CN203158112U - Bionic crawler type conglutination traveling mechanism - Google Patents
Bionic crawler type conglutination traveling mechanism Download PDFInfo
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- CN203158112U CN203158112U CN 201320043344 CN201320043344U CN203158112U CN 203158112 U CN203158112 U CN 203158112U CN 201320043344 CN201320043344 CN 201320043344 CN 201320043344 U CN201320043344 U CN 201320043344U CN 203158112 U CN203158112 U CN 203158112U
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Abstract
The utility model discloses a bionic crawler type conglutination traveling mechanism which comprises a machine body frame, a tensioning mechanism, a drive mechanism and a conglutination belt. The drive mechanism comprises a drive motor, a drive motor gear, a drive wheel and a driven wheel. The drive wheel is connected to one end of the machine body frame through a gear shaft, and the driven wheel is connected to the other end of the machine body frame through a driven wheel shaft. The drive motor drives the drive motor gear which is meshed with the gear shaft. The tensioning mechanism comprises a tensioning wheel frame, a tensioning spring, a micro force sensor, a tensioning wheel and a sleeve, wherein the tensioning wheel, the drive wheel and the driven wheel are connected through the conglutination belt. The bionic crawler type conglutination traveling mechanism further comprises a mechanism connection device arranged on the machine body frame. Certain tangential displacement and pose angles are output through a machine body of a robot, conglutination, disengagement and pressing of soles are achieved, and the robot can be facilitated in walking and staying on a wall surface.
Description
Technical field
The utility model relates to the bio-robot field, is specifically related to a kind of bionical crawler type and adheres to traveling gear, 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 bionical crawler type and adheres to traveling gear, and 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 bionical crawler type adheres to traveling gear, comprise fuselage ring, stretching device, driver train, adherent zone, described driver train comprises drive motor, the drive motor gear, driving wheel, flower wheel, described driving wheel is connected in described fuselage ring one end by gear wheel shaft, described flower wheel is connected in the described fuselage ring other end by follower shaft, described drive motor drives described drive motor gear, described drive motor gear is meshed with described gear wheel 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 described 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, driving wheel, flower wheel connects by described adherent zone, also comprises mechanism's connecting device of being located on the fuselage ring.
Wherein, described sleeve is the fixed muffle that is fixed in described fuselage ring upper surface.
Wherein, 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, and 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.
Wherein, described mechanism connecting device 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.
Wherein, described adhesion crawler belt by the soft rubber flat rubber belting outside fixedly one deck adhesion material make.
This bionical crawler type adheres to the movement technique of traveling gear,
(1) the robot body rotates peaceful shifting movement by control lateral slip spare in described adhesion traveling gear output x-y plane, by rotatablely moving, makes to be certain pose angle between principal and subordinate wheel line and wall;
(2) be in the adhesion traveling gear of unsettled phase, the robot body is by the described lateral slip spare of control, make the described driving wheel that adheres to traveling gear touch wall, to adhere to traveling gear horizontal sliding forwards subsequently, driving wheel is rolled forward, in this process, finish the contacting of adherent zone and wall, adhesion.After realizing adhesion fully, namely enter the support phase;
(3) be in the adhesion traveling gear that supports phase, the robot body is by control lateral slip spare, makes to adhere to that traveling gear lifts, desorption; In addition, when being in the high spud angle wall, the robot body gives attachment mechanism certain pose angle, and output is parallel to the crank motion of wall.When the peel tip adherent zone was peeled off with certain peel angle, peeling force entered when non-peel tip is taken turns lower edge non-peel tip adherent zone and is pressed; Then, non-peel tip becomes peel tip and downforce is provided; Crank motion advances;
(4) when running into obstacle, lift the attachment mechanism 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 pass through for a long time position, diagonal angle attachment mechanism to be exported crank motion, hover in realization robot original place.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;
(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 adheres to the scheme drawing that traveling gear is advanced in the plane for the bionical crawler type of the utility model embodiment two;
Fig. 4 a is that the bionical crawler type of the utility model embodiment two adheres to the scheme drawing that traveling gear lifts obstacle detouring;
Fig. 4 b is that the bionical crawler type of the utility model embodiment two adheres to the scheme drawing that traveling gear lifts obstacle detouring;
Scheme drawing when Fig. 5 advances motion for the bionical crawler type adhesion traveling gear 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 bionical crawler type adheres to traveling gear, comprise fuselage ring 1, stretching device, driver train, adherent zone 12, described driver train comprises drive motor 3, drive motor gear 4, driving wheel 6, flower wheel 13, described driving wheel 6 is connected in described fuselage ring 1 one ends by gear wheel shaft 5, described flower wheel 13 is connected in described fuselage ring 1 other end by follower shaft 14, described drive motor 3 drives described drive motor gear 4, described drive motor gear 4 is meshed with described gear wheel shaft 5, described stretching device comprises tensioning wheel carrier 7, tensioning spring 10, micro-force sensor 11, tension wheel 9, sleeve 17, described sleeve 17 is located at described fuselage ring 1 upper surface, described sleeve 17 upper surfaces are provided with described micro-force sensor 11, described tensioning wheel carrier 7 comprises shaft extension 702 and installation end 701, described micro-force sensor 11 and sleeve 17 are passed in described shaft extension 702 lower ends, be arranged with described tensioning spring 10 on the described shaft extension 702, described tensioning spring 10 is located between described micro-force sensor 11 and the installation end 701, described tension wheel 9 is installed on the described installation end 701 by tension wheel shaft 8, described tension wheel 9, driving wheel 6, flower wheel 13 connects by described adherent zone 12, also comprises mechanism's connecting device of being located on the fuselage ring 1.
Described sleeve 17 is for being fixed in the fixed muffle of described fuselage ring 1 upper surface.
Described mechanism connecting device comprises the sliding tray 16 of being located at described fuselage ring 1 side, is provided with lateral slip spare 2 in the described sliding tray 16, and described lateral slip spare 2 both sides are installed in the described sliding tray 16 by lateral springs 15.
Described adhesion crawler belt 12 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 17 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 18 that is connected with tensioning motor 19, and the tooth bar of the described jacking sleeve of described driven wheel 18 engagements also drives described jacking sleeve lifting.
Figure 3 shows that and adhere to the scheme drawing that second embodiment of traveling gear advances at flat surfaces.The robot body is by control lateral slip spare 2, to adhering to the peaceful shifting movement of rotation in the traveling gear output x-y plane; The robot body is at first exported and is rotatablely moved, and makes to adhere between traveling gear principal and subordinate wheel line and wall α (pose angle) at an angle.DC machine 3 is rotated, and drives attachment mechanism and body and advances.Peel off with certain peel angle θ at the adherent zone rear portion, the pick-up point adhesive force Fpeeling that produces is subjected to pressing force Fpreload when making adherent zone 12 enter driving wheel 6 lower edges, be adherent zone 12 lateral surface adhesion materials precompressed compression is provided, guarantee that it has certain adhesive force, and then provide adhesive force continuously for adhering to traveling gear and robot body.By changing DC machine 3 velocity of rotation speed, pose angle [alpha], regulate the adherent zone tensile force, can change adherent zone adhesion section length a and peel angle θ, thereby adapt to different wall angles of inclination.Rotate by 19 outputs of tensioning motor, can promote or reduce jacking sleeve 17, then by tensioning spring 10 transmission power and be displaced to tensioning wheel carrier 7, play initiatively tensioning or loosen the effect of adherent zone 12, initiatively adapt to the adherent zone tension variation that peeling force causes with this.
Be respectively shown in Fig. 4 a and Fig. 4 b and adhere to the scheme drawing that second embodiment of traveling gear lifts leaping over obstacles and directly cross obstacle.As Fig. 4 a, for bigger obstacle 100, the robot body lifts attachment mechanism by lateral slip spare 2, directly clear an obstacle.As Fig. 4 b, for less obstacle 150, rotate by tensioning motor 19, tension wheel 9 is descended, loosen adherent zone 12, can reach adjustment disorder thing shape, help the stable obstacle that crosses of attachment mechanism.
Figure 5 shows that adhering to second embodiment of traveling gear has the signal of advancing of certain radian smooth surface.Rotate by tensioning motor 19, tension wheel 9 is descended, loosen adherent zone 12, make its adaptation have certain radian smooth surface 200, help to adhere to traveling gear and 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. a bionical crawler type adheres to traveling gear, it is characterized in that: comprise fuselage ring, stretching device, driver train, adherent zone, described driver train comprises drive motor, the drive motor gear, driving wheel, flower wheel, described driving wheel is connected in described fuselage ring one end by gear wheel shaft, described flower wheel is connected in the described fuselage ring other end by follower shaft, described drive motor drives described drive motor gear, described drive motor gear is meshed with described gear wheel 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 described 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, driving wheel, flower wheel connects by described adherent zone, also comprises mechanism's connecting device of being located on the fuselage ring.
2. bionical crawler type according to claim 1 adheres to traveling gear, and it is characterized in that: described sleeve is the fixed muffle that is fixed in described fuselage ring upper surface.
3. adhere to traveling gear according to bionical crawler type 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. adhere to traveling gear according to claim 2 or 3 described bionical crawler types, it is characterized in that: described mechanism connecting device 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. bionical crawler type according to claim 4 adheres to traveling gear, it 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 |
|---|---|---|---|
| CN 201320043344 CN203158112U (en) | 2013-01-28 | 2013-01-28 | Bionic crawler type conglutination traveling mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201320043344 CN203158112U (en) | 2013-01-28 | 2013-01-28 | Bionic crawler type conglutination traveling mechanism |
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| CN203158112U true CN203158112U (en) | 2013-08-28 |
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| CN 201320043344 Expired - Lifetime CN203158112U (en) | 2013-01-28 | 2013-01-28 | Bionic crawler type conglutination traveling mechanism |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103847826A (en) * | 2013-01-28 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Bionic crawler-type adhesion walking mechanism and moving method thereof |
| CN104875807A (en) * | 2015-04-14 | 2015-09-02 | 浙江工业大学 | Running device for wall-climbing robot |
| CN110282043A (en) * | 2019-06-25 | 2019-09-27 | 北京工业大学 | It is a kind of can in small space tractive load robot |
| CN111055939A (en) * | 2019-11-15 | 2020-04-24 | 北京理工大学 | Displacement walking system of unmanned platform |
| CN111055935A (en) * | 2019-11-15 | 2020-04-24 | 北京理工大学 | Omnidirectional-running distributed driving displacement track unmanned platform |
-
2013
- 2013-01-28 CN CN 201320043344 patent/CN203158112U/en not_active Expired - Lifetime
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103847826A (en) * | 2013-01-28 | 2014-06-11 | 中国科学院合肥物质科学研究院 | Bionic crawler-type adhesion walking mechanism and moving method thereof |
| CN103847826B (en) * | 2013-01-28 | 2016-07-06 | 中国科学院合肥物质科学研究院 | Bionical crawler type adheres to walking mechanism and movement technique thereof |
| CN104875807A (en) * | 2015-04-14 | 2015-09-02 | 浙江工业大学 | Running device for wall-climbing robot |
| CN110282043A (en) * | 2019-06-25 | 2019-09-27 | 北京工业大学 | It is a kind of can in small space tractive load robot |
| CN110282043B (en) * | 2019-06-25 | 2021-05-25 | 北京工业大学 | Robot capable of drawing load in narrow space |
| CN111055939A (en) * | 2019-11-15 | 2020-04-24 | 北京理工大学 | Displacement walking system of unmanned platform |
| CN111055935A (en) * | 2019-11-15 | 2020-04-24 | 北京理工大学 | Omnidirectional-running distributed driving displacement track unmanned platform |
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Granted publication date: 20130828 |
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| CX01 | Expiry of patent term |