CN211468608U - Pneumatic climbing robot with flexible joint - Google Patents

Abstract

The utility model relates to a pneumatic climbing robot with flexible joints, which comprises a flexible spine mechanism, a spine driving mechanism and an embracing mechanism; the flexible spinal mechanism comprises a rubber tube, a spring sleeved on the rubber tube, a vertebral segment block and an elastic ring which are sleeved on the spring; the spinal drive mechanism includes a drive assembly; the driving component comprises a spine pneumatic muscle and a spine inhaul cable; the clasping mechanism comprises a first box body, a second box body and a soft clasping claw; first box and second box are respectively with the both ends relatively fixed of rubber tube, vertebra festival piece and elastic ring all have a plurality of, and vertebra festival piece and elastic ring alternate cover are on the spring, all are equipped with the through-hole on the vertebra festival piece, and the one end of the pneumatic muscle of backbone is fixed mutually with first box, the other end of the pneumatic muscle of backbone and the one end fixed connection of backbone cable, and the other end of backbone cable passes behind the through-hole of all vertebra festival pieces and is connected with the second box. This pneumatic climbing robot can climb tree, pole-climbing belongs to the technical field of climbing machine.

Description

Pneumatic climbing robot with flexible joint

Technical Field

The utility model relates to a climbing robot especially relates to a pneumatic climbing robot with flexible joint.

Background

As technology advances, more and more dangerous work is being replaced by robots. In order to replace dangerous work such as pruning and picking up fruits by climbing to the high altitude of trees by workers, engineering technicians develop and design a plurality of tree climbing robots. Mainly adopt all be rigid structure, such rigid structure can accomplish the climbing on level and smooth trunk surface, but is difficult to realize keeping away barrier and turn to the adaptation of trunk diameter change. Therefore, a pneumatic tree climbing robot with flexible bionic joints is needed to be designed, the pneumatic tree climbing robot is simple in structure, the tree climbing function is easy to achieve, the pneumatic tree climbing robot can adapt to the change of the diameter of a trunk, and certain obstacle avoidance and turning functions are achieved.

SUMMERY OF THE UTILITY MODEL

To the technical problem who exists among the prior art, the utility model aims at: the utility model provides a pneumatic climbing robot with flexible joint, this pneumatic climbing robot simple structure, action are nimble, and climbing robot can replace the mankind to climb dangerous operations such as tree, pole climbing.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a pneumatic climbing robot with flexible joints comprises a flexible spine mechanism, a spine driving mechanism and a cohesion mechanism; the flexible spinal mechanism comprises a rubber tube, a spring sleeved on the rubber tube, a vertebral segment block and an elastic ring which are sleeved on the spring; the spinal drive mechanism includes a drive assembly; the driving component comprises a spine pneumatic muscle and a spine inhaul cable fixedly connected with the spine pneumatic muscle; the clasping mechanism comprises a first box body, a second box body and a soft clasping claw; the first box body and the second box body are respectively arranged at two ends of the rubber pipe and are respectively fixed relative to the two ends of the rubber pipe, at least two soft clamping claws are respectively arranged on each first box body and each second box body, and the soft clamping claws are respectively arranged at two sides of the first box body and the second box body;

the vertebral segment blocks and the elastic rings are all provided with a plurality of elastic rings which are alternately sleeved on the springs, through holes are formed in all the vertebral segment blocks, one end of the pneumatic muscle of the vertebral column is fixed with the first box body, the other end of the pneumatic muscle of the vertebral column is fixedly connected with one end of the vertebral column inhaul cable, and the other end of the vertebral column inhaul cable penetrates through the through holes of all the vertebral segment blocks and then is fixedly connected with the second box body. Embrace the claw on the first box and embrace the climbing thing, pneumatic muscle of backbone drives the pneumatic muscle of backbone and becomes thick and shorten the pulling vertebra cable with gas filling, make the second box to be close to each other and compression spring and all vertebra festival pieces and elastic ring to first box, make whole flexible backbone mechanism length shorten back the claw of embracing of second box also embrace the climbing thing tightly, the pneumatic muscle of backbone is gassing when embracing the claw and unclamping on the first box after that, high-pressure gas is gone into in the rubber tube, the pneumatic muscle of backbone resumes original length, whole flexible backbone mechanism resumes original length, the second box is motionless this moment, first box removes, realize the climbing.

Further, the method comprises the following steps: the through holes and the driving assemblies on each vertebral segment are at least two, all the through holes on each vertebral segment are uniformly distributed along the circumferential direction of the rubber tube, all the through holes on each vertebral segment are in one-to-one correspondence with all the through holes of the adjacent vertebral segments, each vertebral column driving assembly is uniformly distributed along the circumferential direction of the rubber tube, and different vertebral column inhaul cables respectively penetrate through different through holes on each vertebral segment. The driving assemblies are at least two, when the stretching length of each spinal pneumatic muscle is inconsistent, the whole flexible spinal mechanism can be bent and twisted in different directions, and the pneumatic climbing robot can achieve certain obstacle avoidance and turning functions.

Further, the method comprises the following steps: the number of the through holes and the number of the driving components on each vertebral segment are four, the four spinal cables sequentially penetrate through the through holes of all the vertebral segments, and the four spinal cables respectively penetrate through the four through holes of each vertebral segment. The four driving assemblies can better enable the pneumatic climbing robot to realize all-dimensional turning and twisting, and obstacle avoidance is realized.

Further, the method comprises the following steps: the spine driving mechanism further comprises a driving box; one end of the driving box is provided with a spine guy cable hole, the other end of the driving box is fixedly connected with the first box body, the pneumatic muscle of the spine is positioned in the driving box, and the spine guy cable penetrates out of the spine guy cable hole. The drive box can play dustproof effect to the pneumatic muscle of backbone that is located drive box inside.

Further, the method comprises the following steps: be equipped with the shaft hole on the drive case, first step shaft has set firmly on the first box, spring and rubber tube penetrate the drive incasement from the shaft hole, first step shaft has first shaft section and second shaft section, the diameter of first shaft section is greater than the diameter of second shaft section, the shaft shoulder has between first shaft section and the second shaft section, first shaft section and first box fixed connection, the second shaft section pass the shaft hole and with the inner wall fixed connection of rubber tube, be equipped with the tapering that the second shaft section of being convenient for penetrated into the rubber tube hole on the second shaft section, the end face contact of shaft shoulder and rubber tube. The first box body is fixedly connected with the rubber tube through a first stepped shaft.

Further, the method comprises the following steps: second step axle and nut have set firmly on the second box, the second step axle has third shaft section and fourth shaft section, the diameter of third shaft section is greater than the diameter of fourth shaft section, the third shaft section is equipped with the external screw thread, the axle head of third shaft section passes through hexagon nut and second box fixed connection, the internal thread of nut and the external screw thread fit of third shaft section, the hole of rubber tube is worn into and with the inner wall fixed connection of rubber tube to the end of fourth shaft section, be equipped with the tapering that the fourth shaft section of being convenient for wore into the rubber tube hole in the fourth shaft section, the terminal surface contact of spring and nut. The second box body is fixedly connected with the rubber tube through a second stepped shaft.

Further, the method comprises the following steps: the third shaft section has the shaft shoulder, and the screw hole of nut has first hole section and second hole section, and the diameter of first hole section equals and the diameter of first hole section is greater than the diameter of second hole section with the diameter of third shaft section, and the end face contact of shaft shoulder and nut has card pipe clearance between second hole section and the fourth shaft section, and in the pipe wall of rubber tube penetrated card pipe clearance for the second step shaft was more firm with being connected of rubber tube.

Further, the method comprises the following steps: four soft body embracing claws are arranged on the first box body and the second box body, the four soft body embracing claws are symmetrically arranged on two sides of the first box body or the second box body in a group, and the four soft body embracing claws are X-shaped, so that the four soft body embracing claws can clasp climbing objects more firmly.

Further, the method comprises the following steps: the clasping mechanism also comprises clasping claw pneumatic muscles and clasping claw inhaul cables; the outer wall of the soft embracing claw is provided with a plurality of convex blocks, the plurality of convex blocks are uniformly distributed along the length direction of the soft embracing claw, wherein the two convex blocks are respectively positioned at two ends of the soft embracing claw in the length direction, all convex blocks are provided with claw inhaul cable holes, the claw embracing pneumatic muscles are positioned in the first box body or the second box body, two ends of the claw embracing pneumatic muscles are respectively connected with the soft embracing claws at two sides of the first box body or two sides of the second box body through claw embracing cables, and the claw embracing cables penetrate through the claw embracing cable holes on all the convex blocks and then are fixedly connected with the convex blocks at the tail end. The pneumatic muscle of the clamping claw pulls the clamping claw inhaul cable, so that the soft clamping claw is bent, and the soft clamping claw clamps the climbing object.

Further, the method comprises the following steps: the soft holding claw comprises a holding strip, an installation block arranged on the holding strip and an inflation tube arranged on the installation block; evenly be equipped with a plurality of cavity along the length direction who embraces the strip in embracing the strip, all be equipped with the separating tank on the outer wall between two adjacent cavities, the separating tank runs through the outer wall of embracing the strip, lug and separating tank divide the house and embrace on two outer walls that the strip is relative, the quantity of cavity is more than the quantity of lug, still be equipped with the intercommunicating pore along the length direction who embraces the strip in embracing the strip, all cavities pass through the intercommunicating pore intercommunication, the intercommunicating pore passes through gas tube and outside intercommunication. The cavity is filled with gas through the inflation tube, the cavities are expanded and extruded mutually, and the soft body holding claw can be bent, so that the soft body holding claw can hold the climbing object more easily.

In general, the utility model has the advantages as follows:

the pneumatic climbing robot is simple in structure, coherent in climbing action and easy to achieve climbing function. The soft body holding claw of the pneumatic climbing robot can adapt to the size change of a climbing object, and the adaptability is strong. Meanwhile, the flexible spine mechanism can be bent and twisted in different directions, so that certain obstacle avoidance and turning functions can be realized. The pneumatic climbing robot is simple and compact in structure, overall in mass and small in size, flexibility and continuity of climbing actions of the pneumatic climbing robot are achieved, climbing efficiency is improved, and the pneumatic climbing robot can be used for solving the problems of tree climbing, pole climbing and the like.

Drawings

Fig. 1 is a schematic structural diagram of the pneumatic climbing robot with flexible joints.

Fig. 2 is a schematic structural diagram of the flexible spinal mechanism, the driving assembly, the pneumatic muscle of the holding claw and the holding claw inhaul cable.

FIG. 3 is a schematic structural view of a flexible spinal mechanism.

Fig. 4 is an enlarged view at a of fig. 3.

Fig. 5 is a schematic structural view of the first stepped shaft.

Fig. 6 is a schematic structural view of the second stepped shaft.

Fig. 7 is a schematic structural view of the soft claws.

Figure 8 is a cross-sectional view of the soft clasping claw.

Fig. 9 is a sectional view taken at B-B of fig. 8.

Fig. 10 to 15 are schematic views of a climbing process of the pneumatic climbing robot.

Figure 16 is a diagrammatic view from above of the pneumatic climbing robot when bending and twisting.

Detailed Description

The present invention will be described in further detail with reference to the accompanying drawings and specific embodiments.

To facilitate a uniform view of the various reference numbers within the drawings, reference numbers appearing in the drawings are now described collectively as follows:

the flexible spine mechanism comprises a flexible spine mechanism 1, a rubber tube 2, a spring 3, a spine block 4, an elastic ring 5, a driving component 6, a pneumatic spine muscle 7, a spine cable 8, a first box 9, a second box 10, a soft clamping claw 11, a through hole 12, a driving box 13, a first step shaft 14, a first shaft 15, a second shaft 16, a shaft shoulder 17, a second step shaft 18, a nut 19, a third shaft 20, a fourth shaft 21, a shaft shoulder 22, an end face 23, a clamping tube gap 24, a clamping claw pneumatic muscle 25, a clamping claw cable 26, a lug 27, a clamping claw cable hole 28, a clamping bar 29, an installation block 30, an inflation tube 31, a cavity 32, a communication hole 33 and a separation groove 34.

With reference to fig. 1, 2, 3, 4, 5 and 6, a pneumatic climbing robot with flexible joints includes a flexible spine mechanism, a spine driving mechanism and a clasping mechanism; the flexible spinal mechanism comprises a rubber tube, a spring sleeved on the rubber tube, a vertebral segment block and an elastic ring which are sleeved on the spring; the rubber tube is located the inlayer, and the spring is located the intermediate level, and vertebra festival piece and elastic ring are located outmost, and the external diameter of rubber tube equals the internal diameter of spring, and the internal diameter of elastic ring is not less than the external diameter of spring, and vertebra festival piece internal diameter is not less than the spring external diameter. The spine driving mechanism comprises a driving component for driving the flexible spine mechanism to extend and retract; the driving component comprises a spine pneumatic muscle and a spine inhaul cable fixedly connected with the spine pneumatic muscle; the clasping mechanism comprises a first box body, a second box body and a soft clasping claw; the first box and the second box are respectively and fixedly connected with the two ends of the rubber tube. All install two software on every first box and every second box and embrace the claw at least, the software is embraced the claw and is separated in the both sides of first box and second box, embraces the claw through two and crooked and be close to each other and embrace the climbing thing. The pneumatic muscle of the spine is shortened after being filled with high-pressure gas. Four soft body embracing claws are arranged on the first box body and the second box body, the four soft body embracing claws are symmetrically arranged on two sides of the first box body or the second box body in a group, the four soft body embracing claws are X-shaped, the left side surface and the right side surface of the first box body and the second box body are respectively provided with two soft body embracing claws, and the four soft body embracing claws on the first box body and the second box body are respectively distributed in an X shape. The pneumatic muscles of the spine for pulling the spine guy cable are all arranged in the first box body or the second box body. The pneumatic muscles of the spine are reasonably controlled to be filled with high-pressure gas, so that the flexible spine mechanism can bend towards different directions. The spring provides certain rigidity for flexible bionic spine, and after the power that drives flexible backbone mechanism bending on the backbone cable was removed, the spring all can elastically reset in radial direction and axis direction, and flexible backbone mechanism can resume original length promptly and resume straight state. The elastic ring can stretch out and draw back along the axis direction of rubber tube, and the radial expansion of rubber tube after letting in high-pressure gas is restricted to the spring. Therefore, the flexible spinal mechanism can only extend along the axis after high-pressure gas is introduced into the rubber tube, so that the flexible spinal mechanism can stretch and contract.

The vertebra segment and the elastic ring are both provided with a plurality of, the vertebra segment and the elastic ring are alternately sleeved on the spring, at least one elastic ring is placed between every two adjacent vertebra segments for spacing, the elastic ring has certain thickness in the radial direction and has certain length in the axis direction, and the elastic ring is used for separating the vertebra segments, so that certain distance is ensured between every two adjacent vertebra segments, and the flexible spinal mechanism is convenient to bend. The elastic ring is made of elastic rubber materials, and can be replaced by other elastic materials to play the same role. All be equipped with the through-hole on all the vertebra festival pieces, the one end of the pneumatic muscle of backbone is fixed mutually with first box, the other end of the pneumatic muscle of backbone and the one end fixed connection of backbone cable, the other end of backbone cable pass behind the through-hole of all vertebra festival pieces and second box fixed connection. The vertebra cable is established ties the second box, all vertebra festival pieces, first box in proper order, when the pneumatic muscle of backbone aerifys taut vertebra cable, under the effect of vertebra cable, first box and second box are close to each other and extrude flexible backbone mechanism, the intraductal high-pressure gas of rubber of flexible backbone mechanism emits, the rubber tube shortens, spring and all vertebra festival pieces on the rubber tube and all elastic ring are by the first box and the second box extrusion that are close to each other, make flexible backbone mechanism shorten. On the contrary, when the backbone pneumatic muscle is deflated and the backbone inhaul cable is loosened, the first box body and the second box body are far away from each other under the action of compressed spring resetting and rubber tube inflation extension, all the elastic rings on the rubber tube axially recover to be original length, all the vertebral segment blocks and the elastic rings are changed into a non-extrusion state from an extrusion state, and the flexible backbone mechanism is lengthened.

The number of the through holes and the number of the driving assemblies on each vertebral segment are at least two, all the through holes on each vertebral segment are uniformly distributed along the circumferential direction of the rubber tube, all the through holes on each vertebral segment correspond to all the through holes of the adjacent vertebral segments one to one, and four through holes of each vertebral segment correspond to four through holes of the adjacent vertebral segments respectively. Each spinal column driving component is uniformly distributed along the circumferential direction of the rubber tube, different spinal cables respectively pass through different through holes on each spinal segment, only one spinal cable passes through each through hole, and each spinal cable connects all the spinal segments in series. When the number of the driving assemblies is two, the spine guy cable of one driving assembly is controlled to be tensioned, and when the spine guy cable of the other driving assembly does not act, the flexible spine mechanism can be bent to realize steering.

The number of the through holes and the number of the driving components on each vertebral segment are four, the four spinal cables sequentially penetrate through the through holes of all the vertebral segments, and the four spinal cables respectively penetrate through the four through holes of each vertebral segment. The center of the vertebral segment of the flexible bionic spine is a round hole which is used for being sleeved on a spring, and the spring penetrates through the round hole. The shape of the vertebral segment is not fixed, as long as the requirement that the center of the circular hole is used as the center is met, and four through holes are uniformly distributed in the positions at equal intervals in the center of the circle is met, for example, the vertebral segment is in a cross shape and can also be designed into a circle, a square and the like. The vertebra segment has certain thickness, and the through-hole diameter slightly is greater than the diameter of vertebra cable.

The spine driving mechanism further comprises a driving box; one end of the driving box is provided with a spine guy cable hole, the other end of the driving box is fixedly connected with the first box body, the pneumatic muscle of the spine is positioned in the driving box, and the spine guy cable penetrates out of the spine guy cable hole. One end of the vertebra guy cable is fixed on the second box body, and the other end of the vertebra guy cable penetrates into the driving box and then is fixedly connected with the pneumatic muscle of the vertebral column in the driving box. The driving box is provided with four round holes, and the round holes are used for penetrating out of the spine guy cable in the driving box. The buckle is designed at one end of the spine inhaul cable, one end of the spine inhaul cable is fixed on the second box body through the buckle, and when the spine pneumatic muscle pulls the spine inhaul cable, the spine inhaul cable can pull the second box body and cannot be loosened. The first box body and the second box body are both of cuboid cavity structures. Round holes are formed in the first box body and the second box body for wiring.

Be equipped with the shaft hole on the drive case, set firmly first step shaft on the first box, spring and rubber tube penetrate drive incasement back through first step shaft and first box fixed connection from the shaft hole. The first step shaft is provided with a first shaft section and a second shaft section, the diameter of the first shaft section is larger than that of the second shaft section, the first shaft section is provided with a shaft shoulder, the first shaft section is fixedly connected with the first box body, the second shaft section penetrates through the shaft hole and is fixedly connected with the inner wall of the rubber tube, the second shaft section is provided with a taper which is convenient for the second shaft section to penetrate into the inner hole of the rubber tube, and the shaft shoulder is in contact with the end face of the rubber tube. The first shaft section is located in the driving box and penetrates into the first box body, the first shaft section is fixed on a side plate of the first box body through a nut, and the second shaft section penetrates through the shaft hole and then penetrates into an inner hole of the rubber tube and is fixedly connected with the inner wall of the rubber tube. The diameter of second shaft section and first shaft section junction is greater than the diameter at second shaft section end, and along with the degree of depth increase that the rubber tube was worn into to second shaft section end when the rubber tube was worn into to second shaft section end, the second shaft section is fastened with being connected of rubber tube more, and the axle shoulder can realize the terminal location of rubber tube.

Second step axle and nut have set firmly on the second box, the second step axle has third shaft section and fourth shaft section, the diameter of third shaft section is greater than the diameter of fourth shaft section, the third shaft section is equipped with the external screw thread, the axle head of third shaft section passes through hexagon nut and second box fixed connection, the internal thread of nut and the external screw thread fit of third shaft section, the hole of rubber tube is worn into and with the inner wall fixed connection of rubber tube to the end of fourth shaft section, be equipped with the tapering that the fourth shaft section of being convenient for wore into the rubber tube hole in the fourth shaft section, the terminal surface contact of spring and nut.

The second stepped shaft is divided into a third shaft section and a fourth shaft section, the fourth shaft section and the second shaft section are provided with taper, the fourth shaft section can penetrate into the inner hole of the rubber pipe conveniently, and the fourth shaft section and the rubber pipe can be fixed more firmly. Glue is smeared between the second shaft section and the inner wall of the rubber tube and between the fourth shaft section and the inner wall of the rubber tube, so that the connection is more stable.

The third shaft section has a shaft shoulder, the threaded hole of the nut has a first hole section and a second hole section, the diameter of the first hole section is equal to that of the third shaft section, the diameter of the first hole section is larger than that of the second hole section, the shaft shoulder is in contact with the end face of the nut, a pipe clamping gap is formed between the second hole section and the fourth shaft section, and the pipe wall of the rubber pipe penetrates into the pipe clamping gap. Firstly, the nut is screwed on the thread of the third shaft section, finally, one part of the nut can be located on the third shaft section, the rest part of the nut can be located on the fourth shaft section, the end face of the nut is in contact with the shaft shoulder to achieve nut positioning, and the fourth shaft section is provided with taper, so that a gap can be reserved between the second hole section and the fourth shaft section of the nut, the pipe wall of the rubber pipe is clamped into the gap and tightly pressed, and the rubber pipe is fixedly connected with the second stepped shaft.

As shown in fig. 1, 2, 3, 7, 8 and 9, the clasping mechanism comprises a clasping pneumatic muscle and a clasping pull rope; the outer wall of the soft embracing claw is provided with a plurality of convex blocks, the plurality of convex blocks are uniformly distributed along the length direction of the soft embracing claw, wherein the two convex blocks are respectively positioned at two ends of the soft embracing claw in the length direction, all convex blocks are provided with claw inhaul cable holes, the claw embracing pneumatic muscles are positioned in the first box body or the second box body, two ends of the claw embracing pneumatic muscles are respectively connected with the soft embracing claws at two sides of the first box body or two sides of the second box body through claw embracing cables, and the claw embracing cables penetrate through the claw embracing cable holes on all the convex blocks and then are fixedly connected with the convex blocks at the tail end. The lug is provided with a claw holding inhaul cable hole for penetrating through the claw holding inhaul cable. The claw holding guy cable holes penetrate through the claw holding guy cable holes of all the convex blocks, so that all the convex blocks are connected in series, one end of the claw holding guy cable is pulled by the pneumatic muscle of the claw holding, and the other end of the claw holding guy cable is fixed on the last convex block at the tail end of the soft claw holding. The pneumatic muscle of the holding claw is filled with high-pressure gas and then the length is shortened. After the corresponding pneumatic muscles of the holding claws are filled with high-pressure gas, the holding claws can be pulled to bend through the holding claw inhaul cables, so that a bending effect is generated, and the trunk is held tightly. Embrace claw pneumatic muscle unsettled and install in first box and second box, every both ends of embracing claw pneumatic muscle are held two and are embraced the claw cable respectively to realize pulling two soft body and embrace the claw simultaneously, two soft body are embraced the claw and are synchronous crooked and be close to, realize embracing and close. The two pneumatic muscles of the claws are held in the first box body and the second box body, each pneumatic muscle of the claws controls two soft claws, and the two pneumatic muscles of the claws control four soft claws to be held.

The soft holding claw comprises a holding strip, an installation block arranged on the holding strip and an inflation tube arranged on the installation block; the mounting block is provided with an inclined plane, the inflation tube is fixed on the inclined plane, the inclined plane is connected with the side face of the first box body or the side face of the second box body, and the inflation tube penetrates into the first box body or the second box body from the side face of the first box body or the side face of the second box body. All be equipped with the separating tank on the outer wall between two adjacent cavities, the separating tank runs through the outer wall of embracing the strip, lug and separating tank split are between the house and are embraced on two outer walls that the strip is relative, evenly be equipped with a plurality of cavity along the length direction who embraces the strip in embracing the strip, owing to embrace the strip and have certain deformability, therefore the cavity can expand when filling gas in the cavity, it can warp the bending to embrace the strip, the volume grow of cavity promptly, adjacent cavity extrudees each other, expand when the cavity is aerifyd, the mutual extrusion contact can be bloated to the both sides of separating tank, thereby make the software embrace the claw crooked. The number of the cavities is more than that of the lugs, communicating holes are further formed in the holding strip along the length direction of the holding strip, all the cavities are communicated through the communicating holes, the communicating holes are communicated with the outside through inflation tubes, high-pressure gas can be filled into the cavities through the inflation tubes, after the high-pressure gas is filled into the cavities, each cavity represents a knuckle, the cavities are expanded and extruded mutually, the distance between the knuckles is increased, and the soft holding claw can be bent towards the other side (towards the outer wall provided with the lugs). The spacing distance between adjacent cavities is very small, the number of the convex blocks is less than that of the knuckles of the cavities, the holding strip keeps bending in a natural state, and the holding stroke of the holding strip can be shortened. Through high-pressure gas and embrace the strip cable and make two bending forces superposes for the software is embraced the cohesion dynamics of claw and is bigger.

The spine guy cable and the claw holding guy cable are both steel wire ropes. In order to reduce friction, the steel wire rope is properly coated with lubricating grease.

In the following description, taking climbing up as an example, as shown in fig. 10 to 15, climbing up and down can be realized by either the first box or the second box being located above. The in-process of this example climbing upwards, the second box is located first box top, this pneumatic climbing robot's climbing principle:

referring to fig. 10, the robot is in an initial state, high-pressure gas is filled into the cavity of the soft clamping claw, the cavity expands and extrudes each other, and the soft clamping claw is bent to a certain degree; the pneumatic muscle of embracing the claw that is used for pulling the software in second box and the first box is inside to fill into high-pressure gas to realize that the pulling software is embraced the claw crooked, produce the crooked effect of stack, four softly on the second box are embraced the claw and are embraced the climbing thing tightly, and four softly of first box are embraced the claw and are also embraced the climbing thing tightly. At this time, in order to ensure that the flexible spine mechanism has certain rigidity, the four pneumatic spinal muscles used for dragging the flexible spine mechanism are filled with a small amount of high-pressure gas and are properly pre-tightened, so that the flexible spine mechanism is slightly shortened.

Referring to fig. 11, the soft claws on the second box body are deflated, the pneumatic muscles in the second box body for pulling the claws of the claw stay cables on the soft claws are deflated, the four soft claws on the second box body loosen the trunk and are used for pulling the pneumatic muscles of the spines of the four spine stay cables on the flexible spine mechanism to deflate, meanwhile, the rubber tube in the flexible spine mechanism is filled with high-pressure gas, and the flexible spine mechanism is extended to drive the second box body and the four soft claws thereon to move upwards.

With reference to fig. 12, when the high pressure gas filled in the rubber tube in the flexible spine mechanism reaches the maximum value, the extension is stopped, then the high pressure gas is filled in the soft claws on the second box body, the cavities expand and extrude each other, and the soft claws bend; high-pressure gas is filled into the pneumatic muscles of the claws used for drawing the claws holding cables on the soft claws in the second box body, and the soft claws are pulled to bend to generate a superposed bending effect, so that the four soft claws on the second box body hold the climbing object tightly; then, the soft claws on the first box body are deflated, the claws in the first box body are used for pulling the claws of the claws holding guy cable on the soft claws to deflate, and the four soft claws on the first box body release the climbed object; the rubber tube in the flexible spine mechanism is deflated and shortened, the pneumatic muscles of the spine for drawing the four spine guy cables on the flexible spine mechanism are inflated, the pneumatic muscles are shortened, the spine guy cables are drawn to shorten the flexible spine mechanism, and the driving box, the first box body and the four soft clamping claws on the first box body are driven to move upwards.

With reference to fig. 13, the steps of fig. 11 and 12 are repeated to control the flexible spine mechanism to extend and retract so that the first and second housings are alternately moved upward. Similarly, when the pneumatic climbing robot moves downwards, the pneumatic climbing robot can climb upwards and downwards according to the action sequence and the action rule and finally reach the destination.

With reference to fig. 14 to 16, fig. 14 is a schematic structural view of the pneumatic climbing robot when bending; fig. 15 is a schematic view of the pneumatic climbing robot in bending and twisting, and fig. 16 is a schematic view of a top view of the pneumatic climbing robot in bending and twisting.

The bending principle of the flexible spine mechanism is as follows:

for the sake of uniform description, the left-right direction described below coincides with the left-right direction of fig. 14, and the front-back direction coincides with the projection direction of fig. 14.

Referring to fig. 14, if the robot needs to turn to a certain direction during the upward movement, the flexible spine mechanism can control the bending direction of the flexible spine mechanism by pulling the spine guy cable in the corresponding direction, and at this time, high-pressure gas is filled into the pneumatic muscle of the spine pulling the spine guy cable. For example, as shown in fig. 14, the robot needs to bend to the right, and then high-pressure gas is filled into the pneumatic muscles of the spine for pulling the right spinal cable, so that the pneumatic muscles of the spine expand and contract, the spinal cable is pulled, and the flexible spinal mechanism bends to the right. On the same principle, if left bending is needed, the left vertebra guy cable is controlled; the upward bending controls the front vertebra guy cable to bend downward and the back vertebra guy cable to bend downward.

The torsion principle of the flexible spine mechanism is as follows:

for the sake of uniform description, the left-right direction described below coincides with the left-right direction of fig. 16, and the up-down direction coincides with the up-down direction of fig. 16.

With reference to fig. 15 and 16 (only the spine cable of the flexible spine mechanism is reserved to explain the twisting principle), when the pneumatic climbing robot climbs on a cylinder or a trunk, in order to achieve the functions of obstacle avoidance and the like, the flexible spine mechanism needs to be bent and turned, and also needs to be twisted to ensure that the flexible spine mechanism can hold a climbing object after being bent and turned, that is, as shown in fig. 16, the first box or the second box can be always attached to and tangent to the circumferential surface of the cylinder under the action of the spiral twisting of the flexible spine mechanism. When one of the four spinal cables is pulled, the flexible spinal mechanism can be bent towards a certain direction, and when two adjacent spinal cables of the spinal cables are pulled simultaneously, bending coupling can occur, so that torsion is caused. For example, as shown in fig. 16, when the upper spine cable and the right spine cable are pulled to be tensioned by pneumatic muscles of the spine, the flexible spine mechanism bends to the right and twists at the same time, so that torsion deformation similar to a spiral line is generated, the flexible spine mechanism twists around the circumference of the cylinder, and the pneumatic climbing robot can climb upwards avoiding obstacles.

The above embodiments are preferred embodiments of the present invention, but the embodiments of the present invention are not limited to the above embodiments, and any other changes, modifications, substitutions, combinations, and simplifications which do not depart from the spirit and principle of the present invention should be equivalent replacement modes, and all are included in the scope of the present invention.

Claims (10)

1. The utility model provides a pneumatic climbing robot with flexible joint which characterized in that: comprises a flexible spine mechanism, a spine driving mechanism and a cohesion mechanism; the flexible spinal mechanism comprises a rubber tube, a spring sleeved on the rubber tube, a vertebral segment block and an elastic ring which are sleeved on the spring; the spinal drive mechanism includes a drive assembly; the driving component comprises a spine pneumatic muscle and a spine inhaul cable fixedly connected with the spine pneumatic muscle; the clasping mechanism comprises a first box body, a second box body and a soft clasping claw; the first box body and the second box body are respectively arranged at two ends of the rubber pipe and are respectively fixed relative to the two ends of the rubber pipe, at least two soft clamping claws are respectively arranged on each first box body and each second box body, and the soft clamping claws are respectively arranged at two sides of the first box body and the second box body;

the vertebral segment blocks and the elastic rings are all provided with a plurality of elastic rings which are alternately sleeved on the springs, through holes are formed in all the vertebral segment blocks, one end of the pneumatic muscle of the vertebral column is fixed with the first box body, the other end of the pneumatic muscle of the vertebral column is fixedly connected with one end of the vertebral column inhaul cable, and the other end of the vertebral column inhaul cable penetrates through the through holes of all the vertebral segment blocks and then is fixedly connected with the second box body.

2. A pneumatic climbing robot with flexible joints according to claim 1, characterized in that: the through holes and the driving assemblies on each vertebral segment are at least two, all the through holes on each vertebral segment are uniformly distributed along the circumferential direction of the rubber tube, all the through holes on each vertebral segment are in one-to-one correspondence with all the through holes of the adjacent vertebral segments, each vertebral column driving assembly is uniformly distributed along the circumferential direction of the rubber tube, and different vertebral column inhaul cables respectively penetrate through different through holes on each vertebral segment.

3. A pneumatic climbing robot with flexible joints according to claim 2, characterized in that: the number of the through holes and the number of the driving components on each vertebral segment are four, the four spinal cables sequentially penetrate through the through holes of all the vertebral segments, and the four spinal cables respectively penetrate through the four through holes of each vertebral segment.

4. A pneumatic climbing robot with flexible joints according to claim 1, characterized in that: the spine driving mechanism further comprises a driving box; one end of the driving box is provided with a spine guy cable hole, the other end of the driving box is fixedly connected with the first box body, the pneumatic muscle of the spine is positioned in the driving box, and the spine guy cable penetrates out of the spine guy cable hole.

5. A pneumatic climbing robot with flexible joints according to claim 4, characterized in that: be equipped with the shaft hole on the drive box, first step shaft has set firmly on the first box, first step shaft has first shaft part and second shaft part, the diameter of first shaft part is greater than the diameter of second shaft part, first shaft part has the shaft shoulder, first shaft part and first box fixed connection, the second shaft part pass the shaft hole and with the inner wall fixed connection of rubber tube, be equipped with the tapering that the second shaft part of being convenient for penetrated into the rubber tube hole in the second shaft part, the end face contact of shaft shoulder and rubber tube.

6. A pneumatic climbing robot with flexible joints according to claim 4, characterized in that: the second box is fixedly provided with a second stepped shaft and a nut, the second stepped shaft is provided with a third shaft section and a fourth shaft section, the diameter of the third shaft section is larger than that of the fourth shaft section, the third shaft section is provided with external threads and the third shaft section is fixedly connected with the second box, the internal threads of the nut are matched with the external threads of the third shaft section, the tail end of the fourth shaft section penetrates into an inner hole of the rubber tube and is fixedly connected with the inner wall of the rubber tube, and the fourth shaft section is provided with a taper convenient for the fourth shaft section to penetrate into the inner hole of the rubber tube.

7. The pneumatic climbing robot with flexible joints according to claim 6, characterized in that: the third shaft section has a shaft shoulder, the threaded hole of the nut has a first hole section and a second hole section, the diameter of the first hole section is equal to that of the third shaft section, the diameter of the first hole section is larger than that of the second hole section, the shaft shoulder is in contact with the end face of the nut, a pipe clamping gap is formed between the second hole section and the fourth shaft section, and the pipe wall of the rubber pipe penetrates into the pipe clamping gap.

8. A pneumatic climbing robot with flexible joints according to claim 1, characterized in that: four soft holding claws are arranged on the first box body and the second box body, every two of the four soft holding claws are symmetrically arranged on two sides of the first box body or the second box body in a group, and the four soft holding claws are in an X shape.

9. A pneumatic climbing robot with flexible joints according to claim 1, characterized in that: the clasping mechanism also comprises clasping claw pneumatic muscles and clasping claw inhaul cables; the outer wall of the soft embracing claw is provided with a plurality of convex blocks, the plurality of convex blocks are uniformly distributed along the length direction of the soft embracing claw, wherein the two convex blocks are respectively positioned at two ends of the soft embracing claw in the length direction, all convex blocks are provided with claw inhaul cable holes, the claw embracing pneumatic muscles are positioned in the first box body or the second box body, two ends of the claw embracing pneumatic muscles are respectively connected with the soft embracing claws at two sides of the first box body or two sides of the second box body through claw embracing cables, and the claw embracing cables penetrate through the claw embracing cable holes on all the convex blocks and then are fixedly connected with the convex blocks at the tail end.

10. A pneumatic climbing robot with flexible joints according to claim 9, characterized in that: the soft holding claw comprises a holding strip, an installation block arranged on the holding strip and an inflation tube arranged on the installation block; evenly be equipped with a plurality of cavity along the length direction who embraces the strip in embracing the strip, all be equipped with the separating tank on the outer wall between two adjacent cavities, the separating tank runs through the outer wall of embracing the strip, lug and separating tank divide the house and embrace on two outer walls that the strip is relative, the quantity of cavity is more than the quantity of lug, still be equipped with the intercommunicating pore along the length direction who embraces the strip in embracing the strip, all cavities pass through the intercommunicating pore intercommunication, communicating pipe passes through gas tube and outside intercommunication.

Images