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Sucker crawler-driven bionic device used for climbing and clinging to 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: 2016-09-21
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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  • Sucker crawler-driven bionic device used for climbing and clinging to smooth surfaces
  • Sucker crawler-driven bionic device used for climbing and clinging to smooth surfaces

Examples

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Embodiment 1

[0027] Such as figure 1 and 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 sucker crawler-driven bionic device used for climbing and clinging to smooth surfaces. The device comprises a rack. A driving wheel and a tension wheel are further arranged on the rack. An annular crawler is mounted on an outer circle of the driving wheel and an outer circle of the tension wheel. A plurality of vacuum suckers are distributed on the circumferential circle of the annular crawler at equal intervals. The sides, connected with the annular crawler, of the vacuum suckers are provided with main handles. One ends of the main handles are connected with the vacuum suckers, and the other ends of the main handles are provided with main handle tensile force applying mechanisms. The problems such as complex mechanisms, difficult unsealing after vacuumization of suckers, low speed and noncontinuity in the crawling process of multi-sucker wall climbing robots are solved, and the device can climb the smooth surfaces at 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 Applications(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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