CN108945125A - A kind of pawl thorn formula crawler belt climbing robot - Google Patents
A kind of pawl thorn formula crawler belt climbing robot Download PDFInfo
- Publication number
- CN108945125A CN108945125A CN201810663105.3A CN201810663105A CN108945125A CN 108945125 A CN108945125 A CN 108945125A CN 201810663105 A CN201810663105 A CN 201810663105A CN 108945125 A CN108945125 A CN 108945125A
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- China
- Prior art keywords
- pawl
- resell
- another market
- ships
- pierces
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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
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- 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
Abstract
The invention discloses a kind of pawls to pierce formula crawler belt climbing robot, including robot body, one end of robot body is equipped with motor, sprocket wheel is connected on the output shaft of motor, the other end of robot body is equipped with tail, pawl thorn pedrail mechanism is additionally provided on robot body, pawl thorn pedrail mechanism is connect with sprocket wheel.The present invention carries out guiding matching design by piercing crawler belt to robot body and pawl, so that pawl thorn is carried out adherency and desorption manipulation according to preset motion profile, can easily fall off wall surface, overcomes the problem of crawler belt rotary motion brings pawl to pierce difficult desorption.
Description
Technical field
The invention belongs to engineering bionics and Machine Design manufacturing technology field, are related to a kind of pawl thorn formula crawler belt wall-climbing device
People.
Background technique
Climbing robot is the specialized robot that can be creeped in vertical walls, in disaster search and rescue, military surveillance, bridge
The fields such as detection, celestial body detecting have broad application prospects.
Attachment technique and move mode are two key technologies of climbing robot.Traditional vacuum chuck and magnetic attaches
There is application limitation, vacuum chuck is easy to happen on hydraulically rough surface gas leakage and is failed, and magnetic suck is suitable for ferromagnetism wall
Face.And existing artificial bionic dry adhesion and wet adhesion material are easy to be contaminated by dust and fail, and are adapted to smooth, clean wall
Face, imitative beetle pawl thorn adherent fashion are suitable for coarse, the more dust wall surface environment that nature is widely present.Climbing robot is usual
Using sufficient formula, wheeled and track structure, wheeled and crawler-type wall climbing robot has the advantages that structure is simple, fireballing, and
Attachment technique makes it have the ability of certain wall surface transition and throwing over barrier.
Existing crawler-type wall climbing robot mainly uses vacuum chuck, magnetic suck and bionical dry adhesion material as adherency skill
Art.DROP robot (Carpenter K, the Wiltsie N, Parness that U.S. jet propulsion laboratory (JPL) is developed
A.Rotary Microspine Rough Surface Mobility[J].IEEE/ASME Transactions on
Mechatronics, 2016,21 (5): 2378-2390.), China Science & Technology University and the Chinese Academy of Sciences's Hefei material science research
Tbot robot (Liu Y, Sun S, Wu X, the et al.A Wheeled Wall-Climbing Robot with that institute develops
Bio-Inspired Spine Mechanisms[J].Journal of Bionic Engineering,2015,12(1):17-
28.) wheeled construction is used, may be implemented to creep on hydraulically rough surface using pawl thorn, creep speed is fast, but rotary motion is also brought
The problem of pawl thorn difficult desorption, pawl thorn is easy to be stuck in wall surface crack, DROP and Tbot robot is using forcing to pull mode
To be desorbed.In addition, adhered area is small for wheeled construction opposing tracks formula robot, adhesion strength is small.
Summary of the invention
The object of the present invention is to provide a kind of pawls to pierce formula crawler belt climbing robot, by piercing crawler belt to robot body and pawl
Guiding matching design is carried out, so that pawl thorn is carried out adherency and desorption manipulation according to preset motion profile, can take off easily
From wall surface, the problem of crawler belt rotary motion brings pawl to pierce difficult desorption is overcome.
The technical scheme adopted by the invention is that a kind of pawl pierces formula crawler belt climbing robot, including robot body, machine
One end of human body is equipped with motor, and sprocket wheel is connected on the output shaft of motor, and the other end of robot body is equipped with tail, machine
Pawl thorn pedrail mechanism is additionally provided on human body, pawl thorn pedrail mechanism is connect with sprocket wheel.
The features of the present invention also characterized in that
Opposite the two of rail brackets A and rail brackets B, rail brackets A and rail brackets B is equipped on robot body in parallel
Side is respectively equipped with the guide rail A of annular and the guide rail B, two guide rail A of annular are separately positioned on rail brackets A
With the outside of rail brackets B, two guide rail B are separately positioned on the inside of guiding trestle A and guiding trestle B.
Pawl thorn pedrail mechanism includes that several pack pawl disposed in parallel pierces sufficient module, and it includes pawl thorn branch that every group of pawl, which pierces sufficient module,
Frame, the both ends of pawl thorn bracket are respectively equipped with pawl thorn attachment mechanism, and the side of each pawl thorn attachment mechanism is equipped with the A that ships and resell on another market, two pawls
The A that ships and resell on another market in thorn attachment mechanism is oppositely arranged；The middle part that pawl pierces bracket is equipped with support, is interspersed with the B that ships and resell on another market in support, ships and resell on another market B's
Both ends are stretched out from the two sides of support respectively, and support is located at the middle part for the B that ships and resell on another market；The A and B that ships and resell on another market that ships and resell on another market is arranged in parallel, two adjacent groups
Pawl is pierced between sufficient module and is connected by link chain mechanism, and link chain mechanism is connect with sprocket wheel.
Link chain mechanism includes chain, and one end of chain is socketed on sprocket wheel, and the opposite sides of chain is pierced with every group of pawl respectively
The both ends B connection of shipping and reselling on another market in sufficient module, chain are arranged between rail brackets A and rail brackets B；
Pierced in sufficient module in same group of pawl, in two pawls thorn attachment mechanisms ship and resell on another market A respectively with rail brackets A and guide rail branch
Guide rail A cooperation on the outside of frame B；
Level is interspersed with several C that ship and resell on another market in chain, and the quantity for the C that ships and resell on another market is identical as the sufficient group number of module of pawl thorn and one is a pair of
It should be arranged；
The both ends of each C that ships and resell on another market are pierced by from the opposite sides of chain respectively, and chain is located at the middle part for the C that ships and resell on another market, and ships and resell on another market B's
Both ends are also pierced by from the opposite sides of chain respectively, and the both ends for the B that ships and resell on another market and the both ends end for the C that ships and resell on another market respectively with rail brackets A
With the guide rail B cooperation on the inside of rail brackets B.
Tail includes connector, between one end and robot body of connector by steering engine connect, connector it is another
End is equipped with tail wheel.
Beneficial effects of the present invention are as follows:
(1) the hydraulically rough surface better adaptability that the adherency of pawl thorn is widely present nature, crawler belt design can increase pawl thorn
Quantity is adhered to, and then improves load capacity and stability of creeping；
(2) crawler-type wall climbing robot structure is simple, speed is fast, under the auxiliary of attachment technique have wall surface transition, across
The ability of obstacle-overpass object；
(3) robot body has a guiding role to pawl thorn crawler belt, and pawl pierces sufficient module under guiding role by presetting
Motion profile carry out adherency and desorption manipulation, pawl thorn is actively lifted in desorption process, wall surface can be desorbed in pawl thorn easily, this is led
Other directionality adhesion materials, which are also applied for, to principle carries out adherency and desorption manipulation；
(4) tail wheel design can reduce tail frictional force, and robot is allow to creep backward.
(5) pawl thorn formula crawler belt climbing robot structure is simple, adherency is reliable, desorption is easy, and is suitable for disaster and searches and rescues, is military
The hydraulically rough surfaces task environment such as scouting, bridge machinery, celestial body detecting.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of pawl thorn formula crawler belt climbing robot of the present invention；
Fig. 2 is the structural schematic diagram of robot body side in a kind of pawl thorn formula crawler belt climbing robot of the present invention；
Fig. 3 is the structural schematic diagram of the robot body other side in a kind of pawl thorn formula crawler belt climbing robot of the present invention；
Fig. 4 is the structural schematic diagram that a kind of pawl thorn formula crawler belt climbing robot median claw of the present invention pierces sufficient module；
Fig. 5 is the structural representation that chain is connect with the sufficient module of pawl thorn in a kind of pawl thorn formula crawler belt climbing robot of the present invention
Figure.
In figure, 1. robot bodies；
2. pawl pierces pedrail mechanism, 2-1. pawl pierces bracket；
2-2. pawl pierces attachment mechanism, 2-2-1. frame plate, 2-2-2. partition, 2-2-3. flexible strip, 2-2-4. pawl thorn, 2-2-5.
Groove；
2-3. ships and resell on another market A, 2-4. support, 2-5. chain, and 2-6. ships and resell on another market B, and 2-7. ships and resell on another market C；
3. tail, 3-1. connector, 3-2. steering engine, 3-3. tail wheel；
4. sprocket wheel, 5. motors, 6. rail brackets A, 7. rail brackets B, 8. guide rail A, 9. guide rail B..
Specific embodiment
The following describes the present invention in detail with reference to the accompanying drawings and specific embodiments.
A kind of pawl of the present invention pierces formula crawler belt climbing robot, as shown in Figure 1, including robot body 1, robot body 1
One end be equipped with motor 5, sprocket wheel 4 is connected on the output shaft of motor 5, the other end of robot body 1 is equipped with tail 3, machine
Pawl thorn pedrail mechanism 2 is additionally provided on human body 1, pawl thorn pedrail mechanism 2 is connect with sprocket wheel 4.
As shown in Figure 2,3, on robot body 1 in parallel be equipped with rail brackets A6 and rail brackets B7, rail brackets A6 and
The opposite sides of rail brackets B7 is respectively equipped with the guide rail A8 of annular and the guide rail B9 of annular, two guide rails
A8 is separately positioned on the outside of rail brackets A6 and rail brackets B7, two guide rail B9 be separately positioned on guiding trestle A6 and
The inside of guiding trestle B7.
As shown in Figure 4,5, pawl thorn pedrail mechanism 2 includes that several pack pawl disposed in parallel pierces sufficient module, every group of pawl thorn foot
Module includes pawl thorn bracket 2-1, and the both ends of pawl thorn bracket 2-1 are respectively equipped with pawl thorn attachment mechanism 2-2, and each pawl pierces attachment mechanism
The side of 2-2 is equipped with the A2-3 that ships and resell on another market, and the A2-3 that ships and resell on another market on two pawl thorn attachment mechanism 2-2 is oppositely arranged；Pawl pierces in bracket 2-1
Portion is equipped with support 2-4, is interspersed with the B2-6 that ships and resell on another market in support 2-4, and the both ends for the B2-6 that ships and resell on another market are stretched out from the two sides of support 2-4 respectively,
And support 2-4 is located at the middle part for the B2-6 that ships and resell on another market；The A2-3 and B2-6 that ships and resell on another market that ships and resell on another market is arranged in parallel, and two adjacent groups pawl pierces between sufficient module
It is connected by link chain mechanism, link chain mechanism is connect with sprocket wheel 4.
Link chain mechanism includes chain 2-5, and one end of chain 2-5 is socketed on sprocket wheel 4, the opposite sides difference of chain 2-5
The both ends B2-6 of shipping and reselling on another market pierced in sufficient module with every group of pawl are connect, and chain 2-5 is arranged between rail brackets A6 and rail brackets B7；
Pierced in sufficient module in same group of pawl, on two pawls thorn attachment mechanism 2-2 ship and resell on another market A2-3 respectively with rail brackets A6
Cooperate with the guide rail A8 on the outside of rail brackets B7；
Level is interspersed with several C2-7 that ship and resell on another market in chain 2-5, and quantity and the pawl of the C2-7 that ships and resell on another market pierce the group number phase of sufficient module
Together and it is arranged in a one-to-one correspondence；I.e. one group of pawl pierces sufficient module and is correspondingly arranged the C2-7 that ships and resell on another market.
Each the ship and resell on another market both ends of C2-7 are pierced by from the opposite sides of chain 2-5 respectively, and chain 2-5 is located at and ships and resell on another market C2-7's
Middle part, the both ends for the B2-6 that ships and resell on another market also are pierced by from the opposite sides of chain 2-5 respectively, and the both ends for the B2-6 that ships and resell on another market and ship and resell on another market C2-7's
Both ends end cooperates with the guide rail B9 on the inside of rail brackets A6 and rail brackets B7 respectively.Sprocket wheel 4 and pawl pierce pedrail mechanism 2
Chain conveyer is constituted, pedrail mechanism 2 is pierced by chain conveyer driving claw by motor 5 and is operated.
The structure of each pawl thorn attachment mechanism 2-2 is, including interval on the inside of the transverse slat of L shape frame plate 2-2-1, frame plate 2-2-1
Equipped with several partition 2-2-2, flexible strip 2-2-3 is equipped between two neighboring partition 2-2-2, one end of flexible strip 2-2-3 is withstood on
On the inside of the riser of frame plate 2-2-1, the other end of flexible strip 2-2-3 is equipped with pawl and pierces 2-2-4.
The other end of flexible strip 2-2-3 is equipped with groove 2-2-5, and pawl pierces 2-2-4 in groove 2-2-5, and pawl pierces 2-2-4
Shape and groove 2-2-5 shape be adapted, pawl thorn 2-2-4 one end be located inside groove 2-2-5, pawl thorn 2-2-4 it is another
One end is stretched out along groove 2-2-5 from the other end end of flexible strip 2-2-3.
L shape frame plate 2-2-1, partition 2-2-2 and flexible strip 2-2-3 in pawl thorn attachment mechanism 2-2 can use nylon powder
3D printing is integrally formed, and wherein flexible strip 2-2-3 is continuous wavy shaped configuration.
It is rigid needle pointed structures that pawl, which pierces 2-2-4, can be grabbed and is attached on coarse metope in mechanical sealed mode, flexible strip
2-2-3 can reduce interfering between multiple pawl thorn 2-2-4, and pawl thorn 2-2-4 more as far as possible is made to be in effective coherent condition,
And then it improves pawl thorn pedrail mechanism 2 and grabs attached performance on coarse metope.
Tail 3 includes connector 3-1, is connected between one end and robot body 1 of connector 3-1 by steering engine 3-2, even
The other end of fitting 3-1 is equipped with tail wheel 3-3.The tail wheel 3-3 of adjustable 3 posture of tail of steering engine 3-2,3 end of tail designs energy
Enough reduce the frictional force of tail 3 during climbing robot moves forward and backward.
A kind of course of work of pawl thorn formula crawler belt climbing robot of the present invention is that robot body 1 pierces pedrail mechanism 2 to pawl
With guiding role, motor 5 starts, and motor 5 is rotated with movable sprocket 4, sprocket wheel 4 by chain 2-5 band pawl pierce pedrail mechanism 2 around
In 1 operation process of robot body, two A2-3 that ship and resell on another market that every group of pawl pierces in sufficient module are slided along two guide rail A8 respectively,
It ships and resell on another market the both ends of B2-6 and the both ends for the C2-7 that ships and resell on another market is slided along two guide rail B9 respectively, in guide rail A8 and guide rail
Under the guiding role of B9, pawl pierce 2-2-4 can with pawl pierce attachment mechanism 2-2 by preset track move, realize adherency with
Desorption manipulation, when moving to 1 tail portion of robot body, pawl thorn 2-2-4 is lifted up carry out desorption manipulation, can be detached from easily
Wall surface.
Claims (5)
1. a kind of pawl pierces formula crawler belt climbing robot, it is characterised in that: including robot body (1), the one of robot body (1)
End is equipped with motor (5), is connected with sprocket wheel (4) on the output shaft of motor (5), and the other end of robot body (1) is equipped with tail
(3), pawl thorn pedrail mechanism (2) is additionally provided on robot body (1), pawl thorn pedrail mechanism (2) is connect with sprocket wheel (4).
2. a kind of pawl according to claim 1 pierces formula crawler belt climbing robot, it is characterised in that: the robot body
(1) rail brackets A (6) and rail brackets B (7), the opposite sides of rail brackets A (6) and rail brackets B (7) are equipped in parallel
It is respectively equipped with the guide rail A (8) of annular and the guide rail B (9) of annular, two guide rail A (8) are separately positioned on and lead
The outside of rail bracket A (6) and rail brackets B (7), two guide rail B (9) are separately positioned on guiding trestle A (6) and guiding branch
The inside of frame B (7).
3. a kind of pawl according to claim 2 pierces formula crawler belt climbing robot, it is characterised in that: the pawl pierces pedrail mechanism
It (2) include that several pack pawl disposed in parallel pierces sufficient module, it includes pawl thorn bracket (2-1), pawl thorn that pawl described in every group, which pierces sufficient module,
The both ends of bracket (2-1) are respectively equipped with pawl thorn attachment mechanism (2-2), and the side of each pawl thorn attachment mechanism (2-2) is equipped with the A that ships and resell on another market
(2-3), the A that ships and resell on another market (2-3) that two pawls pierce on attachment mechanism (2-2) are oppositely arranged；The middle part that pawl pierces bracket (2-1) is equipped with support
(2-4), support (2-4) is interior to be interspersed with the B that ships and resell on another market (2-6), and the both ends of the B that ships and resell on another market (2-6) are stretched out from the two sides of support (2-4) respectively,
And support (2-4) is located at the middle part for B (2-6) that ship and resell on another market；A (2-3) and the B that ships and resell on another market (2-6) that ships and resell on another market is arranged in parallel, pawl described in two adjacent groups
It pierces between sufficient module and is connected by link chain mechanism, the link chain mechanism is connect with sprocket wheel (4).
4. a kind of pawl according to claim 3 pierces formula crawler belt climbing robot, it is characterised in that: the link chain mechanism includes
Chain (2-5), one end of chain (2-5) are socketed on the sprocket wheel (4), the opposite sides of chain (2-5) respectively with every group of institute
The both ends (2-6) the B that the ships and resell on another market connection that pawl pierces in sufficient module is stated, chain (2-5) is arranged in rail brackets A (6) and rail brackets B (7)
Between；
The pawl described in same group pierces in sufficient module, the A that ships and resell on another market (2-3) on two pawls thorns attachment mechanism (2-2) respectively with guide rail branch
Frame A (6) cooperates with the guide rail A (8) on the outside of rail brackets B (7)；Level is interspersed with several C that ship and resell on another market in chain (2-5)
The quantity of (2-7), the C that ships and resell on another market (2-7) are identical as the sufficient group number of module of pawl thorn and are arranged in a one-to-one correspondence；
The both ends of each C (2-7) that ships and resell on another market are pierced by from the opposite sides of chain (2-5) respectively, and chain (2-5) is located at the C (2- that ships and resell on another market
7) middle part, the both ends of the B that ships and resell on another market (2-6) are also pierced by from the opposite sides of chain (2-5) respectively, and the two of the B that ships and resell on another market (2-6)
Hold and the ship and resell on another market both ends end of C (2-7) is matched with the guide rail B (9) on the inside of rail brackets A (6) and rail brackets B (7) respectively
It closes.
5. a kind of pawl according to claim 1 pierces formula crawler belt climbing robot, it is characterised in that: the tail (3) includes
Connector (3-1) is connect between one end and robot body (1) of connector (3-1) by steering engine (3-2), connector (3-1)
The other end be equipped with tail wheel (3-3).
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810663105.3A CN108945125B (en) | 2018-06-25 | 2018-06-25 | A kind of pawl thorn formula crawler belt climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810663105.3A CN108945125B (en) | 2018-06-25 | 2018-06-25 | A kind of pawl thorn formula crawler belt climbing robot |
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| CN108945125A true CN108945125A (en) | 2018-12-07 |
| CN108945125B CN108945125B (en) | 2019-06-18 |
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| CN201810663105.3A Active CN108945125B (en) | 2018-06-25 | 2018-06-25 | A kind of pawl thorn formula crawler belt climbing robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228541A (en) * | 2019-05-08 | 2019-09-13 | 西安理工大学 | A kind of pawl thorn is to grabbing formula crawler belt climbing robot |
| CN110341405A (en) * | 2019-07-09 | 2019-10-18 | 西安理工大学 | A kind of imitative amphibious walking robot of basilisk lizard |
| CN110450586A (en) * | 2019-07-09 | 2019-11-15 | 西安理工大学 | A kind of bionical shoe foot formula amphibious vehicle |
| CN110919628A (en) * | 2019-10-18 | 2020-03-27 | 南京航空航天大学 | Dry adhesion and claw combined machine foot and leg, robot and motion method |
| CN114348132A (en) * | 2021-12-30 | 2022-04-15 | 重庆特斯联智慧科技股份有限公司 | Conveyer of commodity circulation robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110228541A (en) * | 2019-05-08 | 2019-09-13 | 西安理工大学 | A kind of pawl thorn is to grabbing formula crawler belt climbing robot |
| CN110341405A (en) * | 2019-07-09 | 2019-10-18 | 西安理工大学 | A kind of imitative amphibious walking robot of basilisk lizard |
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| CN110919628A (en) * | 2019-10-18 | 2020-03-27 | 南京航空航天大学 | Dry adhesion and claw combined machine foot and leg, robot and motion method |
| CN114348132A (en) * | 2021-12-30 | 2022-04-15 | 重庆特斯联智慧科技股份有限公司 | Conveyer of commodity circulation robot |
| CN114348132B (en) * | 2021-12-30 | 2024-04-09 | 重庆特斯联智慧科技股份有限公司 | Conveying device of logistics robot |
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|---|---|
| CN108945125B (en) | 2019-06-18 |
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