CN202987324U - Wall climbing robot with bionic claws - Google Patents
Wall climbing robot with bionic claws Download PDFInfo
- Publication number
- CN202987324U CN202987324U CN 201220317212 CN201220317212U CN202987324U CN 202987324 U CN202987324 U CN 202987324U CN 201220317212 CN201220317212 CN 201220317212 CN 201220317212 U CN201220317212 U CN 201220317212U CN 202987324 U CN202987324 U CN 202987324U
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- claws
- climbing robot
- body plate
- claw
- body board
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Abstract
The utility model belongs to the technical field of machine manufacturing, and particularly to a wall climbing robot with bionic claws. The wall climbing robot comprises the following components: an upper body board, a lower body board, a crank slide block, claws and a tail. The upper body board and the lower body board are connected with at least three claws. Furthermore the claws are symmetrically arranged at the left part and the right part. Each claw is connected with the upper body board and the lower body board through an elastic reed. The elastic reed has deformation directionality and provides prestress in a passive manner. According to the wall climbing robot with the bionic claws, unidirectional elastic claw structure design is adopted. In the moving process of the wall climbing robot, the claws have the characteristics of slipping and fixed suction. When the claws slip upwards along the wall surface, the claws warp backwards, thereby reducing resistance in upward movement. When the claws suck on the wall, the positions of the claws are fixed because of structure restriction, and higher suction firmness is obtained. Additionally, the wall climbing robot has the following advantages: simple structure, high convenience in operation and use, low fabrication cost, and high suitability for popularization and application in related technical fields.
Description
Technical field
The utility model belongs to machinery manufacturing technology field, specifically a kind of climbing robot of bionical claw.
Background technology
Climbing robot is significant for succouring under military surveillance, extreme environment etc.And wall-climbing device artificially realizes creeping function, must have 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.Wherein negative-pressure adsorption requires wall smooth smooth, and the attached wall that requires of magnetic has ferrimagnetism, and the manufacturing of bionic nano adhesion material is more difficult and not good for coarse wall adhesiving effect.Therefore, three kinds of suction types all have limitation.
The move mode of climbing robot mainly contains two kinds of leg formula and crawler types, and leg formula structure is more complicated all, and the driving that needs is more, and climbing stability is bad, and crawler type requires wall smooth.Therefore design a kind of hydraulically rough surface of climbing, simultaneously simple in structure, drive few climbing robot significant.
The utility model content
The purpose of this utility model is in order to solve deficiency of the prior art, a kind of hydraulically rough surface of climbing to be provided, and is simple in structure, drives few bionical claw climbing robot.
The climbing robot of bionical claw comprises upper machine body plate, lower body plate, crank block, claw, tail, and wherein, tail is arranged on the upper machine body plate, and precompressed compression can be provided.The upper machine body plate is connected by crank block with the lower body plate, and slide block is integrated in the lower body plate, and chute is integrated in the upper machine body plate.
The utility model crank block comprises crank, connecting rod.On the upper machine body plate, DC machine is installed, the output shaft of DC machine is connected with crank, and climbing robot is driven by single DC machine.
The utility model upper machine body plate, lower body plate are connected with respectively three claws at least, and left and right symmetrical, make bionical claw motion have two anisotropies by structure design.Each claw is connected with upper machine body plate, lower body plate by elastic spring.The elastic spring distortion has directivity, provides precompressed compression take passive mode as claw.Each claw is comprised of elastic spring, hook thorn matrix, rigid hooks thorn, rubber elastic membrane, and wherein, rubber elastic membrane is wrapped in the tip end surface of rigid hooks thorn.
The utility model adopts unidirectional elasticity claw structure design, and climbing robot is in motion process, and claw has slippage and fixedly grabs attached characteristics.When claw made progress slippage with body along wall, claw is perk backward, has reduced the resistance of upward movement; When claw is grabbed when being attached on wall, claw is due to structural limitations, and the claw position immobilizes, and it is attached more firm to grab.In addition, the utility model is simple in structure, handled easily uses, cost is not high, is adapted at applying in correlative technology field.
Description of drawings
Fig. 1 is perspective view of the present utility model;
Fig. 2 is the auxiliary schematic diagram of spatial structure of the present utility model;
Fig. 3 is claw structural representation of the present utility model;
Fig. 4 is claw two anisotropy structural representations of the present utility model.
In figure: 1, upper machine body plate; 2, lower body plate; 3, claw; 4, tail; 5, crank; 6, connecting rod; 7, DC machine; 8, elastic spring; 9, hook thorn matrix; 10, rigid hooks thorn; 11, rubber elastic membrane.
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 explanation the utility model, but are not used for limiting scope of the present utility model.
As shown in Figure 1 and Figure 2, the utility model comprises crank 5, connecting rod 6, claw 3, the tail 4 of upper machine body plate 1, lower body plate 2, crank block.DC machine 7 is housed on upper machine body plate 1, and upper machine body plate 1 is connected by crank block with lower body plate 2, and slide block is integrated in lower body plate 2, and chute is integrated in upper machine body plate 1.
DC machine 7 output shafts of the present utility model are connected with crank 5, and the driving crank slide block movement makes upper machine body plate 1 and lower body plate 2 produce relative motion.4 pairs of upper machine body plates 1 of tail of the present utility model and lower body plate 2 have passive pressuring action, make climbing robot in motion process, and claw 3 is more easily grabbed attached.
As shown in Figure 3, claw 3 is comprised of elastic spring 8, hook thorn matrix 9, rigid hooks thorn 10, rubber elastic membrane 11.Wherein, rubber elastic membrane 11 also can adopt other flexible materials to substitute.Claw 3 stings 10 by rigid hooks and grabs in the pit that is attached to wall, and large deformations occur the rubber elastic membrane 11 on rigid hooks thorn this moment 10 surfaces, and pit is played filling effect, has increased the area of contact with wall, grabs attached more stable.
When the relative lower body plate 2 of upper machine body plate 1 during along the wall upward movement, the claw 3 that lower body plate 2 is installed is in fixedly grabs attached state, and stable grabbing is attached in the pit of wall, and the claw 3 that upper machine body plate 1 is installed is in slip state, the rear portion of claw 3 is upturned, and has reduced resistance of motion.Therefore, just realized the stable climbing function of climbing robot on hydraulically rough surface.
Obviously, above-described embodiment of the present utility model is only for the utility model example clearly is described, and is not to be 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.Everyly belong to the row that apparent variation that the technical solution of the utility model extends out or change still are in protection domain of the present utility model.
Claims (6)
1. the climbing robot of bionical claw, it is characterized in that: comprise upper machine body plate, lower body plate, crank block, claw, tail, wherein, tail is arranged on the upper machine body plate, the upper machine body plate is connected by crank block with the lower body plate, slide block is integrated in the lower body plate, and chute is integrated in the upper machine body plate.
2. the climbing robot of bionical claw according to claim 1, is characterized in that crank block comprises crank, connecting rod.
3. the climbing robot of bionical claw according to claim 1, is characterized in that on the upper machine body plate, DC machine being installed, and the output shaft of DC machine is connected with crank.
4. the climbing robot of bionical claw according to claim 1, is characterized in that climbing robot is driven by single DC machine.
5. the climbing robot of bionical claw according to claim 1, is characterized in that upper machine body plate, lower body plate are connected with respectively three claws at least, and left and right symmetrical, and each claw is connected with upper machine body plate, lower body plate by elastic spring.
6. the climbing robot of bionical claw according to claim 5, is characterized in that each claw is comprised of elastic spring, hook thorn matrix, rigid hooks thorn, rubber elastic membrane, and wherein, rubber elastic membrane is wrapped in the tip end surface of rigid hooks thorn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220317212 CN202987324U (en) | 2012-07-03 | 2012-07-03 | Wall climbing robot with bionic claws |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220317212 CN202987324U (en) | 2012-07-03 | 2012-07-03 | Wall climbing robot with bionic claws |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202987324U true CN202987324U (en) | 2013-06-12 |
Family
ID=48558528
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220317212 Expired - Lifetime CN202987324U (en) | 2012-07-03 | 2012-07-03 | Wall climbing robot with bionic claws |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202987324U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670357A (en) * | 2015-02-12 | 2015-06-03 | 南京邮电大学 | Variable-rigidity flexible knuckle capable of adjusting angle |
| CN109367637A (en) * | 2018-10-26 | 2019-02-22 | 国网湖南省电力有限公司 | Electric power tower climbing robot foot clamping device |
| CN111390930A (en) * | 2020-04-17 | 2020-07-10 | 苏州昭轩数字科技有限公司 | Intelligent protection method and system based on artificial intelligence and clothes climbing robot |
-
2012
- 2012-07-03 CN CN 201220317212 patent/CN202987324U/en not_active Expired - Lifetime
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104670357A (en) * | 2015-02-12 | 2015-06-03 | 南京邮电大学 | Variable-rigidity flexible knuckle capable of adjusting angle |
| CN104670357B (en) * | 2015-02-12 | 2017-01-18 | 南京邮电大学 | Variable-rigidity flexible knuckle capable of adjusting angle |
| CN109367637A (en) * | 2018-10-26 | 2019-02-22 | 国网湖南省电力有限公司 | Electric power tower climbing robot foot clamping device |
| CN111390930A (en) * | 2020-04-17 | 2020-07-10 | 苏州昭轩数字科技有限公司 | Intelligent protection method and system based on artificial intelligence and clothes climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CX01 | Expiry of patent term | ||
| CX01 | Expiry of patent term |
Granted publication date: 20130612 |