CN104670358A - Hook claw with controllable force and angle based on pneumatic artificial muscle - Google Patents
Hook claw with controllable force and angle based on pneumatic artificial muscle Download PDFInfo
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- CN104670358A CN104670358A CN201510101038.2A CN201510101038A CN104670358A CN 104670358 A CN104670358 A CN 104670358A CN 201510101038 A CN201510101038 A CN 201510101038A CN 104670358 A CN104670358 A CN 104670358A
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- hook
- artificial muscle
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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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Abstract
The invention relates to a grabbing hook claw of a high-altitude rise building rough surface climbing robot, in particular to a variable-rigidity hook claw with controllable angle for stably and effectively grabbing a high-altitude building wall surface, and belongs to the field of intelligent bionic robots. A hook claw with controllable force and angle based on pneumatic artificial muscle is characterized in that a pneumatic spring assembly is arranged in a guide disc; the hook claw is embedded into the guide disc, and a suspension frame is arranged at the upper end of the hook claw; the pneumatic spring assembly is arranged between the hook claw and the suspension frame; a coupling disc is mutually covered with the guide disc; the movement of the hook claw and the suspension frame is controlled by the opening and closing of the pneumatic spring assembly. The hook claw with controllable force and angle based on the pneumatic artificial muscle has the advantages that the angle grabbing is realized, and the grabbing property is stable; the gases with different pressures are sent into each mechanism, so as to control the grabbing force and grabbing angle of the hook claw.
Description
Technical field
The present invention relates to the crawl hook of high vacant building rough surface climbing robot (as rough concrete wall, steep cliff wall, granitic plaster wall), particularly relate to a kind ofly can to stablize, variation rigidity hook that the angle that effectively realizes capturing high vacant building wall is controlled, belong to Intelligent bionic machinery people field.
Background technology
At present, climbing robot has been widely used in the testing of hydraulically smooth surface, but high-altitude wall that is more for the dust being material with rough concrete, square brick and rock, that be in small size low-frequency vibration, not yet there is good adsorption method.In recent years, domestic high-altitude building accident is of common occurrence, and as Hunan phoenix bridge bridge collapse accident in 2007, within 2007, Changzhou road bridge caved in, Harbin in 2012 sun bright stand bridge fracture, Henan Yi Chang bridge cave-in accident in 2013, etc.Therefore, carry out periodic detection to high vacant building significant, the cycle of manual detection is long, and dangerous high, difficulty is large, develops special high vacant building measuring robots and replaces manual detection work and become inevitable requirement.
Different from conventional magnetic suck, vacuum, negative-pressure adsorption mode, the suction type of the robot that this patent proposes and coarse metope is realized the grasping movement of metope by hook, the principle that its action principle climbs metope with cockroach, hornet, beetle etc. is substantially identical, and hook is equivalent to the claw of toy.The grasp force of hook and metope and stability are subject to the impact of all many factors such as apparent condition, external disturbance load of hook self structure, metope, and the mechanism of action is extremely complicated.Alcula type suction type, as the most crucial technology of high vacant building climbing robot, realizes stable, efficient, safe climbing operation to robot and has decisive role.
Have the following disadvantages in prior art:
1, can not realize capturing the control of angle: climb in the process of wall robot is actual, the angle between bill and metope has decisive influence to grasp stability.Angle between bill and metope and the roughness of metope, surface material, the factors such as surface moisture degree are correlated with, and climb in process at robot, need to adjust in real time crawl angle;
2, only there is a driver train in whole mechanism, can not realize respectively to the grasping movement of each bill and the accurate control of grasp force, unfavorable to grasp stability.
3, structure is too complicated, and parts are too many, and manufacture assembling difficulty, grasp force is little.
Summary of the invention
The present invention is directed to above-mentioned deficiency and provide a kind of power based on Pneumatic artificial muscle, the controlled hook of angle.
The present invention adopts following technical scheme:
Power based on Pneumatic artificial muscle of the present invention, the controlled hook of angle, comprise positioning disk, pneumatic spring assembly, hook, suspension, tie-plate; Described tie-plate and positioning disk mutually align and cover, and are provided with pneumatic spring assembly in positioning disk and tie-plate; Suspension is installed on the top of hook; Hook and suspension are embedded in the tie-plate and positioning disk that align; Interspersed pneumatic spring assembly between hook and suspension; The motion of hook and suspension is controlled by the Swelling and contraction of pneumatic spring assembly.
Power based on Pneumatic artificial muscle of the present invention, the controlled hook of angle, described tie-plate is provided with inner card cage in the end face of positioning disk, is coaxially provided with exterior bayonet slot outside inner card cage; Tie-plate is also radially laid with several chutes and hold down groove on the end face of positioning disk; Several holes are arranged in inner card cage and exterior bayonet slot; The center of tie-plate is provided with centre hole.
Power based on Pneumatic artificial muscle of the present invention, the controlled hook of angle, described inner card cage and exterior bayonet slot are annular; The diameter of exterior bayonet slot is greater than the diameter of inner card cage; Chute across arranges and passes inner card cage and exterior bayonet slot; Hold down groove is provided with between criss cross chute.
Power based on Pneumatic artificial muscle of the present invention, the controlled hook of angle, described positioning disk is provided with several guide grooves and several lower blocked slots; Several guide grooves radially arrange; Lower blocked slot is positioned at the edge of tie-plate, becomes semicircular arc; Lower blocked slot and guide groove interlaced; Guide groove in positioning disk, lower blocked slot align with the chute on tie-plate, exterior bayonet slot respectively.
Power based on Pneumatic artificial muscle of the present invention, the controlled hook of angle, described pneumatic spring assembly comprises joint, inner ring Pneumatic artificial muscle, outer ring Pneumatic artificial muscle; Described joint is I-shape, and joint is vertically provided with air extractor vent; Inner ring Pneumatic artificial muscle and outer ring Pneumatic artificial muscle are semicircle segmental arc;
Described inner ring Pneumatic artificial muscle and joint are spliced to form inner ring Pneumatic assembly, mutually cut off between every section of inner ring Pneumatic artificial muscle; Outer ring Pneumatic artificial muscle and joint are spliced to form outer ring Pneumatic assembly, mutually cut off between every section of outer ring Pneumatic artificial muscle; Mutually cut off between inner ring Pneumatic assembly and outer ring Pneumatic assembly, inner ring Pneumatic assembly and outer ring Pneumatic assembly are positioned in inner card cage and exterior bayonet slot; The air extractor vent of joint extends laterally from hole tie-plate.
Power based on Pneumatic artificial muscle of the present invention, the controlled hook of angle, described hook is in strip, and one end of the hook of bar shaped upwards goes out arc section one in curved edge; Hook upper surface becomes indent arc section two; The bottom of the hook of bar shaped is provided with and hooks point; The guide groove that hook is embedded on positioning disk aligns with in tie-plate internal chute.
Power based on Pneumatic artificial muscle of the present invention, the controlled hook of angle, described inner ring Pneumatic artificial muscle contacts with the arc section one on hook, and outer ring Pneumatic artificial muscle contacts with the arc section two on hook
,inner ring Pneumatic artificial muscle and outer ring Pneumatic artificial muscle produce oval or circular deformation by air pressure, thus drive the translation radially of hook and swing thus realize grasp force and capture the control of angle.
Power based on Pneumatic artificial muscle of the present invention, the controlled hook of angle, described suspension be fixedly connected tie-plate upper surface and align with the guide groove on positioning disk and the chute on tie-plate
,the two ends hanger respectively of described suspension; The upper surface of the arc section one of hook is provided with hanger, and the front end of the arc section two of hook is provided with hanger; Hanger on hook and the hanger on suspension are interconnected respectively by by spring one and spring two.
Beneficial effect
Power based on Pneumatic artificial muscle provided by the invention, the controlled hook of angle can realize angle and capture, and Grabbing properties is stablized; Eight air extractor vents pass into different gaseous tensions respectively and can realize driving respectively inner ring four, four, outer ring (totally eight) gas artificial-muscle altogether, wherein four, outer ring gas artificial-muscle controls to capture angle respectively, and inner ring four artificial springs of gas realize the control to grasp force respectively.
Power based on Pneumatic artificial muscle of the present invention, angle controlled hook structure are simpler, assembling manufacturing difficulty is low, Pneumatic artificial muscle is driven by air pressure and produces radial expansion driving hook, make " orientation " due to the volume restriction of draw-in groove according to specific direction after passing into high pressure gas in artificial pneumatic spring to expand, larger grasp force can be provided.
Accompanying drawing explanation
Fig. 1 is integral structure schematic diagram of the present invention;
Fig. 2 is integral structure cut-away section structural representation of the present invention;
Fig. 3 is tie-plate structural representation of the present invention;
Fig. 4 is tie-plate cross-sectional view of the present invention;
Fig. 5 is positioning disk structural representation of the present invention;
Fig. 6 is positioning disk cross-sectional view of the present invention;
Fig. 7 is pneumatic spring unit construction schematic diagram of the present invention;
Fig. 8 is that spring assembly of the present invention is installed on terminal pad schematic diagram;
Fig. 9 is hook structural representation of the present invention;
Figure 10 is inner section structural scheme of mechanism of the present invention;
Figure 11 is inner ring expansion hook motion schematic diagram of the present invention;
Figure 12 is outer ring expansion hook motion schematic diagram of the present invention;
Figure 13 controls before bill angular adjustment of the present invention and adjustment schematic diagram;
Figure 14 is control after another kind of bill angular adjustment of the present invention and adjustment schematic diagram.
Figure 15 is the load-deflection curve comparison diagram of the present invention and prior art.
Detailed description of the invention
Below in conjunction with accompanying drawing, the present invention is described in more detail:
As shown in the figure: a kind of power based on Pneumatic artificial muscle, the controlled hook of angle, comprise positioning disk 1, pneumatic spring assembly 2, hook 3, suspension 4, tie-plate 5; Described tie-plate 5 mutually aligns with positioning disk 1 and covers, and is provided with pneumatic spring assembly 2 in positioning disk 1 and tie-plate 5; Suspension 4 is installed on the top of hook 3; Hook 3 and suspension 4 are embedded in the tie-plate 5 that aligns with in positioning disk 1; Interspersed pneumatic spring assembly 2 between hook 3 and suspension 4; The motion of hook 3 and suspension 4 is controlled by the Swelling and contraction of pneumatic spring assembly 2.
Tie-plate 5 is provided with inner card cage 6 in the end face of positioning disk 1, is coaxially provided with exterior bayonet slot 7 outside inner card cage 6; Tie-plate 5 is also radially laid with several chutes 9 and hold down groove 10 on the end face of positioning disk 1; Several holes 8 are arranged in inner card cage 6 and exterior bayonet slot 7; The center of tie-plate 5 is provided with centre hole 11.
Inner card cage 6 and exterior bayonet slot 7 are annular; The diameter of exterior bayonet slot 7 is greater than the diameter of inner card cage 6; Chute 9 across arranges and passes inner card cage 6 and exterior bayonet slot 7; Hold down groove 10 is provided with between criss cross chute 9.
Positioning disk 1 is provided with several guide grooves 12 and several lower blocked slots 13; Several guide grooves 12 radially arrange; Lower blocked slot 13 is positioned at the edge of tie-plate 5, becomes semicircular arc; Lower blocked slot 13 is interlaced with guide groove 12; Guide groove 12 in positioning disk 1, lower blocked slot 13 align with the chute 9 on tie-plate 5, exterior bayonet slot 7 respectively.
Pneumatic spring assembly 2 comprises joint 14, inner ring Pneumatic artificial muscle 15, outer ring Pneumatic artificial muscle 16; Described joint 14 is I-shape, and joint 14 is vertically provided with air extractor vent 21; Inner ring Pneumatic artificial muscle 15 and outer ring Pneumatic artificial muscle 16 are in semicircle segmental arc;
Described inner ring Pneumatic artificial muscle 15 is spliced to form inner ring Pneumatic assembly with joint 14, mutually cuts off between every section of inner ring Pneumatic artificial muscle 15; Outer ring Pneumatic artificial muscle 16 and joint 14 are spliced to form outer ring Pneumatic assembly, mutually cut off between every section of outer ring Pneumatic artificial muscle 16; Mutually cut off between inner ring Pneumatic assembly and outer ring Pneumatic assembly, inner ring Pneumatic assembly and outer ring Pneumatic assembly are positioned over inner card cage 6 with in exterior bayonet slot 7; The air extractor vent 21 of joint 14 extends laterally from hole 8 tie-plate 5.
Hook 3 is in strip, and one end of the hook 3 of bar shaped upwards goes out arc section 1 in curved edge; Hook 3 upper surface becomes indent arc section 2 18; The bottom of the hook 3 of bar shaped is provided with and hooks point 19; The guide groove 12 that hook 3 is embedded on positioning disk 1 aligns with in tie-plate 5 internal chute 9.
Inner ring Pneumatic artificial muscle 15 contacts with the arc section 1 on hook 3, and outer ring Pneumatic artificial muscle 16 contacts with the arc section 2 18 on hook 3
,inner ring Pneumatic artificial muscle 15 produces oval or circular deformation with outer ring Pneumatic artificial muscle 16 by air pressure, thus drives the translation radially of hook 3 and swing thus realize the control of grasp force and crawl angle.
Suspension 4 be fixedly connected tie-plate 5 upper surface and align with the guide groove 12 on positioning disk 1 and the chute 9 on tie-plate 5
,the two ends hanger respectively of described suspension 4; The upper surface of the arc section 1 of hook 3 is provided with hanger, and the front end of the arc section 2 18 of hook 3 is provided with hanger; Hanger on hanger on hook 3 and suspension 4 is interconnected respectively by by spring 1 and spring 2 21.
As shown in Figure 11,12: after Pneumatic artificial muscle ventilation, can radial expansion be produced, but due to the restriction of draw-in groove, along the Direction distortion limited, can only expand into " ellipse " pass into gas in pneumatic spring after.
In corresponding air extractor vent, pass into high pressure gas, corresponding Pneumatic artificial muscle can produce expansion, and the ventilation of inner ring Pneumatic artificial muscle is expanded, and drives hook to tie-plate central motion, realizes capturing, and the different grasp force of air pressure is different, can the control of realizable force; Outer ring Pneumatic artificial muscle ventilation is expanded, and realizes the angular adjustment of hook.In conjunction with before secondary figure, by control system, in eight air extractor vents, pass into the gas of different pressures, can realize respectively the grasp force of four hooks and the control capturing angle.
Eight air extractor vents pass into different gaseous tensions respectively and can realize driving respectively inner ring four, four, outer ring (totally eight) gas artificial-muscle.Wherein four, outer ring gas artificial-muscle controls to capture angle respectively, and inner ring four artificial springs of gas realize the control to grasp force respectively.Make " orientation " due to the volume restriction of draw-in groove according to specific direction after passing into high pressure gas in artificial pneumatic spring to expand.
Shown in Figure 14: the angle between the normal at the local projection place of bill and metope is comparatively large, easily departs from, capture unstable; Less by the angle between angular adjustment bill and normal, easily form mechanical self-latching, grasp stability significantly promotes; In conjunction with figure above, can realize each hook, the control of grasp force and crawl angle, grasp stability promotes obviously.
Nonlinear stiffness characteristic curve: wherein F is grasp force, △ L is the deflection of spring/Pneumatic artificial muscle, and S1 represents the stiffness curve of bill in prior art, and S2 is the load-deflection curve representing bill in the application, has obvious nonlinear stiffness characteristic.The first half section of S2 curve, the rigidity of spring is very weak, a and a1: be the angle of bill and metope protruding features normal direction, and wherein a is adjustment leading angle, and a1 is for after adjustment.Be conducive to pawl point and find best crawl point flexibly, rapidly; Half section, the right side of curve, the rigidity of spring is comparatively large, is conducive to producing larger grasp force.As can be seen here, this variation rigidity characteristic can be taken into account flexibly, fast searching captures point and the requirement of the larger grasp force these two aspects of generation.
Claims (8)
1., based on power, the controlled hook of angle of Pneumatic artificial muscle, it is characterized in that: comprise positioning disk (1), pneumatic spring assembly (2), hook (3), suspension (4), tie-plate (5); Described tie-plate (5) and positioning disk (1) mutually align and cover, and are provided with pneumatic spring assembly (2) in positioning disk (1) and tie-plate (5); Suspension (4) is installed on the top of hook (3); Hook (3) and suspension (4) are embedded in the tie-plate (5) that aligns with in positioning disk (1); Interspersed pneumatic spring assembly (2) between hook (3) and suspension (4); The motion of hook (3) and suspension (4) is controlled by the Swelling and contraction of pneumatic spring assembly (2).
2. the power based on Pneumatic artificial muscle according to claim 1, the controlled hook of angle, it is characterized in that: described tie-plate (5) is provided with inner card cage (6) in the end face of positioning disk (1), inner card cage (6) outside is coaxially provided with exterior bayonet slot (7); Tie-plate (5) is also radially laid with several chutes (9) and hold down groove (10) on the end face of positioning disk (1); Several holes (8) are arranged in inner card cage (6) and exterior bayonet slot (7); The center of tie-plate (5) is provided with centre hole (11).
3. the power based on Pneumatic artificial muscle according to claim 2, the controlled hook of angle, is characterized in that: described inner card cage (6) and exterior bayonet slot (7) are annular; The diameter of exterior bayonet slot (7) is greater than the diameter of inner card cage (6); Chute (9) across arranges and passes inner card cage (6) and exterior bayonet slot (7); Hold down groove (10) is provided with between criss cross chute (9).
4. the power based on Pneumatic artificial muscle according to claim 2, the controlled hook of angle, is characterized in that: described positioning disk (1) is provided with several guide grooves (12) and several lower blocked slots (13); Several guide grooves (12) radially arrange; Lower blocked slot (13) is positioned at the edge of tie-plate (5), becomes semicircular arc; Lower blocked slot (13) is interlaced with guide groove (12); Guide groove (12) in positioning disk (1), lower blocked slot (13) align with the chute (9) on tie-plate (5), exterior bayonet slot (7) respectively.
5. the power based on Pneumatic artificial muscle according to claim 1 and 2, the controlled hook of angle, is characterized in that: described pneumatic spring assembly (2) comprises joint (14), inner ring Pneumatic artificial muscle (15), outer ring Pneumatic artificial muscle (16); Described joint (14) is I-shape, and joint (14) is vertically provided with air extractor vent (21); Inner ring Pneumatic artificial muscle (15) and outer ring Pneumatic artificial muscle (16) are in semicircle segmental arc;
Described inner ring Pneumatic artificial muscle (15) and joint (14) are spliced to form inner ring Pneumatic assembly, mutually cut off between every section of inner ring Pneumatic artificial muscle (15); Outer ring Pneumatic artificial muscle (16) and joint (14) are spliced to form outer ring Pneumatic assembly, mutually cut off between every section of outer ring Pneumatic artificial muscle (16); Mutually cut off between inner ring Pneumatic assembly and outer ring Pneumatic assembly, inner ring Pneumatic assembly and outer ring Pneumatic assembly are positioned over inner card cage (6) with in exterior bayonet slot (7); The air extractor vent (21) of joint (14) extends laterally from hole (8) tie-plate (5).
6. the power based on Pneumatic artificial muscle according to claim 1, the controlled hook of angle, is characterized in that: described hook (3) is in strip, and one end of the hook (3) of bar shaped upwards goes out arc section one (17) in curved edge; Hook (3) upper surface becomes indent arc section two (18); The bottom of the hook (3) of bar shaped is provided with and hooks point (19); The guide groove (12) that hook (3) is embedded on positioning disk (1) aligns with in tie-plate (5) internal chute (9).
7. the power based on Pneumatic artificial muscle according to claim 5 or 6, the controlled hook of angle, it is characterized in that: described inner ring Pneumatic artificial muscle (15) contacts with the arc section one (17) on hook (3), outer ring Pneumatic artificial muscle (16) contacts with the arc section two (18) on hook (3)
,inner ring Pneumatic artificial muscle (15) and outer ring Pneumatic artificial muscle (16) produce oval or circular deformation by air pressure, thus drive the translation radially of hook (3) and swing thus realize the control of grasp force and crawl angle.
8. the power based on Pneumatic artificial muscle according to claim 1 or 6, the controlled hook of angle, is characterized in that: described suspension (4) be fixedly connected tie-plate (5) upper surface and align with the guide groove (12) on positioning disk (1) and the chute (9) on tie-plate (5)
,the two ends hanger respectively of described suspension (4); The upper surface of the arc section one (17) of hook (3) is provided with hanger, and the front end of the arc section two (18) of hook (3) is provided with hanger; Hanger on hanger on hook (3) and suspension (4) is interconnected respectively by by spring one (20) and spring two (21).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510101038.2A CN104670358B (en) | 2015-03-09 | 2015-03-09 | A kind of power based on Pneumatic artificial muscle, the controllable hook of angle |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510101038.2A CN104670358B (en) | 2015-03-09 | 2015-03-09 | A kind of power based on Pneumatic artificial muscle, the controllable hook of angle |
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| CN104670358A true CN104670358A (en) | 2015-06-03 |
| CN104670358B CN104670358B (en) | 2017-08-01 |
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Cited By (3)
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| CN107553478A (en) * | 2017-08-15 | 2018-01-09 | 嘉兴学院 | Based on pneumatic muscles multiple degrees of freedom apery climbing level robot and its control system |
| CN110015609A (en) * | 2019-03-12 | 2019-07-16 | 华中科技大学 | A kind of petrochemical industry Lift-on/Lift-off System and hanging method based on Pneumatic artificial muscle |
| CN110641572A (en) * | 2019-09-29 | 2020-01-03 | 西安理工大学 | Bionic flexible claw thorn array foot with adjustable adhesion state |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN107553478A (en) * | 2017-08-15 | 2018-01-09 | 嘉兴学院 | Based on pneumatic muscles multiple degrees of freedom apery climbing level robot and its control system |
| CN107553478B (en) * | 2017-08-15 | 2020-02-28 | 嘉兴学院 | Multi-degree-of-freedom humanoid pole-climbing robot based on pneumatic muscles and control system thereof |
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| CN110641572A (en) * | 2019-09-29 | 2020-01-03 | 西安理工大学 | Bionic flexible claw thorn array foot with adjustable adhesion state |
| CN110641572B (en) * | 2019-09-29 | 2021-09-10 | 西安理工大学 | Bionic flexible claw thorn array foot with adjustable adhesion state |
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