CN106393052B - Climbing robot - Google Patents
Climbing robot Download PDFInfo
- Publication number
- CN106393052B CN106393052B CN201610978851.2A CN201610978851A CN106393052B CN 106393052 B CN106393052 B CN 106393052B CN 201610978851 A CN201610978851 A CN 201610978851A CN 106393052 B CN106393052 B CN 106393052B
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- wheel
- frame ontology
- stump
- frame
- driving wheel
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to a kind of climbing robots.Including frame, frame includes frame ontology and opposite two connectors being mounted in the frame body end；Mechanism is sought connections with, is mounted on the frame ontology, for seeking connections with the robot in working face；Adaptive mechanism, it is mounted on two junctors, the adaptive mechanism include be mounted on the connector middle part and always with work face contact and the support component that can reciprocatingly slide between the frame ontology and the working face, it is arranged on the connector and about symmetrical two driving wheel of the support component, and the linkage rod slide block mechanism of the connection support component and the driving wheel.When working face is curved surface; under the action of linkage rod slide block mechanism; it is further driven to that driving wheel is same as working face to be kept in contact; finally make driving wheel and support component that supporting role be collectively formed to robot, it is ensured that robot is provided with stable seek connections with and service ability on a variety of different working faces.
Description
Technical field
The present invention relates to robotic technology fields, more particularly to a kind of climbing robot.
Background technique
Based on high altitude operation low efficiency, under the premise of safety coefficient is low and higher cost, climbing robot is by every profession and trade
Favor.With the continuous improvement of social development levels and the increasingly complexity of working environment, people are to climbing robot function
It is required that being also continuously increased.Climbing robot mainly engages in the work such as detection, wall surface cleaning, rescue at present, as high-altitude pole
A kind of automated arm for limiting operation, has broad application prospects.
With economic continuous development, the moulding of all kinds of buildings be not confined to traditional square or Else Rule shape
Shape, generally, traditional climbing robot can only be useful in plane and walk.
Summary of the invention
Based on this, it is necessary to provide a kind of climbing robot with curved surface self application ability.
A kind of climbing robot, comprising:
Frame, including frame ontology and opposite two connectors being mounted in the frame body end；
Mechanism is sought connections with, is mounted on the frame ontology, for seeking connections with the robot in working face；
Adaptive mechanism is mounted on two junctors, and the adaptive mechanism includes being mounted in the connector
Portion and always with work face contact and the support component that can reciprocatingly slide between the frame ontology and the working face, setting exists
On the connector and about symmetrical two driving wheel of the support component, and connect the support component and the driving wheel
Linkage rod slide block mechanism；
Wherein, when the support component is slided, the sliding-block linkage drives two driving wheel to connect with working face
Touching.
The linkage rod slide block mechanism includes slidiing pin, elastic component, connecting rod and rocking bar, institute in one of the embodiments,
It states the sliding slot opened up in the middle part of slidiing pin and the connector to cooperate, the support component is connect with the slidiing pin, described
Elastic component is connected between the slidiing pin and the frame ontology, and one end of the connecting rod and the slidiing pin are hinged, institute
The one end for stating the other end and the rocking bar of connecting rod is hinged, and the other end of the rocking bar passes through the end of articulated shaft and the connector
Portion is hinged, the driving wheel and the hinged axis connection.
The elastic component is reset spring in one of the embodiments,.
Barrier getting over mechanism is additionally provided on the frame in one of the embodiments, the barrier getting over mechanism includes being mounted on
First Stump-jump wheel and the second Stump-jump wheel on the frame ontology, first Stump-jump wheel and the second Stump-jump wheel are located at same described
Between the driving wheel of the two of adaptive mechanism, the center of first Stump-jump wheel and the second Stump-jump wheel to the frame ontology away from
With a distance from center to the frame ontology from the respectively less than described driving wheel.
First Stump-jump wheel and the second Stump-jump wheel are circumferentially offered for enhancing along it in one of the embodiments,
The anti-slop serrations of friction.
The frame ontology includes two crossbeam disposed in parallel in one of the embodiments, and it is horizontal to be vertically connected on described two
Two stringers between beam, and be mounted on two crossbeams middle part and it is parallel with the stringer and to same direction protrude two
Nose bar；
The connector include V-shape mounting rod and be connected to V-shape installation boom end and the beam-end it
Between column, be fixedly connected in the middle part of the middle part of the V-shape mounting rod and the crossbeam.
The mechanism of seeking connections with includes the propeller being arranged on the frame ontology and driving in one of the embodiments,
The driving motor of the propeller rotational, the Plane of rotation of the propeller are parallel with the plane where the frame ontology.
The guard circle for protecting the propeller is additionally provided on the frame ontology in one of the embodiments,.
The support component includes support rod and universal wheel in one of the embodiments, one end of the support rod with
The linkage rod slide block mechanism connection, the other end of the support rod are connect with the universal wheel.
Deformable rubber wheel case is mounted on the driving wheel and the universal wheel in one of the embodiments,.
Climbing robot provided by the invention, due to being mounted with adaptive mechanism, when working face is curved surface, support component
It is kept in contact with working face, under the action of linkage rod slide block mechanism, is further driven to that driving wheel is same as working face to be kept in contact,
Driving wheel is not at vacant state, finally makes driving wheel and support component that supporting role be collectively formed to robot, it is ensured that
Robot is provided with stable seek connections with and service ability on a variety of different working faces.
Detailed description of the invention
Fig. 1 is the schematic perspective view of robot；
Fig. 2 is the side structure schematic view that robot moves in the plane；
Fig. 3 is the side structure schematic view that robot moves on curved surface；
Fig. 4 is the schematic illustration of robot across obstacle.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein "inner", "outside", "left", "right" and
Similar statement for illustrative purposes only, is not meant to be the only embodiment.
Simultaneously refering to fig. 1 and Fig. 2, a kind of climbing robot 000, including frame 100, seek connections with mechanism 200 and adaptive machine
Structure 300.Frame 100 includes frame ontology 110 and two connectors 120, and two connectors 120, which are relatively fixed, is mounted on frame ontology
On 110 two ends.Certainly, the quantity that connector 120 connects can also be greater than two.It seeks connections with mechanism 200 and is mounted on frame sheet
On body 110 on the side opposite with connector 120, mechanism 200 is sought connections with for making robot 000 be attached to working face 500.From
It adapts to mechanism 300 to be mounted on two connectors 120, adaptive mechanism 300 includes support component 310, two driving wheels 330 and connecting rod
Slide block mechanism 320.Support component 310 is mounted on the middle part of connector 120, support component 310 contacts with working face 500 always,
And it can reciprocatingly slide between frame ontology 110 and working face 500, two driving wheels 330 are symmetrically arranged about support component 310
On connector 120, two driving wheels 330 are by the way of differential driving, by the speed difference between two driving wheels 330 to realize
The steering of robot 000.Linkage rod slide block mechanism 320 is then connected between support component 310 and driving wheel 330.Wherein, work as support
When component 310 slides, linkage rod slide block mechanism 320 drives two driving wheels 330 to contact with working face 500.
Refering to fig. 1, specifically, frame ontology 110 is rectangular configuration, frame ontology 110 includes two crossbeams 111, two stringers, 112 and
Two nose bars 113, two crossbeams 111 are arranged in parallel, and two stringers 112 are connect with crossbeam 111 respectively, phase between crossbeam 111 and stringer 112
It is mutually vertical.Two nose bars 113 are then separately mounted to the middle part of two crossbeams 111, and nose bar 113 is parallel with stringer 112, and to same side
To protrusion.
Refering to fig. 1, connector 120 includes V-shape mounting rod 121 and column 122, middle part and the cross of V-shape mounting rod 121
The middle part of beam 111 is fixedly connected, and the end of V-shape mounting rod 121 and the end of crossbeam 111 are substantially flush, and column 122 then connects
Between 111 end of 121 end of V-shape mounting rod and crossbeam, column 122 can be integrally formed with V-shape mounting rod 121, be stood
Column 122 is for enhancing the stability connected between V-shape mounting rod 121 and crossbeam 111.
Refering to Fig. 2 and Fig. 3, linkage rod slide block mechanism 320 includes slidiing pin 321, elastic component 322, connecting rod 323 and rocking bar
324.The middle part of V-shape mounting rod 121 offers sliding slot 121a along the vertical direction, slidiing pin 321 then with sliding slot 121a phase
Cooperation, slidiing pin 321 can up and down reciprocatingly slide in sliding slot 121a, and one end of elastic component 322 and slidiing pin 321 connect
It connects, the other end of elastic component 322 is then connect with the middle part of 110 upper beam 111 of frame ontology, one end of connecting rod 323 and slidiing pin
321 is hinged, and one end of the other end and rocking bar 324 of connecting rod 323 is hinged, and the other end of rocking bar 324 passes through articulated shaft 325 and V word
The end of type mounting rod 121 is hinged, and driving wheel 330 is then fixedly connected with articulated shaft 325, when slidiing pin 321 is to frame ontology 110
When direction (i.e. upwards) sliding, connecting rod 323 will drive rocking bar 324 is (counterclockwise) upwards to swing, rocking bar 324 and V-shape mounting rod
Angle between 121 becomes smaller, and rocking bar 324 drives two driving wheels 330 around 325 counter-clockwise swing of articulated shaft.
Elastic component 322 is reset spring, and reset spring is cylindrical compression spring or conical compression spring, works as slidiing pin
321 when moving upwards, and reset spring generates compression, and slidiing pin 321 can be under the action of reset spring elastic force along the chute
121a is moved downward and (is resetted).
Seeking connections with mechanism 200 includes propeller 210 and driving motor, and driving motor is mounted on the middle part of crossbeam 111, driving electricity
The output shaft of machine is connect with propeller 210, and driving motor drives propeller 210 to rotate, the Plane of rotation and frame sheet of propeller 210
Plane where body 110 is parallel.When propeller 210 rotates forward, air is discharged to the direction away from working face 500 in propeller 210,
Air then conducts to frame 100 reaction force that propeller 210 generates, and reaction force is passed through 330 He of driving wheel by frame 100
Further conduction is to working face 500 for support component 310, so that entire robot 000 be made to be attached on working face 500.Work as spiral
When the positive rotary speed of paddle 210 increases, air increases the reaction force that propeller 210 generates, the Adhesion enhancement of robot 000；
On the contrary, air reduces the reaction force that propeller 210 generates, robot 000 when the positive rotary speed of propeller 210 reduces
Adhesive force weakens.
Refering to fig. 1, guard circle 220 is additionally provided on frame ontology 110, guard circle 220 is connect with the both ends of crossbeam 111,
Straight line where 210 shaft of propeller is just passed through the center of guard circle 220, so that the disc quilt where the rotation of propeller 210
Guard circle 220 surrounds, and guard circle 220 is it is possible to prevente effectively from collision between external interference object and the propeller of rotation 210, it is ensured that
Propeller 210 runs well and generates enough thrust, makes that entire robot 000 is reliable and stable to be attached on working face 500,
It prevents from falling off and damaging robot 000.
Refering to Fig. 2 and Fig. 3, support component 310 includes support rod 312 and universal wheel 311, support rod 312 and frame ontology 110
The plane at place is vertical, and one end of support rod 312 is connect with slidiing pin 321, and universal wheel 311 is then another with support rod 312
End connection, the driving wheel 330 at same 121 both ends of V-shape mounting rod is symmetrical about the line between two universal wheels 311, therefore, no
Pipe working face 500 is plane or curved surface, and universal wheel 311 will be kept in contact with working face 500 always.
To increase the contact area between robot 000 and working face 500, it is respectively mounted on driving wheel 330 and universal wheel 311
There is rubber wheel case, rubber wheel case can deform, and under the action of 210 thrust of propeller, the deformation that rubber wheel case generates will make to drive
Driving wheel 330 and universal wheel 311 it is even closer be attached on working face 500 when curved surface (especially working face 500 be), further
Guarantee robot 000 seeks connections with ability.
Refering to Fig. 3, typically, for the higher curved surface of bending degree, traditional robot 000 cannot achieve climbs well
Attached ability.For robot 000 of the invention, when it enters curved surface, for example (,) the biggish convex surface of curvature, two universal wheels 311
Always contacted with working face 500, at this point, driving wheel 330 be in the non-contacting vacant state of working face 500, due to support rod
312 and the total length of universal wheel 311 will not change, under the action of 210 thrust of propeller, slidiing pin 321 will be with respect to sliding slot
121a is moved upwards and is squeezed elastic component 322, and frame 100 will be moved and (be moved downward) to the direction close to working face 500, after
And driving wheel 330 is driven to move closer to working face 500.While driving wheel 330 moves downward, slidiing pin 321 will pass through
The collective effect of connecting rod 323 and rocking bar 324 makes driving wheel 330 around 325 counter-clockwise swing of articulated shaft, and driving wheel 330 generates centainly
Inclination angle, so that driving wheel 330 finally be made to keep contacting to the greatest extent with working face 500.Driving wheel 330 and universal wheel 311
It will play a supporting role jointly to entire robot 000, robot 000 keeps new stress balance on new working face 500.
Referring to Fig.2, on the contrary, universal wheel 311 is in gravity and elastic component 322 when robot 000 is travelled from curved surface to plane
It being moved downward under the action of elastic force, slidiing pin 321 is moved downward with respect to sliding slot 121a, and connecting rod 323 drives rocking bar 324 to swing,
Angle between rocking bar 324 and V-shape mounting rod 121 increases, and 330 clockwise oscillation of driving wheel makes 330 He of driving wheel again
Universal wheel 311 is contacted being respectively formed between working face 500 under new equilibrium state, guarantees that robot 000 is reliably attached to
On working face 500.
Meanwhile robot 000 has upper wall (working face 500) ability automatically, when robot 000 prepare from ground moving to
When metope, close to metope propeller 210 invert, far from metope propeller 210 it is static, thus to robot 000 generate to
On pulling force, universal wheel 311 is up lifted, meanwhile, driving wheel 330 push robot 000 moved along metope, when all drivings
When wheel 330 is contacted with metope formation, two propellers 210 rotate forward simultaneously, and robot 000 is stable to be sought connections on metope.
Refering to fig. 1 and Fig. 4, further, it is additionally provided with barrier getting over mechanism 400 on frame 100, barrier getting over mechanism 400 includes the
One Stump-jump wheel 410 and the second Stump-jump wheel 420, the first Stump-jump wheel 410 and the second Stump-jump wheel 420 are separately mounted to frame ontology 110
On the free end of two nose bars 113, the distance of center to the frame ontology 110 of the first Stump-jump wheel 410 and the second Stump-jump wheel 420 is small
In the center of driving wheel 330 to the distance of frame ontology 110, when robot 000 moves, for the same adaptive mechanism 300, the
One Stump-jump wheel 410 and the second Stump-jump wheel 420 are respectively positioned on the front upper place of universal wheel 311.First Stump-jump wheel 410 and the second Stump-jump wheel
420 circumferentially open up anti-slop serrations 411 along it, when anti-slop serrations 411 and bar contact, can enhance frictional force, get over convenient for first
Barrier wheel 410 and the successful across obstacle of the second Stump-jump wheel 420.
Refering to Fig. 4, specifically, on the right of 410 place circumference of the diameter of 410 horizontal direction of the first Stump-jump wheel and the first Stump-jump wheel
Intersection point formed highest point, do tangent section 600 from the highest point to driving wheel 330, the barrier under the tangent section 600
Hinder object that can be spanned, likewise, the second Stump-jump wheel 420 is identical as the working principle of the first Stump-jump wheel 410.In brief,
As long as the height of barrier is no more than the height at 420 center of the first Stump-jump wheel 410 or the second Stump-jump wheel, robot 000 can be got over
It crosses.When across obstacle, robot 000 is lifted certain height by the rotation of the first Stump-jump wheel 410, to make the drive on the right
Driving wheel 330 and universal wheel 311 are across barrier, and when the second Stump-jump wheel 420 is with bar contact, the second Stump-jump wheel 420 is same
Robot 000 is lifted certain altitude, the driving wheel 330 and universal wheel 311 for making the left side are across barrier, so far, robot 000
Success across obstacle.
Therefore, robot 000 adapts to the variation of 500 pattern of working face, and changes driving by linkage rod slide block mechanism 320
The posture of wheel 330, is close to universal wheel 311 with 500 phase of working face with driving wheel 330, and it is bent to be applicable in various relatively large structures
The cylindrical surface and circular conical surface of face and smaller radius of curvature, the especially surface of tube bundle.The not only adaptive ability of robot 000
By force, movement speed is fast, and obstacle climbing ability is good.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of climbing robot characterized by comprising
Frame, including frame ontology and opposite two connectors being mounted in the frame body end；
Mechanism is sought connections with, is mounted on the frame ontology, for seeking connections with the robot in working face；
Adaptive mechanism is mounted on two connectors, and the adaptive mechanism includes the middle part for being mounted on the connector
And it is arranged always with work face contact and the support component that can reciprocatingly slide between the frame ontology and the working face in institute
It states on connector and about symmetrical two driving wheel of the support component, and connects the support component and the driving wheel
Linkage rod slide block mechanism；
Wherein, when the support component is slided, the linkage rod slide block mechanism drives two driving wheel and work face contact.
2. climbing robot according to claim 1, which is characterized in that the linkage rod slide block mechanism include slidiing pin,
The sliding slot opened up in the middle part of elastic component, connecting rod and rocking bar, the slidiing pin and the connector cooperates, the support component and institute
State slidiing pin connection, the elastic component is connected between the slidiing pin and the frame ontology, one end of the connecting rod with
The slidiing pin is hinged, and the other end of the connecting rod and one end of the rocking bar are hinged, and the other end of the rocking bar passes through hinge
Spindle and the end of the connector are hinged, the driving wheel and the hinged axis connection.
3. climbing robot according to claim 2, which is characterized in that the elastic component is reset spring.
4. climbing robot according to claim 1, which is characterized in that be additionally provided with barrier getting over mechanism, institute on the frame
Stating barrier getting over mechanism includes being mounted on the first Stump-jump wheel and the second Stump-jump wheel on the frame ontology, and first Stump-jump wheel and second is got over
Barrier wheel is located between two driving wheels of the same adaptive mechanism, first Stump-jump wheel and the second Stump-jump wheel
The distance of center to the frame ontology is respectively less than the center of the driving wheel to the distance of the frame ontology.
5. climbing robot according to claim 4, which is characterized in that first Stump-jump wheel and the second Stump-jump wheel are along it
The circumferential anti-slop serrations offered for enhancing friction.
6. climbing robot according to claim 1, which is characterized in that the frame ontology includes disposed in parallel two horizontal
Beam, two stringers being vertically connected between two crossbeam, and be mounted on the middle part of two crossbeams and put down with the stringer
Row and two nose bars protruded to same direction；
The connector includes V-shape mounting rod and is connected between the V-shape installation boom end and the beam-end
Column is fixedly connected in the middle part of the middle part of the V-shape mounting rod and the crossbeam.
7. climbing robot according to claim 1, which is characterized in that the mechanism of seeking connections with includes being arranged in the frame sheet
The driving motor of propeller and the driving propeller rotational on body, the Plane of rotation of the propeller and the frame ontology
The plane at place is parallel.
8. climbing robot according to claim 7, which is characterized in that be additionally provided on the frame ontology for protecting
State the guard circle of propeller.
9. climbing robot according to claim 1, which is characterized in that the support component includes support rod and universal
Wheel, one end of the support rod are connect with the linkage rod slide block mechanism, and the other end of the support rod is connect with the universal wheel.
10. climbing robot according to claim 9, which is characterized in that pacify on the driving wheel and the universal wheel
Equipped with deformable rubber wheel case.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610978851.2A CN106393052B (en) | 2016-10-28 | 2016-10-28 | Climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610978851.2A CN106393052B (en) | 2016-10-28 | 2016-10-28 | Climbing robot |
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| CN106393052A CN106393052A (en) | 2017-02-15 |
| CN106393052B true CN106393052B (en) | 2019-04-16 |
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| CN201610978851.2A Active CN106393052B (en) | 2016-10-28 | 2016-10-28 | Climbing robot |
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| CN107177913B (en) * | 2017-06-07 | 2019-09-27 | 铜陵松宝智能装备股份有限公司 | A kind of intelligence doffs the wheel control device of robot and intelligence is doffed robot |
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| CN107651032B (en) * | 2017-11-02 | 2023-11-14 | 西南大学 | Multi-adaptation external corner climbing robot |
| CN107697181B (en) * | 2017-11-02 | 2023-11-14 | 西南大学 | Horizontal reentrant corner climbing robot |
| CN108454722B (en) * | 2018-03-07 | 2023-12-29 | 深圳市行知行机器人技术有限公司 | Permanent magnet wheel type wall climbing robot |
| CN108438071B (en) * | 2018-03-12 | 2023-10-17 | 苏州科技大学 | Robot with obstacle crossing function |
| CN108516027B (en) * | 2018-05-17 | 2024-03-15 | 香港中文大学（深圳） | Support leading wheel structure and have cable climbing robot of this structure |
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| CN109249401B (en) * | 2018-08-15 | 2020-11-27 | 北京思迈特科技有限公司 | Cable trench inspection robot with high obstacle crossing capability and implementation method thereof |
| CN109436113A (en) * | 2018-12-11 | 2019-03-08 | 世隆裕(深圳)科技有限公司 | A kind of caterpillar robot |
| CN112550508B (en) * | 2020-12-03 | 2021-11-09 | 北京理工大学 | Double-rotor wheel type floor movement robot |
| CN112818542B (en) * | 2021-02-01 | 2022-08-09 | 上海大学 | Motion behavior analysis method of asymmetric double-wheel rimless wheel model in spatial inclined plane |
| CN114906245A (en) * | 2021-02-07 | 2022-08-16 | 郑州迅布智能科技有限公司 | Wall-climbing robot |
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| CN106393052A (en) | 2017-02-15 |
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