CN204264312U - A kind of climbing robot compound foot - Google Patents
A kind of climbing robot compound foot Download PDFInfo
- Publication number
- CN204264312U CN204264312U CN201420746232.7U CN201420746232U CN204264312U CN 204264312 U CN204264312 U CN 204264312U CN 201420746232 U CN201420746232 U CN 201420746232U CN 204264312 U CN204264312 U CN 204264312U
- Authority
- CN
- China
- Prior art keywords
- sucker
- robot
- climbing robot
- electromagnet
- foot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 15
- 150000001875 compounds Chemical class 0.000 title claims abstract description 14
- 238000001179 sorption measurement Methods 0.000 claims abstract description 26
- 239000002184 metal Substances 0.000 claims abstract description 17
- 210000003205 muscle Anatomy 0.000 claims abstract description 15
- 238000010521 absorption reaction Methods 0.000 claims abstract description 8
- 239000013536 elastomeric material Substances 0.000 claims abstract description 4
- 230000000712 assembly Effects 0.000 claims description 3
- 238000000429 assembly Methods 0.000 claims description 3
- 230000015572 biosynthetic process Effects 0.000 claims description 3
- 210000002414 leg Anatomy 0.000 abstract description 4
- 210000000689 upper leg Anatomy 0.000 abstract description 4
- 230000009193 crawling Effects 0.000 abstract description 2
- 238000000034 method Methods 0.000 description 6
- 238000005516 engineering process Methods 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 1
- 230000000740 bleeding effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000000463 material Substances 0.000 description 1
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- Toys (AREA)
- Manipulator (AREA)
Abstract
The utility model discloses a kind of climbing robot compound foot, comprise the sufficient muscle be connected with the leg of robot, the lower end of foot muscle is by moveable hinge connecting sucker and electromagnet, described sucker is the structure of the cylindrical shape that elastomeric material is made, and the circumference wall undulate of sucker, described sucker is also provided with the suction pipe connecting air extracting pump, air extracting pump can extract air in sucker out make sucker have absorption wall adsorption affinity, described electromagnet is positioned at suction cup interior can provide adsorption affinity to metal wall, the utility model is provided with sucker and electromagnet makes robot when magnetic metal surface is creeped, suction is stronger, hinged with robot thigh, can freely stretch in the wrong, miniature suction pad is also provided with in sucker bottom surface, reduce adsorption area, robot foot is made also easily to have adsorption affinity on the metal wall that degree of finish is bad, structure is simple, fixed during vertical crawling.
Description
Technical field
The utility model relates to robot field, particularly a kind of climbing robot compound foot.
Background technology
At present, climbing robot generally has vacuum suction mode, negative-pressure adsorption mode, thrust suction type at the suction type that metallic vertical wall is creeped and uses cohesive material suction type etc., wherein vacuum suction mode is applicable to the climbing robot of leg formula movement, moving velocity is very slow, and robot is bulky, be unfavorable for carrying; Although negative-pressure adsorption mode is mobile relatively more flexible, require higher to the degree of finish of wall and surface evenness, can because the hypodynamic reason of absorption of robot foot cause various fault in robot moving process.
Utility model content
For solving this problem existed in above-mentioned technology, it is high that the utility model provides a kind of absorption reliability, and the smoothness requirements of wall is low, and the simple suction of structure is strong, the climbing robot compound foot can walked on metallic vertical wall.
The utility model is for solving the problems of the technologies described above, the technical scheme adopted is: a kind of climbing robot compound foot, comprise the sufficient muscle be connected with the leg of robot, the lower end of foot muscle is by moveable hinge connecting sucker and electromagnet, described sucker is the structure of the cylindrical shape that elastomeric material is made, and the circumference wall undulate of sucker, described sucker is also provided with the suction pipe connecting air extracting pump, air extracting pump can extract air in sucker out make sucker have absorption wall adsorption affinity, and described electromagnet is positioned at suction cup interior can provide adsorption affinity to metal wall.
As a kind of preferred version, described sucker bottom surface stretches out the annular adsorption plane of formation one, and be provided with some miniature suction pads by being recessed to form bottom described adsorption plane, miniature suction pad is communicated with suction cup interior.
As a kind of preferred version, described miniature suction pad is in the taper shape that Open Side Down.
As a kind of preferred version, described moveable hinge comprises at least two assemblies that can mutually rotate.
As another kind of preferred version, described moveable hinge comprises and connects the free bearing of sufficient muscle and the hinge head of connecting sucker, and hinge head is wrapped in free bearing rotatable.
As another preferred version, described moveable hinge comprises the rotating shaft turning hole and connecting sucker connecting sufficient muscle, and rotating shaft is nested in and turns in hole and can rotate mutually.
Income effect: be provided with sucker relative to prior art the utility model and electromagnet makes robot when magnetic metal surface is creeped, suction is stronger, hinged with robot thigh, can freely stretch in the wrong, also be provided with miniature suction pad in sucker bottom surface, reduce adsorption area, make robot foot also easily have adsorption affinity on the metal wall that degree of finish is bad, structure is simple, fixed during vertical crawling.
Accompanying drawing explanation
Fig. 1 is the utility model structural representation.
Fig. 2 is the utility model adsorption plane schematic top plan view.
Graphical indicia, 1, sufficient muscle, 2, moveable hinge, 3, sucker, 4, suction pipe, 5, electromagnet, 6, air extracting pump, 7, adsorption plane, 8, miniature suction pad.
Detailed description of the invention
Elaborate to embodiment of the present utility model below in conjunction with accompanying drawing, the present embodiment, premised on technical solutions of the utility model, give detailed embodiment and concrete operating process, but protection domain of the present utility model is not limited to following embodiment.
As shown in Figure 1, a kind of climbing robot compound foot, comprise the sufficient muscle 1 be connected with robot leg, the lower end of foot muscle 1 is by moveable hinge 2 connecting sucker 3 and electromagnet 5, the structure of the cylindrical shape that described sucker 3 is made for elastomeric material, and the circumference wall undulate of sucker 3, described sucker 3 is also provided with the suction pipe 4 connecting air extracting pump 6, air in sucker 3 is extracted out the adsorption affinity making sucker 3 have absorption wall by air extracting pump 6, the structure design of waveform outer wall makes the space of sucker 3 inside diminish, amount of air is few, the pumpdown time of air extracting pump 6 is short, absorption reaction is rapid, the structure design of waveform outer wall also makes easily to make sucker 3 bend when bleeding, be convenient to absorption walking, described electromagnet 5 is positioned at sucker 3 inside can provide adsorption affinity to metal wall, when robot ambulation, while sucker 3 is bled, electromagnet 5 is energized, make sucker 3 while adsorbing metal wall, electromagnet also adsorbs simultaneously, adsorption affinity is stronger, walking supportability is good.
This compound foot in order to ensure robot in vertical walls in walking process safety performance higher; as shown in Figure 1 and Figure 2; described sucker 3 bottom surface stretches out the annular adsorption plane 7 of formation one; be provided with some miniature suction pads 8 by being recessed to form bottom described adsorption plane 7, miniature suction pad 8 is communicated with sucker 3 inside.Described miniature suction pad 8 is in the taper shape that Open Side Down.
In order to ensure that robot foot section in the process of walking can be freely movable, described moveable hinge 2 comprises at least two assemblies that can mutually rotate.
This specification sheets lists the embodiment of two kinds of moveable hinges 2 at the walking process of reality in conjunction with robot: embodiment 1: described moveable hinge 2 comprises and connects the free bearing of sufficient muscle 1 and the hinge head of connecting sucker 3, hinge head is wrapped in free bearing rotatable, such structure makes robot thigh and foot realize omnibearing rotation, is applicable to robot and walks at vertical metal wall upper curve.
Embodiment 2: described moveable hinge 2 comprises the rotating shaft turning hole and connecting sucker 3 connecting sufficient muscle 1, rotating shaft is nested in and turns in hole and can rotate mutually, such structure makes robot thigh and foot realize rotating relative to one direction, is applicable to robot straight line moving on vertical metal wall.
In robot ambulation process, when robot foot advances, air extracting pump 6 pairs of suckers 3 are bled, vacuum state is belonged in sucker 3, sucker 3 internal gas pressure is less than external pressure, barometric pressure applies pressure to sucker 3 and makes sucker 3 be adsorbed on vertical metal wall, while air extracting pump 6 is bled, electromagnet 5 is energized, electromagnet 5 magnetic-adsorption is on metal wall, the suction that two kinds of suction types make robot foot firm is on metal wall, on adsorption plane 7, be also provided with miniature suction pad 8 simultaneously, miniature sucker 8 makes adsorption plane 7 little with the area of contact of metal wall, running on the bad metal wall of degree of finish, this kind of structure is more conducive to being adsorbed on metal wall.
It is prior art that the utility model does not describe part.
Claims (6)
1. a climbing robot compound foot, it is characterized in that: comprise the sufficient muscle (1) be connected with the leg of robot, the lower end of foot muscle (1) is by moveable hinge (2) connecting sucker (3) and electromagnet (5), the structure of the cylindrical shape that described sucker (3) is made for elastomeric material, and the circumference wall undulate of sucker (3), described sucker (3) is also provided with the suction pipe (4) connecting air extracting pump (6), air extracting pump (6) can extract the air in sucker (3) out make sucker (3) have absorption wall adsorption affinity, described electromagnet (5) is positioned at sucker (3) inside can provide adsorption affinity to metal wall.
2. a kind of climbing robot compound foot according to claim 1, it is characterized in that: described sucker (3) bottom surface stretches out the annular adsorption plane (7) of formation one, described adsorption plane (7) bottom is provided with some miniature suction pads (8) by being recessed to form, and miniature suction pad (8) is communicated with sucker (3) inside.
3. a kind of climbing robot compound foot according to claim 2, is characterized in that: described miniature suction pad (8) is in the taper shape that Open Side Down.
4. a kind of climbing robot compound foot according to claim 1, is characterized in that: described moveable hinge (2) comprises at least two assemblies that can mutually rotate.
5. a kind of climbing robot compound foot according to claim 1 or 4, is characterized in that: described moveable hinge (2) comprises and connects the free bearing of sufficient muscle (1) and the hinge head of connecting sucker (3), and hinge head is wrapped in free bearing rotatable.
6. a kind of climbing robot compound foot according to claim 1 or 4, is characterized in that: described moveable hinge (2) comprises the rotating shaft turning hole and connecting sucker (3) connecting sufficient muscle (1), and rotating shaft is nested in and turns in hole and can rotate mutually.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420746232.7U CN204264312U (en) | 2014-12-03 | 2014-12-03 | A kind of climbing robot compound foot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420746232.7U CN204264312U (en) | 2014-12-03 | 2014-12-03 | A kind of climbing robot compound foot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204264312U true CN204264312U (en) | 2015-04-15 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420746232.7U Expired - Fee Related CN204264312U (en) | 2014-12-03 | 2014-12-03 | A kind of climbing robot compound foot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204264312U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443103A (en) * | 2014-12-03 | 2015-03-25 | 河南摩西机械制造有限公司 | Combined foot for wall climbing robot |
| CN104908834A (en) * | 2015-05-07 | 2015-09-16 | 吉林大学 | Suction cup lifting device with air channel on-off function |
| CN112224297A (en) * | 2020-10-15 | 2021-01-15 | 哈尔滨工程大学 | Hull magnetic adsorption type wall-climbing robot |
-
2014
- 2014-12-03 CN CN201420746232.7U patent/CN204264312U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104443103A (en) * | 2014-12-03 | 2015-03-25 | 河南摩西机械制造有限公司 | Combined foot for wall climbing robot |
| CN104908834A (en) * | 2015-05-07 | 2015-09-16 | 吉林大学 | Suction cup lifting device with air channel on-off function |
| CN112224297A (en) * | 2020-10-15 | 2021-01-15 | 哈尔滨工程大学 | Hull magnetic adsorption type wall-climbing robot |
| CN112224297B (en) * | 2020-10-15 | 2021-11-05 | 哈尔滨工程大学 | Hull magnetic adsorption type wall-climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150415 |