CN112519904A - Bionic telescopic active barbed-type crawler climbing mechanism - Google Patents
Bionic telescopic active barbed-type crawler climbing mechanism Download PDFInfo
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- CN112519904A CN112519904A CN202011485605.6A CN202011485605A CN112519904A CN 112519904 A CN112519904 A CN 112519904A CN 202011485605 A CN202011485605 A CN 202011485605A CN 112519904 A CN112519904 A CN 112519904A
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- barbed
- guide rail
- assembly
- rail assembly
- wheel
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The invention discloses a bionic telescopic active barbed track climbing mechanism which comprises a framework plate, a motor assembly, a rotary drum, a fixed pulley assembly, a guide rail assembly, a push plate, a connecting rod, a large belt wheel, a small belt wheel, a hollowed-out track and a barbed unit. Compared with the prior art, the spine pushing movement mechanism based on the crank-slider mode is designed by simulating the telescopic movement principle of the feline sole barbs, and is matched with the telescopic spines which are arranged on the hollowed-out crawler belt in an array mode, and then the spine pushing movement mechanism is mechanically connected with the body to move forwards at a certain angle, so that higher climbing force can be provided.
Description
Technical Field
The invention relates to the technical field of climbing mechanisms, in particular to a bionic telescopic active barbed-type crawler climbing mechanism.
Background
The surface climbing robot system has important application prospects in the aspects of large-scale facility surface detection, surface cleaning, surface coating, fault diagnosis of major facilities, fault early warning, state maintenance and the like, and is an important tool for replacing workers to complete operation tasks in complex, dangerous, narrow, polluted and other environments. In natural/artificial environments, building facilities and major equipment have different surface material properties, different surface appearances, different environmental humidity and various states of surface attachments (compactness/looseness, stickiness, wet skid property and the like), and great technical challenges are provided for stable and reliable climbing and moving operation of a climbing robot.
Many studies have been conducted at home and abroad aiming at the solid surface climbing mobile robot system. In the past, aiming at a smooth surface climbing task, research on the gecko-like robot is concerned (such as the armyworm Stickybot of Stanford university and the Nanjing aerospace university authorization publication No. CN105128971A), but the gecko-like sole needs to have self-cleaning capability, which brings certain difficulties to the design, manufacture and application of the bionic robot; the bionic feline sole structure is researched more about climbing tasks on a general rough solid surface, but the existing bionic telescopic mechanism is designed to be generally in a pneumatic mode and based on a micro-mechanical system manufacturing process, the structure is complex, the manufacturing is difficult, meanwhile, the claw type climbing mechanism is generally used for a multi-leg bionic climbing robot system, and the motion flexibility and the climbing motion efficiency of the robot are not high.
Disclosure of Invention
The invention aims to provide a bionic telescopic active barbed track climbing mechanism, which improves the motion efficiency of the barbed track climbing mechanism and improves the climbing force stability and the carrying moving capability of a crawler-type mobile robot system by simulating the telescopic motion principle of a feline sole barb.
In order to achieve the purpose, the invention provides the following scheme:
the invention discloses a bionic telescopic active barbed track climbing mechanism which comprises a framework plate, a motor assembly, a rotary drum, a fixed pulley assembly, a guide rail assembly, a push plate, a connecting rod, a large belt wheel, a small belt wheel, a hollowed-out track and a barbed unit, wherein the framework plate is provided with a frame plate;
the motor assembly is fixedly arranged on the framework plate; the rotary drum is connected with the motor component, and the motor component drives the rotary drum to rotate; the fixed pulley assembly is arranged on the framework plate and positioned on two sides of the guide rail assembly, the upper edge of the guide rail assembly is embedded into a wheel groove of the fixed pulley assembly, and the fixed pulley assembly is used for enabling the guide rail assembly to do linear motion; the push plate is arranged at the lower part of the guide rail assembly; one end of the connecting rod is rotatably connected with the rotary drum, and the other end of the connecting rod is rotatably connected with the push plate; the large belt wheel and the small belt wheel are rotatably installed on the framework plate, and the large belt wheel is positioned on the climbing side of the framework plate; the hollow-out crawler belt is sleeved outside the integral structure formed by the large belt wheel and the small belt wheel; the hollow caterpillar band is characterized in that the barb unit is positioned on the inner side of the hollow caterpillar band and comprises a pushing piece, a fixing piece, a sharp barb, a compression spring and a hollow rivet, the fixing piece is fixed on the hollow caterpillar band, the fixing piece is sleeved on the outer side of the pushing piece, one end of the sharp barb is fixedly connected with the pushing piece, the other end of the sharp barb penetrates through the hollow rivet, the compression spring is sleeved on the outer side of the sharp barb, and two ends of the compression spring are respectively connected with the hollow rivet and the pushing piece; under the driving of the motor assembly, the connecting rod can push the guide rail assembly to move towards the climbing side or to be far away from the climbing side, the guide rail assembly can push the pushing piece and the spines outwards to enable the spines to extend out of the hollowed-out crawler belt, and when the guide rail assembly is retracted, the spines are retracted to the inner side of the hollowed-out crawler belt.
Preferably, the barb unit further comprises a micro bearing and a fixed shaft, the fixed shaft is fixed at one end of the pushing member close to the guide rail assembly, the micro bearing is mounted on the fixed shaft, and the micro bearing is used for rolling contact with the guide rail assembly.
Preferably, the spike is a sprint spike, and the spike is in threaded connection with the pushing member.
Preferably, the fixed pulley assemblies are distributed in a rectangular shape.
Preferably, the guide rail assembly further comprises a restraining plate, the restraining plate is fixed to the upper portion of the guide rail assembly, the guide rail assembly has two extreme positions when moving along a straight line, and the guide rail assembly is limited at the two extreme positions through the contact between the restraining plate and the fixed pulley assembly.
Preferably, the number of the small belt wheels is two, and the small belt wheels are rotatably mounted on a small wheel spindle which is fixed on the framework plate; the two large belt wheels are respectively arranged on a large wheel rotating shaft and a large wheel input shaft, the large wheel rotating shaft and the large wheel input shaft are both rotatably arranged on a bearing sleeve, and the bearing sleeve is fixed on the framework plate.
Preferably, the small wheel spindle is connected with the robot body through a connecting rod assembly, and the large wheel input shaft is connected with the robot body through a universal coupling.
Preferably, the robot further comprises a flange connecting shaft, the flange connecting shaft is fixed on the framework plate, a connecting line of the flange connecting shaft, the large wheel rotating shaft and the large wheel input shaft is a straight line, and the flange connecting shaft is connected with the robot body through a connecting rod assembly.
Compared with the prior art, the invention has the following technical effects:
according to the invention, by simulating the telescopic motion principle of the hook thorn of the sole of the feline, the motion efficiency of the hook thorn type climbing mechanism is improved, and the climbing force stability and the carrying moving capacity of the crawler-type mobile robot system are improved; the invention is provided; the miniature bearing is used for rolling contact with the groove bottom of the guide rail groove, so that the friction force between the pushing piece and the guide rail is reduced, the energy efficiency of the climbing mechanism in the motion process is improved, and the structural stability of the spikes distributed along the circumference of the track is ensured, thereby ensuring the working reliability of the climbing mechanism.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings without creative efforts.
FIG. 1 is a schematic structural diagram of the outer side of the bionic telescopic active barbed track climbing mechanism according to the embodiment;
FIG. 2 is a schematic structural view of the inner side of the bionic telescopic active barbed track climbing mechanism according to the present embodiment;
FIG. 3 is a schematic structural view of the hook unit;
fig. 4 is a half sectional view of the hooking unit;
FIG. 5 is a schematic view illustrating a connection relationship between the bionic telescopic active barbed track climbing mechanism and the robot body according to the present embodiment;
FIG. 6 is a schematic diagram illustrating the position relationship between the guide rail assembly and the micro-bearing in a non-contact state;
description of reference numerals: 001-bionic telescopic active barbed track climbing mechanism; 002-universal coupling; 003-connecting rod assembly; 004-robot body; 1-a barbed unit; 2-a guide rail; 3-pushing the plate; 4-a connecting rod; 5-a fixed pulley assembly; 6-hollowed-out caterpillar band; 7-framework plates; 8-a motor assembly; 9-a rotating drum; 10-small belt wheel; 11-large belt wheel; 12-the bull wheel rotating shaft; 13-flange connecting shaft; 14-a small wheel spindle; 15-large wheel input shaft; 16-a bearing sleeve; 17-a constraining plate; 101-a pushing part, 102-a miniature bearing, 103-a fixed shaft and 104-a fixed part; 105-spike; 106-compression spring; 107-blind rivets; 201-guide groove.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The invention aims to provide a bionic telescopic active barbed track climbing mechanism, which improves the motion efficiency of the barbed track climbing mechanism and improves the climbing force stability and the carrying moving capability of a crawler-type mobile robot system by simulating the telescopic motion principle of a feline sole barb.
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
As shown in fig. 1-6, the embodiment provides a bionic telescopic active barbed track climbing mechanism, which includes a barbed unit 1, a guide rail assembly 2, a push plate 3, a connecting rod 4, a fixed pulley assembly 5, a hollow track 6, a skeleton plate 7, a motor assembly 8, a rotating drum 9, a small pulley 10, and a large pulley 11.
The motor assembly 8 is fixedly mounted on the framework plate 7 and comprises a motor and a motor fixing frame, the motor is mounted in the motor fixing frame, and the motor fixing frame is fixed on the framework plate 7. The rotating drum 9 is fixedly connected with an output shaft of a motor, and the motor drives the rotating drum 9 to rotate. The fixed pulley assembly 5 is arranged on the framework plate 7 and comprises a fixed pulley support and a fixed pulley, the fixed pulley is rotatably arranged on the fixed pulley support, and the fixed pulley support is fixed on the framework plate 7. The fixed pulley assembly 5 is provided in plurality and is located on both sides of the guide rail assembly 2. In this embodiment, the number of the fixed pulley assemblies 5 is four and the fixed pulley assemblies are distributed in a rectangular shape. The upper edge of the guide rail component 2 is embedded into the wheel groove of the fixed pulley, and the push plate 3 is arranged at the lower part of the guide rail component 2. The guide rail assembly 2 is guided through the wheel groove, so that the guide rail assembly 2 moves linearly. One end of the connecting rod 4 is rotationally connected with the rotary drum 9, and the other end of the connecting rod 4 is rotationally connected with the push plate 3. The large belt wheel 11 and the small belt wheel 10 are rotatably arranged on the framework plate 7, the large belt wheel 11 is positioned on the climbing side of the framework plate 7, and the hollow-out crawler 6 is sleeved on the outer side of the integral structure formed by the large belt wheel 11 and the small belt wheel 10. In this embodiment, the middle portion of the inner side surface of the hollow-out crawler 6 is toothless to form a middle toothless area and toothed areas on both sides, and holes are punched in the toothless area at equal intervals along the length direction. The barbed unit 1 is positioned on the inner side of the pierced track 6, and the barbed unit 1 includes a pushing member 101, a fixing member 104, a spike 105, a compression spring 106, and a hollow rivet 107. The fixing member 104 has a cylindrical structure, and has an outer flange at one end thereof, which is fixed to the toothless area of the track 6 by a fastener. The fixing member 104 is sleeved outside the pushing member 101, and the pushing member 101 can slide in the fixing member 104 along the axial direction. One end of the spike 105 is in threaded connection with the pushing member 101 and is mutually limited with the pushing member 101 in the axial direction through a stepped structure on the spike 105, and the other end of the spike 105 penetrates through the hollow rivet 107. The compression spring 106 is sleeved outside the spike 105, and two ends of the compression spring are respectively connected with the hollow rivet 107 and the pushing member 101, specifically, welded. In this embodiment, guide rail assembly 2 includes guide rail and riser, and the riser links to each other with the guide rail is fixed, and the riser inlays in the race of fixed pulley, and push pedal 3 installs on the guide rail.
When the bionic telescopic active barbed track climbing mechanism 001 of the embodiment works, the connecting rod 4 can push the guide rail assembly 2 to move linearly towards the climbing side or away from the climbing side under the driving of the motor assembly 8. When the guide rail assembly 2 moves towards the climbing side, the pushing piece 101 and the spikes 105 can be pushed outwards, so that the spikes 105 extend out of the punching position of the hollow-out crawler belt 6. When the track assembly 2 is retracted, the spikes 105 retract inside the track 6. The direction of movement of the guide rail assembly 2 is controlled by controlling the direction of rotation of the motor output shaft. According to the embodiment, the telescopic motion principle of the feline foot sole barb is simulated, so that the motion efficiency of the barb type climbing mechanism is improved, and the climbing force stability and the carrying moving capacity of the crawler-type mobile robot system are improved.
In order to limit the rotation of the pushing member 101, in this embodiment, a protrusion is disposed on an outer wall of the pushing member 101, and a groove is disposed on an edge of the fixing member 104, wherein the protrusion is located in the groove. The rotation of the pushing member 101 is limited by the contact limit of the projection and the groove.
To facilitate welding of the compression spring 106 to the pop rivet 107, this embodiment crimps the weld end of the pop rivet 107 outward, with the crimped region encasing the end of the compression spring 106.
In order to reduce friction, the barbed unit 1 of the present embodiment further includes a micro bearing 102 and a fixed shaft 103. One end of the pushing piece 101 close to the guide rail assembly 2 is provided with two lug plates, the two lug plates are provided with through holes opposite in position, and the fixed shaft 103 penetrates through the through holes in the two lug plates. Both ends of the fixing shaft 103 are respectively connected with a nut screw thread to lock the fixing shaft 103 on the ear plate. The guide rail is provided with a guide rail groove 201, the micro bearing 102 is arranged on the fixed shaft 103 and is positioned between the two lug plates, and the micro bearing 102 is used for rolling contact with the groove bottom of the guide rail groove 201 to reduce the friction force between the pushing piece 101 and the guide rail. By adopting the structural design, the energy efficiency of the bionic telescopic active barbed track climbing mechanism 001 in the motion process can be improved, and the structural stability of the spines 105 distributed along the circumference of the track is ensured, so that the working reliability of the bionic telescopic active barbed track climbing mechanism 001 is ensured.
In this embodiment, the spike 105 is a standard spike for sprinting, which is low in cost, convenient for design and manufacture, and capable of ensuring the grip of the climbing mechanism, and those skilled in the art can select other spike structures as required.
In order to limit the movement of the guide rail assembly 2, the present embodiment further includes a restriction plate 17, and the restriction plate 17 is fixed on the upper portion of the guide rail assembly 2. The guide rail assembly 2 has two extreme positions when moving along a straight line, and the two extreme positions limit the guide rail assembly 2 through the contact of the restraint plate 17 and the fixed pulley assembly 5.
Furthermore, in the embodiment, two small belt pulleys 10 are provided, and are rotatably mounted on a small wheel spindle 14, and the small wheel spindle 14 is fixed on the framework plate 7; the two large belt wheels 11 are respectively arranged on the large wheel rotating shaft 12 and the large wheel input shaft 15, the large wheel rotating shaft and the large wheel input shaft 15 are both rotatably arranged on a bearing sleeve 16, and the bearing sleeve 16 is fixed on the framework plate 7. The small wheel spindle 14 is connected with the robot body 004 through a connecting rod assembly 003, and the large wheel input shaft 15 is connected with the robot body 004 through a universal coupling 002.
As shown in fig. 5, two bionic telescopic active barbed track climbing mechanisms 001 may be symmetrically installed on two sides of the robot body 004, and power is transmitted from the robot body 004 to the large wheel input shaft 15 through the universal coupling 002 to drive the hollow track 6 to rotate. When the bionic telescopic active barbed track climbing mechanism 001 and the robot body 004 are unfolded at a certain angle to climb, the spikes 105 of the barbed unit 1 are embedded into an object to be climbed, and climbing force along the advancing direction is generatedF1And a transverse force F perpendicular to the direction of traveltAnd stable adhesion is generated under the combination of two forces.
In order to make the bionic telescopic active barbed track climbing mechanism 001 more stable, the embodiment further comprises a flange connecting shaft 13, and the flange connecting shaft 13 is fixed on the framework plate 7. The connecting line of the flange connecting shaft 13, the large wheel rotating shaft 12 and the large wheel input shaft 15 is a straight line, and the flange connecting shaft 13 is connected with the robot body 004 through the connecting rod assembly 003.
The principle and the implementation mode of the present invention are explained by applying specific examples in the present specification, and the above descriptions of the examples are only used to help understanding the method and the core idea of the present invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, the specific embodiments and the application range may be changed. In view of the above, the present disclosure should not be construed as limiting the invention.
Claims (8)
1. A bionic telescopic active barbed track climbing mechanism is characterized by comprising a framework plate, a motor assembly, a rotary drum, a fixed pulley assembly, a guide rail assembly, a push plate, a connecting rod, a large belt wheel, a small belt wheel, a hollowed-out track and a barbed unit;
the motor assembly is fixedly arranged on the framework plate; the rotary drum is connected with the motor component, and the motor component drives the rotary drum to rotate; the fixed pulley assembly is arranged on the framework plate and positioned on two sides of the guide rail assembly, the upper edge of the guide rail assembly is embedded into a wheel groove of the fixed pulley assembly, and the fixed pulley assembly is used for enabling the guide rail assembly to do linear motion; the push plate is arranged at the lower part of the guide rail assembly; one end of the connecting rod is rotatably connected with the rotary drum, and the other end of the connecting rod is rotatably connected with the push plate; the large belt wheel and the small belt wheel are rotatably installed on the framework plate, and the large belt wheel is positioned on the climbing side of the framework plate; the hollow-out crawler belt is sleeved outside the integral structure formed by the large belt wheel and the small belt wheel; the hollow caterpillar band is characterized in that the barb unit is positioned on the inner side of the hollow caterpillar band and comprises a pushing piece, a fixing piece, a sharp barb, a compression spring and a hollow rivet, the fixing piece is fixed on the hollow caterpillar band, the fixing piece is sleeved on the outer side of the pushing piece, one end of the sharp barb is fixedly connected with the pushing piece, the other end of the sharp barb penetrates through the hollow rivet, the compression spring is sleeved on the outer side of the sharp barb, and two ends of the compression spring are respectively connected with the hollow rivet and the pushing piece; under the driving of the motor assembly, the connecting rod can push the guide rail assembly to move towards the climbing side or to be far away from the climbing side, the guide rail assembly can push the pushing piece and the spines outwards to enable the spines to extend out of the hollowed-out crawler belt, and when the guide rail assembly is retracted, the spines are retracted to the inner side of the hollowed-out crawler belt.
2. The biomimetic retractable active barbed track climbing mechanism according to claim 1, wherein the barbed unit further comprises a micro bearing and a stationary shaft, the stationary shaft being secured to an end of the pusher member proximate the rail assembly, the micro bearing being mounted on the stationary shaft, the micro bearing being for rolling contact with the rail assembly.
3. The biomimetic retractable active barbed track climbing mechanism according to claim 1, wherein the spike is a sprint spike, the spike being in threaded connection with the pusher.
4. The biomimetic retractable active barbed track climbing mechanism according to claim 1, wherein the fixed pulley assembly is rectangular in shape.
5. The bionic telescopic active barbed track climbing mechanism according to claim 1, further comprising a restraining plate, wherein the restraining plate is fixed to the upper portion of the guide rail assembly, the guide rail assembly has two extreme positions when moving along a straight line, and the guide rail assembly is restrained at the two extreme positions by the contact between the restraining plate and the fixed pulley assembly.
6. The bionic telescopic active barbed track climbing mechanism according to claim 1, wherein the number of the small pulleys is two, and the small pulleys are rotatably mounted on a small wheel mandrel, and the small wheel mandrel is fixed on the framework plate; the two large belt wheels are respectively arranged on a large wheel rotating shaft and a large wheel input shaft, the large wheel rotating shaft and the large wheel input shaft are both rotatably arranged on a bearing sleeve, and the bearing sleeve is fixed on the framework plate.
7. The bionic telescopic active barbed track climbing mechanism according to claim 6, wherein the small wheel spindle is connected with the robot body through a connecting rod assembly, and the large wheel input shaft is connected with the robot body through a universal coupling.
8. The bionic telescopic active barbed track climbing mechanism according to claim 7, further comprising a flange connecting shaft, wherein the flange connecting shaft is fixed on the framework plate, a connecting line of the flange connecting shaft, the bull wheel rotating shaft and the bull wheel input shaft is a straight line, and the flange connecting shaft is connected with the robot body through a connecting rod assembly.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011485605.6A CN112519904A (en) | 2020-12-16 | 2020-12-16 | Bionic telescopic active barbed-type crawler climbing mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011485605.6A CN112519904A (en) | 2020-12-16 | 2020-12-16 | Bionic telescopic active barbed-type crawler climbing mechanism |
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| CN112519904A true CN112519904A (en) | 2021-03-19 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011485605.6A Pending CN112519904A (en) | 2020-12-16 | 2020-12-16 | Bionic telescopic active barbed-type crawler climbing mechanism |
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| CN113752242A (en) * | 2021-09-26 | 2021-12-07 | 河海大学 | Mechanical structure of bionic snake-shaped robot |
| CN114348132A (en) * | 2021-12-30 | 2022-04-15 | 重庆特斯联智慧科技股份有限公司 | Conveyer of commodity circulation robot |
| CN114655327A (en) * | 2022-05-05 | 2022-06-24 | 益阳市消防救援支队 | Crawler is transported to boat and chassis structure thereof |
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| CN114655327B (en) * | 2022-05-05 | 2023-09-08 | 益阳市消防救援支队 | Boat transportation crawler and chassis structure thereof |
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Application publication date: 20210319 |
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