CN108674512A - A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this - Google Patents
A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this Download PDFInfo
- Publication number
- CN108674512A CN108674512A CN201810562886.7A CN201810562886A CN108674512A CN 108674512 A CN108674512 A CN 108674512A CN 201810562886 A CN201810562886 A CN 201810562886A CN 108674512 A CN108674512 A CN 108674512A
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- China
- Prior art keywords
- end equipment
- texture
- wall end
- fin
- directionality
- 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
- 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
Abstract
The present invention discloses one kind and climbing wall end equipment,It is related under wet environment or climbs wall technical field of operation under water,Including absorption cavity body and annular flange,The edge of absorption cavity body circumferential direction extends outward to form annular flange,Annular flange is symmetrically arranged with fin on the surface for contacting wall surface,Fin includes multiple fin rays and multiple film layers,Two neighboring fin ray is linked together by film layer,The directionality texture of orientation with uniformity is additionally provided on the surface that fin ray is in contact with wall surface,And the directionality texture on the different fin rays in the same annular flange can generate anisotropy friction,The invention also discloses a kind of climbing robots,Including retractable driving device and multiple climb wall end equipment,Wall end equipment is climbed to be fixed on the different location of retractable driving device telescopic direction,Retractable driving device, which can drive, climbs the steady quickly movement under water or under wet environment of wall end equipment,Device overall structure is simple,It is at low cost,And it is applied widely.
Description
Technical field
The present invention relates to wall technical field of operation is climbed under wet environment or under water, wall end equipment is climbed more particularly to one kind
And the climbing robot of wall end equipment is climbed including this.
Background technology
The underwater absorption principle being currently known can substantially be divided into following 3 class：Mechanical interlocked, vacuum suction and adhesion protein
Absorption, but mechanical interlocked dependence mechanical structure clamping needs fixed device to complete adsorption process, to the intensity of adsorbent equipment
There is higher requirement, and complicated, vacuum suction completes adsorption process by forming pressure difference, it is desirable that has high leakproofness
And vacuum degree, also there are many limitations to the surface of absorption, can only mostly be adsorbed on relatively smooth surface, and needs a set of negative
Generation device configuration is pressed, manufacturing cost and transportation cost are high, and adhesion protein absorption is then to rely on the active force between molecule, right
The component of adhesion protein has strict demand, and production cost is high, and mechanical interlocked, vacuum suction and adhesion protein adsorb three kinds of absorption sides
Formula have the shortcomings that it is more or less, and with the development of science and technology, requirement of the people to underwater adsorbent equipment also increasingly come
Height, therefore it provides a kind of wall end equipment of climbing simple in structure, at low cost and applied widely is urgently to be resolved hurrily at present asks
Topic.
Invention content
The object of the present invention is to provide one kind climbing wall end equipment, to solve the above-mentioned problems of the prior art, makes to climb
Wall end equipment is simple in structure, at low cost, and applied widely.
To achieve the above object, the present invention provides following schemes：
Present invention offer is a kind of to climb wall end equipment, including absorption cavity body and annular flange, absorption cavity body week
To edge extend outward to form annular flange, annular flange is used to contact on the surface of wall surface and is symmetrically arranged with fin, fin
Including multiple fin rays and multiple film layers, two neighboring fin ray is linked together by film layer, the surface that fin ray is in contact with wall surface
On be additionally provided with directionality texture, the consistent sexual orientation of directionality texture orientation with uniformity, directionality texture to climb wall
End equipment is less than the frictional force suffered by direction of retreat, and the same ring relative to frictional force of the wall surface suffered by direction of advance
The directionality texture on different fin rays on shape flange can generate anisotropy friction.
Optionally, fin is sector structure, and is symmetrically arranged with a pair of of fin on surface of the annular flange for contacting wall surface
Portion.
Optionally, absorption cavity body is that hard material adsorbs cavity body, and annular flange is pliable material loop flange, annular
The thickness of flange is less than the thickness of absorption cavity body, and the thickness of annular flange successively decreases from the inside to the outside.
Optionally, directionality texture is column structure, and the outer end of directionality texture forms bending part, on single fin ray
The overbending direction of directionality texture bending part is identical, and directionality texture is micron texture, nanometer texture or micro-nano compound knits
One kind in structure.
The present invention also provides a kind of climbing robot, including retractable driving device and multiple as claim 1-4 is any
Item climbs wall end equipment, climbs wall end equipment and is fixed on the different location of retractable driving device telescopic direction.
Optionally, retractable driving device includes control system and telescopic drive body, and control system is for controlling telescopic drive
The movement of body.
Optionally, telescopic drive body is column, and the both ends of telescopic drive body are each provided at least one wall end of climbing and fill
It sets, climbs wall end equipment along telescopic drive body circumferentially positioned at the same end, and telescopic drive body uses electrostriction material
Material is made, and the outer surface of telescopic drive body is provided with helicla flute.
Optionally, set-up of control system is in one end of telescopic drive body.
Optionally, control system includes power supply and controller, and power supply is electrically connected with the controller, controller and telescopic drive body
Electrical connection is for controlling the movement of telescopic drive body.
Optionally, power supply is lithium battery.
The present invention achieves following technique effect compared with the existing technology：
One kind provided by the invention climbs wall end equipment, including absorption cavity body and annular flange, and annular flange is for connecing
It touches and is symmetrically arranged with fin on the surface of wall surface, fin includes fin ray, and direction is provided on the surface that fin ray is in contact with wall surface
Property texture, directionality texture orientation with uniformity, the consistent sexual orientation of directionality texture to climb wall end equipment relative to
Frictional force of the wall surface suffered by direction of advance is less than the frictional force suffered by direction of retreat, and the difference in the same annular flange
Directionality texture on fin ray can generate anisotropy friction, climb the underwater anisotropy that wall end equipment is capable of anti-creep rock loach
Strong friction and reversible adsorption, can in wet environment or it is underwater realize absorption and desorption, reach and climb wall purpose, device is whole
It is simple in structure, small and applied widely.
Description of the drawings
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the present invention
Example, for those of ordinary skill in the art, without having to pay creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is a kind of structural schematic diagram for climbing wall end equipment in the present invention；
Fig. 2 is a kind of A-A sectional views for climbing wall end equipment in Fig. 1；
Fig. 3 is a kind of structural schematic diagram for climbing wall end equipment fin in the present invention；
Fig. 4 is a kind of B-B sectional views for climbing wall end equipment fin in Fig. 3；
Fig. 5 is a kind of structural schematic diagram of climbing robot in the present invention；
Fig. 6 is a kind of structural schematic diagram of climbing robot elongation state in the present invention；
Fig. 7 is a kind of structural schematic diagram of climbing robot shortening state in the present invention；
In figure：1- absorption cavity body, 2- annular flanges, 3- fin rays, 4- film layers, 5- directionality texture, 6- climb wall end
Device, 7- telescopic drive bodies.
Specific implementation mode
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation describes, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide one kind climbing wall end equipment, of the existing technology to solve the problems, such as, makes to climb wall end
End device is simple in structure, at low cost, and applied widely.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, below in conjunction with the accompanying drawings and specific real
Applying mode, the present invention is described in further detail.
The present invention provides one kind climbing wall end equipment 6, as shown in Figs 1-4, including absorption cavity body 1 and annular flange 2,
1 circumferential edge of absorption cavity body extends outward to form annular flange 2, and absorption cavity body 1 is that hard material adsorbs cavity body 1,
Can be that plastic material adsorbs cavity body or metal material adsorbs cavity body, annular flange 2 is pliable material loop flange, can
Think silica gel annular flange or rubber annular flange, and the thickness of annular flange 2 is less than the thickness of absorption cavity body 1, annular
The thickness of flange 2 successively decreases from the inside to the outside.In addition, it is symmetrically arranged with a pair of of fin on surface of the annular flange 2 for contacting wall surface,
Fin is sector structure, and fin includes that two neighboring fin ray 3 is linked together by 14 fin rays 3 and 15 film layers 4, film layer 4,
It is additionally provided with directionality texture 5 on the surface that fin ray 3 is in contact with wall surface, 5 orientation with uniformity of directionality texture, preferably
Ground, directionality texture 5 is column structure, and the outer end of directionality texture 5 forms bending part, the directionality texture on single fin ray
The overbending direction of 5 bending parts is identical, and directionality texture 5 is one in micron texture, nanometer texture or micro-nano compound texture
Kind, directionality texture 5 is with uniformity to be orientated so that climbing frictional force of the wall end equipment 6 relative to wall surface suffered by direction of advance
The directionality texture 5 on different fin rays 3 less than the frictional force suffered by direction of retreat, and in the same annular flange 2 can
Anisotropy friction is generated, anisotropy refers to that the properties such as all or part of physics of object, chemistry are each with the difference in direction
Directionality texture 5 from the different fin rays 3 in the characteristic for showing certain difference, the present invention in the same annular flange 2
The effect for the directionality texture 5 that anisotropy friction refers on different fin rays 3 in the same annular flange 2 can be generated
Under, frictional force total frictional force less than direction of retreat suffered by of the wall end equipment 6 relative to wall surface suffered by direction of advance is climbed,
Wall end equipment 6 provided by the invention of climbing can imitate the underwater anisotropic strong friction for climbing rock loach and reversible adsorption, Neng Gou
In wet environment or underwater realize is adsorbed and is desorbed, and reaches and climbs wall purpose, and device overall structure is simple, small, and is applicable in
Range is wide.
The present invention also provides a kind of climbing robots, as shown in figure 5, including retractable driving device and multiple climbing wall end
Device 6, retractable driving device include control system and telescopic drive body 7, and telescopic drive body 7 is column, and telescopic drive body 7 is adopted
It is made of electrostriction material, the outer surface of telescopic drive body 7 is provided with helicla flute, climbs wall end equipment 6 and is set to flexible drive
The both ends of kinetoplast 7, and climb being arranged circumferentially along telescopic drive body 7 of wall end equipment 6, control system packet positioned at the same end
Lithium battery and controller are included, lithium battery is electrically connected with the controller, and controller is electrically connected with telescopic drive body 7 for controlling flexible drive
The movement of kinetoplast 7 can control the elongation and shortening of telescopic drive body 7 by controller, while wall end equipment 6 is climbed in cooperation, can
Make climbing robot in wet environment or be easily accomplished climbing motion under water, it is steady to climb wall, and it is fast to climb wall speed.
Control system is with the flexible and flexible of telescopic drive body 7 in order to prevent, and set-up of control system is in telescopic drive body 7
One end.
Climbing robot climbing motion includes the following steps in specific work process：
Step 1, original state, telescopic drive body 7 are shortening state, climb modular walls for two and are artificially attached to moist erect
Straight substrate surface.
Step 2, telescopic drive body 7 are excited to extend, as shown in fig. 6, wall end equipment 6 is climbed relatively in 7 front end of telescopic drive body
Has the tendency that advance in wall surface, compared with 7 shortening state of telescopic drive body, wall action climbs wall in 7 front end of telescopic drive body
The frictional force of end equipment 6 becomes smaller so that angle becomes smaller between 6 adjacent two fin ray 3 of wall end equipment is climbed in 7 front end of telescopic drive body
Film layer 4 is shunk, and fluid is squeezed into absorption cavity body 1 makes negative pressure in absorption cavity body 1 reduce, and wall is climbed in 7 front end of telescopic drive body
End equipment 6 is desorbed with wall surface；Wall end equipment 6 is climbed in 7 rear end of telescopic drive body has the tendency that retrogressing relative to wall surface, and flexible
7 shortening state of driving body is compared, and 6 stress of wall end equipment of climbing of 7 rear end of telescopic drive body becomes larger so that adjacent two fin ray 3 it
Between the angle expansion of film layer 4 that becomes larger exclude absorption 1 internal flow of cavity body negative pressure made in absorption cavity body 1 to increase, telescopic drive
Wall end equipment 6 and wall adsorption are climbed in 7 rear end of body, and with the elongation of telescopic drive body 7, wall end is climbed in 7 front end of telescopic drive body
Skidding distance of the end device 6 in substrate much larger than 7 rear end of telescopic drive body climb sliding of the wall end equipment 6 in substrate away from
From.
Step 3, telescopic drive body 7 are excited to shorten, as shown in fig. 7, wall end equipment 6 is climbed relatively in 7 front end of telescopic drive body
Have the tendency that retrogressing in wall surface, compared with 7 elongation state of telescopic drive body, 7 front end of telescopic drive body climb wall end equipment 6 by
Power becomes larger so that the angle expansion of film layer 4 that becomes larger excludes absorption 1 internal flow of cavity body and keeps absorption empty between adjacent two fin ray 3
Negative pressure increases in cavity 1, and wall end equipment 6 and wall adsorption are climbed in 7 front end of telescopic drive body；Wall end is climbed in 7 rear end of telescopic drive body
End device 6 has the tendency that advance relative to wall surface, and compared with 7 shortening state of telescopic drive body, wall action is in telescopic drive body 7
The frictional force for climbing wall end equipment 6 of rear end becomes smaller so that 7 front end of telescopic drive body climb 6 adjacent two fin ray 3 of wall end equipment it
Between angle become smaller the contraction of film layer 4, adsorb and squeeze into fluid in cavity body 1 negative pressure is made in absorption cavity body 1 to reduce, telescopic drive body
7 rear ends are climbed wall end equipment 6 and are desorbed with wall surface, and with the shortening of telescopic drive body 7, wall end is climbed in 7 rear end of telescopic drive body
Skidding distance of the device 6 in substrate much larger than 7 front end of telescopic drive body climb sliding of the wall end equipment 6 in substrate away from
From.
Step 4, step 2 to step 3 is one and climbs wall displacement action, and repeating step 2 can make to climb wall to step 3
Robot easily slides into designated position in wet environment or under water.
It should be noted that the material of telescopic drive body 7 is not limited in electrostriction material, can also be other materials
The shape of material, such as magnetostriction materials, directionality texture 5 is also not limited to column structure and in the outer of directionality texture 5
End forms bending part, any that the orientation with uniformity of directionality texture 5 can be made to exist relative to wall surface so that climbing wall end equipment 6
Frictional force suffered by direction of advance is less than the structure of the frictional force suffered by direction of retreat, such as the cross of directionality texture 5
Section is triangular structure, and on climbing robot can the structures such as integrated camera, sensor, manipulator, climbing robot work(
Can be various, it is applied widely.
Specific case is applied in the present invention, and principle and implementation of the present invention are described, above example
Illustrate the method and its core concept for being merely used to help understand the present invention；Meanwhile for those of ordinary skill in the art, according to
According to the thought of the present invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification
It should not be construed as limiting the invention.
Claims (10)
1. one kind climbing wall end equipment, it is characterised in that：Including absorption cavity body and annular flange, the absorption cavity body is circumferential
Edge extend outward to form the annular flange, the annular flange is used to contact on the surface of wall surface and is symmetrically arranged with fin
Portion, the fin include multiple fin rays and multiple film layers, and the two neighboring fin ray is linked together by the film layer, described
Directionality texture is additionally provided on the surface that fin ray is in contact with wall surface, the directionality texture orientation with uniformity is described
The consistent sexual orientation of directionality texture so that described to climb wall end equipment small relative to frictional force of the wall surface suffered by direction of advance
The directionality texture energy on the difference fin ray in the frictional force suffered by direction of retreat, and in the same annular flange
Enough generate anisotropy friction.
2. according to claim 1 climb wall end equipment, it is characterised in that：The fin is sector structure, and the ring
Shape flange is symmetrically arranged with a pair of of fin on the surface for contacting wall surface.
3. according to claim 1 climb wall end equipment, it is characterised in that：The absorption cavity body is adsorbed for hard material
Cavity body, the annular flange are pliable material loop flange, and the thickness of the annular flange is less than the absorption cavity body
Thickness, and the thickness of the annular flange successively decreases from the inside to the outside.
4. according to claim 1 climb wall end equipment, it is characterised in that：The directionality texture is column structure, and
The outer end of the directionality texture forms bending part, the overbending direction of the directionality texture bending part on the single fin ray
It is identical, and the directionality texture is one kind in micron texture, nanometer texture or micro-nano compound texture.
5. a kind of climbing robot, it is characterised in that：Including retractable driving device and multiple as described in claim any one of 1-4
Climb wall end equipment, the wall end equipment of climbing is fixed on the different location of the retractable driving device telescopic direction.
6. climbing robot according to claim 5, it is characterised in that：The retractable driving device include control system and
Telescopic drive body, the control system are used to control the movement of the telescopic drive body.
7. climbing robot according to claim 6, it is characterised in that：The telescopic drive body is column, described to stretch
The both ends of contracting driving body be each provided with it is at least one it is described climb wall end equipment, positioned at climbing wall end equipment edge described in the same end
Circumferentially, and the telescopic drive body is made the telescopic drive body of electrostriction material, the telescopic drive body
Outer surface be provided with helicla flute.
8. climbing robot according to claim 7, it is characterised in that：The set-up of control system is in the telescopic drive
One end of body.
9. climbing robot according to claim 7, it is characterised in that：The control system includes power supply and controller,
The power supply is electrically connected with the controller, and the controller is electrically connected with the telescopic drive body for controlling the flexible drive
Kinetoplast moves.
10. climbing robot according to claim 9, it is characterised in that：The power supply is lithium battery.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562886.7A CN108674512B (en) | 2018-06-04 | 2018-06-04 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810562886.7A CN108674512B (en) | 2018-06-04 | 2018-06-04 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108674512A true CN108674512A (en) | 2018-10-19 |
| CN108674512B CN108674512B (en) | 2019-08-27 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810562886.7A Active CN108674512B (en) | 2018-06-04 | 2018-06-04 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
Country Status (1)
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533066A (en) * | 2018-10-22 | 2019-03-29 | 武汉大学 | A kind of bionic soft robot |
| CN115056875A (en) * | 2022-07-27 | 2022-09-16 | 哈尔滨工业大学（深圳） | Earthworm bionic robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533066A (en) * | 2018-10-22 | 2019-03-29 | 武汉大学 | A kind of bionic soft robot |
| CN115056875A (en) * | 2022-07-27 | 2022-09-16 | 哈尔滨工业大学（深圳） | Earthworm bionic robot |
| CN115056875B (en) * | 2022-07-27 | 2023-04-28 | 哈尔滨工业大学（深圳） | Earthworm bionic robot |
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|---|---|
| CN108674512B (en) | 2019-08-27 |
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