CN106428283B - A kind of corner climbing robot - Google Patents
A kind of corner climbing robot Download PDFInfo
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- CN106428283B CN106428283B CN201611092783.6A CN201611092783A CN106428283B CN 106428283 B CN106428283 B CN 106428283B CN 201611092783 A CN201611092783 A CN 201611092783A CN 106428283 B CN106428283 B CN 106428283B
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- road wheel
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- frictional force
- metope
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Combustion & Propulsion (AREA)
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Abstract
The present invention relates to a kind of corner climbing robots comprising is symmetricly set on the road wheel of fuselage both sides, driving device output is connected with transmission device, universal member is connected between transmission device and the road wheel；Universal member adjusts the direction of road wheel, when road wheel being made to be close to the two metopes rotation of corner, frictional force F is generated between road wheel and two metopes, frictional force F has towards inside corner line and the component vertical with inside corner line and component straight up, when the components of frictional force F straight up are more than the gravity of robot, robot is climbed upwards with acceleration；When the components of frictional force F straight up be equal to robot gravity when, machine artificially at the uniform velocity upwards climbing, uniform descent, hover on two metopes of corner in one kind；When the components of frictional force F straight up are less than the gravity of robot, robot is declined with certain acceleration along metope.This programme solves the problems, such as that Climbing Robot needs complicated adsorption technology in the prior art.
Description
Technical field
The present invention relates to climbing robot, specifically a kind of corner climbing robot.
Background technology
Climbing Robot can be climbed and be fulfiled assignment in perpendicular walls, and climbing robot is also known as wall robot,
Because vertical walls operation exceeds the limit of people, therefore is also known as limit robot in foreign countries.
Climbing robot must have absorption and mobile two basic functions, realize that the function of wall is climbed by robot, adsorb
Technology is core.Traditional climbing robot, which has vacuum suction, magnetic suck and climbs up by holding on to formula, adsorbs three kinds of adsorption forms.Vacuum suction side
Formula has the advantages that not limited by wall surface material, but when wall surface is rough and uneven in surface, is easy to make sucker gas leakage, to make adsorption capacity and
Bearing capacity is decreased obviously.Magnetic suck method can be divided into two kinds of electromagnet and permanent magnet, and electromagnet formula maintains adsorption capacity to need electric power,
But control is more convenient.Permanent magnet type is not influenced by powering off, safe and reliable in use, but control is more troublesome.Magnetic suck mode
The problem of adaptable to the convex-concave of wall surface, and adsorption capacity is much larger than vacuum suction mode, and there is no vacuum leaks, but require wall
Face must be permeability magnetic material, therefore seriously limit the application environment of climbing robot.Climb up by holding on to formula absorption be by catching or
Wall is climbed in the protrusion realization for catching on wall surface, and this mode requires wall surface coarse, then improper for hydraulically smooth surface.
In the prior art, the research of these above-mentioned Climbing Robots is concentrated mainly on the adsorption function of vertical wall,
But all there are some all the time and use defect：Climbing Robot using magnetic suck mode has particular/special requirement to metope, is applicable in
Range is small；High power components are needed using the Climbing Robot of vacuum suction mode to generate negative pressure；Using bionic gecko foot side
The Climbing Robot wheel efficiency of formula is low.
Invention content
It is simple in structure the purpose of the present invention is to provide a kind of corner climbing robot, it is easy to control, it can solve
Climbing Robot needs the problem of complicated adsorption technology in the prior art.
Technical scheme is as follows：
A kind of corner climbing robot comprising fuselage and driving device further include being symmetricly set on the fuselage
The road wheel of both sides, the driving device output are connected with transmission device, are connected between the transmission device and the road wheel
There is universal member；
Universal member adjusts the direction of road wheel, when road wheel being made to be close to the two metopes rotation of corner, road wheel and institute
State and generate frictional force F between two metopes, frictional force F have towards corner inside corner line and the component vertical with inside corner line with
And component straight up, when the components of the frictional force F straight up are more than the gravity of robot, robot is with certain
Acceleration is climbed upwards；When the components of frictional force F straight up are equal to the gravity of robot, the state of robot be at the uniform velocity to
Upper climbing, uniform descent, hover on two metopes of corner in one kind；When the components of the frictional force F straight up are small
When the gravity of robot, robot is declined with certain acceleration along metope.
Further, the corner is 90 °, and the road wheel of the fuselage both sides symmetrically divides along the inside corner line of corner
Cloth；When robot hovers on two metopes of corner, road wheel towards corner inside corner line and with the inside corner line hang down
Directly, the rotating speed for adjusting road wheel makes the components of frictional force F straight up between road wheel and two metope be equal to robot
Gravity；When two metope of Robot accelerate upwards climbing when, road wheel towards corner inside corner line and with the inside corner line
Angle be in certain value acute angle, adjust the rotating speed of road wheel, make frictional force F between road wheel and two metope vertically to
On component be more than robot gravity；When two metope of Robot is at the uniform velocity climbed or declined upwards, road wheel is in
The inside corner line in corner and with the angle of the inside corner line be in certain value acute angle, adjust the rotating speed of road wheel, make road wheel with it is described
The components of frictional force F straight up between two metopes are equal to the gravity of robot；When two metope of Robot accelerates to decline,
Its road wheel towards corner inside corner line and with the angle of the inside corner line be in certain value acute angle, adjust the rotating speed of road wheel,
The components of frictional force F straight up between road wheel and two metope are made to be less than the gravity of robot.
Further, the driving device is motor, and the transmission device is transmission shaft, and the universal member is universal
Section, the road wheel use left and right coaxial configuration between two pairs and each pair of road wheel.
Further, further include remote control, the remote control is regulated and controled the direction of road wheel by universal joint, passes through tune
Save the rotating speed of the rotation speed regulating and controlling road wheel of motor.
This programme utilize corner special construction, by adjust road wheel direction and rotation, make climbing robot with
Frictional force F is generated between metope, using the component on frictional force F vertical directions, to realize the movement or suspension of climbing robot,
Realizing can be such that climbing robot is adsorbed on metope without the adsorption technologies such as magnetic suck or suction type absorption.This climbing machine
Device people is simple in structure, small, light-weight, without the adsorption technology as the complexity such as magnetic-type or suction type, can complete machine
Body moves on a vertical plane, without remaining power plant is added again, controls simple and easy to implement.
This programme ensures motion process for conventional perpendicular type interior wall corner structure, climbing robot using symmetrical structure
Stability.For needing the static operating status hovered on metope, using road wheel towards under the premise of vertical with inside corner line,
Climbing robot is set not have the condition of uplink, under being arranged herein, it is only necessary to which the rotating speed for adjusting road wheel can guarantee robot
" absorption " is on metope.For remaining motion state of robot, using the road wheel of both sides towards inside corner line and and inner corner trim
The angle of line is at an acute angle, at this point, the angle of the fixed angle, the rotating speed of regulation and control road wheel, you can control the upper of robot
Row or downlink, control are simple and reliable.
The driving device of this programme realizes that transmission device transmits torque using transmission shaft using easily controlled motor,
Universal member facilitates the direction for adjusting road wheel using universal joint, and four wheel constructions, each pair of road wheel or so is also used coaxially to connect
It connects, makes robot or so stress equalization, be conducive to held stationary.Road wheel rotation, road wheel and wall are driven by the rotation of motor
There is contact between face so that metope is conducive to robot to the frictional force of robot and moves up and down, while the rigid restriction of fuselage
The active force between road wheel and metope is increased, frictional force is increased, realizes fuselage " absorption " on metope.
Compared with prior art, the configuration of the present invention is simple, it is easy to control, without complicated traditional adsorption technology, just reach
To the purpose of dynamic equilibrium in driving process.It need not be magnetic requirements to metope as magnetic-type absorption, also need not be as bearing
Pressure type suction type requires high-power negative pressure, has very high reliability and terseness；And movement velocity is fast, and control is simpler
It is single, it is easier to implement.Invention has the advantages of high efficiency, low energy consumption, has a wide range of application, under conditions of coordinating remote control, Neng Gouguang
It is general suitable for various special working environments, such as working at height robot, Disaster Relief Robot, detection robot etc..
Description of the drawings
Fig. 1 is the structural diagram of the present invention；
Fig. 2 is force analysis figure of the present invention on corner；
Fig. 3 is a kind of positive structure schematic of specific embodiment of the present invention；
Fig. 4 is the status diagram that climbing robot climbs corner shown in Fig. 3.
Specific implementation mode
The invention will be further described with reference to the accompanying drawings and examples.
There are the phenomenon that corner, the present invention to propose a kind of Climbing Robot by corner for building, makees
For a kind of walking mechanism simple in structure, stable for climbing wall, both not used has the magnetic-type of limitation to metope or does not use high-power
Suction type adsorption technology, but rely on ontology driving device 3 and metope generate friction achieve the purpose that adsorb metope.Such as figure
Shown in 1, the climbing robot of this programme further includes the row for being symmetricly set on the fuselage both sides in addition to fuselage and driving device 3
Driving wheel, the output of the driving device 3 are connected with transmission device 2, are connected between the transmission device 2 and the road wheel universal
Component 4.Driving device 3 generates power, and power is transferred to road wheel by transmission device 2, and universal member 4 is to realize varied angle power
The parts of transmission, universal member 4 can change the direction of road wheel.
When needing to climb wall, external pressure effect under, road wheel be close to corner two metopes rotation, road wheel with it is described
Relative motion is generated between two metope α, β, the cambered surface contacted with metope due to road wheel is had certain elasticity and larger rubbed
Coefficient is wiped, metope is nor absolutely smooth, and therefore, generation between the two has the frictional force F of component straight up, frictional force
F is vector sum of the road wheel of robot both sides by metope to its frictional force.Overall Analysis is carried out to robot, it can
Know, when the components of the frictional force F straight up are more than the gravity mg of robot, robot is climbed upwards with certain acceleration
It climbs；When the components of frictional force F straight up are equal to the gravity mg of robot, the state of robot is at the uniform velocity to climb upwards, is even
Speed decline, hover on two metopes of corner in one kind；When the components of the frictional force F straight up are less than robot
When gravity mg, robot is declined with certain acceleration along metope.And frictional force F is towards inside corner line and vertical with inside corner line point
Amount is then to provide the source of pressure between road wheel and metope.
As shown in Fig. 2 force analysis, structure as shown in Figure 1, fuselage both sides are respectively there are one road wheel, two road wheel and right
Claim setting, then corresponding to tangent between the circumferential surface of road wheel and two metopes of corner, the diameter of road wheel 11 is in wall
The projection line of the angle of the intersection L of projection line and two metopes on the α of face and the diameter of road wheel 12 on metope β is with intersection L's
Angle is equal, be two road wheels direction it is equal with the angle of the inside corner line of corner.
When needing robot to climb corner, do not fallen to make metope generate frictional force " absorption " robot, road wheel is pressed
It is rotated according to direction shown in Fig. 1, the direction of road wheel and the angle of inside corner line are acute angle, mechanics analysis such as Fig. 2 suffered by robot
Shown, road wheel 11 is F by the friction force of metope αf, road wheel 12 is F by the friction force of metope βr。Ff
It is decomposed into F on metope αf1And Ff2, FrIt is decomposed into F on metope βr1And Fr2.Wherein, Ff2、Fr2For straight up, Ff1、Fr1Respectively
On plane α and plane β and perpendicular to intersection L (i.e. inside corner line).Ff1、Fr1The vector sum of the two is robot to metope
Pressure (direction shown in Fig. 2 is inwardly), with metope to the FN of robotr、FNlVector sum offset.Ff2、Fr2The vector sum of the two
It is the frictional force F that is subject to of robot in component straight up, works as Ff2、Fr2The vector sum of the two and the gravity of robot are flat
When weighing apparatus, fuselage will be made not fall.Robot adjusts the direction of road wheel and the folder of inside corner line when corner starts to climb upwards
Angle increases the rotating speed of road wheel, when frictional force F increases to certain value, Ff2、Fr2The vector sum of the two is more than the gravity of robot
Mg, robot start to climb upwards.
It, in the vertical direction should be without velocity vector, at this point, the court of road wheel when needing robot " absorption " on metope
To vertical with inside corner line, road wheel is still rotated according to direction as shown in Figure 1, when road wheel rotates, is had extruding to generate metope and is rubbed
Power, the support force counteracting of extruding force and metope are wiped, frictional force and gravity are offset, and are realized without magnetic suck or suction type absorption
Equal adsorption technologies can make robot " absorption " on metope.
When accelerating decline, uniform motion on metope, the direction of road wheel is still acute angle with the angle of inside corner line for robot,
Road wheel is still rotated according to direction as shown in Figure 1, and force analysis is similar, and which is not described herein again.To sum up maintaining fuselage upward
Soaring condition is ∑ (Ff2, Fr2)≥mg；The condition of hovering is ∑ (Ff2, Fr2)=mg；The condition of decline is ∑ (Ff2, Fr2)≤
Mg, can by regulate and control road wheel direction with the angle of inside corner line and the rotating speed of road wheel to regulate and control ∑ (Ff2, Fr2) it is big
It is small.
In general, the corner is 90 °, and as shown in Figure 3,4, the moon of four road wheels of the fuselage both sides along corner
Linea angulata is symmetrical.Angle, row due to frictional force F component sizes in the vertical direction and the direction of road wheel with inside corner line
The rotating speed of driving wheel is related, convenient for regulation and control, in the same motion process of robot, such as accelerates climbing process upwards, keeps row
The direction of driving wheel and the angle of inside corner line are that an acute angle value is constant in addition the hovering of robot, when falling, the rotation side of road wheel
To with it is soaring when identical and with inside corner line angle it is consistent.When one timing of angle, motor speed is bigger, and fuselage is by upward work
It is firmly bigger, but due to the limitation of mechanical structure, it is impossible to it is unlimited to increase, under fuselage is just met when reaching with gravitational equilibrium not
It falls；It continues growing rotating speed and then realizes soaring effect, reduce rotating speed and then realize whereabouts effect, road wheel is not towards in whole process
Become.Specifically, control is as described below：
1, when robot hovers on two metopes of corner, road wheel towards corner inside corner line and with the moon
Linea angulata is vertical, adjusts the rotating speed of road wheel and makes the frictional force F between road wheel and two metope in component etc. straight up
In the gravity of robot.
2, when two metope of Robot accelerate upwards climbing when, road wheel towards corner inside corner line and with the inner corner trim
The angle of line is in the acute angle of certain value, adjusts the rotating speed of road wheel and makes the frictional force F between road wheel and two metope perpendicular
Straight upward component is more than the gravity of robot.
3, when two metope of Robot at the uniform velocity upwards climb or decline when, road wheel towards corner inside corner line and with
The angle of the inside corner line is in the acute angle of certain value, adjusts the rotating speed of road wheel and makes frictional force between road wheel and two metope
F is equal to the gravity of robot in component straight up.
4, when two metope of Robot accelerate decline when, road wheel towards corner inside corner line and with the inside corner line
Angle is in the acute angle of certain value, adjust road wheel rotating speed make frictional force F between road wheel and two metope vertically to
On component be less than robot gravity.
When it is implemented, motor of the driving device 3 using variable-ratio, the transmission device 2 uses transmission shaft, described
Universal member 4 uses universal joint, the road wheel to use left and right coaxial configuration between two pairs and each pair of road wheel so that left and right
Stress equalization ensures that road wheel has certain elasticity and larger friction coefficient.
For convenience of control, universal joint is controlled using remote control, to regulate and control the direction of road wheel；Remote control also can be square
Just the rotating speed of regulation motor, to regulate and control the rotating speed of road wheel.
Claims (4)
1. a kind of corner climbing robot, including fuselage and driving device, it is characterised in that：Further include be symmetricly set on it is described
The road wheel of fuselage both sides, the driving device output is connected with transmission device, between the transmission device and the road wheel
It is connected with universal member；
Universal member adjusts the direction of road wheel, when road wheel being made to be close to the two metopes rotation of corner, road wheel and described two
Generate frictional force F between metope, frictional force F have towards corner inside corner line and the component vertical with inside corner line with
And component straight up, when the components of the frictional force F straight up are more than the gravity of robot, robot is with certain
Acceleration climb upwards；When the components of frictional force F straight up are equal to the gravity of robot, the state of robot is even
Fast climbing upwards, uniform descent, hover on two metopes of corner in one kind；When the frictional force F straight up
When component is less than the gravity of robot, robot is declined with certain acceleration along metope；
The inside corner line refer between two face walls be in vertical direction intersection.
2. according to a kind of corner climbing robot described in claim 1, it is characterised in that：The corner is 90 °,
The road wheel of the fuselage both sides is symmetrical along the inside corner line of corner；
When robot hovers on two metopes of corner, road wheel towards corner inside corner line and with the inside corner line hang down
Directly, the rotating speed for adjusting road wheel makes the components of frictional force F straight up between road wheel and two metope be equal to machine
The gravity of people；
When two metope of Robot accelerate upwards climbing when, road wheel towards corner inside corner line and with the folder of the inside corner line
Angle is in the acute angle of certain value, adjusts the rotating speed of road wheel, makes frictional force F between road wheel and two metope straight up
Component be more than robot gravity；
When two metope of Robot at the uniform velocity upwards climb or decline when, road wheel towards corner inside corner line and with the inner corner trim
The angle of line is in the acute angle of certain value, adjusts the rotating speed of road wheel, keeps the frictional force F between road wheel and two metope perpendicular
Straight upward component is equal to the gravity of robot；
When two metope of Robot accelerates to decline, road wheel towards corner inside corner line and with the angle of the inside corner line be in
The acute angle of certain value adjusts the rotating speed of road wheel, makes points of frictional force F straight up between road wheel and two metope
Gravity of the amount less than robot.
3. a kind of corner climbing robot according to claim 1 or 2, it is characterised in that：The driving device
For motor, the transmission device is transmission shaft, and the universal member is universal joint, and the road wheel is two pairs and each pair of road wheel
Between use left and right coaxial configuration.
4. according to a kind of corner climbing robot described in claim 3, it is characterised in that：Further include remote control, institute
It states remote control and the direction of road wheel is regulated and controled by universal joint, by the rotating speed of the rotation speed regulating and controlling road wheel of regulation motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201611092783.6A CN106428283B (en) | 2016-11-30 | 2016-11-30 | A kind of corner climbing robot |
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| CN201611092783.6A CN106428283B (en) | 2016-11-30 | 2016-11-30 | A kind of corner climbing robot |
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| CN106428283B true CN106428283B (en) | 2018-10-09 |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106864620B (en) * | 2017-04-05 | 2023-02-21 | 西南大学 | Omnidirectional wheel combined type wall climbing robot |
| 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 |
| CN108762257A (en) * | 2018-05-04 | 2018-11-06 | 安徽三弟电子科技有限责任公司 | A kind of robot ambulation control system based on frictional force automatic adjusument |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH04283158A (en) * | 1991-03-07 | 1992-10-08 | Toshiba Corp | Robot for running in pipe |
| CN201587464U (en) * | 2009-11-17 | 2010-09-22 | 徐礼学 | Mechanical device for climbing lamp post |
| CN105711672B (en) * | 2014-11-30 | 2018-11-27 | 中国科学院沈阳自动化研究所 | A kind of walking climbing robot based on articular couple handwheel |
| CN205203185U (en) * | 2015-11-20 | 2016-05-04 | 华南理工大学 | Lead screw repulsive -type maglev pole -climbing robot |
| CN106005085B (en) * | 2016-07-14 | 2018-04-06 | 西藏长源动力科技有限公司 | It may span across the magnetic adsorption wall climbing robot of right angle wall |
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