CN110803230A

CN110803230A - Bionic adhesion-absorption combined type crawler wall-climbing robot

Info

Publication number: CN110803230A
Application number: CN201911141873.3A
Authority: CN
Inventors: 刘彦伟; 潘豪; 黄响; 李鹏阳; 李淑娟; 孔令飞
Original assignee: Xian University of Technology
Current assignee: Xian University of Technology
Priority date: 2019-11-20
Filing date: 2019-11-20
Publication date: 2020-02-18
Anticipated expiration: 2039-11-20
Also published as: CN110803230B

Abstract

The invention discloses a bionic adhesion-absorption combined type crawler wall-climbing robot which comprises a rack, driving belt wheels, an adhesion crawler, a driven belt wheel and an elastic tail, wherein the two driving belt wheels are respectively driven by two motors to rotate, the driving belt wheels drive the adhesion crawler to move, the adhesion crawler simulates a fish adhesion-absorption combined structure and comprises a crawler body, a sucker array is embedded in the crawler body, the surface of the crawler body is coated with a bionic adhesion material, and the sucker and the bionic adhesion material have the function of mutually promoting and providing adhesion performance. This robot is at the in-process of crawling, and the protruding structure array of driving pulley, passive band pulley circumferential surface cooperatees with the sucking disc array, and the band pulley drives the sucking disc and adsorbs and the desorption action when the track motion, and the sucking disc realizes independently adsorbing, the desorption action along with the track motion.

Description

Bionic adhesion-absorption combined type crawler wall-climbing robot

Technical Field

The invention belongs to the technical field of engineering bionics and mechanical design and manufacture, and relates to a bionic adhesion-absorption combined type crawler wall-climbing robot.

Background

The wall-climbing robot is a special robot capable of climbing on a vertical wall surface, and has wide application prospects in the fields of disaster search and rescue, military reconnaissance, bridge detection, planet detection and the like.

Compared with a foot-type robot, the crawler-type wall-climbing robot has the advantages of relatively simple structure, large adhesion area, high climbing speed and the like. Chinese patent (title: an adsorption type crawler crawling mechanism and a wall climbing robot with the same, application number: 201810823264.5, application date: 2018-07-25) discloses an adsorption type crawler crawling mechanism capable of continuously crawling on metal planes, inclined planes and vertical planes, and is only suitable for surfaces made of ferromagnetic materials. Chinese patent (title: crawler type wall climbing device, patent number: 201610831488.1, granted date: 2019-01-18) discloses a crawler type wall climbing device, a sucker needs to be adsorbed on a wall surface by a vacuum generator, and a robot is complex in structure and high in energy consumption.

Disclosure of Invention

The invention aims to provide a bionic adhesion-absorption combined type crawler wall-climbing robot which can realize the absorption avoidance of various types, and has simple structure and stronger absorption force.

The bionic adhesion-absorption combined type crawler wall-climbing robot comprises a rack, wherein two groups of crawler climbing mechanisms are arranged on the rack side by side, two groups of elastic tails are connected to the rack, and the two groups of elastic tails are respectively positioned on the outer sides of the two groups of crawler climbing mechanisms.

The present invention is also characterized in that,

every group track crawls mechanism includes driving pulley, and driving pulley passes through the adhesion track and connects passive band pulley, is connected with the motor on the driving pulley, and driving pulley's surface evenly distributed has a plurality of driving pulley arch, and driving pulley passes through the protruding and adhesion track cooperation of driving pulley.

The center of the driving belt wheel is coaxially provided with internal teeth, a main shaft of the motor is provided with a gear, and the gear is in meshing transmission with the internal teeth to drive the driving belt wheel to rotate;

the outer surface of the driven belt wheel is provided with a driven belt wheel bulge.

Adhesion track includes the track body, and the surface coating of track body has bionical adhesion material, evenly set up on the track body with the protruding, passive band pulley protruding complex hole of initiative band pulley, the outside in every hole is equipped with the sucking disc, the sucking disc improves the precompression for bionical adhesion material, the leakproofness of bionical adhesion material reinforcing sucking disc.

The elasticity tail includes the tail, and the tail constitutes rotary joint through changeing the round pin with the frame, and the one end of tail is installed in the frame through changeing the round pin, and the other end of tail passes through the spring and links to each other with the frame, and the spring provides the power that presses to the surface of crawling for the tail, and the elasticity tail provides the precompression to the adhesion track that is located the robot front end, prevents that the robot from toppling backward.

The invention has the following beneficial effects:

(1) adopt the mode that bionical adhesion material and sucking disc combined together, constitute the adhesion track of robot with sucking disc and bionical adhesion material complex, the absorption and the adhesion effect of sucking disc and bionical adhesion material promote each other, have improved whole adhesion performance, have improved the stability and the load capacity that the robot crawled.

(2) The adhesive crawler belt is made of soft materials such as silica gel and the like, and can adapt to the shape of the inwards concave or outwards convex crawling surface.

(3) Adopt the protruding array of band pulley and sucking disc complex design, drive the sucking disc and adsorb and the desorption action when realizing band pulley drive track motion, the sucking disc independently adsorbs, the desorption along with in the track motion process, need not extra adhesion and desorption driver.

Drawings

FIG. 1 is a schematic structural view of a bionic adhesion-absorption combined type crawler wall-climbing robot of the present invention;

FIG. 2 is an internal structure view of a bionic adhesion-absorption combined type crawler wall-climbing robot of the present invention;

FIG. 3 is a cross-sectional view of an adhesive track of the bionic adhesive-suction composite track wall-climbing robot of the present invention;

FIG. 4 is a crawling drawing of the bionic adhesion-absorption combined type crawler wall-climbing robot of the invention.

In the figure, 1, a frame;

2. the driving belt wheel comprises a driving belt wheel, 2-1. a motor, 2-2. a gear, 2-3. internal teeth and 2-4. a driving belt wheel bulge;

3. adhering a crawler belt, 3-1, a crawler belt body, 3-2, a bionic adhering material and 3-3, a sucker;

4. driven belt wheel, 4-1. the driven belt wheel is convex;

5. elastic tail, 5-1 tail, 5-2 spring, 5-3 rotating pin;

6. and (3) wall surfaces.

Detailed Description

The present invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are some embodiments of the present invention, but not all embodiments.

The invention discloses a bionic adhesion-absorption combined type crawler wall-climbing robot which comprises a rack 1, driving belt wheels 2, an adhesion crawler 3, driven belt wheels 4 and an elastic tail 5, wherein two motors 2-1 are respectively arranged on two sides of the front end of the rack 1 and respectively drive the two driving belt wheels 2, the driving belt wheels 2 drive crawler bodies 3-1 to move, the driven belt wheels 4 move along with the crawler bodies 3-1, and the elastic tail 5 is arranged at the tail of the robot.

A motor 2-1 on a rack 1 drives a driving belt wheel 2 to rotate in a mode that gears 2-2 and inner teeth 2-3 are meshed respectively, the driving belt wheel 2 is matched with suckers 3-3 through a driving belt wheel bulge 2-4 and a driven belt wheel 4 through a driven belt wheel bulge 4-1, the suckers 3-3 are compressed by the driving belt wheel bulge 2-4 on the driving belt wheel 2 when moving to the front end of the robot along with an adhesive crawler 3, the suckers 3-3 move along with the adhesive crawler 3 and rebound after leaving the driving belt wheel 2 to generate negative pressure to provide adsorption force, the suckers 3-3 are compressed by the driven belt wheel bulge 4-1 on the driven belt wheel 4 when moving to the tail part of the robot along with the adhesive crawler 3, the negative pressure disappears, and the suckers 3-3 are separated from a crawling. The bionic adhesion-absorption combined type track wall-climbing robot can realize climbing on surfaces at any angle and ceilings.

The elastic tail 5 comprises a tail 5-1, a spring 5-2 and a rotating pin 5-3, the tail 5-1 and the rack 1 form a rotating joint through the rotating pin 5-3, one end of the tail 5-1 is installed on the rack 1 of the robot through the rotating pin 5-3, the other end of the tail 5-1 is connected with the rack 1 of the robot through the spring 5-2, the spring 5-2 provides a force pressing the tail 5-1 to a crawling surface, and the elastic tail 5 provides pre-pressure for an adhesive crawler 3 located at the front end of the robot to prevent the robot from toppling backwards.

The adhesion crawler 3 comprises a crawler body 3-1, a bionic adhesion material 3-2 and suckers 3-3, the suckers 3-3 are embedded in the crawler body 3-1, the crawler body 3-1 and the suckers 3-3 can be integrally cast and formed in a mold by liquid silica gel materials, the bionic adhesion material 3-2 is coated on the outer surface of the crawler body 3-1, adhesion has flexibility, and the adhesion can be self-adaptive to a convex or concave curved surface shape.

The robot drives the two driving belt wheels 2 to rotate by the two motors 2-1 respectively, drives the adhesion crawler 3 to move, and can realize steering movement.

As shown in fig. 4, the bionic adhesion-adsorption composite type crawler wall-climbing robot realizes grabbing of a wall surface 6 by using a combination of adhesion and adsorption, a motor 2-1 drives a left driving belt wheel and a right driving belt wheel 2 to rotate through gear engagement, the driving belt wheel 2 and a driven belt wheel 4 are mutually matched with a sucker 3-3 through a belt wheel protruding structure, the adhesion crawler 3 is driven to rotate by the rotation of the belt wheels, and the two motors 2-1 are controlled to rotate at the same speed and rotate at different speeds to realize advancing and steering of the robot. When the robot moves on a vertical wall surface, the suckers 3-3 move to the front end of the robot along with the adhesive crawler 3 and are compressed by the driving pulley bulges 2-4 on the driving pulley 2, and the suckers 3-3 move along with the adhesive crawler 3 and rebound after leaving the driving pulley 2 to generate negative pressure and provide adsorption force; when the sucker 3-3 moves to the tail part of the robot along with the adhesive crawler 3, the sucker 3-3 is compressed by the protrusion 4-1 of the driven belt wheel on the driven belt wheel 4, the negative pressure disappears, and the sucker 3-3 is easily separated from the crawling surface. The whole process is circularly reciprocated in the motion process of the robot, and continuous adsorption and desorption are realized.

Claims

1. The utility model provides a bionic glues-inhales combined type track wall climbing robot which characterized in that: the crawler-type crawler crawling mechanism comprises a rack, wherein two groups of crawler crawling mechanisms are arranged on the rack side by side, two groups of elastic tails are connected to the rack, and the two groups of elastic tails are respectively positioned on the outer sides of the two groups of crawler crawling mechanisms.

2. The bionic adhesion-absorption composite crawler wall-climbing robot as claimed in claim 1, wherein: each group of crawler crawling mechanism comprises a driving belt wheel, the driving belt wheel is connected with a driven belt wheel through an adhesion crawler, a motor is connected onto the driving belt wheel, a plurality of driving belt wheel protrusions are uniformly distributed on the outer surface of the driving belt wheel, and the driving belt wheel is matched with the adhesion crawler through the driving belt wheel protrusions.

3. The bionic adhesion-absorption composite crawler wall-climbing robot as claimed in claim 2, wherein: the center of the driving belt wheel is coaxially provided with internal teeth, a main shaft of the motor is provided with a gear, and the gear is in meshing transmission with the internal teeth to drive the driving belt wheel to rotate;

4. The bionic adhesion-absorption composite crawler wall-climbing robot as claimed in claim 2, wherein: the adhesion track comprises a track body, wherein the outer surface of the track body is coated with a bionic adhesion material, holes matched with the driving belt wheel protrusions and the driven belt wheel protrusions are uniformly formed in the track body, a sucker is arranged on the outer side of each hole, the sucker improves the pre-pressure for the bionic adhesion material, and the bionic adhesion material strengthens the sealing performance of the sucker.

5. The bionic adhesion-absorption composite crawler wall-climbing robot as claimed in claim 2, wherein: the elasticity tail includes the tail, and the tail constitutes rotary joint through changeing the round pin with the frame, and the one end of tail is installed in the frame through changeing the round pin, and the other end of tail passes through the spring and links to each other with the frame, and the spring provides the power that presses to the surface of crawling for the tail, and the elasticity tail provides precompression to the adhesion track that is located the robot front end, prevents that the robot from toppling backward.