CN104015829A - Two negative pressure adsorption type feet of wall-climbing robot - Google Patents
Two negative pressure adsorption type feet of wall-climbing robot Download PDFInfo
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- CN104015829A CN104015829A CN201410253377.8A CN201410253377A CN104015829A CN 104015829 A CN104015829 A CN 104015829A CN 201410253377 A CN201410253377 A CN 201410253377A CN 104015829 A CN104015829 A CN 104015829A
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Abstract
The invention discloses two negative pressure adsorption type feet of a wall-climbing robot. Two foot modules are fixed to the same axis. During movement, the rear foot can directly step over the front foot and is adsorbed to the wall face to become the front foot, the single-step crossing distance during circulation movement is large, and the movement is flexible. Thigh joint motors of the robot are located below thigh connecting rods. The two thigh connecting rods are connected with the two thigh joint motors, and the other ends of the thigh connecting rods are connected with two ankle joint motors at the upper portions of the cavity feet respectively. Sealing washers are inlaid in the inner sides of concave shells of the cavity feet. Air nozzles are arranged inside cavities of the bottoms of the cavity feet. The upper portions of the cavity feet are provided with vacuum pumps and connected with the air nozzles through a three-way joint. The other end of the three-way joint is connected with an air inlet valve. The ankle joint motors are fixedly connected with foot steering motors. The foot steering motors are connected with the shells of the cavity feet. When the robot moves, the single-step crossing distance is twice larger than the length of the shells of the cavity feet, and the robot can meet the requirement of reducing the torque of the movement legs on the whole robot by controlling the circulation movement of the thigh connecting rods.
Description
Technical field
The invention belongs to Robotics field, specifically, relate to a kind of negative-pressure adsorption-type biped of climbing robot.
Background technology
Along with the continuous maturation of Robotics, climbing robot, as the branch of specialized robot, has boundless application prospect.Common climbing robot mode of motion has crawler type, the wheeled and sufficient formula in joint, and the joint foot of joint foot formula climbing robot is divided into again double-feet and polypody.Joint foot formula has overcome wheeled and shortcoming that crawler-type wall climbing robot mode of motion is single, obstacle detouring is difficult, and joint legged type robot degree of freedom is flexible simultaneously, is applicable to the wall of circumstance complication.But current joint foot formula negative pressure climbing robot exists that moving velocity is slow, single step span is little, gait is complicated, the large defect of capsizing moment during obstacle detouring, and between practical implementation demand, gap is larger.In patent of invention CN201010102133.1, disclose a kind of bionic 6-leg climbing robot, bionic 6-leg climbing robot is controlled respectively six regular motions of foot by six driven by motor connecting rods, thereby realizes the climbing on wall.But the foot structure of this climbing robot is comparatively complicated, when climbing is mobile, gait is slower, and under single step gait cycle, travel distance is limited, and obstacle crossing function is poor.
Summary of the invention
The deficiency existing for fear of prior art, the present invention proposes a kind of negative-pressure adsorption-type biped of climbing robot, and robot reaches the moment of reduction motion leg to whole robot by controlling the turnover campaign of large leg connecting rod; Robot adopts two foot modules to be positioned on same axis, and during motion, metapedes directly strides across from front foot top, is adsorbed on wall and becomes front foot, and single step is crossed over distance greatly, and kinematic dexterity is strong, and during obstacle detouring, capsizing moment is little.
The technical solution adopted for the present invention to solve the technical problems is: comprise cavity foot, tightening seal washer, vacuum pump, air inlet valve, T-pipe joint, foot steer motor, ankle-joint motor, thigh bar, thigh joint motor, large leg connecting rod, described thigh joint motor be fixed on large leg connecting rod below, two thigh joint motors are positioned at same axis and install, two thigh bar one end are connected with two thigh joint motor output shafts respectively, and two thigh bar other ends are connected with the ankle-joint motor output shaft on two cavity foot tops respectively; Described cavity foot is oval recessed shell structure, tightening seal washer is embedded in the recessed shell of cavity foot inner side, in the recessed shell of cavity foot, there is valve, vacuum pump is arranged at cavity foot top, vacuum pump is connected with air inlet valve by T-pipe joint, T-pipe joint another port is connected with the valve in the recessed shell of cavity foot, and ankle-joint motor is connected with foot steer motor, and foot steer motor and cavity foot are connected; Robot metapedes when walking is directly adsorbed on wall and becomes front foot from striding across above front foot, and robot single step is crossed over distance and is greater than twice cavity foot length degree, and the moment of the turnover campaign reduction motion leg by controlling large leg connecting rod to whole robot; Robot large leg connecting rod when obstacle detouring process has enough to meet the need motion, by controlling turnover attitude with the thigh joint motor that is adsorbed on the cavity foot homonymy of wall, another thigh joint motor drives thigh bar and cavity foot to relatively rotate with large leg connecting rod, realizes robot obstacle crossing function.
Beneficial effect
The negative-pressure adsorption-type biped of a kind of climbing robot that the present invention proposes, adopt two foot modules to be fixed on same axis, during motion, metapedes directly strides across from front foot top and is adsorbed on wall and becomes front foot, and it is large that distance is crossed in turnover motion single step, kinematic dexterity is strong, and during obstacle detouring, capsizing moment is little.Robot thigh joint motor is positioned at the below of large leg connecting rod, two thigh joint motors are coaxially installed, two thigh bar one end are connected with two thigh joint motor output shafts respectively, and two thigh bar other ends are connected with the ankle-joint motor output shaft on two cavity foot tops respectively.Cavity foot is oval recessed shell structure, tightening seal washer is embedded in the recessed shell of cavity foot inner side, in cavity foot cavity, there is valve, cavity foot top is fixed with vacuum pump, vacuum pump is connected with air inlet valve by T-pipe joint, T-pipe joint another port is connected with the valve in the recessed shell of cavity foot, and ankle-joint motor is connected with foot steer motor, and foot steer motor and cavity foot are connected.Robot is when moving, and single step is crossed over distance and is greater than twice cavity foot shell length, realizes the conversion of face face and leaping over obstacles groove, and robot reaches the moment of reduction motion leg to whole robot by controlling the turnover campaign of large leg connecting rod.
Accompanying drawing explanation
Below in conjunction with drawings and embodiments, the negative-pressure adsorption-type biped of a kind of climbing robot of the present invention is described in further detail.
Fig. 1 is the negative-pressure adsorption-type biped schematic diagram of climbing robot of the present invention.
Fig. 2 is the negative-pressure adsorption-type biped front view of climbing robot of the present invention.
Fig. 3 is foot structure schematic diagram of the present invention.
Fig. 4 is thigh bar linkage structure schematic diagram of the present invention.
Fig. 5 is negative-pressure adsorption-type biped when walking attitude one figure of climbing robot of the present invention.
Fig. 6 is negative-pressure adsorption-type biped when walking attitude two figure of climbing robot of the present invention.
Fig. 7 is negative-pressure adsorption-type biped when walking attitude three figure of climbing robot of the present invention.
Fig. 8 keeps away barrier one figure in negative-pressure adsorption-type biped when walking of climbing robot of the present invention.
Fig. 9 keeps away barrier two figure in negative-pressure adsorption-type biped when walking of climbing robot of the present invention.
Figure 10 keeps away barrier to turn to a figure in negative-pressure adsorption-type biped when walking of climbing robot of the present invention.
Figure 11 keeps away barrier to turn to two figure in negative-pressure adsorption-type biped when walking of climbing robot of the present invention.
In figure:
1. the large leg connecting rod of cavity foot 2. tightening seal washer 3. vacuum pump 4. T-pipe joint 5. air inlet valve 6. foot steer motor 7. ankle-joint motor 8. thigh bar 9. thigh joint motor 10.
The specific embodiment
The present embodiment is a kind of negative-pressure adsorption-type biped of climbing robot.
Consult Fig. 1-Fig. 4, the negative-pressure adsorption-type biped of the present embodiment climbing robot, is comprised of cavity foot 1, tightening seal washer 2, vacuum pump 3, T-pipe joint 4, air inlet valve 5, foot steer motor 6, ankle-joint motor 7, thigh bar 8, thigh joint motor 9, large leg connecting rod 10.The thigh joint motor 9 of robot by motor cabinet and screw be fixed on large leg connecting rod 10 below, two thigh joint motors 9 are positioned at same axis and install, two thigh bar 8 one end are connected with two thigh joint motor 9 output shafts respectively with screw by butt flange, and two thigh bar 8 other ends are connected with ankle-joint motor 7 output shafts on two cavity foot 1 tops respectively with screw by butt flange.
The cavity foot 1 of robot is oval recessed shell structure, tightening seal washer 2 is embedded in the recessed shell of cavity foot 1 inner side, in cavity foot 1 cavity, there is valve, cavity foot 1 top is provided with vacuum pump 3, vacuum pump 3 is fixedly connected with air inlet valve 5 by T-pipe joint 4, and the another port of T-pipe joint 4 is connected with the valve in cavity foot 1 cavity.Ankle-joint motor 7 is fixedly connected with foot steer motor 6, and foot steer motor 6 is connected with screw by butt flange with cavity foot 1.Robot when walking after cavity foot directly stride across above cavity foot be in the past adsorbed on wall and become before cavity foot, robot single step is crossed over distance and is greater than twice cavity foot length degree, and reduces the moment of motion leg to whole robot by controlling the turnover campaign of large leg connecting rod 10; Robot large leg connecting rod 10 when obstacle detouring process has enough to meet the need motion, by controlling turnover attitude with the thigh joint motor 9 that is adsorbed on cavity foot 1 homonymy of wall, another thigh joint motor 9 drives thigh bar 8 and cavity foot 1 to relatively rotate with large leg connecting rod 10, realizes robot obstacle crossing function.The thigh bar 8 of robot is made into concave structure, the cavity foot when avoiding moving; All parts is fixedly mounted on cavity foot top, reduces the height of parts, reduces capsizing moment.
When vacuum pump 3 work, by T-pipe joint 4, control the air extracting in cavity foot 1, cavity foot 1 air pressure inside reduces gradually, and tightening seal washer, by cavity foot 1 and wall crimp, has been filled the space between cavity foot 1 and wall, guarantees its air-tightness.Under vacuum pump 3 continuous workings, cavity foot 1 is firmly adsorbed on wall.When cavity foot 1 need to depart from wall, air inlet valve 5 is open-minded, and cavity foot 1 shell internal gas pressure recovers normal, and cavity foot 1 departs from wall.Foot steer motor 6 and ankle-joint motor 7 are fixed together, and foot steer motor 6 is connected with cavity foot 1, and the output shaft of ankle-joint motor 7 is connected with screw by butt flange with thigh bar 8.
As shown in Figure 4, thigh joint motor 9 is fixed on large leg connecting rod 10, and the output shaft of thigh joint motor 9 is connected with screw by butt flange with thigh bar 8.When robot motion, thigh joint motor 9 drives thigh bar 8 separately to rotate, thereby makes large leg connecting rod 10 have enough to meet the need motion, realizes robot ambulation function.
As shown in Figure 2 and Figure 5, in robot straight line moving process, first foot steer motor 6 gets back to meta, and biped position is got back on same axis.Front cavity foot is adsorbed on wall, and rear cavity foot makes air pressure recover normal value by opening air inlet valve 5.The ankle-joint motor 7 of front cavity foot drives thigh bar 8 to rotate, and under the drive of thigh bar 8, large leg connecting rod 10 and rear cavity foot are raised gradually.Simultaneously two thigh joint motors 9 rotate respectively, after making when rear cavity foot is raised cavity foot draw close gradually before cavity foot.The ankle-joint motor 7 of rear cavity foot rotates and adjusts in real time, makes the whole face of rear cavity and wall keeping parallelism.
As shown in Figure 6, Figure 7, robot straight line moving is during to intermediateness, by the normal-running fit between ankle-joint motor 7 and thigh joint motor 9, rear cavity foot is positioned at directly over front cavity foot, the whole face of rear cavity is parallel with wall, thereby the whole face of rear cavity reduces capsizing moment near metope as far as possible.Ankle-joint motor 7 and thigh joint motor 9 are rotated further, and rear cavity foot is crossed front cavity foot gradually, until rear cavity foot and wall laminating, vacuum pump 3 runnings are adsorbed on wall rear cavity foot, thereby complete a straight line moving gait.In whole process, between ankle-joint motor 7 and thigh joint motor 9, cooperatively interact and realize walking process, thigh joint motor 9 drives large leg connecting rod 10 to have enough to meet the need motion, each walking step state, large leg connecting rod 10 completes one time 180 degree upset.
As shown in Fig. 8, Fig. 9, Figure 10, Figure 11, when robot foot steer motor coordination is in the process of walking rotated, robot is realized and being turned to and barrier avoiding function, makes whole robot motion can tackle different wall environment, and alerting ability is strengthened.At robot, turn to and keep away in barrier process, the foot steer motor 6 of front cavity foot can be adjusted in real time angle and turn to and keep away barrier object to reach.But when rear cavity foot is not crossed front cavity foot, the foot steer motor 6 of rear cavity foot must remain on meta always, with cavity after an action of the bowels, can cross smoothly the thigh bar of front cavity foot enough.When after cavity foot cross after front cavity foot thigh bar, the foot steer motor 6 of rear cavity foot can rotate to reach and better turn to and barrier avoiding function.
Claims (1)
1. the negative-pressure adsorption-type biped of a climbing robot, it is characterized in that: comprise cavity foot, tightening seal washer, vacuum pump, air inlet valve, T-pipe joint, foot steer motor, ankle-joint motor, thigh bar, thigh joint motor, large leg connecting rod, described thigh joint motor be fixed on large leg connecting rod below, two thigh joint motors are positioned at same axis and install, two thigh bar one end are connected with two thigh joint motor output shafts respectively, and two thigh bar other ends are connected with the ankle-joint motor output shaft on two cavity foot tops respectively; Described cavity foot is oval recessed shell structure, tightening seal washer is embedded in the recessed shell of cavity foot inner side, in the recessed shell of cavity foot, there is valve, vacuum pump is arranged at cavity foot top, vacuum pump is connected with air inlet valve by T-pipe joint, T-pipe joint another port is connected with the valve in the recessed shell of cavity foot, and ankle-joint motor is connected with foot steer motor, and foot steer motor and cavity foot are connected; Robot metapedes when walking is directly adsorbed on wall and becomes front foot from striding across above front foot, and robot single step is crossed over distance and is greater than twice cavity foot length degree, and the moment of the turnover campaign reduction motion leg by controlling large leg connecting rod to whole robot; Robot large leg connecting rod when obstacle detouring process has enough to meet the need motion, by controlling turnover attitude with the thigh joint motor that is adsorbed on the cavity foot homonymy of wall, another thigh joint motor drives thigh bar and cavity foot to relatively rotate with large leg connecting rod, realizes robot obstacle crossing function.
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Cited By (18)
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|---|---|---|---|---|
| CN105015644A (en) * | 2015-07-28 | 2015-11-04 | 浙江大学 | Barrier-avoiding robot capable of walking in space pipeline and method |
| CN105459121A (en) * | 2014-09-13 | 2016-04-06 | 天太·郭元焜 | Circulating cross brace wall climber |
| CN105539622A (en) * | 2015-12-22 | 2016-05-04 | 国网重庆市电力公司电力科学研究院 | Climbing robot and system |
| CN105619392A (en) * | 2016-03-29 | 2016-06-01 | 刘子骞 | Robot with stable balance performance and control method of robot |
| CN106828655A (en) * | 2017-02-22 | 2017-06-13 | 武汉科技大学 | With multivariant climbing robot |
| CN106889957A (en) * | 2015-12-17 | 2017-06-27 | 湖北工业大学 | One kind climbs wall sweeping robot |
| CN107867345A (en) * | 2017-10-25 | 2018-04-03 | 中航工程集成设备有限公司 | A kind of Overthrow preventing device of magnetically adsorbed wall-climbing robot |
| CN107963142A (en) * | 2017-12-22 | 2018-04-27 | 华南理工大学广州学院 | Clean the foot joint structure of climbing robot |
| CN107969981A (en) * | 2018-01-16 | 2018-05-01 | 苏州瀚昆机器人科技有限公司 | A kind of two-legged type climbing robot |
| CN108482505A (en) * | 2018-05-31 | 2018-09-04 | 浙江大学 | Wall-climbing device robot movement mechanism suitable for curved surface |
| CN110001811A (en) * | 2019-03-11 | 2019-07-12 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Climbing Robot |
| CN110371208A (en) * | 2019-07-25 | 2019-10-25 | 燕山大学 | A kind of single-degree-of-freedom Telescopic rotary climbing robot based on scissors mechanism |
| CN110466638A (en) * | 2019-09-04 | 2019-11-19 | 湖南蛛蛛机器人科技有限公司 | Creeping motion type negative-pressure adsorption binary climbing robot |
| CN111024292A (en) * | 2019-12-18 | 2020-04-17 | 淮阴工学院 | Single-step acting force state testing and extracting method under continuous gait |
| CN111746678A (en) * | 2019-03-29 | 2020-10-09 | 杭州萤石软件有限公司 | Wall surface cleaning robot and control method thereof |
| CN111976857A (en) * | 2020-08-25 | 2020-11-24 | 广东省智能制造研究所 | Self-rotating double-body wall-climbing robot |
| CN114475851A (en) * | 2022-03-17 | 2022-05-13 | 航天科工智能机器人有限责任公司 | Mechanical leg and bionic robot |
| CN115092284A (en) * | 2022-06-29 | 2022-09-23 | 中国民航大学 | Miniature absorption formula robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105459121A (en) * | 2014-09-13 | 2016-04-06 | 天太·郭元焜 | Circulating cross brace wall climber |
| CN105015644A (en) * | 2015-07-28 | 2015-11-04 | 浙江大学 | Barrier-avoiding robot capable of walking in space pipeline and method |
| CN106889957A (en) * | 2015-12-17 | 2017-06-27 | 湖北工业大学 | One kind climbs wall sweeping robot |
| CN105539622A (en) * | 2015-12-22 | 2016-05-04 | 国网重庆市电力公司电力科学研究院 | Climbing robot and system |
| CN105619392A (en) * | 2016-03-29 | 2016-06-01 | 刘子骞 | Robot with stable balance performance and control method of robot |
| CN105619392B (en) * | 2016-03-29 | 2017-06-23 | 刘子骞 | The robot and its control method of a kind of balance quality stabilization |
| CN106828655A (en) * | 2017-02-22 | 2017-06-13 | 武汉科技大学 | With multivariant climbing robot |
| CN107867345A (en) * | 2017-10-25 | 2018-04-03 | 中航工程集成设备有限公司 | A kind of Overthrow preventing device of magnetically adsorbed wall-climbing robot |
| CN107963142A (en) * | 2017-12-22 | 2018-04-27 | 华南理工大学广州学院 | Clean the foot joint structure of climbing robot |
| CN107969981A (en) * | 2018-01-16 | 2018-05-01 | 苏州瀚昆机器人科技有限公司 | A kind of two-legged type climbing robot |
| CN108482505A (en) * | 2018-05-31 | 2018-09-04 | 浙江大学 | Wall-climbing device robot movement mechanism suitable for curved surface |
| CN108482505B (en) * | 2018-05-31 | 2023-09-29 | 浙江大学 | Wall climbing robot motion mechanism suitable for curved surface |
| CN110001811A (en) * | 2019-03-11 | 2019-07-12 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Climbing Robot |
| CN111746678A (en) * | 2019-03-29 | 2020-10-09 | 杭州萤石软件有限公司 | Wall surface cleaning robot and control method thereof |
| CN110371208A (en) * | 2019-07-25 | 2019-10-25 | 燕山大学 | A kind of single-degree-of-freedom Telescopic rotary climbing robot based on scissors mechanism |
| CN110371208B (en) * | 2019-07-25 | 2021-04-06 | 燕山大学 | Single-degree-of-freedom telescopic rotary crawling robot based on scissor fork mechanism |
| CN110466638A (en) * | 2019-09-04 | 2019-11-19 | 湖南蛛蛛机器人科技有限公司 | Creeping motion type negative-pressure adsorption binary climbing robot |
| CN111024292A (en) * | 2019-12-18 | 2020-04-17 | 淮阴工学院 | Single-step acting force state testing and extracting method under continuous gait |
| CN111024292B (en) * | 2019-12-18 | 2021-07-09 | 淮阴工学院 | Single-step acting force state testing and extracting method under continuous gait |
| CN111976857A (en) * | 2020-08-25 | 2020-11-24 | 广东省智能制造研究所 | Self-rotating double-body wall-climbing robot |
| CN111976857B (en) * | 2020-08-25 | 2024-01-30 | 广东省智能制造研究所 | Self-rotating double-body wall climbing robot |
| CN114475851A (en) * | 2022-03-17 | 2022-05-13 | 航天科工智能机器人有限责任公司 | Mechanical leg and bionic robot |
| CN115092284A (en) * | 2022-06-29 | 2022-09-23 | 中国民航大学 | Miniature absorption formula robot |
| CN115092284B (en) * | 2022-06-29 | 2023-10-03 | 中国民航大学 | Miniature adsorption robot |
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