CN202935466U - Flexible steering barb type wall climbing robot - Google Patents

Flexible steering barb type wall climbing robot Download PDF

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Publication number
CN202935466U
CN202935466U CN 201220405702 CN201220405702U CN202935466U CN 202935466 U CN202935466 U CN 202935466U CN 201220405702 CN201220405702 CN 201220405702 CN 201220405702 U CN201220405702 U CN 201220405702U CN 202935466 U CN202935466 U CN 202935466U
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China
Prior art keywords
body plate
machine body
crank
climbing robot
claw
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Expired - Lifetime
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CN 201220405702
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Chinese (zh)
Inventor
刘彦伟
孙少明
梅涛
胡重阳
张勇杰
吴暄
黄�俊
吴益靓
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Hefei Institutes of Physical Science of CAS
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Hefei Institutes of Physical Science of CAS
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Abstract

The utility model belongs to the technical field of machine manufacturing and specifically provides a flexible steering barb type wall climbing robot which comprises an upper machine body plate, a lower machine body plate, a crank sliding block structure, a flexible barb claw and a motor. The crank sliding block structure is connected between the upper machine body plate and the lower machine body plate and comprises a sliding block, a connecting rod and a crank, the crank is installed on the upper machine body plate, an output shaft of the motor is connected with the crank, and the sliding block is connected with the lower machine body plate through the motor. An elastic rubber layer is wrapped on the surface of a rigid barb tip of the flexible barb claw. When a rigid barb is attached to the inner portion of a pit of the wall surface, and an elastic rubber film deforms to fill the pit so as to enable attachment to be stable. In addition, the flexible steering barb type wall climbing robot is simple in structure, convenient to operate and use, low manufacturing cost and suitable for being popularized and applied in the correlative technology field.

Description

The hook thorn formula climbing robot that can turn to flexibly
Technical field
The utility model belongs to machinery manufacturing technology field, specifically a kind of hook thorn formula climbing robot that can turn to flexibly.
Background technology
Climbing robot is significant for space flight and aviation, celestial body detecting, extreme environment search and rescue, military surveillance etc.And wall-climbing device artificially realizes creeping function, must there are absorption and mobile two basic function.General climbing robot is attached by negative-pressure adsorption and magnetic, and the very fast bionic nano adhesion material of development in recent years, it is smooth smooth that wherein negative-pressure adsorption requires wall, the attached wall that requires of magnetic has ferrimagnetism, and the manufacture of bionic nano adhesion material is more difficult, present stage, bionic nano material easily descended adhesion property by the pollution such as dust even to lose efficacy, and not good for coarse wall adhesiving effect.Three kinds of suction types all have limitation, and the mission requirements of the utility model based on hydraulically rough surface proposes Bionic flexible hook thorn adhesion mode.The move mode of climbing robot mainly contains two kinds of leg formula and crawler types, leg formula structure is more complicated all, the driving needed is more, and climbing stability is bad, and crawler type requires wall smooth, climbing robot moves and is subject to the restriction of mechanism and the mode of adhesion on wall, can not freely turn to, therefore design a kind of hydraulically rough surface of climbing, simultaneously simple in structure, drive lessly, the climbing robot that can turn to flexibly is significant.
Chinese patent literature CN100455473C provides a kind of " Alcula type wall climbing robot ", this patent document has solved the problem that climbing robot is climbed on hydraulically rough surface to a certain extent, but this robot is grabbed attached stable not, cannot realize divertical motion, and practicality is not strong.
The utility model content
The purpose of this utility model is in order to solve deficiency of the prior art, and a kind of hydraulically rough surface of climbing is provided, simple in structure, the hook thorn formula climbing robot that can turn to flexibly.
The hook thorn formula climbing robot that can turn to flexibly, comprise upper machine body plate, lower body plate, crank block structure, flexible hook thorn claw, motor, wherein in the middle of upper machine body plate and lower body plate, be connected with the crank block structure, the crank block structure comprises slide block, connecting rod, crank, crank is arranged on the upper machine body plate, the output shaft of motor is connected with crank, and slide block is connected by motor with the lower body plate.Be provided with chute on the upper machine body plate.
Climbing robot has been realized upper machine body plate and lower body plate relative linear movement by the crank block structure, can realize that robot advances, setback; Have a rotational freedom between upper machine body plate and lower body plate, climbing robot can be realized divertical motion flexibly simultaneously.
Flexible hook thorn claw of the present utility model has six, and wherein three are arranged on the upper machine body plate, and three are arranged on the lower body plate.Six flexible hooks thorn claws of climbing robot are can circumference symmetrical, also can left-right symmetric distribute.
Every flexible hook thorn claw of the present utility model is comprised of motor, claw pedestal, driving gear, toe, rigid hooks thorn, rubber elastic membrane, and wherein rubber elastic membrane is wrapped in around the tip end surface of rigid hooks thorn.Rigid hooks thorn is grabbed while being attached to the wall pit, and rigid hooks is stung surperficial rubber elastic membrane due to the stressed generation deformation of extruding, fills pit, makes to grab attached more stable, is difficult for rotating.In addition, the toe number of every flexible hook thorn claw is 4 to 10.
The utility model adopts hook thorn formula to adhere to mode, can realize stable creep of robot on coarse or flexible wall, and can turn to flexibly; Upper machine body plate of the present utility model is connected by the crank block structure with the lower body plate, with the rotating machine driving crank, rotates, and has alleviated the weight of robot; Rigid hooks thorn tip end surface parcel one deck elastic rubber layer of the utility model flexible hook thorn claw, grab while being attached in the wall pit when the rigid hooks thorn, and rubber elastic membrane deforms, and fills pit, makes to grab attached more stable.In addition, the utility model is simple in structure, handled easily is used, cost is not high, is adapted at applying in correlative technology field.
The accompanying drawing explanation
Fig. 1 is perspective view of the present utility model;
I in Fig. 2, II are action schematic diagram of the present utility model;
I in Fig. 3, II, III are claw structural representations of the present utility model;
Fig. 4 is toe structure schematic diagram of the present utility model.
In figure: 1, slide block; 2, upper machine body plate; 3, turn to drive motor; 4, lower body plate; 5, connecting rod; 6, crank; 7, mechanism's drive motor; 8, flexible hook thorn claw; 9, claw pedestal; 10, motor; 11, driving gear; 12, toe; 13, rigid hooks thorn; 14, rubber elastic membrane; 15, the bullet of claw end; 16, the white round dot of claw end.
The specific embodiment
For making the technical solution of the utility model and characteristics clearer, below in conjunction with embodiment and accompanying drawing, the utility model is described in further detail.At this, following examples are used for the utility model is described, but are not used for limiting scope of the present utility model.
As shown in Figure 1, the utility model climbing robot comprises upper machine body plate 2, lower body plate 4, turns to drive motor 3, slide crank block structured slide block 1, connecting rod 5, crank 6, mechanism's drive motor 7 of crank block, flexible hook thorn claw 8.In addition, chute is arranged on the upper machine body plate 2, and slide crank block structure mechanism drive motor 7 is arranged on upper machine body plate 2, and motor output shaft is connected with crank 6, and the motion of driving crank slide block structure makes upper machine body plate 2 and lower body plate 4 produce relative motions.Slide block 1 with lower body plate 4 by turning to drive motor 3 to be connected, by turning to the drive machines people divertical motion that rotatablely moves of drive motor 3.
As shown in Figure 2, climbing robot can realize that cw and conter clockwise turn to flexibly, and a step steering angle scope is at 0 degree to 40 degree.Shown in figure, be the robot steering procedure, the bullet 15 of claw end means that claw is in grabbing attached state, and the white round dot 16 of claw end means that claw is in breaking away from the state of wall.
Here definition: lower body is lower body plate 4 and the general name that is installed on the claw on lower body plate 4, and upper machine body is upper machine body plate 2 and the general name that is installed on the claw on upper machine body plate 2.The detailed process that climbing robot turns to is:
Figure DEST_PATH_GSB00001027677600041
Figure DEST_PATH_GSB00001027677600042
Figure DEST_PATH_GSB00001027677600043
So circulation can realize the divertical motion of robot freedom and flexibility.
As shown in Figure 3,4, flexible hook thorn claw 8 is comprised of motor 10, claw pedestal 9, driving gear 11, toe 12, rigid hooks thorn 13, rubber elastic membrane 14.Motor 10 output shafts are connected with driving gear 11, by gear transmission, drive toe movement, and then realize that grabbing of claw and wall echo desorption.In addition, rubber elastic membrane 14 (or other flexible materials) is wrapped in rigid hooks and stings around 13 tip end surface, when rigid hooks thorn 13 is grabbed attached wall pit, rigid hooks is stung the rubber elastic membrane 14 on 13 surfaces due to the stressed generation deformation of extruding, fill pit, make to grab attached more stable, be difficult for shaking.
Obviously, above-described embodiment of the present utility model is only for the utility model example clearly is described, and is not the restriction to embodiment of the present utility model.For those of ordinary skill in the field, can also make other changes in different forms on the basis of the above description.Here can't give all embodiments exhaustive.Every still row in protection domain of the present utility model of apparent variation that the technical solution of the utility model extends out or change that belong to.

Claims (6)

1. the hook thorn formula climbing robot that can turn to flexibly, comprise upper machine body plate, lower body plate, crank block structure, flexible hook thorn claw, motor, wherein in the middle of upper machine body plate and lower body plate, be connected with the crank block structure, it is characterized in that the crank block structure comprises slide block, connecting rod, crank, crank is arranged on the upper machine body plate, the output shaft of motor is connected with crank, and slide block is connected by motor with the lower body plate.
2. the hook thorn formula climbing robot that can turn to flexibly according to claim 1, is characterized in that being provided with chute on the upper machine body plate.
3. the hook thorn formula climbing robot that can turn to flexibly according to claim 1, is characterized in that flexible hook thorn claw has six, and wherein three are arranged on the upper machine body plate, and three are arranged on the lower body plate.
4. the hook thorn formula climbing robot that can turn to flexibly according to claim 3, is characterized in that six flexible hooks thorn claws of climbing robot are can circumference symmetrical, also can left-right symmetric distribute.
5. according to the described hook thorn formula climbing robot that can turn to flexibly of claim 3 or 4, it is characterized in that every flexible hook thorn claw is comprised of motor, claw pedestal, driving gear, toe, rigid hooks thorn, rubber elastic membrane, wherein rubber elastic membrane is wrapped in around the tip end surface of rigid hooks thorn.
6. the hook thorn formula climbing robot that can turn to flexibly according to claim 5, is characterized in that the toe number of every flexible hook thorn claw is 4 to 10.
CN 201220405702 2012-08-14 2012-08-14 Flexible steering barb type wall climbing robot Expired - Lifetime CN202935466U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Application Number Priority Date Filing Date Title
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Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109572843A (en) * 2019-01-05 2019-04-05 韩志勇 A kind of robot forward method
CN110641572A (en) * 2019-09-29 2020-01-03 西安理工大学 Bionic flexible claw thorn array foot with adjustable adhesion state
CN112249185A (en) * 2020-10-13 2021-01-22 重庆交通大学 Active claw structure for curved surface adsorption of foot type wall-climbing robot

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109572843A (en) * 2019-01-05 2019-04-05 韩志勇 A kind of robot forward method
CN110641572A (en) * 2019-09-29 2020-01-03 西安理工大学 Bionic flexible claw thorn array foot with adjustable adhesion state
CN110641572B (en) * 2019-09-29 2021-09-10 西安理工大学 Bionic flexible claw thorn array foot with adjustable adhesion state
CN112249185A (en) * 2020-10-13 2021-01-22 重庆交通大学 Active claw structure for curved surface adsorption of foot type wall-climbing robot
CN112249185B (en) * 2020-10-13 2022-02-01 重庆交通大学 Active claw structure for curved surface adsorption of foot type wall-climbing robot

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Granted publication date: 20130515

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