CN201105774Y - Novel wall-climbing robot mechanism - Google Patents
Novel wall-climbing robot mechanism Download PDFInfo
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- CN201105774Y CN201105774Y CNU2007200154819U CN200720015481U CN201105774Y CN 201105774 Y CN201105774 Y CN 201105774Y CN U2007200154819 U CNU2007200154819 U CN U2007200154819U CN 200720015481 U CN200720015481 U CN 200720015481U CN 201105774 Y CN201105774 Y CN 201105774Y
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- connecting rod
- sucker foot
- motor
- joint
- climbing robot
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Abstract
The utility model relates to a mobile robot mechanism, in particular to a novel climbing robot mechanism, which comprises bodies, a connecting rod and sucked feet, wherein, the two bodies are respectively connected with the sucked feet and adopt a rotating joint to be connected by the connecting rod, thus realizing the relative rotation of the two bodies, wherein, one body is provided with the rotating joint which is driven by a motor and is arranged vertically, and the other body is provided with a mobile joint which is driven by a motor and is arranged vertically and the rotating joint arranged vertically, thus realizing the rotation in place of the whole robot mechanism and the scaling of the sucked feet; the movement and the adjustment of the posture of the robot can be realized by the relative rotation of the two bodies and the alternating sucking and releasing of the two sucked feet; and by combining the advantages of fast moving speed of a wheeled mechanism and strong obstacle-surmounting capability of a foot-typed mechanism, the mobile robot mechanism realizes the purposes of fast moving speed, light weight, low energy consumption and strong motor ability.
Description
Technical field
The utility model relates to mobile robot mechanism, and is specifically a kind of based on planet circular system and the novel wall climbing robot mechanism of biped vacuum adsorption principle design-calculated.
Background technology
In the microminiature wall climbing robot mechanism of prior art, most of (document 1:S.W.Ryu of travel mechanism that adopts leg foot formula, J.J.Park, S.M.Ryew, H.R.Choi, Self-containedWall-climbing Robot with Closed Link Mechanism, IEEE InternationalConference on Intelligent Robots and Systems; Document 2:Satya P.Krosuri andMark A.Minor, A Multifunctional Hybrid Hip Joint for Improved Adaptability inMiniature Climbing Robots), perhaps adopt (the document 3:Mark Yim of restructural mechanism that forms by a plurality of unit modules, David G.Duff, Kimon D.Roufas, Walk on a Wild Side, IEEE Robotics ﹠amp; Automation Magazine Dec 2002), suction type adopts negative-pressure adsorption (document 3: climbing robot The Application of Technology more, Liu Shuxia, Wang Yan, Xu Dianguo, Zhao Yanzheng, Vol.21No.2 1999) complex structure, the weight of these mechanisms is big, power consumption is many and integrated motion performance (manoevreability, stability and obstacle climbing ability) is relatively poor, therefore, be difficult to be applied in the actual application job.
The utility model content
In order to overcome above-mentioned travel mechanism complex structure, weight is big, power consumption is many and exercise performance is relatively poor deficiency, the utility model proposes a kind of microminiature wheeling-walking combined novel wall climbing robot mechanism, this mechanism organically combines the strong advantage of the fast and sufficient formula of wheeled mechanism kinematic speed mechanism's obstacle climbing ability, has realized the target that moving velocity is fast, in light weight, energy consumption is low and locomitivity is strong.
To achieve these goals, the technical solution of the utility model comprises: body, connecting rod and sucker foot; Wherein: described body is two, and each is connected with the sucker foot respectively, adopts rotary joint to connect by connecting rod between two bodies, realizes the relative rolling of two bodies; An one body also is provided with by motor-driven, vertically disposed rotary joint, and another body also is provided with by motor-driven linear joint and the vertical rotary joint that is provided with of vertically being provided with, and realizes that rotate in robot mechanism single-piece original place and the convergent-divergent of sucker foot; Or another body is provided with two rotary joints, and one vertical is provided with, another is horizontally disposed with, and realizes mechanism's single-piece original place rotation and attitude adjustment of two bodies; The alternately absorption relative to rolling and two sucker foots by two bodies realizes moving and the attitude adjustment of robot with release;
One in the utility model and the connecting rod bonded assembly rotary joint by motor-driven; Described body is the semi-cylindrical in configuration that surface working has tooth; On described connecting rod, add one second linear joint, be horizontally disposed with, equidirectional with connecting rod.
The utility model mechanism adopts and moves the mode of operation that combines with climbing continuously based on planet circular system and biped vacuum adsorption principle.Have in level, vertical and function that inclined wall is creeped, also have the ability of wall of intersecting of crossing in addition.
The utlity model has following advantage:
1. the utility model organically combines wheeled mechanism and sufficient formula mechanism advantage separately, has realized the target that moving velocity is fast, obstacle climbing ability is strong, and mechanism has motion characteristics preferably.
2. the movable joint in the two halves cylindrical body adopts asymmetric design, and it is compound with the attitude adjustment to move, and has reduced the movable joint number, compact conformation.
3. motion flexibly.Two suckers foot respectively has a vertical to rotary joint, can realize robot fast, original place rotation flexibly.
4. in light weight, energy consumption is low.The utility model has adopted the compound of motion and posture adjustment, so reduced the quantity of drive motor, has reduced energy consumption.
5. applied range.The utility model can be used as the robot moving mechanism of anti-terrorism investigation and wall detection.
Description of drawings
Fig. 1 is the utility model structural scheme of mechanism.
Fig. 2 a is straight line moving process scheme drawing (second sucker foot, 5 absorption work walls).
Fig. 2 b is straight line moving process scheme drawing (3 rotations of drive motor drivening rod realizes the rolling of first body 1 around second body 2)
Fig. 2 c is straight line moving process scheme drawing (connecting rod 3 turns to 180 degree backs)
Fig. 3 a-1 is original place rotary course scheme drawing (lifting d/d second sucker foot situation birds-eye view).
Fig. 3 a-2 is original place rotary course scheme drawing (lifting d/d second sucker foot situation front view).
Fig. 3 b is original place rotary course scheme drawing (realizing the original place rotation situation of mechanism)
Fig. 3 c-1 is original place rotary course scheme drawing (mechanism rotates to the target location constitution diagram).
Fig. 3 c-2 is original place rotary course scheme drawing (mechanism rotates to full state figure behind the target location).
Fig. 4 a is for regulating step pitch process scheme drawing (incipient state).
Fig. 4 b is for regulating step pitch process scheme drawing (with first sucker is support enough, realizes the rotation of mechanism).
Fig. 4 c is for regulating step pitch process scheme drawing (discharge first sucker foot after turning to the target location, adsorb second sucker foot).
Fig. 4 d is for regulating step pitch process scheme drawing (with second sucker is support enough, realizes the rotation of mechanism).
Fig. 4 e is for regulating step pitch process scheme drawing (turn to target location after situation).
Fig. 5 a is for intersecting wall leap process scheme drawing (mechanism kinematic step 1).
Fig. 5 b is for intersecting wall leap process scheme drawing (mechanism kinematic step 2).
Fig. 5 c is for intersecting wall leap process scheme drawing (mechanism kinematic step 3).
Fig. 5 d is for intersecting wall leap process scheme drawing (mechanism kinematic step 4).
Fig. 5 e is for intersecting wall leap process scheme drawing (mechanism kinematic step 5).
Fig. 6 is another embodiment structural scheme of mechanism of the utility model.
Fig. 7 is the another embodiment structural scheme of mechanism of the utility model.
The specific embodiment
Below in conjunction with accompanying drawing the utility model is described in further detail.
As shown in Figure 1, the utility model physical construction is made up of first body 1, second body 2, connecting rod 3, first sucker foot, 4 and second sucker foot 5 that links to each other with vacuum pump, wherein: first body 1 is connected by connecting rod 3 with the 4th rotary joint 10 by second rotary joint 7 with second body 2, first sucker foot 4 passes through first rotary joint 6 (the vertical setting) and links to each other with first body 1, and second sucker foot 5 links to each other with second body 2 with first linear joint 9 (the vertical setting) by mutual series connected the 3rd rotary joint 8 (the vertical setting); First rotary joint 6, second rotary joint 7, the 3rd rotary joint 8, first linear joint 9 are connected with motor-driven respectively.
The utility model mechanism has four degree of freedom, first rotary joint 6, second rotary joint 7, the 3rd rotary joint 8, first linear joint 9 are respectively by four motor-driven, can realize that two-dimensional translation and two dimension rotate, i.e. realization level relatively rotates, the telescopic moving of pitching, original place rotation and second sucker foot 5.The 4th rotary joint 10 is a passive joint, has 1: 1 coupled relation with second rotary joint 7.
First sucker foot, 4 and second sucker foot 5 adopts the vacuum suction mode, utilizes vacuum pump and blow off valve to realize the absorption and the release of sucker foot.
The utility model mechanism can creep at level, vertical or inclined wall.
The single step walking of the utility model mechanism wherein has the shade filling part to represent second sucker foot 5 as shown in Figure 2.As Fig. 2 a, second sucker foot, 5 absorption work walls discharge first sucker foot 4.As Fig. 2 b, 3 rotations of drive motor drivening rod realize the rolling of first body 1 around second body 2, as Fig. 2 c, after connecting rod 3 turns to 1 80 degree, adsorb first sucker foot 4, discharge second sucker foot 5 simultaneously.Move with discharging the realization wall by the mutual rolling of body and the alternately absorption of sucker foot, the step pitch of single step is the diameter of semicolumn body.Then adsorb first sucker foot 4, repeat above-mentioned action, just can realize the continuous movement of robot in level or vertical walls.
Representative first sucker foot 4 that has shade to fill in the pivot turn motion process diagram of the utility model mechanism.Shown in Fig. 3 a-1,3a-2, adsorb first sucker foot 4, discharge second sucker foot 5, rub with wall for avoiding d/d sucker foot, lift d/d second sucker foot 5; Fig. 3 b of institute shows, realizes the original place rotation of mechanism by motor-driven first rotary joint 6; Fig. 3 c-1,3c-2 show, after mechanism rotates to the target location, fall second sucker foot 5.The utility model mechanism also can realize the pivot stud motion of mechanism equally by the 3rd rotary joint 8.
The bright mechanism of the utility model rotatablely moves by three original places, realizes the single step straight-line motion of step pitch less than the semicylinder diameter, and its dash area representative is in the sucker foot of adsorbed state.Shown in Fig. 4 a, adsorb first sucker foot 4, discharge second sucker foot 5; Shown in Fig. 4 b, be support with first sucker foot 4, realize the certain angle rotation of mechanism; Shown in Fig. 4 c, turn to the target location after, discharge first sucker foot 4, adsorb second sucker foot 5; Shown in Fig. 4 d, be support with second sucker foot 5, realize the certain angle rotation of mechanism; Shown in Fig. 4 e, turn to the target location after, adsorb first sucker foot 4, discharge second sucker foot 5, be support with first sucker foot 4, the adjusting motion direction is rotated by mechanism;
0 degree can be crossed over to the interior angle arbitrarily between 180 degree and certain exterior angle intersection wall by the utility model mechanism.Be example with 90 degree intersection walls only now, the process of utility model mechanism leap intersection wall is described, its dash area is represented first sucker foot 4.Shown in Fig. 5 a, at first the utility model mechanism kinematic discharges second sucker foot 5 to intersecting the suitable position of wall; Shown in Fig. 5 b, motor-driven connecting rod 3 makes the bottom surface of second body 2 rotate to the parallel position of cross facet 2; Shown in Fig. 5 c, extend second sucker foot 5, adsorb second sucker foot 5; Shown in Fig. 5 d, shrink second sucker foot 5 to initial condition, discharge first sucker foot 4; Shown in Fig. 5 e, motor-driven connecting rod 3 makes first body 1 move to cross facet 2 by cross facet 1, adsorbs first sucker foot 4.
As shown in Figure 6, the utility model mechanism difference from Example 1 is that the 4th rotary joint 11 (being horizontally disposed with) replaces linear joint 9.Compare with example 1, embodiment 2 realizes the leap of utility model mechanism intersection wall by the 4th rotary joint 11.
Embodiment 3
As shown in Figure 7, the utility model mechanism difference from Example 1 is, removes the 4th rotary joint 10 on second sucker foot 5, adds one second linear joint 12 and (be horizontally disposed with on connecting rod, equidirectional with connecting rod), realize relatively moving between two semicylinders.
Claims (5)
1. a novel wall climbing robot mechanism comprises body, connecting rod and sucker foot; It is characterized in that: described body is two, and each is connected with the sucker foot respectively, adopts rotary joint between two bodies, connects by connecting rod; Wherein: a body also is provided with by motor-driven, vertically disposed rotary joint, and another body also is provided with by motor-driven linear joint and the vertical rotary joint that is provided with of vertically being provided with.
2. by the described novel wall climbing robot mechanism of claim 1, it is characterized in that: described another body is provided with two rotary joints, and one vertical is provided with, another is horizontally disposed with.
3. by claim 1 or 2 described novel wall climbing robot mechanisms, it is characterized in that: link to each other with motor with in the connecting rod bonded assembly rotary joint one.
4. by claim 1 or 2 described novel wall climbing robot mechanisms, it is characterized in that: wherein said body is the semi-cylindrical in configuration that surface working has tooth.
5. by claim 1 or 2 described novel wall climbing robot mechanisms, it is characterized in that: on connecting rod, add one second linear joint, be horizontally disposed with, equidirectional with connecting rod.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200154819U CN201105774Y (en) | 2007-10-24 | 2007-10-24 | Novel wall-climbing robot mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200154819U CN201105774Y (en) | 2007-10-24 | 2007-10-24 | Novel wall-climbing robot mechanism |
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| CN201105774Y true CN201105774Y (en) | 2008-08-27 |
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| CNU2007200154819U Expired - Fee Related CN201105774Y (en) | 2007-10-24 | 2007-10-24 | Novel wall-climbing robot mechanism |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102476664A (en) * | 2010-11-22 | 2012-05-30 | 中国科学院沈阳自动化研究所 | Wheel foot type wall climbing robot mechanism |
| CN102490803A (en) * | 2011-12-02 | 2012-06-13 | 西南大学 | Wheel-type linked barrier-crossing traveling mechanism |
| CN104647366A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Floating split type robot |
| CN105534393A (en) * | 2016-01-15 | 2016-05-04 | 浙江机电职业技术学院 | High-altitude glass cleaning device |
| CN108272188A (en) * | 2016-05-24 | 2018-07-13 | 衢州锐思机械科技有限公司 | The pearl necklace of variable appearance |
| CN110521421A (en) * | 2019-08-28 | 2019-12-03 | 三峡大学 | A kind of screen of trees based on image recognition removes robot and application method automatically |
-
2007
- 2007-10-24 CN CNU2007200154819U patent/CN201105774Y/en not_active Expired - Fee Related
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102476664A (en) * | 2010-11-22 | 2012-05-30 | 中国科学院沈阳自动化研究所 | Wheel foot type wall climbing robot mechanism |
| CN102490803A (en) * | 2011-12-02 | 2012-06-13 | 西南大学 | Wheel-type linked barrier-crossing traveling mechanism |
| CN102490803B (en) * | 2011-12-02 | 2014-11-05 | 西南大学 | Wheel-type linked barrier-crossing traveling mechanism |
| CN104647366A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Floating split type robot |
| CN105534393A (en) * | 2016-01-15 | 2016-05-04 | 浙江机电职业技术学院 | High-altitude glass cleaning device |
| CN108272188A (en) * | 2016-05-24 | 2018-07-13 | 衢州锐思机械科技有限公司 | The pearl necklace of variable appearance |
| CN110521421A (en) * | 2019-08-28 | 2019-12-03 | 三峡大学 | A kind of screen of trees based on image recognition removes robot and application method automatically |
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Legal Events
| Date | Code | Title | Description |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080827 Termination date: 20121024 |