CN108556949A - A kind of magnetic force Multi-legged Wall-climbing Robots - Google Patents
A kind of magnetic force Multi-legged Wall-climbing Robots Download PDFInfo
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- CN108556949A CN108556949A CN201810274719.2A CN201810274719A CN108556949A CN 108556949 A CN108556949 A CN 108556949A CN 201810274719 A CN201810274719 A CN 201810274719A CN 108556949 A CN108556949 A CN 108556949A
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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
- B62D57/028—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 having wheels and mechanical legs
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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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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of magnetic force Multi-legged Wall-climbing Robots, it is combined using pedipulator obstacle detouring and wheel type movement, make robot that there is flexible obstacle climbing ability and environmental suitability, the movement that can be used on ground and metope made of a variety of materials to realize measurement and cleaning function during exercise.Climbing robot has the function of the Appendage Task of group group property；When two or more wall-climbing device man-hours, using the servo motor respectively controlled, cooperating operation fulfils assignment.Climbing robot uses closed loop control mode, brushless motor on universal wheel is connect with three motor driving plates respectively, motor driving plate is connect with slave computer respectively, slave computer is connect with host computer, camera is connect with host computer, and camera returns to host computer to the reading of data, and host computer is handled and judged to data, signal is sent out to slave computer, slave computer is made to control the operation of corresponding motor and steering engine.Universal wheel on lower plate can carry out the direct movement of arbitrary orientation.
Description
Technical field
The present invention relates to robot fields, specifically, be related to it is a kind of feasible climbing wall, have polypody magnetic force robot.
Background technology
In recent years, the appearance of a large amount of large ships and drilling platforms makes marine industries development in China's significantly improve.What is developed is same
When also along with marine industries to increasingly higher demands such as operations offshore demand, cost, technologies.Ship derusting, underwater
As the important leverage business in marine industries, by the operations offshores equipment such as ship, since long-time contacts the influence of seawater, with
The breakage of its outer wall of the growth of usage time, corrosion, service life and the safety of equipment will be seriously affected after accumulation to a certain extent.
What the field mainly used at present has crawler-type wall climbing robot, and the robot environment of the type is adaptable, but there is weight
Amount is big, crawler belt is easy to skid and be difficult to the deficiency of obstacle detouring.
It includes bottom that Chinese invention patent 103332232B, which discloses one kind " steel plate climbing robot " climbing robot,
Plate and the running gear on lower plate, running gear is made of the crawler belt being mounted on lower plate by sprocket wheel, described
Crawler belt is equipped with winding and iron core in the range of surrounding, winding parallel in crawler travel face around in the core, install by the iron core
On lower plate, the crawler belt is prepared by the non-magnetic metal material of monolithic conductive.But creeper truck quality is larger, and crawler belt
It is easy to skid, the robot of caterpillar band type is difficult to realize obstacle detouring behavior in the environment, and efficiency is poor in causing it to take action.
Invention content
In order to avoid the shortcomings of the prior art, overcome the problems, such as that caterpillar robot is easy inefficient, sheet of skidding, take action
Invention proposes a kind of magnetic force Multi-legged Wall-climbing Robots；The climbing robot is combined using pedipulator obstacle detouring and wheel type movement so that
Robot has quick movement velocity and flexible obstacle climbing ability in action, has good environmental suitability, can be used for
Measurement, cleaning function are realized in movement on ground and metope made of a variety of materials.
The technical solution adopted by the present invention to solve the technical problems is:Including upper bottom cover, lower plate, hexagonal single head copper
Column, camera connector, slide unit, slide unit link, pedipulator, ratcheting mechanism and cylinder block set, upper bottom cover and lower plate are etc.
The hexagonal structure of length of side circular arc has on each angle of upper bottom cover steering wheel mounting hole for connecting pedipulator respectively, on lower plate
There is mounting hole for connecting ratcheting mechanism on side separately respectively；The slide unit that is equipped on one side of upper bottom cover is connected with camera
Part, upper bottom cover are connected with lower plate by more hexagonal single head copper posts；
The cylinder block set include motor driving plate, battery, cell connector, servo motor, PC control plate and under
Position machine control panel；Position is fixed with PC control plate and slave computer control panel among upper bottom cover, and battery is located among lower plate
Position, battery are connected by cell connector and lower plate, and servo motor is located at the lower section of battery, and servo motor is connected by bottom plate
Fitting is connect with lower plate, and three motor driving plates are uniformly fixed on lower plate according to servo motor, and pedipulator is mounted on upper bottom
Between the orientation at the angle of lid and lower plate；
The pedipulator is the identical component of structure, pedipulator include left front leg, right front leg, left leg, it is right in leg, left back
Leg, right rear leg, every pedipulator is by swing steering engine, the first steering engine connector, the second steering engine connector, pitch-control motor, third rudder
Machine connector, the 4th steering engine connector, knee steering engine, the 5th steering engine connector, rubber shaft bearing, L-shaped connector and electromagnet group
At three steering engines are single steering wheel steering engine；The steering wheel of swing steering engine and the circular arc of the angular range of upper bottom cover are concentric, and with upper bottom cover
It being connected by screw, the first steering engine connector is connect with swing steering engine, and the second steering engine connector is connect with the first steering engine connector,
Pitch-control motor is connect with the second steering engine connector, the steering wheel connection of third steering engine connector and pitch-control motor, the connection of the 4th steering engine
Part is connected with third steering engine connector, knee steering engine and the connection of the 4th steering engine connector, the 5th steering engine connector and knee steering engine
Steering wheel connection, L-shaped connector and the 5th steering engine connector connected by rubber shaft bearing, and electromagnet is connected with L-shaped connector；
The wheel portion mechanism is located on lower plate, and wheel portion mechanism is by motor contact, reduction box, brushless motor and universal wheel
Composition, motor contact are mounted on lower plate, and brushless motor is connected with motor contact, brushless motor output shaft and reduction box
One end connects, and the reduction box other end is connect with universal wheel；The universal wheel is double wheel construction, along circumferential three orientation of lower plate
On universal wheel can carry out the direct movement of arbitrary orientation；
The slide unit is connected with upper bottom cover, and slide unit connector is connected with the sliding block on slide unit, camera connector and
Upper bottom cover is connected, and camera is connected with camera connector；
Robot uses closed loop control mode, brushless motor to connect and be separately fixed on lower plate with motor driving plate, and three
A motor driving plate is connect with position machine control panel respectively, and slave computer control panel is connect with PC control plate, camera with it is upper
Machine control panel connects, and camera returns to PC control plate to the reading of data, and PC control plate handles data
And judged, signal is sent out to slave computer control panel, slave computer control panel is made to control the operation of corresponding motor and steering engine.
The electromagnet uses neodymium-iron-boron iron material.
The climbing robot method of operation is pedipulator movement and wheel type movement combines or in which a kind of method of operation.
Advantageous effect
A kind of magnetic force Multi-legged Wall-climbing Robots proposed by the present invention；It is combined using pedipulator obstacle detouring and wheel type movement so that
Robot has quick movement velocity and flexible obstacle climbing ability during exercise, has good environmental suitability, can be used for
Measurement, cleaning function are realized in movement on ground and metope made of a variety of materials.Magnetic force Multi-legged Wall-climbing Robots, have
The additional operation function of group group property.When two or more magnetic force Multi-legged Wall-climbing Robots work, respective control is used
Servo motor, cooperating operation fulfils assignment.Robot uses closed loop control mode, and the brushless motor on universal wheel is respectively with three
A motor driving plate connection, motor driving plate are connect with slave computer control panel respectively, slave computer control panel and PC control plate
Connection, camera are connect with PC control plate, and camera returns to host computer to the reading of data, and host computer carries out data
It handles and is judged, signal is sent out to slave computer, slave computer is made to control the operation of corresponding motor and steering engine.Universal wheel is double
Skate structure, the universal wheel in circumferential three orientation of lower plate, can carry out the direct movement of arbitrary orientation.
Description of the drawings
A kind of magnetic force Multi-legged Wall-climbing Robots of the present invention are described in further detail with embodiment below in conjunction with the accompanying drawings.
Fig. 1 is magnetic force Multi-legged Wall-climbing Robots vertical view of the present invention.
Fig. 2 is magnetic force Multi-legged Wall-climbing Robots upward view of the present invention.
Fig. 3 is magnetic force Multi-legged Wall-climbing Robots front view of the present invention.
Fig. 4 is the lower surface schematic diagram of the upper bottom cover of magnetic force Multi-legged Wall-climbing Robots of the present invention.
Fig. 5 is magnetic force Multi-legged Wall-climbing Robots schematic diagram of the present invention.
In figure:
1. 5. reduction box of lower plate 2. slave computer control panel, 3. PC control plate, 4. universal wheel, 6. brushless motor
7. 8. swing steering engine of motor contact, 9. first 10. second steering engine connector of steering engine connector, 11. pitch-control motor 12.
The 5th steering engine connector 16.L shapes connector 17. of three 14. knee steering engines 15. of steering engine the 4th steering engine connector of connector 13.
22. slide unit link of electromagnet 18. motor driving plate, 19. battery, 20. cell connector, 21. servo motor, 23. slide unit
24. 26. hexagonal single head copper post of bottom cover on camera connector 25.
Specific implementation mode
The present embodiment is a kind of magnetic force Multi-legged Wall-climbing Robots.
Refering to fig. 1~Fig. 5, the present embodiment magnetic force Multi-legged Wall-climbing Robots, by upper bottom cover 25, lower plate 1, hexagonal single head copper
Column 26, pedipulator, ratcheting mechanism, camera connector 24, slide unit 23, slide unit link 22 and cylinder block set composition；Wherein, on
Bottom cover 25 is the hexagonal structure of equilateral long circular arc with lower plate 1, there is steering wheel mounting hole use on each angle of upper bottom cover 25 respectively
In having mounting hole for connecting ratcheting mechanism respectively on connection pedipulator, the side on lower plate 1 separately；One side of upper bottom cover 25
Slide unit 23 and camera connector 24 are installed, upper bottom cover 25 is connected with lower plate 1 by more hexagonal single head copper posts 26.
Cylinder block set includes motor driving plate 18, battery 19, cell connector 20, servo motor 21, PC control plate 3
With slave computer control panel 2；25 intermediate position of upper bottom cover is fixed with PC control plate 3 and slave computer control panel 2, and battery 19 is located at
1 intermediate position of lower plate, battery are connected by cell connector 20 and lower plate, and servo motor 21 is located at the lower section of battery, watches
It takes motor to connect with lower plate 1 by bottom plate connector, three motor driving plates 18 are uniformly fixed on bottom according to servo motor 21
It on plate 1, is connect with lower plate 1 by screw-nut, is 75mm apart from 1 center of lower plate.Pedipulator is mounted on upper bottom cover 25
With in the orientation at the angle of lower plate 1.The base shape of lower plate 1 is a regular hexagon, maximum gauge 270mm, each edge
Straight line is replaced with into the circular arc that a radius is 140mm.
Pedipulator is the identical component of structure, pedipulator include left front leg, right front leg, left leg, it is right in leg, left back leg,
Right rear leg, every pedipulator is by swing steering engine 8, the first steering engine connector 9, the second steering engine connector 10, pitch-control motor 11, third
Steering engine connector 12, the 4th steering engine connector 13, knee steering engine 14, the 5th steering engine connector 15, rubber shaft bearing, L-shaped connector
16 and electromagnet 17 form, three steering engines are single steering wheel steering engine；The steering wheel of swing steering engine and the circular arc of the angular range of upper bottom cover are same
Axle center, and be connected by screw with upper bottom cover.First steering engine connector is connect with swing steering engine, the second steering engine connector and first
Steering engine connector connects, and pitch-control motor 11 is connect with the second steering engine connector, the rudder of third steering engine connector and pitch-control motor 11
Disk connects, and the 4th steering engine connector is connected with third steering engine connector, knee steering engine and the connection of the 4th steering engine connector, the 5th rudder
Machine connector is connected with the steering wheel of knee steering engine, and L-shaped connector and the 5th steering engine connector are connected by rubber shaft bearing, electromagnet
It is connected with L-shaped connector.
Wheel portion mechanism is located on lower plate 1, and wheel portion mechanism is by motor contact 7, reduction box 5, brushless motor 6 and universal wheel
4 compositions, motor contact 7 are mounted on lower plate, and brushless motor 6 and motor contact 7 are connected, 6 output shaft of brushless motor and
5 one end of reduction box connects, and 5 other end of reduction box is connect with universal wheel 4.A diameter of 50mm of universal wheel 4, thickness 49mm, ten thousand
It is double wheel construction to wheel, the universal wheel 4 in circumferential three orientation of lower plate 1 can carry out directly moving for arbitrary orientation.
The slide unit 23 is connected with upper bottom cover, and slide unit connector 22 is connected with the sliding block on slide unit, cleaning brush and cunning
Platform connector is connected.Camera connector is connected with upper bottom cover, and camera is connected with camera connector.
Robot uses closed loop control mode, brushless motor to be connected to down respectively with three motor driving plates in the present embodiment
On bottom plate 1, motor driving plate is connect with position machine control panel respectively, and slave computer control panel is connect with PC control plate, camera
Connect with PC control plate, camera returns to PC control plate to the reading of data, PC control plate to data into
Row, which is handled, simultaneously to be judged, sends out signal to slave computer control panel, slave computer control panel is made to control corresponding motor and steering engine
Operation.
That there are electricity is small for the mobile battery that robot uses, and is mainly powered using external power supply, but robot can carry out
The power supply power supply of short time.Battery 19 uses 4s lithium batteries.When using climbing robot, the end of pedipulator is equipped with electromagnet
17, electromagnet 17 is controlled using the voltage of 0-12V.Since the power consumption of electromagnet 17 is larger, at the robot most of the time
In access power supply status.Robot is set to work in long-play.
The method of operation of climbing robot is that pedipulator movement and wheel type movement combine or take one of which motion mode.
In the present embodiment, climbing robot adjusts the motion mode that the rotational angle of each steering engine of each pedipulator carries out；
Six pedipulators are divided into two parts, its arbitrary angular range is taken to be set as head, the center of upper bottom cover is set as origin, it is close
Three pedipulators on head are front end robot leg, then other three pedipulators are rear portion pedipulator.
Crawling exercises:It is head that any one angular range, which is arranged, then robot is climbed to the direction of advance residing for head
Row.Every pedipulator from three steering engines of lower plate outward direction be respectively swing steering engine 8, pitch-control motor 11, knee steering engine 14.
When then creeping, the swing steering engine 8 of two pedipulators of the left and right ends of front end robot leg first rotates forward, the swing among front end
Steering engine 8 is fixed, and pitch-control motor 11, the knee steering engine 14 of three pedipulators are adjusted according to creeping；The machinery of rear end three
The swing steering engine 8 of two pedipulators of the left and right ends of leg forward, meanwhile, two pedipulators of the left and right ends of front end robot leg
8 back rotation of swing steering engine, the swing steering engine 8 among front-end and back-end is fixed, remaining pitch-control motor 11, knee rudder
Machine 14 is adjusted according to creeping, and completes creeping to direction.
Rotary motion:Wherein a pedipulator is fixed, and the swing steering engine 8 of remaining five pedipulator is revolved to same direction
Turn certain angle, pitch-control motor 11, knee steering engine 14 are adjusted according to rotation, then robot is whole rotates to the direction, fortune
Dynamic purpose is to make camera alignment target object.
Claims (3)
1. a kind of magnetic force Multi-legged Wall-climbing Robots, it is characterised in that:Including upper bottom cover, lower plate, hexagonal single head copper post, camera
Connector, slide unit, slide unit link, pedipulator, ratcheting mechanism and cylinder block set, upper bottom cover are equilateral long circular arc with lower plate
Hexagonal structure has on each angle of upper bottom cover steering wheel mounting hole for connecting pedipulator respectively, the side on lower plate separately
It is upper to have mounting hole for connecting ratcheting mechanism respectively；Upper bottom cover is equipped with slide unit and camera connector on one side, upper bottom cover with
Lower plate is connected by more hexagonal single head copper posts；
The cylinder block set includes motor driving plate, battery, cell connector, servo motor, PC control plate and slave computer
Control panel；Position is fixed with PC control plate and slave computer control panel among upper bottom cover, and battery is located at position among lower plate,
Battery is connected by cell connector and lower plate, and servo motor is located at the lower section of battery, and servo motor passes through bottom plate connector
Connect with lower plate, three motor driving plates are uniformly fixed on lower plate according to servo motor, pedipulator be mounted on upper bottom cover with
Between the orientation at the angle of lower plate；
The pedipulator is the identical component of structure, pedipulator include left front leg, right front leg, left leg, it is right in leg, left back leg,
Right rear leg, every pedipulator are connected by swing steering engine, the first steering engine connector, the second steering engine connector, pitch-control motor, third steering engine
Fitting, the 4th steering engine connector, knee steering engine, the 5th steering engine connector, rubber shaft bearing, L-shaped connector and electromagnet composition, three
A steering engine is single steering wheel steering engine；The steering wheel of swing steering engine and the circular arc of the angular range of upper bottom cover are concentric, and pass through with upper bottom cover
Screw connects, and the first steering engine connector is connect with swing steering engine, and the second steering engine connector is connect with the first steering engine connector, pitching
Steering engine is connect with the second steering engine connector, the connection of the steering wheel of third steering engine connector and pitch-control motor, the 4th steering engine connector and
Third steering engine connector connects, knee steering engine and the connection of the 4th steering engine connector, the rudder of the 5th steering engine connector and knee steering engine
Disk connects, and L-shaped connector and the 5th steering engine connector are connected by rubber shaft bearing, and electromagnet is connected with L-shaped connector；
The wheel portion mechanism is located on lower plate, and wheel portion mechanism is by motor contact, reduction box, brushless motor and steering wheel group
At motor contact is mounted on lower plate, and brushless motor is connected with motor contact, brushless motor output shaft and reduction box one
End connection, the reduction box other end are connect with universal wheel；The universal wheel is double wheel construction, in circumferential three orientation of lower plate
Universal wheel can carry out the direct movement of arbitrary orientation；
The slide unit is connected with upper bottom cover, and slide unit connector is connected with the sliding block on slide unit, camera connector and upper bottom
Lid is connected, and camera is connected with camera connector；
Robot uses closed loop control mode, brushless motor to connect and be separately fixed on lower plate with motor driving plate, three electricity
Machine driving plate is connect with position machine control panel respectively, and slave computer control panel is connect with PC control plate, camera and host computer control
Making sheet connects, and camera returns to PC control plate to the reading of data, and PC control plate carries out processing to data and goes forward side by side
Row judges, sends out signal to slave computer control panel, slave computer control panel is made to control the operation of corresponding motor and steering engine.
2. magnetic force Multi-legged Wall-climbing Robots according to claim 1, it is characterised in that:The electromagnet uses neodymium-iron-boron
Iron material.
3. magnetic force Multi-legged Wall-climbing Robots according to claim 1, it is characterised in that:The climbing robot method of operation is machine
Tool leg moves and wheel type movement combines or in which a kind of method of operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810274719.2A CN108556949A (en) | 2018-03-30 | 2018-03-30 | A kind of magnetic force Multi-legged Wall-climbing Robots |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810274719.2A CN108556949A (en) | 2018-03-30 | 2018-03-30 | A kind of magnetic force Multi-legged Wall-climbing Robots |
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| CN108556949A true CN108556949A (en) | 2018-09-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810274719.2A Pending CN108556949A (en) | 2018-03-30 | 2018-03-30 | A kind of magnetic force Multi-legged Wall-climbing Robots |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533078A (en) * | 2018-12-24 | 2019-03-29 | 重庆大学 | A kind of robot foot section structure and robot based on magnetic converting technique |
| CN110181534A (en) * | 2019-06-24 | 2019-08-30 | 国网安徽省电力有限公司 | A kind of climbing robot |
| CN114313046A (en) * | 2021-12-30 | 2022-04-12 | 武汉理工大学 | Six-foot wall-climbing robot and gait control method thereof |
| CN116174422A (en) * | 2023-04-23 | 2023-05-30 | 中粮工科迎春智能装备(湖南)有限公司 | Magnetic drive peristaltic multidirectional cleaning robot |
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| CN103332232A (en) * | 2013-06-06 | 2013-10-02 | 中国人民解放军海军工程大学 | Steel plate wall climbing robot |
| CN104002889A (en) * | 2014-06-10 | 2014-08-27 | 北京航空航天大学 | Multifunctional leg-wheel-combined mobile robot |
| JP2016068702A (en) * | 2014-09-29 | 2016-05-09 | 株式会社移動ロボット研究所 | Mobile device for wall surface, and steering method thereof |
| CN105922273A (en) * | 2016-06-07 | 2016-09-07 | 河南摩西机械制造有限公司 | Robot for maintaining steel structural body |
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| CN102407893A (en) * | 2011-09-02 | 2012-04-11 | 北京林业大学 | Wheel and leg combined moving robot |
| CN103332232A (en) * | 2013-06-06 | 2013-10-02 | 中国人民解放军海军工程大学 | Steel plate wall climbing robot |
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Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533078A (en) * | 2018-12-24 | 2019-03-29 | 重庆大学 | A kind of robot foot section structure and robot based on magnetic converting technique |
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| CN110181534A (en) * | 2019-06-24 | 2019-08-30 | 国网安徽省电力有限公司 | A kind of climbing robot |
| CN114313046A (en) * | 2021-12-30 | 2022-04-12 | 武汉理工大学 | Six-foot wall-climbing robot and gait control method thereof |
| CN116174422A (en) * | 2023-04-23 | 2023-05-30 | 中粮工科迎春智能装备(湖南)有限公司 | Magnetic drive peristaltic multidirectional cleaning robot |
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Application publication date: 20180921 |
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