CN107651032B - Multi-adaptation external corner climbing robot - Google Patents
Multi-adaptation external corner climbing robot Download PDFInfo
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- CN107651032B CN107651032B CN201711064610.8A CN201711064610A CN107651032B CN 107651032 B CN107651032 B CN 107651032B CN 201711064610 A CN201711064610 A CN 201711064610A CN 107651032 B CN107651032 B CN 107651032B
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- 230000009194 climbing Effects 0.000 title claims abstract description 19
- 230000009471 action Effects 0.000 claims abstract description 18
- 235000004443 Ricinus communis Nutrition 0.000 claims description 19
- 230000005484 gravity Effects 0.000 abstract description 8
- 238000001514 detection method Methods 0.000 abstract description 2
- 230000007613 environmental effect Effects 0.000 abstract 1
- 230000007246 mechanism Effects 0.000 description 11
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 230000003068 static effect Effects 0.000 description 5
- 238000004140 cleaning Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 230000008901 benefit Effects 0.000 description 2
- 230000008859 change Effects 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000008439 repair process Effects 0.000 description 1
Classifications
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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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- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a multi-adaptation external corner climbing robot which comprises a bracket, at least one attachment structure and a movement structure, wherein the attachment structure is arranged on the bracket and comprises a left bracket I, a right bracket I and driving wheels symmetrically arranged on the left bracket I and the right bracket I, the wheel surface of the driving wheels is tangential to a wall surface and driven by a motor, and the outlet axis is parallel to an external corner edge line; the action structure comprises a left bracket II, a right bracket II and a action wheel arranged on the left bracket II and/or the right bracket II, wherein the wheel surface of the action wheel is tangent to the wall surface and driven by a motor II, and the outlet axis is vertical to the external corner edge line; the driving wheel and the moving wheel are universal wheels. The device can overcome the robot that gravity moved at the external corner of house top surface, can carry on all kinds of sensors and camera, realizes environmental detection or other applications.
Description
Technical Field
The invention belongs to the field of wall climbing robots, and relates to a multi-adaptation external corner climbing robot.
Background
With the rapid development of various disciplines, the research and application of robot technology are increasingly wide and deep, and various multifunctional and high-performance robots are continuously developed to replace human beings to engage in high-strength and high-risk work. Service robots have been a new area of robot research in recent years. The advent of service robots has two main reasons: firstly, the labor cost rises; the other is that people want to get rid of tedious and monotonous work, such as cleaning, household labor, patient care, building construction and the like. The mobile robot system is suitable for specific modes, environments and task processes, and has a large activity space. Many types of service robots have been developed to date, primarily for maintenance, cleaning, maintenance, repair, transportation, security, rescue, etc. Generally, the service robot is required to provide service with high technical content, is safe and reliable to work, has use value for users and has economic benefit for operators.
The roof of modern buildings mainly has a top plane, an inside corner and an outside corner. External corners refer to corners protruding from the wall surface, such as four corners protruding from the outside of a building and included angles between openings of doors and windows and the wall surface. The corresponding internal corner is a corner recessed in the wall surface. Since most conventional wall climbing robots are designed to move on vertical walls, this has certain limitations for certain special applications, such as cleaning the roof of a house.
Disclosure of Invention
In view of the above, the present invention aims to provide a multi-adaptive external corner climbing robot, which can overcome the gravity and move at the external corner of the top surface of a house, and can be provided with various sensors and cameras to realize environment detection or other applications.
In order to achieve the above purpose, the present invention provides the following technical solutions:
the multi-adaptation external corner climbing robot comprises a bracket, at least one attachment structure and a moving structure, wherein the attachment structure is arranged on the bracket, the attachment structure comprises a left bracket I, a right bracket I and driving wheels symmetrically arranged on the left bracket I and the right bracket I, the left bracket I and the right bracket I are hinged with the bracket, an included angle between the left bracket I and the right bracket I is smaller than an external corner, a pretensioning device I is arranged between the left bracket I and the right bracket I, the wheel surface of the driving wheels is tangential to a wall surface and is driven by a motor I, and an outgoing axis is parallel to an external corner line; the action structure comprises a left bracket II, a right bracket II and a action wheel arranged on the left bracket II and the right bracket II, wherein the left bracket II and the right bracket II are hinged with the brackets, the included angle between the left bracket II and the right bracket II is smaller than the external angle, a pretensioning device II is arranged between the left bracket II and the right bracket II, the wheel surface of the action wheel is tangential to the wall surface and driven by a motor II, and the outlet axis is vertical to the external angle edge line; the driving wheel and the moving wheel are universal wheels.
Further, the attachment structure is a V-shaped structure, and the bracket comprises a connecting shaft which is parallel to the external corner edge line
The left bracket I and the right bracket I are respectively hinged with the connecting shaft to form two sides of the V-shaped structure.
Further, action structure also is V type structure, and left socle II and right branch frame II are articulated respectively with the connecting axle and form the both sides of V type structure, the action wheel is a pair of, and the symmetry sets up respectively on left socle II and right branch frame II.
Further, the universal wheel comprises a movable castor and a fixed castor, the fixed castor is connected with the motor, the movable castor is arranged on the fixed castor, and the rotating shaft of the movable castor is perpendicular to the output shaft of the fixed castor.
Further, the pretensioning means is a tension spring.
The invention has the beneficial effects that:
1. the driving wheel of the invention has the advantages that the output axis of the driving wheel is parallel to the external corner edge line, the sliding friction force perpendicular to the external corner can be generated, and the sliding friction force can overcome the action of gravity, the tension of the tension spring and the like;
2. according to the invention, the action mechanism and the attachment mechanism are fixed on the planes at two sides of the bracket by adopting a V-shaped structure with a variable included angle, so that the driving wheel and the action wheel can be contacted with the wall surface at the same time, the cooperation of the two mechanisms is ensured, and the robot realizes good climbing performance;
3. according to the invention, the driving wheel and the moving wheel adopt universal wheels, and the wheels of the two mechanisms can move in a matched manner, so that the robot can horizontally move along the external corner;
4. the use of the tension spring provides a guarantee for the attachment of the robot on the wall surface, and plays a role in adjusting and balancing the included angle of the V-shaped structure in the movement process;
5. the triangular structure adopted by the invention is stable and simple, and can adapt to horizontal climbing movements of various external corners by being matched with the tension springs and the wheels.
Drawings
In order to make the objects, technical solutions and advantageous effects of the present invention more clear, the present invention provides the following drawings for description:
FIG. 1 is a schematic view of the overall structure of a robot according to the present invention;
FIG. 2 is a front view of the robotic attachment mechanism of the present invention;
FIG. 3 is a front view of the robotic mechanism of the present invention;
FIG. 4 is a schematic illustration of a robot attached to a first external corner in accordance with an embodiment of the present invention;
FIG. 5 is a force analysis of a robot at a first external corner according to an embodiment of the present invention;
FIGS. 6a, 6b, and 6c are diagrams illustrating the movement of a robot at a first external corner according to an embodiment of the present invention;
FIG. 7 is a schematic illustration of a robot attached to a second external corner in accordance with an embodiment of the present invention;
FIG. 8 is a force analysis of a robot at a second external corner according to a second embodiment of the present invention;
fig. 9a, 9b, 9c are diagrams showing the movement process of the robot at the external corner two according to the second embodiment of the present invention;
FIG. 10 is a schematic illustration of an example three robot of the present invention attached to a third external corner;
FIG. 11 is a force analysis of a third robot at a third corner of the present example;
FIGS. 12a, 12b, 12c are diagrams illustrating the movement of a robot at a third corner of the robot according to example II of the present invention;
the novel wall-mounted bicycle comprises a 1-driving wheel, a 2-motor, a 3-V-shaped structure, a 4-connecting shaft, a 5-tension spring, a 6-moving wheel, a 7-motor and an 8-external corner wall surface.
Detailed Description
Preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings.
Example one:
the invention relates to a multi-adaptation external corner climbing robot, which comprises a bracket, at least one attachment structure and a moving structure, wherein the attachment structure is arranged on the bracket, and is shown in a front view of the robot attachment mechanism, the attachment structure is a V-shaped structure 3, the robot attachment mechanism comprises a left bracket I and a right bracket I which are symmetrically arranged, the bracket comprises a connecting shaft 4, the connecting shaft 4 is parallel to an external corner edge line and is arranged at a fulcrum of the V-shaped structure 3, the left bracket I and the right bracket I are hinged with the connecting shaft 4, the included angle between the left bracket I and the right bracket I is smaller than an external corner, a pretensioning device I is arranged between the left bracket I and the right bracket I, the pretensioning device is a tension spring 5, and driving wheels 1 are arranged at the outer ends of the pretensioning device; the wheel surface of the driving wheel 1 is tangent to the wall surface and driven by the motor 2, and the axis of emergence is parallel to the external corner edge line.
The action structure shown in fig. 3 comprises a connecting frame and a moving wheel 6 arranged on the connecting frame, the connecting frame also adopts a V-shaped structure 3, the V-shaped structure comprises a left bracket II and a right bracket II, the wheel surface of the moving wheel 6 is tangential to a wall surface and driven by a motor 7, and the outlet axis is vertical to an external corner ridge; the driving wheel 1 and the moving wheel 6 are universal wheels.
Referring to fig. 1, two pairs of attachment mechanisms are respectively located at two sides of the whole mechanism, and a pair of action mechanisms is arranged in the middle. Wherein the driving wheel 1 and the moving wheel 6 adopt universal wheels. The universal wheel comprises a movable castor and a fixed castor. The fixed castor has no rotating structure, can not rotate horizontally but can only rotate vertically, and the movable castor is vertical to the fixed castor and can roll horizontally. The two casters are generally matched and used for allowing horizontal 360-degree rotation, the wheel surface is tangent to the wall surface, the output axis of the driving wheel 1 is parallel to the external corner line, the driving wheel 6 and the driving wheel 1 are mutually and vertically arranged, and the output axis of the driving wheel 6 is perpendicular to the external corner line. The driving wheel 1 is connected with the motor 2, the moving wheel 6 is connected with the motor 7 and is fixed on the V-shaped structure, the connecting shaft 4 can flexibly change the included angle of the V-shaped structure 3, in the example, the robot performs horizontal climbing movement on the external corner 8, and two sides of the external corner 8 respectively form 45 degrees and 135 degrees with the horizontal plane, as shown in fig. 4.
Since the whole is a symmetrical structure, the stress analysis is performed for one driving wheel 1, as shown in fig. 5. The tension of the tension spring 5 on the wheel is such that the drive wheel 1 has a static friction force F in a direction perpendicular to the vertical line of the external corner 2 The motor 2 provides power to the driving wheel 1 to enable the driving wheel 1 to move opposite to the pulling force direction, so that sliding friction force F perpendicular to the vertical line of the corner is formed 0 。F 0 Direction and F 2 Identical, thus let its resultant force be F 3 . This resultant force can be decomposed into a force F in the horizontal direction 4 And a force F in the vertical direction 5 ，F 4 So that the included angle of the V-shaped structure 3 is changed, and when the included angle is increased, the horizontal pulling force F generated by the pulling force spring 5 1 Increase when F 4 Greater than F 1 Time-angle relayContinue to increase until F 4 Equal to F 3 When the support frame keeps the current elastic state, a force self-balancing phenomenon, namely a force F leftwards in the horizontal direction, finally occurs for each driving wheel 1 1 Force F to the right from horizontal 4 Equal, 0 is the horizontal resultant force, in the vertical direction, positive pressure F N Friction force generated by the pressing wheel and sliding friction force F of the driving wheel during movement 0 Force F in the vertical direction 5 Equal to half G of the total weight of the trolley so that the resultant force in the vertical direction is 0, the trolley can be held on the wall without falling off.
The movable wheel 6 is driven by the motor to horizontally move at the external corner, and due to the universal wheels, when the included angle of the supporting frame of the robot changes, the movable wheel 6 can also slide at two sides, and similarly, when the robot moves forwards, the driving wheel 1 can horizontally move at the external corner 8, so that the climbing movement of the robot on the external corner 8 is realized, and the movement process is shown in fig. 6.
Example two:
the overall structure of the robot is the same as that of the first example, as shown in fig. 1. In this example, the robot makes a horizontal climbing movement over the external corner 8, the two sides of the external corner 8 being at 0 and 90 degrees to the horizontal, respectively, as shown in fig. 7.
In fig. 8, such an application is subjected to a force analysis. In the vertical plane, the tension spring 5 applies a tension force F to the wheel 1 Can be decomposed into pressure F to wall surface in horizontal direction N And F in the direction of gravity 6 ，F N The driving wheel 1 has a vertical upward static friction force F under the static condition 2 The motor 2 provides power to the driving wheel 1 to enable the driving wheel 1 to move opposite to the pulling force direction, thereby forming a sliding friction force F vertically upwards 0 Which is in combination with F 2 Is F as the resultant force of 3 The direction is vertically upward. When the driving wheel 1 moves, the included angle of the supporting frame changes, F 1 Changes in (1) cause F 3 And F 6 Change when F 3 With F 6 When the resultant force of the gravity G is equal, the resultant force in the vertical direction is 0, and the driving wheel 1 finally has a force self-balancing phenomenon; in the horizontal plane, the tension of the tension spring 5F 1 Can be decomposed into F horizontally leftwards 6’ And a vertically upward pulling force F n The motor 2 provides power to the driving wheel 1 to enable the driving wheel 1 to move opposite to the pulling force direction, thereby forming a sliding friction force F horizontally leftwards 0’ When F n Equal to gravity G', F 0’ And F is equal to 6’ When equal, the resultant force in the horizontal and vertical directions is 0, and in a balanced state, the trolley can be kept on the wall without falling.
The moving wheel 6 moves horizontally at the external corner 8 under the drive of the motor, and due to the universal wheels, when the included angle of the supporting frame of the robot changes, the moving wheel 6 can slide at two sides, and similarly, when the robot moves forwards, the driving wheel 1 can move horizontally along the external corner 8, so that the horizontal climbing movement of the robot on the external corner 8 is realized, and the movement process is shown in fig. 9.
Example three:
the overall structure of the robot is the same as that of the first example, as shown in fig. 1. In this example, the robot performs a horizontal climbing motion on the external corner 8, one side of the external corner 8 forms an angle (upper corner surface) of more than 90 degrees and less than 180 degrees with the horizontal plane, and the other side forms an angle lower corner surface of more than 180 degrees and less than 270 degrees, as shown in fig. 10.
In fig. 11, we have applied this to stress analysis. On the upper wall corner surface, the gravity G and the tension generated by the tension spring 5 can be decomposed into pressure vertical to the wall surface and component force downward along the wall surface, and the resultant force of the pressure is F N The sum force downward along the wall surface is F 7 。F N The driving wheel 1 has a vertical upward static friction force F under the static condition 2 The motor 2 provides power for the driving wheel 1 to enable the driving wheel 1 to move opposite to the pulling force direction, thereby forming sliding friction force F upwards along the wall surface 0 Which is in combination with F 2 Is F as the resultant force of 3 The direction is upward along the wall surface. The included angle of the resultant force supporting frame is changed, when the included angle is increased, the horizontal pulling force F generated by the pulling force spring 5 1 Increase when F 3 Equal to F 7 When the support frame keeps the current elastic state, a force self-balancing phenomenon appears on the upper wall surface of the driving wheel 1; at the position ofLower wall surface, gravity can be decomposed into force obliquely left along wall surface and F perpendicular to wall surface 8 Tension F of tension spring 1 Is decomposed into a pulling force F vertical to the wall surface n And force F inclined to the right along the wall surface 6’ ,F 2’ So that the support frame is deformed to make the tension F of the tension spring 1 Enlargement, F n Equal to F 8 ，F 2’ Equal to F 6’ When the total force is 0, the trolley can be kept on the wall without falling.
The moving wheel 6 moves horizontally at the external corner 8 under the drive of the motor, and due to the universal wheels, when the included angle of the supporting frame of the robot changes, the moving wheel 6 can slide at two sides, and similarly, when the robot moves forwards, the driving wheel 1 can move horizontally along the external corner 8, so that the horizontal climbing movement of the robot on the external corner 8 is realized, and the movement process is shown in fig. 12.
Finally, it is noted that the above-mentioned preferred embodiments are only intended to illustrate rather than limit the invention, and that, although the invention has been described in detail by means of the above-mentioned preferred embodiments, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the scope of the invention as defined by the appended claims.
Claims (2)
1. A multi-adaptation external corner climbing robot which is characterized in that: the device comprises a bracket, at least one attaching structure and a moving structure, wherein the attaching structure is arranged on the bracket and comprises a left bracket I, a right bracket I and driving wheels symmetrically arranged on the left bracket I and the right bracket I, the left bracket I and the right bracket I are hinged with the bracket, the included angle between the left bracket I and the right bracket I is smaller than an external angle, a pretensioning device I is arranged between the left bracket I and the right bracket I, the wheel surface of the driving wheels is tangential to a wall surface and is driven by a motor I, and the output axis is parallel to an external angle edge line; the action structure comprises a left bracket II, a right bracket II and a action wheel arranged on the left bracket II and the right bracket II, wherein the left bracket II and the right bracket II are hinged with the brackets, the included angle between the left bracket II and the right bracket II is smaller than the external angle, a pretensioning device II is arranged between the left bracket II and the right bracket II, the wheel surface of the action wheel is tangential to the wall surface and driven by a motor II, and the outlet axis is vertical to the external angle edge line; the driving wheel and the moving wheel are universal wheels;
the attaching structure is of a V-shaped structure, the bracket comprises a connecting shaft, the connecting shaft is parallel to the external corner edge line and arranged at the fulcrum of the V-shaped structure, and the left bracket I and the right bracket I are respectively hinged with the connecting shaft to form two sides of the V-shaped structure;
the action structure is also a V-shaped structure, the left bracket II and the right bracket II are respectively hinged with the connecting shaft to form two sides of the V-shaped structure, and the pair of action wheels are symmetrically arranged on the left bracket II and the right bracket II respectively;
the universal wheel comprises a movable castor and a fixed castor, the fixed castor is connected with a motor, the movable castor is arranged on the fixed castor, and the rotating shaft of the movable castor is perpendicular to the output shaft of the fixed castor.
2. The multi-adaptive external corner climbing robot of claim 1, wherein: the pretensioning device I and the pretensioning device II are tension springs.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711064610.8A CN107651032B (en) | 2017-11-02 | 2017-11-02 | Multi-adaptation external corner climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711064610.8A CN107651032B (en) | 2017-11-02 | 2017-11-02 | Multi-adaptation external corner climbing robot |
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| Publication Number | Publication Date |
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| CN107651032A CN107651032A (en) | 2018-02-02 |
| CN107651032B true CN107651032B (en) | 2023-11-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201711064610.8A Active CN107651032B (en) | 2017-11-02 | 2017-11-02 | Multi-adaptation external corner climbing robot |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438075A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism for the robot that chops at a tree |
| CN108438074A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism that chops at a tree of working at height |
| CN109778694B (en) * | 2019-03-19 | 2020-05-08 | 重庆大学 | Wall climbing robot for online detection and repair of bridge cable tower structure |
| CN110712211A (en) * | 2019-11-15 | 2020-01-21 | 橙色云设计有限公司 | Pole-climbing robot |
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| CN107651032A (en) | 2018-02-02 |
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