CN205574090U - A sucking disc crawler drive bionic device for seeking connections with smooth surface - Google Patents
A sucking disc crawler drive bionic device for seeking connections with smooth surface Download PDFInfo
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- CN205574090U CN205574090U CN201620422037.8U CN201620422037U CN205574090U CN 205574090 U CN205574090 U CN 205574090U CN 201620422037 U CN201620422037 U CN 201620422037U CN 205574090 U CN205574090 U CN 205574090U
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- guide rail
- track
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- handle
- annular track
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- 230000009194 climbing Effects 0.000 claims abstract description 21
- 230000007246 mechanism Effects 0.000 claims abstract description 21
- 230000009471 action Effects 0.000 claims abstract description 10
- 230000002093 peripheral effect Effects 0.000 claims abstract description 4
- 230000003247 decreasing effect Effects 0.000 claims description 2
- 230000003592 biomimetic effect Effects 0.000 claims 1
- 238000000034 method Methods 0.000 abstract description 2
- 230000008859 change Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 230000005291 magnetic effect Effects 0.000 description 3
- 241000252254 Catostomidae Species 0.000 description 2
- 238000005411 Van der Waals force Methods 0.000 description 2
- 230000009193 crawling Effects 0.000 description 2
- 238000003795 desorption Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000000407 epitaxy Methods 0.000 description 1
- 230000005294 ferromagnetic effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 210000003205 muscle Anatomy 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a sucking disc crawler drive bionic device for seeking connections with smooth surface, including the frame, still be provided with the action wheel in the frame and rise by the tight pulley, install annular track on the outer lane of the action wheel and the tight pulley that rises, interval distribution such as the peripheral border of annular track have a plurality of vacuum chuck, and one side that each vacuum chuck links to each other with annular track is provided with main handle, and the one end of main handle links to each other with vacuum chuck, the other end is provided with main handle pulling force and applys the mechanism. The utility model provides a many sucking discs wall climbing robot break seal behind complicated, the sucking disc vacuum of the mechanism of the in -process of creeping difficulty, low -speed, discontinuity scheduling problem, it can be climbed on the smooth plane of arbitrary angle.
Description
Technical Field
The utility model relates to a track drive bionic device especially relates to a sucking disc track drive bionic device for climbing smooth surface.
Background
Mobile robots have been widely used in high-altitude operations, such as cleaning the outer walls of high-rise buildings, building high-rise buildings, painting large ships, monitoring storage cabinets of nuclear power plants, etc., and because such operations are generally important and extremely dangerous, a more specific field of research in mobile robots, wall-climbing robots, has been widely studied and well developed in various places throughout the world. Most wall climbing robots can be summarized into two types at present: pull-type and stick-type. The adhesion type wall climbing robot is provided with an adhesion type mechanism which adheres to a wall through suction force, magnetic force, van der waals force and micro-piercing interlocking action. The magnetic attachment mechanism is only used when the work wall surface consists of a ferromagnetic surface.
The micro-thorn structure robot can adhere well to a rough wall surface, but is not suitable for smooth surfaces such as glass, ceilings and the like. The van der waals force robot, which mimics the gecko's ability to adhere dry, is unique in that it does not require energy, but the magnitude of the adhesion is greatly affected by the roughness of the adhering surface, and therefore more research is required to confirm the applicability of the mechanism. The suction cup type mechanism is widely applied to industrial robots, and has better adaptability and durability compared with other mechanisms. According to the difference of the moving mechanism, the robot can be divided into three types: walking, gliding, and track-wheel. The walking type wall climbing robot has the advantages that the walking type wall climbing robot can adapt to uneven wall surfaces, but the walking type wall climbing robot is heavy and a control system is relatively complex due to the fact that the number of actuators and walking controllers is large. This results in a low and discontinuous robot motion. At the same time, the implementation of a gliding mechanism is relatively simpler than that of a walking type, but the same is not widely used due to the discontinuous movement and the low speed of movement.
CN96205687.1 discloses a "high-rise building wall self-cleaning device", the device has adopted the adsorption equipment of many sucking discs, is not independent between each sucking disc, and when one of them sucking disc was revealed, will influence the vacuum of whole sucking disc, and the vacuum reduces and leads to belt cleaning device can not stop on the wall.
CN01274743.2 discloses a "wall climbing robot combining a single suction cup and a crawler-type multi-suction cup", which refers to an independent single suction cup, but needs to use a water suction fan to continuously work to maintain the overall vacuum degree, so that the function that the independent suction cup should play is not really realized.
It will thus be seen that the prior art is susceptible to further improvements and enhancements.
SUMMERY OF THE UTILITY MODEL
The utility model discloses an avoid the weak point that prior art exists, provide a sucking disc track drive bionic device for climbing attach smooth surface, the device utilizes pure mechanical structure to realize vacuum chuck's evacuation and unseal on the basis that remains the sucking disc function, simple structure, environmental suitability is strong.
The utility model discloses the technical scheme who adopts does:
the utility model provides a sucking disc track drive bionic device for climbing attach smooth surface, includes the frame, still is provided with action wheel and tight pulley that rises in the frame, installs annular track on the outer lane of action wheel and tight pulley that rises, and the peripheral border of annular track distributes equally spaced has a plurality of vacuum chuck, and one side that each vacuum chuck links to each other with annular track is provided with the main handle, and the one end of main handle links to each other with vacuum chuck, and the other end is provided with main handle pulling force and applys the mechanism.
The annular guide rail is arranged on the rack, the annular guide rail is wound around the driving wheel and the tension wheel, the annular track is located on the outer side of the annular guide rail, the main handle tension applying mechanism is located between the main handle and the annular guide rail, the main handle tension applying mechanism comprises a pulley shaft, the main handle penetrates through the annular track and then is connected with the pulley shaft, a pulley matched with the annular guide rail is installed on the pulley shaft, and the annular track rotates to drive the pulley to slide along the annular guide rail.
The annular guide rail comprises a first straight guide rail, a first semi-curved guide rail, a first inclined guide rail, a second straight guide rail, a second inclined guide rail and a second semi-curved guide rail which are connected end to form a ring, the first straight guide rail and the second straight guide rail are parallel to each other, the distance between the tail part of the first inclined guide rail and the annular track from the head part of the first inclined guide rail is gradually increased, the distance between the tail part of the second inclined guide rail and the annular track from the head part of the second inclined guide rail is gradually decreased, the distance between the first straight guide rail and the annular track, the distance between the first semi-curved guide rail and the annular track and the distance between the second semi-curved track and the annular track are equal, and the distance between the second straight guide rail and the annular track is larger than the distance between the first straight guide rail and the annular.
The main handle tension applying mechanism is positioned on the inner side of one side of the annular crawler, which is in contact with the surface to be climbed, and comprises a plurality of first permanent magnets arranged on the rack and second permanent magnets arranged on the main handles of the vacuum suckers.
Each vacuum chuck all links to each other with annular track through unsealing the handle, and the one end of unsealing the handle links to each other with the vacuum chuck outward flange, and the other end links to each other with the surface of annular track.
Each vacuum sucker is connected with the annular crawler through two unsealing handles respectively.
Each main handle, the unsealing handle and the annular track are all made of flexible rubber.
The vacuum chuck, the annular crawler, the main handle and the unsealing handle are of an integrally formed structure.
Since the technical scheme is used, the utility model discloses the beneficial effect who gains does:
1. the utility model discloses simple structure does not relate to complicated pipeline problem, and whole device only relies on motor drive, has designed at vacuum chuck edge and has opened the handle and make vacuum chuck open smoothly under the negative pressure state, and need not to use electrical equipment to carry out auxiliary control, on the basis that has kept the sucking disc function, utilizes pure mechanical structure to realize vacuum chuck's evacuation and open and seal, is particularly useful for miniature independent robot system, and the environmental suitability improves greatly.
2. The utility model provides a many sucking discs wall climbing robot open behind the mechanism complicacy of the in-process of crawling, sucking disc vacuum difficult, low custom, discontinuity scheduling problem, it can scramble on the smooth plane of arbitrary angle.
Drawings
Fig. 1 is a schematic structural diagram of the present invention.
Fig. 2 is a schematic diagram of the relative position relationship between the middle endless track and the endless track of the present invention.
Wherein,
1. the device comprises an annular crawler 2, a frame 3, an annular guide rail 31, a first straight guide rail 32, a first semi-curved guide rail 33, a first inclined guide rail 34, a second straight guide rail 35, a second inclined guide rail 36, a second semi-curved guide rail 4, a driving wheel 5, a tension wheel 6, an unsealing handle 7, a main handle 8, a vacuum chuck
Detailed Description
The present invention will be described in further detail with reference to the following drawings and specific embodiments, but the present invention is not limited to these embodiments.
The first embodiment is as follows:
as shown in fig. 1 and 2, a sucker track driven bionic device for climbing a smooth surface comprises a frame 2, wherein an annular guide rail 3 is arranged on the frame 2, a driving wheel 4 and a tension wheel 5 are also arranged on the frame 2, the driving wheel 4 is driven by a motor, the annular guide rail 3 bypasses the driving wheel 4 and the tension wheel 5, an annular crawler 1 is arranged on the outer rings of the driving wheel 4 and the tension wheel 5, the annular crawler 1 is positioned on the outer side of the annular guide rail 3, a plurality of vacuum suckers 8 are distributed on the peripheral circumference of the annular crawler 1 at equal intervals, a main handle 7 is arranged on one side of each vacuum sucker 8 connected with the annular crawler 1, one end of the main handle 7 is connected with the vacuum sucker 8, a main handle tension applying mechanism is arranged between the other end of the main handle and the annular guide rail 3, the main handle tension applying mechanism comprises a pulley shaft, the main handle 7 is connected with the pulley shaft after passing, the pulley shaft is provided with a pulley matched with the annular guide rail 3, and the annular crawler 1 rotates to drive the pulley to slide along the annular guide rail 3.
The annular guide rail 3 comprises a first straight guide rail 31, a first semi-curved guide rail 32, a first inclined guide rail 33, a second straight guide rail 34, a second inclined guide rail 35 and a second semi-curved guide rail 36 which are connected end to form a ring, the first straight guide rail 31 and the second straight guide rail 34 are parallel to each other, the distance between the first inclined guide rail 33 and the annular crawler 1 from the head part to the tail part of the first inclined guide rail is gradually increased, the distance between the second inclined guide rail 35 and the annular crawler 1 from the head part to the tail part of the second inclined guide rail is gradually reduced, the distance between the first straight guide rail 31 and the annular crawler 1, the distance between the first semi-curved guide rail 32 and the annular crawler 1 and the distance between the second semi-curved guide rail 36 and the annular crawler 1 are equal, and the distance between the second straight guide rail 34 and the annular crawler 1 is the largest among the distances between.
Each vacuum sucker 8 is connected with the annular crawler 1 through two unsealing handles 6, one end of each unsealing handle 6 is connected with the outer edge of the vacuum sucker 8, and the other end of each unsealing handle is connected with the outer surface of the annular crawler 1; each vacuum chuck 8, main handle 7, unseal handle 6 and annular track 1 are made by flexible rubber PVC, and vacuum chuck 8, annular track 1, main handle 7 and unseal handle 6 are the integrated into one piece structure, do not have relative motion each other, because the three supports by having elastic PVC, can carry out elastic expansion deformation.
The utility model discloses make into a body structure with vacuum chuck 8 and annular track 1, change through the clearance between pulley and the annular track 1 and drive the change of distance between pulley and the annular track 1, and then produce the negative pressure in vacuum chuck 8, along the handle 6 that unseals that 8 outward flange departments of vacuum chuck set up, the biological interact of action and muscle, skeleton texture of crawling such as bionical tree frog, gecko for vacuum chuck 8 under the negative pressure state can break away from smoothly with by adsorption plane.
Specifically, when the bionic device in the utility model works, firstly, the device is pressed on a smooth plane, at this time, a part of the vacuum sucker 8 contacting with the plane generates negative pressure by external force, the motor is started, the torque generated by the motor is connected to the wheel shaft of the driving wheel 4, the annular caterpillar 1 is driven to run together by the wheel hub rigidly connected with the wheel shaft, at this time, the vacuum sucker 8 integrally formed with the annular caterpillar 1 runs together with the annular caterpillar 1, the main handle 7 of the vacuum sucker 8 drives the pulley shaft, and further drives the pulley to slide in the track, the vacuum sucker 8 not contacting with the smooth surface is enabled to be similar to the plane due to the combined action of the main handle 7 and the unsealing handle 6, the outer surface of the disc body contacting with the smooth surface moves together with the annular caterpillar 1, the plane coincides with the smooth surface to be climbed, and the annular caterpillar 1 continues to move, the interval between ring rail 3 and annular track 1 constantly becomes, and vacuum chuck 8's main handle produced the pulling force this moment, and this pulling force transmits the disk body of vacuum chuck 8 and then produces the negative pressure and make whole device adsorb on smooth surface. Bionic device contact smooth planar end is because action wheel 4, the influence of the circumferential structure of the wheel hub of tight pulley 5 rises, make annular track 1 upwards crooked, and then produce the pulling force that size and direction are all inequality on two handles 6 of unsealing of same vacuum chuck 8, and the pulling force that is close to the terminal handle 6 of unsealing of device is great, owing to unseal handle 6 and be connected to vacuum chuck 8's disk body epitaxy, so comparatively little pulling force can unseal vacuum chuck 8, vacuum chuck 8's desorption has been accomplished, meanwhile, the interval between ring rail 3 and annular track 1 is the level and smooth reduction also, thereby the pulling force of vacuum chuck 8's main handle 7 has been reduced, and then negative pressure strength has been reduced, supplementary completion desorption.
The utility model discloses a principle mainly relies on the clearance change between ring rail 3 and annular track 1 to realize the tensile application of main handle 7, but has brought a problem, and main handle 7 receives behind the pulling force, and corresponding frictional force in ring rail 3 can increase, makes the pulley not smooth in ring rail 3 operation, consequently in order to avoid frictional emergence, can cancel pulley shaft, pulley and ring rail 3, adopts following embodiment:
example two:
the structure and the principle of the second embodiment are basically the same as those of the first embodiment, and the only difference lies in that: a plurality of first permanent magnets are arranged at the part where the gap between the original annular guide rail 3 and the annular crawler 1 is enlarged, namely the inner side of one side of the annular crawler 1, which is contacted with the surface to be climbed, so that an approximately uniform magnetic field is formed, and a second permanent magnet is arranged on the main handle 7, so that the contact and friction are ingeniously avoided, and the main handle 7 is also applied with pulling force, so that the vacuum chuck 8 generates negative pressure.
The parts not mentioned in the utility model can be realized by adopting or using the prior art for reference.
The specific embodiments described herein are merely illustrative of the spirit of the invention. Various modifications, additions and substitutions for the specific embodiments described herein may be made by those skilled in the art without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (8)
1. The utility model provides a sucking disc track drive bionic device for climbing attach smooth surface which characterized in that, includes the frame, still is provided with the action wheel and rises and tightly takes turns in the frame, installs annular track on the outer lane of action wheel and rise and tightly takes turns, and the peripheral border of annular track has a plurality of vacuum chuck that evenly spaced distribution, and one side that each vacuum chuck links to each other with annular track is provided with the main handle, and the one end of main handle links to each other with vacuum chuck, and the other end is provided with main handle pulling force and exerts the mechanism.
2. The bionic sucker-track driving device for climbing on a smooth surface as claimed in claim 1, wherein the frame is provided with an annular guide rail, the annular guide rail passes around the driving wheel and the tension wheel, the annular track is arranged on the outer side of the annular guide rail, the main handle tension applying mechanism is arranged between the main handle and the annular guide rail, the main handle tension applying mechanism comprises a pulley shaft, the main handle passes through the annular track and then is connected with the pulley shaft, the pulley shaft is provided with a pulley matched with the annular guide rail, and the annular track rotates to drive the pulley to slide along the annular guide rail.
3. The bionic sucker-track driving device for climbing a smooth surface according to claim 2, wherein the annular guide rail comprises a first straight guide rail, a first semi-curved guide rail, a first inclined guide rail, a second straight guide rail, a second inclined guide rail and a second semi-curved guide rail which are connected end to form a ring, the first straight guide rail and the second straight guide rail are parallel to each other, the distance between the first inclined guide rail and the annular track is gradually increased from the head part to the tail part of the first inclined guide rail, the distance between the second inclined guide rail and the annular track is gradually decreased from the head part to the tail part of the second inclined guide rail, the distance between the first straight guide rail and the annular track, the distance between the first semi-curved guide rail and the annular track and the distance between the second semi-curved track and the annular track are equal, and the distance between the second straight guide rail and the annular track is greater than the distance between the first straight guide rail and the annular track.
4. The suction cup track-driven biomimetic device for climbing a smooth surface according to claim 1, wherein the main-handle-pulling-force applying mechanism is located inside a side of the endless track contacting the surface to be climbed, and the main-handle-pulling-force applying mechanism includes a plurality of first permanent magnets provided on the frame, and a second permanent magnet provided on the main handle of each vacuum suction cup.
5. The bionic sucker-track driving device for climbing a smooth surface according to any one of claims 1 to 4, wherein each vacuum sucker is connected with the annular track through an unsealing handle, one end of the unsealing handle is connected with the outer edge of the vacuum sucker, and the other end of the unsealing handle is connected with the outer surface of the annular track.
6. The bionic sucker-track driving device for climbing a smooth surface according to claim 5, wherein each vacuum sucker is connected with the annular track through two unsealing handles.
7. The suction cup track driven bionic device for climbing a smooth surface according to claim 5, wherein each of the main handle, the unsealing handle and the endless track is made of flexible rubber.
8. The bionic sucker-track driving device for climbing a smooth surface according to claim 5, wherein the vacuum sucker, the annular track, the main handle and the unsealing handle are of an integrally formed structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620422037.8U CN205574090U (en) | 2016-05-10 | 2016-05-10 | A sucking disc crawler drive bionic device for seeking connections with smooth surface |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620422037.8U CN205574090U (en) | 2016-05-10 | 2016-05-10 | A sucking disc crawler drive bionic device for seeking connections with smooth surface |
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| Publication Number | Publication Date |
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| CN205574090U true CN205574090U (en) | 2016-09-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620422037.8U Expired - Fee Related CN205574090U (en) | 2016-05-10 | 2016-05-10 | A sucking disc crawler drive bionic device for seeking connections with smooth surface |
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| CN (1) | CN205574090U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109381102A (en) * | 2017-08-09 | 2019-02-26 | 青岛海尔模具有限公司 | A kind of sucker crawler belt |
| CN112519904A (en) * | 2020-12-16 | 2021-03-19 | 北方工业大学 | Bionic telescopic active barbed-type crawler climbing mechanism |
| CN112716349A (en) * | 2020-12-30 | 2021-04-30 | 张云 | Cleaning brush for high glass |
-
2016
- 2016-05-10 CN CN201620422037.8U patent/CN205574090U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109381102A (en) * | 2017-08-09 | 2019-02-26 | 青岛海尔模具有限公司 | A kind of sucker crawler belt |
| CN112519904A (en) * | 2020-12-16 | 2021-03-19 | 北方工业大学 | Bionic telescopic active barbed-type crawler climbing mechanism |
| CN112716349A (en) * | 2020-12-30 | 2021-04-30 | 张云 | Cleaning brush for high glass |
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| Date | Code | Title | Description |
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| 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: 20160914 Termination date: 20210510 |
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| CF01 | Termination of patent right due to non-payment of annual fee |