CN104015829B - A kind of negative-pressure adsorption-type biped of climbing robot - Google Patents
A kind of negative-pressure adsorption-type biped of climbing robot Download PDFInfo
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- CN104015829B CN104015829B CN201410253377.8A CN201410253377A CN104015829B CN 104015829 B CN104015829 B CN 104015829B CN 201410253377 A CN201410253377 A CN 201410253377A CN 104015829 B CN104015829 B CN 104015829B
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Abstract
The invention discloses a kind of negative-pressure adsorption-type biped of climbing robot. Adopt two foot modules to be fixed on coaxial line, when motion, metapedes is directly crossed over from front foot top, is adsorbed on wall and becomes front foot, and turnover motion single step is crossed over apart from large, and motion flexibly. Robot thigh joint motor is positioned at the below of large leg connecting rod, and two thigh bars are connected with two thigh joint motors, and two thigh bar other ends are connected with the ankle-joint motor on two cavity foot tops respectively. The recessed shell of cavity foot inner side is inlaid with seal washer, in the cavity of bottom, have valve, there is vavuum pump on cavity foot top is connected with valve by three-way connection, and the three-way connection other end is connected with intake valve, ankle-joint motor and foot steer motor are connected, and foot steer motor is connected with cavity foot shell. Robot is in the time of motion, and the length that distance is greater than twice cavity foot shell is crossed in single step, and robot reaches the moment of reduction motion leg to whole robot by controlling the turnover campaign of large leg connecting rod.
Description
Technical field
The invention belongs to Robotics field, specifically, relate to a kind of negative-pressure adsorption-type of climbing robotBiped.
Background technology
Along with the continuous maturation of Robotics, climbing robot, as the branch of specialized robot, has non-Normal wide application prospect. Common climbing robot motion mode has crawler type, the wheeled and sufficient formula in joint,The joint foot of joint foot formula climbing robot is divided into again double-feet and polypody. Joint foot formula overcome wheeled andThe shortcoming that crawler-type wall climbing robot motion mode is single, obstacle detouring is difficult, joint legged type robot freely simultaneouslyDegree flexibly, is applicable to the wall of circumstance complication. But current joint foot formula negative pressure climbing robot existsTranslational speed is slow, single step span is little, gait is complicated, the large defect of tilting moment when obstacle detouring, with engineering realityBetween application demand, gap is larger. In patent of invention CN201010102133.1, disclosing a kind of bionic 6-leg climbsWall robot, bionic 6-leg climbing robot is controlled respectively six foots by six driven by motor connecting rods ruleThe motion of rule, thus realize the climbing on wall. But the foot structure of this climbing robot is comparatively complicated,In the time that 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 of climbing robotBiped, robot reaches the power of reduction motion leg to whole robot by controlling the turnover campaign of large leg connecting rodSquare; Robot adopts two foot modules to be positioned on same axis, when motion metapedes directly from front foot top acrossCross, be adsorbed on wall and become front foot, single step is crossed over distance greatly, and kinematic dexterity is strong, tilting moment when obstacle detouringLittle.
The technical solution adopted for the present invention to solve the technical problems is: comprise cavity foot, seal washer, trueEmpty pump, intake valve, three-way connection, foot steer motor, ankle-joint motor, thigh bar, large leg joint electricityMachine, large leg connecting rod, described thigh joint motor is fixed on below large leg connecting rod, two thigh joint motor positionsInstall in same axis, two thigh bar one end are connected with two thigh joint motor output shafts respectively, and two largeThe leg bar other end is connected with the ankle-joint motor output shaft on two cavity foot tops respectively; Described cavity foot is ellipseCircular recessed shell structure, seal washer is embedded in the recessed shell of cavity foot inner side, has valve, cavity foot in the recessed shell of cavity footVavuum pump is arranged at top, and vavuum pump is connected with intake valve by three-way connection, three-way connection another port and cavity footValve in recessed shell connects, and ankle-joint motor is connected with foot steer motor, foot steer motor and cavity footBe connected; Robot metapedes in the time of walking is directly adsorbed on wall and becomes front foot, robot from striding across above front footSingle step is crossed over distance and is greater than twice cavity foot length degree, and reduces fortune by the turnover campaign of controlling large leg connecting rodThe moment of moving leg to whole robot; Robot large leg connecting rod in the time of obstacle detouring process has enough to meet the need motion, passes throughHave enough to meet the need attitude, another large leg joint electricity with the thigh joint motor control of the cavity foot homonymy that is adsorbed on wallMachine 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, adopts two foot modules to fixOn same axis, when motion, metapedes directly strides across from front foot top and is adsorbed on wall and becomes front foot, turnoverMotion single step is crossed over distance greatly, and kinematic dexterity is strong, and when obstacle detouring, tilting moment is little. The large leg joint electricity of robotMachine is positioned at the below of large leg connecting rod, and two thigh joint motors are coaxially installed, and two thigh bar one end are respectively with twoIndividual thigh joint motor output shaft connects, and two thigh bar other ends close with the ankle on two cavity foot tops respectivelyJoint motor output shaft connects. Cavity foot is oval recessed shell structure, and seal washer is embedded in the recessed shell of cavity foot inner side,In cavity foot cavity, have valve, cavity foot top is fixed with vavuum pump, and vavuum pump is by three-way connection and air inletValve connects, and three-way connection another port is connected with the valve in the recessed shell of cavity foot, and ankle-joint motor and foot turnConnect to motor, foot steer motor and cavity foot are connected. Robot is in the time of motion, and single step is crossed over distance greatlyIn twice cavity foot shell length, realize the conversion of face face and leaping over obstacles groove, robot connects by controlling thighThe turnover campaign of bar reaches and reduces the moment of motion leg to whole robot.
Brief description of the drawings
Below in conjunction with drawings and embodiments to the negative-pressure adsorption-type biped of a kind of climbing robot of the present invention do intoOne step describes in 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. cavity foot 2. seal washer 3. vavuum pump 4. three-way connection 5. intake valve 6. foot steer motor7. the large leg connecting rod of ankle-joint motor 8. thigh bar 9. thigh joint motor 10.
Detailed description of the invention
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, by cavity foot 1, sealingPacking ring 2, vavuum pump 3, three-way connection 4, intake valve 5, foot steer motor 6, ankle-joint motor 7, largeLeg bar 8, thigh joint motor 9, large leg connecting rod 10 form. The thigh joint motor 9 of robot is by electricitySupport and screw are fixed on below large leg connecting rod 10, and two thigh joint motors 9 are positioned at same axis to be installed,Two thigh bar 8 one end are connected with two thigh joint motor 9 output shafts respectively with screw by adpting flange,Two thigh bar 8 other ends by adpting flange and screw respectively with the ankle-joint electricity on two cavitys foot 1 topsMachine 7 output shafts connect.
The cavity foot 1 of robot is oval recessed shell structure, and seal washer 2 is embedded in the recessed shell of cavity foot 1 inner side,In cavity foot 1 cavity, have valve, cavity foot 1 top is provided with vavuum pump 3, and vavuum pump 3 passes through three-way connection4 are fixedly connected with intake valve 5, and the another port of three-way connection 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 passed through to connect with cavity foot 1Acting flange is connected with screw. Robot in the time of walking after cavity foot directly stride across above cavity foot and be adsorbed in the pastWall becomes front cavity foot, and robot single step is crossed over distance and is greater than twice cavity foot length degree, and by controllingThe turnover campaign of large leg connecting rod 10 reduces the moment of motion leg to whole robot; Robot is in the time of obstacle detouring processLarge leg connecting rod 10 have enough to meet the need motion, by with the cavity thigh joint motor of 1 homonymy enough that is adsorbed on wall9 control turnover attitude, and another thigh joint motor 9 drives thigh bar 8 and cavity foot 1 and large leg connecting rod10 relatively rotate, and realize robot obstacle crossing function. The thigh bar 8 of robot is made into concave structure,Cavity foot when avoiding moving; All parts is fixedly mounted on cavity foot top, reduces the height of parts,Reduce tilting moment.
In the time that vavuum pump 3 is worked, control the air extracting in cavity foot 1 by three-way connection 4, cavity foot 1Air pressure inside reduces gradually, and seal washer, by cavity foot 1 and wall crimp, has been filled cavity foot 1 HeSpace between wall, guarantees its air-tightness. Under vavuum pump 3 continuous operations, firmly absorption of cavity foot 1On wall. In the time that cavity foot 1 need to depart from wall, intake valve 5 is open-minded, and cavity foot 1 shell internal gas pressure is extensiveMultiple normal, cavity foot 1 departs from wall. Foot steer motor 6 and ankle-joint motor 7 are fixed together,Foot steer motor 6 and cavity foot 1 is connected, the output shaft of ankle-joint motor 7 with thigh bar 8 by being connectedFlange is connected with screw.
As shown in Figure 4, thigh joint motor 9 is fixed on large leg connecting rod 10, thigh joint motor 9 defeatedShaft is connected by adpting flange and screw with thigh bar 8. In the time of robot motion, thigh joint motor 9Drive thigh bar 8 separately to rotate, thereby make large leg connecting rod 10 have enough to meet the need motion, realize robot ambulation meritEnergy.
As shown in Figure 2 and Figure 5, in robot straight line moving process, during first foot steer motor 6 gets back toPosition, biped position is got back on same axis. Front cavity foot is adsorbed on wall, and rear cavity foot is by openingIntake valve 5 makes air pressure recover normal value. The ankle-joint motor 7 of front cavity foot drives thigh bar 8 to rotate,Under the drive of thigh bar 8, large leg connecting rod 10 and rear cavity foot are raised gradually. Two thigh joint motors simultaneously9 rotate respectively, after making when rear cavity foot is raised cavity foot draw close gradually before cavity foot. Rear cavityThe ankle-joint motor 7 of 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 ankle-joint motor 7 and largeBeing rotatably assorted between leg joint motor 9, rear cavity foot is positioned at directly over front cavity foot, the whole face of rear cavityParallel with wall, thus the whole face of rear cavity reduces tilting moment near metope as far as possible. Ankle-joint motor 7Be rotated further with thigh joint motor 9, rear cavity foot is crossed front cavity foot gradually, until rear cavity foot and wallFace laminating, vavuum 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 10Complete one time 180 degree upset.
As shown in Fig. 8, Fig. 9, Figure 10, Figure 11, when foot steer motor association in the process of walking of robotTurn while moving, robot realizes and turning to and barrier avoiding function, makes whole robot motion can tackle different wallsEnvironment, flexibility is strengthened. Turn to and keep away in barrier process in robot, the foot of front cavity foot turns to electricityMachine 6 can be adjusted in real time angle and turn to and keep away barrier object to reach. But, when after cavity foot do not cross front skyIn chamber when foot,, the foot steer motor 6 of rear cavity foot must remain on meta always, enough can with cavity after an action of the bowelsCross smoothly the thigh bar of front cavity foot. When after cavity foot cross after front cavity foot thigh bar, rear cavity footFoot steer motor 6 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, seal washer, vavuum pump, intake valve, three-way connection, foot steer motor, ankle-joint motor, thigh bar, thigh joint motor, large leg connecting rod, described thigh joint motor is fixed on below large leg connecting rod, 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, seal washer is embedded in the recessed shell of cavity foot inner side, in the recessed shell of cavity foot, there is valve, vavuum pump is arranged at cavity foot top, vavuum pump is connected with intake valve by the port of three-way connection, the another port of three-way connection 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 in the time of 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 turnover campaign reduction motion leg by the controlling large leg connecting rod moment to whole robot; Robot large leg connecting rod in the time of obstacle detouring process has enough to meet the need motion, have enough to meet the need attitude by the thigh joint motor control with the cavity foot homonymy that is adsorbed on 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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| CN201410253377.8A CN104015829B (en) | 2014-06-10 | 2014-06-10 | A kind of negative-pressure adsorption-type biped of climbing robot |
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| CN201410253377.8A CN104015829B (en) | 2014-06-10 | 2014-06-10 | A kind of negative-pressure adsorption-type biped of climbing robot |
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| CN104015829A CN104015829A (en) | 2014-09-03 |
| CN104015829B true CN104015829B (en) | 2016-05-18 |
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| CN105015644B (en) * | 2015-07-28 | 2018-02-02 | 浙江大学 | Can obstacle formula space pipeline walking robot and method |
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| CN105619392B (en) * | 2016-03-29 | 2017-06-23 | 刘子骞 | The robot and its control method of a kind of balance quality stabilization |
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| CN107867345B (en) * | 2017-10-25 | 2020-12-18 | 中航工程集成设备有限公司 | Anti-overturning device of magnetic adsorption type 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 |
| 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 |
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| 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 |
| 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 |
| 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 |
| CN115092284B (en) * | 2022-06-29 | 2023-10-03 | 中国民航大学 | Miniature adsorption robot |
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