A sucker track-driven bionic device for climbing on smooth surfaces

A crawler-driven, smooth-surface technology, applied in crawler vehicles, motor vehicles, transportation and packaging, etc., can solve the problems of low movement speed, discontinuity, not independence, etc., to achieve the effect of simple structure and improved environmental adaptability

Inactive Publication Date: 2018-06-08
SHANDONG UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

The advantage of a walking wall-climbing robot is that it can adapt to uneven walls, but due to the large number of actuators and footwork controllers, the walking wall-climbing robot is heavy and the control system is relatively complicated
This results in low and discontinuous robot motion
At the same time, the realization of the sliding mechanism is relatively simpler than that of the walking mechanism, but it is also not widely used due to discontinuous movement and low movement speed.
[0004] CN96205687.1 discloses an "automatic cleaning device for high-rise building walls". This device adopts an adsorption device with multiple suction cups, and each suction cup is not independent. When one of the suction cups leaks, it will affect the vacuum degree of the entire suction cup. Reduced vacuum prevents the cleaning device from staying on the wall
[0005] CN01274743.2 discloses a "wall-climbing robot combining a single suction cup and a crawler-type multi-suction cup". The role that independent suckers should play in the sense

Method used

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  • A sucker track-driven bionic device for climbing on smooth surfaces
  • A sucker track-driven bionic device for climbing on smooth surfaces

Examples

Experimental program
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Effect test

Embodiment 1

[0027] Such as figure 1 with figure 2 As shown, a suction cup crawler-driven bionic device for climbing on a smooth surface includes a frame 2, a ring guide rail 3 is arranged on the frame 2, a driving wheel 4 and a tensioning wheel 5 are also arranged on the frame 2, and the driving wheel 4 is driven by a motor, and the annular guide rail 3 bypasses the driving wheel 4 and the tensioning wheel 5, and the outer ring of the driving wheel 4 and the tensioning wheel 5 is equipped with an annular crawler belt 1, and the annular crawler belt 1 is located outside the annular guide rail 3 There are several vacuum suction cups 8 distributed at equal intervals on the periphery of the annular crawler 1, and a main handle 7 is arranged on the side where each vacuum suction cup 8 is connected with the annular crawler 1, and one end of the main handle 7 is connected with the vacuum suction cup 8, and the other end is connected with the vacuum suction cup 8. A main handle tension applying...

Embodiment 2

[0034] The structure and principle of the second embodiment and the first embodiment are basically the same, the only difference is: the gap between the original ring guide rail 3 and the ring track 1 becomes larger, that is, the side where the ring track 1 is in contact with the surface to be climbed On the inner side, a plurality of first permanent magnets are set to form an approximately uniform magnetic field, and a second permanent magnet is set on the main handle 7, which skillfully avoids contact and friction, and also applies a pulling force to the main handle 7 to make the vacuum chuck 8 to generate negative pressure.

[0035] The parts not mentioned in the present invention can be realized by adopting or referring to the prior art.

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Abstract

The invention discloses a suction cup crawler drive bionic device for climbing on a smooth surface, which comprises a frame, a drive wheel and a tensioner wheel are arranged on the frame, and an annular track is installed on the outer ring of the drive wheel and the tensioner wheel. A plurality of vacuum suction cups are distributed at equal intervals on the periphery of the annular crawler. A main handle is provided on the side where each vacuum suction cup is connected to the annular crawler. One end of the main handle is connected to the vacuum suction cup, and the other end is provided with a main handle tension applying mechanism. The invention solves the problems of complex mechanism, difficulty in unsealing after vacuum of the suction cups, low speed, discontinuity and the like during the crawling process of the wall-climbing robot with multiple suction cups, and can climb on a smooth plane with any angle.

Description

technical field [0001] The invention relates to a crawler belt driven bionic device, in particular to a sucker crawler belt driven bionic device for climbing on a smooth surface. Background technique [0002] Mobile robots have been widely used in high-altitude operations, such as cleaning the exterior walls of high-rise buildings, constructing high-rise buildings, painting large ships, monitoring storage cabinets in nuclear power plants, etc., because such tasks are generally important but extremely critical. Dangerous, therefore, a relatively special field of research in mobile robots - wall-climbing robots have been extensively researched and well developed in various parts of the world. Most of the current wall-climbing robots can be classified into two categories: traction and adhesion. Adhesive wall-climbing robot has an adhesive mechanism, which adheres to the wall through suction, magnetic force, van der Waals force and micro-thorn interlocking action. The magnetic...

Claims

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Application Information

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Patent Type & Authority Patents(China)
IPC IPC(8): B62D55/265
CPCB62D55/265
Inventor 沈潇王宇常龙肖楠
Owner SHANDONG UNIV OF SCI & TECH
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