CN109533083B - Pneumatic bionic six-foot wall-climbing robot - Google Patents
Pneumatic bionic six-foot wall-climbing robot Download PDFInfo
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- CN109533083B CN109533083B CN201910037956.1A CN201910037956A CN109533083B CN 109533083 B CN109533083 B CN 109533083B CN 201910037956 A CN201910037956 A CN 201910037956A CN 109533083 B CN109533083 B CN 109533083B
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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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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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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Abstract
The invention provides a pneumatic bionic hexapod wall-climbing robot which comprises a trunk and six leg structures connected with the trunk, wherein each leg structure comprises a deformable pneumatic joint group, a transmission rod, a deformable foot and an air circuit. The invention uses the pneumatic bellows and the spring leaf to form a pneumatic joint to drive the leg of the robot to move and control the deformation of the sole; the air pump, the air duct and the shunt tube form an air path mechanism to control the robot to realize the walking of the triangular gait. The robot is driven by the air pump and controlled by the air circuit, so that the hexapod cooperation state of the robot is realized, the robot has the characteristics of energy conservation, light weight and small size, the defects of large weight and large size of a small wall-climbing robot are overcome, and the practicability and the applicability of the small wall-climbing robot are greatly improved.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a pneumatic bionic six-foot wall-climbing robot.
Background
The wall climbing robot is a special robot which can carry a working tool to realize specific functions on various wall surfaces, and has wide application prospects in the fields of climbing rescue, environment detection, spacecraft out-of-cabin walking and the like, but has great defects in the aspects of design and application. Most of the wall climbing robots put into application at present adopt the ideas of vacuum adsorption, magnetic adsorption or air reverse thrust acting force, so that the energy consumption is very high, or the application occasions are greatly limited, for example, the wall climbing robots cannot be used on the surfaces of outer space and non-magnetic materials. In addition, the wall-climbing robot adopting the traditional driving mode has the advantages of large volume and heavy weight, is not beneficial to miniaturization design and cannot play a role in narrow space.
Disclosure of Invention
The invention aims to provide a pneumatic bionic hexapod wall-climbing robot, which realizes the miniaturization design, avoids the use of the traditional driving mode, achieves the aim of reducing the volume and the weight, greatly improves the application range of the wall-climbing robot, and has great advantages particularly in the aspect of detection in narrow environments.
The invention provides a pneumatic bionic six-foot wall climbing robot which comprises a trunk and six leg structures connected with the trunk, wherein each leg structure comprises a deformable pneumatic joint group, a transmission rod, a deformable foot and an air path;
the pneumatic joint group comprises a first pneumatic joint group, a second pneumatic joint group and a third pneumatic joint group, the first pneumatic joint group is connected with the trunk and the transmission rod and can enable the transmission rod to swing left and right around the trunk, the second pneumatic joint group is connected with the transmission rod and the deformable foot and can enable the deformable foot to swing up and down around the transmission rod, the deformable foot comprises a first hinge rod, a second hinge rod, an extensible sole and a third pneumatic joint group, one end of the first hinge rod is movably connected with one end of the second hinge rod to form a scissor-shaped structure, the third pneumatic joint group is connected between the first hinge rod and the second hinge rod, the extensible sole is connected between the other end of the first hinge rod and the other end of the second hinge rod, and the third pneumatic joint group can enable the first hinge rod and the second hinge rod to be unfolded to pull the extensible sole to be unfolded;
the air passage is connected with the pneumatic joint set and used for controlling the movement of the six leg structures by inflating and expanding the pneumatic joint set to generate displacement, so that the robot moves in a triangular gait.
Furthermore, the pneumatic joint group consists of a pneumatic corrugated pipe and a spring piece; the spring piece is connected with the pneumatic corrugated pipe and used for enabling the pneumatic joint group to move according to a set direction and assisting the pneumatic joint group to recover to the original position.
The air pump has the functions of inflation and air suction, the flow dividing pipe is provided with an input port and three output ports, the input port is connected with the air pump through the air guide pipe, and the output port is connected with the pneumatic joint group through the air guide pipe; each air circuit simultaneously controls the expansion and contraction motions of the three pneumatic joint groups; the first air path and the second air path control the first pneumatic joint group, the third air path and the fourth air path control the second pneumatic joint group, and the fifth air path and the sixth air path control the third pneumatic joint group.
Furthermore, the six air paths are divided into two groups, the first air path, the third air path and the fifth air path are in one group and used for controlling the movement of the three leg structures, and the second air path, the fourth outgoing path and the sixth air path are in another group and used for controlling the movement of the other three leg structures.
Further, the stretchable sole is made of an elastic material and can be stretched freely.
Compared with the prior art, the invention has the beneficial effects that:
this pneumatic bionical six sufficient wall climbing robots comprises six gas circuits and eighteen pneumatic joints and six feet and truck, and the foot can warp and extend, inhales through control six gas circuits and aerifys and realize the hexapod and collaborate synchronous attitude, has reduced the volume and the weight of robot greatly, has effectively reduced the processing degree of difficulty and processing cost, has expanded the range of application of wall climbing robot.
Drawings
FIG. 1 is a perspective view of a pneumatic bionic hexapod wall-climbing robot of the present invention;
FIG. 2 is a front view of a pneumatic bionic hexapod wall-climbing robot of the present invention;
FIG. 3 is a top view of a pneumatic bionic hexapod wall-climbing robot of the present invention;
FIG. 4 is a left side view of the pneumatic bionic hexapod wall-climbing robot of the present invention;
FIG. 5 is a schematic view of an air path of a pneumatic bionic six-foot wall-climbing robot of the present invention;
fig. 6 is a schematic diagram of a deformable foot of a pneumatic bionic hexapod wall-climbing robot.
Reference numbers in the figures:
1-trunk, 11-transmission rod; 2-pneumatic bellows; 32-shunt tube, 33-air pump; 4-deformable foot, 41-first hinge rod, 42-second hinge rod, 43-expandable sole; 5-spring leaf.
Detailed Description
The present invention is described in detail with reference to the embodiments shown in the drawings, but it should be understood that these embodiments are not intended to limit the present invention, and those skilled in the art should understand that functional, methodological, or structural equivalents or substitutions made by these embodiments are within the scope of the present invention.
Referring to fig. 1 to 6, the embodiment provides a pneumatic bionic hexapod wall-climbing robot, which includes a trunk 1 and six leg structures connected to the trunk 1, where the leg structures include a deformable pneumatic joint set, a transmission rod 11, a deformable foot 4 and an air passage;
the pneumatic joint group comprises a first pneumatic joint group, a second pneumatic joint group and a third pneumatic joint group, the first pneumatic joint group is connected with the trunk 1 and the transmission rod 11, the transmission rod 11 can swing left and right around the trunk 1, the second pneumatic joint group is connected with the transmission rod 11 and the deformable foot 4, the deformable foot 4 can swing up and down around the transmission rod 11, the deformable foot 4 comprises a first hinge rod 41, a second hinge rod 42, an extensible sole 43 and a third pneumatic joint group, one end of the first hinge rod 41 and one end of the second hinge rod 42 are movably connected to form a scissor-shaped structure, the third pneumatic joint group is connected between the first hinge rod 41 and the second hinge rod 42, the extensible sole 43 is connected between the other end of the first hinge rod 41 and the other end of the second hinge rod 42, and the third pneumatic joint group can enable the first hinge rod 41 and the second hinge rod 42 to be unfolded to pull the extensible sole 43 to be unfolded;
the air passage is connected with the pneumatic joint set and used for controlling the movement of the six leg structures by inflating and expanding the pneumatic joint set to generate displacement, so that the robot moves in a triangular gait.
The wall-climbing robot utilizes a pneumatic corrugated pipe and a spring piece to form a pneumatic joint to drive the legs of the robot to move and control the deformation of the soles; the air pump, the air duct and the shunt tube form an air path mechanism to control the robot to realize the walking of the triangular gait. The robot is driven by the air pump and controlled by the air circuit, so that the hexapod cooperation state of the robot is realized, the robot has the characteristics of energy conservation, light weight and small size, the defects of large weight and large size of a small wall-climbing robot are overcome, and the practicability and the applicability of the small wall-climbing robot are greatly improved.
In this embodiment, the pneumatic joint set is composed of a pneumatic bellows 2 and a spring leaf 5; the spring piece 5 is connected with the pneumatic corrugated pipe 2 and used for enabling the pneumatic joint group to move according to a set direction and assisting the pneumatic joint group to restore to the original position.
In this embodiment, the air path is composed of an air duct, a flow dividing tube 32 and an air pump 33, and includes six air paths, which are a first air path, a second air path, a third air path, a fourth air path, a fifth air path and a sixth air path, respectively, the air pump 33 has the functions of inflation and inspiration, the flow dividing tube 32 has an input port and three output ports, the input port is connected with the air pump 33 through the air duct, and the output port is connected with the pneumatic joint group through the air duct; each air circuit simultaneously controls the expansion and contraction motions of the three pneumatic joint groups; the first air path and the second air path control the first pneumatic joint set, the third air path and the fourth air path control the second pneumatic joint set, and the fifth air path and the sixth air path control the third pneumatic joint set.
In this embodiment, the six air paths are divided into two groups, the first air path, the third air path and the fifth air path are one group to control the movement of the three leg structures, and the second air path, the fourth outgoing path and the sixth air path are another group to control the movement of the other three leg structures.
In this embodiment, the extendable sole 43 is made of an elastic material and is freely extendable.
The present invention is described in further detail below.
As shown in fig. 1 to 6, the pneumatic bionic six-foot wall climbing robot comprises a trunk 1, a transmission rod 11, a pneumatic corrugated tube 2, a spring piece 5, a first pneumatic joint group, a second pneumatic joint group, a third pneumatic joint group, an air passage, an air duct, a shunt tube 32, an air pump 33, a deformable foot 4, a first hinge rod 41, a second hinge rod 42 and an extensible sole 43.
The pneumatic corrugated pipe 2 and the spring piece 5 form three deformable groups of pneumatic joints, and the total number of the pneumatic joints is eighteen, and the pneumatic joints comprise a first pneumatic joint group, a second pneumatic joint group and a third pneumatic joint group; the first pneumatic joint group is connected with the trunk 1 and the transmission rod 11, so that the transmission rod 11 can swing left and right around the trunk 1; a second set of pneumatic joints connects drive link 11 with deformable foot 4 so that deformable foot 4 can swing up and down about drive link 11. The first hinge rod 41 and the second hinge rod 42 are connected to form a hinge, the extensible sole 43 is respectively connected with the first hinge rod 41 and the second hinge rod 42, the third pneumatic joint group is respectively connected with the first hinge rod 41 and the second hinge rod 42 to form the deformable foot 4, and the third pneumatic joint group is inflated to expand so that the first hinge rod 41 and the second hinge rod 42 are expanded to pull the extensible sole 43 to expand, so that the purposes of expanding the sole area and enhancing the adhesion effect are achieved.
The air path consists of a shunt tube 32, an air pump 33 and an air guide tube, the air pump 33 has the functions of inflation and inspiration, the shunt tube 32 is provided with an input port and three output ports (L1, L3, R2, R1, R3 and L2), the input port is connected with the air pump 33 through the air guide tube, the output port is connected with the air path joints through the air guide tube, the air paths have six groups, each group of air paths simultaneously controls the opening and contraction movement of three pneumatic joints, the first air path and the second air path control the first pneumatic joint group, the third air path and the fourth air path control the second pneumatic joint group, the fifth air path and the sixth air path control the third pneumatic joint group, the first air path, the third air path and the fifth air path jointly control the movement of three legs (A group legs, see the left side of figure 5), and the second air path, the fourth air path and the sixth air path jointly control the movement of the other three legs (B group legs, see the right side of figure 5) so as to realize the triangle.
The working principle of the embodiment is as follows:
(1) the specific implementation working principle of the triangular gait is as follows:
in this embodiment, in the first step, when the air pump 33 sucks air, the second pneumatic joint set of the group a legs is controlled by the third air passage through the shunt tube 32 and the air duct to contract, and the contracted pneumatic joint set drives the deformable foot 4 to leave the wall surface. Secondly, when the air pump 33 is inflated, the first pneumatic joint group of the group A legs controlled by the first air path through the shunt tube 32 and the air duct is opened, and the opened pneumatic joint group drives the pneumatic joint group and the deformable foot 4 to move forwards until the opening process is finished. And thirdly, when the air pump 33 is inflated, the second pneumatic joint group of the group A legs is controlled to open through the shunt tube 32 and the air guide tube by a third air path, and the opened pneumatic joint group moves to the wall surface until the opening process is finished and is adhered to the wall surface. Fourthly, when the air pump 33 inhales air, the second pneumatic joint group of the leg group B is controlled by the fourth air path to shrink through the shunt tube 32 and the air guide tube, and the shrunk pneumatic joint group drives the deformable foot part 4 to leave the wall surface. Fifthly, when the air pump 33 sucks air, the first pneumatic joint group of the group A legs is controlled by the first air path through the shunt tube 32 to shrink, and the shrunk pneumatic joint group drives the trunk 1 to move forwards to the end of shrinking by virtue of the shrinking force and the deformable feet 4 adhered to the wall surface. Sixthly, when the air pump 33 is inflated, the first pneumatic joint group of the group B legs is controlled to open through the shunt tube 32 and the second air path, and the opened pneumatic joint group drives the pneumatic joint group and the deformable foot 4 to move forwards until the opening process is finished. Seventhly, when the air pump 33 is inflated, the second pneumatic joint group of the leg B group is controlled to be opened through the shunt tube 32 and the air guide tube by the fourth air path, and the opened pneumatic joint group drives the deformable foot part 4 to move towards the wall surface and finally to be adhered to the wall surface. The seven steps are a triangular gait motion period, and the seven steps are in reciprocating circulation, so that the forward motion of the bionic six-foot wall-climbing robot is realized.
(2) The deformable foot part 4 and the wall surface are adhered together according to the following specific implementation principle:
when the air pump 33 is inflated or breathed in, the fifth or sixth air path respectively controls the third pneumatic joint group of the group A leg or the group B leg to open or contract through the shunt tube 32 and the air duct, the opened or contracted pneumatic joint group drives the first hinge rod 41 and the second hinge rod 42 to be far away or close, the first hinge rod 41 and the second hinge rod 42 drive the contact area of the stretchable sole 43 and the wall surface to be enlarged or reduced, so that the adhesive force between the deformable foot 4 and the wall surface is enlarged or reduced, and the bionic six-foot wall climbing robot can stably move on the wall surface by being easily matched with the first pneumatic joint group and the second pneumatic joint group.
(3) The principle of cooperation between the second pneumatic joint group and the third pneumatic joint group is as follows:
when the air pump 33 is inflated or breathed in, the opening or the contraction of the second pneumatic joint group of the group A leg or the group B leg is controlled by the third or the fourth air path through the shunt tube 32 and the air duct, the third pneumatic joint group is opened or contracted in one step to adjust the adhesive force between the deformable foot part 4 and the wall surface, and then the second pneumatic joint group is matched to open or contract.
The pneumatic bionic six-foot wall-climbing robot adopts pneumatic driving, and conveys gas through the thin guide pipe, so that the whole volume and weight of the robot are greatly reduced, the miniaturization of the wall-climbing robot is realized, the working range of the wall-climbing robot is greatly expanded, and the pneumatic bionic six-foot wall-climbing robot has a wide application prospect in the aspects of detection in narrow environments and the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above are not necessarily intended to refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, various embodiments or examples and features of different embodiments or examples described in this specification can be combined and combined by one skilled in the art without contradiction.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (5)
1. A pneumatic bionic hexapod wall-climbing robot is characterized by comprising a trunk and six leg structures connected with the trunk, wherein each leg structure comprises a deformable pneumatic joint group, a transmission rod, a deformable foot and an air path;
the pneumatic joint group comprises a first pneumatic joint group, a second pneumatic joint group and a third pneumatic joint group, the first pneumatic joint group is connected with the trunk and the transmission rod and can enable the transmission rod to swing left and right around the trunk, the second pneumatic joint group is connected with the transmission rod and the deformable foot and can enable the deformable foot to swing up and down around the transmission rod, the deformable foot comprises a first hinge rod, a second hinge rod, an extensible sole and the third pneumatic joint group, one end of the first hinge rod and one end of the second hinge rod are movably connected to form a scissors-shaped structure, the third pneumatic joint group is connected between the first hinge rod and the second hinge rod, the other end of the first hinge rod and the other end of the second hinge rod are connected with the extensible sole, and the third pneumatic joint group can enable the first hinge rod and the second hinge rod to be unfolded, to pull the extendable sole open;
the air passage is connected with the pneumatic joint set and used for controlling the movement of six leg structures by inflating and expanding the pneumatic joint set to generate displacement so as to enable the robot to move in a triangular gait.
2. The pneumatic bionic hexapod wall-climbing robot according to claim 1, wherein the pneumatic joint group consists of a pneumatic corrugated pipe and a spring piece; the spring piece is connected with the pneumatic corrugated pipe and used for enabling the pneumatic joint group to move according to a set direction and assisting the pneumatic joint group to restore to the original position.
3. The pneumatic bionic hexapod wall-climbing robot according to claim 2, wherein the air path is composed of an air duct, a flow dividing tube and an air pump, and comprises six air paths which are a first air path, a second air path, a third air path, a fourth air path, a fifth air path and a sixth air path respectively, the air pump has the functions of inflation and inspiration, the flow dividing tube is provided with an input port and three output ports, the input port is connected with the air pump through the air duct, and the output port is connected with the pneumatic joint group through the air duct; each air circuit simultaneously controls the expansion and contraction motions of the three pneumatic joint groups; the first air path and the second air path control the first pneumatic joint group, the third air path and the fourth air path control the second pneumatic joint group, and the fifth air path and the sixth air path control the third pneumatic joint group.
4. The pneumatic bionic six-foot wall-climbing robot according to claim 3, wherein the six air paths are divided into two groups, the first air path, the third air path and the fifth air path are one group for controlling the movement of the three leg structures, and the second air path, the fourth air path and the sixth air path are the other group for controlling the movement of the other three leg structures.
5. The pneumatic bionic hexapod wall-climbing robot as claimed in claim 1, wherein the stretchable sole is made of elastic material and can be stretched freely.
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| CN201910037956.1A CN109533083B (en) | 2019-01-16 | 2019-01-16 | Pneumatic bionic six-foot wall-climbing robot |
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| CN201910037956.1A CN109533083B (en) | 2019-01-16 | 2019-01-16 | Pneumatic bionic six-foot wall-climbing robot |
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| CN109533083B true CN109533083B (en) | 2020-07-14 |
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| CN106364587B (en) * | 2014-12-26 | 2018-07-27 | 合肥工业大学 | A kind of control method of humanoid robot foot section |
| CN105151156B (en) * | 2015-10-15 | 2017-08-25 | 吉林大学 | A kind of bionical buckling walking mechanism |
| CN105620584B (en) * | 2016-04-01 | 2017-11-28 | 安徽理工大学 | Complete pneumatic step forward walking mechanism and its atmospheric control |
| CN105835984B (en) * | 2016-05-10 | 2019-03-05 | 方绍峡 | A kind of bionic 6-leg robot |
| CN109178131A (en) * | 2018-09-18 | 2019-01-11 | 罗洋 | Multilayer leg formula climbing robot and climb wall loading system |
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