CN201756146U - Modularized bionic wall-climbing robot - Google Patents
Modularized bionic wall-climbing robot Download PDFInfo
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- CN201756146U CN201756146U CN2010202478744U CN201020247874U CN201756146U CN 201756146 U CN201756146 U CN 201756146U CN 2010202478744 U CN2010202478744 U CN 2010202478744U CN 201020247874 U CN201020247874 U CN 201020247874U CN 201756146 U CN201756146 U CN 201756146U
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The utility model relates to a modularized bionic wall-climbing robot. The robot is provided with five degrees of freedom, and comprises joint modules and vacuum suction modules, wherein the joint modules and the vacuum suction modules are sequentially connected in series, that is, a first vacuum suction module, a first I-shaped joint module, a first T-shaped joint module, a second T-shaped joint module, a third T-shaped joint module, a second I-shaped joint module and a second vacuum suction module are in series connection with one another sequentially; the rotating shafts of the three T-shaped joint modules are parallel to one another, and are perpendicular to the rotating shafts of the I-shaped joint modules at two ends; the modules are connected with one another through snap rings; and four pins are arranged at the joints for positioning, so as to prevent potential relative rotation among the modules. The robot has the advantages that two ends of the robot are symmetric to each other; the head and the tail can replace each other; the construction is easy; the structure is simple; and the robot can conduct all-directional climbing on a smooth and even wall in a spanworm, twisting, overturning or any other manner, and has strong wall transition and obstacle crossing capabilities. The utility model can be widely applied in fields such as the construction industry, the nuclear industry, the ship building industry and the like.
Description
Technical field
The utility model relates to the Robotics field, is a kind of modularized bionic wall climbing robot.
Background technology
Modern society has and much belongs to difficulties and hardships concerning the mankind and dangerous operation and task.For example in the nuke industry nuclear degree liquid storage tank is carried out sight control and flaw detection, the cleaning of huge wall surface spraying, high buildings and large mansions ceramic tile or glass curtain wall in the building industry, in the ship building industry to the flaw detection of inside and outside hull surface and spraying or the like.This class work relies on the mankind to scaffold erecting, climb up with climbing down and finish, and not only efficient is low, cost is high, especially a dangerous tasks.Therefore, can substitute the human climbing robot of carrying out and be engaged in similar tasks just arises at the historic moment.
Developed various next climbing robot at present both at home and abroad, its form is different, suction type and mobile function have nothing in common with each other, and, multi-sucker frame-type wheeled if any magnetic crawler type, multi-sucker crawler type, the single sucking disc, rotor be wheeled, based on imitative gecko formula of Van der Waals force or the like.Though climbing robot is of a great variety at present, but there are some problem and shortage in they, for example: (1) the single sucking disc integral slip type wall-climbing device people is for preventing landing, must provide enough pressure to produce friction force with metope, must overcome friction do tangential motion again for moving simultaneously, this is a pair of contradiction, and serious wear, expenditure of energy are big; (2) wheeled and multi-sucker frame-type climbing robot turning difficulty lacks kinematic dexterity; Multi-sucker frame-type and polypody climbing robot complex structure, build is bigger, and control is inconvenient, and climbing speed is slow; (4) rotary wind type climbing robot noise is big and adsorb unreliablely, loses efficacy in the power back that disappears at once; (5) imitative gecko formula climbing robot manufacturing cost height, problem of materials are still treated further to research and solve at present.Especially a lot of climbing robots generally lack transition ability between obstacle climbing ability and wall; Body configuration immobilizes, and can not adjust or changes according to environment and task, and is relatively poor to the comformability of environment; Do not possess operating function,, just must additionally install motion arm or end-effector additional if require the robot implementation and operation.
In numerous suction types, negative-pressure adsorption is pollution-free, cost is low, easy to use, safeguard easily, environment had good comformability and extensively adopts, but a lot of systems adopt and concentrate source of the gas, the superpower air compressor vacuumizes (based on venturi principle) by very long tracheae to the robot foot section sucker on the dependence ground, cause the extra burden of system again, limited its range of movement.On version and climbing mode, bionical biped is an important developing direction of climbing robot.Bionical biped climbing robot has very strong obstacle climbing ability and wall transition ability, and structure and control are also comparatively simple.Vacuum suction combines with bionical biped climbing can solve great number of issues above-mentioned.The exploitation of vacuum suction climbing robot at present focuses mostly on the microminiature portable machine people of small machine or steering wheel driving, as the restructural micro robot RAMR1 and the Crawler of university of U.S. Michigan, and the tandem modularized robot (application number: 200710179041.1) of domestic Beijing space flight and aviation university.Owing to have only hand size, their motion and load-carrying capacity are very weak, and practical value is limited, and the latter is adsorbed by vibration generation negative pressure based on airtight air cavity dilatation, and efficient is owed height, reliability is lower.Therefore, develop a kind of stock size, structure relative with control simple, make up easily, absorption is reliable and stable, the climbing ability strong, the climbing object is had than strong adaptability, the climbing robot that has operating function simultaneously concurrently meets the trend of robot development and the needs of social production life.
The utility model content
The utility model purpose is towards the aloft work in fields such as building, chemical industry, nuke industry and vessel industry, shortcoming and defect part such as overcome that existing climbing robot existingly turns to that difficulty, manoevreability are relatively poor, obstacle detouring and wall transition ability are more weak, be subjected to the inspiration of animal such as looper climbing action, provide a kind of and later-modelly be convenient to dismounting, climbing is powerful and both-end adsorbs modularized bionic wall climbing robot by what the module of some independent completions was formed.
Modularized bionic climbing robot of the present utility model adopts the imitative arm structure of tandem joint type, has five degree of freedom, is made of seven modules, comprises three T type joint modules, two I type joint modules and two vacuum suction modules; Described I type joint module is meant to have only a rotational freedom and joint rotating shaft and central lines of module own or parallel module, also claims revolute joint module; Described T type joint module is meant to have only a rotational freedom and joint rotating shaft and the vertical joint module of the line of centers of module own, also claims rotating and swinging joint module; Described vacuum suction module is a kind of by vacuumizing the functional module that the formation negative pressure is adsorbed bright and clean smooth body surface.Each module adopts series system to connect successively by snap ring, and order is: first vacuum suction module-the one I type joint module-the one T type joint module-the 2nd T type joint module-Di, three T type joint module-the 2nd I type joint module-second vacuum suction modules.The rotating shaft of three T type joint modules is parallel to each other, and orthogonal with the rotating shaft of the I type joint module at two ends; Locate with four pins and possible the relatively rotating of prevention intermodule at interface between the module.Two vacuum suction modules are installed in the two ends of robot respectively, form the imitative arm robot of a double-feet.
Described vacuum suction module is the functional module of self-contained vacuum source (being vacuum pump), mainly is made of vacuum cup, check valve, vacuum pump, main support, vacuum pressure sensor, bi-bit bi-pass vacuum solenoid, link span, hexagonal (hexagon)nut and various quick connector and tracheae; Three vacuum cups are equilateral triangle to be arranged, is fixed on the main support by hexagonal (hexagon)nut separately; The hexagonal (hexagon)nut top has tapped bore separately, is connected with L shaped push-in threaded connection; Tracheae is drawn from L shaped push-in threaded connection, links on the bleeding point of vacuum pump by bi-bit bi-pass vacuum solenoid, check valve with dividing the gas joint to converge the back; Simultaneously, vacuum pressure sensor also is connected to branch gas joint by tracheae, communicates with above-mentioned gas circuit; Vacuum pump, vacuum pressure sensor, bi-bit bi-pass vacuum solenoid and link span all by screw retention on main support; Link span is as the standard interface of this negative pressure adsorption module with other mechanical module.Detect the vacuum cup internal vacuum by vacuum pressure sensor, co-operative control vacuum pump and two-position two-way solenoid valve cooperate, and make vacuum cup or form closed cavity, or are communicated with atmosphere, thereby realize adsorbing and the function of desorption.The vacuum suction module adopts a plurality of identical suckers and does not adopt single big sucker, can effectively solve single suction sit with crossing two legs exist tilt to cause the problem of control difficulty significantly because of large deformation behind the sucker stand under load makes robot body, improve the reliability and the safety of absorption.
Described I type joint module mainly is made of servomotor and photoelectric encoder component, I joint sleeve, motor shaft sleeve, disc type harmonic speed reducer assembly, I joint pedestal, bearing seat, joint mouth attaching parts, inner gear, transition gear, transition gear axle, gear wheel shaft, harmonic speed reducer output transition disc.The connection mode of each parts is: servomotor and photoelectric encoder component and I joint base via shaft are fastening to screw, and its motor shaft links to each other indirectly by the wave producer of motor shaft sleeve with disc type harmonic speed reducer assembly; The input and output of disc type harmonic speed reducer assembly just wheel are fastenedly connected with I joint pedestal and harmonic speed reducer output transition disc respectively by screw, and latter's other end is fastenedly connected with screw and sun gear shaft again; I joint jacket casing is on the pedestal of I joint and along the circumferential direction use radial screw fastening; Bearing block support is on the pedestal of I joint, and itself and inner gear and joint mouth attaching parts three screw are fastening, can not relative motion; Harmonic speed reducer output transition disc is connected with gear wheel shaft one end by spline, and the gear wheel shaft other end and three transition gears being symmetrically distributed mesh, and three transition gears and inner gear mesh; Thereby the rotation of motor shaft is slowed down through harmonic speed reducer, and behind the further deceleration force amplifier by transition gear and inner gear, output power to joint mouth attaching parts, make it produce gyroscopic movement with respect to I joint sleeve.During work, the joint is driven by DC servo motor, and the rear end of motor directly links with the photoelectric encoder that is used to detect corner displacement and cireular frequency, and front end links to each other with harmonic speed reducer, carries out deceleration force amplifier.Harmonic speed reducer outputs to a central straight gear wheel shaft by a transition disk, and the central straight gear wheel shaft drives the further deceleration force amplifier of internal tooth straight-tooth crop rotation and keeps transmission direction by three well-distributed transition wheels, another part that inner gear drives joint module relatively rotates, and drives the output in joint at last.
Described T type joint module mainly connects end cap, joint attaching parts, bevel gear wheel, joint rotating shaft by servomotor and photoelectric encoder component, T joint sleeve, motor shaft sleeve, disc type harmonic speed reducer assembly, T joint pedestal, harmonic speed reducer output transition disc, bevel gear shaft, band key end cap, transition and constitutes.The connection mode of each parts is: servomotor and photoelectric encoder component and T joint sleeve are fastening by axial bolt, and its motor shaft links to each other indirectly by the wave producer of motor shaft sleeve with disc type harmonic speed reducer assembly; The input and output of disc type harmonic speed reducer assembly just wheel are fastenedly connected with T joint sleeve and harmonic speed reducer output transition disc respectively by axial bolt, and harmonic speed reducer output transition disc is fastenedly connected with an end of axial bolt and bevel gear shaft again; T joint pedestal is enclosed within on the sleeve of joint outward and along the circumferential direction uses radial screw fastening; Bevel gear shaft is supported in the pedestal of T joint, the bevel pinion of one end and bevel gear wheel engagement, and the latter is installed on the joint shaft; The joint shaft two ends have keyway, cooperate with band key end cap, and band key end cap then connects end cap by transition and the joint attaching parts is connected; Thereby realize rotation with motor shaft after harmonic speed reducer slows down, and, output power to the joint attaching parts, make it with respect to T joint sleeve generation rotation campaign by deceleration force amplifier and the commutation once more of big bevel pinion.T type joint module has only a rotational freedom and joint rotating shaft and module axis normal.During work, the joint is driven by DC servo motor, and the rear end of motor directly links with the photoelectric encoder that is used to detect corner displacement and cireular frequency, and front end links to each other with harmonic speed reducer, carries out deceleration force amplifier.Harmonic speed reducer is exported by a transition disk, makes further deceleration and reinforcement and changes transmission direction by bevel-gear sett again.Bevel gear wheel relatively rotates by another part that a joint shaft drives joint module, carries out the output of speed and power.
Three T type joint rotation energys stretch robot body or bending in the middle of the robot of the present utility model, cooperate I type joint to rotate the orientation that then can change terminal vacuum suction module.Adsorb bright and clean even curfaces such as ceramic tile, steel plate or glass to support the entire machine people with a vacuum suction module earlier during climbing solid and reliablely, other end motion, corresponding vacuum suction module is adsorbed behind the target location, then previous vacuum suction module is unclamped and discharged, and move to new target location, so circulation, alternately absorption is supported, and robot just can be climbed on wall.
The utility model compared with prior art has following characteristics and effect:
1) bionical: as on mode of motion, to imitate the climbing pattern of animals such as looper, structurally similar people's arm.
2) modularization: joint module and two vacuum suction modules by five single degree of freedom constitute.Realize connection and fastening by snap ring between the module, the structure of robot and dismounting are simple, convenient and quick, and configuration is variable.
3) cascaded structure: each module adopts series system to connect successively, and structure is about the pivot center head and the tail symmetry in the T type joint of centre.
The utility model compared with prior art has following advantage and effect:
(1) constructional feature has determined robot of the present utility model to have comprehensive climbing function, can adopt multiple climbing gaits such as Inchworm type, torsional mode and crossing type, and transition ability between very strong obstacle detouring and wall is arranged;
(2) have simultaneously and climb wall function and certain operating function, robot body is actually a multiple degree of freedom motion arm, and terminal vacuum suction module can be adsorbed carrying to bright and clean smooth object, and repacking can have stronger operating function a little.
(3) the employing modular approach makes up robot, only is made up of two kinds of joint modules and a kind of vacuum suction module, and system constructing is easy, and design, manufacturing and maintenance are simple, and cost is lower; The degree of freedom of robot can change by the quantity of plus-minus module, and configuration can be changed by connection between the module and configuration.
Description of drawings
Fig. 1 is a bionic wall climbing robot External view of the present utility model;
Fig. 2 is a bionic wall climbing robot structural scheme of mechanism of the present utility model;
Fig. 3 is a vacuum suction module External view of the present utility model;
Fig. 4 is a vacuum suction module gas circuit connection diagram of the present utility model;
Fig. 5 is an I type joint module External view of the present utility model;
Fig. 6 is an I type joint module section-drawing of the present utility model;
Fig. 7 is a T type joint module External view of the present utility model;
Fig. 8 is a T type joint module section-drawing of the present utility model;
Fig. 9 is a bionic wall climbing robot Inchworm type gait scheme drawing of the present utility model;
Figure 10 is a bionic wall climbing robot torsional mode gait scheme drawing of the present utility model;
Figure 11 is a bionic wall climbing robot crossing type gait scheme drawing of the present utility model;
Figure 12 is bionic wall climbing robot obstacle detouring of the present utility model and wall transition scheme drawing.
The specific embodiment
As shown in Figure 1, 2, the modularized bionic wall climbing robot body has five degree of freedom, is made up of five single degree of freedom joint modules, and two ends connect vacuum suction module 100 respectively, has seven modules.Each module connects with series system successively, and order is: the first vacuum suction module S1-the one I type joint module I1-the one T type joint module T1-the 2nd T type joint module T2-the 3rd T type joint module T3-the 2nd I type joint module I2-, the second vacuum suction module S2.Between the second and the 3rd T pattern piece, insert a joint sleeve 500, make the joint rotating shaft symmetry of robot head and the tail two-end structure about the 2nd T pattern piece T2.The joint rotating shaft of three T type joint modules 300 is parallel to each other, and the joint shaft with the I type joint module 200 at two ends is vertical naturally.By pin location with stop relatively rotating between the two, lock connection between each joint module, tighten two parts that the screw bolt and nut on the snap ring can will link to each other and be fastenedly connected with snap ring.When end vacuum suction module absorption planar support entire machine man-hour, can change the position and the attitude of other end vacuum suction module by the corner that changes T type joint and I shape joint, arrive the target location.Vacuum suction module or extracting vacuum, or be communicated with atmosphere can be adsorbed or take off absorption the plane.
As shown in Figure 3, Figure 4, the vacuum suction module comprises: vacuum cup 101, check valve 102, vacuum pump 103, main support 104, vacuum pressure sensor 105, bi-bit bi-pass vacuum solenoid 106, link span 107, hexagonal (hexagon)nut 108, L shaped push-in threaded connection 109, push-in reducer union 110, tracheae 111, branch gas joint 112.Three vacuum cups 101 are equilateral triangle to be arranged, is fixed on the main support 104 by hexagonal (hexagon)nut 108 separately.Hexagonal (hexagon)nut 108 tops have screw thread, are used to connect L shaped push-in threaded connection 109.Tracheae 111 is drawn from three vacuum cups, 101 pairing L shaped push-in threaded connections 109 respectively, then divides gas joint 112 to converge by four unifications.Converge the back and draw a tracheae, connect push-in reducer union 110, bi-bit bi-pass vacuum solenoid 106 (connecing normally closed port), check valve 102, push-in reducer union 110 successively, receive on the bleeding point of vacuum pump 103 by a minute gas joint 112.Simultaneously, vacuum pressure sensor 105 also is connected to of branch gas joint 112 remainders by tracheae 111 and converges on the mouth, communicates with above-mentioned gas circuit.Vacuum pump 103, vacuum pressure sensor 105 and bi-bit bi-pass vacuum solenoid 106 all by screw retention on main support 104.Link span 107 is affixed by screw and main support 104, and as the mechanical joints of vacuum suction module and other modules.The working process and the motion principle of this functional module are as follows: when upper computer provides the absorption instruction, vacuum pump 103 electric motor startings, begin three vacuum cups 101 and be adsorbed the closed cavity that the plane forms to carry out the extracting vacuum operation, constantly gather the output of vacuum pressure sensor 105 simultaneously, monitor the degree of vacuum of confined space in real time; When degree of vacuum reaches requiring of support robot body, can stop vacuum pumping, and by vacuum in check valve 102 and bi-bit bi-pass vacuum solenoid 106 holding chambers.Take off when instruction absorption when upper computer provides, as long as connect bi-bit bi-pass vacuum solenoid 106, make closed cavity directly be communicated with atmosphere, can recover its air pressure, disengagement is adsorbed.The vacuum suction module can be made absorption or take off the absorption action under the control of upper computer in phase like this.
As Fig. 5, shown in Figure 6, I type joint module comprises: servomotor and photoelectric encoder component 201, joint sleeve 202, motor shaft sleeve 203, disc type harmonic speed reducer assembly 204, I joint pedestal 205, bearing seat 206, compress gasket 207, joint mouth attaching parts 208, inner gear 209, transition gear 210, transition gear axle 211, big roller bearing end cap 212, gear wheel shaft 213, harmonic speed reducer output transition disc 214, internal axle sleeve 215, little angular contact ball bearing 216, little roller bearing end cap 217, outer shaft 218, big angular contact ball bearing 219, transition disc axle head binding ring 220 and key 221.Drive motor is a DC servo motor, and motor is integrated with the photoelectric encoder that is used for angular transposition and angular velocity detection, and promptly direct connection photoelectric encoder in motor shaft rear end becomes servomotor and photoelectric encoder component 201.The front end face of motor is connected with joint sleeve 202 usefulness screws (vertically).One end of I joint pedestal 205 is enclosed within on the joint sleeve 202, and along the circumferential direction is connected with joint sleeve 202 usefulness screws (radially).The output shaft of motor is connected with motor shaft sleeve 203, and is fastening with two radial direction top threads.Motor shaft sleeve 203 is connected with the wave producer of harmonic speed reducer assembly 204, by straight key 221 transmitting movements and power.In order to obtain less joint module length, one-level is slowed down and is adopted the harmonic speed reducer three-major-items 204 of flat disk, input wherein just wheel is fastening vertically with joint sleeve 202 usefulness screws, output just wheel is fastenedly connected with harmonic speed reducer transition disk 214 vertically with screw, transition disk 214 is connected with gear wheel shaft 213 again, and tightens axial restraint by screw and transition disc axle head binding ring 220.Gear wheel shaft 213 is supported in the I joint pedestal 205 by a pair of angular contact bearing 216, has inner sleeve 215, one ends to locate and pretensions with little roller bearing end cap 217 between two bearings.The other end of gear wheel shaft 213 has a sun gear, sun gear and three well-distributed transition straight gear 210 engagements.Each transition straight gear 210 is bearing on its transition gear axle 211 by the bearing in the endoporus, and transition gear axle 211 is fixedly mounted on the I joint pedestal 205 by the screw thread on it.Transition straight gear 210 and inner gear 209 engagements.Inner gear 209, bearing seat 206 and joint mouth attaching parts 208 threes are connected fastening by axial bolt, become the last output block of joint module.This output block is bearing on the I joint pedestal 205 by a pair of angular contact ball bearing 219 and outer shaft 218, and by the axial bolt of 206 of joint mouth attaching parts 208 and bearing seats, locate and pretension by inner gear 209, compress gasket 207, angular contact ball bearing 219 inner rings then by big roller bearing end cap 212 by screw in compression, be defined on the I joint pedestal 205.The working process and the motion principle of this joint module are as follows: the output shaft of motor orders about motor shaft sleeve 203 and rotates, and motor shaft sleeve 203 drives the wave producer of harmonic speed reducer 204.Harmonic speed reducer 204 deceleration force amplifiers, by output transition disk 214 will move with transmission of power to gear wheel shaft 213.Gear wheel shaft 213 drives three transition gears 210, and then drives inner gear 209.Inner gear 209 is fastening with bearing seat 206 and joint mouth attaching parts 208, finishes the motion of whole joint module and the output of power.The rotating shaft of I type joint module and the dead in line of joint connecting rod or parallel.
Be respectively the External view and the section-drawing of T type joint module as shown in Figure 7 and Figure 8.The rotating shaft of T type joint module and the axis of joint connecting rod are orthogonal.Parts comprise: servomotor and photoelectric encoder component 301, joint sleeve 302, motor shaft sleeve 303, disc type harmonic speed reducer assembly 304, T joint pedestal 305, harmonic speed reducer output transition disc 306, roller bearing end cap 307, angular contact ball bearing 308, bevel gear shaft 309, oscillating bearing end cap 310, band key end cap 311, transition connects end cap 312, joint side shield 313, joint attaching parts 314, joint lid 315, joint shaft axle sleeve 316, bevel gear wheel 317, joint rotating shaft 318, joint angle contact ball bearing 319, transition disc axle head binding ring 320 and key 321.Drive motor is a DC servo motor, and motor is integrated with the photoelectric encoder that is used for angular transposition and angular velocity detection, and promptly direct connection photoelectric encoder in motor shaft rear end becomes servomotor and photoelectric encoder component 301.The front end face of motor is connected with joint sleeve 302 usefulness screws (vertically).One end of T joint pedestal 305 is enclosed within on the joint sleeve 302, and along the circumferential direction is connected with joint sleeve 302 usefulness screws (radially).The output shaft of motor is connected with motor shaft sleeve 303, and is fastening with two radial direction top threads.Motor shaft sleeve 303 is connected with the wave producer of harmonic speed reducer assembly 304, by straight key 321 transmitting movements and power.In order to obtain less joint module length, one-level is slowed down and is adopted the harmonic speed reducer three big assemblies 304 of flat disk, input wherein just wheel is fastening vertically with joint sleeve 302 usefulness screws, output just wheel is fastenedly connected with harmonic speed reducer transition disk 306 vertically with screw, transition disk 306 is connected with an end of bevel gear shaft 309 with spline again, and tightens axial restraint by screw and transition disc axle head binding ring 320.This bevel gear shaft 309 is supported in the T joint pedestal 305 by a pair of angular contact ball bearing 308, and two bearings rely closely, and an end carries out axial location and pretension with roller bearing end cap 307.One bevel pinion is arranged on the mouth of bevel gear shaft 309, and itself and bevel gear wheel 317 mesh, and the latter is installed on the joint shaft 318, by a straight pin transmitting movement and a power that runs through both.The a pair of angular contact ball bearing 319 of joint shaft 318 usefulness is supported on the T joint pedestal 305 (near the angular contact ball bearing 319 of bevel gear wheel one end by joint shaft axle sleeve 316 axial location), and axial location and predetermincd tension are in addition carried out by oscillating bearing end cap 310 in two ends; 318 liang of end ends of joint shaft have keyway, cooperate with band key end cap 311, and band key end cap 311 then connects end cap 312 by transition and is connected with joint attaching parts 314.Joint side shield 313, joint lid 315 be a sheet metal component, respectively from transmission parts such as two sides and front parcel, seal modules bevel gear wheel 317, joint shaft 318 and bevel pinions, enters to prevent dust etc.The working process and the motion principle of this joint module are as follows: the output shaft of motor orders about motor shaft sleeve 303 and rotates, and motor shaft sleeve 303 drives the wave producer of harmonic speed reducer assembly 304.Harmonic speed reducer assembly 304 deceleration force amplifiers, by harmonic speed reducer transition disk 306 will move and transmission of power to bevel gear shaft 309.Bevel pinion drives bevel gear wheel 317, has realized that 90 degree of sense of motion change.Bevel gear wheel 309 will move and transmission of power to joint shaft 318, and the latter is connected end cap 312 with band key end cap 311 and transition affixed, will move with transmission of power to joint attaching parts 314.The motion of whole joint module and power are by 314 outputs of joint attaching parts.
Be depicted as the three kinds of mode of motion or the typical gait (being not limited to these three kinds) of climbing robot described in the utility model as Fig. 9,10 and 11.Fig. 9 is the Inchworm type gait, and its implementation procedure is as follows: (a) robot is positioned at reference position, and vacuum suction module S1 is attached to wall, S2 unclamps, robot weight is supported by S1, and two I type joint modules do not rotate (but energising keeps), and three T type joint modules rotate by direction as shown; (b) robot is under the cooperation of three T type joint modules, and aggregate performance is that vacuum suction module S1 fixes, and the S2 direction that moves forward promotes, " contraction " that action is analogous to looper when creeping; (c) after S2 is promoted to the target location, put down and be attached to wall; (d) S1 unclamps, and when the direction as shown interoperation, aggregate performance is that S2 fixes to robot at three T type joint modules, and the direction that moves forward after S1 is raised promotes, " stretching, extension " when being analogous to looper and creeping; (e) when robot body stretches (S1 moves to the target location) again, S1 is put down and is attached to once more wall.Climbing robot alternately repeats above each step and can copy " stretching " gait of looper to climb.It is with in this kind gait crawling process, and the order of vacuum suction module S1 and S2 remains constant.Figure 10 is the torsional mode gait, and its implementation procedure is as follows: (a) robot is positioned at reference position, and vacuum suction module S1 is attached to wall, and S2 unclamps, and three T type joint module routing motions are mentioned vacuum suction module S2, make itself and wall keep certain safety distance; (b) and (c) three T type joint modules maintenances are motionless, robot body reverses 180 ° under the drive of I type joint module I1, be that vacuum suction module S2 moves to the S1 dead ahead from being positioned at the S1 dead aft, I type joint module I2 rotation vacuum suction module S2 in this process makes three suckers maintenance inverted triangle states on it; (d) after vacuum suction module S2 was rotated to the S1 dead ahead by I type joint module I1, two I type joint modules kept motionless, and S2 is slowly close wall along with the routing motion of three T type joint modules; (e) vacuum suction module S2 extracting vacuum is attached to wall again.Climbing robot alternately repeats above each step can realize reversing the gait climbing, and the front and back of vacuum suction module S1 and S2 order constantly alternately in this process.Figure 11 is the crossing type gait, and its implementation procedure is as follows: (a) robot is positioned at reference position, and vacuum suction module S1 is attached to wall, and S2 unclamps, and three T type joint module routing motions are mentioned vacuum suction module S2; (b), (c) and (d) three T type joint modules continue by the direction as shown motion, vacuum suction module S2 constantly is raised, and from S1 module top " crossing ", until the dead ahead that moves to vacuum suction module S1, in this process, it is motionless that I type vacuum module I1 keeps, and I2 then rotates, and makes three suckers of vacuum suction module S2 still be the inverted triangle layout; (e) vacuum suction module S2 extracting vacuum is attached to wall again.Climbing robot alternately repeats above each step can realize crossing the gait climbing, and the front and back of vacuum suction module S1 and S2 order constantly alternately in this process.
Be climbing robot crossing over blockage described in the utility model and the sight scheme drawing that carries out the wall transition as shown in figure 12.Climbing robot has the series-mode frame that is similar to general robot arm, fixes by an end, and other end motion can be crossed various obstacles easily and carry out transition between the crossing wall of different angles.
Claims (4)
1. a modularized bionic wall climbing robot is characterized in that comprising three T type joint modules, two I type joint modules and two vacuum suction modules, has five degree of freedom; Described I type joint module is meant to have only a rotational freedom and joint rotating shaft and central lines of module own or parallel module; Described T type joint module is meant to have only a rotational freedom and joint rotating shaft and the vertical joint module of the line of centers of module own; Described vacuum suction module is a kind of by vacuumizing the functional module that the formation negative pressure is adsorbed bright and clean smooth body surface; Each module adopts series system to connect successively by snap ring, and order is: first vacuum suction module-the one I type joint module-the one T type joint module-the 2nd T type joint module-the 3rd T type joint module-the 2nd I type joint module-second vacuum suction module; The rotating shaft of three T type joint modules is parallel to each other, and orthogonal with the rotating shaft of the I type joint module at two ends; Connect with snap ring between the module, locate with four pins and possible the relatively rotating of prevention intermodule at interface.
2. robot according to claim 1 is characterized in that described vacuum suction module mainly is made of vacuum cup, check valve, vacuum pump, main support, vacuum pressure sensor, bi-bit bi-pass vacuum solenoid, link span, hexagonal (hexagon)nut and various quick connector and tracheae; Three vacuum cups are equilateral triangle to be arranged, is fixed on the main support by hexagonal (hexagon)nut separately; Three the cooresponding hexagonal (hexagon)nut of vacuum cup tops have tapped bore separately, are connected with L shaped push-in threaded connection; Tracheae is drawn from L shaped push-in threaded connection, links on the bleeding point of vacuum pump by bi-bit bi-pass vacuum solenoid, check valve with dividing the gas joint to converge the back; Simultaneously, vacuum pressure sensor also is connected to branch gas joint by tracheae, communicates with above-mentioned gas circuit; Vacuum pump, vacuum pressure sensor, bi-bit bi-pass vacuum solenoid and link span all by screw retention on main support; Link span is as the standard interface of this negative pressure adsorption module with other mechanical module.
3. robot according to claim 2 is characterized in that described I type joint module mainly is made of servomotor and photoelectric encoder component, I joint sleeve, motor shaft sleeve, disc type harmonic speed reducer assembly, I joint pedestal, bearing seat, joint mouth attaching parts, inner gear, transition gear, transition gear axle, gear wheel shaft, harmonic speed reducer output transition disc; The connection mode of each parts is: servomotor and photoelectric encoder component and I joint base via shaft are fastening to screw, and its motor shaft links to each other indirectly by the wave producer of motor shaft sleeve with disc type harmonic speed reducer assembly; The input and output of disc type harmonic speed reducer assembly just wheel are fastenedly connected with I joint pedestal and harmonic speed reducer output transition disc respectively by screw, and latter's other end is fastenedly connected with screw and sun gear shaft again; I joint jacket casing is on the pedestal of I joint and along the circumferential direction use radial screw fastening; Bearing block support is on the pedestal of I joint, and itself and inner gear and joint mouth attaching parts three screw are fastening, can not relative motion; Harmonic speed reducer output transition disc is connected with gear wheel shaft one end by spline, and the gear wheel shaft other end and three transition gears being symmetrically distributed mesh, and three transition gears and inner gear mesh; Thereby the rotation of motor shaft is slowed down through harmonic speed reducer, and behind the further deceleration force amplifier by transition gear and inner gear, output power to joint mouth attaching parts, make it produce gyroscopic movement with respect to I joint sleeve.
4. robot according to claim 3, it is characterized in that described T type joint module is mainly by servomotor and photoelectric encoder component, T joint sleeve, motor shaft sleeve, disc type harmonic speed reducer assembly, T joint pedestal, harmonic speed reducer output transition disc, bevel gear shaft, band key end cap, transition connects end cap, the joint attaching parts, bevel gear wheel, the joint rotating shaft constitutes, the connection mode of each parts is: servomotor and photoelectric encoder component and T joint sleeve are fastening by axial bolt, and its motor shaft links to each other indirectly by the wave producer of motor shaft sleeve with disc type harmonic speed reducer assembly; The input and output of disc type harmonic speed reducer assembly just wheel are fastenedly connected with T joint sleeve and harmonic speed reducer output transition disc respectively by axial bolt, and harmonic speed reducer output transition disc is fastenedly connected with an end of axial bolt and bevel gear shaft again; T joint pedestal is enclosed within on the sleeve of joint outward and along the circumferential direction uses radial screw fastening; Bevel gear shaft is supported in the pedestal of T joint, the bevel pinion of one end and bevel gear wheel engagement, and the latter is installed on the joint shaft; The joint shaft two ends have keyway, cooperate with band key end cap, and band key end cap then connects end cap by transition and the joint attaching parts is connected; Thereby realize rotation with motor shaft after harmonic speed reducer slows down, and, output power to the joint attaching parts, make it with respect to T joint sleeve generation rotation campaign by deceleration force amplifier and the commutation once more of big bevel pinion.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202478744U CN201756146U (en) | 2010-07-02 | 2010-07-02 | Modularized bionic wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010202478744U CN201756146U (en) | 2010-07-02 | 2010-07-02 | Modularized bionic wall-climbing robot |
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| CN201756146U true CN201756146U (en) | 2011-03-09 |
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| CN2010202478744U Expired - Lifetime CN201756146U (en) | 2010-07-02 | 2010-07-02 | Modularized bionic wall-climbing robot |
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| CN101898357A (en) * | 2010-07-02 | 2010-12-01 | 华南理工大学 | Modularized bionic wall climbing robot |
| CN104473595A (en) * | 2014-12-25 | 2015-04-01 | 哈尔滨工程大学 | Loopworm-simulated cleaning device |
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| CN107600214A (en) * | 2017-10-16 | 2018-01-19 | 河北工业大学 | It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall |
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| CN104473595A (en) * | 2014-12-25 | 2015-04-01 | 哈尔滨工程大学 | Loopworm-simulated cleaning device |
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| CN106741274A (en) * | 2017-02-16 | 2017-05-31 | 耿逸芃 | The sucker type wall climbing robot and its moving method of adjustable stride |
| CN107600214A (en) * | 2017-10-16 | 2018-01-19 | 河北工业大学 | It is a kind of to climb wall Work robot suitable for the movement of variable curvature wall |
| CN107600214B (en) * | 2017-10-16 | 2023-06-02 | 河北工业大学 | Wall climbing operation robot suitable for wall surface movement with variable curvature |
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| CN108725612B (en) * | 2018-07-18 | 2023-09-22 | 嘉兴学院 | Multi-freedom-degree multifunctional robot |
| CN108888923A (en) * | 2018-08-28 | 2018-11-27 | 罗晓辉 | A kind of automatic rock-climbing robot |
| CN109649520A (en) * | 2019-01-15 | 2019-04-19 | 北京史河科技有限公司 | A kind of robot |
| CN110107775A (en) * | 2019-05-20 | 2019-08-09 | 北京工业大学 | A kind of pipe robot crosses the mechanical mechanism of butterfly valve |
| CN111976857A (en) * | 2020-08-25 | 2020-11-24 | 广东省智能制造研究所 | Self-rotating double-body wall-climbing robot |
| CN111976857B (en) * | 2020-08-25 | 2024-01-30 | 广东省智能制造研究所 | Self-rotating double-body wall climbing robot |
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