CN210592210U - Bionic wall climbing device - Google Patents
Bionic wall climbing device Download PDFInfo
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- CN210592210U CN210592210U CN201921656827.2U CN201921656827U CN210592210U CN 210592210 U CN210592210 U CN 210592210U CN 201921656827 U CN201921656827 U CN 201921656827U CN 210592210 U CN210592210 U CN 210592210U
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- 239000011664 nicotinic acid Substances 0.000 title claims abstract description 102
- 230000009194 climbing Effects 0.000 title claims abstract description 53
- 230000007246 mechanism Effects 0.000 claims abstract description 130
- 210000002435 tendon Anatomy 0.000 claims abstract description 101
- 210000002414 leg Anatomy 0.000 claims abstract description 80
- 210000002303 tibia Anatomy 0.000 claims abstract description 47
- 238000001179 sorption measurement Methods 0.000 claims abstract description 34
- 210000001930 leg bone Anatomy 0.000 claims abstract description 21
- 210000001503 joint Anatomy 0.000 claims description 23
- 210000001699 lower leg Anatomy 0.000 claims description 9
- 230000003592 biomimetic effect Effects 0.000 claims description 7
- 210000004227 basal ganglia Anatomy 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 18
- 241000238631 Hexapoda Species 0.000 abstract description 10
- 230000009193 crawling Effects 0.000 abstract description 6
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- 238000000034 method Methods 0.000 description 11
- 230000005021 gait Effects 0.000 description 10
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- 238000000429 assembly Methods 0.000 description 9
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- 230000008602 contraction Effects 0.000 description 8
- 230000008569 process Effects 0.000 description 8
- 238000010521 absorption reaction Methods 0.000 description 7
- 238000010586 diagram Methods 0.000 description 7
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- 238000003912 environmental pollution Methods 0.000 description 2
- 230000009975 flexible effect Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 210000003205 muscle Anatomy 0.000 description 2
- 235000001968 nicotinic acid Nutrition 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000002493 climbing effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
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Abstract
The utility model discloses a bionical wall device of climbing, include: the bionic foot component is provided with a base joint rotor mechanism, a leg bone mechanism, a shin bone mechanism and an adsorption foot which are sequentially connected, a leg tendon mechanism is arranged between the base joint rotor mechanism and the leg bone mechanism and drives the leg bone mechanism to drive the shin bone mechanism and the adsorption foot to simultaneously lift up or fall down, a shin tendon mechanism is arranged between the base joint rotor mechanism and the shin bone mechanism and drives the shin bone mechanism and the adsorption foot to simultaneously extend out or retract along the lateral direction of the machine body; the main body of the machine body is provided with four base joint driving mechanisms and four power output control units which are in one-to-one correspondence with the four bionic foot components, and the base joint driving mechanisms drive the base joint rotor mechanisms to rotate and drive the leg bone mechanisms to transversely swing with the base joint rotors. The device realizes the soft action similar to crawling of insects, has low noise and light weight, is miniaturized, and can be suitable for various wall surface operations.
Description
Technical Field
The utility model relates to a bionical robot technical field, more specifically relates to a bionical wall device of climbing.
Background
The wall-climbing robot is a special bionic robot which can carry various working tools to realize specific functions on various wall surfaces, and is widely applied to dangerous or special occasions such as glass curtain wall cleaning, glass wiping, large-sized tank thickness measurement and flaw detection, spraying, high-altitude investigation and the like. The wall climbing robot can improve the efficiency of high-altitude operation, can replace manual operation, and reduces the potential safety hazard of workers in the dangerous environment.
The traditional wall climbing robot has two fluid transmission modes of hydraulic and air pressure, but the traditional hydraulic and air pressure transmission modes have the characteristics of easy leakage, high noise, high weight-power ratio, difficult maintenance and the like. Particularly, the hydraulic transmission has stable movement and large output force, but once the leakage of hydraulic oil occurs, the environmental pollution can be caused, and the hydraulic transmission has high cost and difficult maintenance. Compared with hydraulic transmission, the pneumatic transmission takes compressed air as a working medium, and even if leakage occurs, the pneumatic transmission cannot cause environmental pollution except partial power loss. And the pneumatic transmission action is rapid, and the maintainability is better than the hydraulic transmission. Moreover, the traditional wall climbing robot is generally large in volume and weight, large in noise during movement, and hard and inflexible in action, and the defects limit the application range of the wall climbing robot.
It is therefore desirable to provide a biomimetic wall climbing device that is small, lightweight, and low in noise, and that is capable of performing flexible motions to accommodate different tasks on various types of walls.
SUMMERY OF THE UTILITY MODEL
The utility model aims at providing a bionical wall device of climbing has characteristics small, light in weight, noise are low to can realize flexible action in order to be applicable to the different tasks on the various kinds of walls.
In order to achieve the above object, the utility model provides a bionical wall device of climbing, include: the bionic foot device comprises a machine body main body and four bionic foot components, wherein the four bionic foot components are arranged on two sides of the machine body main body in a pairwise symmetry manner;
the bionic foot component is provided with a base joint rotor mechanism, a leg bone mechanism, a shin bone mechanism and an adsorption foot which are sequentially connected, a leg tendon mechanism is arranged between the base joint rotor mechanism and the leg bone mechanism and drives the leg bone mechanism to drive the shin bone mechanism and the adsorption foot to simultaneously lift up or fall down, the shin tendon mechanism is arranged between the base joint rotor mechanism and the shin bone mechanism and drives the shin bone mechanism and the adsorption foot to simultaneously extend out or retract along the lateral direction of the machine body main body;
the machine body main body is provided with four base joint driving mechanisms and four power output control units which correspond to the four bionic foot components one by one, each base joint driving mechanism is connected with one base joint rotor mechanism, the base joint driving mechanisms drive the base joint rotor mechanisms to rotate and drive the leg bone mechanisms to simultaneously swing clockwise or anticlockwise and transversely by taking the base joint rotor mechanisms as axes, so that the shin bone mechanisms and the adsorption feet are driven to simultaneously move towards the front or the back of the machine body main body;
every on the bionical foot subassembly the leg tendon mechanism, shin tendon mechanism, adsorb the foot and with bionical foot subassembly corresponds the basal ganglia actuating mechanism respectively with one the power take off control unit is connected.
Optionally, the base section rotor mechanism includes a base section, a base section gear, a base section rotating shaft and a base section support, and the base section gear, the base section rotating shaft and the base section support are respectively and fixedly connected to the base section; the upper end of the base section support is provided with a first hinge rod, the lower end of the base section support is provided with a second hinge rod, and the base section is arranged between the first hinge rod and the second hinge rod; the base joint rotating shaft penetrates through the base joint along the vertical direction, a first bearing is arranged at the upper end of the base joint rotating shaft, and a second bearing is arranged at the lower end of the base joint rotating shaft; the base section gear is coaxial with the base section rotating shaft, and a base section hinged shaft is arranged at one end, opposite to the base section gear, of the base section.
Optionally, shin bone mechanism is including the shin bone support of vertical setting, the shin bone support is equipped with shin bone pivot, third hinge pole and fourth hinge pole, the third hinge pole is located the top of shin bone pivot, the fourth hinge pole is located the below of shin bone pivot, adsorb the foot and locate the bottom of shin bone support.
Optionally, the leg bone mechanism includes a transversely-arranged leg joint support, one end of the leg joint support is hinged to the base section, the other end of the leg joint support is connected to the shank rotating shaft, the one end of the leg joint support is provided with a leg joint rotating shaft, and the other end of the leg joint support is provided with a fifth hinged rod.
Optionally, the leg tendon mechanism includes a leg lifting pneumatic tendon and a leg pressing pneumatic tendon, two ends of the leg lifting pneumatic tendon are respectively hinged to the first hinge rod and the fifth hinge rod, and two ends of the leg pressing pneumatic tendon are respectively hinged to the second hinge rod and the fifth hinge rod.
Optionally, the shin tendon mechanism includes pneumatic tendon of shin stretching and pneumatic tendon of shin retraction, the pneumatic tendon of shin stretching one end with the leg joint pivot is connected, the pneumatic tendon of shin stretching the other end with the third hinge pole is articulated, the pneumatic tendon of shin retraction one end with the leg joint pivot is connected, the pneumatic tendon of shin retraction the other end with the fourth hinge pole is articulated.
Optionally, the main body of the fuselage comprises an upper fuselage plate and a lower fuselage plate which are fixedly connected, the four power output control units are arranged between the upper fuselage plate and the lower fuselage plate, and the power output control units are fixedly connected with the lower fuselage plate;
the base joint driving mechanism comprises a rotary cylinder arranged below the lower plate of the machine body and a cylinder gear arranged between the lower plate of the machine body and the upper plate of the machine body, a rotary shaft of the rotary cylinder penetrates through the upper surface of the lower plate of the machine body from the lower surface of the lower plate of the machine body and is fixedly connected with the cylinder gear, and the cylinder gear is meshed with the base joint gear.
Optionally, two sides of the upper plate of the machine body are provided with four first bearing mounting holes which are opposite in pairs, two sides of the lower plate of the machine body are provided with four second bearing mounting holes which are opposite in pairs, the first bearing mounting holes are fixedly connected with the first bearings, and the second bearing mounting holes are fixedly connected with the second bearings.
Optionally, the power output control unit includes a pneumatic controller, on each bionic foot component the pneumatic tendon of leg, the pneumatic tendon of leg press, the pneumatic tendon of shin stretcher, the pneumatic tendon of shin, adsorb the foot and with one that the bionic foot component corresponds the revolving cylinder respectively with one the pneumatic controller is connected.
Optionally, the aircraft further comprises a universal wheel assembly, wherein the universal wheel assembly is arranged on the lower portion of the lower board of the aircraft body and is positioned at the front end or the rear end of the aircraft body.
The beneficial effects of the utility model reside in that:
through set up four bionical sufficient subassemblies around fuselage main part, bionical sufficient subassembly has base joint rotor mechanism, leg bone mechanism, shin bone mechanism, it is sufficient to adsorb, leg tendon mechanism, the bionics structure of shin tendon mechanism, bionical sufficient subassembly is at leg tendon mechanism, the transmission structure that shin tendon mechanism and base joint actuating mechanism constitute drives down can realizing lifting of similar insect shank, the whereabouts, the side direction is stretched out and is withdrawed and horizontal fore-and-aft swing's function, thereby realize when bionical sufficient subassembly drives fuselage main part motion, the bionical gentle action that similar insect crawled can be realized to the wall device of climbing, it is little to realize the noise, light in weight, it is miniaturized and can be applicable to multiple wall operation.
Furthermore, the power output control unit adopts a pneumatic controller, the base joint driving mechanism adopts a rotary cylinder, and the leg tendon mechanism and the shin tendon mechanism respectively adopt two pneumatic tendons, namely the whole transmission mechanism adopts pneumatic transmission, so that the effects of quick action, good maintainability and no pollution are realized, and the weight of the device can be further reduced; by adopting the mode of 'four-foot pneumatic adsorption and universal wheels', the walking mechanism can realize reliable adsorption and stable non-overturning in the moving process, and ensure the stability during wall climbing.
The apparatus of the present invention has other features and advantages which will be apparent from or are set forth in more detail in the accompanying drawings and the following detailed description, which are incorporated herein, and which together serve to explain certain principles of the invention.
Drawings
The above and other objects, features and advantages of the present invention will become more apparent by describing in more detail exemplary embodiments of the present invention with reference to the attached drawings, in which like reference numerals generally represent like parts.
Fig. 1 shows an overall schematic view of a bionic wall climbing device according to an embodiment of the present invention.
Fig. 2 shows a schematic structural diagram of a bionic foot assembly of a bionic wall-climbing device according to an embodiment of the present invention.
Fig. 3 shows a schematic view of a main body of a bionic wall climbing device according to an embodiment of the present invention.
Fig. 4 shows a schematic diagram of a body upper plate of a bionic wall climbing device according to an embodiment of the present invention.
Fig. 5a to 5f are schematic diagrams illustrating an upward crawling gait planning of a bionic wall climbing device according to an embodiment of the present invention.
Fig. 6a to 6f are schematic diagrams illustrating a gait planning diagram for right crawling of a bionic wall-climbing device according to an embodiment of the present invention.
Description of reference numerals:
1. a main body of the body; 2. a biomimetic foot assembly; 3. a body upper plate; 4. a lower plate of the fuselage; 5a, a first bearing mounting hole; 5b, a second bearing mounting hole; 6. a support pillar; 7. a universal wheel assembly; 8. a rotating cylinder; 9. a cylinder gear; 10. a pneumatic controller; 11. a base gear; 12. a base section; 13. a base section rotating shaft; 14a, a first bearing; 14b, a second bearing; 15. a base section support; 15a, a first hinge lever; 15b, a second hinge lever; 16a, a leg joint rotation shaft; 16b, a fifth hinge lever; 17. pneumatic muscle tendon for lifting leg; 18. pneumatic muscle tendon for pressing leg; 19. stretching the tibia to obtain pneumatic tendon; 20. pneumatic tendon for shin reduction; 21. a shank spindle; 22. a leg-section support; 23. a shank bracket; 23a, a third hinge rod; 23b, a fourth hinge lever; 24. adsorbing feet; 25. and a base section articulated shaft.
Detailed Description
The invention will be described in more detail below with reference to the accompanying drawings. While the preferred embodiments of the present invention have been illustrated in the accompanying drawings, it is to be understood that the invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
Fig. 1 shows an overall schematic view of a bionic wall climbing device according to an embodiment of the present invention, fig. 2 shows a structural schematic view of a bionic foot component of the bionic wall climbing device according to an embodiment of the present invention, fig. 3 shows a schematic view of a main body of a bionic wall climbing device according to an embodiment of the present invention, fig. 4 shows a schematic view of a main body dismantling machine body plate of the bionic wall climbing device according to an embodiment of the present invention;
as shown in fig. 1 to 4, the bionic wall climbing device according to the present invention comprises: the bionic foot comprises a machine body main body 1 and four bionic foot components 2, wherein the four bionic foot components 2 are symmetrically arranged on two sides of the machine body main body 1 in pairs;
the bionic foot component 2 is provided with a base joint rotor mechanism, a leg bone mechanism, a shin bone mechanism and an absorption foot 24 which are sequentially connected, a leg tendon mechanism is arranged between the base joint rotor mechanism and the leg bone mechanism, the leg tendon mechanism drives the leg bone mechanism to drive the shin bone mechanism and the absorption foot 24 to simultaneously lift up or fall down, a shin tendon mechanism is arranged between the base joint rotor mechanism and the shin bone mechanism, and the shin tendon mechanism drives the shin bone mechanism and the absorption foot 24 to simultaneously extend out or retract along the lateral direction of the machine body main body 1;
the machine body main body 1 is provided with four base joint driving mechanisms and four power output control units which are in one-to-one correspondence with the four bionic foot assemblies 2, each base joint driving mechanism is connected with one base joint rotor mechanism, the base joint driving mechanisms drive the base joint rotor mechanisms to rotate and drive the leg bone mechanisms to simultaneously swing clockwise or anticlockwise by taking the base joint rotor mechanisms as axes, so that the tibia mechanisms and the adsorption feet 24 are driven to simultaneously move towards the front or the back of the machine body main body 1;
the leg tendon mechanism, the shin tendon mechanism and the absorption foot 24 on each bionic foot component 2 and the base joint driving mechanism corresponding to the bionic foot component 2 are respectively connected with a power output control unit.
Specifically, through set up four bionical sufficient subassemblies 2 around fuselage main part 1, bionical sufficient subassembly 2 has base section rotor mechanism, leg bone mechanism, shin bone mechanism, adsorb sufficient 24, shin tendon mechanism, the bionics structure of shin tendon mechanism, bionical sufficient subassembly 2 can realize lifting of similar insect shank under the drive structure drive that shin tendon mechanism and base section actuating mechanism constitute, whereabouts, the side direction stretches out and withdraws and the action of horizontal fore-and-aft swing, thereby realize when bionical sufficient subassembly 2 drives fuselage main part 1 motion, the bionical gentle action that similar insect crawled can be realized to the bionical wall climbing device, realize that the noise is little, light in weight, it is miniaturized and can be applicable to multiple wall operation.
In this embodiment, the base section rotor mechanism includes a base section 12, a base section gear 11, a base section rotating shaft 13 and a base section support 15, and the base section gear 11, the base section rotating shaft 13 and the base section support 15 are respectively fixedly connected with the base section 12; the upper end of the base joint support 15 is provided with a first hinged rod 15a, the lower end of the base joint support 15 is provided with a second hinged rod 15b, and the base joint 12 is arranged between the first hinged rod 15a and the second hinged rod 15 b; the base joint rotating shaft 13 penetrates through the base joint 12 along the vertical direction, a first bearing 14a is arranged at the upper end of the base joint rotating shaft 13, and a second bearing 14b is arranged at the lower end of the base joint rotating shaft 13; the base joint gear 11 is coaxial with the base joint rotating shaft 13, and a base joint hinge shaft 25 is arranged at one end of the base joint 12 opposite to the base joint gear 11.
Specifically, referring to fig. 2, the base joint 12 is fixed in the center of the base joint support 15, the base joint support 15 is a rectangular frame structure perpendicular to the main body 1 of the fuselage, the upper and lower ends of the base joint support 15 are respectively provided with a first hinge rod 15a and a second hinge rod 15b, one side of the main body of the base joint 12 facing the main body 1 of the fuselage is provided with a base joint gear 11, the base joint gear 11 is fixedly connected with the main body of the base joint 12, the other side opposite to the base joint gear 11 is provided with a base joint hinge shaft 25 connected with the leg joint support 22, the base joint shaft 13 penetrates through the base joint 12 in the vertical direction, the upper end and the lower end of the base joint shaft 13 are respectively provided with a first bearing 14a and a second bearing 14b, the base joint shaft 13 and the base joint gear 11 are coaxial, and the first bearing 14a and the second bearing 14b are used for connecting. The shape and structure of the base section support 15 in other embodiments of the present invention may be in other forms, and are not described herein.
In this embodiment, the tibial mechanism includes a tibial bracket 23 that is longitudinally arranged, the tibial bracket 23 is provided with a tibial rotating shaft 21, a third hinge rod 23a and a fourth hinge rod 23b, the third hinge rod 23a is arranged above the tibial rotating shaft 21, the fourth hinge rod 23b is arranged below the tibial rotating shaft 21, and the adsorption foot 24 is arranged at the bottom end of the tibial bracket 23.
Specifically, referring to fig. 2, the tibia support 23 is a rectangular frame structure that is longitudinally arranged, a tibia rotation shaft 21 is arranged at the middle upper portion of the tibia support 23, a third hinge rod 23a is arranged above the tibia rotation shaft 21, a fourth hinge rod 23b is arranged below the tibia rotation shaft 21, and the adsorption foot 24 is located at the bottom end of the tibia support 23. Third articulated pole 23a and fourth articulated pole 23b in this embodiment are two respectively, and when the pneumatic tendon 19 of shin stretching or the pneumatic tendon 20 of shin contracting was connected with different third articulated pole 23a or fourth articulated pole 23b, will realize different lateral shifting distance, be convenient for adjust the distance of taking a step transversely, in other embodiments of the utility model, the number of third articulated pole 23a, fourth articulated pole 23b also can be one or more than two, and the technical personnel in the art can specifically set up according to actual conditions, and the here is no longer described repeatedly. Adsorb sufficient 24 in this embodiment is the sucking disc, and the sucking disc is fixed in the bottom of shank support 23 through the universal joint, the utility model discloses an in other embodiments, adsorb sufficient 24 also can be for other forms to adaptation and different walls, the sufficient 24 types of absorption that the skilled person can be fit for according to the actual demand selection, no longer repeated here.
In this embodiment, the leg bone mechanism includes a leg link bracket 22 transversely disposed, one end of the leg link bracket 22 is hinged to the base 12, the other end of the leg link bracket 22 is connected to the shin link rotating shaft 21, one end of the leg link bracket 22 is provided with a leg link rotating shaft 16a, and the other end of the leg link bracket 22 is provided with a fifth hinge lever 16 b.
Specifically, referring to fig. 2, the transversely disposed leg-link bracket 22 has a rectangular frame structure, one end of the leg-link bracket 22 is hinged to the base 12 through a hinge shaft on the base 12, a leg-link rotating shaft 16a is disposed at a position of the leg-link bracket 22 close to the base 12, the other end of the leg-link bracket 22 is connected to the shin-link rotating shaft 21, a fifth hinge lever 16b is disposed at a position of the leg-link bracket 22 close to the shin-link rotating shaft 21, and in this embodiment, two reinforcing cross bars are further disposed at a middle position of the leg-link bracket 22 to reinforce the overall strength of the leg-link bracket 22.
In this embodiment, referring to fig. 2, the leg tendon mechanism includes a leg raising pneumatic tendon 17 and a leg pressing pneumatic tendon 18, two ends of the leg raising pneumatic tendon 17 are respectively hinged to the first hinge rod 15a and the fifth hinge rod 16b, and two ends of the leg pressing pneumatic tendon 18 are respectively hinged to the second hinge rod 15b and the fifth hinge rod 16 b.
Specifically, the leg tendon mechanism comprises a leg lifting pneumatic tendon 17 and a leg pressing pneumatic tendon 18, the leg lifting pneumatic tendon 17 contracts to pull the leg joint support 22 to rotate upwards around a hinged shaft of the base joint 12, so as to drive the shin joint support 23 and the adsorption foot 24 to lift upwards and simulate the lifting action of the insect leg, correspondingly, the leg pressing pneumatic tendon 18 contracts to pull the leg joint support 22 to rotate downwards around the hinged shaft of the base joint 12, so as to drive the shin joint support 23 and the adsorption foot 24 to move downwards and enable the adsorption foot 24 to fall to a climbing wall surface for adsorption, and simulate the falling action of the insect leg, so that the lifting function and the falling function of the leg joint support 22 in the wall climbing process are completed.
In this embodiment, the pneumatic tendon mechanism includes a pneumatic tendon 19 for stretching the shin and a pneumatic tendon 20 for contracting the shin, one end of the pneumatic tendon 19 for stretching the shin is connected to the leg joint rotation shaft 16a, the other end of the pneumatic tendon 19 for stretching the shin is hinged to a third hinge rod 23a, one end of the pneumatic tendon 20 for contracting the shin is connected to the leg joint rotation shaft 16a, and the other end of the pneumatic tendon 20 for contracting the shin is hinged to a fourth hinge rod 23 b.
Specifically, the tibiae tendon mechanism comprises a tibiae-extending pneumatic tendon 19 and a tibiae-contracting pneumatic tendon 20, when the bionic foot component 2 performs the above-mentioned lifting action, the tibiae-extending pneumatic tendon 19 contracts to pull the tibiae bracket 23 to rotate around the tibiae rotating shaft 21, the upper end of the tibiae bracket 23 is pulled by the tibiae-extending pneumatic tendon 19 to move towards the inner side of the body 1, so that the lower end of the tibiae bracket 23 and the adsorption foot 24 move towards the outer side of the body 1, at this time, the bionic foot component 2 performs the above-mentioned falling action, so that the adsorption foot 24 is adsorbed on the wall surface, the function of imitating the outward extension of the insect leg is realized, then the tibiae-contracting pneumatic tendon 20 contracts, and the body 1 can be pulled to move; correspondingly, after the bionic foot component 2 performs the lifting action, the pneumatic tendon 20 for shin contraction contracts to pull the shin-knuckle support 23 to rotate around the shin-knuckle rotating shaft 21, the lower end of the shin-knuckle support 23 is pulled by the pneumatic tendon 20 for shin contraction to move towards the inner side of the machine body 1, so that the lower end of the shin-knuckle support 23 and the adsorption foot 24 move towards the inner side of the machine body 1, the bionic foot component 2 performs the falling action, the adsorption foot 24 is adsorbed on the wall surface, the function of simulating transverse inner side contraction of the legs of the insect is realized, then the pneumatic tendon 19 for shin expansion contracts, and the machine body 1 can be pushed to move transversely to one side; the transverse movement of the body 1 can be realized through the corresponding matching of the bionic foot components 2 at the two sides of the body 1.
In the embodiment, the machine body main body 1 comprises a machine body upper plate 3 and a machine body lower plate 4 which are fixedly connected, four power output control units are arranged between the machine body upper plate 3 and the machine body lower plate 4, and the power output control units are fixedly connected with the machine body lower plate 4;
the base joint driving mechanism comprises a rotary cylinder arranged below the lower machine body plate 4 and a cylinder gear 9 arranged between the lower machine body plate 4 and the upper machine body plate 3, a rotary shaft of the rotary cylinder penetrates through the upper surface of the lower machine body plate 4 from the lower surface of the lower machine body plate 4 and is fixedly connected with the cylinder gear 9, and the cylinder gear 9 is meshed with the base joint gear 11.
Specifically, referring to fig. 3 and 4, the upper body plate 3 and the lower body plate 4 are fixedly connected through six support columns 6 and form a containing space between the upper body plate 3 and the lower body plate 4, the upper body plate 3 and the lower body plate 4 form a frame of the main body 1, wherein the upper body plate 3 can carry various working tools according to various tasks, four base joint driving mechanisms are oppositely arranged on two sides of the lower body plate 4 in pairs, a power output control unit is arranged near each base joint driving mechanism, a rotary cylinder of each base joint driving mechanism is arranged below the lower body plate 4 and is fixedly connected with the lower body plate 4, a rotating shaft of a rotary cylinder 8 is fixedly connected with a cylinder gear 9 above the upper body plate 3, referring to fig. 1, the cylinder gear 9 is engaged with a base joint gear 11 of the bionic foot assembly 2, the cylinder gear 9 can rotate along a direction parallel to the surface of the lower body plate 4, thereby can drive base section 12 through revolving cylinder 8 and drive whole bionical sufficient subassembly 2 and to the place ahead and the rear swing of fuselage main part 1, after bionical sufficient subassembly 2 carries out the above-mentioned action of lifting up shank support 23, revolving cylinder 8 drives base section gear 11 on the base section 12 rotatory through cylinder gear 9, thereby make bionical sufficient subassembly 2 to fuselage the place ahead or the rear lateral swing, then the aforesaid action of falling is cooperated, absorption foot 24 on the bionical sufficient subassembly 2 adsorbs the wall, thereby later rethread revolving cylinder 8 reverse drive bionical sufficient subassembly 2 can drive fuselage main part 1 and move backward around.
In this embodiment, two sides of the upper plate 3 of the fuselage are provided with four first bearing 14a mounting holes 5a opposite to each other in pairs, two sides of the lower plate 4 of the fuselage are provided with four second bearing 14b mounting holes 5b opposite to each other in pairs, the first bearing 14a mounting holes 5a are fixedly connected with the first bearings 14a, and the second bearing 14b mounting holes 5b are fixedly connected with the second bearings 14 b.
Specifically, referring to fig. 3, two sides of the upper plate 3 of the body are provided with four first bearing 14a mounting holes 5a opposite to each other in pairs, two sides of the lower plate 4 of the body are provided with four second bearing 14b mounting holes 5b opposite to the first bearing 14a mounting holes 5a, and one first bearing 14a mounting hole 5a and one opposite second bearing 14b mounting hole 5b are respectively and fixedly connected with the first bearing 14a and the second bearing 14b on one base joint 12, so that the transverse swing of the bionic foot assembly 2 can be realized.
In this embodiment, the power output control unit includes a pneumatic controller 10, and a leg pneumatic tendon, a leg pressing pneumatic tendon 18, a shin stretching pneumatic tendon 19, a shin contracting pneumatic tendon 20, an adsorption foot 24 and a rotary cylinder 8 corresponding to the bionic foot assembly 2 on each bionic foot assembly 2 are respectively connected to one pneumatic controller 10.
Specifically, the pneumatic controller 10 is connected with a corresponding rotary cylinder 8, a leg raising pneumatic tendon 17, a leg pressing pneumatic tendon 18, a shin stretching pneumatic tendon 19, a shin contracting pneumatic tendon 20 and an absorption foot 24 on a corresponding bionic foot component 2 through hoses, and corresponding bionic actions are realized through different pneumatic input controls. Wherein pneumatic tendon is a tensile driver, can imitate the motion of natural tendon, and it has initial force than big with the traditional cylinder of cylinder diameter, the heavy load dynamic characteristic is good, do not have the removal mechanical part, do not have when moving slowly and beat and creep the phenomenon, need not to use displacement sensor, sealed good, the sound construction, be applicable to and be full of advantages such as dust and dirty environment, and pneumatic tendon is prior art, and its technical principle here is no longer repeated. The pneumatic controller 10 is prior art and the control principle of the pneumatic controller for the pneumatic cylinder is not described herein. Meanwhile, the adsorption feet 24 are suckers, the pneumatic controller 10 is connected with the suckers through hoses, and after the suckers contact with the wall surface, the pneumatic controller 10 controls (inhales or inflates) through different air pressures to realize the adsorption and separation functions of the suckers on the wall surface.
In this embodiment, the aircraft further includes a universal wheel assembly 7, and the universal wheel assembly 7 is disposed at the lower portion of the lower airframe plate 4 and is located at the front end or the rear end of the airframe main body 1.
Specifically, referring to fig. 1 and 3, the universal wheel assembly 7 can play a supporting role, so as to prevent the main body 1 from being close to a wall surface or overturning when the four bionic foot assemblies 2 perform wall climbing actions, and maintain the stability of the main body 1 in the moving process. It should be noted that the universal wheel assembly 7 should be located at the downward end of the wall climbing device when the wall surface is climbing, for example, when the wall climbing device is climbing a vertical wall surface, in order to prevent the wall climbing device from overturning, the universal wheel assembly 7 should be arranged at the rear end (i.e. the end facing the ground) of the wall climbing device.
Further, as shown in fig. 1 to 4, the upper fuselage panel 3, the lower fuselage panel 4, the leg-knuckle support 22, the shin-knuckle support 23, and the base-knuckle support 15 in this embodiment are all hollow, so as to reduce the weight of the whole bionic wall-climbing device, thereby achieving the effect of light weight.
The working principle of the bionic wall climbing device in the embodiment is as follows:
the bionic wall climbing device is mainly attached to a wall surface through a suction disc at the tail end of an attaching foot 24, and walking movement on the wall surface is realized through controlling the components of the bionic foot component 2 to generate horizontal swing, lifting or falling of a leg bracket 22 and expansion or contraction of a shank bracket 23.
The four bionic foot components 2 of the bionic wall climbing device of the embodiment of the bionic wall climbing device are respectively marked as left front, right front, left back and right back, and the gait planning of vertical walking and horizontal walking is realized as follows:
the arrangement sketch of the fuselage main body 1 and the four bionic foot assemblies 2 is shown in fig. 5a to 6f, wherein black circles indicate that the suction cups at the tail ends of the suction devices are in a suction state, and white circles indicate that the suction cups are in a relaxation state.
Fig. 5a to 5f show an upward crawling gait planning diagram of a bionic wall climbing device according to an embodiment of the present invention, and the gait planning method of vertical walking is as follows:
fig. 5a shows the initial position of the bionic wall climbing device, such that the suckers at the ends of the left, rear and right front bionic foot assemblies 2 adsorb the wall surface and form a triangular stable supporting structure together with the universal wheels, and the suckers at the ends of the left, front and right rear bionic foot assemblies 2 are in a non-adsorbed relaxed state, so as to control the lifting of the leg-joint supports 22 of the left, front and right rear bionic foot assemblies 2, and achieve the upward swinging and outward slight stretching, so as to achieve the posture shown in fig. 5 b.
Controlling the leg support 22 of the left front and right rear bionic foot components 2 to fall to make the suction cup adsorb the wall surface, after the adsorption is stable, controlling the tail end suction cup of the left rear and right front bionic foot components 2 to be in the non-adsorbed relaxed state, and lifting the leg support 22 to achieve the posture shown in fig. 5 c.
The bionic foot components 2 at the left front and the right back are controlled to swing downwards and contract inwards slightly, so that the bionic wall climbing device moves upwards and vertically to reach the posture shown in fig. 5 d.
Controlling the leg support 22 of the left rear and right front bionic foot components 2 to lift up and realize upward swing and outward slight extension to achieve the posture shown in fig. 5 e.
And controlling the leg support 22 of the left rear and right front bionic foot components 2 to fall to enable the suction cups to adsorb the wall surface, controlling the tail end suction cups of the left front and right rear bionic foot components 2 to be in a non-adsorbed relaxed state after adsorption is stable, and lifting the leg support 22 to achieve the posture shown in fig. 5 f.
Controlling the left rear and right front bionic foot components 2 to swing downwards and contract inwards slightly, so that the bionic wall climbing device moves upwards and vertically again to reach the initial posture shown in fig. 5 a.
The above process is gait planning of the bionic wall climbing device to realize upward vertical walking, and the motion attitude is the working state cycle shown in fig. 5 in sequence: 5a → 5b → 5c → 5d → 5e → 5f → 5a, the reverse of this process is the working cycle of downward vertical walking.
If the steering function is to be realized, different rotation angle amplitudes are controlled to swing when each bionic foot component 2 moves, and the amplitude is determined by the rotation angle.
Fig. 6a to 6f show a gait planning diagram of right crawling of the bionic wall-climbing device according to an embodiment of the present invention, and the gait planning method of horizontal walking is as follows:
fig. 6a shows an initial position of the bionic wall-climbing device, such that the suckers at the ends of the left front and right rear bionic foot assemblies 2 adsorb the wall surface and form a triangular stable supporting structure together with the universal wheel, and the suckers at the ends of the left rear and right front bionic foot assemblies 2 are in a non-adsorbed relaxed state, so as to control the contraction of the tibialis bracket 23 of the left rear bionic foot assembly 2 and the expansion of the tibialis bracket 23 of the right front bionic foot assembly 2, so as to achieve the posture shown in fig. 6 b.
Controlling the leg support 22 of the left rear and right front bionic foot components 2 to fall to make the suction cup adsorb the wall surface, after the adsorption is stable, controlling the tail end suction cup of the left front and right rear bionic foot components 2 to be in the non-adsorbed relaxed state, and lifting the leg support 22 to achieve the posture shown in fig. 6 c.
And controlling the extension of the tibial bracket 23 of the left rear bionic foot component 2 and the contraction of the tibial bracket 23 of the right front bionic foot component 2 to enable the bionic wall climbing device to horizontally move rightwards to achieve the posture shown in fig. 6 d.
And controlling the contraction of the tibial bracket 23 of the left front bionic foot component 2 and the expansion of the tibial bracket 23 of the right rear bionic foot component 2 to achieve the posture shown in fig. 6 e.
And controlling the leg support 22 of the left front and right rear bionic foot components 2 to fall, enabling the suction cups to adsorb the wall surface, controlling the tail end suction cups of the left rear and right front bionic foot components 2 to be in a non-adsorbed relaxed state after adsorption is stable, and enabling the leg support 22 to be lifted to achieve the posture shown in fig. 6 f.
And controlling the extension of the tibial bracket 23 of the left front bionic foot component 2 and the contraction of the tibial bracket 23 of the right rear bionic foot component 2 to enable the bionic wall climbing device to horizontally move rightwards again to achieve the initial posture shown in fig. 6 a.
The above process is gait planning of the bionic wall climbing device to realize horizontal movement to the right, and the motion attitude is the working state cycle shown in fig. 6 in sequence: 6a → 6b → 6c → 6d → 6e → 6f → 6a, the reverse of this process is the work cycle of horizontal movement to the left.
In a specific implementation process, a corresponding control program can be written for the pneumatic controller 10 to realize the action control and execution sequence of the four bionic foot assemblies 2, so that the bionic wall climbing device can execute the gait planning method, a wireless signal receiving device can be arranged on the body main body to cooperate with a ground control device to realize a remote control function, and meanwhile, the technical scheme of the invention is also suitable for non-quadruped robots, such as wall climbing robots with six feet or eight feet, or robots with other foot structures by replacing the adsorption feet in the scheme, and the technical scheme is easy to realize and is not described herein again.
The bionic wall climbing device of the embodiment can realize soft action similar to crawling of insects, is low in noise, light in weight and small in size, and can be suitable for various wall surface operations.
While various embodiments of the present invention have been described above, the above description is intended to be illustrative, not exhaustive, and not limited to the disclosed embodiments. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the described embodiments.
Claims (10)
1. A bionic wall climbing device is characterized by comprising: the bionic foot device comprises a machine body main body and four bionic foot components, wherein the four bionic foot components are arranged on two sides of the machine body main body in a pairwise symmetry manner;
the bionic foot component is provided with a base joint rotor mechanism, a leg bone mechanism, a shin bone mechanism and an adsorption foot which are sequentially connected, a leg tendon mechanism is arranged between the base joint rotor mechanism and the leg bone mechanism and drives the leg bone mechanism to drive the shin bone mechanism and the adsorption foot to simultaneously lift up or fall down, the shin tendon mechanism is arranged between the base joint rotor mechanism and the shin bone mechanism and drives the shin bone mechanism and the adsorption foot to simultaneously extend out or retract along the lateral direction of the machine body main body;
the machine body main body is provided with four base joint driving mechanisms and four power output control units which correspond to the four bionic foot components one by one, each base joint driving mechanism is connected with one base joint rotor mechanism, the base joint driving mechanisms drive the base joint rotor mechanisms to rotate and drive the leg bone mechanisms to simultaneously swing clockwise or anticlockwise and transversely by taking the base joint rotor mechanisms as axes, so that the shin bone mechanisms and the adsorption feet are driven to simultaneously move towards the front or the back of the machine body main body;
every on the bionical foot subassembly the leg tendon mechanism, shin tendon mechanism, adsorb the foot and with bionical foot subassembly corresponds the basal ganglia actuating mechanism respectively with one the power take off control unit is connected.
2. The bionic wall climbing device according to claim 1, wherein the base joint rotor mechanism comprises a base joint, a base joint gear, a base joint rotating shaft and a base joint support, and the base joint gear, the base joint rotating shaft and the base joint support are respectively and fixedly connected with the base joint;
the upper end of the base section support is provided with a first hinge rod, the lower end of the base section support is provided with a second hinge rod, and the base section is arranged between the first hinge rod and the second hinge rod;
the base joint rotating shaft penetrates through the base joint along the vertical direction, a first bearing is arranged at the upper end of the base joint rotating shaft, and a second bearing is arranged at the lower end of the base joint rotating shaft;
the base section gear is coaxial with the base section rotating shaft, and a base section hinged shaft is arranged at one end, opposite to the base section gear, of the base section.
3. The bionic wall climbing device according to claim 2, wherein the tibia mechanism comprises a tibia support which is longitudinally arranged, the tibia support is provided with a tibia rotating shaft, a third hinge rod and a fourth hinge rod, the third hinge rod is arranged above the tibia rotating shaft, the fourth hinge rod is arranged below the tibia rotating shaft, and the adsorption foot is arranged at the bottom end of the tibia support.
4. The bionic wall climbing device according to claim 3, wherein the leg bone mechanism comprises a transversely arranged leg joint support, one end of the leg joint support is hinged to the base joint, the other end of the leg joint support is connected with the shank joint rotating shaft, the one end of the leg joint support is provided with a leg joint rotating shaft, and the other end of the leg joint support is provided with a fifth hinge rod.
5. The bionic wall-climbing device according to claim 4, wherein the leg tendon mechanism comprises a leg-lifting pneumatic tendon and a leg-pressing pneumatic tendon, two ends of the leg-lifting pneumatic tendon are respectively hinged with the first hinge rod and the fifth hinge rod, and two ends of the leg-pressing pneumatic tendon are respectively hinged with the second hinge rod and the fifth hinge rod.
6. The biomimetic wall-climbing device according to claim 5, wherein the shin tendon mechanism comprises a pneumatic tendon for shin extension and a pneumatic tendon for shin retraction, one end of the pneumatic tendon for shin extension is connected with the leg joint rotating shaft, the other end of the pneumatic tendon for shin extension is hinged with the third hinge rod, one end of the pneumatic tendon for shin retraction is connected with the leg joint rotating shaft, and the other end of the pneumatic tendon for shinretraction is hinged with the fourth hinge rod.
7. The bionic wall climbing device according to claim 6, wherein the body comprises an upper body plate and a lower body plate which are fixedly connected, the four power output control units are arranged between the upper body plate and the lower body plate, and the power output control units are fixedly connected with the lower body plate;
the base joint driving mechanism comprises a rotary cylinder arranged below the lower plate of the machine body and a cylinder gear arranged between the lower plate of the machine body and the upper plate of the machine body, a rotary shaft of the rotary cylinder penetrates through the upper surface of the lower plate of the machine body from the lower surface of the lower plate of the machine body and is fixedly connected with the cylinder gear, and the cylinder gear is meshed with the base joint gear.
8. The bionic wall climbing device according to claim 7, wherein four first bearing mounting holes which are opposite in pairs are formed in two sides of the upper plate of the body, four second bearing mounting holes which are opposite in pairs are formed in two sides of the lower plate of the body, the first bearing mounting holes are fixedly connected with the first bearings, and the second bearing mounting holes are fixedly connected with the second bearings.
9. The biomimetic wall-climbing device according to claim 8, wherein the power output control unit comprises a pneumatic controller, and the leg pneumatic tendon, the leg pressing pneumatic tendon, the shin stretching pneumatic tendon, the shin shrinking pneumatic tendon, the adsorption foot and one of the rotary cylinders corresponding to the biomimetic foot components on each biomimetic foot component are respectively connected with one of the pneumatic controllers.
10. The biomimetic wall climbing device according to claim 9, further comprising a universal wheel assembly, wherein the universal wheel assembly is arranged at the lower part of the lower plate of the body and is positioned at the front end or the rear end of the body main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921656827.2U CN210592210U (en) | 2019-09-30 | 2019-09-30 | Bionic wall climbing device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201921656827.2U CN210592210U (en) | 2019-09-30 | 2019-09-30 | Bionic wall climbing device |
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| CN210592210U true CN210592210U (en) | 2020-05-22 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588822A (en) * | 2019-09-30 | 2019-12-20 | 武汉轻工大学 | Bionic wall climbing device |
| CN112407211A (en) * | 2020-09-18 | 2021-02-26 | 桂林电子科技大学 | Golden-edge-like dragon louse swimming foot underwater propulsion device |
-
2019
- 2019-09-30 CN CN201921656827.2U patent/CN210592210U/en not_active Withdrawn - After Issue
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110588822A (en) * | 2019-09-30 | 2019-12-20 | 武汉轻工大学 | Bionic wall climbing device |
| CN110588822B (en) * | 2019-09-30 | 2024-03-26 | 武汉轻工大学 | Bionic wall climbing device |
| CN112407211A (en) * | 2020-09-18 | 2021-02-26 | 桂林电子科技大学 | Golden-edge-like dragon louse swimming foot underwater propulsion device |
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