CN107140050B - A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle - Google Patents
A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle Download PDFInfo
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- CN107140050B CN107140050B CN201710329571.3A CN201710329571A CN107140050B CN 107140050 B CN107140050 B CN 107140050B CN 201710329571 A CN201710329571 A CN 201710329571A CN 107140050 B CN107140050 B CN 107140050B
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- Engineering & Computer Science (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The present invention provides a kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle, including pedestal, main body rack, the side of main body rack is provided with rail, the other side, which is provided with to climb, drives cylinder saddle, it climbs to drive to be equipped with to climb in cylinder saddle and drives cylinder, compound coaster and lower block are installed on rail, a gripper support frame is separately installed on lower block and compound coaster, hingedly there are two fingers for each gripper support frame, gripper driving cylinder is provided between two fingers on each gripper support frame, it climbs and the output end of cylinder is driven to connect by flake bearing with compound coaster, the upper and lower ends of institute's main body rack are also respectively provided with certain pulley base, there are two fixed pulleys for installation on each fixed pulley seat, the closure rope structure being made of wirerope and damping spring is provided on four fixed pulleys.The present invention is simple and compact, greatly reduces the quality of robot, while decreasing the workload of processing of robots production.
Description
Technical field
The present invention relates to robot technology more particularly to a kind of Pneumatic pole-climbing robots based on biomimetic peristaltic principle, fit
For cleaning service robot field.
Background technique
Billboard, large-scale street lamp, bridge oblique pull cable wire, electric pole etc. emerge in multitude in the modern life.These infrastructure
Wall surface majority is using materials such as glass reinforced plastic, coated metal, paint, and accumulation will form dust for a long time under outdoor environment
Layer, can also form corrosion to facility itself.Therefore, it is necessary to often safeguard to these facilities.Therefore, it is badly in need of designing a energy
Enough pole-climbings and the mechanical structure that can carry operating mechanism, make the mechanism that can carry the platform of executing agency as one kind, instead of people
In high aerial work, so that people be freed from the work of this danger, while the efficiency of operation can also be greatly improved,
Cost is reduced, good economic benefit is created.
A kind of Pneumatic pole-climbing robot disclosed in Chinese patent (CN105688378A).The robot is by horizontal-clamping gas
Cylinder, cylinder manifold and electromagnetic valve component, reinforced support, coupling block, pushing rod, side lever, preceding mandril, vertical cylinder, bracket composition.Water
Flat clamping cylinder front end is fixedly mounted on bracket, and the front end of piston is connected by coupling block with pushing rod, pushing rod
The centre that both ends have pin to be inserted in side lever, under the drive of horizontal-clamping cylinder, pushing rod can be moved forward and backward.Preceding mandril passes through spiral shell
Nail or pin couple with side lever, and one end conveniently dismounts, and are taken on into the rod piece that robot is climbed.Reinforced support is logical
It crosses screw securely to link up with upper and lower four side levers, cylinder manifold and electromagnetic valve component, bracket, constitutes the entirety of robot
Structure.In application, under the action of horizontal air cylinder, fixture can be along the bar among mandril before and after horizontal guide clamp or release
Part.When rod piece among the horizontal-clamping cylinder clamping on top, vertical cylinder is shunk, then band mobile robot lower part, which moves up, to exist
Horizontal-clamping cylinder on lower plate stretches out, the rod piece among clamp, and the horizontal-clamping cylinder of robot upper part shrinks pine
Start part, vertical cylinder is stretched out, move up robot upper part, robot uplink complete cycle terminate.
Summary of the invention
The purpose of the invention is to provide a kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle.
The object of the present invention is achieved like this: including pedestal, the main body rack of base end, the main body branch is arranged in
The side of frame is provided with rail, the other side is provided with to climb and drives cylinder saddle, climbs to drive to be equipped in cylinder saddle and climb
Cylinder is driven, compound coaster and lower block be installed on rail, and compound coaster is located at lower block top, lower block and compound
It is separately installed with a gripper support frame on coaster, each gripper support frame is hingedly there are two finger and two fingers are symmetricly set on
The left and right ends of gripper support frame, each finger include the finger sheet that two end faces of gripper support frame or more are arranged in, each hand
It is provided with rubber friction idler wheel between two finger sheets referred to, is provided with gripper between two fingers on each gripper support frame
Drive cylinder, described climb drives the output end of cylinder to connect by flake bearing with compound coaster, the main body rack it is upper
Lower both ends are also respectively provided with certain pulley base, fixed pulley there are two installations on each fixed pulley seat, are arranged on four fixed pulleys
By the closure rope structure being made of wirerope and damping spring, the compound coaster of steel wire penetrating and lower block and respectively with it is compound
Coaster and lower block are connected.
The invention also includes structure features some in this way:
1. the direction structure that the compound coaster is made of preceding slide plate, rear slide plate and two sideslip pieces, in rear slide plate
Surface is provided with the mobile sliding block with rail cooperation, and advancing slip on piece is provided with rolling slide block, and rolling slide block includes main board, setting
Main body board ends axis, be mounted on an axle end bearing, and bearing is contacted with the side surface of main body rack.
2. the cylinder barrel end of the gripper driving cylinder and tailpiece of the piston rod are hinged with finger.
3. there are two rubber friction idler wheels for setting between two finger sheets of each finger.
Compared with prior art, the principle the beneficial effects of the present invention are: creeping motion type of (1) robot of the invention climbs
For Inspiration Sources in the research moved to inchworm motion, process of climbing is highly stable；(2) present invention is devised for climbing device and is closed
Ring pulley mechanism, novelty as rich as Croesus make it possible to make full use of the height of robot vertical direction, substantially increase machine
The speed that people climbs；(3) clamping device of the invention and climbing device are all made of cylinder driving, and driving source and executing agency it
Between without transmission mechanism, substantially increase machinery driving efficiency, thus reduce robot work needed for air pressure；(4) this hair
The structure design of bright robot is simple and compact, greatly reduces the quality of robot, while decreasing processing of robots system
The workload of work.
The reliable and stable climbing level robot of one kind designed by the present invention is different from domestic and international the relevant technologies, it is based on bionical
A kind of limbs mechanism of insect looper in nature is used for reference in the design of Creeping Principle, reptile fashion, can be realized the vertical body of rod
Different executing agencies is carried in crawling exercises, completes the operations such as detection, cleaning, maintenance.
Detailed description of the invention
Fig. 1 is the Pneumatic pole-climbing robot three-dimensional figure of the invention based on biomimetic peristaltic principle；
Fig. 2 is the Pneumatic pole-climbing robot left view of the invention based on biomimetic peristaltic principle；
Fig. 3 is the Pneumatic pole-climbing robot main view of the invention based on biomimetic peristaltic principle；
Fig. 4 a is the compound pulley structure figure in the Pneumatic pole-climbing robot of the invention based on biomimetic peristaltic principle, Fig. 4 b
It is the structural schematic diagram of rolling slide block；
Fig. 5 is the Pneumatic pole-climbing robot process chart of the invention based on biomimetic peristaltic principle.
Specific embodiment
Present invention is further described in detail with specific embodiment with reference to the accompanying drawing.
The purpose of the present invention is designing a kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle, can specifically climb
The robot of the body of rod in diameter a certain range.The present invention is a kind of pneumatic climbing level robot based on biomimetic peristaltic, it is copied
Inchworm type creeping mode, creeping crawling are a kind of in fact based on bionic design, are also Inchworm type creeping.This
The Inspiration Sources of kind reptile fashion are in one of nature insect --- and the crawling process of looper, this insect is as follows: body
Stretching, extension, front and back pawl firmly grasp ground；Rear solid end unclamps, and body bending is contracted to most short；Rear solid end firmly grasps ground, and fore paw unclamps, and body is stretched
It opens up to longest；Fore paw firmly grasps ground, and rear solid end unclamps, and body is shunk；So this climbing level robot wriggling climbed a movement week
Movement in phase is as follows: longest state at trunk, and upper jaw clamps；Lower jaw is unclamped；Trunk is shunk, until trunk is most short；Under
Portion's claw clip is tight；Upper jaw is unclamped, and trunk is extended to longest；
In conjunction with Fig. 1 to Fig. 5, the power source of climbing level robot of the invention is cylinder, and cylinder is also simultaneously transmission mechanism, is held
Row mechanism is upper and lower two grippers.This climbing level robot mainly by pedestal 1, lower gripper left hand refer to piece 2, flake bearing 3, coaster 4,
Rail 5, climb drive cylinder I support 6, climb drive the left finger sheet 9 of cylinder 7, main body rack 8, upper gripper, upper gripper driving gas
Cylinder 10, compound coaster 11, the lower gripper right hand refer to piece 12, rubber friction wheel 13, lower gripper driving cylinder 14, lower gripper support frame
15, the right finger sheet 16 of upper gripper, rubber friction wheel 17, flake bearing 18, upper gripper support frame 19, fixed pulley seat 20, drive of climbing
Take offence cylinder II support 21, flake bearing 22, upper fixed pulley 23, wirerope 24, damping spring 25, lower fixed pulley 26 etc. composition.Bottom
Seat 1 is connected with main body trunk bracket 8 becomes integral support, and the installed in front of trunk bracket 8 has rail 5, and the other side is equipped with gas
Cylinder support 6, cylinder saddle 6 and climbing drive cylinder 7 to be connected.Gripper refers to that piece 2,12,9,16 forms by symmetrical gripper,
Respectively there are two the rubber wheel 13,17 for increasing frictional force between the double-deck gripper piece, gripper drives the tail portion bolt of cylinder 14,10
Connected with bearing and gripper with revolute pair, gripper driving cylinder 14,10 piston rod top end be equipped with matched flake bearing 3,
18, also flake bearing is connected with gripper piece with revolute pair with bolt with bearing again, two gripper piece bolts and bearing and hand
Pawl bracket 15,19 is connected with revolute pair.Entirely lower gripper bolt is connected with coaster 4.Coaster 4 and rail 5 are mating finished products.On
The structure of gripper and lower gripper are the same, are bolted on compound coaster 11.The detailed structure of compound coaster 11 is shown in figure
4, by preceding slide plate 11-1, sideslip piece 11-2, rear slide plate 11-3, mobile sliding block 11-4 and rolling slide block 11-5 composition.Therein group
Part rolling slide block is made of deep groove ball bearing 11-5-1, main body 11-5-2 and axis 11-5-3.Four depths on rolling slide block 11-5
Ditch ball bearing can be slided on the wall of main body rack to reduce frictional force and improve stress condition.Compound coaster 11 and driving of climbing
Cylinder 7 is connected with flake bearing 22.；Two coasters are connected with wirerope 24 and form a closed rectangular-shaped loops, such as Fig. 3 institute
Show, the right side of the affixed rectangular-shaped loops of compound coaster on upper gripper, the coaster on lower gripper is fixed in the left side of rectangular-shaped loops.It returns
The spring 25 of road is mainly used to damping.
Working principle: the course of work of pole-climbing mechanism is as shown in figure 5, be broadly divided into following three phases:
(I) trunk is in longest state, and upper jaw clamps；
It climbs and cylinder is driven to be in rise, trunk is pushed into maximum length.Upper jaw cylinder is backhaul, and gripper is driven to close
It closes, friction pulley is made to be close to bar wall.Lower jaw driving cylinder at this time is in rise, and gripper is in open configuration, separates with bar.
(II) trunk is shunk
Climb drive cylinder be backhaul, due to upper gripper promptly on bar wall, so the pulling force of cylinder will make lower jaw and
Body moves upward to extreme position, simultaneously because the effect of closure wirerope, upper jaw can move (i.e. downwards round about
Movement) to extreme position.
(III) lower jaw clamps, and upper jaw is unclamped, and trunk is extended to longest.
Lower jaw driving cylinder is in backhaul, and lower jaw clamps.It climbs and cylinder is driven to be in rise, cylinder pushes upper gripper
Move upward to upper limit position.Simultaneously under closure wirerope effect, lower gripper moves in the opposite direction (to be transported downwards
It is dynamic) to extreme position.One period of motion of the mechanism of pole-climbing at this time terminates, climb altitude S.
The pole-climbing diameter that the present invention is applicable in isLeft and right, robot model machine each period can climb 350mm,
Experiment pole-climbing height can be 2100mm, and the movement for needing to complete 6 periods could be climbed to top.
This robot selects objective (AIRTAC) the 4V100 series solenoid valve in Ya De, and (clamping device and climbing device are selected and are somebody's turn to do
Model), model 4V110-06B.Thrust ball bearing, purpose are installed at the finger revolution of double fulcrum clamp-type clamping devices
It is the frictional force reduced at revolution, reduces abrasion.What this robot selected is that the FM that Shanghai Xin Ou bearing Co., Ltd produces is micro-
Type plane bearing, model F4-10M.
The operating procedure of robot is robot when being initially powered, and robot is in original state, and two grippers drive gas
Cylinder 14,10 is in rise, so that double pawls is in open configuration, climbs and cylinder 7 is driven to be in backhaul, trunk is in contraction state.
Robot is first placed in the bottom end of pole-climbing by operator, and double pawls 14,10 of robot is made to be in position appropriate.Machine is triggered again
The circuit controling switch of people, robot start pole-climbing by the sequence of program setting.It is broadly divided into following three phases:
(a) trunk is in longest state, and upper jaw clamps；
It specially climbs and cylinder 7 is driven to be in rise, the flake bearing 22 of cylinder push-rod end connection drives compound coaster
11 move upwards along rail 5, and upper jaw is made to move up to extreme position.Then upper jaw drives 10 backhaul of cylinder, with top
The pulling force that pawl drives the flake bearing 18 of cylinder push-rod connection to be closed to upper gripper, the left and right finger sheet 9,16 of upper jaw is around being in
Revolute pair rotation on upper jaw bracket 19, makes upper jaw friction pulley 17 be close to bar wall.At lower jaw driving cylinder 14 at this time
In the thrust that rise, the flake bearing 3 connecting with lower jaw driving cylinder push-rod are opened to lower gripper, lower gripper, which is in, opens shape
State, lower jaw friction pulley 13 are separated with bar.
(b) trunk is shunk
Climb and drive 7 backhaul of cylinder, by with the climb body for driving cylinder 7 to connect firmly and lower jaw along the pull-up of rail 5 extremely
Extreme position, simultaneously because the effect of closure wirerope 24, upper jaw can move to extreme position to along 5 opposite direction of rail.
(c) lower jaw clamps, and upper jaw is unclamped, and trunk is extended to longest.
Lower jaw drives 14 backhaul of cylinder, and the flake bearing 3 connecting with lower jaw driving cylinder push-rod is closed to lower gripper
Pulling force, the left and right finger sheet 2,12 of lower jaw makes lower jaw friction pulley around the revolute pair rotation on lower jaw bracket 15
13 are close to bar wall.It climbs and cylinder 7 is driven to become rise again, the flake bearing 22 of cylinder push-rod end connection drives compound coaster
11 move along rail 5, and upper jaw is made to move up to extreme position.Simultaneously under the action of being closed wirerope 24, lower gripper
(moving downward) is moved in the opposite direction to extreme position.One period of motion of the mechanism of pole-climbing at this time terminates, and stroke is
The cylinder that climbs drives 2 times of 7 rises.
The process and result of implementation of the invention can illustrate that this robot can stablize and rapidly climb up by the program of setting
Given pole-climbing has the ability of the loads such as certain carrying executing agency, executing agency, carrying platform is installed in robot
Deng the operations such as completion detection, cleaning, maintenance.
Claims (5)
1. a kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle, it is characterised in that: including pedestal, be arranged in base end
Main body rack, the side of the main body rack is provided with rail, the other side is provided with to climb and drives cylinder saddle, driving of climbing
It is equipped with to climb in cylinder saddle and drives cylinder, compound coaster and lower block are installed on rail, and under compound coaster is located at
Above coaster, a gripper support frame is separately installed on lower block and compound coaster, hingedly there are two hands for each gripper support frame
Finger and two fingers are symmetricly set on the left and right ends of gripper support frame, and each finger includes being arranged two above and below gripper support frame
The finger sheet of a end face, is provided with rubber friction idler wheel between two finger sheets of each finger, on each gripper support frame
Gripper driving cylinder is provided between two fingers, described climb drives the output end of cylinder to pass through flake bearing and compound coaster
Connection, the upper and lower ends of the main body rack are also respectively provided with certain pulley base, and there are two fixed for installation on each fixed pulley seat
Pulley is provided with the closure rope structure being made of wirerope and damping spring on four fixed pulleys, constitutes the closure rope
The wirerope of the left and right sides of structure is each passed through the compound coaster and lower block and consolidates respectively with compound coaster and lower block
Even.
2. a kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle according to claim 1, it is characterised in that: described
The direction structure that compound coaster is made of preceding slide plate, rear slide plate and two sideslip pieces is provided with and steel in rear slide plate inner surface
The mobile sliding block of rail cooperation, advancing slip on piece are provided with rolling slide block, and rolling slide block includes main board, main body board ends are arranged in
Axis is mounted on an axle end bearing, and bearing is contacted with the side surface of main body rack.
3. a kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle according to claim 1 or 2, it is characterised in that:
The cylinder barrel end of the gripper driving cylinder and tailpiece of the piston rod are hinged with finger.
4. a kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle according to claim 1 or 2, it is characterised in that:
There are two rubber friction idler wheels for setting between two finger sheets of each finger.
5. a kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle according to claim 3, it is characterised in that: each
There are two rubber friction idler wheels for setting between two finger sheets of finger.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710329571.3A CN107140050B (en) | 2017-05-11 | 2017-05-11 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201710329571.3A CN107140050B (en) | 2017-05-11 | 2017-05-11 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
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| CN107140050A CN107140050A (en) | 2017-09-08 |
| CN107140050B true CN107140050B (en) | 2019-05-21 |
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| CN108252211B (en) * | 2017-12-23 | 2024-03-26 | 香港中文大学（深圳） | Climbing type detection robot |
| CN109455241B (en) * | 2018-04-09 | 2020-09-29 | 国家电网公司 | Transposition pole climbing mechanism |
| CN108890651A (en) * | 2018-09-26 | 2018-11-27 | 长沙理工大学 | A kind of control method of dual clamping eddy flow rope-climbed robot |
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| CN110217309B (en) * | 2019-07-01 | 2021-09-28 | 河海大学常州校区 | Inchworm-imitating self-adaptive multi-motion-mode wheel-leg combined type pole climbing robot |
| CN112896355B (en) * | 2021-02-09 | 2022-04-12 | 浙江水利水电学院 | Automatic climbing device for pneumatic water gate steel wire rope for narrow space |
| CN113479269B (en) * | 2021-07-23 | 2023-03-21 | 广东电网有限责任公司 | Stepping tree climbing robot |
| CN113479270B (en) * | 2021-07-26 | 2022-10-11 | 广东电网有限责任公司 | Clamping type tree climbing robot |
| CN113800359B (en) * | 2021-09-27 | 2022-11-22 | 中国矿业大学 | Mine steel wire rope dust and dirt removing robot and working method |
| CN114655331B (en) * | 2022-04-22 | 2023-02-03 | 湖北工业大学 | Claw holding type inchworm robot |
| CN115245918A (en) * | 2022-07-12 | 2022-10-28 | 中山大学 | Bionic peristaltic cleaning robot for large antenna |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101480972B (en) * | 2009-01-20 | 2011-05-04 | 山东理工大学 | Multifunctional pole-climbing robot |
| CN104527829B (en) * | 2014-12-25 | 2017-02-22 | 哈尔滨工程大学 | Combined ladder climbing robot |
| CN204355189U (en) * | 2015-01-04 | 2015-05-27 | 中铁十九局集团第七工程有限公司 | For the vacuum type climbing robot of column |
| CN105270501A (en) * | 2015-11-05 | 2016-01-27 | 东南大学 | Climbing robot based on crank block |
| CN105799804B (en) * | 2016-03-17 | 2017-10-03 | 哈尔滨工程大学 | One kind is based on crank block speedup pitch increased type steps climbing robot |
| CN205819362U (en) * | 2016-04-12 | 2016-12-21 | 武汉科技大学 | A kind of Automatic Control pole climbing device |
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