CN201784730U - Adhesive type wall-climbing multi-legged robot - Google Patents
Adhesive type wall-climbing multi-legged robot Download PDFInfo
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- CN201784730U CN201784730U CN2010200223280U CN201020022328U CN201784730U CN 201784730 U CN201784730 U CN 201784730U CN 2010200223280 U CN2010200223280 U CN 2010200223280U CN 201020022328 U CN201020022328 U CN 201020022328U CN 201784730 U CN201784730 U CN 201784730U
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Abstract
The utility model discloses an adhesive type wall-climbing multi-legged robot, which comprises a trunk, a movement control module, at least four moving legs and at least four feet. One end of each moving leg is connected with the trunk, one foot is arranged at the other end of the corresponding moving leg, a glue storage tank is further arranged on the trunk, glue conveying passages are arranged on the moving legs, flexible contact surfaces are arranged on the bottom surfaces of bases of the feet, glue outlet holes are arranged on the bottom surfaces of the feet, a glue outlet of the glue storage tank is communicated with the glue outlet holes of the feet by the aid of the glue conveying passages, the glue storage tank further includes a pressure device, and glue of the glue storage tank is conveyed to the glue outlet holes of the feet under the action of the pressure device. Adhesive force is provided by means of glue application, the adhesive type wall-climbing multi-legged robot is simple in mechanism and easy in realization, can greatly reduce the weight of an adhesion mechanism compared with a traditional absorption manner, and improves reliability of the adhesive force, and basically no noise is generated by an absorption device.
Description
Technical field
The utility model relates to climbing robot, and it can be worked under dangerous situation and harsh environment, finishes specific task, and especially it can be attached on the vertical wall and top ceiling.
Background technology
In many occasions, the mankind itself is difficult to arrive and finish corresponding task.Such as the place that the exterior wall of skyscraper, the radiation field of nuke industry, high top ceiling, fire, earthquake or other disaster take place, these are local, and then danger is very high as adopting manual work, and this just makes that climbing robot arises at the historic moment.Climbing robot be because its foot can produce adsorption affinity, thereby improved the action radius and the application scenario of robot greatly, and it can creep even can also bear certain load at vertical wall.
The core technology of climbing robot is the running surface that is parked in that how to provide adsorption affinity to make that climbing robot can be firm.According to the difference of absorption principle, that present climbing robot mainly contains is magnetic-type, aspirated-air type, vacuum adsorption type.More than several suction types exist and adapt to wall material narrow range, noise is big, shortcomings such as power consumption height.And, often too heavy based on the climbing robot of above suction type, to move slowly, the load that can bear is little, and continuous working period is short.
Summary of the invention
Technical problem to be solved in the utility model is the deficiency that exists at above-mentioned prior art, and a kind of climbing multi-foot robot based on gluing suction type is provided.It has, and the material of adaptation scope is wide, and noise is little, and it is little to conduct oneself with dignity, and moves advantages such as light.
For solving the problems of the technologies described above, the technical solution adopted in the utility model is:
A kind of gluing type climbing multi-foot robot, comprise: trunk, motion-control module, at least four motion legs and foot, described motion leg one end is connected with trunk, the other end of described motion leg is provided with described foot, on described trunk, also be provided with storage glue jar, described motion leg is provided with defeated glue passage, the bottom surface of described sufficient base is flexible contact surface, described sufficient bottom surface is provided with the plastic hole, the gum outlet of described storage glue jar is communicated with described sufficient plastic hole through defeated glue passage, described storage glue jar also comprises pressure apparatus, and the glue of described storage glue jar is transported to sufficient plastic hole under the effect of pressure apparatus.
Described storage glue jar comprises tank body, described pressure apparatus comprises piston plate and air bag, and described piston plate is arranged in the middle of the tank body, at an end of described tank body described gum outlet is set, the other end at tank body is provided with the air bag induction opening, and described air bag is arranged on the air inlet nose end of tank body.
The foot of described robot is made up of base, support and end cap three parts, directly be provided with spring at support and end cap, end cap and base are provided with rack leg by adhesive sealing in the lower end of support, base aperture is set on base, and described rack leg and described base aperture are suitable.
The utility model robot adopts the polypody design, can get foots such as 4,6,8 or more than, the vola is a flexible contact surface.Storage glue jar is installed on the trunk of robot, and before robot work, the glue that uses when gum-injecting port pours into work is sealed gum-injecting port.Again from induction opening (valve inside) to air bag towards sufficient gas, the trend of airbag inflation all the time with piston plate to pressing down, force glue be delivered to each vola of robot by glue conveying box.Cover thin adhesive layer in the vola, stick to running surface.
The mode of creeping that the motor-driven employing of robot is bionical, promptly its all pin are all being grabbed with the surface, only allow a pin at every turn and come to nothing, and produce shift action.It is motor-driven to be undertaken by making its all pin implement " come to nothing (extracting)-move-grabbing " in turn.Motion-control module is controlled by mcu programming, send the control voltage signal in turn successively every foot, make the control motor rotation (other foot keep motionless) of shank, finish extracting-move forward-grabbing and moving, when all legs were all finished once this action, robot totally promptly moved and moves a step.If the common limb number is n, like this, always there is n-1 pin to be connected with the surface, thereby guarantees that it can be attached at the surface by glue.But it moves also convenient, because only need spend a small amount of power to extract out by gluing this pin of living just.Imagination reversal of the natural order of things state supposes that every sufficient binding force is f, and then the total power that can bear of robot is (n-1) f, but robot extract a foot need with power be f.Therefore adopt the polypody design can guarantee that robot moves easily but can not fall down.
The design of polypody makes that robot single-piece binding force is very big, guarantees the machine man-hour securely attached to running surface, but that monopodia is extracted used power is little, to guarantee its motor-driven convenience.
The beneficial effects of the utility model:
Flexible contact surface can well be adhered with the surface of most of material by thin adhesive layer, even its surface may be uneven, makes that the application scenario of climbing robot is very wide; 2. the mode by applying glue provides adhesive ability, and mechanism is simple, is easy to realize.Compared with traditional suction type, can alleviate the weight of attachment mechanism greatly, and improve the reliability of adhesive ability; 3. binding force does not need extra expenditure of energy, and the covering that only needs to guarantee thin adhesive layer gets final product, and energy consumption is very low, and this helps working long hours of robot; 4. adsorption plant does not have noise to produce substantially.
Description of drawings
Fig. 1, Fig. 2 are the robot design sketchs;
Fig. 3 is a storage glue jar structure scheme drawing;
Fig. 4 is the robot foot structural representation;
Fig. 5 is sufficient base front view.
Fig. 6 is the birds-eye view of Fig. 5.
The specific embodiment
Robot construction as shown in Figure 1.It mainly comprises trunk 1, motion-control module 2, and storage glue jar 5, the motion leg is held concurrently and is failed glue passage 3, has the foot 4 of flexible contact surface.Storage glue jar 5 constantly is transported to glue on the flexible contact surface in vola by the glue conveying box that is embedded on the robot leg, makes it form thin adhesive layer.Motion-control module 2 moves and work by micro-control circuit control miniature motor drive machines people intelligence, places the energy that storage battery is supplied with motion in the module.
Structure such as Fig. 3 of storage glue jar 5.Store up glue jar 5 by tank body 7, base 10, base end cap 11 and pressure apparatus are formed, and wherein pressure apparatus comprises piston plate 9 and rubber bag tank 8.After storage glue jar 5 assembles, tank body 7 and base 10 adhesive sealings.Storage glue jar 5 inside are separated into two parts up and down by piston plate 9.Upper end is the pressurized air filler opening, and what stretch from this hole is a valve inside 14 that is installed on the rubber bag tank 8.Before robot enforcement task, with Floor Pump or air compressor air is injected rubber bag tank 8, the swelling force of rubber bag tank 8 acts on the piston plate 9, piston plate 9 promotes aperture 12 outflows of the glue of bottom storage by the base end cap downwards, and 8 apertures 12 are to link to each other with 4 ones on 8 foots of robot respectively by plastic hose.Base end cap 11 middle parts are filler openings 13 of glue.
Design such as Fig. 4 of foot 4, by upper end cover 15, support 16, base 17 constitutes.At support 16 and end cap 15 junctions spring 20 is arranged.Foot end cap 15 and base 17 pass through adhesive sealing.Nonmetallic flexible material is adopted in the bottom surface of base 17, such as rubber, forms flexible contact surface, increases the force of cohesion that glue produces, and robot can be creeped on the surface of more materials.Upper opening 21 is connected with storage glue jar by defeated glue flexible pipe.Glue is extruded from storage glue jar 5, is flowed out by 9 base aperture in 4 ends of foot 18, forms thin adhesive layer at 4 ends of foot.Every foot 4 moves and moves a step, and storage glue jar 5 all to its defeated glue is once failed the quantity of glue at every turn and can be adjusted.
The working process of the defeated adhesive dispenser of the utility model robot.Before robot enforcement task,, seal gum-injecting port 13 from the required glue of gum-injecting port 13 filling operation in jar of base end cap 11.With Floor Pump or air compressor extraneous air is injected rubber bag tank 8, robot just can have been worked.Valve inside 14 stops air to leak, and the pressure of rubber bag tank exists all the time, so do not need to inflate to air bag when work again.
The swelling force compressing piston plate 9 of rubber bag tank 8, the glue that storage glue jar 5 lower parts are stored produces pressure all the time, makes glue that the trend that flows out from end cap aperture 12 be arranged, and uses up until glue.The design of piston plate 9 makes also that when robot is hung by the feet on top ceiling glue can not flow backwards and can not arrive 4 ones on foot to storage glue jar 5 tops.
The foot 4 of robot is made up of base 17, support 16 and end cap 15 3 parts.And spring 20 is arranged at support 16 and end cap 15 junctions.Spring 20 is in compressive state, produces less power support 16 is pushed up to base 17.Just fit in base aperture 18 bottoms of the rack leg 19 of support bottom and base 17, and rack leg 19 protuberate basic unit 1mm, amount according to each defeated glue can be adjusted this parameter, the diameter of rack leg 19 is than base aperture 18 little 2mm, the lower end of the lower end of rack leg 19 and base aperture 18 is taper, when foot 4 when unsettled, because the pressure of the effect of spring 20 and glue, make the front end of rack leg 19 and the front end of base aperture 18 prop up gradually, glue will can be not excessive.A foot of motion-control module 2 control robot carries out " come to nothing extract-move-grabbing " action, when " grabbing ", unsettled foot 4 is firmly pressed to body surface 6, application force equals or is a bit larger tham spring 20 pressure, makes rack leg 19 and base aperture 18 separately, and glue overflows from the slit.After waiting several seconds, adjust the amount that this time can change each defeated glue, shed the pressure to foot, then rack leg 19 and base aperture 18 prop up again gradually, and glue stops excessive, as Fig. 5, shown in Figure 6.
Because the rubber bag tank 8 in the storage glue jar 5 has the pressure effect to piston plate 9 all the time, so the infiltration of glue is automatically fully, do not need by other external force.Robot in the process of walking like this.Behind foot applying metope or top ceiling, foot will discharge thin adhesive layer in 4 ends, and the about 1mm of glue-line can adjust when thick, and glue also can stop excessive.Robot similarly is naturally to be attached on metope or the top ceiling, only needs to consider the motion of robot and the movement posture that will finish the work are controlled, and does not need to consider whether robot can fall down.
The illustrated adhesive system of this example can be applied to most of multi-foot robots, has well solved climbing wall or climbing the top ceiling problem of robot, does not but need big energy consumption, does not also have big noise, is a kind of very practical suction type.
Claims (3)
1. gluing type climbing multi-foot robot, comprise: trunk (1), motion-control module (2), at least four motion legs (3) and foot (4), described motion leg (3) one ends are connected with trunk (1), motion under the effect of motion-control module (2), the other end of described motion leg (3) is provided with described foot (4), it is characterized in that: on described trunk (1), also be provided with storage glue jar (5), described motion leg (3) is provided with defeated glue passage, the bottom surface of the base (17) of described foot (4) is flexible contact surface, the bottom surface of described foot (4) is provided with the plastic hole, the gum outlet of described storage glue jar (5) is communicated with the plastic hole of described foot (4) through defeated glue passage, described storage glue jar (5) also comprises pressure apparatus, and the glue of described storage glue jar (5) is transported to the plastic hole of foot (4) under the effect of pressure apparatus.
2. gluing type climbing multi-foot robot according to claim 1, it is characterized in that: described storage glue jar (5) comprises tank body (7), described pressure apparatus comprises piston plate (9) and air bag (8), described piston plate (9) is arranged in the middle of the tank body (7), end at described tank body (7) is provided with described gum outlet, the other end at tank body (7) is provided with the air bag induction opening, and described air bag (8) is arranged on the air inlet nose end of tank body (7).
3. gluing type climbing multi-foot robot according to claim 1 and 2, it is characterized in that: the foot of described robot (4) is made up of base (17), support (16) and end cap (15) three parts, directly be provided with spring (20) at support (16) and end cap (15), end cap (15) and base (17) pass through adhesive sealing, in the lower end of support (16) rack leg (19) is set, base aperture (18) is set on base (17), and described rack leg (19) is suitable with described base aperture (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200223280U CN201784730U (en) | 2010-01-20 | 2010-01-20 | Adhesive type wall-climbing multi-legged robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010200223280U CN201784730U (en) | 2010-01-20 | 2010-01-20 | Adhesive type wall-climbing multi-legged robot |
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| CN201784730U true CN201784730U (en) | 2011-04-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2010200223280U Expired - Lifetime CN201784730U (en) | 2010-01-20 | 2010-01-20 | Adhesive type wall-climbing multi-legged robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734301B (en) * | 2010-01-20 | 2012-11-28 | 南京航空航天大学 | Gluing type climbing multi-foot robot |
| CN105598980A (en) * | 2016-03-11 | 2016-05-25 | 柯再立 | Emergency rescuing robot |
| RU2667594C1 (en) * | 2017-11-17 | 2018-09-21 | Федеральное государственное бюджетное учреждение науки Институт проблем механики им. А.Ю. Ишлинского Российской академии наук (ИПМех РАН) | Foot of walking cosmic microbot |
| RU2667593C1 (en) * | 2017-11-17 | 2018-09-21 | Федеральное государственное бюджетное учреждение науки Институт проблем механики им. А.Ю. Ишлинского Российской академии наук (ИПМех РАН) | Foot of walking cosmic micromechanism |
| RU2675327C1 (en) * | 2017-11-17 | 2018-12-18 | Федеральное государственное бюджетное учреждение науки Институт проблем механики им. А.Ю. Ишлинского Российской академии наук (ИПМех РАН) | Leg foot for the walking space micro robot |
| CN110153996A (en) * | 2019-04-04 | 2019-08-23 | 江苏大学 | A kind of bionical foot of high environmental suitability soft robot |
| RU2699209C1 (en) * | 2018-07-18 | 2019-09-03 | Федеральное государственное бюджетное учреждение науки Институт проблем механики им. А.Ю. Ишлинского Российской академии наук (ИПМех РАН) | Walking insectomorphous mobile microrobot |
-
2010
- 2010-01-20 CN CN2010200223280U patent/CN201784730U/en not_active Expired - Lifetime
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101734301B (en) * | 2010-01-20 | 2012-11-28 | 南京航空航天大学 | Gluing type climbing multi-foot robot |
| CN105598980A (en) * | 2016-03-11 | 2016-05-25 | 柯再立 | Emergency rescuing robot |
| RU2667594C1 (en) * | 2017-11-17 | 2018-09-21 | Федеральное государственное бюджетное учреждение науки Институт проблем механики им. А.Ю. Ишлинского Российской академии наук (ИПМех РАН) | Foot of walking cosmic microbot |
| RU2667593C1 (en) * | 2017-11-17 | 2018-09-21 | Федеральное государственное бюджетное учреждение науки Институт проблем механики им. А.Ю. Ишлинского Российской академии наук (ИПМех РАН) | Foot of walking cosmic micromechanism |
| RU2675327C1 (en) * | 2017-11-17 | 2018-12-18 | Федеральное государственное бюджетное учреждение науки Институт проблем механики им. А.Ю. Ишлинского Российской академии наук (ИПМех РАН) | Leg foot for the walking space micro robot |
| RU2699209C1 (en) * | 2018-07-18 | 2019-09-03 | Федеральное государственное бюджетное учреждение науки Институт проблем механики им. А.Ю. Ишлинского Российской академии наук (ИПМех РАН) | Walking insectomorphous mobile microrobot |
| CN110153996A (en) * | 2019-04-04 | 2019-08-23 | 江苏大学 | A kind of bionical foot of high environmental suitability soft robot |
| CN110153996B (en) * | 2019-04-04 | 2021-07-20 | 江苏大学 | Bionic foot for high-environmental-adaptability soft robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20110406 Effective date of abandoning: 20100120 |
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| RGAV | Abandon patent right to avoid regrant |