CN109176468A - Sliding rail is oriented to the flexible imitative worm climbing robot device of sucker - Google Patents
Sliding rail is oriented to the flexible imitative worm climbing robot device of sucker Download PDFInfo
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- CN109176468A CN109176468A CN201811057424.6A CN201811057424A CN109176468A CN 109176468 A CN109176468 A CN 109176468A CN 201811057424 A CN201811057424 A CN 201811057424A CN 109176468 A CN109176468 A CN 109176468A
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- sucker
- absorbing unit
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- skeleton
- sliding block
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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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- Mechanical Engineering (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Toys (AREA)
- Manipulator (AREA)
Abstract
Sliding rail is oriented to the flexible imitative worm climbing robot device of sucker, belongs to climbing robot field, including multiple absorbing units, multiple shrinking connecting-rod components, guide shaft, sliding block, electric air pump, solenoid valve and controller etc..The arrangement achieves the robot wall climbing functions of imitative worm movement.The device can vertically avoid upper absorption and movement, to act only every time using multi-unit structure and needs a mobile unit, it is not only big with wall-attached contact area, but also climb and stablize, is reliable, mass-dispersion to each unit, lifting capacity is strong, scalability is good, at low cost, is easy to control, low energy consumption, cruise duration is long, is adapted for use as in the robot of metope operation.
Description
Technical field
The invention belongs to climbing robot field, in particular to a kind of flexible imitative worm climbing robot of sliding rail guiding sucker
The structure of device designs.
Background technique
Many mobile robots, such as polypody mobile robot, underwater robot, more and more works are produced in recent years
Work is completed by robot device.In reality, existing majority robot stays in ground general work, and there are also not in vertical walls
The work for needing to complete less is but difficult to that existing robot is arranged to go to complete in the short time, and majority work also needs operator to take
Scaffold fastens safety rope and climbs to the high point, and emits very high risky operation.Therefore, in order to solve existing robot device
The upper wall difficulty problem faced, domestic and international robot research personnel and engineer have begun research and development climbing robot.By for many years
Exploration, a collection of form and the different climbing robot of principle are born out.But climbing robot technology still not enough at
Ripe, performance is difficult to meet the needs of large-scale promotion application.
Existing climbing robot mainly has three classes:
1) the wheeled climbing robot of centrifugal blower
The absorption principle of existing wheeled climbing robot be generated with high-power turbine it is big to wall-attached power with
Thrust.Have benefited from the driving method of wheeled construction, this robot is very fast in the creep speed of wall surface, but due to the principle of turbine
It is limited, not only energy consumption is high for this robot, but also noise is extremely serious, while lifting capacity is insufficient, can only carry light-weighted
Equipment.
2) caterpillar climbing robot
Existing caterpillar climbing robot can climb metal wall surface, perpendicular through wall usually using magnetic track
Angle has biggish applying value under some special occasions.But since the magnetism of magnetic track is not easy to control, the robot
Adsorption capacity, speed of service etc. are serious by metope impact on physical properties, for not by magnet adsorb metal material metope with it is non-
Metal material, this robot can not apply completely.
3) sufficient formula climbing robot
Existing foot formula climbing robot mainly uses the cohesive material array or sucker structure of microcosmic special surface structure
Absorption is completed, and mostly uses the multi-joint four-footed or six sufficient structures similar with level ground climbing robot.Have benefited from polypody
Structure, the passability for coping with complex environment is preferable, but since foot freedom degree is more, structure is complicated, in vertical walls
Control difficulty it is higher, and weight is larger, and body still will bear very big torque, it is difficult to meet and carry weight and climb wall surface
Needs.
Currently, the climbing robot with guide rail slide block structure and sucker suction structure is developed:
1) existing a kind of magnetic-type climbing robot (Chinese patent CN108127656A), the No.1 slide unit include one
Number sliding block, the No.1 sliding block are used for installation exercise device, and the No.1 slide unit is equipped with walking mechanism.The device has guide rail
Slide block structure, stability with higher can keep linear motion under external applied load；Its deficiency is: it is disadvantageous in that,
Be provided only with a guide rail, easily twist deformation under external applied load, and electromagnet adsorption structure smaller scope of application, for not by
The metal material metope and nonmetallic materials, this robot of magnet absorption can not be applied completely.
2) existing a kind of two-legged type climbing robot (Chinese patent CN108127656A), including support device, machine
Human body and the connection robot body and the connection cable etc. for supporting device.The advantage of the robot is, adopts
With sucker suction structure, the relatively smooth nonmetallic or metal wall surfaces such as glass can be suitable for；It, can be with using two-legged type structure
It copies the mankind to realize great-leap-forward walking, there is stronger obstacle climbing ability.Its deficiency is that degree of freedom in system is more, and control difficulty is big,
Poor rigidity is difficult to keep linear motion when external applied load is larger.
The research in many forward positions has all been done in the research of climbing robot by the scientific research institution of countries in the world, but still has
Many more stubborn problems, including load-carrying is not big enough, higher to metope Property requirements, steering behaviour is bad etc..
Summary of the invention
The purpose of the invention is to overcome the shortcoming of existing climbing robot, a kind of sliding rail guiding sucker is provided and is stretched
Contract imitative worm climbing robot device.The device imitates worm motion principle, can adsorb in vertical walls and mobile, creeps steady
Fixed, reliable, lifting capacity is strong, and scalability is good, at low cost, is easy to control, and low energy consumption, and cruise duration is long.
Technical scheme is as follows:
The flexible imitative worm climbing robot device of sliding rail guiding sucker that the present invention designs, it is characterised in that: including first
Absorbing unit, the second absorbing unit, third absorbing unit, the first shrinking connecting-rod component, the second shrinking connecting-rod component, first are led
Axis, the second guide shaft, the first left slider, the first right sliding block, the second left slider, the second right sliding block, third left slider, the right cunning of third
Block, electric air pump, the first solenoid valve, second solenoid valve, third solenoid valve, the first relay, the second relay, third relay
And controller；First absorbing unit, the second absorbing unit and third absorbing unit are the identical absorbing unit of structure；Institute
Absorbing unit is stated to include skeleton, decelerating motor, tendon rope, spring part, limited block, reel, fixed pulley, fixed pulley axis, movable pulley, move
Pulley spindle, sucker stand and at least one sucker；In the absorbing unit, the decelerating motor is fixedly mounted on skeleton,
The reel is fixed on the output shaft of decelerating motor, and the fixed pulley is socketed on fixed pulley axis, the fixed pulley axle sleeve
It is located in skeleton, the movable pulley is socketed on movable pulley axis, and the movable pulley axle sleeve is located on sucker stand；The tendon rope
One end is fixed on a bobbin and to coil through reel, and tendon rope coils through fixed pulley and movable pulley, the other end of tendon rope with
Skeleton is affixed；The sucker stand sliding is embedded in skeleton, and glide direction of the sucker stand in skeleton is vertical with working face；
One end of each sucker and sucker stand are affixed, and the other end of each sucker is in contact or separates with working face；The spring
The both ends of part are separately connected skeleton and sucker stand, and the spring part uses pressure spring；The limited block and skeleton are affixed, the sucker
Bracket is in contact or separates with limited block；The outer edge of the sucker has elasticity；Sucker in first absorbing unit
Gas circuit entrance is connected with the first solenoid valve, and the gas circuit entrance of the sucker in second absorbing unit is connected with second solenoid valve
Logical, the gas circuit entrance of the sucker in the third absorbing unit is connected with third solenoid valve, first solenoid valve, the second electricity
Magnet valve, third solenoid valve are connected with electric air pump respectively；The first shrinking connecting-rod component, the second shrinking connecting-rod component are
The identical shrinking connecting-rod component of structure, the shrinking connecting-rod component include the first steering engine, the second steering engine, first connecting rod, the second company
Bar, third connecting rod, fourth link, first axle, the second axis, third axis, turntable and turntable shaft；First steering engine, the second steering engine
It for identical steering engine, is respectively and fixedly installed on turntable, the turntable is socketed on turntable shaft, the first shrinking connecting-rod component
In turntable shaft be set in the skeleton of the second absorbing unit, the turntable shaft in the second shrinking connecting-rod component is set in third
In the skeleton of absorbing unit；One end of the first connecting rod is fixed on the output shaft of the first steering engine, the first connecting rod it is another
In the pivot bush unit first axle of one end, in one end pivot bush unit first axle of the second connecting rod, the other end activity of second connecting rod
It is socketed on the second axis；The second axis in the first shrinking connecting-rod component is actively socketed on the skeleton of the first absorbing unit, institute
The second axis stated in the second shrinking connecting-rod component is actively socketed on the skeleton of the second absorbing unit；One end of the third connecting rod
It is fixed on the output shaft of the second steering engine, on the other end pivot bush unit third axis of the third connecting rod, the fourth link
On the pivot bush unit third axis of one end, on the second axis of other end pivot bush unit of fourth link；If the first steering engine output shaft, first
Axis, the second axis, third axis, the second steering engine output shaft central point be respectively A, B, C, D, E；Line segment AB and line segment DE length phase
Deng line segment BC and line segment CD equal length；First left slider, the first right sliding block are solid with the skeleton of the first absorbing unit respectively
It connects, second left slider, the second right sliding block are affixed with the skeleton of the second absorbing unit respectively, the third left slider, third
Right sliding block is affixed with the skeleton of third absorbing unit respectively, and first left slider, the second left slider, third left slider are slided respectively
It is dynamic to be socketed on the first guide shaft；The first right sliding block, the second right sliding block, the right sliding block of third are slidably socketed respectively in the second guide shaft
On；First relay is connected with the first solenoid valve, and second relay is connected with second solenoid valve, the third relay
Device is connected with third solenoid valve；The controller include steering engine output end, decelerating motor output end, the first relay output end,
Second relay output end, third relay output end；First relay, the second relay, third relay, each suction
Steering engine in coupon member, the decelerating motor in each shrinking connecting-rod component are connected with the corresponding output end of controller respectively；It is described
The center line of sucker, first axle, the second axis, third axis, the output shaft of the first steering engine and the second steering engine output shaft be parallel to each other；
Glide direction of the sucker stand in skeleton is parallel with first axle；First left slider, the second left slider, the left cunning of third
Block respectively the glide direction on the first guide shaft and the first right sliding block, the second right sliding block, the right sliding block of third respectively in the second guide shaft
On glide direction it is consistent, glide direction of first left slider on the first guide shaft is parallel with working face；The controller
It is fixedly mounted on the skeleton of the first absorbing unit or the second absorbing unit.
Compared with prior art, the present invention having the following advantages that and high-lighting effect:
Apparatus of the present invention are comprehensive using motor, shrinking connecting-rod component, electric air pump, solenoid valve, tendon rope, sucker, spring part etc.
Realize the robot wall climbing function of imitative worm movement.The device can vertically avoid upper absorption and movement, using multiple-unit
Structure, which to act every time, only needs a mobile unit, not only big with wall-attached contact area, but also climbs and stablize, is reliable,
For mass-dispersion to each unit, lifting capacity is strong, and scalability is good, at low cost, is easy to control, and low energy consumption, and cruise duration is long, fits
For being used as in the robot of metope operation.
Detailed description of the invention
Fig. 1 is a kind of embodiment for the flexible imitative worm climbing robot device device of sliding rail guiding sucker that the present invention designs
Stereo appearance figure.
Fig. 2 is embodiment illustrated in fig. 1 side external view.
Fig. 3 is embodiment illustrated in fig. 1 perspective view (being not drawn into part).
Fig. 4 is the top view (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 5 is the bottom view of embodiment illustrated in fig. 1.
Fig. 6 is the lateral plan (being not drawn into part) of embodiment illustrated in fig. 1.
Fig. 7 to Fig. 8 is that embodiment illustrated in fig. 1 sucker stand puts down and lift process schematic (the A-A broken section of Fig. 4
Figure).
Fig. 9 to Figure 11 is the pantograph linkage working state schematic representation (the B-B cross-sectional view of Fig. 6) of embodiment illustrated in fig. 1.
Figure 12 to Figure 15 is the period of motion each working state schematic representation of embodiment illustrated in fig. 1.
Figure 16 to Figure 19 is the lateral plan in embodiment illustrated in fig. 1 state change process.
In Fig. 1 into Figure 19:
The first absorbing unit of 1-, the second absorbing unit of 2-, 3- third absorbing unit, 4- skeleton,
5- decelerating motor, 6- tendon rope, 7- spring part, 8- limited block,
9- reel, 10- fixed pulley, 11- fixed pulley axis, 12- movable pulley,
13- movable pulley axis, 14- sucker stand, 15- sucker, the first steering engine of 16-,
The second steering engine of 17-, 18- first connecting rod, 19- second connecting rod, 20- third connecting rod,
21- fourth link, 22- first axle, the second axis of 23-, 24- third axis,
25- turntable, 26- turntable shaft, the first guide shaft of 27-, the second guide shaft of 28-,
The first left slider of 29-, the right sliding block of 30- first, the second left slider of 31-, the right sliding block of 32- second,
33- third left slider, the right sliding block of 34- third, 35- electric air pump, the first solenoid valve of 36-,
37- second solenoid valve, 38- third solenoid valve, the first relay of 39-, the second relay of 40-,
41- third relay, 42- controller, 43- power regulator module, the first shell of 44-,
45- second housing, 46- third shell, 90- working face.
Specific embodiment
The content of specific structure of the invention, working principle is described in further detail with reference to the accompanying drawings and embodiments.
A kind of embodiment for the flexible imitative worm climbing robot device of sliding rail guiding sucker that the present invention designs, extremely such as Fig. 1
Shown in Fig. 6, including the first absorbing unit 1, the second absorbing unit 2, third absorbing unit 3, the first shrinking connecting-rod component, second stretch
Contracting link assembly, the first guide shaft 27, the second guide shaft 28, the first left slider 29, the first right sliding block 30, the second left slider 31, second
The right sliding block 34 of right sliding block 32, third left slider 33, third, electric air pump 35, the first solenoid valve 36, second solenoid valve 37, third
Solenoid valve 38, the first relay 39, the second relay 40, third relay 41 and controller 42；First absorbing unit 1,
Second absorbing unit 2 and third absorbing unit 3 are the identical absorbing unit of structure；The absorbing unit includes skeleton 4, slows down
Motor 5, spring part 7, limited block 8, reel 9, fixed pulley 10, fixed pulley axis 11, movable pulley 12, movable pulley axis 13, is inhaled tendon rope 6
Disc carrier 14 and at least one sucker 15；In the absorbing unit, the decelerating motor 5 is fixedly mounted on skeleton 4, described
Reel 9 is fixed on the output shaft of decelerating motor 5, and the fixed pulley 10 is socketed on fixed pulley axis 11, the fixed pulley axis
11 are set in skeleton 4, and the movable pulley 12 is socketed on movable pulley axis 13, and the movable pulley axle sleeve 13 is located at sucker stand 14
On；One end of the tendon rope 6 is fixed on reel 9 and coils through reel 9, and tendon rope 7 coils through fixed pulley 10 and moves
Pulley 12, the other end and skeleton 4 of tendon rope 7 are affixed；The sliding of sucker stand 14 is embedded in skeleton 4, and sucker stand 14 exists
Glide direction in skeleton 4 is vertical with working face 90 (wall surface that working face is climbed by the present embodiment, as shown in figure 16)；Each institute
One end and the sucker stand 14 for stating sucker 15 are affixed, and the other end of each sucker 15 is in contact or separates with working face；The spring
The both ends of part 7 are separately connected skeleton 4 and sucker stand 14, and the spring part 7 uses pressure spring；The limited block 8 and skeleton 4 are affixed,
The sucker stand 14 is in contact or separates with limited block 8；The outer edge of the sucker 15 has elasticity；First absorption is single
The gas circuit entrance of sucker 15 in member 1 is connected with the first solenoid valve 36, the gas circuit of the sucker 15 in second absorbing unit 2
Entrance is connected with second solenoid valve 37, the gas circuit entrance and third solenoid valve 38 of the sucker 15 in the third absorbing unit 3
It is connected, first solenoid valve 36, second solenoid valve 37, third solenoid valve 38 are connected with electric air pump 35 respectively；It is described
First shrinking connecting-rod component, the second shrinking connecting-rod component are the identical shrinking connecting-rod component of structure, the shrinking connecting-rod component
Including the first steering engine 16, the second steering engine 17, first connecting rod 18, second connecting rod 19, third connecting rod 20, fourth link 21, first axle
22, the second axis 23, third axis 24, turntable 25 and turntable shaft 26；First steering engine 16, the second steering engine 17 are identical steering engine,
It is respectively and fixedly installed on turntable 25, the turntable 25 is socketed on turntable shaft 26, is turned in the first shrinking connecting-rod component
Dish axle 26 is set in the skeleton 4 of the second absorbing unit 2, and the turntable shaft 26 in the second shrinking connecting-rod component is set in third
In the skeleton 4 of absorbing unit 3；One end of the first connecting rod 18 is fixed on the output shaft of the first steering engine 16, and described first connects
In the other end pivot bush unit first axle 22 of bar 18, in one end pivot bush unit first axle 22 of the second connecting rod 19, second connects
On the second axis of other end pivot bush unit 23 of bar；The second axis 23 in the first shrinking connecting-rod component is actively socketed on the first suction
On the skeleton 4 of coupon member 1, the second axis 23 in the second shrinking connecting-rod component is actively socketed on the bone of the second absorbing unit 2
On frame 4；One end of the third connecting rod 20 is fixed on the output shaft of the second steering engine 17, and the other end of the third connecting rod 20 is living
On dynamic socket third axis 24, on one end pivot bush unit third axis 24 of the fourth link 21, the other end of fourth link 21 is living
23 on the second axis of dynamic socket；If 16 output shaft of the first steering engine, first axle 22, the second axis 23, third axis 24, the second steering engine output shaft
Central point be respectively A, B, C, D, E；Line segment AB and line segment DE equal length, line segment BC and line segment CD equal length；Described
One left slider 29, the first right sliding block 30 are affixed with the skeleton 4 of the first absorbing unit 1 respectively, and second left slider 31, second is right
Sliding block 32 is affixed with the skeleton 4 of the second absorbing unit 2 respectively, the right sliding block 34 of the third left slider 33, third respectively with third
The skeleton 4 of absorbing unit 3 is affixed, and first left slider 29, the second left slider 31, third left slider 33 are slidably socketed respectively
On first guide shaft 27；The first right sliding block 30, the second right sliding block 32, the right sliding block 34 of third are slidably socketed respectively in the second guide shaft
On 28；First relay 39 is connected with the first solenoid valve 36, and second relay 40 is connected with second solenoid valve 37, institute
Third relay 41 is stated to be connected with third solenoid valve 38；The controller 42 includes steering engine output end, decelerating motor output end, the
One relay output end, the second relay output end, third relay output end；First relay, the second relay, third after
Electric appliance, the steering engine in each absorbing unit, the decelerating motor in each shrinking connecting-rod component are corresponding to controller respectively
Output end is connected；Center line, first axle 22, the second axis 23, third axis 24, the output shaft of the first steering engine 16 and of the sucker
The output shaft of two steering engines 17 is parallel to each other；Glide direction of the sucker stand 14 in skeleton 4 is parallel with first axle 22；It is described
First left slider 29, the second left slider 31, third left slider 33 glide direction on the first guide shaft 27 and the first right cunning respectively
The glide direction of block 30, the second right sliding block 32,34 pieces of the right cunning of third respectively on the second guide shaft 28 is consistent, first left slider
29 glide direction on the first guide shaft 27 is parallel with working face；The controller 42 be fixedly mounted on the first absorbing unit 1 or
On the skeleton of second absorbing unit 2.
The present embodiment further includes power regulator module 43, and the first absorbing unit 1 is fixedly mounted in the power regulator module 43
Or second absorbing unit 2 skeleton on, other electricity consumptions partially stabilized power supply of the power regulator module to the present embodiment.
In the present embodiment, in addition to above-mentioned labeled elements, it is several to also use plastic catheter, and conducting wire is several and battery one
Block belongs to known common component, does not repeat.
The working principle of the present embodiment is described below in conjunction with attached drawing 7 to Figure 19:
The shown each course movement for implementing a cycle movement is as shown in Figure 16 to Figure 19.
The concrete operating principle of the present embodiment is described below (assuming that original state is as shown in figure 16, with fuselage first segment fortune
For dynamic):
A) in absorbing unit, controller 42 controls relay and connects, solenoid valve control sucker 15 and electric air pump negative pressure
Termination is logical, and disconnects sucker 15 and atmosphere, and negative pressure is generated in sucker 15, and sucker 15 and face stabilizer adsorb.Define the fortune
It moves as absorption movement, the state for completing absorption movement is known as adsorbed state.
B) in absorbing unit, controller 42 controls relay and disconnects, and solenoid valve control sucker 15 and electric air pump 35 are negative
Pressure side disconnects, and connects sucker 15 and atmosphere, and negative pressure disappears in sucker 15, and sucker 15 and work are detached from.Defining the movement is
It is detached from movement, the state for completing to be detached from movement is known as disengaged position.Adsorbed state does not coexist with disengaged position.
C) in absorbing unit, the energization of decelerating motor 5 is rotated clockwise, the reel 9 with the socket of 5 output shaft of decelerating motor
It rotates clockwise, tendon rope 6 is tensioned, and drives 12 vertical operation of movable pulley to move upwardly, since movable pulley axis 13 is set in sucker
In bracket 14, sucker stand 14 is detached from limited block 8, and 7 elastic resistance vertical operation of spring part is overcome to move (such as Fig. 7) upwardly,
Stop when the end in contact lower with skeleton 4 of sucker stand 14.Sucker 15 and sucker stand 14 consolidate, and are also perpendicularly to work and face upward
It moves and is detached from disengaging working face.Defining the movement is lift motion, and the state for completing lift motion is known as lifting status.
D) in absorbing unit, the energization of decelerating motor 5 is rotated counterclockwise, the reel 9 with the socket of 5 output shaft of decelerating motor
It rotates counterclockwise, the relaxation of tendon rope 6, under the action of spring 7 elastic thrust of part, 14 vertical operation of sucker stand moves (such as downwards
Fig. 8), stopping when sucker stand 14 and limited block 8 contact.Sucker 15 and sucker stand consolidation 14, are also perpendicularly to working face
It moves downward and is finally adjacent to working face.Defining the movement is to put down movement, and the state for completing to put down movement is known as down state,
Lifting status does not coexist with down state.
E) in shrinking connecting-rod component, 16 output shaft of the first steering engine is rotated clockwise, and first connecting rod 18 is driven to surround first
16 output shaft of steering engine rotates clockwise, and second connecting rod 19 is driven to rotate counterclockwise around the second axis 23；Second steering engine, 17 output shaft
It rotates counterclockwise, third connecting rod 20 is driven to rotate counterclockwise around the second steering engine output shaft, fourth link 21 is driven to surround second
Axis 23 rotates clockwise；First steering engine 16,17 output shaft angle of the second steering engine are identical, folded by second connecting rod 19 and fourth link 21
Angle reduces, and pushes the second axis 23 far from dial movement, the direction of motion is parallel to the first guide shaft 27, the second guide shaft 28 (such as Fig. 9).It is fixed
The adopted movement is stretching motion, and the state for completing stretching motion is known as elongation state.
F) in shrinking connecting-rod component, 16 output shaft of the first steering engine is rotated counterclockwise, and first connecting rod 18 is driven to surround first
16 output shaft of steering engine rotates counterclockwise, and second connecting rod 19 is driven to rotate clockwise around the second axis 23；Second steering engine, 17 output shaft
It rotates clockwise, third connecting rod 20 is driven to rotate clockwise around 17 output shaft of the second steering engine, drive fourth link 21 around the
Two axis 23 rotate counterclockwise；First steering engine 16,17 output shaft angle of the second steering engine are identical, second connecting rod 19 and 21 institute of fourth link
Angle increases, and pushes the second axis 23 close to dial movement, and the direction of motion is parallel to the first guide shaft 27, the second guide shaft 28 (as schemed
10).The movement is defined to shorten movement, the state for completing to shorten movement is known as shortening state, shortens state and elongation state not
It coexists.
G) particularly, in shrinking connecting-rod component, when 17 output shaft angle difference of the first steering engine 16 and the second steering engine, turn
Disk 25 is rotated around turntable shaft 26, guarantees that the direction of motion of the separate or close turntable of the second axis 23 is still parallel to the first guide shaft
27, the second guide shaft 28 (such as Figure 11), does not occur mechanical interference phenomenon.
H) the crawling exercises period of illustrated embodiment is divided into four motion states (respectively such as Figure 12, Figure 13, Figure 14, Figure 15
It is shown).If the original state of illustrated embodiment is as shown in figure 12, the first absorbing unit 1, the second absorbing unit 2, third absorption are single
Member 3 is in down state and adsorbed state, and the first shrinking connecting-rod component is in elongation state, and the second shrinking connecting-rod component is in
Shortening state (such as Figure 16).Subsequent specific motion process is as follows:
Second absorbing unit 2, which executes, is detached from movement, and then executes lift motion (such as Figure 17).
First shrinking connecting-rod component, which executes, shortens movement, while the second shrinking connecting-rod component executes stretching motion (as schemed
18)。
Second, which adsorbs single 2 yuan of execution, puts down movement, and then executes absorption movement (such as Figure 17), reaches fortune shown in Figure 13
Dynamic state.
First absorbing unit 1, which executes, is detached from movement, and then executes lift motion.
First shrinking connecting-rod component executes stretching motion.
Movement is put down in the execution of first absorbing unit 1, and then executes absorption movement, reaches motion state shown in Figure 14.
Third absorbing unit 3, which executes, is detached from movement, and then executes lift motion.
Second shrinking connecting-rod component executes stretching motion.
Movement is put down in the execution of third absorbing unit 3, and then executes absorption movement, reaches motion state shown in figure 15,
State shown in Figure 15 is all the same in addition to different with working face relative position from original state shown in Figure 12, and a period of motion is complete
At remaining period of motion, similarly so it will not be repeated.
Apparatus of the present invention are comprehensive using motor, shrinking connecting-rod component, electric air pump, solenoid valve, tendon rope, sucker, spring part etc.
Realize the robot wall climbing function of imitative worm movement.The device can vertically avoid upper absorption and movement, using multiple-unit
Structure, which to act every time, only needs a mobile unit, not only big with wall-attached contact area, but also climbs and stablize, is reliable,
For mass-dispersion to each unit, lifting capacity is strong, and scalability is good, at low cost, is easy to control, and low energy consumption, and cruise duration is long, fits
For being used as in the robot of metope operation.
Claims (1)
1. a kind of flexible imitative worm climbing robot device of sliding rail guiding sucker, it is characterised in that: including the first absorbing unit, the
Two absorbing units, third absorbing unit, the first shrinking connecting-rod component, the second shrinking connecting-rod component, the first guide shaft, the second guide shaft,
First left slider, the first right sliding block, the second left slider, the second right sliding block, third left slider, the right sliding block of third, electric air pump,
One solenoid valve, second solenoid valve, third solenoid valve, the first relay, the second relay, third relay and controller；It is described
First absorbing unit, the second absorbing unit and third absorbing unit are the identical absorbing unit of structure；The absorbing unit packet
Include skeleton, decelerating motor, tendon rope, spring part, limited block, reel, fixed pulley, fixed pulley axis, movable pulley, movable pulley axis, sucker
Bracket and at least one sucker；In the absorbing unit, the decelerating motor is fixedly mounted on skeleton, the reel set
Gu the fixed pulley is socketed on fixed pulley axis on the output shaft of decelerating motor, the fixed pulley axis is set in skeleton, institute
It states movable pulley to be socketed on movable pulley axis, the movable pulley axle sleeve is located on sucker stand；One end of the tendon rope be fixed on around
In spool and reel is coiled through, tendon rope coils through fixed pulley and movable pulley, and the other end and skeleton of tendon rope are affixed；It is described
Sucker stand sliding is embedded in skeleton, and glide direction of the sucker stand in skeleton is vertical with working face；Each sucker
One end and sucker stand it is affixed, the other end of each sucker is in contact or separates with working face；Distinguish at the both ends of the spring part
Connecting framework and sucker stand, the spring part use pressure spring；The limited block and skeleton are affixed, the sucker stand and limited block
It is in contact or separates；The outer edge of the sucker has elasticity；The gas circuit entrance of sucker in first absorbing unit and
One solenoid valve is connected, and the gas circuit entrance of the sucker in second absorbing unit is connected with second solenoid valve, the third
The gas circuit entrance of sucker in absorbing unit is connected with third solenoid valve, first solenoid valve, second solenoid valve, third electricity
Magnet valve is connected with electric air pump respectively；The first shrinking connecting-rod component, the second shrinking connecting-rod component are that structure is identical
Shrinking connecting-rod component, the shrinking connecting-rod component include the first steering engine, the second steering engine, first connecting rod, second connecting rod, third company
Bar, fourth link, first axle, the second axis, third axis, turntable and turntable shaft；First steering engine, the second steering engine are identical rudder
Machine is respectively and fixedly installed on turntable, and the turntable is socketed on turntable shaft, the turntable shaft in the first shrinking connecting-rod component
It is set in the skeleton of the second absorbing unit, the turntable shaft in the second shrinking connecting-rod component is set in third absorbing unit
In skeleton；One end of the first connecting rod is fixed on the output shaft of the first steering engine, the other end movable sleeve of the first connecting rod
It connects in first axle, in one end pivot bush unit first axle of the second connecting rod, the second axis of other end pivot bush unit of second connecting rod
On；The second axis in the first shrinking connecting-rod component is actively socketed on the skeleton of the first absorbing unit, and described second is flexible
The second axis in link assembly is actively socketed on the skeleton of the second absorbing unit；One end of the third connecting rod is fixed in second
On the output shaft of steering engine, on the other end pivot bush unit third axis of the third connecting rod, one end movable sleeve of the fourth link
It connects on third axis, on the second axis of other end pivot bush unit of fourth link；If the first steering engine output shaft, first axle, the second axis,
Three axis, the second steering engine output shaft central point be respectively A, B, C, D, E；Line segment AB and line segment DE equal length, line segment BC and line
Section CD equal length；First left slider, the first right sliding block are affixed with the skeleton of the first absorbing unit respectively, and described second is left
Sliding block, the second right sliding block are affixed with the skeleton of the second absorbing unit respectively, and the third left slider, the right sliding block of third are respectively with
The skeleton of three absorbing units is affixed, and first left slider, the second left slider, third left slider are slidably socketed respectively leads first
On axis；The first right sliding block, the second right sliding block, the right sliding block of third are slidably socketed respectively on the second guide shaft；Described first after
Electric appliance is connected with the first solenoid valve, and second relay is connected with second solenoid valve, the third relay and third electromagnetism
Valve is connected；The controller includes that steering engine output end, decelerating motor output end, the first relay output end, the second relay are defeated
Outlet, third relay output end；First relay, the second relay, third relay, the rudder in each absorbing unit
Decelerating motor in machine, each shrinking connecting-rod component is connected with the corresponding output end of controller respectively；The center line of the sucker,
First axle, the second axis, third axis, the output shaft of the first steering engine and the second steering engine output shaft be parallel to each other；The sucker stand
Glide direction in skeleton is parallel with first axle；First left slider, the second left slider, third left slider are respectively first
Glide direction on guide shaft and the first right sliding block, the second right sliding block, the right sliding block of the third glide direction on the second guide shaft respectively
Unanimously, glide direction of first left slider on the first guide shaft is parallel with working face；The controller is fixedly mounted on
On the skeleton of one absorbing unit or the second absorbing unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811057424.6A CN109176468B (en) | 2018-09-11 | 2018-09-11 | Sliding rail guiding sucker telescopic worm-imitating wall-climbing robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811057424.6A CN109176468B (en) | 2018-09-11 | 2018-09-11 | Sliding rail guiding sucker telescopic worm-imitating wall-climbing robot device |
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| Publication Number | Publication Date |
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| CN109176468A true CN109176468A (en) | 2019-01-11 |
| CN109176468B CN109176468B (en) | 2021-08-13 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811057424.6A Active CN109176468B (en) | 2018-09-11 | 2018-09-11 | Sliding rail guiding sucker telescopic worm-imitating wall-climbing robot device |
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| CN110450134A (en) * | 2019-07-02 | 2019-11-15 | 清华大学 | Rope control turns to imitative worm creeping robot device |
| CN112793681A (en) * | 2021-01-13 | 2021-05-14 | 李进 | Crawling method based on robot |
| CN112958874A (en) * | 2021-03-19 | 2021-06-15 | 南京航空航天大学 | Electric arc additive remanufacturing device and method for recyclable rocket box body structure |
| CN115092284A (en) * | 2022-06-29 | 2022-09-23 | 中国民航大学 | Miniature absorption formula robot |
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| EP2172390A1 (en) * | 2008-10-06 | 2010-04-07 | Niederberger Engineering AG | Mobile climbing robot and service system with climbing robot |
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| CN110450134A (en) * | 2019-07-02 | 2019-11-15 | 清华大学 | Rope control turns to imitative worm creeping robot device |
| CN112793681A (en) * | 2021-01-13 | 2021-05-14 | 李进 | Crawling method based on robot |
| CN112958874A (en) * | 2021-03-19 | 2021-06-15 | 南京航空航天大学 | Electric arc additive remanufacturing device and method for recyclable rocket box body structure |
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| CN115092284B (en) * | 2022-06-29 | 2023-10-03 | 中国民航大学 | Miniature adsorption robot |
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| CN109176468B (en) | 2021-08-13 |
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