CN105947002A - Sucker crawler-driven bionic device used for climbing and clinging to smooth surfaces - Google Patents
Sucker crawler-driven bionic device used for climbing and clinging to smooth surfaces Download PDFInfo
- Publication number
- CN105947002A CN105947002A CN201610305444.5A CN201610305444A CN105947002A CN 105947002 A CN105947002 A CN 105947002A CN 201610305444 A CN201610305444 A CN 201610305444A CN 105947002 A CN105947002 A CN 105947002A
- Authority
- CN
- China
- Prior art keywords
- endless track
- main handle
- track
- sucker
- vacuum cup
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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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
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
Abstract
The invention discloses a sucker crawler-driven bionic device used for climbing and clinging to smooth surfaces. The device comprises a rack. A driving wheel and a tension wheel are further arranged on the rack. An annular crawler is mounted on an outer circle of the driving wheel and an outer circle of the tension wheel. A plurality of vacuum suckers are distributed on the circumferential circle of the annular crawler at equal intervals. The sides, connected with the annular crawler, of the vacuum suckers are provided with main handles. One ends of the main handles are connected with the vacuum suckers, and the other ends of the main handles are provided with main handle tensile force applying mechanisms. The problems such as complex mechanisms, difficult unsealing after vacuumization of suckers, low speed and noncontinuity in the crawling process of multi-sucker wall climbing robots are solved, and the device can climb the smooth surfaces at any angle.
Description
Technical field
The present invention relates to a kind of track drive bionic device, particularly relate to a kind of sucker track drive for seeking connections with smooth surface and imitate
Generating apparatus.
Background technology
Mobile robot has been widely used in work high above the ground, such as, clear up the exterior wall of skyscraper, build skyscraper
Thing, the preserver etc. of the nuclear power plants that sprays paint to large ship, monitors because this type of work is typically the most critically important but danger extremely
Danger, therefore, in the whole world, each place is carried out research field Climbing Robot the most special in mobile robot
Study widely and had and develop well.The Climbing Robot of Most current can be summarized as two classes: towed and adhere to
Formula.Adhesive Climbing Robot has an adhesive mechanism, by suction, magnetic force, Van der Waals force and aculea interlocked with viscous
It is attached on wall.Magnetic force attachment mechanism only just can use when the metope that works is made up of ferromagnetic surface.
Aculea constructed machine people can adhere well on coarse metope, but is not but suitable for the light of glass, ceiling etc
Sliding surface.The robot utilizing Van der Waals force is then the dry adhesion ability having imitated Gekko Swinhonis, and this attachment mechanism is more peculiar,
It need not energy, but the size of adhesion is affected bigger by the roughness of adhesive surface, it is therefore desirable to more research comes really
Recognize the suitability of this mechanism.Sucked type mechanism is then widely used in industrial robot, compared to other mechanism, sucked type machine
Structure has more preferable adaptability and ruggedness.According to the difference of travel mechanism, robot can be divided into three kinds: legged, slide
Formula and Track-wheel type.The advantage of legged Climbing Robot is that it can adapt to rough metope, but due to its executor
Many with footwork controller number, legged Climbing Robot weight is big and control system is relative complex.Which results in robot fortune
Dynamic speed is low and discontinuous.Meanwhile, the realization of glding type mechanism is more relatively easy than legged, but same not connecting owing to moving
Continuous, movement velocity is relatively low and is not widely used.
CN96205687.1 discloses one " automatic wall cleaning device for high building ", and this device have employed the absorption of multi-sucker
Device, is not independent between each sucker, when one of them sucker is revealed, will affect the vacuum of whole sucker, vacuum
Reduce and cause cleaning device can not rest on wall.
CN01274743.2 discloses one " climbing robot that the single sucking disc and crawler multi-sucker combine ", although it is mentioned
Independent the single sucking disc, however it is necessary that and utilize absorption fan for water continuous firing to maintain overall vacuum, so not in real meaning
Realize independent sucker in justice and answer role.
As can be seen here, prior art awaits further improving.
Summary of the invention
The present invention is the weak point avoiding prior art to exist, it is provided that a kind of sucker track drive for seeking connections with smooth surface
Bionic device, this device utilizes purely mechanic structure to realize evacuation and the unpacking of vacuum cup on the basis of retaining sucker function,
Simple in construction, adaptive capacity to environment is strong.
The technical solution adopted in the present invention is:
A kind of sucker track drive bionic device for seeking connections with smooth surface, including frame, frame is additionally provided with drivewheel and
Being provided with endless track on the outer ring of expansion tightening wheel, drivewheel and expansion tightening wheel, the peripheral border of endless track has been spacedly distributed some
Individual vacuum cup, the side that each vacuum cup is connected with endless track is provided with main handle, one end of main handle is connected with vacuum cup,
The other end is provided with main handle pulling force applying mechanism.
Being provided with ring-shaped guide rail in described frame, ring-shaped guide rail is walked around from drivewheel and expansion tightening wheel, and endless track is positioned at annular leads
The outside of rail, main handle pulling force applying mechanism is between main handle and ring-shaped guide rail, and main handle pulling force applying mechanism includes pulley spindle, main
Handle is connected with pulley spindle after endless track, and pulley spindle is provided with the pulley suitable with above-mentioned ring-shaped guide rail, endless track
Rotate, band movable pulley annularly slide.
Described ring-shaped guide rail includes joining end to end looped first straight guide, the first half curved guide rails, the first inclined guide rails, second straight
Guide rail, the second inclined guide rails and the second half curved guide rails, the first straight guide and the second straight guide be parallel to each other, the first inclined guide rails from
Its head is gradually increased to the distance between its afterbody and endless track, the second inclined guide rails from its head to its afterbody and endless track
Between distance be gradually reduced, distance between the first straight guide and endless track, the first half distances between curved guide rail and endless track with
And the second half curved track the most equal with the distance between endless track, the distance between the second straight guide and endless track is directly led more than first
Distance between rail and endless track.
Described main handle pulling force applying mechanism is positioned at the inner side of the side that endless track contacts with surface to be sought connections with, and main handle pulling force applies machine
Structure includes multiple first permanent magnets being arranged in frame, and the second permanent magnet being arranged on the main handle of each vacuum cup.
Each described vacuum cup all by unpacking handle be connected with endless track, break seal handle one end be connected with vacuum cup outward flange,
The other end is connected with the outer surface of endless track.
Each described vacuum cup is connected with endless track by two unpacking handles respectively.
Each described main handle, unpacking handle and endless track are made by flexible rubber.
Described vacuum cup, endless track, main handle and unpacking handle are formed in one structure.
Described drivewheel is driven by motor.
Owing to have employed technique scheme, having the beneficial effect that acquired by the present invention
1, present configuration is simple, is not related to the pipeline problem of complexity, and whole device only relies on motor and drives, on vacuum cup limit
Devising unpacking handle at edge makes vacuum cup open under negative pressure state smoothly, and without using control panel to carry out assist control,
On the basis of remaining sucker function, utilize purely mechanic structure to achieve evacuation and the unpacking of vacuum cup, be particularly suited for
Small-sized self-control robot system, adaptive capacity to environment is greatly improved.
2, the present invention breaks seal difficult, low after solving multicup wall-lcimbing robot's mechanism's complexity in crawling process, sucker vacuum
The problems such as custom, noncontinuity, it can be climbed in smooth flat at any angle.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention.
Fig. 2 is endless track and the relative position relation schematic diagram of ring-shaped guide rail in the present invention.
Wherein,
1, endless track 2, frame 3, ring-shaped guide rail the 31, first straight guide 32, the first half curved guide rails 33,
First inclined guide rails the 34, second straight guide the 35, second inclined guide rails 36, the second half curved guide rails 4, drivewheel 5,
Expansion tightening wheel 6, unpacking handle 7, main handle 8, vacuum cup
Detailed description of the invention
The present invention is described in further detail with specific embodiment below in conjunction with the accompanying drawings, but the present invention is not limited to these in fact
Execute example.
Embodiment one:
As depicted in figs. 1 and 2, a kind of sucker track drive bionic device for seeking connections with smooth surface, including frame 2, machine
Being provided with ring-shaped guide rail 3 on frame 2, frame 2 is additionally provided with drivewheel 4 and expansion tightening wheel 5, drivewheel 4 is driven by motor, institute
State ring-shaped guide rail 3 to walk around from drivewheel 4 and expansion tightening wheel 5, the outer ring of drivewheel 4 and expansion tightening wheel 5 is provided with endless track
1, endless track 1 is positioned at the outside of ring-shaped guide rail 3, and the peripheral border of endless track 1 has been spacedly distributed several vacuum cups
8, the side that each vacuum cup 8 is connected with endless track 1 is provided with main handle 7, and one end of main handle 7 is connected with vacuum cup 8,
Being provided with main handle pulling force applying mechanism between the other end and ring-shaped guide rail 3, described main handle pulling force applying mechanism includes pulley spindle, main
Handle 7 is connected with pulley spindle after endless track 1, and pulley spindle is provided with the pulley suitable with above-mentioned ring-shaped guide rail 3, ring
Shape crawler belt 1 rotates, and band movable pulley annularly guide rail 3 slides.
Described ring-shaped guide rail 3 includes joining end to end looped first straight guide 31, the first half curved guide rail the 32, first inclined guide rails
33, second straight guide the 34, second inclined guide rails 35 and the second half curved guide rails 36, the first straight guide 31 and the second straight guide 34
Being parallel to each other, the first inclined guide rails 33 is gradually increased to the distance its afterbody and endless track 1 from its head, and second tilts to lead
Rail 35 is gradually reduced to the distance its afterbody and endless track 1 from its head, between the first straight guide 31 and endless track 1
Distance, the first half distances between curved guide rail 32 and endless track 1 and the second half distance between curved track 36 and endless track 1
The most equal, distance between the second straight guide 34 and endless track 1 is maximum among each guide rail distance away between endless track 1.
Each described vacuum cup 8 is all connected with endless track 1 by two unpacking handles 6, and one end of each unpacking handle 6 is inhaled with vacuum
The outward flange of dish 8 is connected, the other end is connected with the outer surface of endless track 1；Each described vacuum cup 8, main handle 7, unpacking handle
6 and endless track 1 made by flexible rubber PVC, and described vacuum cup 8, endless track 1, main handle 7 and unpacking handle 6
Be formed in one structure, each other without relative motion, owing to three is supported by having resilient PVC, can carry out elasticity
Dilatation.
Vacuum cup 8 and endless track 1 are fabricated to integrative-structure, by the gap between pulley and endless track 1 by the present invention
Change carrys out the change of band movable pulley and the spacing of endless track 1, and then produces negative pressure in vacuum cup 8, inhales along vacuum
The unpacking handle 6 that dish 8 outer edge is arranged, action that what bionical Rhacophorus, Gekko Swinhonis etc. were biological creep and muscle, skeletal structure mutual
Effect so that the vacuum cup 8 under negative pressure state can depart from smoothly with adsorbed plane.
Specifically, when the bionic device in the present invention works, first device is pressed against in smooth flat, now with plane
The partial vacuum sucker 8 contacted produces negative pressure by external force, opens motor, and the moment of torsion that motor produces accesses the wheel of drivewheel 4
Axle, drives endless track 1 together to operate by wheel hub rigidly connected with wheel shaft, now, integrated with endless track 1
Vacuum cup 8 together operates with endless track 1, and the main handle 7 of vacuum cup 8 drives pulley spindle, and then band movable pulley road in-orbit
Middle slip, the vacuum cup 8 not contacted with smooth surface is due to the common effect by main handle 7 with unpacking handle 6 so that it is will
The disk body outer surface contacted with smooth surface is similar to plane, and along with endless track 1 moves together, this plane is with to be sought connections with
Smooth surface overlaps, and along with endless track 1 continues motion, the spacing between ring-shaped guide rail 3 and endless track 1 constantly becomes big,
Now vacuum cup 8 main handle produce pulling force, this pulling force be delivered to vacuum cup 8 disk body so that produce negative pressure make whole device
Can adsorb on smooth surface.The end of bionic device contact smooth flat is due to drivewheel 4, the circle of the wheel hub of expansion tightening wheel 5
The impact of all structures, makes endless track 1 be bent upwards, and then produces big on two unpacking handles 6 of same vacuum cup 8
The little pulling force all differed with direction, and the pulling force of the unpacking handle 6 of approaching device end is relatively big, owing to unpacking handle 6 connects the most pure virginity
The disk body extension of suction dish 8, so vacuum cup 8 can be broken seal by the least pulling force, completes the desorption of vacuum cup 8,
Meanwhile, the spacing between ring-shaped guide rail 3 and endless track 1 is also smooth to be reduced, thus reduces the main handle 7 of vacuum cup 8
Pulling force, and then reduce suction strength, assisted desorption.
The principle of the present invention is mainly to rely on the gap change between ring-shaped guide rail 3 and endless track 1 to realize main handle 7 pulling force
Apply, but bring a problem, after main handle 7 under tension, can increase in the frictional force in ring-shaped guide rail 3 accordingly,
Make pulley run in ring-shaped guide rail 3 not smooth, therefore to avoid the generation of friction, pulley spindle, pulley and annular can be led
Rail 3 is cancelled, and uses following embodiment:
Embodiment two:
Embodiment two is essentially identical with the structure of embodiment one and principle, and the most different places is: former ring-shaped guide rail 3 with
Gap between endless track 1 becomes big part, the namely inner side of the side that endless track 1 contacts with surface to be sought connections with, and arranges
Multiple first permanent magnets are allowed to form approximation uniform magnetic field, arrange the second permanent magnet, avoid the most dexterously and connect on main handle 7
Touch and friction, be applied with pulling force to equally main handle 7, make vacuum cup 8 produce negative pressure.
The part do not addressed in the present invention uses or uses for reference prior art and can realize.
Specific embodiment described herein is only the spiritual example explanation to the present invention.Technology neck belonging to the present invention
Described specific embodiment can be made various amendment or supplements or use similar mode to substitute by the technical staff in territory,
But without departing from the spirit of the present invention or surmount scope defined in appended claims.
Claims (9)
1. the sucker track drive bionic device being used for seeking connections with smooth surface, it is characterised in that include frame, in frame also
It is provided with on the outer ring of drivewheel and expansion tightening wheel, drivewheel and expansion tightening wheel and endless track is installed, the peripheral border etc. of endless track
Being intervally distributed with several vacuum cups, the side that each vacuum cup is connected with endless track is provided with main handle, one end of main handle with
Vacuum cup is connected, the other end is provided with main handle pulling force applying mechanism.
A kind of sucker track drive bionic device for seeking connections with smooth surface the most according to claim 1, it is characterised in that
Being provided with ring-shaped guide rail in described frame, ring-shaped guide rail is walked around from drivewheel and expansion tightening wheel, and endless track is positioned at ring-shaped guide rail
Outside, main handle pulling force applying mechanism is between main handle and ring-shaped guide rail, and main handle pulling force applying mechanism includes that pulley spindle, main handle are worn
Being connected with pulley spindle after crossing endless track, pulley spindle is provided with the pulley suitable with above-mentioned ring-shaped guide rail, endless track rotates,
Band movable pulley annularly slide.
A kind of sucker track drive bionic device for seeking connections with smooth surface the most according to claim 2, it is characterised in that
Described ring-shaped guide rail include joining end to end looped first straight guide, the first half curved guide rails, the first inclined guide rails, the second straight guide,
Second inclined guide rails and the second half curved guide rails, the first straight guide and the second straight guide be parallel to each other, and the first inclined guide rails is from its head
Be gradually increased to the distance between its afterbody and endless track, the second inclined guide rails from its head to its afterbody and endless track away from
From being gradually reduced, distance between the first straight guide and endless track, the first half distances and second between curved guide rail and endless track
Half curved track is the most equal with the distance between endless track, and the distance between the second straight guide and endless track is more than the first straight guide and ring
Distance between shape crawler belt.
A kind of sucker track drive bionic device for seeking connections with smooth surface the most according to claim 1, it is characterised in that
Described main handle pulling force applying mechanism is positioned at the inner side of the side that endless track contacts, main handle pulling force applying mechanism bag with surface to be sought connections with
Include multiple first permanent magnets being arranged in frame, and the second permanent magnet being arranged on the main handle of each vacuum cup.
5. according to a kind of sucker track drive bionic device for seeking connections with smooth surface described in any one of Claims 1-4,
It is characterized in that, each described vacuum cup is all connected with endless track by unpacking handle, outside one end of unpacking handle and vacuum cup
Edge is connected, the other end is connected with the outer surface of endless track.
A kind of sucker track drive bionic device for seeking connections with smooth surface the most according to claim 5, it is characterised in that
Each described vacuum cup is connected with endless track by two unpacking handles respectively.
A kind of sucker track drive bionic device for seeking connections with smooth surface the most according to claim 5, it is characterised in that
Each described main handle, unpacking handle and endless track are made by flexible rubber.
A kind of sucker track drive bionic device for seeking connections with smooth surface the most according to claim 5, it is characterised in that
Described vacuum cup, endless track, main handle and unpacking handle are formed in one structure.
A kind of sucker track drive bionic device for seeking connections with smooth surface the most according to claim 1, it is characterised in that
Described drivewheel is driven by motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610305444.5A CN105947002B (en) | 2016-05-10 | 2016-05-10 | A kind of sucker track drive bionic device for being used to seek connections with smooth surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610305444.5A CN105947002B (en) | 2016-05-10 | 2016-05-10 | A kind of sucker track drive bionic device for being used to seek connections with smooth surface |
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| Publication Number | Publication Date |
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| CN105947002A true CN105947002A (en) | 2016-09-21 |
| CN105947002B CN105947002B (en) | 2018-06-08 |
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| CN201610305444.5A Expired - Fee Related CN105947002B (en) | 2016-05-10 | 2016-05-10 | A kind of sucker track drive bionic device for being used to seek connections with smooth surface |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947002B (en) * | 2016-05-10 | 2018-06-08 | 山东科技大学 | A kind of sucker track drive bionic device for being used to seek connections with smooth surface |
| CN108163069A (en) * | 2017-12-29 | 2018-06-15 | 湖南三快而居住宅工业有限公司 | The method of work of robot, working equipment and robot |
| CN110803230A (en) * | 2019-11-20 | 2020-02-18 | 西安理工大学 | Bionic adhesion-absorption combined type crawler wall-climbing robot |
| CN112429103A (en) * | 2020-12-10 | 2021-03-02 | 北方工业大学 | Compound passive climbing of absorbent crawler-type constructs |
| CN115158503A (en) * | 2022-01-14 | 2022-10-11 | 安徽机电职业技术学院 | Multi-terrain adaptive mobile robot based on intelligent optimization algorithm |
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| JPH07277237A (en) * | 1994-04-11 | 1995-10-24 | Hitachi Ltd | Crawler travel device |
| CN201405948Y (en) * | 2009-02-16 | 2010-02-17 | 西北工业大学 | Motion adsorption device |
| CN102774441A (en) * | 2012-08-21 | 2012-11-14 | 常州工学院 | Caterpillar multi-sucker wall-climbing robot |
| CN103129639A (en) * | 2013-02-26 | 2013-06-05 | 西北工业大学 | Cam-type negative pressure adsorption wall-climbing robot |
| CN103373405A (en) * | 2012-04-23 | 2013-10-30 | 朱志强 | Passive vacuum absorption and walking device for wall-climbing robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947002B (en) * | 2016-05-10 | 2018-06-08 | 山东科技大学 | A kind of sucker track drive bionic device for being used to seek connections with smooth surface |
-
2016
- 2016-05-10 CN CN201610305444.5A patent/CN105947002B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH07277237A (en) * | 1994-04-11 | 1995-10-24 | Hitachi Ltd | Crawler travel device |
| CN201405948Y (en) * | 2009-02-16 | 2010-02-17 | 西北工业大学 | Motion adsorption device |
| CN103373405A (en) * | 2012-04-23 | 2013-10-30 | 朱志强 | Passive vacuum absorption and walking device for wall-climbing robot |
| CN102774441A (en) * | 2012-08-21 | 2012-11-14 | 常州工学院 | Caterpillar multi-sucker wall-climbing robot |
| CN103129639A (en) * | 2013-02-26 | 2013-06-05 | 西北工业大学 | Cam-type negative pressure adsorption wall-climbing robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105947002B (en) * | 2016-05-10 | 2018-06-08 | 山东科技大学 | A kind of sucker track drive bionic device for being used to seek connections with smooth surface |
| CN108163069A (en) * | 2017-12-29 | 2018-06-15 | 湖南三快而居住宅工业有限公司 | The method of work of robot, working equipment and robot |
| CN110803230A (en) * | 2019-11-20 | 2020-02-18 | 西安理工大学 | Bionic adhesion-absorption combined type crawler wall-climbing robot |
| CN112429103A (en) * | 2020-12-10 | 2021-03-02 | 北方工业大学 | Compound passive climbing of absorbent crawler-type constructs |
| CN115158503A (en) * | 2022-01-14 | 2022-10-11 | 安徽机电职业技术学院 | Multi-terrain adaptive mobile robot based on intelligent optimization algorithm |
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| CN105947002B (en) | 2018-06-08 |
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