CN210338109U

CN210338109U - Bionic wall-climbing robot capable of adapting to various environments

Info

Publication number: CN210338109U
Application number: CN201921457420.7U
Authority: CN
Inventors: 卞世元; 卫玉梁; 孔德义; 唐敏; 马运前; 谢东岳; 许锋; 胡明
Original assignee: Hefei Institutes of Physical Science of CAS
Current assignee: Hefei Institutes of Physical Science of CAS
Priority date: 2019-09-04
Filing date: 2019-09-04
Publication date: 2020-04-17
Anticipated expiration: 2029-09-04

Abstract

A bionic wall-climbing robot which can adapt to various environments. The robot comprises a robot main body part and robot legs arranged on two sides of the robot main body part, wherein the front ends of the robot legs are robot feet, each robot foot is provided with a plurality of hoof toes, a bionic sucker is arranged below the middle position of each robot foot, the lower surface of each hoof toe is adhered with a viscous material with a bristle array, and each hoof toe is also provided with a tail end toe with a hook structure. The utility model discloses absorb the adhesion property of gecko and goby, make the adaptability improvement of wall climbing robot's multiple wall.

Description

Bionic wall-climbing robot capable of adapting to various environments

Technical Field

The utility model relates to a bionical wall climbing robot, especially a bionical wall climbing robot that can adapt to multiple environment belongs to mechanical automation engineering field.

Background

At present, a lot of glass curtain walls exist in cities, a large amount of dust can be accumulated after a long time, certain risks exist during manual cleaning, and the glass curtain walls are high in cost and low in efficiency. Along with the development of society, artifical high altitude washing glass has not been conform to the actual development condition, and along with the development of wall climbing robot, the curtain is washd in the high altitude by wall climbing robot undertakes gradually, and wall climbing robot can carry cleaning equipment and investigation equipment, can realize wasing the automation of curtain. The wall-climbing robot can replace human beings to work in a complex environment, can walk on a vertical wall surface, an inclined wall surface and a horizontal wall surface, has good environmental adaptability, and is widely applied to the fields of disaster relief and rescue, building engineering, municipal engineering, petrochemical industry, ships, aerospace, nuclear power and the like.

In order to realize the adhesion of a vertical wall surface, the foot of the traditional wall-climbing robot usually adopts a single adsorption structure, for example, the foot generates adhesion force by using methods such as vacuum adsorption, mechanical part grabbing, permanent magnet and electromagnetic adsorption, electrostatic adsorption or material adhesion, and the like, so that most of the traditional wall-climbing robots can adapt to one wall surface (a smooth wall surface or a rough wall surface), and many of the traditional wall-climbing robots do not have the problem of adapting to multiple wall surfaces simultaneously.

Disclosure of Invention

In order to overcome the above-mentioned not enough of prior art, the utility model provides a bionical wall climbing robot that can adapt to multiple environment can crawl at coarse and smooth multiple wall, and adaptability is strong.

The utility model provides a technical scheme that its technical problem adopted is: including the robot main part with arrange the robot shank in its both sides, robot shank front end is the robot foot, every robot foot has a plurality of hoof toes, the robot foot install bionic sucking disc in position below of centre, the lower surface of every hoof toe glues the viscous material that has the seta array, every hoof toe still has the terminal toe that colludes the thorn structure.

Compared with the prior art, the utility model discloses a bionical wall climbing robot that can adapt to multiple environment, in order to improve the adaptability of the multiple wall of wall climbing robot, obtained many inspiration in the biological world, not only absorbed special micro-structure on the gecko toe, still borrow the special sucker structure of larynx dribbling for reference. The viscous material and the bionic sucker have certain viscosity on the smooth wall surface, and the wall-climbing robot can be attached to the smooth wall surface in an auxiliary mode. The hook structure has the effect that the claws are well attached to the rough wall surface, and when the claw meets the rough wall surface, the wall-climbing robot can be well attached to the wall surface. Because the utility model discloses get up viscous material, collude thorn structure and special bionical sucking disc three and formed the utility model discloses can adapt to the compound foot of multiple environment wall climbing robot, so can implement tasks such as investigation at coarse and smooth multiple wall.

Drawings

The present invention will be further explained with reference to the drawings and examples.

Fig. 1 is a schematic top view of an embodiment of the present invention.

Fig. 2 is a top view of a robot leg in an embodiment of the present invention.

Fig. 3 is a bottom view of the robot leg according to the embodiment of the present invention.

Fig. 4 is a top view of a robot foot in an embodiment of the invention.

Fig. 5 is a bottom view of a robot foot according to an embodiment of the present invention.

In the figure, 1, a robot head, 2, a robot main body part, 3, a robot foot, 4, a robot right front leg part, 5, a control system, 6, a robot right rear leg part, 7, a robot tail part, 8, a robot left rear leg part, 9, a power supply, 10, a robot left front leg part, 11, a rod I, 12, a rod II, 13, a rod III, 14, a rod IV, 15, a gear I, 16, a gear II, 17, a gear III, 18, a gear IV, 19, a first steering engine, 20, a second steering engine, 21, a tail end toe, 22, a hook structure, 23, a viscous material of a bristle array, 24 and a bionic sucker are shown.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Fig. 1 to 5 are schematic structural diagrams illustrating a preferred embodiment of the present invention, in fig. 1, a four-footed bionic wall-climbing robot capable of adapting to various environments is shown, which includes a robot main body portion 2 and four robot leg portions arranged on two sides of the robot main body portion, the four footers are a robot right front leg portion 4, a robot right rear leg portion 6, a robot left rear leg portion 8 and a robot left front leg portion 10 symmetrically arranged on two sides of the robot main body portion 2, but not limited to four footers, other numbers of robot leg portions can be selected as required, and a robot foot portion 3 is arranged at the front end of each robot leg portion; each robot foot 3 has a plurality of toes, and in this example, one robot foot 3 has five toes, and the five toes are compactly arranged, but not limited thereto, and may be selected in other numbers, and the interval and regularity of arrangement along the periphery may be adjusted as necessary. Referring to fig. 4 and 5, the robot foot 3 is provided with a bionic sucker 24 below the middle position, the lower surface of each hoof toe is adhered with a viscous material 23 with a bristle array, and each hoof toe is also provided with a tail end toe 21 of a hook structure 22; generally, the hoof toe and the robot foot 3 are fixedly connected directly (for example, by bolts), the end toe 21 is fixedly connected to the middle position of the front end of the hoof toe, and the robot foot 3 is fixedly connected to the lower end of the leg and is not rotatable; in the embodiment, the barbed structure 22 is specifically arranged at the lower front end of the tail end toe 21 located in the middle, it is obvious that the specific position design of the tail end toe 21 can be changed, and the specific position and the number of the barbed structure 22 can be selected and arranged according to the requirement.

In order to further make the adsorption performance more optimize, the utility model discloses can also adopt micro-nano processing technology and 3D to print technical manufacturing. Firstly, a micro-nano processing technology is adopted to manufacture a sticky material with micron-sized bristle arrays and a hook structure 22 of the imitated gecko toes, and then a sucker structure similar to a goby is solidified to be used as a bionic sucker 24.

Additionally, bionical wall climbing robot can also include robot head 1, robot afterbody 7, control system 5 and power 9, robot main part 2 has born four shank, control system 5 and power 9 parts, is the frame of wall climbing robot, so robot head 1 and robot afterbody 7 install respectively at the front and back end of robot main part 2, control system 5 and power 9 are installed within robot main part 2. The main function of the robot head 1 and the robot tail 7 is to maintain balance. The control system and the power supply 9 are respectively electrically connected with related components for completing control and power supply, for example, the control system 5 and the power supply 9 need to be connected with the first steering engine 19 and the second steering engine 20. The control system 5 drives the legs of the wall-climbing robot to move so as to realize the movement of the wall-climbing robot, and the feet 3 of the wall-climbing robot provide the adhesion force of the whole wall-climbing robot.

Referring to fig. 2 and 3, in this embodiment, the robot leg is a five-bar linkage of a gear transmission system, so that the robot can extend and crawl, the two steering engines respectively control the extension and retraction and the overall lifting of the five-bar linkage, that is, the driving force is derived from a first steering engine 19 for controlling the extending leg, and the driving force for lifting the leg is derived from a second steering engine 20 for lifting. Preferably, the five-link mechanism of the gear transmission system mainly comprises a rod I11, a rod II 12, a rod III 13, a rod IV 14, a gear I15, a gear II 16, a gear III 17 and a gear IV 18, wherein the gear II 16 and the gear III 17 are jointly installed on a gear carrier, the gear carrier is fixed on the robot main body part 2 and is sequentially hinged with the rod I11, the rod II 12, the rod III 13 and the rod IV 14 to form a five-link rod, the gear I15 and the gear IV 18 are respectively fixed on the rod IV 14 and the rod I11 hinged with the gear carrier, the gear I15, the gear II 16, the gear III 17 and the gear IV 18 are sequentially meshed, the gear III 17 is driven by a first steering engine 19 installed between the gear carrier and the gear carrier to realize the stretching of the five-link rod, and a second steering engine 20 is installed between the gear carrier and the robot main body part 2 to control the lifting of the robot leg. Gears of the gear transmission system are meshed with each other, and the transmission ratio is adjusted, so that the robot can crawl along the linear extending legs. Compare current traveling system or actuating mechanism, the utility model discloses above-mentioned gear drive system's five-bar linkage, simple structure not only still can realize stable robot and stretch the leg and creep, the reliability reinforcing.

The working process is as follows: the lifting and extending of the four robot legs (the robot right front leg 4, the robot right rear leg 6, the robot left rear leg 8 and the robot left front leg 10 in the embodiment) drive the wall climbing robot to move forwards, specifically, the lifting of the four robot legs is driven by a second steering engine 20, the extending of the legs is driven by a first steering engine 19 to drive a gear III 17, the gear I15 is transmitted to a gear II 16, the gear I15 is fixedly connected to a rod IV 14, and a gear IV 18 is fixedly connected to a rod I11, so that a certain rotation speed ratio is formed to drive the tail end of the five-link rod to move along a straight line. The barbed structure 22 functions when the wall surface is a rough wall surface, and the adhesive material 23 of the bristle array and the bionic suction cup 24 function when the wall surface is a smooth wall surface.

The above, only be the utility model discloses a preferred embodiment, it is not right the utility model discloses do the restriction in any form, all basis the utility model discloses a technical essence makes any simple modification and equal change to above embodiment, all falls into within the protection scope of the utility model.

Claims

1. The utility model provides a bionical wall climbing robot that can adapt to multiple environment, includes robot main part (2) and arranges the robot leg in its both sides, and robot leg front end is robot foot (3), and every robot foot (3) have a plurality of hoof toes, characterized by: the bionic sucker (24) is installed below the middle position of the robot foot (3), the lower surface of each hoof toe is adhered with a viscous material (23) with a bristle array, and each hoof toe is also provided with a tail end toe (21) of the barbed structure (22).

2. The bionic wall-climbing robot capable of adapting to various environments as claimed in claim 1, wherein: the adhesive material (23) of the bristle array is a micron-sized bristle array; the bionic sucker (24) is a sucker structure similar to a goby shape.

3. The bionic wall-climbing robot capable of adapting to various environments as claimed in claim 1 or 2, wherein: the robot leg is a five-bar mechanism of a gear transmission system, and the two steering engines respectively control the extension and the integral lifting of the five-bar mechanism.

4. The bionic wall-climbing robot capable of adapting to various environments as claimed in claim 3, wherein: the five-link mechanism of the gear transmission system mainly comprises a rod I (11), a rod II (12), a rod III (13), a rod IV (14), a gear I (15), a gear II (16), a gear III (17) and a gear IV (18), wherein the gear II (16) and the gear III (17) are jointly installed on a gear carrier, the gear carrier is fixed on a robot main body part (2) and is sequentially hinged with the rod I (11), the rod II (12), the rod III (13) and the rod IV (14) to form a five-link rod, the gear I (15) and the gear IV (18) are respectively fixed on the rod IV (14) and the rod I (11) hinged with the gear carrier, the gear I (15), the gear II (16), the gear III (17) and the gear IV (18) are sequentially meshed, the gear III (17) is driven by a first steering engine (19) installed between the gear carrier to achieve the extension and retraction of the five-link rod, a second steering engine (20) is arranged between the gear rack and the robot main body part (2) to control the lifting of the robot legs.

5. The bionic wall-climbing robot capable of adapting to various environments as claimed in claim 1 or 2, wherein: the bionic wall-climbing robot further comprises a robot head (1), a robot tail (7), a control system (5) and a power supply (9), wherein the robot head (1) and the robot tail (7) are respectively installed at the front end and the rear end of the robot main body part (2), and the control system (5) and the power supply (9) are installed in the robot main body part (2).

6. The bionic wall-climbing robot capable of adapting to various environments as claimed in claim 1 or 2, wherein: the bionic wall-climbing robot is a four-footed bionic wall-climbing robot, and the four feet are a robot right front leg part (4), a robot right rear leg part (6), a robot left rear leg part (8) and a robot left front leg part (10) which are symmetrically arranged at two sides of a robot main body part (2).