CN113002651A - Foot type wall-climbing robot - Google Patents
Foot type wall-climbing robot Download PDFInfo
- Publication number
- CN113002651A CN113002651A CN201911312619.5A CN201911312619A CN113002651A CN 113002651 A CN113002651 A CN 113002651A CN 201911312619 A CN201911312619 A CN 201911312619A CN 113002651 A CN113002651 A CN 113002651A
- Authority
- CN
- China
- Prior art keywords
- piece
- connecting part
- climbing robot
- ball
- vertical surface
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000008859 change Effects 0.000 claims abstract description 12
- 238000010030 laminating Methods 0.000 claims abstract description 8
- 230000009471 action Effects 0.000 claims description 8
- 238000005096 rolling process Methods 0.000 claims description 3
- 230000009194 climbing Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000008569 process Effects 0.000 description 5
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 238000003825 pressing Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000002131 composite material Substances 0.000 description 1
- 230000008094 contradictory effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000001627 detrimental effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000005357 flat glass Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The application discloses a foot type wall-climbing robot, which comprises a body and a plurality of mechanical legs; the mechanical leg comprises an active posture adjusting piece, a passive posture adjusting piece and a fixing piece, wherein the active posture adjusting piece is provided with a connecting end and a free end, the connecting end is connected with the body, and the free end is connected with the fixing piece through the passive posture adjusting piece; the initiative gesture adjustment piece can change the free end is for the position and the gesture of link, passive gesture adjustment piece can link firmly under the effort of piece and vertical surface passively change self structure in order to with link firmly the gesture adjustment of piece extremely with vertical surface laminating fixed. The foot type wall-climbing robot provided by the embodiment obviously reduces the precision requirement on the posture of the mechanical legs, and improves the walking speed of the robot.
Description
Technical Field
The application relates to the technical field of robots, in particular to a foot type wall-climbing robot.
Background
For the current wall-climbing robot, most of the existing schemes adopt wheel type or crawler type matching with a fan for use, and particularly the existing schemes are commonly applied as window-cleaning robots. However, the wheel type or crawler type wall-climbing robot has the greatest limitation that the obstacle cannot be overcome, and the foot type robot can overcome the defects that the wheel type or crawler type robot has weak movement capability and cannot overcome the obstacle.
When the foot type robot walks, a plurality of mechanical legs of the robot are controlled to move alternately to form a moving mode similar to that of a polypod organism to drive the body to move forward, and the tail ends of the mechanical legs can be provided with fixing pieces such as suckers and the like which can be simply fixed and separated from the vertical surface.
These fasteners place high demands on their posture in order to secure to a vertical surface. Taking the suction cup as an example, if the opening of the suction cup has a large inclination angle with the vertical surface, the periphery of the opening cannot be completely attached to the vertical surface, and once a gap is formed between the opening and the vertical surface, the suction and fixation are difficult to achieve. And the mechanical leg needs to carry out multi-dimensional composite attitude adjustment when moving, and the control accuracy is difficult to guarantee to lead to linking firmly the piece and hardly accomplish the fixed connection process with vertical surface, seriously influence the walking speed of robot.
Disclosure of Invention
The embodiment of the application provides a foot type wall-climbing robot to solve the problems.
The embodiment of the application adopts the following technical scheme:
the embodiment of the application provides a foot type wall-climbing robot, which comprises a body and a plurality of mechanical legs;
the mechanical leg comprises an active posture adjusting piece, a passive posture adjusting piece and a fixing piece, wherein the active posture adjusting piece is provided with a connecting end and a free end, the connecting end is connected with the body, and the free end is connected with the fixing piece through the passive posture adjusting piece;
the initiative gesture adjustment piece can change the free end is for the position and the gesture of link, passive gesture adjustment piece can link firmly under the effort of piece and vertical surface passively change self structure in order to with link firmly the gesture adjustment of piece extremely with vertical surface laminating fixed.
Optionally, in the foot-type wall-climbing robot, the passive posture adjustment part includes a first connection part, a second connection part, and a ball rod;
the first connecting part is fixedly connected with the ball head rod, the second connecting part is provided with a spherical groove, and the spherical groove is clamped with the ball head rod and can do spherical surface relative motion with the ball head rod;
one of the first connecting part and the second connecting part is fixedly connected with the free end, and the other one is fixedly connected with the fixed connecting piece;
the spherical groove passively makes spherical relative motion with the ball head rod under the action force of the fixing member and the vertical surface and changes the relative posture of the first connecting part and the second connecting part.
Optionally, in the foot-type wall-climbing robot, the first connecting portion is fixedly connected to the free end, and the second connecting portion is fixedly connected to the fixing member.
Optionally, in the above foot-type wall-climbing robot, the ball rod includes a ball shaft and a rod body, one end of the rod body is connected to the first connecting portion, the other end of the rod body is fixed to the ball shaft,
the second connecting part comprises a base and a cover plate which are detachably connected, a first spherical surface is arranged on the base, a second spherical surface is arranged on the cover plate, the first spherical surface and the second spherical surface jointly form the spherical groove, the first spherical surface is provided with an opening, the ball head shaft can extend into/separate from the first spherical surface through the opening, and the second spherical surface is clamped and sleeved on the ball head shaft and cannot separate from the ball head shaft from one side far away from the rod body;
the fastening piece is connected with the base.
Optionally, in the above-mentioned foot-type wall-climbing robot, the spherical groove and the fastening member both have an axis, and the fastening member and the spherical groove are coaxially disposed.
Optionally, in the foot-type wall-climbing robot, the passive posture adjustment element further includes a reset elastic element;
the reset elastic piece is arranged around the ball head rod and is simultaneously connected with the first connecting part and the second connecting part;
the reset elastic piece can be elastically deformed when the relative posture of the first connecting part and the second connecting part is changed under the action force of the fixed connecting piece and the vertical surface;
the reset elastic piece can release elasticity after the acting force of the fixing piece and the vertical surface is cancelled so that the first connecting portion and the second connecting portion reset to a stress balance posture.
Optionally, in the foot-type wall-climbing robot, the elastic return element is a return spring, and the return spring is sleeved on the periphery of the ball rod and abuts against the first connecting portion and the second connecting portion simultaneously.
Optionally, in the foot-type wall-climbing robot, a first limiting flange surrounding the ball rod is disposed on a side of the first connecting portion facing the second connecting portion, a second limiting flange surrounding the spherical groove is disposed on a side of the second connecting portion facing the first connecting portion, and two ends of the return spring respectively extend into an area surrounded by the first limiting flange and the second limiting flange.
Optionally, in the foot-type wall-climbing robot, an auxiliary support module is further included, and the auxiliary support module is disposed on the body and is configured to contact with a vertical surface.
Optionally, the legged wall-climbing robot includes at least three auxiliary support modules, and three auxiliary support modules are present in all the auxiliary support modules and arranged in a triangular manner to form a fitting reference plane fitted with a vertical surface.
Optionally, in the above foot-type wall-climbing robot, the auxiliary support module is provided with a ball unit, and the auxiliary support module is in rolling contact with a vertical surface through the ball unit.
Optionally, in the foot-type wall-climbing robot, the auxiliary support module further includes a buffer unit, and the ball unit is fixedly connected to the body through the buffer unit.
Optionally, in the above foot-type wall-climbing robot, the buffer unit includes an elastic return member and a piston assembly including a piston rod and a piston cylinder, and the elastic return member is sleeved on the piston rod and abuts against the piston cylinder and the ball unit.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
the foot formula wall climbing robot that this application embodiment disclosed can utilize the effort that links firmly piece and vertical surface to change self structure passively so that link firmly the piece can be fixed with the laminating of vertical surface smoothly through set up passive gesture adjusting part in the mechanical leg, is showing to have reduced the required precision to the mechanical leg gesture, makes link firmly the piece and accomplish the fixed connection process with vertical surface more easily to promote the walking speed of robot.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a front perspective view of a foot-type wall-climbing robot disclosed in an embodiment of the present application;
fig. 2 is a back perspective view of the foot-type wall-climbing robot disclosed in the embodiment of the present application;
FIG. 3 is a cross-sectional structural view of a passive attitude adjustment assembly as disclosed in an embodiment of the present application;
fig. 4 is a sectional structural view of an auxiliary support module disclosed in an embodiment of the present application.
Description of reference numerals:
1-body, 2-mechanical leg, 20-active posture adjustment member, 20 a-connecting end, 20 b-free end, 200-section, 201-rotary joint, 21-passive posture adjustment member, 210-first connecting part, 210 a-first limit flange, 211-second connecting part, 211 a-second limit flange, 2110-base, 2111-cover plate, 212-ball rod, 212 a-ball shaft, 212 b-rod body, 213-ball groove, 231 a-first ball surface, 213 b-second ball surface, 214-reset elastic member, 22-fastening member/sucker, 220-opening part, 3-auxiliary support module, 30-ball unit, 31-buffer unit, 310-elastic reset member, 311-piston rod, 312-piston cylinder, 32-connecting column.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The embodiment of the application discloses a foot type wall-climbing robot, as shown in fig. 1 and 2, comprising a body 1 and a plurality of mechanical legs 2. The body 1 is the core of the foot type wall-climbing robot, the body 1 usually has a closed shell, and important structures of a control center, a power supply module, a command receiving module and the like of the robot are all arranged in the shell. The robot leg 2 is a traveling mechanism of the robot, and the robot controls the posture of the robot leg 2 to move the trunk 1 and the robot.
The mechanical leg 2 in this embodiment includes an active attitude adjustment member 20, a passive attitude adjustment member 21, and a fastening member 22. Wherein the active posture adjustment member 20 is the main structure of the robotic leg 2, which is generally in the form of a limb, and has a connected end 20a and a free end 20 b. The connecting end 20a is used for connection with the trunk 1, and the entire active posture adjustment member 20 can change the position and posture of the free end 20b with respect to the connecting end 20 a.
Specifically, the active posture adjustment member 20 may be divided into a plurality of segments 200 in the extending direction, two adjacent segments are connected by a rotational joint 201, and the two segments 200 at both ends have a connection end 20a and a free end 20b, respectively. Thus, the active posture adjustment member 20 can change the angle between two adjacent segments 200 by rotating the joint 201, and finally change the position and posture (angle or orientation) of the free end 20 b. The connecting end 20a and the body 1 may be fixedly connected or may also be connected by using a rotating joint 201, and these rotating joints 201 may be parallel to each other, or may also be partially parallel or non-parallel to each other, so that the free end 20b obtains a multi-dimensional position and posture adjustment capability.
The fastening member 22 in this embodiment is used for being attached to and fixed with a vertical surface, so that the robot can walk and climb along the vertical surface. Different fastening members 22 may be used for different vertical surfaces. For example, when the vertical surface is a smooth flat glass or plastic surface, fastening member 22 may be a suction cup that is attached to the vertical surface by vacuum suction. When the vertical surface is a magnetic metal surface such as an iron sheet, the fastening member 22 may be a magnetic adsorption member or the like, which is attached and fixed to the vertical surface by magnetic force, and for other types of vertical surfaces, the fastening member 22 may also be of other corresponding types or structures.
Regardless of the type or configuration of fastening member 22, it is generally required to be substantially perpendicular to a vertical surface. Taking the suction cup as an example, if the opening portion 220 of the suction cup 22 (for easy understanding, the following reference numeral of the fastening member is used) has a larger inclination angle with the vertical surface, the periphery of the opening portion 220 cannot be completely attached to the vertical surface, so that a gap is always formed between the periphery of the opening portion 220 and the vertical surface, and the inside and the outside of the suction cup 22 are communicated by the gap, so that negative pressure cannot be realized, and therefore, the suction fixation is difficult to realize.
It is difficult to secure the relative posture of the fastening member 22 only by the active posture adjustment member 20, so that the fastening member 22 is connected to the free end 20b by the passive posture adjustment member 21 in this embodiment. Passive posture adjustment piece 21 can change self structure passively under the effort that links firmly piece 22 and vertical surface to the adjustment links firmly the relative gesture between piece 22 and free end 20b, and the effort that links firmly piece 22 and vertical surface can make and link firmly piece 22 and vertical surface reach the fixed gesture of laminating, therefore under the unchangeable prerequisite in free end 20 b's gesture, the gesture that links firmly piece 22 can be adjusted by oneself to be fixed with the laminating of vertical surface, thereby simplify and link firmly the fixed degree of difficulty on piece 22 and vertical surface, improve walking efficiency.
In this embodiment, the passive posture adjustment member 21 of the foot-type wall-climbing robot has various structures and kinds, for example, the passive posture adjustment member 21 may adopt an elastic member (for example, a spring, an elastic rod, etc.) which can be elastically deformed to a certain extent by itself as the passive posture adjustment member 21, and the acting force of the fastening member 22 and the vertical surface can make the elastic member elastically deformed, thereby adjusting the relative posture between the fastening member 22 and the free end 20 b. Or the passive posture adjusting member 21 may also adopt a plurality of connecting portions connected by a movable connecting structure such as a rotating shaft which can be mechanically moved and cannot be completely separated, and these connecting portions are connected by the connecting structure which can be mechanically moved, so that the relative posture between the connecting portions can be changed by the movable connecting structure under the action force of the fixing member 22 and the vertical surface, and the purpose of passively adjusting the posture of the fixing member 22 can be achieved.
As shown in fig. 3, the passive posture adjustment member 21 in the present embodiment includes a first connection portion 210, a second connection portion 211, and a ball bar 212. The first connecting portion 210 is fixedly connected with the ball stud 212, the second connecting portion 211 has a spherical groove 213, and the spherical groove 213 is engaged with the ball stud 212 and can move relative to the ball stud 212 in a spherical manner. When one of the first connecting portion 210 and the second connecting portion 211 is fixedly connected to the free end 20b and the other is fixedly connected to the fastening member 22, when the fastening member 22 and the vertical surface generate an interaction force, a torque is generated between the second connecting portion 211 and the first connecting portion 210, and the torque is converted into a tangential force relative to the center of the ball stud 212 through the spherical connection between the spherical groove 213 and the ball stud 212, so that the spherical groove 213 and the ball stud 212 perform a spherical relative motion. The spherical groove 213 and the ball rod 212 can change the relative posture of the first connecting portion 210 and the second connecting portion 211 while performing spherical relative movement, thereby changing the relative posture of the fastening member 22 and the free end 20 b.
The ball shaft 212 generally has a ball shaft 212a, and in order to obtain a larger rotation range, the ball shaft 212a generally needs to be far away from the first connection portion 210, for example, a shaft 212b may be used to connect the first connection portion 210 and the ball shaft 212a, one end of the shaft 212b is used to connect the first connection portion 210, and the other end is connected to the ball shaft 212a, so as to place the ball shaft 212a far away from the first connection portion 210. However, since the ball axis 212a is located farther from the first connection portion 210, the tangential component of the force applied to the first connection portion 210 at different locations is small relative to the center of the ball axis 212 a. Since the spherical groove 213 is disposed on the second connecting portion 211, the center of the sphere is located inside the second connecting portion 211, and the acting force applied to different positions of the second connecting portion 211 can generate a more obvious tangential component with respect to the center of the sphere, so that the spherical groove 213 can more easily rotate relative to the ball head shaft 212a along the spherical surface. Therefore, in order to improve the flexibility of the passive posture adjustment member 21 in the present embodiment, it is recommended that the first connection portion 210 is fixedly connected to the free end 20b, and the second connection portion 211 is fixedly connected to the fastening member 22.
Typically, the fastening member 22 (e.g., suction cup) will be provided as a solid of revolution having an axis, and the spherical groove 213 will also typically be a spherical surface of revolution having an axis, which may be arranged coaxially when the structure is designed. Thus, the area of the fastening member 22 in abutting contact with the vertical surface (e.g., the opening 220) is substantially the same distance from the center of the ball, and thus has substantially the same moment arm regardless of which portion of the opening 220 interacts with the vertical surface, thereby ensuring that sufficient torque is generated to cause the ball grooves 213 and the ball stud 212 to rotate relative to each other.
The passive attitude adjustment member 21 of the present embodiment described above enables the fastening member 22 and the free end 20b to be passively and spontaneously adjusted in attitude to accommodate a fixed connection with a vertical surface. However, since the foot-type wall-climbing robot needs to climb along a vertical surface, the first connecting portion 210 and the second connecting portion 211 are generally arranged in a horizontal direction during use. Although it is difficult to directly adjust the posture of the fastening member 22 by means of the active posture adjustment member 20, the deviation is not large, but the passive posture adjustment member 21 can rotate due to its own structure, so that the first connection portion 210 and the second connection portion 211 can naturally rotate under the action of gravity and the fastening member 22 faces obliquely downward rather than a vertical surface. This results in a maximum angle of inclination between the fastening member 22 and the vertical surface each time, which is detrimental to the attitude adjustment of the fastening member 22.
To alleviate this, as shown in fig. 3, a return elastic member 214 may be additionally provided in the passive posture adjustment member 21, and the return elastic member 214 may be provided around the ball bar 212 and connected to the first connection portion 210 and the second connection portion 211 at the same time. The elastic resetting part 214 can be elastically deformed when the relative posture of the first connecting part 210 and the second connecting part 211 changes under the action force of the fixing part 22 and the vertical surface, and releases the elastic force to reset the first connecting part 210 and the second connecting part 211 to the stress balance posture after the action force of the fixing part 22 and the vertical surface is cancelled. The relative posture of the first connecting part 210 and the second connecting part 211 when the reset elastic part 214 is in a stress balance state is adjusted, so that the reset position of the fixedly connecting part 22 can be adjusted, and the reset position can be returned after the fixedly connecting part 22 leaves a vertical surface, so that the amplitude of passive posture adjustment at each time can be reduced, and the adjustment difficulty is simplified.
The elastic restoring member 214 may be formed by a plurality of portions (e.g., a plurality of springs or elastic pieces) surrounding the ball rod 212, or may be formed by a single restoring spring sleeved on the periphery of the ball rod 212, and two ends of the elastic restoring member 214 are connected to the first connecting portion 210 and the second connecting portion 211 at the same time so as to be deformed by posture adjustment of the two portions.
The elastic restoring element 214 can be fixedly connected to the first connecting portion 210 and the second connecting portion 211 at the same time, or can be abutted to one of the first connecting portion 210 and the second connecting portion 211 (i.e., the elastic restoring element is connected by the pressing force, and the pressing force can be separated after being released) and fixedly connected to the other of the first connecting portion 210 and the second connecting portion 211, or can be abutted to the first connecting portion and the second connecting portion at the same time, and the specific connection mode can be determined according to the deformation state of the elastic restoring element 214 itself, so that the elastic restoring element can be ensured. The return spring is preferably connected to the first connection portion 210 and the second connection portion 211 at the same time, so that the assembly process is simplified.
As shown in fig. 3, in order to limit the position of the return spring 214 (for convenience of description, reference numerals of the return elastic member are used hereinafter), a first limit flange 210a surrounding the ball rod 212 may be provided at a side of the first connection portion 210 facing the second connection portion 211, while a second limit flange 211a surrounding the ball groove 213 may be provided at a side of the second connection portion 211 facing the first connection portion 210. Both ends of the return spring 214 respectively extend into the areas surrounded by the first and second position-limiting flanges 210a and 211a, and are thus confined between the first and second connection portions 210 and 211. The first position-limiting flange 210a and the second position-limiting flange 211a may be complete ring structures, or may be formed by several independent structures distributed annularly.
To facilitate the assembly of the ball stud 212 with the spherical groove 213, the second connecting portion 211 may be configured to include a base 2110 and a cover 2111 that are detachably connected, and the fastening member 22 is connected to the base 2110. The first spherical surface 213a is provided on the base 2110, and the second spherical surface 213b is provided on the cover plate 2111, and the first spherical surface 213a and the second spherical surface 213b jointly form the spherical groove 213. The first spherical surface 213a has an opening (not numbered), and the ball stud 212a can extend into and separate from the first spherical surface 213a through the opening, i.e., the base 2110 can be separated from the ball stud 212 as a whole. The second spherical surface 213b is engaged with the ball shaft 212a and cannot be separated from the ball shaft 212a from a side away from the rod 212b, so that the second connecting portion 211 cannot be separated from the ball shaft 212 as a whole when the base 2110 and the cover 2111 are connected together. When base 2110 is separated from cover 2111, base 2110 may be separated from ball stud 212, which may then facilitate servicing or replacement of a new second connection portion 211 or fastening member 22.
In the present embodiment, the foot type wall-climbing robot generally adopts a structure simulating a living body, and the number of the mechanical legs 2 is generally an even number and is symmetrically arranged. When the robot is walking, the posture of each mechanical leg 2 and the position and orientation of the fastening piece 22 on the mechanical leg from the body 1 can be different, so that the whole body of the body 1 can incline to a certain degree relative to a vertical surface, especially when the foot type wall climbing robot has four mechanical legs 2 and adopts diagonal walking, when the two mechanical legs 2 are lifted up, the foot type wall climbing robot is wholly fixed with the vertical surface only by the fastening pieces 22 on the two remaining mechanical legs 2, the passive posture adjusting pieces 21 connected with the two fastening pieces 22 can form a hinge-like effect, so that the robot is wholly rotated by taking the connecting lines of the two passive posture adjusting pieces 21 as axes, the posture of the robot is unstable, and the control difficulty is increased.
In order to improve the situation, as shown in fig. 1 and 2, the present embodiment adds an auxiliary support module 3 to the foot-type wall-climbing robot, the auxiliary support module 3 is disposed on the body 1, and when the foot-type wall-climbing robot climbs along a vertical surface, the auxiliary support module 3 can contact the vertical surface. Therefore, when the foot type wall climbing robot only has the fastening pieces 22 of the two mechanical legs 2 connected with the vertical surface, the auxiliary support module 3 is simultaneously contacted with the vertical surface, and the risk of the whole rotation of the robot can be effectively reduced.
And, can set up a plurality of auxiliary stay modules 3 simultaneously, have three auxiliary stay modules 3 to be triangle-shaped and arrange among all auxiliary stay modules 3, these three auxiliary stay modules 3 can form the laminating reference surface with the laminating of vertical surface. In the walking process of the foot type wall climbing robot, the auxiliary supporting modules 3 can be always in contact with the vertical surface, so that the rotation process of the robot is weakened or inhibited, and the walking stability is improved. Except the three auxiliary supporting modules 3, the number of the fulcrums of the attaching reference surface can be further increased and even the area of the attaching reference surface can be increased due to the existence of other auxiliary supporting modules 3, so that the walking stability is further improved.
In order to reduce the friction between the auxiliary support module 3 and the vertical surface, as shown in fig. 4, a ball unit 30 may be provided inside the auxiliary support module 3, and the auxiliary support module 3 is in rolling contact with the vertical surface through the ball unit 30, so that the friction may be greatly reduced.
This force urges the body 1 toward the vertical surface as the fastening member 22 creates a strong interaction force between the two when fixedly attached to the vertical surface. In the case of the auxiliary support module 3, the movement tendency of the body 1 may exert a strong force on the auxiliary support module 3, and if the force is too large, a large local stress may occur, which may cause damage to the vertical surface, the auxiliary support module 3, or the body 1. Therefore, in order to alleviate and absorb such local stress, a buffer unit 31 may be provided inside the auxiliary support module 3, and the ball unit 30 may be fixedly connected to the body 1 through the buffer unit 31.
The structure of the buffer unit 31 is various, and it can use its own elastic deformation to absorb the stress in general. As shown in fig. 4, the buffering unit 31 in the present embodiment includes an elastic return member 310 and a piston assembly composed of a piston rod 311 and a piston cylinder 312, wherein the elastic return member 310 (a spring in the figure) is sleeved on the piston rod 311 and abuts against the piston cylinder 312 and the ball unit 30. When the stress is excessive, the piston rod 311 may retract into the piston cylinder 312 while compressing the resilient return 310. When the stress is reduced, the elastic restoring member 310 can pull the piston rod 311 out of the piston cylinder 312 to achieve the buffering function. In addition, a connecting column 32 for connecting the body 1 can be further arranged inside the auxiliary supporting module 3, one end of the connecting column 32 is fixed with the buffer unit 31, and the other end of the connecting column can be embedded into or screwed into the body 1 through threads.
In conclusion, the foot-type wall-climbing robot provided by the embodiment obviously reduces the precision requirement on the posture of the mechanical legs, and improves the walking speed of the robot.
In the embodiments of the present application, the difference between the embodiments is described in detail, and different optimization features between the embodiments can be combined to form a better embodiment as long as the differences are not contradictory, and further description is omitted here in view of brevity of the text.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (13)
1. A foot type wall-climbing robot is characterized by comprising a body and a plurality of mechanical legs;
the mechanical leg comprises an active posture adjusting piece, a passive posture adjusting piece and a fixing piece, wherein the active posture adjusting piece is provided with a connecting end and a free end, the connecting end is connected with the body, and the free end is connected with the fixing piece through the passive posture adjusting piece;
the initiative gesture adjustment piece can change the free end is for the position and the gesture of link, passive gesture adjustment piece can link firmly under the effort of piece and vertical surface passively change self structure in order to with link firmly the gesture adjustment of piece extremely with vertical surface laminating fixed.
2. The legged wall-climbing robot according to claim 1, wherein the passive attitude adjustment member includes a first connecting portion, a second connecting portion, and a ball bar;
the first connecting part is fixedly connected with the ball head rod, the second connecting part is provided with a spherical groove, and the spherical groove is clamped with the ball head rod and can do spherical surface relative motion with the ball head rod;
one of the first connecting part and the second connecting part is fixedly connected with the free end, and the other one is fixedly connected with the fixed connecting piece;
the spherical groove passively makes spherical relative motion with the ball head rod under the action force of the fixing member and the vertical surface and changes the relative posture of the first connecting part and the second connecting part.
3. The foot-type wall-climbing robot according to claim 2, wherein the first connecting part is fixedly connected with the free end, and the second connecting part is fixedly connected with the fixing member.
4. The foot-type wall-climbing robot according to claim 3, wherein the ball rod comprises a ball shaft and a rod body, one end of the rod body is connected with the first connecting part, the other end of the rod body is fixed with the ball shaft,
the second connecting part comprises a base and a cover plate which are detachably connected, a first spherical surface is arranged on the base, a second spherical surface is arranged on the cover plate, the first spherical surface and the second spherical surface jointly form the spherical groove, the first spherical surface is provided with an opening, the ball head shaft can extend into/separate from the first spherical surface through the opening, and the second spherical surface is clamped and sleeved on the ball head shaft and cannot separate from the ball head shaft from one side far away from the rod body;
the fastening piece is connected with the base.
5. The legged wall-climbing robot according to any one of claims 2-4, wherein the spherical groove and the fastening member each have an axis, the fastening member being arranged coaxially with the spherical groove.
6. The legged wall-climbing robot according to any one of claims 2 to 4, wherein the passive attitude adjustment member further includes a return elastic member;
the reset elastic piece is arranged around the ball head rod and is simultaneously connected with the first connecting part and the second connecting part;
the reset elastic piece can be elastically deformed when the relative posture of the first connecting part and the second connecting part is changed under the action force of the fixed connecting piece and the vertical surface;
the reset elastic piece can release elasticity after the acting force of the fixing piece and the vertical surface is cancelled so that the first connecting portion and the second connecting portion reset to a stress balance posture.
7. The foot-type wall-climbing robot according to claim 6, wherein the return elastic member is a return spring, and the return spring is sleeved on the periphery of the ball rod and abuts against the first connecting portion and the second connecting portion simultaneously.
8. The foot-type wall-climbing robot according to claim 7, wherein a first limit flange surrounding the ball head rod is arranged on one side of the first connecting part facing the second connecting part, a second limit flange surrounding the spherical groove is arranged on one side of the second connecting part facing the first connecting part, and two ends of the return spring respectively extend into areas surrounded by the first limit flange and the second limit flange.
9. The legged wall-climbing robot according to any one of claims 1-4, further comprising an auxiliary support module disposed on the torso for contact with a vertical surface.
10. The foot-type wall-climbing robot according to claim 9, wherein the robot comprises at least three auxiliary support modules, and three auxiliary support modules are arranged in a triangular manner in all the auxiliary support modules and form a fitting reference surface fitted with a vertical surface.
11. The legged wall-climbing robot according to claim 9, wherein the auxiliary support module is provided with a ball unit by which the auxiliary support module is in rolling contact with a vertical surface.
12. The foot-type wall-climbing robot according to claim 11, wherein the auxiliary support module further comprises a buffer unit, and the ball unit is fixedly connected to the body through the buffer unit.
13. The foot-type wall-climbing robot according to claim 12, wherein the buffer unit comprises an elastic return member and a piston assembly consisting of a piston rod and a piston cylinder, and the elastic return member is sleeved on the piston rod and abuts against the piston cylinder and the ball unit.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911312619.5A CN113002651A (en) | 2019-12-18 | 2019-12-18 | Foot type wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911312619.5A CN113002651A (en) | 2019-12-18 | 2019-12-18 | Foot type wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN113002651A true CN113002651A (en) | 2021-06-22 |
Family
ID=76382483
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911312619.5A Pending CN113002651A (en) | 2019-12-18 | 2019-12-18 | Foot type wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN113002651A (en) |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102198664A (en) * | 2011-05-25 | 2011-09-28 | 燕山大学 | Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair |
| CN102826138A (en) * | 2012-08-24 | 2012-12-19 | 华南理工大学 | Negative-pressure adsorption module with automatic altitude detection capacity and self-adaptive capacity to adsorbed surface |
| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
| CN107161226A (en) * | 2017-06-20 | 2017-09-15 | 长沙无道工业设计有限公司 | A kind of caterpillar robot |
| CN207089483U (en) * | 2017-04-05 | 2018-03-13 | 南京瑞麒凰电子科技有限公司 | A kind of absorption type surface job platform and its equipment of loading |
| CN207415393U (en) * | 2017-09-14 | 2018-05-29 | 昆山龙腾光电有限公司 | A kind of vacuum cup and manipulator |
| CN109877871A (en) * | 2019-04-10 | 2019-06-14 | 南京赫曼机器人自动化有限公司 | A kind of universal adsorbent equipment |
| CN110077483A (en) * | 2019-05-16 | 2019-08-02 | 哈尔滨工业大学 | A kind of negative-pressure adsorption robot and become adsorption capacity non-plane motion control method |
| CN110525533A (en) * | 2019-09-08 | 2019-12-03 | 太原科技大学 | A kind of anti-depression polar region scientific investigation vehicle of large span |
-
2019
- 2019-12-18 CN CN201911312619.5A patent/CN113002651A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102198664A (en) * | 2011-05-25 | 2011-09-28 | 燕山大学 | Two-degree-of-freedom (two-DOF) spherical parallel robot bionic ankle joint with central spherical pair |
| CN102826138A (en) * | 2012-08-24 | 2012-12-19 | 华南理工大学 | Negative-pressure adsorption module with automatic altitude detection capacity and self-adaptive capacity to adsorbed surface |
| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
| CN207089483U (en) * | 2017-04-05 | 2018-03-13 | 南京瑞麒凰电子科技有限公司 | A kind of absorption type surface job platform and its equipment of loading |
| CN107161226A (en) * | 2017-06-20 | 2017-09-15 | 长沙无道工业设计有限公司 | A kind of caterpillar robot |
| CN207415393U (en) * | 2017-09-14 | 2018-05-29 | 昆山龙腾光电有限公司 | A kind of vacuum cup and manipulator |
| CN109877871A (en) * | 2019-04-10 | 2019-06-14 | 南京赫曼机器人自动化有限公司 | A kind of universal adsorbent equipment |
| CN110077483A (en) * | 2019-05-16 | 2019-08-02 | 哈尔滨工业大学 | A kind of negative-pressure adsorption robot and become adsorption capacity non-plane motion control method |
| CN110525533A (en) * | 2019-09-08 | 2019-12-03 | 太原科技大学 | A kind of anti-depression polar region scientific investigation vehicle of large span |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Birkmeyer et al. | DASH: A dynamic 16g hexapedal robot | |
| US7339340B2 (en) | Control system and related method for multi-limbed, multi-legged robot | |
| US20090200090A1 (en) | Multiple-point grounding type foot portion supporting mechanism, biped walking robot equipped with the same, and control structrure therefor | |
| KR20020086464A (en) | Legged mobile robot and control method thereof, leg structure of legged mobile robot, and mobile leg unit for legged mobile robot | |
| CN112874655B (en) | Angle-controllable robot passive foot and robot applying same | |
| CN102897243B (en) | Robot device capable of walking stably | |
| CN111516773A (en) | Reconfigurable biped robot with multiple motion modes | |
| CN1860001A (en) | Leg type moving robot | |
| KR101579550B1 (en) | Parallel mechanism based on truss structure | |
| US20040030455A1 (en) | Biped robot | |
| JP2005153038A (en) | Leg type mobile robot and foot part structure for leg type mobile robot | |
| CN113625735B (en) | Control method based on leg-arm multiplexing six-foot robot and robot | |
| JP4078857B2 (en) | Legs of legged mobile robot and legged mobile robot | |
| Jianhua | Design and kinematic simulation for Six-DOF leg mechanism of hexapod robot | |
| CN113002651A (en) | Foot type wall-climbing robot | |
| CN111634344A (en) | Variable-rigidity self-adaptive gecko-like sole with active sticking/desorbing capability and method | |
| CN113492931A (en) | Foot type wall-climbing robot | |
| Li et al. | Stable jump control for the wheel-legged robot based on TMS-DIP model | |
| Yi et al. | Biped locomotion by reduced ankle power | |
| Liu et al. | Design of a biped robot actuated by pneumatic artificial muscles | |
| Tsagarikis et al. | A novel variable stiffness actuator: Minimizing the energy requirements for the stiffness regulation | |
| CN210761039U (en) | Multi-degree-of-freedom foot device with single driving force and capable of adapting to terrain | |
| Kamikawa et al. | Tachyon: design and control of high payload, robust, and dynamic quadruped robot with series-parallel elastic actuators | |
| CN109677502B (en) | Robot bionic foot mechanism and biped robot | |
| CN110539285A (en) | Bionic flexible foot type tensioning mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20210622 |
|
| RJ01 | Rejection of invention patent application after publication |