CN110758585A - Shank structure of disk-shaped claw thorn type wall-climbing robot - Google Patents
Shank structure of disk-shaped claw thorn type wall-climbing robot Download PDFInfo
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- CN110758585A CN110758585A CN201911095029.1A CN201911095029A CN110758585A CN 110758585 A CN110758585 A CN 110758585A CN 201911095029 A CN201911095029 A CN 201911095029A CN 110758585 A CN110758585 A CN 110758585A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a leg structure of a disc-shaped claw thorn type wall-climbing robot, and relates to the technical field of wall-climbing robots. The lower swing freedom structure of the device consists of a swing motor and a side bracket; the forward freedom structure consists of a forward motor, a bracket, a crank, a connecting rod and a connecting rod; the translational flexible freedom structure is arranged on a connecting rod of the four-bar mechanism and consists of a buffer device positioned above and below the connecting rod, and the buffer device is provided with a loop bar, a sleeve, a spring, a first pressure bar, a pin shaft and a second pressure bar; the rotary flexible freedom structure consists of a lantern ring connecting rod, a first rotating shaft, a second rotating shaft, a torsion spring and a connecting bottom plate. The invention has the advantages that: the two driving motors are positioned at the foremost ends of the leg parts, so that the weight and the volume of the middle section structure of the leg parts are reduced, and the overturning moment generated by the leg part structure is reduced; the transmission chain is shorter, so that the control is more facilitated; the length and the stress of the leg structure can be automatically adjusted, and the capacity of the claw stabbing foot to adapt to a complex wall surface environment is enhanced.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to a leg structure of a disc-shaped claw-thorn type wall-climbing robot.
Background
A robot is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. Robots are widely used in the fields of production, construction and the like, and are particularly commonly used for assisting or replacing human beings to carry out dangerous work or work in areas where the human beings cannot reach.
Wall climbing robots are a common type of robot. The traditional wall climbing robot obtains climbing capacity by utilizing electromagnetic adsorption, air pressure adsorption and other methods, and is widely applied to application occasions such as wall surface detection and maintenance. However, the electromagnetic adsorption wall-climbing robot can only climb on the surface of the magnetic conductive material, and the wall-climbing robot adopting the passive suction cup to perform negative pressure adsorption has difficulty in maintaining air tightness on the rough wall surface with unevenness. Aiming at rough wall surfaces widely existing in the nature and human living environment, researchers develop the research work of the claw-stabbing wall-climbing robot by observing the leg parts and claw stabbing sufficiency of insects and referring to the physiological morphology and the structural characteristics of the insects.
Through patents and paper search, there are the following known solutions: patent 1-a new hexapod robot (zhahh, ZL201310084564.3, 2013); patent 2-an integrated modular leg system for a hexapod robot (zhahh, ZL201310084888.7, 2013).
The legs are used as key parts of the wall-climbing robot, and the quality of the structural design of the leg-climbing robot directly influences the overall performance of the wall-climbing robot. Wall-climbing robots typically have 2-6 legs, each leg containing 2-3 degrees of freedom (hip, knee, ankle), each degree of freedom being driven individually by a motor or steering engine.
As can be seen from the above documents, the existing leg structure mainly has the following three problems: (1) the knee joint and ankle joint motors are positioned in the middle and at the tail end of the leg part and are far away from the gravity center of the robot, and the dead weight of the motors can generate large overturning moment, so that the motion balance and control of the robot are not facilitated; (2) the knee joint and ankle joint motors are embedded into the leg joints, so that the structure is overstaffed, and the leg parts of the robot are not miniaturized and designed in a light weight manner; (3) the flexibility freedom degree is lacked, and the rigid contact force between the claw thorn and the wall surface of the wall-climbing robot is difficult to reduce.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a leg structure of a disc-shaped claw-thorn type wall-climbing robot, which can reduce the weight and the volume of a middle section structure of the leg, reduce the overturning moment generated by the leg structure and realize the miniaturization and the light weight of the leg structure; the transmission chain is shorter, and the control is more facilitated.
In order to solve the technical problems, the technical scheme of the invention is as follows: the device comprises a lower swing freedom degree structure, a forward moving freedom degree structure, a translational flexible freedom degree structure and a rotary flexible freedom degree structure; the lower swing freedom structure and the forward freedom structure are active freedom structures, and the translational flexible freedom structure and the rotational flexible freedom structure are passive freedom structures;
the lower swing freedom structure is composed of a swing motor and side supports, the swing motor is fixed on a base plate of the wall climbing robot through a motor base, a first gear is arranged on an output shaft of the swing motor, the first gear is meshed with a second gear, the second gear is installed on a base on one side, the two bases are fixed on the base plate, the second gear is connected with the side supports on one side, and the second gear drives the side supports to be rotatably connected with the corresponding bases;
the forward freedom structure consists of a forward motor, a bracket, a crank, a connecting rod and a connecting rod; the support is fixed with the top ends of the supports on the two sides, the forward motor is installed on the side supports, a first bevel gear is arranged on an output shaft of the forward motor, the first bevel gear is meshed with a second bevel gear, the second bevel gear is connected with a crank, the crank drives a connecting rod to rotate, the connecting rod is connected with a side link, the side link is rotatably connected with the support, and the support, the crank, the connecting rod and the side link form a four-bar linkage mechanism;
the translational flexible freedom structure is arranged on a connecting rod of the four-bar mechanism and consists of a buffer device positioned above and below the connecting rod, and the buffer device is provided with a loop bar, a sleeve, a spring, a first pressure bar, a pin shaft and a second pressure bar; the connecting rod is rotatably connected with one end of the loop bar, the other end of the loop bar is sleeved in the sleeve, the other end of the sleeve is rotatably connected with the upper part of the first pressure bar through a pin shaft, a spring is arranged between the loop bar and the sleeve, the other loop bar, the sleeve and the spring are connected with the lower part of the first pressure bar, one end of the other sleeve is connected with the second pressure bar through a pin shaft, and the first pressure bar and the second pressure bar are respectively and rotatably connected with the connecting rod;
the rotary flexible freedom structure consists of a lantern ring connecting rod, a first rotating shaft, a second rotating shaft, a torsion spring and a connecting bottom plate; the connecting bottom plate is established between the lantern ring connecting rod, the connecting bottom plate is I type structure, the middle part of connecting bottom plate respectively with the bottom swivelling joint of first depression bar and second depression bar, the inside first pivot and the second pivot of wearing to be equipped with respectively in the both ends of connecting bottom plate, the lantern ring connecting rod is passed respectively at the both ends of first pivot, second pivot, the cover has closed the torsional spring in the first pivot, and the torsional spring equipartition in the both sides of connecting the bottom plate, the one end of torsional spring is fixed on the lantern ring connecting rod, the other end is fixed on connecting the bottom plate, the lantern ring drives the lantern ring connecting rod and is elastic rotation around first pivot center, lantern ring and the sufficient swivelling joint of claw thorn on the lantern.
Furthermore, a circular arc-shaped limiting groove is formed in the lantern ring connecting rod and is formed in the joint of the second rotating shaft and the lantern ring connecting rod, and the lantern ring connecting rod swings up and down relative to the other end of the lantern ring through the change of the relative position of the limiting groove and the second rotating shaft.
Further, the torsion angle of the torsion spring is 1-5 degrees.
After adopting the structure, the invention has the advantages that:
1. the two driving motors are positioned at the foremost ends of the leg parts, so that the weight and the volume of the middle-section structure of the leg parts are reduced, the overturning moment generated by the leg part structure is reduced, and the miniaturization and the light weight of the leg part structure are realized;
2. the leg structure adopts a gear set with the reduction ratio of 1:1 for direct transmission, and a transmission chain is shorter, so that the control is facilitated;
3. two passive flexible degrees of freedom are arranged, the length and the stress of the leg structure can be automatically adjusted, and the capacity of the claw stabbing foot to adapt to a complex wall surface environment is enhanced.
Drawings
FIG. 1 is a top view of the present invention;
FIG. 2 is a rear view of the present invention;
FIG. 3 is a schematic structural diagram of the structure of the degree of freedom of the pendulum and the structure of the degree of freedom of the forward running of the present invention;
FIG. 4 is a schematic view of a rotational flexibility degree of freedom structure of the present invention;
fig. 5 is a schematic diagram of the motion of the translational flexible degree of freedom structure and the rotational flexible degree of freedom structure of the present invention.
Description of reference numerals: 1. a swing motor; 2. a motor base; 3. a first gear; 4. a second gear; 5. a base; 6. a side bracket; 7. a forward motor; 8. a first bevel gear; 9. a second bevel gear; 10. a support; 11. a crank; 12. a connecting rod; 13. a side link; 14. a loop bar; 15. a sleeve; 16. a spring; 17. a first pressure lever; 18. a pin shaft; 19. a second compression bar; 20. a lantern ring connecting rod; 201. a limiting groove; 202. a collar; 211. a first rotating shaft; 212. a second rotating shaft; 22. a torsion spring; 23. connecting the bottom plate; 30. the feet are stabbed by the claws; 301. a claw prick sheet.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in detail with reference to the accompanying drawings and the detailed description. The following examples are presented to enable one of ordinary skill in the art to more fully understand the present invention and are not intended to limit the scope of the embodiments described herein.
As shown in fig. 1 to 5, the following technical solutions are adopted in the present embodiment: the leg structure of the wall climbing robot has two active degrees of freedom of downward swinging and forward traveling, and two passive flexible degrees of freedom of translation and rotation, and can realize the climbing action of the claw stabbing feet 30.
The lower swing freedom structure is composed of a swing motor 1, a motor base 2, a first gear 3, a second gear 4, a base 5 and a side support 6, wherein the swing motor 1 is fixed on a base plate of the wall climbing robot through the motor base 2, the first gear 3 is fixed on an output shaft of the swing motor 1, the second gear 4 is connected with one side support 6, the two bases 5 are fixed on the base plate, the bottoms of the two side supports 6 are rotatably connected with the two bases 5, the top ends of the two side supports 6 are fixed on a support 10, the swing motor 1 is utilized for driving, the first gear 3 and the second gear 4 are in transmission, the support 10 can rotate around the base 5, and then the lower swing freedom motion of a leg structure is realized.
The freedom structure of moving ahead is by motor 7 of moving ahead, first bevel gear 8, second bevel gear 9, support 10, crank 11, connecting rod 12 and side link 13 constitute, motor 7 of moving ahead fixes on side support 6, first bevel gear 8 fixes on the output shaft of motor 7 of moving ahead, second bevel gear 9 is fixed with crank 11, support 10, crank 11, connecting rod 12, four-bar linkage is constituteed to side link 13, through motor 7 drive of moving ahead, first bevel gear 8 and the transmission of second bevel gear 9, predetermined movement track can be accomplished to four-bar linkage, realize the freedom of movement of moving ahead of shank structure.
The connecting rod 12 of the four-bar linkage mechanism is also provided with two flexible passive degrees of freedom of a translational flexible degree of freedom structure and a rotational flexible degree of freedom structure. The claw foot 30 is connected to the leg structure by two degrees of flexibility. The translational flexible freedom structure is composed of buffer devices positioned above and below the connecting rod 12, and specifically comprises a loop bar 14, a sleeve 15, a spring 16, a first pressure bar 17, a pin shaft 18 and a second pressure bar 19, wherein the first pressure bar 17 and the second pressure bar 19 are connected at corresponding positions of the connecting rod 12, and can rotate around the joint, one end of the loop bar 14 is rotatably connected with the connecting rod 12, the other end is sleeved in the sleeve 15, the other end of the sleeve 15 is rotatably connected with the first pressure bar 17 through a pin shaft 18, the spring 16 is positioned between the loop bar 14 and the sleeve 15, the other loop bar 14, the sleeve 15 and the spring 16 are connected below the first pressure bar 17, one end of the other sleeve 15 is connected with the second pressure bar 19 through the pin shaft 18, when the claw-stabbed foot 30 deviates transversely, the buffer device positioned above and below the connecting rod 12 can elastically stretch and contract, so that the stress condition of the claw-stabbed foot 30 is automatically adjusted, and the claw-stabbed foot is prevented from being in rigid contact with the wall surface.
The rotary flexible freedom structure consists of a lantern ring connecting rod 20, a first rotating shaft 211, a second rotating shaft 212, a torsion spring 22 and a connecting bottom plate 23; connecting bottom plate 23 establishes between lantern ring connecting rod 20, connecting bottom plate 23 is I type structure, connecting bottom plate 23's mid portion respectively with first depression bar 17 and second depression bar 19's bottom swivelling joint, connecting bottom plate 23's both ends are inside wears to be equipped with first pivot 211 and second pivot 212 respectively, first pivot 211, lantern ring connecting rod 20 is passed respectively at the both ends of second pivot 212, torsion spring 22 has been registrated on the first pivot 211, and torsion spring 22 equipartition is in connecting bottom plate 23's both sides, torsion spring 22's one end is fixed on lantern ring connecting rod 20, the other end is fixed on connecting bottom plate 23, lantern ring 202 drives lantern ring connecting rod 20 and is elastic rotary motion around first pivot 211 center, lantern ring 202 and the sufficient 30 swivelling joint of claw on the lantern ring connecting rod 20. The claw-stabbed foot 30 rotates around the lantern ring 202 by a limited angle, the claw-stabbed foot 30 is connected with a claw-stabbed sheet 301, and the torsion angle of the torsion spring 22 is 1-5 degrees. Because the lantern ring connecting rod 20 is provided with the circular arc-shaped limiting groove 201, when the claw foot 30 is subjected to longitudinal force, the lantern ring connecting rod 20 can make elastic rotation motion around the center (point O in fig. 5) of the first rotating shaft 211, and the lantern ring connecting rod 20 can freely swing for a certain angle under the limiting of the limiting groove 201.
The elastic coefficient of the torsion spring 22 is proper, the rigidity of the torsion spring 22 is too small, the claw prick foot 30 is easy to shake, the control difficulty is increased, and the climbing positioning precision is influenced; the rigidity is too large to alleviate the rigid impact force between the claw foot 30 and the wall surface. Empirically, the spring constant K of the torsion spring can be obtained by the following formula
WhereinmgThe weight and torsion angle of the claw-stabbed foot 30aCan be taken 1-5 degrees.
The working principle is as follows: the lower swing freedom degree structure is driven by a swing motor 1, a first gear 3 and a second gear 4 are used for transmission, a support 10 can rotate around a base 5, and the lower swing freedom degree movement of the leg structure is realized through the rotation movement of the support 10; the advancing freedom structure is driven by an advancing motor 7, a first bevel gear 8 and a second bevel gear 9 are used for transmission, and a bracket 10, a crank 11, a connecting rod 12 and a connecting rod 13 four-bar linkage can complete a preset movement track to realize the advancing freedom movement of the leg structure; the translational flexible freedom structure is provided with a buffer device, when the claw-stabbed foot 30 deviates transversely, the buffer device positioned above and below the connecting rod 12 can elastically stretch and contract, the stress condition of the claw-stabbed foot 30 is automatically adjusted, and the claw-stabbed foot is prevented from being in rigid contact with the wall surface; the lantern ring connecting rod 20 of the rotary flexible freedom structure is provided with a circular arc-shaped limiting groove 201, when the claw foot 30 is subjected to longitudinal force, the lantern ring connecting rod 20 can do elastic rotary motion around the center of the first rotating shaft 211, and the lantern ring connecting rod 20 swings up and down relative to the other end of the lantern ring 202 through the change of the relative position of the limiting groove 201 and the second rotating shaft 212.
It is to be noted that, in this document, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions; also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
According to the specific embodiment, the two driving motors are arranged at the foremost ends of the legs, so that the weight and the volume of the middle-section structure of the legs are reduced, the overturning moment generated by the leg structure is reduced, and the miniaturization and the light weight of the leg structure are realized; the leg structure adopts a gear set with the reduction ratio of 1:1 for direct transmission, and a transmission chain is shorter, so that the control is facilitated; two passive flexible degrees of freedom are arranged, the length and the stress of the leg structure can be automatically adjusted, and the capacity of the claw stabbing foot to adapt to a complex wall surface environment is enhanced; the invention is a modular structure, and can be assembled into a four-foot or six-foot wall-climbing robot more simply and conveniently on the premise of adding a proper body structure.
The foregoing shows and describes the general principles and features of the present invention, together with the advantages thereof. It will be understood by those skilled in the art that the present invention is not limited to the embodiments described above, which are described in the specification and illustrated only to illustrate the principle of the present invention, but that various changes and modifications may be made therein without departing from the spirit and scope of the present invention, which fall within the scope of the invention as claimed. The scope of the invention is defined by the appended claims and equivalents thereof.
Claims (3)
1. The utility model provides a shank structure of dish type pawl thorn formula wall climbing robot which characterized in that: the device comprises a lower swing freedom degree structure, a forward moving freedom degree structure, a translational flexible freedom degree structure and a rotary flexible freedom degree structure; the lower swing freedom structure and the forward freedom structure are active freedom structures, and the translational flexible freedom structure and the rotational flexible freedom structure are passive freedom structures;
the lower swing freedom structure is composed of a swing motor and side supports, the swing motor is fixed on a base plate of the wall climbing robot through a motor base, a first gear is arranged on an output shaft of the swing motor, the first gear is meshed with a second gear, the second gear is installed on a base on one side, the two bases are fixed on the base plate, the second gear is connected with the side supports on one side, and the second gear drives the side supports to be rotatably connected with the corresponding bases;
the forward freedom structure consists of a forward motor, a bracket, a crank, a connecting rod and a connecting rod; the support is fixed with the top ends of the supports on the two sides, the forward motor is installed on the side supports, a first bevel gear is arranged on an output shaft of the forward motor, the first bevel gear is meshed with a second bevel gear, the second bevel gear is connected with a crank, the crank drives a connecting rod to rotate, the connecting rod is connected with a side link, the side link is rotatably connected with the support, and the support, the crank, the connecting rod and the side link form a four-bar linkage mechanism;
the translational flexible freedom structure is arranged on a connecting rod of the four-bar mechanism and consists of a buffer device positioned above and below the connecting rod, and the buffer device is provided with a loop bar, a sleeve, a spring, a first pressure bar, a pin shaft and a second pressure bar; the connecting rod is rotatably connected with one end of the loop bar, the other end of the loop bar is sleeved in the sleeve, the other end of the sleeve is rotatably connected with the upper part of the first pressure bar through a pin shaft, a spring is arranged between the loop bar and the sleeve, the other loop bar, the sleeve and the spring are connected with the lower part of the first pressure bar, one end of the other sleeve is connected with the second pressure bar through a pin shaft, and the first pressure bar and the second pressure bar are respectively and rotatably connected with the connecting rod;
the rotary flexible freedom structure consists of a lantern ring connecting rod, a first rotating shaft, a second rotating shaft, a torsion spring and a connecting bottom plate; the connecting bottom plate is established between the lantern ring connecting rod, the connecting bottom plate is I type structure, the middle part of connecting bottom plate respectively with the bottom swivelling joint of first depression bar and second depression bar, the inside first pivot and the second pivot of wearing to be equipped with respectively in the both ends of connecting bottom plate, the lantern ring connecting rod is passed respectively at the both ends of first pivot, second pivot, the cover has closed the torsional spring in the first pivot, and the torsional spring equipartition in the both sides of connecting the bottom plate, the one end of torsional spring is fixed on the lantern ring connecting rod, the other end is fixed on connecting the bottom plate, the lantern ring drives the lantern ring connecting rod and is elastic rotation around first pivot center, lantern ring and the sufficient swivelling joint of claw thorn on the lantern.
2. The leg structure of a disc-type claw-barbed wall-climbing robot according to claim 1, characterized in that: the lantern ring connecting rod is provided with a circular arc-shaped limiting groove, the limiting groove is formed in the joint of the second rotating shaft and the lantern ring connecting rod, and the lantern ring connecting rod swings up and down relative to the other end of the lantern ring through the change of the relative position of the limiting groove and the second rotating shaft.
3. The leg structure of a disc-type claw-barbed wall-climbing robot according to claim 1, characterized in that: the torsion angle of the torsion spring is 1-5 degrees.
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| CN201911095029.1A CN110758585B (en) | 2019-11-11 | 2019-11-11 | Shank structure of disk-shaped claw thorn type wall-climbing robot |
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| CN201911095029.1A CN110758585B (en) | 2019-11-11 | 2019-11-11 | Shank structure of disk-shaped claw thorn type wall-climbing robot |
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| CN110758585A true CN110758585A (en) | 2020-02-07 |
| CN110758585B CN110758585B (en) | 2022-04-05 |
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| CN111547280A (en) * | 2020-05-20 | 2020-08-18 | 上海航天控制技术研究所 | Low-power-consumption high-integration high-reliability space adhesion device |
| CN113044132A (en) * | 2021-03-25 | 2021-06-29 | 华南理工大学广州学院 | Multi-foot rotating balance robot and control method |
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| CN113044132A (en) * | 2021-03-25 | 2021-06-29 | 华南理工大学广州学院 | Multi-foot rotating balance robot and control method |
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| CN110758585B (en) | 2022-04-05 |
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