CN208053481U - A kind of combined wall climbing robot walking mechanism - Google Patents
A kind of combined wall climbing robot walking mechanism Download PDFInfo
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- CN208053481U CN208053481U CN201820571136.1U CN201820571136U CN208053481U CN 208053481 U CN208053481 U CN 208053481U CN 201820571136 U CN201820571136 U CN 201820571136U CN 208053481 U CN208053481 U CN 208053481U
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Abstract
The utility model provides a kind of combined wall climbing robot walking mechanism, it is left and right sides a pair of of pedrail mechanism arranged symmetrically in main support, the pair of pedrail mechanism is to respectively drive walking by the main motion mechanism of corresponding side, and overturning can be synchronized outward inwardly or backwards to main support towards main support under the driving of the hold-down mechanism on main support, make each track section or each pawl in pedrail mechanism pierce seat to be attached on wall surface, realize that climbing robot switches between two states of attached walking are walked and grabbed in adherency, it is additionally provided with a tail structure in the main support rear end, it is formed to the Auxiliary support balance in climbing robot walking process with the tail structure.The utility model is suitable for the climbing of multiple types wall surface, and stability is good, reliability is high, can solve the problems, such as that existing bionic wall climbing mechanism is easy to slide in the smooth conversion process with rough surface, cannot steadily switch.
Description
Technical field
The utility model is related to bionic wall climbing robot technical field, it is mainly used for executing precipitous wall surface, small space etc.
Particular surroundings cleaning, detection, rescue task, it is more specifically a kind of a variety of by the realization of compound pedrail space Zhao Ci mechanisms
The robot running gear that complicated wall surface is creeped.
Background technology
Climbing robot usually utilizes vacuum cup, magnet or common adhesion material to realize the adherency to wall surface.However, from
Most of wall surfaces are coarse, porous, multiple crackings and dusty in right boundary and human habitat, such as stone, cement, brick
Block wall face etc., above-mentioned three kinds of adherent fashions are not applicable.In recent years, it can be climbed on metope by gecko, beetle etc.
The inspiration of animal starts to rise in such a way that dry adhesion, wet adherency and pawl thorn grab the attached bionic adhesion for representative.Currently, artificial imitative
Raw dry adhesion and wet adhesion material are only applicable to clean, smooth wall surface, can't adapt to the wall surface of coarse and more dusts.Pawl pierces
The generally existing in insect, almost all of insect have when being climbed on hydraulically rough surface pawl stichopus japonicus with or as main
Adherent fashion, or as important aid adhesion mode, people are by imitating the special attachment of these animals and locomitivity
Bionic wall climbing motion is developed, and has achieved certain progress.
However, stability and reliability that existing bionic wall climbing motion is showed on a rough surface are still in and grind
Study carefully initial stage, although research institution both domestic and external can be creeped using the homemade pawl thorn wheel of acupuncture needle on Rough Horizontal Plane, moves shape
Formula is single, and holding load is smaller, meanwhile, it has also still been in the research of the combined wall climbing robot of Various Complex wall surface climbing
Step section.
Utility model content
The utility model is intended to solve one of above-mentioned technical problem at least to a certain extent.For this purpose, the utility model carries
Going out a kind of combined wall climbing robot walking mechanism, can adapt to the climbing of multiple types wall surface, stability is good, reliability is high,
It can solve the problems, such as that existing bionic wall climbing mechanism is easy to slide in the smooth conversion process with rough surface, cannot steadily switch.
To achieve the above object, the utility model adopts the following technical solution：
A kind of combined wall climbing robot walking mechanism, is structurally characterized in that：
It is symmetrical arranged a pair of of pedrail mechanism in the left and right sides of main support, the pair of pedrail mechanism is by the master of corresponding side
Motion respectively drives walking, and can under the driving of the hold-down mechanism on main support towards main support inwardly or backwards
Main support synchronous overturning outward, makes each track section or each pawl in pedrail mechanism pierce seat and is attached on wall surface, wall machine is climbed in realization
Device people switches between two states of attached walking are walked and grabbed in adherency, and a tail structure is additionally provided in the main support rear end, with
The tail structure is formed to the Auxiliary support balance in climbing robot walking process.
The design feature of the utility model is lain also in：
The structure type of main motion mechanism driving pedrail mechanism walking is：
Each L-shaped structure of track section is to be in turn connected to form crawler belt by track pin with the end of vertical portion, and in level
Polyurethane material is pasted on the outer end face in portion, one end of each pawl thorn seat is hinged on each crawler belt horizontal by the first rotation axis respectively
On the inner face in portion, and the first torsional spring is set in the periphery of first rotation axis, the other end direction of each pawl thorn seat is main
Holder to exposing outside, in intersection lay by each pawl thorn for being set to revealed section bottom end；
The main motion mechanism is the main motion servo driving driving wheel by being placed on steering engine holder, and the driving wheel passes through
Track drive driven wheel positioned at steering engine stent outer is rotated, and the driven wheel is supported on the transmission of steering engine holder by bearing
On wheel seat.
The steering engine holder is equipped with the adjusting groove laid along the longitudinal direction, and the transmission wheel seat installs institute by bolt
It states and adjusts on groove.
A pair of of pedrail mechanism of hold-down mechanism driving, which synchronizes the structure type overturn, is：
By be placed on main support compression servo driving, be driven through toggle, drive a pair of of left and right to lay, mutually nibble
The equal gears rotation of conjunction, the wheel shaft both ends of the pair of equal gears are supported on by bearing in the stand of main support front and back end,
Using a pair of axle spindles as rotary shaft, the middle inside of a pair of of steering engine holder is respectively by solid in the middle part of the rotary shaft of turning rod and respective side
Even, and by the turning rod with the forward and reverse rotation of rotary shaft realize that synchronization is outwardly or inwardly overturn.
The toggle is set as：
The servo driving that compresses is rotated with the direct-connected runner of its output shaft, hinged first on the excircle of the runner
Connecting rod forms the first hinge joint, and the rod end and second connecting rod of the first connecting rod are hinged, the second hinge joint of formation, and described second
The rod end of connecting rod is fixedly connected in the middle part of the turning rod for closing on side.
The structure setting of the tail structure is：
The front end of tail is hinged on the rear end of main support by the second rotation axis, and is set in the periphery of second rotation axis
The second torsional spring is set, makes the rear end of tail keep, close to wall surface, realizing auxiliary in climbing robot walking process by the torsional spring
Support is helped to balance.
Compared with the prior art, the utility model has the beneficial effect that：
1, the combined wall climbing robot walking mechanism of the utility model is to provide power with main motion mechanism, by compacting machine
Structure drives the pedrail mechanism of both sides inwardly to clamp or unfold outward, realizes that adherency walking is cut with attached the arbitrary of walking two states is grabbed
It changes, and is used for Auxiliary support during robot ambulation equipped with tail structure and balances, can realize horizontal wall surface, vertical wall
The climbing operation of a variety of environment such as face, ceiling wall surface, hydraulically rough surface, mechanism overall construction design is simple, reliability is high, stablizes
Good, the high degree of automation of property；
2, it in the pedrail mechanism of the utility model, is mutually cut with scissors by the first rotation axis between each pawl thorn seat and corresponding track section
It connects, and the first torsional spring is set in the periphery of the first rotation axis, pawl, which pierces, uses this elastic connection way between seat and track section, make
Climbing robot it is coarse avoid climbing when, each pawl thorn seat can be adjacent to wall surface in real time, be effectively improved robot thick
Grasping performance when attached walking is grabbed on rough wall surface, prevents from causing robot to be slided due to pawl thorn grabs attached failure in irregular rough surface
It falls；
3, the utility model is provided with tail structure, and tail therein is the rear end phase with main support by the second rotation axis
It is hinged, and the second torsional spring is set in the periphery of the second rotation axis, by the twisting force of the second torsional spring can make tail and wall surface it
Between keep pretightning force, tail rear end that can be prevented because of climbing robot in real time close to wall surface in climbing robot walking process
Body gravity and generate hypsokinesis, play the role of improving mechanism whole machine balancing, stability, especially vertical walls with
When horizontal wall surface intersection transition, moreover it is possible to play the role of Auxiliary support；
4, in the main motion mechanism of the utility model, the transmission wheel seat for being used to support driven wheel is adjustable mechanism, be can be used for
The elastic of crawler belt is adjusted on demand.
Description of the drawings
Fig. 1 is the overall structure diagram of the utility model combined wall climbing robot walking mechanism；
Fig. 2 is the overall structure diagram at another visual angle of the utility model combined wall climbing robot walking mechanism；
Fig. 3 is the structural schematic diagram of pedrail mechanism in Fig. 1；
Fig. 4 is pedrail mechanism and mounting structure schematic diagram of the main motion mechanism on steering engine holder in Fig. 1；
Fig. 5 is the main structure diagram of hold-down mechanism in Fig. 1；
Fig. 6 is the structural schematic diagram of tail structure in Fig. 1.
In figure, 1 pedrail mechanism；2 main motion mechanisms；3 hold-down mechanisms；4 tail structures；5 main supports；6 steering engine holders；7 carry out
Belt segment；8 track pins；9 pawls pierce seat；10 first rotation axis；11 transmission wheel seats；12 pawls pierce；13 main motion steering engines；14 driving wheels；15
Driven wheel；16 adjust groove；17 compress steering engine；18 equal gears；19 stands；20 rotary shafts；21 turning rods；22 runners；23
One connecting rod；24 first hinge joints；25 second connecting rods；26 second hinge joints；27 tails；28 second rotation axis；29 first torsional springs；30
Supporting rack.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that described implementation
Example is the utility model a part of the embodiment, instead of all the embodiments.Based on the embodiments of the present invention, this field
The every other embodiment that those of ordinary skill is obtained without creative efforts, belongs to the utility model
The range of protection.
Fig. 1 to Fig. 2, the combined wall climbing robot walking mechanism of the present embodiment are please referred to, structure setting is：
It is symmetrical arranged a pair of of pedrail mechanism 1 in the left and right sides of main support 5, a pair of of pedrail mechanism 1 is by the master of corresponding side
Motion 2 respectively drives walking, and can under the driving of the hold-down mechanism 3 on main support 5 towards main support 5 inwardly or
Backwards to the synchronous overturning outward of main support 5, so that each track section 7 or each pawl in pedrail mechanism 1 is pierced seat 9 and be attached on wall surface, it is real
Existing climbing robot switches between two states of attached walking are walked and grabbed in adherency, and a tail portion machine is additionally provided in 5 rear end of main support
Structure 4 is formed with tail structure 4 and is balanced to the Auxiliary support in climbing robot walking process.
In specific implementation, corresponding structure setting also includes：
Fig. 3 and Fig. 4 is please referred to, the structure type that main motion mechanism 2 drives pedrail mechanism 1 to walk is：
7 L-shaped structure of each track section is to be in turn connected to form crawler belt by track pin 8 with the end of vertical portion, and in water
Polyurethane material is pasted on the outer end face in flat portion, may insure climbing robot smooth by the adhesion property of polyurethane material
One end of climbing on wall surface, each pawl thorn seat 9 is hinged on the inner face of 7 horizontal part of each track section by the first rotation axis 10 respectively
On, and first torsional spring 29 is set in the periphery of the first rotation axis 10, pawl is pierced by seat 9 and 7 tensioner of track section by the first torsional spring 29,
So that climbing robot it is coarse avoid climbing when, each pawl thorn seat 9 is adjacent to wall surface in real time, can effectively improve grasping performance,
It prevents from causing robot to slide due to pawl thorn 12 grabs attached failure in irregular rough surface, the other end direction of each pawl thorn seat 9 is main
Holder 5 installs the pawl thorn 12 of diameter 0.5mm to exposing outside in the pawl acanthopore of the bottom end both sides of revealed section, in the present embodiment, two
Side pawl thorn is in 90 ° of cross-distributions, ensures that climbing robot stress when ceiling wall surface is creeped is equal with the pawl thorn on each pawl thorn seat
It is even；
Main motion mechanism 2 is to drive driving wheel 14, driving wheel 14 to pass through by the main motion steering engine 13 being placed on steering engine holder 6
Track drive driven wheel 15 positioned at 6 outside of steering engine holder is rotated, and driven wheel 15 is supported on the biography of steering engine holder 6 by bearing
On driving wheel seat 11.By the engagement with crawler belt between driving wheel 14 and driven wheel 15, drive needed for climbing robot completion
Advance, retrogressing, rotation etc. needed for various movements.
As an optional scheme, in the present embodiment, track section 7 is made with pawl thorn seat 9 of resin material, and is to pass through
3D printing technique is integrally formed.
Above-mentioned steering engine holder 6 is equipped with the adjusting groove 16 laid along the longitudinal direction, and transmission wheel seat 11 is installed by bolt
It adjusts on groove 16, installation site of the wheel seat 11 on adjusting groove 16 is driven by adjusting, may be implemented to crawler belt tighting journey
The adjusting of degree.
Fig. 1, Fig. 2 and Fig. 5 are please referred to, the structure type that hold-down mechanism 3 drives a pair of of pedrail mechanism 1 to synchronize overturning is：
It driven by the compression steering engine 17 being placed on main support 5, be driven through toggle, a pair of of left and right is driven to lay,
The equal gears 18 being meshed rotate, and the wheel shaft both ends of a reciprocity gear 18 are supported on the vertical of 5 front and back end of main support by bearing
On frame 19, using a pair of axle spindles as rotary shaft 20, the middle inside of a pair of of steering engine holder 6 passes through turning rod 21 and respective side respectively
The middle part of rotary shaft 20 is connected, and by turning rod 21 with the forward and reverse rotation of rotary shaft 20 realize a pair of of pedrail mechanism 1 synchronize to
Interior or flip-over.By taking Fig. 1 as an example, when reciprocity 18 rotation in opposite directions of gear, a pair of of pedrail mechanism 1 of both sides is turned-out
Turn, vice versa.
Toggle is set as：
It compresses the driving of steering engine 17 to rotate with the direct-connected runner 22 of its output shaft, hinged first connects on the excircle of runner 22
Bar 23 forms the first hinge joint 24, and the rod end and second connecting rod 25 of first connecting rod 23 are hinged, the second hinge joint 26 of formation, and second
The rod end of connecting rod 25 is fixedly connected on 21 middle part of turning rod for closing on side.
Fig. 6 is please referred to, the structure setting of tail structure 4 is：
The triangular structure that tail 27 is in elongate shape, rear end is sharp, front end are hinged on main branch by the second rotation axis 28
It on the supporting rack 30 of 5 rear end of frame, can swing up and down, and second torsional spring is set in the periphery of the second rotation axis 28, pass through second
The twisting force of torsional spring makes to keep pretightning force between tail 27 and wall surface, 27 rear end of tail energy in climbing robot walking process
It is enough to prevent from generating hypsokinesis because of wall-climbing device human organism's gravity in real time close to wall surface, play improve mechanism whole machine balancing,
The effect of stability, especially in vertical walls and horizontal wall surface intersection transition, moreover it is possible to play the role of Auxiliary support.
In addition, it is contemplated that there are strict requirements in robot during climbing wall to main screw lift and structural strength, therefore
All parts of each rack bearing robot of this walking mechanism are made using aircraft aluminum material and pierced process.
Combined wall climbing robot walking mechanism with above structure, operation principle are as follows：
Under original state, a pair of of pedrail mechanism 1 is in outward posture, when climbing robot is climbed in hydraulically rough surface
When, hold-down mechanism 3 drives a reciprocity gear 18 to rotate, through one by compressing the driving of steering engine 17, being driven through toggle
The steering engine holder 6 that both sides are acted on to turning rod 21 makes a pair of of pedrail mechanism 1 synchronize and inwardly overturns, is close to wall surface, until each
Pawl thorn seat 9 is effectively contacted with wall surface, is completed to the switching for grabbing attached walking states, at this time the outer end face of 7 horizontal part of each track section and
There are certain gaps for wall surface；
When climbing robot is from hydraulically rough surface to when hydraulically smooth surface transition, hold-down mechanism 3 drives a pair of of pedrail mechanism 1 to continue
It overturns, is close to wall surface, until the outer end face that 7 horizontal part of each track section is pasted with polyurethane material is contacted with hydraulically smooth surface one
It rises, completes the switching to adherency walking states, each pawl thorn seat 9 is detached from wall surface at this time.Although each pawl thorn seat 9 in the process with
Wall surface real-time contact, but the friction coefficient between hydraulically smooth surface is smaller, is worn caused by it negligible；
When climbing robot from hydraulically smooth surface again to it is coarse avoid transition when, hold-down mechanism 3 acts on a pair of of steering engine branch
Frame 6 makes the flip-over of a pair of of pedrail mechanism 1 strut, switches to grab attached walking states again.
It is that pedrail mechanism 1 provides power by main motion mechanism 2, realization is climbed in the entire motion process of climbing robot
Wall robot move forward and backward and rotary motion, auxiliary balance supporting role is played to entire walking mechanism by tail structure 4,
It avoids causing climbing robot to be turned on one's side because tilting moment is larger.
While there has been shown and described that the embodiments of the present invention, it will be understood by those skilled in the art that：
Can these embodiments be carried out with a variety of variations in the case where not departing from the principles of the present invention and objective, modification, replaced
And modification, the scope of the utility model are limited by claim and its equivalent.
Claims (6)
1. a kind of combined wall climbing robot walking mechanism, it is characterized in that：
It is symmetrical arranged a pair of of pedrail mechanism (1) in the left and right sides of main support (5), the pair of pedrail mechanism (1) is by corresponding one
The main motion mechanism (2) of side respectively drives walking, and can be under the driving of the hold-down mechanism (3) on main support (5) towards main
Holder (5) makes each track section (7) or each pawl in pedrail mechanism (1) inwardly or backwards to main support (5) synchronous overturning outward
Thorn seat (9) is attached on wall surface, realizes that climbing robot switches between two states of attached walking are walked and grabbed in adherency, described
Main support (5) rear end is additionally provided with a tail structure (4), is formed in climbing robot walking process with the tail structure (4)
Auxiliary support balance.
2. combined wall climbing robot walking mechanism according to claim 1, it is characterized in that the main motion mechanism (2) drives
Moving the structure type of pedrail mechanism (1) walking is：
The L-shaped structure of each track section (7) is to be in turn connected to form crawler belt by track pin (8) with the end of vertical portion, and in water
Polyurethane material is pasted on the outer end face in flat portion, one end of each pawl thorn seat (9) is hinged on respectively by the first rotation axis (10) respectively
On the inner face of track section (7) horizontal part, and the first torsional spring (29) is set in the periphery of first rotation axis (10), it is described each
The other end of pawl thorn seat (9) towards main support (5) to exposing outside, in intersection lay by each pawl thorn (12) for being set to revealed section bottom end；
The main motion mechanism (2) is main motion steering engine (13) the driving driving wheel (14) by being placed on steering engine holder (6), described
Driving wheel (14) is rotated by being located at the track drive driven wheel (15) on the outside of steering engine holder (6), the driven wheel (15)
It is supported on the transmission wheel seat (11) of steering engine holder (6) by bearing.
3. combined wall climbing robot walking mechanism according to claim 2, it is characterized in that：On the steering engine holder (6)
Equipped with the adjusting groove (16) laid along the longitudinal direction, the transmission wheel seat (11) installs the adjusting groove (16) by bolt
On.
4. combined wall climbing robot walking mechanism according to claim 2, it is characterized in that the hold-down mechanism (3) drives
A pair of of pedrail mechanism (1) synchronizes the structure type overturn：
It driven by the compression steering engine (17) being placed on main support (5), be driven through toggle, a pair of of left and right is driven to lay,
Equal gears (18) rotation being meshed, the wheel shaft both ends of the pair of equal gears (18) are supported on main support (5) by bearing
In the stand (19) of front and back end, using a pair of axle spindles as rotary shaft (20), the middle inside of a pair of of steering engine holder (6) is respectively by turning over
It is connected in the middle part of bull stick (21) and the rotary shaft (20) of respective side, and by the turning rod (21) with the positive and negative of rotary shaft (20)
Realize that synchronization is outwardly or inwardly overturn to rotation.
5. combined wall climbing robot walking mechanism according to claim 4, it is characterized in that the toggle is set
It is set to：
Compression steering engine (17) driving is rotated with the direct-connected runner of its output shaft (22), on the excircle of the runner (22)
Hinged first connecting rod (23) forms the first hinge joint (24), and the rod end and second connecting rod (25) of the first connecting rod (23) are hinged,
The second hinge joint (26) is formed, the rod end of the second connecting rod (25) is fixedly connected in the middle part of the turning rod (21) for closing on side.
6. combined wall climbing robot walking mechanism according to claim 1, it is characterized in that the knot of the tail structure (4)
Structure is set as：
The front end of tail (27) is hinged on main support (5) rear end by the second rotation axis (28), and in second rotation axis
(28) the second torsional spring is arranged in periphery, so that the rear end of tail (27) is kept in climbing robot walking process by the torsional spring
Close to wall surface, Auxiliary support balance is realized.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820571136.1U CN208053481U (en) | 2018-04-20 | 2018-04-20 | A kind of combined wall climbing robot walking mechanism |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201820571136.1U CN208053481U (en) | 2018-04-20 | 2018-04-20 | A kind of combined wall climbing robot walking mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108407912A (en) * | 2018-04-20 | 2018-08-17 | 中国科学院合肥物质科学研究院 | A kind of combined wall climbing robot walking mechanism |
| CN109466650A (en) * | 2018-12-27 | 2019-03-15 | 北京史河科技有限公司 | A kind of climbing robot |
-
2018
- 2018-04-20 CN CN201820571136.1U patent/CN208053481U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108407912A (en) * | 2018-04-20 | 2018-08-17 | 中国科学院合肥物质科学研究院 | A kind of combined wall climbing robot walking mechanism |
| CN108407912B (en) * | 2018-04-20 | 2023-12-05 | 中国科学院合肥物质科学研究院 | Combined type wall climbing robot running gear |
| CN109466650A (en) * | 2018-12-27 | 2019-03-15 | 北京史河科技有限公司 | A kind of climbing robot |
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