CN104670358B - A kind of power based on Pneumatic artificial muscle, the controllable hook of angle - Google Patents
A kind of power based on Pneumatic artificial muscle, the controllable hook of angle Download PDFInfo
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- CN104670358B CN104670358B CN201510101038.2A CN201510101038A CN104670358B CN 104670358 B CN104670358 B CN 104670358B CN 201510101038 A CN201510101038 A CN 201510101038A CN 104670358 B CN104670358 B CN 104670358B
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- hook
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- artificial muscle
- angle
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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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- Combustion & Propulsion (AREA)
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Abstract
The present invention relates to the crawl hook of high vacant building rough surface climbing robot, more particularly to it is a kind of can stablize, effectively realize the controllable variation rigidity hook of the angle captured to high vacant building wall, belong to Intelligent bionic machinery people field.Pneumatic spring component is provided with the controllable hook positioning disk of power, angle based on Pneumatic artificial muscle；Hook is embedded in positioning disk, and the upper end of hook is provided with suspension；Pneumatic spring component is placed between hook and suspension；Tie-plate is mutually covered with positioning disk；The motion of hook and suspension is controlled by the opening and closing of pneumatic spring component.The controllable hook of the power based on Pneumatic artificial muscle, angle that the present invention is provided can realize that angle is captured, and Grabbing properties are stable；The gas of different pressures is passed through between each mechanism, the grasp force to hook and the control of crawl angle can be realized respectively.
Description
Technical field
The present invention relates to the crawl hook of high vacant building rough surface climbing robot（Such as rough concrete wall, hang
Precipice face, granitic plaster wall）, more particularly to a kind of can stably, effectively realize can to the angle of high vacant building wall crawl
The variation rigidity hook of control, belongs to Intelligent bionic machinery people field.
Background technology
At present, climbing robot has been widely used for the detection work of hydraulically smooth surface, but for rough concrete, side
Brick and rock for material dust is more, high-altitude wall in small size low-frequency vibration, not yet there is preferable adsorption method.Closely
Nian Lai, domestic high-altitude building accident is of common occurrence, such as 2007 Hunan phoenix bridge bridge collapse accidents, Changzhou highway in 2007
Bridge caves in, the bright stand bridge fracture of the sun of Harbin in 2012, Henan Yi Chang bridge cave-in accidents in 2013, etc..Therefore, to high-altitude
Building progress periodic detection is significant, and the cycle manually detected is long, and dangerous high, difficulty is big, develops special
High vacant building detection machine device people substitution manual detection work turn into inevitable requirement.
It is different from conventional magnetic suck, vacuum, negative-pressure adsorption mode, the suction of the robot that this patent is proposed and coarse metope
Subsidiary formula formula is that the grasping movement of metope is realized by hook, the climbing metope such as its action principle and cockroach, hornet, beetle
Principle it is essentially identical, claw of the hook equivalent to toy.The grasp force and stability of hook and metope are by hook itself
The influence of all many factors such as structure, the surface state of metope, external disturbance load, the mechanism of action is extremely complex.Alcula type
Suction type realizes that stable, efficient, safety is climbed to robot as the most crucial technology of high vacant building climbing robot
Climbing operation has decisive role.
Have the following disadvantages in the prior art：
1st, the control of crawl angle can not be realized：Robot is actual climb wall during, the angle between bill and metope
Degree has decisive influence to grasp stability.The roughness of angle and metope between bill and metope, surfacing, surface tide
The factors such as wet degree are related, it is necessary to be adjusted in real time to crawl angle during robot climbs；
2nd, whole mechanism only has a drive mechanism, it is impossible to realize grasping movement and grasp force respectively to each bill
Accurate control, it is unfavorable to grasp stability.
3rd, structure is excessively complicated, and part is too many, and manufacture assembling is difficult, and grasp force is small.
The content of the invention
The present invention is for above-mentioned not enough there is provided a kind of power based on Pneumatic artificial muscle, the controllable hook of angle.
The present invention is adopted the following technical scheme that：
Power of the present invention based on Pneumatic artificial muscle, the controllable hook of angle, including positioning disk, pneumatic spring group
Part, hook, suspension, tie-plate；Described tie-plate is mutually aligned with positioning disk to be covered, and positioning disk is pneumatic with being provided with tie-plate
Spring assembly；The top of hook is installed by suspension；Hook is embedded in the tie-plate and positioning disk alignd with suspension；Hook and suspension
Between intert pneumatic spring component；Motion by the expansion of pneumatic spring component with shrinking control hook and suspension.
Power of the present invention based on Pneumatic artificial muscle, the controllable hook of angle, described tie-plate is towards positioning disk
End face in be provided with inner card cage, be coaxially provided with exterior bayonet slot on the outside of inner card cage；Tie-plate towards on the end face of positioning disk also radially
It is laid with several chutes and fixing groove；Inner card cage is with arranging several holes in exterior bayonet slot；In being provided centrally with of tie-plate
Heart hole.
Power of the present invention based on Pneumatic artificial muscle, the controllable hook of angle, described inner card cage is with exterior bayonet slot
Annular；The diameter of exterior bayonet slot is more than the diameter of inner card cage；Chute across arranges and passes through inner card cage and exterior bayonet slot；Cross
Chute between be provided with fixing groove.
Power of the present invention based on Pneumatic artificial muscle, the controllable hook of angle, described positioning disk is provided with some
Individual guide groove and several lower bayonet slots；Several guide grooves are radially arranged；Lower bayonet slot is located at the edge of tie-plate, into semicircle
Arc；Lower bayonet slot is interlaced with guide groove；Guide groove, lower bayonet slot in positioning disk respectively with the chute on tie-plate, wild card
Groove aligns.
Power of the present invention based on Pneumatic artificial muscle, the controllable hook of angle, described pneumatic spring component include
Joint, inner ring Pneumatic artificial muscle, outer ring Pneumatic artificial muscle；Described joint is I-shaped, and joint is vertically provided with passage；
Inner ring Pneumatic artificial muscle is in semicircle segmental arc with outer ring Pneumatic artificial muscle；
Described inner ring Pneumatic artificial muscle is spliced to form inner ring Pneumatic assembly, every section of inner ring Pneumatic artificial muscle with joint
Between mutually separate；Outer ring Pneumatic artificial muscle is spliced to form outer ring Pneumatic assembly, every section of outer ring Pneumatic artificial muscle with joint
Between mutually separate；Mutually separate between inner ring Pneumatic assembly and outer ring Pneumatic assembly, inner ring Pneumatic assembly and pneumatic group of outer ring
Part is positioned in inner card cage and exterior bayonet slot；The passage of joint hole from tie-plate extends laterally.
Power of the present invention based on Pneumatic artificial muscle, the controllable hook of angle, described hook are in strip, bar shaped
One end of hook is bent up edge and goes out arc section one；Hook upper surface is into indent arc section two；The bottom of the hook of bar shaped is provided with hook
Point；The guide groove that hook is embedded on positioning disk in tie-plate internal chute with aliging.
Power of the present invention based on Pneumatic artificial muscle, the controllable hook of angle, described inner ring Pneumatic artificial muscle
It is in contact with the arc section one on hook, outer ring Pneumatic artificial muscle is in contact with the arc section two on hook, the pneumatic people of inner ring
Work muscle produces oval or circular deformation with outer ring Pneumatic artificial muscle by air pressure, so as to drive the translation radially of hook
With swinging so as to the control realized grasp force with capture angle.
Power of the present invention based on Pneumatic artificial muscle, the controllable hook of angle, the suspension are fixedly connected in connection
The upper surface of disk and aligned with the chute on the guide groove and tie-plate on positioning disk, the two ends difference hanger of the 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 is with hanging
Hanger on frame by spring one with spring two respectively by being connected with each other.
Beneficial effect
The controllable hook of the power based on Pneumatic artificial muscle, angle that the present invention is provided can realize that angle is captured, gripping
Can be stable；Total of eight passage each leads into different gas pressures and can realized to inner ring four, outer ring four（Totally eight
It is individual）Gas artificial-muscle is driven respectively, and wherein the gas artificial-muscle of outer ring four controls to capture angle, inner ring four respectively
The artificial spring of gas realizes the control to grasp force respectively.
The power based on Pneumatic artificial muscle, the controllable hook structure of angle of the present invention is simpler, and assembling manufacturing difficulty is low, gas
Dynamic artificial-muscle is to produce to be radially expanded driving hook by air pressure driving, be passed through after gases at high pressure in artificial pneumatic spring by
Make " orientation " according to specific direction in the volumetric constraint effect of neck to expand, bigger grasp force can be provided.
Brief description of the drawings
Fig. 1 is the overall structure diagram of the present invention；
Fig. 2 is the overall structure cut-away section structural representation of the present invention；
Fig. 3 is the tie-plate structural representation of the present invention；
Fig. 4 is the tie-plate cross-sectional view of the present invention；
Fig. 5 is the positioning disk structural representation of the present invention；
Fig. 6 is the positioning disk cross-sectional view of the present invention；
Fig. 7 is the pneumatic spring modular construction schematic diagram of the present invention；
The spring assembly that Fig. 8 is the present invention is installed on terminal pad schematic diagram；
Fig. 9 is the hook structural representation of the present invention；
Figure 10 is the 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 is control and adjustment schematic diagram before bill angle adjustment of the invention；
Figure 14 be the present invention another bill angle adjustment after control with adjustment schematic diagram.
Figure 15 is the load-deflection curve comparison diagram of the present invention and prior art.
Embodiment
The present invention is described in more detail below in conjunction with the accompanying drawings：
As shown in the figure：A kind of power based on Pneumatic artificial muscle, the controllable hook of angle, including positioning disk 1, pneumatic spring group
Part 2, hook 3, suspension 4, tie-plate 5；Described tie-plate 5 is mutually aligned with positioning disk 1 to be covered, in positioning disk 1 and tie-plate 5
Provided with pneumatic spring component 2；The top of hook 3 is installed by suspension 4；Hook 3 is embedded in the tie-plate 5 alignd with suspension 4 with being oriented to
In disk 1；Intert pneumatic spring component 2 between hook 3 and suspension 4；By the expansion of pneumatic spring component 2 with shrinking control hook
3 with the motion of suspension 4.
Tie-plate 5 is coaxially provided with exterior bayonet slot 7 towards inner card cage 6, the outside of inner card cage 6 is provided with the end face of positioning disk 1；Connection
Disk 5 is towards being also radially laid with several chutes 9 and fixing groove 10 on the end face of positioning disk 1；Inner card cage 6 and exterior bayonet slot 7
Interior several holes 8 of arrangement；Tie-plate 5 is provided centrally with centre bore 11.
Inner card cage 6 is annular with exterior bayonet slot 7；The diameter of exterior bayonet slot 7 is more than the diameter of inner card cage 6；The across of chute 9 is arranged
Arrange and pass through inner card cage 6 and exterior bayonet slot 7；Fixing groove 10 is provided between criss-cross chute 9.
Positioning disk 1 is provided with several guide grooves 12 and several lower bayonet slots 13；Several guide grooves 12 are radially arranged；
Lower bayonet slot 13 is located at the edge of tie-plate 5, into semicircular arc；Lower bayonet slot 13 and guide groove 12 are interlaced；In positioning disk 1
Guide groove 12, lower bayonet slot 13 align with the chute 9 on tie-plate 5, exterior bayonet slot 7 respectively.
Pneumatic spring component 2 includes joint 14, inner ring Pneumatic artificial muscle 15, outer ring Pneumatic artificial muscle 16；Described
Joint 14 is I-shaped, and joint 14 is vertically provided with passage 22；Inner ring Pneumatic artificial muscle 15 and outer ring Pneumatic artificial muscle 16
In semicircle segmental arc；
Described inner ring Pneumatic artificial muscle 15 is spliced to form inner ring Pneumatic assembly, every section of inner ring artificial pneumatic with joint 14
Mutually separate between muscle 15；Outer ring Pneumatic artificial muscle 16 is spliced to form outer ring Pneumatic assembly, every section of outer ring gas with joint 14
Mutually separate between dynamic artificial-muscle 16；Mutually separate between inner ring Pneumatic assembly and outer ring Pneumatic assembly, inner ring Pneumatic assembly
It is positioned over outer ring Pneumatic assembly in inner card cage 6 and exterior bayonet slot 7；The passage 22 of joint 14 prolongs laterally from hole 8 on tie-plate 5
Stretch.
Hook 3 is in strip, and one end of the hook 3 of bar shaped is bent up, and extends arc section 1；The upper surface of hook 3 is into interior
Concave arc section 2 18；The bottom of the hook 3 of bar shaped is provided with hook point 19；Hook 3 is embedded in guide groove 12 on positioning disk 1 with coupling
Alignd in the internal chute 9 of disk 5.
Inner ring Pneumatic artificial muscle 15 is in contact with the arc section 1 on hook 3, outer ring Pneumatic artificial muscle 16 and hook
Arc section 2 18 on pawl 3 is in contact, and inner ring Pneumatic artificial muscle 15 is produced ellipse with outer ring Pneumatic artificial muscle 16 by air pressure
Round or circular deformation, so as to drive the translation radially of hook 3 with swing so as to realize grasp force and capture the control of angle.
Suspension 4 be fixedly connected the upper surface of tie-plate 5 and with the cunning on the guide groove 12 and tie-plate 5 on positioning disk 1
Groove 9 aligns, the two ends difference hanger of the suspension 4；The upper surface of the arc section 1 of hook 3 is provided with hanger, the circle of hook 3
The front end of segmental arc 2 18 is provided with hanger；Hanger on hook 3 passes through spring 1 and spring 2 21 respectively with the hanger on suspension 4
It is connected with each other.
As shown in Figure 11,12：After Pneumatic artificial muscle ventilation, it can produce and be radially expanded, but be due to the limitation work of neck
With, can only along restriction Direction distortion, be passed through after gas and be expanded into " ellipse " in pneumatic spring.
Gases at high pressure are passed through in corresponding passage, corresponding Pneumatic artificial muscle can produce expansion, the pneumatic people of inner ring
Work muscle ventilation expansion, driving hook realizes crawl to tie-plate central motion, and air pressure difference grasp force is different, and power can be achieved
Control；Outer ring Pneumatic artificial muscle ventilation expansion, realizes the angular adjustment of hook.With reference to preceding secondary figure, pass through control system, eight
The gas of different pressures is passed through in individual passage, the control of angle can be realized to the grasp forces of four hooks and capture respectively.
Eight passages each lead into different gas pressures and can realized to inner ring four, outer ring four（Totally eight）Gas
Body artificial-muscle is driven respectively.Wherein the gas artificial-muscle of outer ring four controls to capture angle, four gases of inner ring respectively
Artificial spring realizes the control to grasp force respectively.It is passed through in artificial pneumatic spring after gases at high pressure due to the volumetric constraint of neck
Effect makees " orientation " expansion according to specific direction.
Shown in Figure 14：The angle between normal at the local crowning of bill and metope is larger, is easily separated from, and crawl is unstable；
It is smaller by the angle between angle adjustment bill and normal, mechanical self-latching is easily formed, grasp stability is obviously improved；With reference to preceding
The figure in face, it is possible to achieve to each hook, grasp force and the control for capturing angle, grasp stability lifting are obvious.
Nonlinear stiffness characteristic curve：Wherein F is grasp force, and △ L are the deflection of spring/Pneumatic artificial muscle, S1 tables
Show the stiffness curve of bill in the prior art, S2 is represents the load-deflection curve of bill in the application, with obvious non-thread
Property stiffness characteristics.The front half section of S2 curves, the rigidity of spring is very weak, a and a1：For bill and the folder of metope protruding features normal direction
Angle, wherein a are adjustment leading angle, after a1 is adjustment.Be conducive to pawl point flexibly, be quickly found optimal crawl point；The right side of curve
Half section, the rigidity of spring is larger, is conducive to producing larger grasp force.As can be seen here, this variation rigidity characteristic can take into account flexibly,
Fast searching crawl point and the requirement for producing larger grasp force these two aspects.
Claims (8)
1. a kind of power based on Pneumatic artificial muscle, the controllable hook of angle, it is characterised in that：Including positioning disk（1）, pneumatic spring
Component（2）, hook（3）, suspension（4）, tie-plate（5）；Described tie-plate（5）With positioning disk（1）It is mutually aligned and covers, is oriented to
Disk（1）With tie-plate（5）It is interior to be provided with pneumatic spring component（2）；Hook（3）Top install suspension（4）；Hook（3）With suspension
（4）It is embedded in the tie-plate of alignment（5）With positioning disk（1）It is interior；Hook（3）With suspension（4）Between intert pneumatic spring component
（2）；Pass through pneumatic spring component（2）Expansion with shrink control hook（3）With suspension（4）Motion.
2. the power according to claim 1 based on Pneumatic artificial muscle, the controllable hook of angle, it is characterised in that：Described
Tie-plate（5）Towards positioning disk（1）End face in be provided with inner card cage（6）, inner card cage（6）Outside is coaxially provided with exterior bayonet slot（7）；Connection
Connect disk（5）Towards positioning disk（1）End face on be also radially laid with several chutes（9）With fixing groove（10）；Inner card cage
（6）With exterior bayonet slot（7）Interior several holes of arrangement（8）；Tie-plate（5）Be provided centrally with centre bore（11）.
3. the power according to claim 2 based on Pneumatic artificial muscle, the controllable hook of angle, it is characterised in that：Described
Inner card cage（6）With exterior bayonet slot（7）For annular；Exterior bayonet slot（7）Diameter be more than inner card cage（6）Diameter；Chute（9）Across
Arrange and pass through inner card cage（6）With exterior bayonet slot（7）；Criss-cross chute（9）Between be provided with fixing groove（10）.
4. the power according to claim 2 based on Pneumatic artificial muscle, the controllable hook of angle, it is characterised in that：Described
Positioning disk（1）It is provided with several guide grooves（12）With several lower bayonet slots（13）；Several guide grooves（12）It is radially arranged；
Lower bayonet slot（13）Positioned at tie-plate（5）Edge, into semicircular arc；Lower bayonet slot（13）With guide groove（12）It is interlaced；Lead
To disk（1）Interior guide groove（12）, lower bayonet slot（13）Respectively with tie-plate（5）On chute（9）, exterior bayonet slot（7）Alignment.
5. the power according to claim 1 or 2 based on Pneumatic artificial muscle, the controllable hook of angle, it is characterised in that：It is described
Pneumatic spring component（2）Including joint（14）, inner ring Pneumatic artificial muscle（15）, outer ring Pneumatic artificial muscle（16）；It is described
Joint（14）For I-shaped, joint（14）Vertically it is provided with passage（22）；Inner ring Pneumatic artificial muscle（15）It is pneumatic with outer ring
Artificial-muscle（16）In semicircle segmental arc；
Described inner ring Pneumatic artificial muscle（15）With joint（14）It is spliced to form inner ring Pneumatic assembly, every section of inner ring artificial pneumatic
Muscle（15）Between mutually separate；Outer ring Pneumatic artificial muscle（16）With joint（14）It is spliced to form outer ring Pneumatic assembly, every section
Outer ring Pneumatic artificial muscle（16）Between mutually separate；Mutually separate between inner ring Pneumatic assembly and outer ring Pneumatic assembly, inner ring
Pneumatic assembly is positioned over inner card cage with outer ring Pneumatic assembly（6）With exterior bayonet slot（7）It is interior；Joint（14）Passage（22）From connection
Disk（5）Upper hole（8）Extend laterally.
6. the power according to claim 1 based on Pneumatic artificial muscle, the controllable hook of angle, it is characterised in that：Described
Hook（3）It is in strip, the hook of bar shaped（3）One end be bent up, extend arc section one（17）；Hook（3）Upper surface is into interior
Concave arc section two（18）；The hook of bar shaped（3）Bottom provided with hook point（19）；Hook（3）It is embedded in positioning disk（1）On guiding
Groove（12）With tie-plate（5）Internal chute（9）Interior alignment.
7. the power according to claim 5 based on Pneumatic artificial muscle, the controllable hook of angle, it is characterised in that：Described
Inner ring Pneumatic artificial muscle（15）With hook（3）On arc section one（17）It is in contact, outer ring Pneumatic artificial muscle（16）With hook
Pawl（3）On arc section two（18）It is in contact, inner ring Pneumatic artificial muscle（15）With outer ring Pneumatic artificial muscle（16）Pass through gas
Pressure produces oval or circular deformation, so as to drive hook（3）Translation radially and swing to realize grasp force and crawl
The control of angle.
8. the power based on Pneumatic artificial muscle, the controllable hook of angle according to Claims 1-4 or 6 any one, it is special
Levy and be：The suspension（4）It is fixedly connected in tie-plate（5）Upper surface and and positioning disk（1）On guide groove（12）And connection
Connect disk（5）On chute（9）Align, the suspension（4）Two ends be respectively arranged with hanger；Hook（3）Arc section one
（17）Upper surface be provided with hanger, hook（3）Arc section two（18）Front end be provided with hanger；Hook（3）On hanger with it is outstanding
Frame（4）On hanger pass through spring one respectively（20）With spring two（21）It is connected with each other.
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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 |
Applications Claiming Priority (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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| CN104670358A CN104670358A (en) | 2015-06-03 |
| CN104670358B true CN104670358B (en) | 2017-08-01 |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN110015609B (en) * | 2019-03-12 | 2023-09-29 | 华中科技大学 | Petrochemical hoisting system and hoisting method based on pneumatic artificial muscles |
| 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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| JP2013039637A (en) * | 2011-08-16 | 2013-02-28 | Tokai Kyohan Co Ltd | Robot hand, robot hand parts, and robot hand unit |
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| CN101973321A (en) * | 2010-09-21 | 2011-02-16 | 东南大学 | Claw grab-type wall-climbing robot |
| CN104354781A (en) * | 2014-09-05 | 2015-02-18 | 南京邮电大学 | Variable-rigidity biomimetic falcula mechanism and falcula components thereof |
| CN204184485U (en) * | 2014-09-05 | 2015-03-04 | 南京邮电大学 | The graping chaw mechanism of hydraulically rough surface climbing robot |
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