CN110641569A - Pneumatic bionic wall-climbing walking device capable of crossing outer wall - Google Patents
Pneumatic bionic wall-climbing walking device capable of crossing outer wall Download PDFInfo
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- CN110641569A CN110641569A CN201911082663.1A CN201911082663A CN110641569A CN 110641569 A CN110641569 A CN 110641569A CN 201911082663 A CN201911082663 A CN 201911082663A CN 110641569 A CN110641569 A CN 110641569A
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- 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 utility model provides a can stride across pneumatic bionical wall running gear that climbs of outer wall, relates to bionic robot technical field, includes: the front limb mechanism and the rear limb mechanism respectively comprise a front limb bottom plate and a rear limb bottom plate, a front limb pin support and a rear limb pin support are respectively arranged at the lower sides of one ends of the front limb bottom plate and the rear limb bottom plate, rotating shafts are arranged in the front limb pin support and the rear limb pin support in a penetrating manner, a front limb cylinder support is arranged at the end part of the upper side of the front limb bottom plate, which is connected with the rear limb bottom plate, the outer end of the front limb cylinder support extends out of the end part of the front limb bottom plate, a rear limb cylinder support is arranged at the middle part of the upper side of the rear limb bottom plate, turnover cylinders are arranged on the front limb cylinder support and the rear limb cylinder support, a left front foot assembly, a right front foot assembly, a left rear foot assembly and a right rear foot assembly are respectively arranged at the two sides of the outer ends of the front limb bottom plate and the rear limb bottom plate, two front limb middle foot assemblies; good stability and strong adaptability.
Description
Technical Field
The invention belongs to the technical field of bionic robots, and particularly relates to a pneumatic bionic wall-climbing walking device capable of crossing an outer wall.
Background
The wall-climbing robot is a special bionic robot which can carry various working tools to realize specific functions on various wall surfaces, can improve the high-altitude working efficiency, can replace manual work and reduce the work of workers in dangerous environments. Wall climbing robot adopts adsorption technique to creep on the wall usually, and adsorption technique indicates that the messenger climbs the wall robot and does not take place the landing, the technique of tumbling, and adsorption mode commonly used has reverse thrust formula, magnetic force absorption formula, vacuum adsorption formula etc. and most sufficient formula wall climbing robot adopts the adsorption mode of external negative pressure source, but adopts this kind of adsorption mode not enough to lie in: the wall climbing robot is difficult to realize the leap of adjacent outer wall face, and it needs the alternate movement through the robot foot to realize walking to stride across adjacent outer wall face in addition, and the terminal negative pressure suction cup device that is of robot foot, when partial foot leaves the wall face, the instantaneous adsorption affinity of wall climbing robot to the wall will reduce, will directly influence the load capacity and the operating stability of robot like this, cause the landing of wall climbing robot even, tumble etc. bad consequence, have very big potential safety hazard. The problem of spanning between the adjacent outer wall surfaces of the wall-climbing robot greatly limits the application range of the wall-climbing robot.
Disclosure of Invention
The invention aims to provide a pneumatic bionic wall-climbing walking device capable of crossing over an outer wall, solves the problem that a traditional wall-climbing robot is difficult to cross over an adjacent outer wall surface, eliminates the hidden trouble of unstable adsorption force when the wall-climbing robot walks and moves, and greatly improves the application range and the use effect of the wall-climbing robot.
In order to achieve the above object, the present invention provides a pneumatic bionic climbing walking device capable of crossing an outer wall, comprising:
the forelimb mechanism and the hindlimb mechanism respectively comprise a forelimb bottom plate and a hindlimb bottom plate, wherein a forelimb pin support and a hindlimb pin support are respectively arranged at the lower sides of one ends of the forelimb bottom plate and the hindlimb bottom plate, rotating shafts are arranged in the forelimb pin support and the hindlimb pin support in a penetrating manner, a forelimb cylinder support is arranged at the end part of the upper side of the forelimb bottom plate connected with the hindlimb bottom plate, the outer end of the forelimb cylinder support extends out of the end part of the forelimb bottom plate, a hindlimb cylinder support is arranged in the middle of the upper side of the hindlimb bottom plate, overturning cylinders are arranged on the forelimb cylinder support and the hindlimb cylinder support, a left forefoot assembly, a right forelimb assembly, a left hindfoot assembly and a right hindfoot assembly are respectively arranged at the two sides of the outer ends of the forelimb bottom plate and the hindlimb bottom plate, two forelimb middle foot assemblies and a forelimb, A hind limb universal wheel.
Optionally, the outer ends of the upper sides of the forelimb base plate and the hindlimb base plate are respectively provided with a guide post, and the left forefoot assembly, the right forefoot assembly, the left hindfoot assembly and the right hindfoot assembly are respectively connected with the forelimb base plate and the hindlimb base plate in a rotating manner through a left forefoot swing arm, a right forefoot swing arm, a left hindfoot swing arm and a right hindfoot swing arm.
Optionally, one end of each of the left front foot swing arm, the right front foot swing arm, the left rear foot swing arm and the right rear foot swing arm is provided with a long waist hole, and the long waist holes are connected with the guide posts in a sleeved mode to form a sliding structure.
Optionally, one side of each of the left front foot swing arm, the right front foot swing arm, the left rear foot swing arm and the right rear foot swing arm is rotatably connected with a left front foot cylinder, a right front foot cylinder, a left rear foot cylinder and a right rear foot cylinder, and the other end of each of the left front foot cylinder, the right front foot cylinder, the left rear foot cylinder and the right rear foot cylinder is rotatably connected with two sides of the outer end of each of the forelimb base plate and the hindlimb base plate.
Optionally, two sliding grooves are formed in the middle of each of the forelimb bottom plate and the hindlimb bottom plate, and the two forelimb middle foot assemblies and the two hindlimb middle foot assemblies are arranged in the sliding grooves and are connected with the sliding grooves in an embedded mode.
Optionally, a return spring is arranged inside the sliding groove and on the rear side of each of the front-limb middle foot assembly and the rear-limb middle foot assembly, and the front-limb middle foot assembly and the rear-limb middle foot assembly and the sliding groove form an elastic sliding structure through the return springs.
Optionally, the left front foot assembly, the right front foot assembly, the left rear foot assembly, the right rear foot assembly, the front limb middle foot assembly and the rear limb middle foot assembly have the same structure and comprise a telescopic cylinder, and an adsorption assembly is arranged at the lower end of the telescopic cylinder.
Optionally, the adsorption component comprises an angle compensator connected to the outer end of a telescopic rod of the telescopic cylinder, the lower end of the angle compensator is connected with a sucker mounting frame, and a pneumatic sucker is mounted on the lower side of the sucker mounting frame.
Optionally, the pneumatic suction cups are provided in three, the three pneumatic suction cups being arranged in an equilateral triangle.
Optionally, the front limb universal wheel and the rear limb universal wheel are both mounted on the lower sides of the front limb base plate and the rear limb base plate through brackets, and the mounting heights of the front limb universal wheel and the rear limb universal wheel are matched with the mounting height of the pneumatic suction cup.
The invention provides a pneumatic bionic wall-climbing walking device capable of crossing an outer wall, which has the beneficial effects that:
1. the structure that the connection is rotated to the front and rear limb mechanisms is adopted, flattening and bending of the front and rear limb mechanisms are conveniently realized, the wall climbing walking device is favorable for realizing the crossing of the outer wall, the crossing from the outer wall to the outer side of the roof, the crossing from the outer side of the roof to the outer wall and the crossing between two adjacent outer walls can be easily realized, and the application range and the application effect of the wall climbing mechanism are greatly improved.
2. Preceding, hind limb mechanism homoenergetic realize creeping alone in preceding, the state of buckling of hind limb mechanism, have guaranteed this wall running gear of climbing to stride across the smooth and easy of outer wall process to and climb the stability of wall in-process adsorption affinity.
3. The front and rear limb mechanisms are respectively provided with the middle foot and the universal wheel, so that the effects of assisting in moving and walking and gravity balance supporting are achieved, the adverse consequences of falling or tipping and the like of the wall-climbing walking device are prevented, and the potential safety hazard is greatly eliminated.
4. The adsorption equipment lower extreme of foot subassembly is equipped with the many sucker structure that equilateral triangle arranged, and this many sucker structure can greatly strengthen this wall walking device of climbing to the adsorption efficiency of wall, stability when improving the use.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments thereof with reference to the attached drawings, in which like reference numerals generally represent like parts throughout.
Fig. 1 is a schematic structural diagram showing a flattened state of an aerodynamic bionic wall-climbing walking device capable of crossing an external wall according to one embodiment of the invention.
Fig. 2 shows a schematic structural diagram of a forelimb mechanism of a pneumatic bionic climbing walking device capable of crossing an outer wall according to one embodiment of the invention.
Fig. 3 shows a schematic structural diagram of a hind limb mechanism of a pneumatic bionic climbing walking device capable of crossing an outer wall according to one embodiment of the invention.
Fig. 4 shows a schematic structural diagram of a pneumatic bionic climbing walking device capable of crossing an outer wall in a bending state when crossing the outer wall according to one embodiment of the invention.
Description of reference numerals:
1. a forelimb mechanism; 2. a hind limb mechanism; 3. a forelimb base plate; 4. a hind limb chassis; 5. a forelimb pin support; 6. a hind limb pin support; 7. a rotating shaft; 8. a forelimb cylinder support; 9. a hind limb cylinder support; 10. turning over the air cylinder; 11. a left forefoot component; 12. a right front foot assembly; 13. a left hindfoot assembly; 14. a right hindfoot assembly; 15. a forefoot mid-foot assembly; 16. a hind limb midfoot component; 17. forelimb universal wheels; 18. a hind limb universal wheel; 19. a guide post; 20. a left forefoot swing arm; 21. a right front foot swing arm; 22. a left rear foot swing arm; 23. a right rear foot swing arm; 24. a long waist hole; 25. a left forefoot cylinder; 26. a right forefoot cylinder; 27. a left rear foot cylinder; 28. a right rear foot cylinder; 29. a chute; 30. a return spring; 31. a telescopic cylinder; 32. an adsorption component; 33. an angle compensator; 34. a suction cup mounting frame; 35. pneumatic suction cups.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the following describes preferred embodiments of the present invention, it should be understood that the present invention may be embodied in various forms and should not be limited by 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.
The invention provides a pneumatic bionic wall-climbing walking device capable of crossing an outer wall, which comprises:
the forelimb mechanism and the hindlimb mechanism respectively comprise a forelimb bottom plate and a hindlimb bottom plate, wherein a forelimb pin support and a hindlimb pin support are respectively arranged at the lower sides of one ends of the forelimb bottom plate and the hindlimb bottom plate, rotating shafts are arranged in the forelimb pin support and the hindlimb pin support in a penetrating manner, a forelimb cylinder support is arranged at the end part of the upper side of the forelimb bottom plate connected with the hindlimb bottom plate, the outer end of the forelimb cylinder support extends out of the end part of the forelimb bottom plate, a hindlimb cylinder support is arranged in the middle of the upper side of the hindlimb bottom plate, overturning cylinders are arranged on the forelimb cylinder support and the hindlimb cylinder support, a left forefoot assembly, a right forelimb assembly, a left hindfoot assembly and a right hindfoot assembly are respectively arranged at the two sides of the outer ends of the forelimb bottom plate and the hindlimb bottom plate, two forelimb middle foot assemblies and a forelimb, A hind limb universal wheel.
Specifically, the front limb mechanism and the rear limb mechanism can be driven to rotate around the rotating shaft through the extension and retraction of the turnover cylinder, so that the conversion between the flattening state and the bending state of the wall climbing walking device can be realized; the walking of the device under the flattening state can be realized through the arrangement of the left front foot assembly, the right front foot assembly, the left rear foot assembly and the right rear foot assembly, the walking can be realized through independent work of the front limb mechanism or the rear limb mechanism under the bending state of the device through the arrangement of the front limb middle foot assembly and the rear limb middle foot assembly, and the arrangement of the front limb universal wheel and the rear limb universal wheel can provide a balance supporting effect for the device in the process of climbing across a wall.
The device is characterized by further comprising a pneumatic controller, a control program is set in the pneumatic controller, the wall climbing walking action of the device can be controlled through the control program, a plurality of control channels are arranged, the pneumatic controller is connected with the overturning air cylinder, and the pneumatic controller can control the expansion and contraction of the overturning air cylinder through the internal control program.
In one example, the outer ends of the upper sides of the forelimb base plate and the hindlimb base plate are respectively provided with a guide post, and the left forefoot assembly, the right forefoot assembly, the left hindfoot assembly and the right hindfoot assembly are respectively connected with the forelimb base plate and the hindlimb base plate in a rotating mode through a left forefoot swing arm, a right forefoot swing arm, a left hindfoot swing arm and a right hindfoot swing arm.
Specifically, the left forefoot assembly, the right forefoot assembly, the left rear foot assembly and the right rear foot assembly swing forwards or backwards through the relative motion of the left forefoot swing arm, the right forefoot swing arm, the left rear foot swing arm and the right rear foot swing arm with the forelimb base plate and the rear limb base plate, and the forward crawling and steering of the device are realized through the swinging of the left forefoot assembly, the right forefoot assembly, the left rear foot assembly and the right rear foot assembly to different directions.
In one example, one end of each of the left front foot swing arm, the right front foot swing arm, the left rear foot swing arm and the right rear foot swing arm is provided with a long waist hole, and the long waist holes are connected with guide columns in a sleeved mode to form a sliding structure.
Specifically, the sliding fit of the long waist hole and the guide post provides a guide effect for the front-back swing of the left front foot swing arm.
In one example, one side of the left front foot swing arm, the right front foot swing arm, the left rear foot swing arm and the right rear foot swing arm is respectively and rotatably connected with a left front foot air cylinder, a right front foot air cylinder, a left rear foot air cylinder and a right rear foot air cylinder, and the other ends of the left front foot air cylinder, the right front foot air cylinder, the left rear foot air cylinder and the right rear foot air cylinder are respectively and rotatably connected with two sides of the outer ends of the forelimb base plate and the hindlimb base plate.
Specifically, the left front foot cylinder, the right front foot cylinder, the left rear foot cylinder and the right rear foot cylinder are controlled by the pneumatic controller to complete respective telescopic actions, and can respectively drive the left front foot swing arm, the right front foot swing arm, the left rear foot swing arm and the right rear foot swing arm to drive the left front foot assembly, the right front foot assembly, the left rear foot assembly and the right rear foot assembly to swing forwards or backwards, so that the bionic climbing walking of the device is realized; and the forward and backward swinging amplitude of the left front foot assembly, the right front foot assembly, the left rear foot assembly and the right rear foot assembly can be controlled by controlling the stretching amount of the left front foot cylinder, the right front foot cylinder, the left rear foot cylinder and the right rear foot cylinder when stretching, so that the device can realize the steering when climbing the wall and walking.
In one example, two sliding grooves are formed in the middle of each of the forelimb base plate and the hindlimb base plate, and the two forelimb middle foot assemblies and the two hindlimb middle foot assemblies are arranged in the sliding grooves and are in embedded connection with the sliding grooves.
In one example, a return spring is arranged inside the sliding groove on the rear side of each of the forelimb middle foot assembly and the hindlimb middle foot assembly, and the forelimb middle foot assembly and the hindlimb middle foot assembly form an elastic sliding structure with the sliding groove through the return springs.
Specifically, when the device is used for walking by using the forelimb mechanism or the hindlimb mechanism independently, the two forelimb middle foot components or the two hindlimb middle foot components can alternately realize the relative movement and the resetting with the forelimb base plate or the hindlimb base plate; in the process of crawling at each step, one of the forelimb middle foot assembly or the hindlimb middle foot assembly is always adsorbed on the wall, and the other of the forelimb middle foot assembly or the hindlimb middle foot assembly is reset under the elastic force of the reset spring so as to perform the crawling action of the next step, and the stability of the device when the forelimb mechanism or the hindlimb mechanism is used independently for walking is improved.
In one example, the left front foot assembly, the right front foot assembly, the left rear foot assembly, the right rear foot assembly, the front limb middle foot assembly and the rear limb middle foot assembly are identical in structure and comprise telescopic cylinders, and adsorption assemblies are arranged at the lower ends of the telescopic cylinders.
Specifically, the telescopic cylinder is controlled by the pneumatic controller to perform telescopic action, and the adsorption assembly is driven to move up and down through the telescopic action of the telescopic cylinder, so that the left front foot assembly is lifted up and down; adsorption component can adsorb on the wall, realizes fixing the device.
In one example, the adsorption component comprises an angle compensator connected to the outer end of a telescopic rod of the telescopic cylinder, the lower end of the angle compensator is connected with a sucker mounting frame, and a pneumatic sucker is mounted on the lower side of the sucker mounting frame.
Specifically, the pneumatic sucker is controlled by the pneumatic controller to adsorb and stop adsorbing, the angle compensator can swing within a +/-15-degree taper range, the pneumatic sucker can better adapt to a wall, and the adsorption effect of the pneumatic sucker is improved.
In one example, the pneumatic suction cups are provided in three, three arranged in an equilateral triangle.
Specifically, the pneumatic sucker structure arranged in a triangular mode can improve the adsorption capacity of the pneumatic sucker to the wall, and the adsorption reliability of the wall climbing walking device in the walking process is guaranteed.
In one example, the front limb universal wheel and the rear limb universal wheel are both arranged on the lower sides of the front limb base plate and the rear limb base plate through brackets, and the mounting heights of the front limb universal wheel and the rear limb universal wheel are matched with the mounting height of the pneumatic suction cup.
Examples
As shown in fig. 1 to 4, the present invention provides a pneumatic bionic climbing walking device capable of crossing an outer wall, comprising:
the forelimb mechanism 1 and the hindlimb mechanism 2 respectively comprise a forelimb bottom plate 3 and a hindlimb bottom plate 4, a forelimb pin support 5 and a hindlimb pin support 6 are respectively arranged at the lower sides of one ends of the forelimb bottom plate 3 and the hindlimb bottom plate 4, a rotating shaft 7 penetrates through the forelimb pin support 5 and the hindlimb pin support 6, a forelimb cylinder support 8 is arranged at the end part of the upper side of the forelimb bottom plate 3 connected with the hindlimb bottom plate 4, the outer end of the forelimb cylinder support 8 extends out of the end part of the forelimb bottom plate 3, a hindlimb cylinder support 9 is arranged at the middle part of the upper side of the hindlimb bottom plate 4, a turnover cylinder 10 is arranged on the forelimb cylinder support 8 and the hindlimb cylinder support 9, a left forefoot component 11, a right forefoot component 12, a left hindlimb component 13 and a right foot component 14 are respectively arranged at the two sides of the outer ends of the forelimb bottom plate 3 and the hindlimb bottom plate 4, two forelimb middle foot, Two hind-limb midfoot assemblies 16 and a forelimb universal wheel 17, a hind limb universal wheel 18.
In this embodiment, the upper outer ends of the forelimb base plate 3 and the hindlimb base plate 4 are respectively provided with a guide post 19, and the left forefoot assembly 11, the right forefoot assembly 12, the left hindfoot assembly 13 and the right hindfoot assembly 14 are respectively connected with the forelimb base plate 3 and the hindlimb base plate 4 in a rotating manner through a left forefoot swing arm 20, a right forefoot swing arm 21, a left hindfoot swing arm 22 and a right hindfoot swing arm 23.
In this embodiment, one end of each of the left front foot swing arm 20, the right front foot swing arm 21, the left rear foot swing arm 22 and the right rear foot swing arm 23 is provided with a long waist hole 24, and the long waist hole 24 is sleeved and connected with the guide post 19 to form a sliding structure.
In this embodiment, a left forefoot cylinder 25, a right forefoot cylinder 26, a left rear foot cylinder 27 and a right rear foot cylinder 28 are respectively rotatably connected to one side of the left forefoot swing arm 20, the right forefoot swing arm 21, the left rear foot swing arm 22 and the right rear foot swing arm 23, and the other ends of the left forefoot cylinder 25, the right forefoot cylinder 26, the left rear foot cylinder 27 and the right rear foot cylinder 28 are respectively rotatably connected to both sides of the outer ends of the forelimb base plate 3 and the hindlimb base plate 4.
In this embodiment, two sliding grooves 29 are formed in the middle of each of the front limb base plate 3 and the rear limb base plate 4, and the two front limb middle foot assemblies 15 and the two rear limb middle foot assemblies 16 are arranged in the sliding grooves 29 and form a fitting connection with the sliding grooves 29.
In the present embodiment, the slide groove 29 is provided with a return spring 30 inside at the rear side of each of the front-limb middle-foot assembly 15 and the rear-limb middle-foot assembly 16, and the front-limb middle-foot assembly 15 and the rear-limb middle-foot assembly 16 form an elastic sliding structure with the slide groove 29 through the return spring 30.
In this embodiment, the left front foot assembly 11, the right front foot assembly 12, the left rear foot assembly 13, the right rear foot assembly 14, the front-limb middle foot assembly 15 and the rear-limb middle foot assembly 16 have the same structure, and include a telescopic cylinder 31, and an adsorption assembly 32 is disposed at a lower end of the telescopic cylinder 31.
In this embodiment, the adsorption component 32 includes an angle compensator 33 connected to the outer end of the telescopic rod of the telescopic cylinder 31, the lower end of the angle compensator 33 is connected with a suction cup mounting rack 34, and a pneumatic suction cup 35 is installed on the lower side of the suction cup mounting rack 34.
In this embodiment, three pneumatic suction cups 35 are provided, and the three pneumatic suction cups 35 are arranged in an equilateral triangle.
In the embodiment, the front limb universal wheel 17 and the rear limb universal wheel 18 are both mounted on the lower sides of the front limb base plate 3 and the rear limb base plate 4 through brackets, and the mounting heights of the front limb universal wheel 17 and the rear limb universal wheel 18 are matched with the mounting height of the pneumatic suction cup 35.
In summary, when the pneumatic bionic wall climbing walking device capable of crossing over the external wall provided by the invention is used, the wall climbing walking device is started, the wall climbing walking device in a flat state is placed on a vertical wall, the pneumatic controller controls the front limb middle foot assembly 15 and the rear limb middle foot assembly 16 of the device to be adsorbed on the wall through the respective pneumatic suckers 35 through the control program set in the pneumatic controller, and at the moment, the left front foot assembly 11, the right front foot assembly 12, the left rear foot assembly 13 and the right rear foot assembly 14 are lifted under the contraction action of the respective telescopic cylinders 31, so that the respective pneumatic suckers 35 are separated from the surface of the wall. When the climbing walking device climbs upwards, the left front foot cylinder 25 and the right front foot cylinder 26 at the rear sides of the left front foot assembly 11 and the right front foot assembly 12 extend out to drive the left front foot swing arm 20 and the right front foot swing arm 21 to swing forwards; the left rear foot cylinder 27 and the right rear foot cylinder 28 on the front sides of the left rear foot assembly 13 and the right rear foot assembly 14 contract to drive the left rear foot swing arm 22 and the right rear foot swing arm 23 to swing forwards; then the left front foot assembly 11, the right front foot assembly 12, the left rear foot assembly 13 and the right rear foot assembly 14 drive the adsorption assembly 32 to move towards the wall surface through the extension of the respective telescopic cylinders 31 until the pneumatic suction cups 35 contact the wall surface, and the left front foot assembly 11, the right front foot assembly 12, the left rear foot assembly 13 and the right rear foot assembly 14 are adsorbed on the wall through the respective pneumatic suction cups 35 to be fixed. At this time, the pneumatic suction cups 35 under the forelimb middle foot assembly 15 and the hindlimb middle foot assembly 16 stop sucking, and the suction assemblies 32 are driven to lift off the wall by the contraction of the respective telescopic cylinders 31; the left front foot cylinder 25 and the right front foot cylinder 26 contract, the left rear foot cylinder 27 and the right rear foot cylinder 28 extend out, the left front foot swing arm 20, the right front foot swing arm 21, the left rear foot swing arm 22 and the right rear foot swing arm 23 are driven to swing backwards, the whole device is driven to move forwards, and wall climbing walking of the wall climbing walking device is achieved. If the steering function of the device during climbing wall walking needs to be realized, the steering of the device during climbing wall walking can be realized only by controlling the stretching amount of the left front foot cylinder 25, the right front foot cylinder 26, the left rear foot cylinder 27 and the right rear foot cylinder 28 during stretching and further controlling the forward and backward swinging amplitude of the left front foot assembly 11, the right front foot assembly 12, the left rear foot assembly 13 and the right rear foot assembly 14.
When the wall-climbing walking device moves to one side of the roof at the top end of the outer wall, the outer wall spanning from the vertical wall to the roof needs to be completed; the wall climbing walking device continues to move upwards until the left front foot assembly 11 and the right front foot assembly 12 leave the vertical outer wall, and the hind limb mechanism 2 works alone to realize wall climbing walking. At the moment, one hind limb middle foot component 16 falls down and is adsorbed on the wall together with the left hind foot component 13 and the right hind foot component 14, and the left front foot component 11, the right front foot component 12 and the forelimb middle foot component 15 are all suspended on one side above the roof; the left rear foot assembly 13 and the right rear foot assembly 14 are lifted, the left rear foot cylinder 27 and the right rear foot cylinder 28 are contracted, the left rear foot swing arm 22 and the right rear foot swing arm 23 swing forwards, then the left rear foot assembly 13 and the right rear foot assembly 14 fall down and are adsorbed on a wall, the left rear foot cylinder 27 and the right rear foot cylinder 28 extend out, and the left rear foot swing arm 22 and the right rear foot swing arm 23 swing backwards to drive the whole device to continuously climb upwards; in this process, one hind limb middle foot assembly 16 attached to the wall slides in the slide groove 29 and compresses the return spring 30, while the other hind limb middle foot assembly 16 remains in the raised state until the upward crawling action is completed, and the other raised hind limb middle foot assembly 16 falls down and is attached to the wall, and then the hind limb middle foot assembly 16 previously attached to the wall stops being attached and raised, and is returned in the slide groove 29 by the elastic force of the return spring 30 so as to perform the next crawling action. When the front limb mechanism 1 completely extends out of the upper end of the vertical outer wall, the overturning cylinder 10 extends out to drive the front limb bottom plate 3 and the rear limb bottom plate 4 to rotate relatively, so that the device is bent, the front limb bottom plate 3 and the rear limb bottom plate 4 are bent to be at a right angle, and the front limb mechanism 1 is parallel to a roof; the left front foot assembly 11, the right front foot assembly 12 and the front limb middle foot assembly 15 fall down to drive the respective pneumatic suction cups 35 to be adsorbed on the roof, the pneumatic suction cups 35 below the left rear foot assembly 13, the right rear foot assembly 14 and the rear limb middle foot assembly 16 stop adsorbing and lifting, and then the wall climbing walking device singly uses the front limb mechanism 1 to realize climbing on the upper side of the roof, and the climbing principle is the same as that of singly using the rear limb mechanism 2.
The wall climbing walking device can still be converted into a flattening state through the contraction of the turnover cylinder 10 in the climbing process on the upper side of the roof, and meanwhile, the front limb mechanism 1 and the rear limb mechanism 2 are used for climbing. The wall-climbing walking device can also span from the upper side of the roof to the vertical outer wall of the other side or realize the span between two adjacent outer walls by the same principle as the span process, so that the wall-climbing walking device can walk across the outer walls.
Having described embodiments of the present invention, the foregoing description is intended to be exemplary, not exhaustive, and not 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 described embodiments.
Claims (10)
1. A pneumatic bionic wall-climbing walking device capable of crossing an outer wall is characterized by comprising:
the forelimb mechanism and the hindlimb mechanism respectively comprise a forelimb bottom plate and a hindlimb bottom plate, wherein a forelimb pin support and a hindlimb pin support are respectively arranged at the lower sides of one ends of the forelimb bottom plate and the hindlimb bottom plate, rotating shafts are arranged in the forelimb pin support and the hindlimb pin support in a penetrating manner, a forelimb cylinder support is arranged at the end part of the upper side of the forelimb bottom plate connected with the hindlimb bottom plate, the outer end of the forelimb cylinder support extends out of the end part of the forelimb bottom plate, a hindlimb cylinder support is arranged in the middle of the upper side of the hindlimb bottom plate, overturning cylinders are arranged on the forelimb cylinder support and the hindlimb cylinder support, a left forefoot assembly, a right forelimb assembly, a left hindfoot assembly and a right hindfoot assembly are respectively arranged at the two sides of the outer ends of the forelimb bottom plate and the hindlimb bottom plate, two forelimb middle foot assemblies and a forelimb, A hind limb universal wheel.
2. The pneumatic bionic climbing walking device capable of crossing over the external wall according to claim 1, wherein the outer ends of the upper sides of the forelimb bottom plate and the hindlimb bottom plate are respectively provided with a guide post, and the left forefoot assembly, the right forefoot assembly, the left hindfoot assembly and the right hindfoot assembly are respectively connected with the forelimb bottom plate and the hindlimb bottom plate in a rotating manner through a left forefoot swing arm, a right forefoot swing arm, a left hindfoot swing arm and a right hindfoot swing arm.
3. The pneumatic bionic wall-climbing walking device capable of crossing over the outer wall according to claim 2, wherein one end of the left front foot swing arm, the right front foot swing arm, the left rear foot swing arm and the right rear foot swing arm is provided with a long waist hole, and the long waist hole is sleeved and connected with a guide column to form a sliding structure.
4. The pneumatic bionic climbing walking device capable of crossing over the external wall according to claim 2, wherein one side of the left front foot swing arm, the right front foot swing arm, the left rear foot swing arm and the right rear foot swing arm is respectively and rotatably connected with a left front foot cylinder, a right front foot cylinder, a left rear foot cylinder and a right rear foot cylinder, and the other ends of the left front foot cylinder, the right front foot cylinder, the left rear foot cylinder and the right rear foot cylinder are respectively and rotatably connected with two sides of the outer ends of the front limb base plate and the rear limb base plate.
5. The pneumatic bionic climbing walking device capable of crossing over the outer wall as claimed in claim 1, wherein the two sliding grooves are formed in the middle of the forelimb bottom plate and the hindlimb bottom plate, and the two forelimb middle foot assemblies and the two hindlimb middle foot assemblies are arranged in the sliding grooves and are connected with the sliding grooves in an embedded manner.
6. The pneumatic bionic climbing walking device capable of crossing over the external wall according to claim 5, wherein the sliding groove is internally provided with a return spring at the rear side of each of the forelimb middle foot assembly and the hindlimb middle foot assembly, and the forelimb middle foot assembly and the hindlimb middle foot assembly form an elastic sliding structure with the sliding groove through the return springs.
7. The pneumatic bionic wall-climbing walking device capable of crossing over the external wall according to claim 1, wherein the left front foot assembly, the right front foot assembly, the left rear foot assembly, the right rear foot assembly, the front limb middle foot assembly and the rear limb middle foot assembly are identical in structure and comprise telescopic cylinders, and the lower ends of the telescopic cylinders are provided with adsorption assemblies.
8. The pneumatic bionic wall-climbing walking device capable of crossing over the outer wall according to claim 7, wherein the adsorption component comprises an angle compensator connected to the outer end of a telescopic rod of the telescopic cylinder, the lower end of the angle compensator is connected with a sucker mounting rack, and a pneumatic sucker is mounted on the lower side of the sucker mounting rack.
9. The pneumatic bionic wall-climbing walking device capable of crossing over the external wall as claimed in claim 8, wherein there are three pneumatic suction cups, and the three pneumatic suction cups are arranged in an equilateral triangle.
10. The pneumatic bionic climbing walking device capable of crossing over the external wall as claimed in claim 8, wherein the front-limb universal wheel and the rear-limb universal wheel are both mounted on the lower sides of the front-limb base plate and the rear-limb base plate through brackets, and the mounting heights of the front-limb universal wheel and the rear-limb universal wheel are matched with the mounting height of the pneumatic suction cup.
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| CN110641569B (en) | 2020-06-05 |
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