CN203158107U - Crawler-type bionic wall-climbing robot sole structure - Google Patents
Crawler-type bionic wall-climbing robot sole structure Download PDFInfo
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- CN203158107U CN203158107U CN 201320043368 CN201320043368U CN203158107U CN 203158107 U CN203158107 U CN 203158107U CN 201320043368 CN201320043368 CN 201320043368 CN 201320043368 U CN201320043368 U CN 201320043368U CN 203158107 U CN203158107 U CN 203158107U
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Abstract
The utility model discloses a crawler-type bionic wall-climbing robot sole structure which comprises a body frame, rolling wheels, a tension mechanism and an adhesive crawler belt, and further comprises a drive mechanism arranged on the body frame. The rolling wheels are installed at two ends of the body frame through rolling wheel axles; the tension mechanism comprises a tension wheel frame, a tension spring, a mini force sensor, a tension wheel and a sleeve. The sleeve is arranged on the upper surface of the body frame; the mini force sensor is arranged on the upper surface of the sleeve; the tension wheel frame comprises a shaft extension and an installment end; the lower end of the shaft extension penetrates through the mini force sensor and the sleeve; the tension spring is sleeved on the shaft extension, and is arranged between the mini force sensor and the installment end; the tension wheel is installed on the installment end through the tension wheel, and is connected with the rolling wheels through the adhesive crawler belt. The crawler-type bionic wall-climbing robot sole structure outputs certain tangential displacement and a certain position angle through a robot body, achieves palm adhesion, detachment and pressing, and helps a robot to walk and stay on a wall surface.
Description
Technical field
The utility model relates to the bio-robot field, is specifically related to a kind of crawler type bionic wall climbing robot sole structure and movement technique thereof, is mainly used in the wall-climbing device philtrum to realize adhesion, walking, stop and the obstacle detouring function of different angle wall.
Background technology
Three dimensional space surface climbing robot is that the robot field studies focus always.Utilize climbing robot can replace the mankind to execute the task for example skyscraper outside Wall Cleaning, the maintenance of oil gas jar, nuclear facilities maintenance etc. at precipitous wall.Discover that the superficial growth of gecko toe has millions of micron order bristle, every bristle top has thousands of nanoscale fine hair again.Van der Waals force between these bristle arrays and wall (being molecular separating force) provides support for gecko adheres to walking at wall.The researchist adopts MEMS (MEMS) technology, NEMS (receive Mechatronic Systems) technology etc., be substrate with PDMS (polydimethyl diloxanes), PU poly-meies such as (polyurethanes) or silicon chip etc., go out to imitate gecko toe surface micro-nano bristle array in surface working, and it is equipped on the robot, make it obtain three dimensional space surface ability of creeping, be conducive to improve climbing robot and climb wall energy power, cut down the consumption of energy, unfavorable factor such as noise.Find also that in research process some poly-mer is as silica gel etc., though its surface not through processing, also has certain adhesiveness, so often be used for the feasibility of mechanism for testing by domestic and international research person.The adhesion material of above surface working or undressed mistake need apply certain normal pressure before use to improve adhesion strength, so claim " presser sensor adhesion material " (Pressure Sensitive Material) again.
Domestic Nanjing Aero-Space University utility model the imitative gecko adhesive toe of a kind of robot, and provide movement technique.Be somebody's turn to do imitative gecko toe applicable in the imitative gecko climbing robot sole design that adheres at smooth surface and the motion realization, can simulate the gecko toe fully and adhere to the array folk prescription to the anisotropy mechanical characteristics of bigger adhesive force and the less desorption power of reversing sense.Yet this kind toe rigidity is mainly determined by spring and flexible material, and is not strong at the self adaptation adjustment capability of different occasions.Stanford Univ USA develops four-footed climbing robot Stickybot, on each foot of Stickybot four toes is arranged, and digs by embedded steel wire realization toe.Can walk stable adhesion of 90 ° of walls.Yet its structure is comparatively complicated, and range of movement is limited.The Geckobot climbing robot that Carnegie Mellon Univ USA develops, Four-bar climbing robot, Waalbot series climbing robot etc. adopt the plate-like sole as adhering to ground-engaging element, peel off or adhere to action by straight-line motion or rotation.The type sole material mechanical performance is fixed, and can't carry out adaptivity when the variation of wall angle or plus load variation and regulate to keep the optimal adhesion state, avoids adhesion failure.
The utility model content
(1) technical matters that will solve
The technical problems to be solved in the utility model provides a kind of crawler type bionic wall climbing robot sole structure and movement technique thereof.This sole structure can help bionic wall climbing robot to adhere to, walk at the three dimensional space smooth surface.Rotatablely move and tangential motion can be implemented in arbitrarily angled wall and stops by robot body output, adapt to different plus loads and different angles wall.Can adhere to the adjustment of crawler belt inner tensions by stretching device, adjust peel angle, adapt to plus load, wall angle and wall curvature and change.
(2) technical scheme
For solving the problems of the technologies described above, the technical scheme that the utility model adopts is:
A kind of crawler type bionic wall climbing robot sole structure, comprise fuselage ring, scroll wheel, stretching device, adhere to crawler belt, described scroll wheel is installed on described fuselage ring two ends by rolling shaft, described stretching device comprises the tensioning wheel carrier, tensioning spring, micro-force sensor, tension wheel, sleeve, described sleeve is located at described fuselage ring upper surface, described sleeve upper surface is provided with described micro-force sensor, described tensioning wheel carrier comprises shaft extension and installation end, described micro-force sensor and sleeve are passed in described shaft extension lower end, be arranged with tensioning spring on the described shaft extension, described tensioning spring is located between described micro-force sensor and the installation end, described tension wheel is installed on the described installation end by tension wheel shaft, described tension wheel is connected by adhering to crawler belt with scroll wheel, also comprises the driver train of being located on the fuselage ring.
Described sleeve is the fixed muffle that is fixed in described fuselage ring upper surface.
Described sleeve is the jacking sleeve of being located at described fuselage ring upper surface, described jacking sleeve lateral surface is provided with tooth bar, described fuselage ring is provided with a driven wheel that is connected with the tensioning motor, and described driven wheel meshes the tooth bar of described jacking sleeve and drives described jacking sleeve lifting.
Described driver train comprises the sliding tray of being located at described fuselage ring side, is provided with lateral slip spare in the described sliding tray, and described lateral slip spare both sides are installed in the described sliding tray by lateral springs.
Described adhesion crawler belt by the soft rubber flat rubber belting outside fixedly one deck adhesion material make.
A kind of movement technique of crawler type bionic wall climbing robot sole structure,
(1) the robot body rotates the movement instruction that peace is moved by control lateral slip spare in sole output x-y plane, by rotatablely moving, makes between two scroll wheel lines of sole and wall to be certain pose angle;
(2) be in the sole of unsettled phase, the robot body is by control lateral slip spare, make the preceding scroll wheel of sole working direction touch wall, subsequently with sole horizontal sliding forwards, scroll wheel rolls forward before making, and cooperate certain pose angle to change, in this process, finish adhering to the contacting of crawler belt and wall, adhesion.After realizing adhesion fully, namely enter the support phase;
(3) be in the sole that supports phase, the robot body is by control lateral slip spare, the hind paw of working direction lifted, desorption; In addition, when being in high spud angle wall or top wall, the robot body is in certain pose angle by lateral slip spare control sole, and output is parallel to the crank motion of wall; When peel tip adhesion crawler belt was peeled off with certain peel angle, peel adhesion entered when non-peel tip is taken turns lower edge non-peel tip adhesion crawler belt and is pressed; Then, non-peel tip becomes peel tip and downforce is provided; Crank motion advances;
(4) when running into obstacle, can adopt and lift sole and make the method that crawler belt breaks away from adherent surface that adheres to, clear an obstacle or avoid obstacle.
(3) beneficial effect
The utility model is compared to prior art, has following beneficial effect:
(1) with respect to traditional climbing robot sole, will adhere to caterpillar belt structure as adhering to sole, only need very little normal direction pressing force, can realize adhering to by the input tangential displacement.
(2) single attachment mechanism has the oneself provides the precompressed compression effect.Particularly at high spud angle walls such as top ceilings, can realize that the robot original place stops by for a long time sole being exported tangential crank motion.And traditional sufficient formula climbing robot, the foot of its unsettled phase is being converted into the support phase time, needs to rely on to be in the foot that supports phase, provides precompressed compression by body, easily adhesion failure.
(3) the stretching device micro-force sensor can be experienced the spring force size, draws the belt tension size by conversion then, and feeds back in real time.
(4) lateral slip spare connects body and sole, cooperates lateral springs, can solve climbing robot built-in redundancy power problem under the diagonal angle gait.
A kind of improved form of this programme, stationary drive gear on the tensioning motor output shaft meshes with the jacking sleeve upper rack.One straight line kinematic pair is arranged between tensioning wheel carrier and the jacking sleeve.The jacking sleeve upper end is micro-force sensor fixedly.Between micro-force sensor and tensioning wheel carrier tensioning spring is installed, can be transmitted power and displacement.
In motion process, the tensioning motor rotates, and drives the jacking sleeve up-and-down movement, transmits power and motion by tensioning spring, initiatively adjusts to adhere to the inner tensile force of crawler belt, initiatively adapts to different plus loads, different angles wall then or has the certain curvature wall.Export certain tangential displacement and pose angle by the robot body, realize sole adhesion, desorption and press, help robot in the wall walking and stop.Carry out passive or active adjustment by stretching device, can increase bionic wall climbing robot to the comformability of plus load, multiple angles wall and certain curvature wall.
Description of drawings
Fig. 1 a is the structural representation of embodiment one of the present utility model;
Fig. 1 b is the front view of Fig. 1 a;
Fig. 2 a is the structural representation of embodiment two of the present utility model;
Fig. 2 b is the front view of Fig. 2 a;
Fig. 2 c is the left view of Fig. 2 a;
Fig. 3 a is the crawler type bionic wall climbing robot sole structure of the utility model embodiment two when advancing in the plane, by unsettled scheme drawing when falling mutually and contacting with wall;
Fig. 3 b contacts, forms when adhering to the scheme drawing that supports phase fully with wall among Fig. 3 a;
Fig. 3 c is for being become the scheme drawing of unsettled phase time mutually by support among Fig. 3 b;
Fig. 4 a is the scheme drawing that the crawler type bionic wall climbing robot sole structure of the utility model embodiment two moves right when resting on wide-angle inclination angle or top ceiling surface;
Fig. 4 b is to the scheme drawing of left movement among Fig. 4 a;
Fig. 5 is the scheme drawing of the crawler type bionic wall climbing robot sole structure clear an obstacle of the utility model embodiment two;
Scheme drawing when Fig. 6 advances motion for the crawler type bionic wall climbing robot sole structure of the utility model embodiment two on the certain curvature surface.
The specific embodiment
Below in conjunction with drawings and Examples, the specific embodiment of the present utility model is described in further detail.Following examples are used for explanation the utility model, but are not used for limiting scope of the present utility model.
Embodiment one
Shown in Fig. 1 a and Fig. 1 b, a kind of crawler type bionic wall climbing robot sole structure, comprise fuselage ring 1, scroll wheel 4, stretching device, adhere to crawler belt 10, described scroll wheel 4 is installed on described fuselage ring 1 two ends by rolling shaft 3, described stretching device comprises tensioning wheel carrier 5, tensioning spring 8, micro-force sensor 9, tension wheel 7, sleeve 13, described sleeve 1 is located at described fuselage ring 1 upper surface, described sleeve 13 upper surfaces are provided with described micro-force sensor 9, described tensioning wheel carrier 5 comprises shaft extension 52 and installation end 51, described micro-force sensor 9 and sleeve 13 are passed in described shaft extension 52 lower ends, be arranged with tensioning spring 8 on the described shaft extension 52, described tensioning spring 8 is located between described micro-force sensor 9 and the installation end 51, described tension wheel 7 is installed on the described installation end 51 by tension wheel shaft 6, described tension wheel 7 is connected by adhering to crawler belt 10 with scroll wheel 4, also comprises the driver train of being located on the fuselage ring 1.Described driver train is driven by the robot body, thereby makes the sole structure motion.
Described sleeve 13 is for being fixed in the fixed muffle of described fuselage ring 1 upper surface.
Described driver train comprises the sliding tray 12 of being located at described fuselage ring 1 side, is provided with lateral slip spare 2 in the described sliding tray 12, and described lateral slip spare 2 both sides are installed in the described sliding tray 12 by lateral springs 13.
Described adhesion crawler belt 10 by the soft rubber flat rubber belting outside fixedly one deck adhesion material make.
Embodiment two
Shown in Fig. 2 a, Fig. 2 b and Fig. 2 c, described sleeve 13 is for being located at the jacking sleeve of described fuselage ring 1 upper surface, described jacking sleeve lateral surface is provided with tooth bar, described fuselage ring 1 is provided with a driven wheel 14 that is connected with tensioning motor 15, and the tooth bar of the described jacking sleeve of described driven wheel 14 engagements also drives described jacking sleeve lifting.
Be depicted as the anti-movement technique that second embodiment of climbing robot sole structure advances at flat surfaces of giving birth to as Fig. 3 a, Fig. 3 b, Fig. 3 c.Shown in Fig. 3 a, the robot body rotates the movement instruction that peace is moved by control side direction movable part 2 in sole output x-y plane.By rotatablely moving, make between two scroll wheel lines of sole and wall to be certain pose angle [alpha].Be in the sole of unsettled phase, the robot body makes sole the right scroll wheel 4 lower edge adhesion materials touch wall by control lateral slip spare 2, subsequently with sole to right-hand horizontal sliding, the right scroll wheel 4 is rolled to the right.Change simultaneously α according to certain rules, guarantee that the right scroll wheel 4 lower edge adhesion materials are pressed.Shown in Fig. 3 b, the final adhesion crawler belt of realizing contacts, adheres to wall fully.Shown in Fig. 3 c, be in the sole that supports phase, by the peaceful shifting movement of rotation in the robot body input x-y plane, with the wall desorption.
Fig. 4 a and Fig. 4 b are depicted as second embodiment auxiliary engine of bionic wall climbing robot sole structure human organism motion when high spud angle wall or top ceiling stop.The robot body gives attachment mechanism certain pose angle [alpha], and output is parallel to the crank motion (x direction of principal axis) of wall.When peel tip adhesion crawler belt is peeled off with certain peel angle θ, the peel adhesion Fpeeling that produces makes to adhere to and is subjected to pressing force Fpreload when crawler belt 10 enters non-peel tip scroll wheel 4 lower edges, be adhesion crawler belt 10 lateral surface adhesion materials precompressed compression is provided, guarantee that it has certain adhesive force, and then provide adhesive force continuously for sole and robot body.By changing the pose angle [alpha], crank motion speed, frequency etc. can change the adhesion crawler belt and adhere to length a and peel angle θ, thereby adapt to different applied loads and wall angle of inclination.Rotate by 10 outputs of tensioning motor, can promote or reduce jacking sleeve, then by tensioning spring 8 transmission power be displaced to tensioning wheel carrier 5, play initiatively tensioning or loosen the effect that adheres to crawler belt 10, initiatively adapt to adhesion crawler belt 10 tension variation that peel adhesion causes with this, thereby adapt to different wall angles and applied load.Fig. 4 a moves right for the attachment mechanism parallel wall surface, and Fig. 4 b is that the attachment mechanism parallel wall surface is to left movement.
Figure 5 shows that second embodiment clear an obstacle of bionic wall climbing robot sole structure scheme drawing.The robot body lifts attachment mechanism by lateral slip spare 2, directly clears the jumps 100.
Figure 6 shows that second embodiment of bionic wall climbing robot sole structure advances having the certain curvature smooth surface.Rotate by tensioning motor 15, tension wheel 7 is descended, loosen adhering to crawler belt 10, the smooth surface 200 that makes its adaptation have certain curvature helps sole to adhere at this kind surface-stable.
The above only is preferred implementation of the present utility model; should be understood that; for those skilled in the art; under the prerequisite that does not break away from the utility model know-why; can also make some improvements and modifications, these improvements and modifications also should be considered as protection domain of the present utility model.
Claims (5)
1. crawler type bionic wall climbing robot sole structure, it is characterized in that: comprise fuselage ring, scroll wheel, stretching device, adhere to crawler belt, described scroll wheel is installed on described fuselage ring two ends by rolling shaft, described stretching device comprises the tensioning wheel carrier, tensioning spring, micro-force sensor, tension wheel, sleeve, described sleeve is located at described fuselage ring upper surface, described sleeve upper surface is provided with described micro-force sensor, described tensioning wheel carrier comprises shaft extension and installation end, described micro-force sensor and sleeve are passed in described shaft extension lower end, be arranged with tensioning spring on the described shaft extension, described tensioning spring is located between described micro-force sensor and the installation end, described tension wheel is installed on the described installation end by tension wheel shaft, described tension wheel is connected by adhering to crawler belt with scroll wheel, also comprises the driver train of being located on the fuselage ring.
2. crawler type bionic wall climbing robot sole structure according to claim 1, it is characterized in that: described sleeve is the fixed muffle that is fixed in described fuselage ring upper surface.
3. according to crawler type bionic wall climbing robot sole structure according to claim 1, it is characterized in that: described sleeve is the jacking sleeve of being located at described fuselage ring upper surface, described jacking sleeve lateral surface is provided with tooth bar, described fuselage ring is provided with a driven wheel that is connected with the tensioning motor, and described driven wheel meshes the tooth bar of described jacking sleeve and drives described jacking sleeve lifting.
4. according to claim 2 or 3 described crawler type bionic wall climbing robot sole structures, it is characterized in that: described driver train comprises the sliding tray of being located at described fuselage ring side, be provided with lateral slip spare in the described sliding tray, described lateral slip spare both sides are installed in the described sliding tray by lateral springs.
5. crawler type bionic wall climbing robot sole structure according to claim 4 is characterized in that: described adhesion crawler belt by the soft rubber flat rubber belting outside fixedly one deck adhesion material make.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN 201320043368 CN203158107U (en) | 2013-01-28 | 2013-01-28 | Crawler-type bionic wall-climbing robot sole structure |
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| Application Number | Priority Date | Filing Date | Title |
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| CN 201320043368 CN203158107U (en) | 2013-01-28 | 2013-01-28 | Crawler-type bionic wall-climbing robot sole structure |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103448818A (en) * | 2013-09-16 | 2013-12-18 | 刘福仁 | Chain track combination wheel for wheeled vehicle |
| CN103847823A (en) * | 2013-01-28 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Sole structure of crawler-type bionic wall-climbing robot and motion method thereof |
| CN107310646A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of crawler type climbing robot |
| CN110539814A (en) * | 2018-05-28 | 2019-12-06 | 长春工业大学 | Bionic foot mechanism based on integral tensioning structure |
| CN110882111A (en) * | 2019-12-19 | 2020-03-17 | 苏州台菱电梯有限公司 | Elevator with stair climbing function |
-
2013
- 2013-01-28 CN CN 201320043368 patent/CN203158107U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103847823A (en) * | 2013-01-28 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Sole structure of crawler-type bionic wall-climbing robot and motion method thereof |
| CN103448818A (en) * | 2013-09-16 | 2013-12-18 | 刘福仁 | Chain track combination wheel for wheeled vehicle |
| CN103448818B (en) * | 2013-09-16 | 2015-08-26 | 刘福仁 | Wheel car chain rail combination wheel |
| CN107310646A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of crawler type climbing robot |
| CN110539814A (en) * | 2018-05-28 | 2019-12-06 | 长春工业大学 | Bionic foot mechanism based on integral tensioning structure |
| CN110539814B (en) * | 2018-05-28 | 2023-05-02 | 长春工业大学 | Bionic foot mechanism based on stretching integral structure |
| CN110882111A (en) * | 2019-12-19 | 2020-03-17 | 苏州台菱电梯有限公司 | Elevator with stair climbing function |
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Granted publication date: 20130828 |
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