bent when being hinged to the thigh of the robot; miniature suction pads are further arranged on the bottom surface of the sucker, so that the suction area is reduced, and the foot of the robot can easily gain suction force on the metal wall surface with poor smooth finish; the combined foot is simple in structure, and can be firmly fixed when the robot perpendicularly climbs.
Description
Technical field
The present invention relates to robot field, particularly a kind of climbing robot compound foot.
Background technology
At present, climbing robot generally has vacuum suction mode, negative-pressure adsorption mode, thrust suction type at the suction type that metallic vertical wall is creeped and uses cohesive material suction type etc., wherein vacuum suction mode is applicable to the climbing robot of leg formula movement, moving velocity is very slow, and robot is bulky, be unfavorable for carrying; Although negative-pressure adsorption mode is mobile relatively more flexible, require higher to the degree of finish of wall and surface evenness, can because the hypodynamic reason of absorption of robot foot cause various fault in robot moving process.
Summary of the invention
For solving this problem existed in above-mentioned technology, the invention provides a kind of absorption reliability high, the smoothness requirements of wall is low, and the simple suction of structure is strong, the climbing robot compound foot can walked on metallic vertical wall.
The present invention is for solving the problems of the technologies described above, the technical scheme adopted is: a kind of climbing robot compound foot, comprise the sufficient muscle be connected with the leg of robot, the lower end of foot muscle is by moveable hinge connecting sucker and electromagnet, described sucker is the structure of the cylindrical shape that elastomeric material is made, and the circumference wall undulate of sucker, described sucker is also provided with the suction pipe connecting air extracting pump, air extracting pump can extract air in sucker out make sucker have absorption wall adsorption affinity, and described electromagnet is positioned at suction cup interior can provide adsorption affinity to metal wall.
As a kind of preferred version, described sucker bottom surface stretches out the annular adsorption plane of formation one, and be provided with some miniature suction pads by being recessed to form bottom described adsorption plane, miniature suction pad is communicated with suction cup interior.
As a kind of preferred version, described miniature suction pad is in the taper shape that Open Side Down.
As a kind of preferred version, described moveable hinge comprises at least two assemblies that can mutually rotate.
As another kind of preferred version, described moveable hinge comprises and connects the free bearing of sufficient muscle and the hinge head of connecting sucker, and hinge head is wrapped in free bearing rotatable.
As another preferred version, described moveable hinge comprises the rotating shaft turning hole and connecting sucker connecting sufficient muscle, and rotating shaft is nested in and turns in hole and can rotate mutually.
Income effect: be provided with sucker relative to prior art and electromagnet makes robot when magnetic metal surface is creeped, suction is stronger, hinged with robot thigh, can freely stretch in the wrong, also be provided with miniature suction pad in sucker bottom surface, reduce adsorption area, make robot foot also easily have adsorption affinity on the metal wall that degree of finish is bad, structure is simple, fixed during vertical crawling.
Accompanying drawing explanation
Fig. 1 is structural representation of the present invention.
Fig. 2 is adsorption plane schematic top plan view of the present invention.
Graphical indicia, 1, sufficient muscle, 2, moveable hinge, 3, sucker, 4, suction pipe, 5, electromagnet, 6, air extracting pump, 7, adsorption plane, 8, miniature suction pad.
Detailed description of the invention
Elaborate to embodiments of the invention below in conjunction with accompanying drawing, the present embodiment, premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.
As shown in Figure 1, a kind of climbing robot compound foot, comprise the sufficient muscle 1 be connected with robot leg, the lower end of foot muscle 1 is by moveable hinge 2 connecting sucker 3 and electromagnet 5, the structure of the cylindrical shape that described sucker 3 is made for elastomeric material, and the circumference wall undulate of sucker 3, described sucker 3 is also provided with the suction pipe 4 connecting air extracting pump 6, air in sucker 3 is extracted out the adsorption affinity making sucker 3 have absorption wall by air extracting pump 6, the structure design of waveform outer wall makes the space of sucker 3 inside diminish, amount of air is few, the pumpdown time of air extracting pump 6 is short, absorption reaction is rapid, the structure design of waveform outer wall also makes easily to make sucker 3 bend when bleeding, be convenient to absorption walking, described electromagnet 5 is positioned at sucker 3 inside can provide adsorption affinity to metal wall, when robot ambulation, while sucker 3 is bled, electromagnet 5 is energized, make sucker 3 while adsorbing metal wall, electromagnet also adsorbs simultaneously, adsorption affinity is stronger, walking supportability is good.
This compound foot in order to ensure robot in vertical walls in walking process safety performance higher; as shown in Figure 1 and Figure 2; described sucker 3 bottom surface stretches out the annular adsorption plane 7 of formation one; be provided with some miniature suction pads 8 by being recessed to form bottom described adsorption plane 7, miniature suction pad 8 is communicated with sucker 3 inside.Described miniature suction pad 8 is in the taper shape that Open Side Down.
In order to ensure that robot foot section in the process of walking can be freely movable, described moveable hinge 2 comprises at least two assemblies that can mutually rotate.
This specification sheets lists the embodiment of two kinds of moveable hinges 2 at the walking process of reality in conjunction with robot: embodiment 1: described moveable hinge 2 comprises and connects the free bearing of sufficient muscle 1 and the hinge head of connecting sucker 3, hinge head is wrapped in free bearing rotatable, such structure makes robot thigh and foot realize omnibearing rotation, is applicable to robot and walks at vertical metal wall upper curve.
Embodiment 2: described moveable hinge 2 comprises the rotating shaft turning hole and connecting sucker 3 connecting sufficient muscle 1, rotating shaft is nested in and turns in hole and can rotate mutually, such structure makes robot thigh and foot realize rotating relative to one direction, is applicable to robot straight line moving on vertical metal wall.
In robot ambulation process, when robot foot advances, air extracting pump 6 pairs of suckers 3 are bled, vacuum state is belonged in sucker 3, sucker 3 internal gas pressure is less than external pressure, barometric pressure applies pressure to sucker 3 and makes sucker 3 be adsorbed on vertical metal wall, while air extracting pump 6 is bled, electromagnet 5 is energized, electromagnet 5 magnetic-adsorption is on metal wall, the suction that two kinds of suction types make robot foot firm is on metal wall, on adsorption plane 7, be also provided with miniature suction pad 8 simultaneously, miniature sucker 8 makes adsorption plane 7 little with the area of contact of metal wall, running on the bad metal wall of degree of finish, this kind of structure is more conducive to being adsorbed on metal wall.
It is prior art that the present invention does not describe part.
Claims (6)
1. a climbing robot compound foot, it is characterized in that: comprise the sufficient muscle (1) be connected with the leg of robot, the lower end of foot muscle (1) is by moveable hinge (2) connecting sucker (3) and electromagnet (5), the structure of the cylindrical shape that described sucker (3) is made for elastomeric material, and the circumference wall undulate of sucker (3), described sucker (3) is also provided with the suction pipe (4) connecting air extracting pump (6), air extracting pump (6) can extract the air in sucker (3) out make sucker (3) have absorption wall adsorption affinity, described electromagnet (5) is positioned at sucker (3) inside can provide adsorption affinity to metal wall.
2. a kind of climbing robot compound foot according to claim 1, it is characterized in that: described sucker (3) bottom surface stretches out the annular adsorption plane (7) of formation one, described adsorption plane (7) bottom is provided with some miniature suction pads (8) by being recessed to form, and miniature suction pad (8) is communicated with sucker (3) inside.
3. a kind of climbing robot compound foot according to claim 2, is characterized in that: described miniature suction pad (8) is in the taper shape that Open Side Down.
4. a kind of climbing robot compound foot according to claim 1, is characterized in that: described moveable hinge (2) comprises at least two assemblies that can mutually rotate.
5. a kind of climbing robot compound foot according to claim 1 or 4, is characterized in that: described moveable hinge (2) comprises and connects the free bearing of sufficient muscle (1) and the hinge head of connecting sucker (3), and hinge head is wrapped in free bearing rotatable.
6. a kind of climbing robot compound foot according to claim 1 or 4, is characterized in that: described moveable hinge (2) comprises the rotating shaft turning hole and connecting sucker (3) connecting sufficient muscle (1), and rotating shaft is nested in and turns in hole and can rotate mutually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410721465.6A CN104443103A (en) | 2014-12-03 | 2014-12-03 | Combined foot for wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410721465.6A CN104443103A (en) | 2014-12-03 | 2014-12-03 | Combined foot for wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104443103A true CN104443103A (en) | 2015-03-25 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410721465.6A Pending CN104443103A (en) | 2014-12-03 | 2014-12-03 | Combined foot for wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104443103A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106828648A (en) * | 2017-01-16 | 2017-06-13 | 华中科技大学 | A kind of barrier-crossing wall-climbing robot |
| CN106932029A (en) * | 2017-05-18 | 2017-07-07 | 重庆艾申特电子科技有限公司 | A kind of honourable rain sensor external member |
| CN107198825A (en) * | 2016-03-18 | 2017-09-26 | 苏州瑞臣康医疗用品有限公司 | A kind of high energy transduction therapy instrument |
| CN111806589A (en) * | 2020-07-31 | 2020-10-23 | 苏州荣坤智能机器科技有限公司 | Wall-climbing robot foot pad based on electromagnetic adsorption |
| CN112249185A (en) * | 2020-10-13 | 2021-01-22 | 重庆交通大学 | Active claw structure for curved surface adsorption of foot type wall-climbing robot |
| CN112885167A (en) * | 2021-01-20 | 2021-06-01 | 宁以达 | Intelligent language robot capable of improving learning efficiency based on big data analysis |
| CN113184074A (en) * | 2021-04-28 | 2021-07-30 | 北京航空航天大学 | Variable-freedom-degree sucker structure suitable for wall-climbing robot |
| CN113927609A (en) * | 2021-10-18 | 2022-01-14 | 谢俊 | Intelligent housekeeper robot |
| CN113998024A (en) * | 2021-11-25 | 2022-02-01 | 南京理工大学 | High-adaptability composite grabbing and attaching structure |
| CN115158506A (en) * | 2022-08-15 | 2022-10-11 | 中关村科学城城市大脑股份有限公司 | Combined type sucking disc device applied to wall-climbing robot and wall-climbing robot |
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| CN103895027A (en) * | 2014-03-04 | 2014-07-02 | 江苏通达动力科技股份有限公司 | Adjustable multifunctional permanent magnet vacuum suction disk frame |
| CN204264312U (en) * | 2014-12-03 | 2015-04-15 | 河南摩西机械制造有限公司 | A kind of climbing robot compound foot |
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2014
- 2014-12-03 CN CN201410721465.6A patent/CN104443103A/en active Pending
Patent Citations (8)
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| JPH0227986U (en) * | 1988-08-15 | 1990-02-23 | ||
| JPH0918309A (en) * | 1995-06-29 | 1997-01-17 | Yazaki Corp | Input interface using multiplex type input circuit |
| JPH09183090A (en) * | 1995-12-28 | 1997-07-15 | Sony Corp | Vacuum ring |
| CN1626431A (en) * | 2003-12-08 | 2005-06-15 | 高德斯密特磁性系统Bv公司 | Gripping apparatus and lifting equipment for gripping and lifting an object such as pallet part |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107198825A (en) * | 2016-03-18 | 2017-09-26 | 苏州瑞臣康医疗用品有限公司 | A kind of high energy transduction therapy instrument |
| CN106828648B (en) * | 2017-01-16 | 2018-11-30 | 华中科技大学 | A kind of barrier-crossing wall-climbing robot |
| CN106828648A (en) * | 2017-01-16 | 2017-06-13 | 华中科技大学 | A kind of barrier-crossing wall-climbing robot |
| CN106932029A (en) * | 2017-05-18 | 2017-07-07 | 重庆艾申特电子科技有限公司 | A kind of honourable rain sensor external member |
| CN111806589A (en) * | 2020-07-31 | 2020-10-23 | 苏州荣坤智能机器科技有限公司 | Wall-climbing robot foot pad based on electromagnetic adsorption |
| CN111806589B (en) * | 2020-07-31 | 2023-12-22 | 苏州荣坤智能机器科技有限公司 | Wall climbing robot foot pad based on electromagnetic adsorption |
| CN112249185B (en) * | 2020-10-13 | 2022-02-01 | 重庆交通大学 | Active claw structure for curved surface adsorption of foot type wall-climbing robot |
| CN112249185A (en) * | 2020-10-13 | 2021-01-22 | 重庆交通大学 | Active claw structure for curved surface adsorption of foot type wall-climbing robot |
| CN112885167A (en) * | 2021-01-20 | 2021-06-01 | 宁以达 | Intelligent language robot capable of improving learning efficiency based on big data analysis |
| CN113184074A (en) * | 2021-04-28 | 2021-07-30 | 北京航空航天大学 | Variable-freedom-degree sucker structure suitable for wall-climbing robot |
| CN113927609A (en) * | 2021-10-18 | 2022-01-14 | 谢俊 | Intelligent housekeeper robot |
| CN113927609B (en) * | 2021-10-18 | 2022-04-15 | 谢俊 | Intelligent housekeeper robot |
| CN113998024B (en) * | 2021-11-25 | 2023-12-08 | 南京理工大学 | High-adaptability composite grabbing structure |
| CN113998024A (en) * | 2021-11-25 | 2022-02-01 | 南京理工大学 | High-adaptability composite grabbing and attaching structure |
| CN115158506A (en) * | 2022-08-15 | 2022-10-11 | 中关村科学城城市大脑股份有限公司 | Combined type sucking disc device applied to wall-climbing robot and wall-climbing robot |
| CN115158506B (en) * | 2022-08-15 | 2024-04-12 | 中关村科学城城市大脑股份有限公司 | Be applied to wall climbing robot's combination formula sucking disc device and wall climbing robot |
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| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20150325 |