CN110588822B - Bionic wall climbing device - Google Patents
Bionic wall climbing device Download PDFInfo
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- CN110588822B CN110588822B CN201910945007.3A CN201910945007A CN110588822B CN 110588822 B CN110588822 B CN 110588822B CN 201910945007 A CN201910945007 A CN 201910945007A CN 110588822 B CN110588822 B CN 110588822B
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 125
- 230000009194 climbing Effects 0.000 title claims abstract description 52
- 230000007246 mechanism Effects 0.000 claims abstract description 141
- 210000002435 tendon Anatomy 0.000 claims abstract description 104
- 210000002414 leg Anatomy 0.000 claims abstract description 100
- 210000002303 tibia Anatomy 0.000 claims abstract description 49
- 238000001179 sorption measurement Methods 0.000 claims abstract description 40
- 230000000712 assembly Effects 0.000 claims abstract description 21
- 238000000429 assembly Methods 0.000 claims abstract description 21
- 210000001930 leg bone Anatomy 0.000 claims abstract description 21
- 210000001699 lower leg Anatomy 0.000 claims description 67
- 210000001503 joint Anatomy 0.000 claims description 40
- 230000003592 biomimetic effect Effects 0.000 claims description 3
- 230000009471 action Effects 0.000 abstract description 15
- 241000238631 Hexapoda Species 0.000 abstract description 10
- 230000009193 crawling Effects 0.000 abstract description 9
- 210000004227 basal ganglia Anatomy 0.000 abstract description 7
- 230000033001 locomotion Effects 0.000 description 14
- 230000005540 biological transmission Effects 0.000 description 12
- 238000000034 method Methods 0.000 description 12
- 230000005021 gait Effects 0.000 description 10
- 230000008569 process Effects 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 230000008602 contraction Effects 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 238000003912 environmental pollution Methods 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- RZVAJINKPMORJF-UHFFFAOYSA-N Acetaminophen Chemical compound CC(=O)NC1=CC=C(O)C=C1 RZVAJINKPMORJF-UHFFFAOYSA-N 0.000 description 1
- 238000010521 absorption reaction Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 239000000428 dust Substances 0.000 description 1
- 239000010720 hydraulic oil Substances 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 230000009191 jumping Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention discloses a bionic wall climbing device, which comprises: the bionic foot assembly is provided with a basal ganglia rotator mechanism, a leg bone mechanism, a tibia mechanism and an adsorption foot which are sequentially connected, a leg tendon mechanism is arranged between the basal ganglia rotator mechanism and the leg bone mechanism, the leg tendon mechanism drives the leg bone mechanism to drive the tibia mechanism and the adsorption foot to lift or drop simultaneously, and a tibia tendon mechanism is arranged between the basal ganglia rotator mechanism and the tibia mechanism and drives the tibia mechanism and the adsorption foot to extend or retract simultaneously along the lateral direction of the main body of the bionic foot assembly; the main body of the machine body is provided with four basal section driving mechanisms and four power output control units, wherein the four basal section driving mechanisms and the four bionic foot assemblies are in one-to-one correspondence, and the basal section driving mechanisms drive the basal section rotor mechanisms to rotate and drive the leg bone mechanisms to transversely swing with the basal section rotor. The device realizes gentle action similar to crawling of insects, has low noise, light weight and miniaturization, and can be suitable for various wall operations.
Description
Technical Field
The invention relates to the technical field of bionic robots, in particular to a bionic wall climbing device.
Background
The wall climbing robot is a special bionic robot which can carry various operation tools to realize specific functions on various wall surfaces and is widely used for dangerous or special occasions such as glass curtain wall cleaning, glass wiping, large tank thickness measurement and flaw detection, spraying, high-altitude investigation and the like. The wall climbing robot not only can improve the high-altitude operation efficiency, but also can replace manual operation, and reduces the potential safety hazard of staff in dangerous environments.
The traditional wall climbing robot adopts two hydraulic and pneumatic transmission modes, but the traditional hydraulic and pneumatic transmission modes have the characteristics of easy leakage, high noise, high weight-power ratio, difficult maintenance and the like. Specifically, the hydraulic transmission is stable in movement and high in output force, but once leakage of hydraulic oil occurs, environmental pollution is caused, and the hydraulic transmission is high in cost and difficult to maintain. Compared with hydraulic transmission, the pneumatic transmission uses compressed air as a working medium, so that even if leakage occurs, partial power loss is caused, and environmental pollution is not caused. And the pneumatic transmission action is rapid, and the maintainability is better than that of hydraulic transmission. Moreover, the traditional wall climbing robot is large in size and weight, noise is large in movement, and the traditional wall climbing robot is hard and inflexible in action from time to time, so that the application range of the wall climbing robot is limited.
Therefore, a bionic wall climbing device with small volume, light weight and low noise needs to be provided, and flexible actions can be realized to be suitable for different tasks on various wall surfaces.
Disclosure of Invention
The invention aims to provide a bionic wall climbing device which has the characteristics of small volume, light weight and low noise, and can realize flexible actions so as to be suitable for different tasks on various wall surfaces.
In order to achieve the above object, the present invention provides a bionic wall climbing device, comprising: the bionic foot assembly comprises a body main body and four bionic foot assemblies, wherein the four bionic foot assemblies are symmetrically arranged on two sides of the body main body in pairs;
the bionic foot assembly is provided with a basal section rotor mechanism, a leg bone mechanism, a tibia mechanism and an adsorption foot which are sequentially connected, a leg tendon mechanism is arranged between the basal section rotor mechanism and the leg bone mechanism, the leg tendon mechanism drives the leg bone mechanism to drive the tibia mechanism and the adsorption foot to lift or fall simultaneously, a tibia tendon mechanism is arranged between the basal section rotor mechanism and the tibia mechanism, and the tibia tendon mechanism drives the tibia mechanism and the adsorption foot to extend or retract simultaneously along the lateral direction of the main body of the bionic foot assembly;
the machine body is provided with four base section driving mechanisms and four power output control units, wherein the four base section driving mechanisms and the four bionic foot assemblies are in one-to-one correspondence, each base section driving mechanism is connected with one base section rotor mechanism, and drives the base section rotor mechanism to rotate and drive the leg bone mechanism to swing clockwise or anticlockwise and transversely by taking the base section rotor mechanism as an axis, so that the tibia mechanism and the adsorption foot are driven to move to the front or rear of the machine body simultaneously;
the leg tendon mechanism, the shank tendon mechanism and the adsorption mechanism on each bionic foot component and the basal section driving mechanism corresponding to the bionic foot component are respectively connected with one power output control unit.
Optionally, the base joint rotor mechanism comprises a base joint, a base joint gear, a base joint rotating shaft and a base joint support, wherein the base joint gear, the base joint rotating shaft and the base joint support are fixedly connected with the base joint respectively; the upper end of the base joint support is provided with a first hinging rod, the lower end of the base joint support is provided with a second hinging rod, and the base joint is arranged between the first hinging rod and the second hinging rod; the base joint rotating shaft penetrates through the base joint in the vertical direction, a first bearing is arranged at the upper end of the base joint rotating shaft, and a second bearing is arranged at the lower end of the base joint rotating shaft; the base section gear is coaxial with the base section rotating shaft, and one end of the base section opposite to the base section gear is provided with a base section hinge shaft.
Optionally, the tibia mechanism includes a tibia support that is longitudinally disposed, the tibia support is provided with a tibia shaft, a third hinge rod and a fourth hinge rod, the third hinge rod is disposed above the tibia shaft, the fourth hinge rod is disposed below the tibia shaft, and the adsorption foot is disposed at the bottom end of the tibia support.
Optionally, the leg bone mechanism includes the leg joint support of horizontal setting, the one end of leg joint support with the basal ganglia is articulated, the other end of leg joint support with shank pivot connection, the one end of leg joint support is equipped with the leg joint pivot, the other end of leg joint support is equipped with the fifth articulated lever.
Optionally, the leg tendon mechanism includes the pneumatic tendon of lifting the leg and presses the pneumatic tendon of leg, the pneumatic tendon of lifting the leg's both ends respectively with first articulated lever and fifth articulated lever articulated, press the pneumatic tendon of leg's both ends respectively with second articulated lever and fifth articulated lever articulated.
Optionally, the shank tendon mechanism includes a shank stretching pneumatic tendon and a shank shrinking pneumatic tendon, one end of the shank stretching pneumatic tendon is connected with the shank spindle, the other end of the shank stretching pneumatic tendon is hinged with the third hinging rod, one end of the shank shrinking pneumatic tendon is connected with the shank spindle, and the other end of the shank shrinking pneumatic tendon is hinged with the fourth hinging rod.
Optionally, the main body of the machine body comprises an upper machine body plate and a lower machine body plate which are fixedly connected, the four power output control units are arranged between the upper machine body plate and the lower machine body plate, and the power output control units are fixedly connected with the lower machine body plate;
the base section driving mechanism comprises a rotary cylinder arranged below the lower machine body plate and a cylinder gear arranged between the lower machine body plate and the upper machine body plate, wherein a rotary shaft of the rotary cylinder penetrates through the upper surface of the lower machine body plate from the lower surface of the lower machine body plate and is fixedly connected with the cylinder gear, and the cylinder gear is meshed with the base section gear.
Optionally, four first bearing mounting holes opposite to each other are formed in two sides of the upper plate of the machine body, four second bearing mounting holes opposite to each other are formed in two sides of the lower plate of the machine body, the first bearing mounting holes are fixedly connected with the first bearings, and the second bearing mounting holes are fixedly connected with the second bearings.
Optionally, the power output control unit includes a pneumatic controller, and the leg pneumatic tendon, the leg pressing pneumatic tendon, the shin stretching pneumatic tendon, the shin shrinking pneumatic tendon, the adsorption force and the rotary cylinder corresponding to the bionic foot assembly on each bionic foot assembly are respectively connected with one pneumatic controller.
Optionally, the device further comprises a universal wheel assembly, wherein the universal wheel assembly is arranged at the lower part of the lower plate of the machine body and is positioned at the front end or the rear end of the machine body.
The invention has the beneficial effects that:
through set up four bionical foot subassemblies around the fuselage main part, bionical foot subassembly has basic festival rotor mechanism, leg bone mechanism, shin bone mechanism, adsorb sufficient, leg tendon mechanism, shin tendon mechanism's bionical structure, bionical foot subassembly can realize lifting, whereabouts, side direction extension and withdraw and horizontal back and forth wobbling function of similar insect shank under the transmission structure drive that leg tendon mechanism, shin tendon mechanism and basic festival actuating mechanism constitute to realize when bionical foot subassembly drives the fuselage main part motion, bionical climbing wall device can realize the gentle action that similar insect crawled, realize that the noise is little, light in weight, miniaturized and can be applicable to multiple wall operation.
Further, the power output control unit adopts a pneumatic controller, the basal section driving mechanism adopts a rotary cylinder, the leg tendon mechanism and the shank tendon mechanism respectively adopt two pneumatic tendons, namely, the whole transmission mechanism adopts pneumatic transmission, so that the effects of rapid action, good maintainability and no pollution are realized, and the weight of the device can be further lightened; by adopting the mode of four-foot pneumatic adsorption and universal wheels, reliable adsorption and stable non-overturning in the moving process of the travelling mechanism can be realized, and the stability during wall climbing is ensured.
The device of the present invention has other features and advantages which will be apparent from or are set forth in detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the invention.
Fig. 1 shows an overall schematic of a biomimetic wall climbing device according to one embodiment of the present disclosure.
Fig. 2 shows a schematic structural diagram of a bionic foot component of a bionic wall climbing device according to an embodiment of the invention.
Fig. 3 shows a schematic diagram of a fuselage body of a biomimetic wall climbing device according to one embodiment of the present invention.
Fig. 4 shows a schematic view of a body of a bionic wall climbing device according to an embodiment of the invention with a body plate removed.
Fig. 5a to 5f show a simplified upward crawling gait planning diagram of a bionic wall climbing device according to an embodiment of the invention.
Fig. 6a to 6f show a diagram of a bionic wall-climbing device for planning a right crawling gait according to an embodiment of the invention.
Reference numerals illustrate:
1. a main body of the main body; 2. a bionic foot assembly; 3. an upper plate of the machine body; 4. a fuselage lower plate; 5a, a first bearing mounting hole; 5b, second bearing mounting holes; 6. a support column; 7. a universal wheel assembly; 8. a rotary cylinder; 9. a cylinder gear; 10. a pneumatic controller; 11. a base section gear; 12. a base section; 13. a base section rotating shaft; 14a, a first bearing; 14b, a second bearing; 15. a basal section bracket; 15a, a first hinge lever; 15b, a second hinge rod; 16a, leg joint rotation axis; 16b, fifth hinging rod; 17. pneumatic tendons for lifting legs; 18. leg pressing pneumatic tendons; 19. pneumatic tendon for extending shank; 20. pneumatic shank shrinking tendon; 21. a shank spindle; 22. leg joint support; 23. a shank support; 23a, a third articulation rod; 23b, a fourth hinge lever; 24. adsorption feet; 25. the base section is hinged with the shaft.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention are illustrated in the drawings, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 shows an overall schematic view of a bionic wall climbing device according to an embodiment of the present invention, fig. 2 shows a schematic view of a bionic foot assembly of a bionic wall climbing device according to an embodiment of the present invention, fig. 3 shows a schematic view of a fuselage body of a bionic wall climbing device according to an embodiment of the present invention, and fig. 4 shows a schematic view of a fuselage body removal fuselage upper plate of a bionic wall climbing device according to an embodiment of the present invention;
as shown in fig. 1 to 4, a bionic wall climbing device according to the present invention includes: the bionic foot assembly comprises a main body 1 and four bionic foot assemblies 2, wherein the four bionic foot assemblies 2 are symmetrically arranged on two sides of the main body 1;
the bionic foot component 2 is provided with a basal ganglia rotator mechanism, a leg bone mechanism, a tibia mechanism and an adsorption foot 24 which are sequentially connected, a leg tendon mechanism is arranged between the basal ganglia rotator mechanism and the leg bone mechanism, the leg tendon mechanism drives the leg bone mechanism to drive the tibia mechanism and the adsorption foot 24 to lift or fall simultaneously, a tibia tendon mechanism is arranged between the basal ganglia rotator mechanism and the tibia mechanism, and the tibia tendon mechanism drives the tibia mechanism and the adsorption foot 24 to extend or retract simultaneously along the lateral direction of the main body 1 of the bionic foot component;
the main body 1 of the machine body is provided with four base section driving mechanisms and four power output control units, wherein the four base section driving mechanisms and the four bionic foot assemblies 2 are in one-to-one correspondence, each base section driving mechanism is connected with one base section rotor mechanism, and the base section driving mechanisms drive the base section rotor mechanisms to rotate and drive leg bone mechanisms to swing clockwise or anticlockwise with the base section rotor mechanisms as axes, so that the tibia mechanisms and the adsorption feet 24 are driven to move to the front or rear of the main body 1 at the same time;
the leg tendon mechanism, the shank tendon mechanism, the adsorbing foot 24 and the basal segment driving mechanism corresponding to the bionic foot assembly 2 on each bionic foot assembly 2 are respectively connected with a power output control unit.
Specifically, through setting up four bionical foot subassemblies 2 around fuselage main part 1, bionical foot subassemblies 2 have basic festival rotor mechanism, leg bone mechanism, shin bone mechanism, adsorb sufficient 24, leg tendon mechanism, shin tendon mechanism's bionical structure, bionical foot subassemblies 2 can realize the action of lifting, whereabouts, side direction extension and withdraw and horizontal back and forth swing of similar insect shank under the transmission structure drive that leg tendon mechanism, shin tendon mechanism and basic festival actuating mechanism constitute, thereby realize when bionical foot subassemblies 2 drive fuselage main part 1 motion, bionical climbing wall device can realize the gentle action that similar insect crawled, realize that the noise is little, light in weight, miniaturized and can be applicable to multiple wall operation.
In this embodiment, the base section rotor mechanism includes a base section 12, a base section gear 11, a base section rotating shaft 13, and a base section support 15, where the base section gear 11, the base section rotating shaft 13, and the base section support 15 are fixedly connected with the base section 12 respectively; the upper end of the base joint support 15 is provided with a first hinging rod 15a, the lower end of the base joint support 15 is provided with a second hinging rod 15b, and the base joint 12 is arranged between the first hinging rod 15a and the second hinging rod 15 b; the base joint rotating shaft 13 penetrates through the base joint 12 along the vertical direction, a first bearing 14a is arranged at the upper end of the base joint rotating shaft 13, and a second bearing 14b is arranged at the lower end of the base joint rotating shaft 13; the base section gear 11 is coaxial with the base section rotating shaft 13, and a base section hinge shaft 25 is provided at an end of the base section 12 opposite to the base section gear 11.
Specifically, referring to fig. 2, the base 12 is fixed in the center of the base bracket 15, the base bracket 15 is a rectangular frame structure perpendicular to the main body 1 of the machine body, the upper and lower ends of the base bracket 15 are respectively provided with a first hinge rod 15a and a second hinge rod 15b, one side of the main body of the base 12 facing the main body 1 of the machine body is provided with a base gear 11, the base gear 11 is fixedly connected with the main body of the base 12, the other side opposite to the base gear 11 is provided with a base hinge shaft 25 connected with a leg bracket 22, the base shaft 13 penetrates the base 12 in the vertical direction, the upper and lower ends of the base shaft 13 are respectively provided with a first bearing 14a and a second bearing 14b, the base shaft 13 and the base gear 11 are coaxial, and the first bearing 14a and the second bearing 14b are used for connecting the base 12 with the main body 1 of the machine body. The shape and structure of the base support 15 in other embodiments of the present invention may take other forms, and will not be described here.
In this embodiment, the tibia mechanism includes a tibia support 23 longitudinally disposed, the tibia support 23 is provided with a tibia shaft 21, a third hinge rod 23a and a fourth hinge rod 23b, the third hinge rod 23a is disposed above the tibia shaft 21, the fourth hinge rod 23b is disposed below the tibia shaft 21, and the adsorption foot 24 is disposed at the bottom end of the tibia support 23.
Specifically, referring to fig. 2, the shank support 23 is a rectangular frame structure that is longitudinally arranged, a shank rotating shaft 21 is disposed at the middle upper portion of the shank support 23, a third hinging rod 23a is disposed above the shank rotating shaft 21, a fourth hinging rod 23b is disposed below the shank rotating shaft 21, and the adsorption foot 24 is located at the bottom end of the shank support 23. In this embodiment, the number of the third hinge rod 23a and the fourth hinge rod 23b is two, and when the shin extension pneumatic tendon 19 or the shin retraction pneumatic tendon 20 is connected to the third hinge rod 23a or the fourth hinge rod 23b, different lateral movement distances will be realized, so as to adjust the lateral stepping distance. In other embodiments of the present invention, the adsorption foot 24 may be in other forms to adapt to different wall surfaces, and a person skilled in the art may select a suitable type of adsorption foot 24 according to actual requirements, which is not described here again.
In this embodiment, the leg bone mechanism includes a leg joint support 22 disposed transversely, one end of the leg joint support 22 is hinged to the base joint 12, the other end of the leg joint support 22 is connected to the shank rotating shaft 21, one end of the leg joint support 22 is provided with a leg joint rotating shaft 16a, and the other end of the leg joint support 22 is provided with a fifth hinging rod 16b.
Specifically, referring to fig. 2, the leg joint support 22 that is transversely arranged is of a rectangular frame structure, one end of the leg joint support 22 is hinged with the base joint 12 through a hinge shaft on the base joint 12, a leg joint rotating shaft 16a is arranged at a position of the leg joint support 22 close to the base joint 12, the other end of the leg joint support 22 is connected with the shank joint rotating shaft 21, a fifth hinge rod 16b is arranged at a position of the leg joint support 22 close to the shank joint rotating shaft 21, and in this embodiment, two reinforcing cross bars are further arranged at the middle part of the leg joint support 22 to strengthen the overall strength of the leg joint support 22.
In this embodiment, referring to fig. 2, the leg tendon mechanism includes a leg lifting pneumatic tendon 17 and a leg pressing pneumatic tendon 18, two ends of the leg lifting pneumatic tendon 17 are respectively hinged to a first hinge rod 15a and a fifth hinge rod 16b, and two ends of the leg pressing pneumatic tendon 18 are respectively hinged to a second hinge rod 15b and a fifth hinge rod 16b.
Specifically, the leg tendon mechanism comprises a leg lifting pneumatic tendon 17 and a leg pressing pneumatic tendon 18, the leg lifting pneumatic tendon 17 is contracted to pull the leg support 22 to rotate upwards around the hinge axis of the base section 12, further the leg support 23 and the adsorption foot 24 are driven to lift upwards to simulate the lifting action of the insect leg, and correspondingly, the leg pressing pneumatic tendon 18 is contracted to pull the leg support 22 to rotate downwards around the hinge axis of the base section 12, further the leg support 23 and the adsorption foot 24 are driven to move downwards and the adsorption foot 24 is fallen to the wall surface of crawling to adsorb, and the falling action of the insect leg is simulated, so that the lifting function and the falling function of the leg support 22 in the wall crawling process are completed.
In this embodiment, the shank tendon mechanism includes a shank extension pneumatic tendon 19 and a shank retraction pneumatic tendon 20, one end of the shank extension pneumatic tendon 19 is connected with the shank rotation shaft 16a, the other end of the shank extension pneumatic tendon 19 is hinged with the third hinging rod 23a, one end of the shank retraction pneumatic tendon 20 is connected with the shank rotation shaft 16a, and the other end of the shank retraction pneumatic tendon 20 is hinged with the fourth hinging rod 23 b.
Specifically, the shank tendon mechanism comprises a shank stretching pneumatic tendon 19 and a shank shrinking pneumatic tendon 20, when the bionic foot assembly 2 executes the lifting action, the shank stretching pneumatic tendon 19 shrinks to pull the shank support 23 to rotate around the shank rotating shaft 21, the upper end of the shank support 23 is pulled to move towards the inner side of the body main body 1 by the shank stretching pneumatic tendon 19, so that the lower end of the shank support 23 and the adsorbing foot 24 move towards the outer side of the body main body 1, at the moment, the bionic foot assembly 2 executes the falling action, the adsorbing foot 24 is adsorbed on a wall surface to realize the function of simulating the outward stretching of the legs of insects, and then the shank shrinking pneumatic tendon 20 shrinks, and the body main body 1 can be pulled to move towards one side transversely; correspondingly, after the bionic foot assembly 2 executes the lifting action, the shank contracting pneumatic tendon 20 contracts to pull the shank support 23 to rotate around the shank rotating shaft 21, the lower end of the shank support 23 is pulled to move towards the inner side of the main body 1 by the shank contracting pneumatic tendon 20, so that the lower end of the shank support 23 and the adsorption foot 24 move towards the inner side of the main body 1, at the moment, the bionic foot assembly 2 executes the falling action, the adsorption foot 24 is adsorbed on a wall surface to realize the function of simulating the transverse inner contraction of the legs of insects, and then the shank extending pneumatic tendon 19 contracts, and the main body 1 can be pushed to move towards one side transversely; the transverse movement of the main body 1 of the machine body can be realized through corresponding coordination of bionic foot assemblies 2 on two sides of the main body 1 of the machine body.
In this embodiment, the main body 1 of the main body includes an upper plate 3 and a lower plate 4 which are fixedly connected, and four power output control units are arranged between the upper plate 3 and the lower plate 4, and the power output control units are fixedly connected with the lower plate 4;
the base section driving mechanism comprises a rotary cylinder arranged below the lower machine body plate 4 and a cylinder gear 9 arranged between the lower machine body plate 4 and the upper machine body plate 3, a rotary shaft of the rotary cylinder penetrates through the upper surface of the lower machine body plate 4 from the lower surface of the lower machine body plate 4 and is fixedly connected with the cylinder gear 9, and the cylinder gear 9 is meshed with the base section gear 11.
Specifically, referring to fig. 3 and 4, the upper plate 3 and the lower plate 4 of the fuselage are fixedly connected through six support columns 6, and form a containing space between the upper plate 3 and the lower plate 4 of the fuselage, the upper plate 3 and the lower plate 4 of the fuselage form a frame of the main body 1, wherein the upper plate 3 of the fuselage can carry on various working tools according to various tasks, four base section driving mechanisms are oppositely arranged on two sides of the lower plate 4 of the fuselage, a power output control unit is arranged near each base section driving mechanism, a rotary cylinder of the base section driving mechanism is arranged below the lower plate 4 of the fuselage and is fixedly connected with the lower plate 4 of the fuselage, a rotary shaft of the rotary cylinder 8 is fixedly connected with a cylinder gear 9 above the upper plate 3 of the fuselage, referring to fig. 1, the cylinder gear 9 is meshed with a base section gear 11 of the bionic foot assembly 2, the cylinder gear 9 can rotate along the direction parallel to the surface of the lower plate 4 of the fuselage, so that the base section 12 can be driven by the rotary cylinder 8 to swing in the front and the rear of the main body 1, when the bionic foot assembly 2 executes the above-mentioned tibial section driving mechanism, the rotary cylinder 23 is arranged near each base section driving mechanism, the rotary cylinder is driven by the base section 8 to the rotary cylinder 2 through the rotary cylinder gear 8, and then the bionic foot assembly is driven by the base section 2 to swing in the front of the bionic foot assembly 2, and the front of the bionic foot assembly is driven by the bionic foot assembly 2 through the rotary motion of the rotary foot assembly, and the bionic assembly is then the bionic foot assembly 2.
In this embodiment, two sides of the upper plate 3 of the airframe are provided with four first bearing 14a mounting holes 5a which are opposite to each other, two sides of the lower plate 4 of the airframe are provided with four second bearing 14b mounting holes 5b which are opposite to each other, the first bearing 14a mounting holes 5a are fixedly connected with the first bearing 14a, and the second bearing 14b mounting holes 5b are fixedly connected with the second bearing 14 b.
Specifically, referring to fig. 3, four first bearing 14a mounting holes 5a are formed on two sides of the upper plate 3, four second bearing 14b mounting holes 5b are formed on two sides of the lower plate 4, the four second bearing 14b mounting holes 5b are formed opposite to the first bearing 14a mounting holes 5a, and one first bearing 14a mounting hole 5a and one opposite second bearing 14b mounting hole 5b are fixedly connected with the first bearing 14a and the second bearing 14b on one base section 12 respectively, so that the transverse swing of the bionic foot assembly 2 can be realized.
In this embodiment, the power output control unit includes a pneumatic controller 10, and a leg lifting pneumatic tendon 17, a leg pressing pneumatic tendon 18, a shin stretching pneumatic tendon 19, a shin shrinking pneumatic tendon 20, a suction foot 24 and a rotary cylinder 8 corresponding to the bionic foot assembly 2 on each bionic foot assembly 2 are respectively connected with the pneumatic controller 10.
Specifically, the pneumatic controller 10 is connected with the corresponding rotary cylinder 8, the corresponding leg lifting pneumatic tendon 17, the leg pressing pneumatic tendon 18, the shin stretching pneumatic tendon 19, the shin shrinking pneumatic tendon 20 and the adsorption foot 24 on the bionic foot assembly 2 through hoses, and corresponding bionic actions are realized through different air pressure input control. The pneumatic tendon is a stretching driver, can simulate the motion of a natural tendon, has the advantages of being larger in initial force than a traditional cylinder with the same cylinder diameter, good in heavy-load dynamic characteristic, free of moving mechanical parts, free of jumping and crawling phenomena during slow movement, free of using a displacement sensor, good in sealing, firm in structure, suitable for environments full of dust and dirt and the like, and the technical principle of the pneumatic tendon is not repeated here. The pneumatic controller 10 is a prior art, and the control principle of the pneumatic tendon is not described herein. Meanwhile, the adsorption foot 24 is a sucking disc, the pneumatic controller 10 is connected with the sucking disc through a hose, and after the sucking disc contacts the wall surface, the pneumatic controller 10 realizes the adsorption and separation functions of the sucking disc on the wall surface through different air pressure control (air suction or inflation).
In this embodiment, the device further comprises a universal wheel assembly 7, wherein the universal wheel assembly 7 is arranged at the lower part of the lower frame plate 4 and is positioned at the front end or the rear end of the frame body 1.
Specifically, referring to fig. 1 and 3, the universal wheel assembly 7 can play a supporting role, prevent the main body 1 from being close to the wall or overturning when the four bionic foot assemblies 2 perform wall climbing actions, and keep the stability of the main body 1 in the moving process. It should be noted that, the universal wheel assembly 7 should be located at a downward end of the bionic wall climbing device when the wall surface crawls, for example, when the bionic wall climbing device crawls a vertical wall surface, in order to prevent the bionic wall climbing device from overturning, the universal wheel assembly 7 should be disposed at a rear end (i.e. an end facing the ground) of the bionic wall climbing device.
Further, as shown in fig. 1 to 4, the upper plate 3, the lower plate 4, the leg support 22, the leg support 23 and the base support 15 in the present embodiment all adopt hollowed designs, so as to reduce the weight of the whole bionic wall climbing device, and achieve the effect of light weight.
The working principle of the bionic wall climbing device in the embodiment is as follows:
the bionic wall climbing device is mainly characterized in that the sucking disc at the tail end of the sucking foot 24 is sucked on the wall surface, and the bionic foot assembly 2 is controlled to generate yaw, the leg joint support 22 is lifted or falls, and the leg joint support 23 is stretched or contracted to realize walking movement on the wall surface.
The four bionic foot components 2 of the bionic wall climbing device in the embodiment of the bionic wall climbing device are respectively marked as left front, right front, left rear and right rear, and gait planning for realizing vertical walking and horizontal walking is as follows:
the layout diagrams of the main body 1 and the four bionic foot assemblies 2 are shown in fig. 5a to 6f, black circles indicate that the suction cups at the tail ends of the suction devices are in a suction state, and white circles indicate that the suction cups are in a relaxation state.
Fig. 5a to 5f show a simplified upward crawling gait planning diagram of a bionic wall climbing device according to an embodiment of the invention, a vertical walking gait planning method is as follows:
fig. 5a is an initial position of the bionic wall climbing device, so that the suction cups at the tail ends of the left and right front bionic foot assemblies 2 adsorb the wall surface and form a triangular stable supporting structure together with universal wheels, the suction cups at the tail ends of the left and right front bionic foot assemblies 2 are in an unadsorbed and relaxed state, the lifting of the leg joint support 22 of the left and right front bionic foot assemblies 2 is controlled, the upward swing and the outward slight extension are realized, and the posture shown in fig. 5b is achieved.
The leg joint support 22 of the left front and right rear bionic foot assembly 2 is controlled to fall, so that the suction cup adsorbs the wall surface, after adsorption is stable, the tail end suction cups of the left rear and right front bionic foot assembly 2 are controlled to be in an unadsorbed and relaxed state, and the leg joint support 22 is lifted to reach the posture shown in fig. 5 c.
The downward swing and inward slight contraction of the left front and right rear bionic foot assemblies 2 are controlled, so that the bionic wall climbing device moves vertically upwards to achieve the posture shown in fig. 5 d.
The leg joint support 22 of the left rear and right front bionic foot assembly 2 is controlled to be lifted, and the upward swing and the outward slight extension are realized, so that the posture shown in fig. 5e is achieved.
The leg joint support 22 of the left rear and right front bionic foot assembly 2 is controlled to fall, so that the suction cup adsorbs the wall surface, after adsorption is stable, the tail end suction cups of the left front and right rear bionic foot assembly 2 are controlled to be in an unadsorbed and relaxed state, and the leg joint support 22 is lifted to reach the posture shown in fig. 5 f.
The downward swing and inward slight contraction of the left rear and right front bionic foot assemblies 2 are controlled, so that the bionic wall climbing device moves vertically upwards again to reach the initial posture shown in fig. 5 a.
The above process is that the bionic wall climbing device realizes the gait planning of upward vertical walking, and the motion gesture thereof is the working state circulation shown in fig. 5 in turn: 5a, 5b, 5c, 5d, 5e, 5f and 5a, the reverse process of the process is the working cycle of downward vertical walking.
In order to realize the steering function, the swing angle of each bionic foot assembly 2 is controlled to swing by different angle degrees, and the angle degrees are determined by the angle degrees.
Fig. 6a to 6f show a diagram of a bionic wall-climbing device crawling gait planning to the right, a method of planning gait for horizontal walking according to an embodiment of the invention is as follows:
fig. 6a is an initial position of the bionic wall climbing device, so that the suction cups at the tail ends of the left front and right rear bionic foot assemblies 2 adsorb the wall surface and form a triangular stable supporting structure together with universal wheels, and the suction cups at the tail ends of the left rear and right front bionic foot assemblies 2 are in an unadsorbed and relaxed state, so that the tibial support 23 of the left rear bionic foot assembly 2 is controlled to shrink, and the tibial support 23 of the right front bionic foot assembly 2 is controlled to stretch, so as to achieve the posture shown in fig. 6b.
The leg joint support 22 of the left rear and right front bionic foot assembly 2 is controlled to fall, so that the suction cup adsorbs the wall surface, after adsorption is stable, the tail end suction cups of the left front and right rear bionic foot assembly 2 are controlled to be in an unadsorbed and relaxed state, and the leg joint support 22 is lifted to reach the posture shown in fig. 6 c.
The leg support 23 of the left rear bionic foot assembly 2 is controlled to extend, and the leg support 23 of the right front bionic foot assembly 2 is controlled to contract, so that the bionic wall climbing device moves rightwards horizontally, and the posture shown in fig. 6d is achieved.
The shank support 23 of the left front bionic foot assembly 2 is controlled to shrink, and the shank support 23 of the right rear bionic foot assembly 2 is controlled to stretch to reach the posture shown in fig. 6 e.
The leg joint support 22 of the left front and right rear bionic foot assembly 2 is controlled to fall, so that the suction cup adsorbs the wall surface, after adsorption is stable, the tail end suction cups of the left rear and right front bionic foot assembly 2 are controlled to be in an unadsorbed and relaxed state, and the leg joint support 22 is lifted to reach the posture shown in fig. 6 f.
The leg support 23 of the left front bionic foot assembly 2 is controlled to extend, and the leg support 23 of the right rear bionic foot assembly 2 is controlled to contract, so that the bionic wall climbing device moves horizontally right again, and the initial posture shown in fig. 6a is achieved.
The above process is that the bionic wall climbing device realizes the gait planning of rightward horizontal movement, and the motion gesture thereof is in turn the working state cycle shown in fig. 6: the reverse process of 6a, 6b, 6c, 6d, 6e, 6f and 6a is the working cycle of horizontal movement to the left.
In a specific implementation process, a corresponding control program can be written for the pneumatic controller 10 to realize the action control and the execution sequence of the four bionic foot assemblies 2, so that the bionic wall climbing device can execute the gait planning method, a wireless signal receiving device can be arranged on a main body of the robot body to be matched with a ground control device to realize a remote control function, meanwhile, the technical scheme of the invention is also applicable to non-quadruped robots, such as six-foot or eight-foot wall climbing robots, or robots with foot structures in other forms are replaced by the absorption feet in the scheme, and the technical scheme is easy to realize by a person skilled in the art and is not repeated here.
The bionic wall climbing device of the embodiment can realize gentle action similar to crawling of insects, is low in noise, light in weight and small in size, and can be suitable for various wall operations.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described.
Claims (5)
1. A bionic wall climbing device, comprising: the bionic foot assembly comprises a body main body and four bionic foot assemblies, wherein the four bionic foot assemblies are symmetrically arranged on two sides of the body main body in pairs;
the bionic foot assembly is provided with a basal section rotor mechanism, a leg bone mechanism, a tibia mechanism and an adsorption foot which are sequentially connected, a leg tendon mechanism is arranged between the basal section rotor mechanism and the leg bone mechanism, the leg tendon mechanism drives the leg bone mechanism to drive the tibia mechanism and the adsorption foot to lift or fall simultaneously, a tibia tendon mechanism is arranged between the basal section rotor mechanism and the tibia mechanism, and the tibia tendon mechanism drives the tibia mechanism and the adsorption foot to extend or retract simultaneously along the lateral direction of the main body of the bionic foot assembly;
the machine body is provided with four base section driving mechanisms and four power output control units, wherein the four base section driving mechanisms and the four bionic foot assemblies are in one-to-one correspondence, each base section driving mechanism is connected with one base section rotor mechanism, and drives the base section rotor mechanism to rotate and drive the leg bone mechanism to swing clockwise or anticlockwise and transversely by taking the base section rotor mechanism as an axis, so that the tibia mechanism and the adsorption foot are driven to move to the front or rear of the machine body simultaneously;
the leg tendon mechanism, the shank tendon mechanism and the basal segment driving mechanism which are sufficient for adsorption and correspond to the bionic foot components on each bionic foot component are respectively connected with one power output control unit;
the base joint rotor mechanism comprises a base joint, a base joint gear, a base joint rotating shaft and a base joint support, and the base joint gear, the base joint rotating shaft and the base joint support are fixedly connected with the base joint respectively;
the upper end of the base joint support is provided with a first hinging rod, the lower end of the base joint support is provided with a second hinging rod, and the base joint is arranged between the first hinging rod and the second hinging rod;
the base joint rotating shaft penetrates through the base joint in the vertical direction, a first bearing is arranged at the upper end of the base joint rotating shaft, and a second bearing is arranged at the lower end of the base joint rotating shaft;
the base section gear is coaxial with the base section rotating shaft, and a base section hinge shaft is arranged at one end of the base section opposite to the base section gear;
the tibia mechanism comprises a tibia support which is longitudinally arranged, the tibia support is provided with a tibia rotating shaft, a third hinging rod and a fourth hinging rod, the third hinging rod is arranged above the tibia rotating shaft, the fourth hinging rod is arranged below the tibia rotating shaft, and the adsorption foot is arranged at the bottom end of the tibia support;
the leg bone mechanism comprises a leg joint support which is transversely arranged, one end of the leg joint support is hinged with the base joint, the other end of the leg joint support is connected with the shank joint rotating shaft, the leg joint rotating shaft is arranged at one end of the leg joint support, and a fifth hinging rod is arranged at the other end of the leg joint support;
the leg tendon mechanism comprises a leg lifting pneumatic tendon and a leg pressing pneumatic tendon, wherein two ends of the leg lifting pneumatic tendon are respectively hinged with a first hinging rod and a fifth hinging rod, and two ends of the leg pressing pneumatic tendon are respectively hinged with a second hinging rod and a fifth hinging rod;
the shank tendon mechanism comprises a shank stretching pneumatic tendon and a shank shrinking pneumatic tendon, one end of the shank stretching pneumatic tendon is connected with the shank rotating shaft, the other end of the shank stretching pneumatic tendon is hinged with the third hinging rod, one end of the shank shrinking pneumatic tendon is connected with the shank rotating shaft, and the other end of the shank shrinking pneumatic tendon is hinged with the fourth hinging rod.
2. The bionic wall climbing device according to claim 1, wherein the body comprises an upper body plate and a lower body plate which are fixedly connected, the four power output control units are arranged between the upper body plate and the lower body plate, and the power output control units are fixedly connected with the lower body plate;
the base section driving mechanism comprises a rotary cylinder arranged below the lower machine body plate and a cylinder gear arranged between the lower machine body plate and the upper machine body plate, wherein a rotary shaft of the rotary cylinder penetrates through the upper surface of the lower machine body plate from the lower surface of the lower machine body plate and is fixedly connected with the cylinder gear, and the cylinder gear is meshed with the base section gear.
3. The bionic wall climbing device according to claim 2, wherein four first bearing mounting holes are formed in two sides of the upper plate of the machine body, four second bearing mounting holes are formed in two sides of the lower plate of the machine body, the first bearing mounting holes are fixedly connected with the first bearings, and the second bearing mounting holes are fixedly connected with the second bearings.
4. A bionic wall climbing device according to claim 3, wherein the power output control unit comprises a pneumatic controller, and one of the rotary cylinders on each bionic foot assembly, which is sufficient for adsorption and corresponds to the bionic foot assembly, is connected with one of the pneumatic controllers.
5. The biomimetic wall climbing device according to claim 4, further comprising a universal wheel assembly disposed at a lower portion of the body lower plate and at a front end or a rear end of the body main body.
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| CN111731448A (en) * | 2020-06-03 | 2020-10-02 | 沈阳化工大学 | Wall-climbing robot capable of automatically cleaning large ship body |
| CN114291179B (en) * | 2022-01-06 | 2022-10-18 | 江苏镌极特种设备有限公司 | Multi-foot wall-climbing robot |
| CN114701580B (en) * | 2022-03-22 | 2023-04-14 | 沈阳工业大学 | Omnidirectional motion multi-foot wall-climbing unmanned system for maintaining outer surface of wind turbine generator |
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