CN103587603B - One kind can barb type wall-climbing robot capable of performing steering flexibly - Google Patents

Abstract

The invention belongs to the technical field of mechanical manufacturing, in particular to a hook-type wall-climbing robot that can turn flexibly. A hook-type wall-climbing robot that can turn flexibly, including an upper body plate, a lower body plate, a crank slider structure, flexible hook claws, and a motor, wherein a crank slider structure is connected between the upper body plate and the lower body plate, The crank slider structure drives the rotation of the motor, so that the upper body plate and the lower body plate make a linear relative motion to realize the forward or backward movement of the robot. The surface of the tip of the rigid barb of the flexible barb claw of the present invention is wrapped with a layer of elastic rubber layer. When the rigid barb is attached to the wall pit, the elastic rubber film deforms and fills the pit, making the grip more stable. In addition, the present invention has simple structure, convenient operation and use, low manufacturing cost, and is suitable for popularization and application in related technical fields.

Description

A hook-and-thorn wall-climbing robot that can turn flexibly

technical field

The invention belongs to the technical field of mechanical manufacturing, in particular to a hook-type wall-climbing robot that can turn flexibly.

Background technique

Wall-climbing robots are of great significance for aerospace, planetary exploration, search and rescue in extreme environments, and military reconnaissance. In order to realize the crawling function, the wall-climbing robot must have two basic functions of adsorption and movement. Generally, wall-climbing robots use negative pressure adsorption and magnetic adsorption, as well as the bionic nano-adhesive materials that have developed rapidly in recent years. Difficult. At present, biomimetic nanomaterials are easily polluted by dust, etc., which will reduce the adhesion performance or even fail, and the adhesion effect on rough walls is not good. All three adsorption methods have limitations. The present invention proposes a bionic flexible barb adhesion method based on the task requirements of the rough wall surface. There are two main moving modes of wall-climbing robots: leg-type and crawler-type. The leg-type structure is more complicated, requires more drives, and the climbing stability is not good. The crawler type requires smooth walls, and the movement of wall-climbing robots on the wall is limited. Due to the limitation of mechanism and adhesion mode, it cannot turn freely. Therefore, it is of great significance to design a wall-climbing robot that can climb rough walls, has a simple structure, less drives, and can turn flexibly.

Chinese patent document CN100455473C provides a kind of "claw-type wall-climbing robot", which solves the problem of wall-climbing robots climbing on rough walls to a certain extent, but this kind of robot grasping is not stable enough and cannot be realized. Steering is sportier, less practical.

Contents of the invention

The purpose of the present invention is to solve the deficiencies in the prior art, and provide a hook-type wall-climbing robot that can climb rough walls, has a simple structure, and can turn flexibly.

A hook-type wall-climbing robot that can turn flexibly, including an upper body plate, a lower body plate, a crank slider structure, flexible hook claws, and a motor, wherein a crank slider structure is connected between the upper body plate and the lower body plate, The mechanism of the crank slider structure drives the motor to drive the crank slider to move, and the steering drive motor makes the robot turn and move.

There is a rotational degree of freedom between the upper body plate and the lower body plate of the present invention, and the wall-climbing robot can flexibly turn and move.

The slider crank structure of the present invention includes a slider, a connecting rod, and a crank. The crank is installed on the upper body plate, the output shaft of the motor is connected to the crank, and the slider and the lower body plate are connected by the motor so that they can rotate relative to each other. A chute is arranged on the upper body plate.

The wall-climbing robot of the present invention turns freely, and the slider in the crank slider structure is connected with the lower body plate through a motor, and the driving motor can realize the relative rotation of the slider and the lower body plate, and there is no relative rotation between the upper body plate and the slider. Rotate, thereby realized the relative rotation of upper body plate and lower body plate.

There are six flexible barbed paws of the present invention, three of which are installed on the upper body plate, and three are installed on the lower body plate. The six flexible barbed claws of the wall-climbing robot can be distributed symmetrically around the circumference, or symmetrically on the left and right. Each flexible barbed paw consists of a motor, paw base, driving gear, toe, rigid barb, and an elastic rubber membrane wrapped around the tip surface of the rigid barb. Each flexible hooked claw has 4 to 10 toes.

The present invention adopts the hook-type adhesion method, which can realize the stable crawling of the robot on the rough or flexible wall surface, and can turn flexibly; the upper body plate and the lower body plate of the present invention are connected by a crank slider structure, and the crank is driven by a rotating motor Rotation reduces the weight of the robot; the surface of the rigid barb tip of the flexible barb claw of the present invention is covered with a layer of elastic rubber layer. When the rigid barb is caught in the wall pit, the elastic rubber film deforms and fills the pit. Make the grip more stable. In addition, the present invention has simple structure, convenient operation and use, low manufacturing cost, and is suitable for popularization and application in related technical fields.

Description of drawings

Fig. 1 is the three-dimensional structure schematic diagram of the present invention;

Fig. 2 is the action schematic diagram of the present invention;

Fig. 3 is a schematic diagram of the claw structure of the present invention;

Fig. 4 is a schematic diagram of the toe structure of the present invention.

In the figure: 1. slider; 2. upper body plate; 3. steering drive motor; 4. lower body plate; 5. connecting rod; 6. crank; 7. mechanism drive motor; 8. flexible hook claw; 9. Paw base; 10, motor; 11, driving gear; 12, toe; 13, rigid barb; 14, elastic rubber membrane; 15, black dot at the end of the paw; 16, white dot at the end of the paw.

detailed description

In order to make the technical solution and characteristics of the present invention clearer, the present invention will be further described in detail below in conjunction with the embodiments and accompanying drawings. Here, the following examples are used to illustrate the present invention, but not to limit the scope of the present invention.

As shown in Figure 1, the wall-climbing robot of the present invention comprises upper body board 2, lower body board 4, steering drive motor 3, the slider 1 of crank slider structure, connecting rod 5, crank 6, the mechanism drive motor of crank slider 7. Flexible barbed claws 8. In addition, the chute is arranged on the upper body plate 2, and the mechanism driving motor 7 of the crank slider structure is installed on the upper body plate 2, and the motor output shaft is connected with the crank 6 to drive the crank slider structure to move, so that the upper body plate 2 and the upper body plate The lower body plate 4 generates relative motion. The slide block 1 is connected with the lower body plate 4 through the steering drive motor 3, and the turning motion of the robot is driven by the rotation of the steering drive motor 3.

As shown in Figure 2, the wall-climbing robot can flexibly turn clockwise and counterclockwise, and the one-step steering angle ranges from 0° to 40°. The figure shows the turning process of the robot. The black dot 15 at the end of the paw indicates that the paw is in the grasping state, and the white dot 16 at the end of the paw indicates that the paw is in the state of breaking away from the wall.

Define here: lower body is the general name of lower body plate 4 and the paw that is installed on the lower body plate 4, and upper body is the general name of upper body plate 2 and the paw that is installed on the upper body plate 2. The specific process of turning the wall-climbing robot is as follows: Such a cycle can realize the free and flexible steering movement of the robot.

As shown in Figures 3 and 4, the flexible barb claw 8 is made up of a motor 10, a claw base 9, a driving gear 11, a toe 12, a rigid barb 13, and an elastic rubber film 14. The output shaft of the motor 10 is connected with the driving gear 11, through the gear transmission, the toes are driven to move, and then the claws and the wall are grasped and detached. In addition, the elastic rubber film 14 (or other flexible materials) is wrapped around the surface of the tip of the rigid barb 13. When the rigid barb 13 grasps the wall pit, the elastic rubber film 14 on the surface of the rigid barb 13 will be compressed due to the force of extrusion. Deformation, filling the pits, making the grip more stable and less likely to shake.

Apparently, the above-mentioned embodiments of the present invention are only examples for clearly illustrating the present invention, rather than limiting the implementation of the present invention. For those of ordinary skill in the art, on the basis of the above description, other changes or changes in different forms can also be made. All the implementation manners cannot be exhaustively listed here. All obvious changes or variations derived from the technical solutions of the present invention are still within the protection scope of the present invention.

Claims (7)

1. A hook-type wall-climbing robot that can turn flexibly, comprising an upper body plate, a lower body plate, a crank slider structure, flexible hook claws, a steering motor, and a crank slider structure driving motor, wherein the upper body plate and the lower body plate There is a crank slider structure connected in the middle of the body plate, which is characterized in that the crank slider structure drives the rotation of the motor, so that the upper body plate and the lower body plate make a linear relative motion to realize the forward or backward movement of the robot. The crank slider structure includes a slider , connecting rod, crank, the crank is installed on the upper body plate, the output shaft of the motor is connected with the crank, the slide block is connected with the lower body plate through the motor, and can rotate relatively therebetween. 2. A kind of hook type wall-climbing robot that can turn flexibly according to claim 1, it is characterized in that there is a degree of freedom of rotation between the upper body plate and the lower body plate, and the upper body plate and the lower body plate of the robot each step The range of rotation is -60°-60°, and the wall-climbing robot can turn flexibly. 3. A flexible turning hook-type wall-climbing robot according to claim 1, characterized in that a chute is arranged on the upper body plate. 4. A hook-type wall-climbing robot that can turn flexibly according to claim 1, characterized in that there are six flexible hook claws, three of which are installed on the upper body board, and three are installed on the lower body board . 5. A barb-type wall-climbing robot that can turn flexibly according to claim 4, characterized in that the six flexible barb claws of the wall-climbing robot can be distributed symmetrically around the circumference, or symmetrically distributed left and right. 6. According to claim 4 or 5, a kind of hook-type wall-climbing robot that can turn flexibly, is characterized in that each flexible hook claw consists of motor, claw base, driving gear, toe, rigid hook, elastic consists of a rubber membrane in which an elastic rubber membrane wraps around the tip surface of the rigid barb. 7 . The flexible hook-type wall-climbing robot according to claim 6 , wherein the number of toes of each flexible hook claw is 4 to 10. 8 .