CN110315506A - A kind of climbing robot - Google Patents
A kind of climbing robot Download PDFInfo
- Publication number
- CN110315506A CN110315506A CN201910425192.3A CN201910425192A CN110315506A CN 110315506 A CN110315506 A CN 110315506A CN 201910425192 A CN201910425192 A CN 201910425192A CN 110315506 A CN110315506 A CN 110315506A
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- China
- Prior art keywords
- telescopic component
- foot
- climbing robot
- mobile
- main frame
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
-
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The present invention is suitable for robotic technology field, provide a kind of climbing robot, including main frame, multiple mobile feet and steering mechanism, multiple mobile feet are rotationally connected with the main frame, rotating mechanism includes the first telescopic component, rack gear and multiple tooth sectors, first telescopic component is fixedly installed on main frame, rack gear is connected to the first telescopic component and is slidably mounted on main frame, rack gear is engaged in multiple tooth sectors, tooth sector is articulated in main frame, and it corresponds and is fixedly connected between tooth sector and mobile foot, thus, flexible by the first telescopic component can be with the movement of carry-over bar, and then drive the rotation of tooth sector and multiple mobile feet, main frame itself is not necessarily to any change for rotating and direction of creeping can be realized, the steering freedom of the climbing robot is higher, it turns to more flexible, greatly extend this Climbing robot can application range.
Description
Technical field
The invention belongs to robotic technology field, in particular to a kind of climbing robot.
Background technique
In recent years, robot development is burning hot, more and more enterprises take up exploitation can replace people do it is some multiple
The robot that general labourer makees, this kind of dangerous work such as high altitude operation.However high altitude operation considers many aspects again, for example pacifies
Entirely, the problems such as railing is crossed over and is turned to.In current existing robot, the freedom of steering is poor, limits machine in this way
The adaptable range of device people.
Summary of the invention
The purpose of the present invention is to provide a kind of climbing robots, it is intended to it is poor to solve the freedom that current robot turns to
The technical issues of.
The invention is realized in this way a kind of climbing robot, comprising:
Main frame；
Multiple mobile feet, each mobile foot are rotationally connected on the main frame；And
Rotating mechanism, including the first telescopic component, rack gear and multiple tooth sectors；First telescopic component is fixedly mounted
In on the main frame, the rack gear is slidably mounted on the main frame and is driven by first telescopic component and slided, institute
It states rack gear and is engaged in the tooth sector, the tooth sector is articulated in the main frame；The tooth sector and the movement
Foot one-to-one correspondence is fixedly connected.
In one embodiment, the rotating mechanism further includes at least one reverse gear, the quantity of the reverse gear
Less than the quantity of the tooth sector, the reverse gear is engaged between the rack gear and a tooth sector.
In one embodiment, the quantity of the mobile foot and the tooth sector is four, the reverse gear
Quantity is two；Four tooth sector arrangements are square；The rack gear includes four sub- rack gears being parallel to each other, each
The sub- rack gear is between two neighboring tooth sector.
In one embodiment, the rotational structure further includes multiple rack gear connecting plates, and the rack gear connecting plate is connected to
Between the every two adjacent sub- rack gear；First telescopic component includes the first electric pushrod and electronic is pushed away by described first
First push rod core of bar driving；First electric pushrod is fixedly installed on the main frame, the first push rod core along
The direction parallel with the sub- rack gear is mobile, and the end of the first push rod core is connected to one of them described rack gear connecting plate.
In one embodiment, the glide direction of the rack gear is parallel to the bottom surface of the main frame, the tooth sector
Rotation in surface in the bottom surface for being parallel to the main frame.
In one embodiment, the climbing robot further includes central support foot, and the central support foot includes second
Telescopic component and the support leg bottom structure for being connected to second telescopic component, second telescopic component are installed on the main body
The center of frame simultaneously is used to that the support leg bottom structure to be driven to be moved；The telescopic direction of second telescopic component is vertical
In the bottom surface of the main frame.
In one embodiment, each mobile foot include with the main frame rotation connection third telescopic component,
The 4th telescopic component being connect with the third telescopic component and the mobile sole structure being connect with the 4th telescopic component,
For driving the 4th telescopic component and the mobile sole structure to be moved, the described 4th stretches the third telescopic component
Contracting component is for driving the mobile sole structure to be moved；The telescopic direction of the third telescopic component is stretched with the described 4th
The telescopic direction of contracting component is not parallel.
In one embodiment, the climbing robot further include:
Controller, is connected to the third telescopic component, the 4th telescopic component and the first telescopic component, in the controller
It is stored at least one walking program, the controller is according to the corresponding flexible group of the walking each third of program independent control
Part, each 4th telescopic component and the first telescopic component.
In one embodiment, the climbing robot further includes the multiple sensors connecting with the controller, described
First telescopic component and the 4th telescopic component correspond at least one described sensor, and the sensor is described for detecting
The flexible situation of first telescopic component and the 4th telescopic component, and information detected is fed back into the controller.
In one embodiment, the mobile sole structure is flat cushion, and the bottom surface of the flat cushion is equipped with anti-skidding
Line；Or
The mobile sole structure is shovel land leveller, and the shovel land leveller is connected to the controller, and can rotate with
For evening ground out；Or
The mobile sole structure is air draught component, and the air draught component is connected to the controller, and can be adsorbed on
On face to be adsorbed.
The beneficial effect of climbing robot provided by the invention is:
The climbing robot includes main frame, multiple mobile feet and steering mechanism, and multiple mobile feet are rotationally connected with master
Body frame, rotating mechanism include the first telescopic component, rack gear and multiple tooth sectors, and the first telescopic component is fixedly installed in main frame
On, rack gear is slidably mounted on main frame and is moved by the flexible drive of the first telescopic component, and rack gear is engaged in multiple turns
To gear, tooth sector is articulated in main frame, and corresponds and be fixedly connected between tooth sector and mobile foot, passes through as a result,
The flexible of first telescopic component can be mobile with carry-over bar, and then drives the rotation of tooth sector and multiple mobile feet, main frame
The change in direction of creeping itself can be realized without any rotation, the steering freedom of the climbing robot is higher, it is cleverer to turn to
Living, greatly extend the climbing robot can application range.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to needed in the embodiment
Attached drawing is briefly described, it should be apparent that, drawings in the following description are only some embodiments of the invention, for ability
For the those of ordinary skill of domain, without creative efforts, it can also be obtained according to these attached drawings other attached
Figure.
Fig. 1 is the overall structure diagram one of climbing robot provided in an embodiment of the present invention；
Fig. 2 is the structural schematic diagram of the solar energy photovoltaic panel of climbing robot provided in an embodiment of the present invention；
Fig. 3 is the top view of climbing robot provided in an embodiment of the present invention；
Fig. 4 is the bottom view of climbing robot provided in an embodiment of the present invention；
Fig. 5 is the side view one of climbing robot provided in an embodiment of the present invention；
Fig. 6 is the side view two of climbing robot provided in an embodiment of the present invention；
Fig. 7 is the decomposed structure chart of climbing robot provided in an embodiment of the present invention；
Fig. 8 is the enlarged drawing in Fig. 7 at A；
Fig. 9 is the further decomposition chart of climbing robot provided in an embodiment of the present invention；
Figure 10 is the top view of the rotating mechanism of climbing robot provided in an embodiment of the present invention；
Figure 11 is the decomposed structure chart of the mobile foot of climbing robot provided in an embodiment of the present invention；
Figure 12 is the further decomposition chart based on Figure 11；
Figure 13 is the schematic diagram of the first movement sole structure of climbing robot provided in an embodiment of the present invention；
Figure 14 is the exploded view of the first movement sole structure of climbing robot provided in an embodiment of the present invention；
Figure 15 is the bottom view of second of mobile sole structure of climbing robot provided in an embodiment of the present invention；
Figure 16 is the schematic diagram of the third movement sole structure of climbing robot provided in an embodiment of the present invention；
Figure 17 is the exploded view of the third movement sole structure of climbing robot provided in an embodiment of the present invention；
Figure 18 is the schematic diagram of the step S1-1 of climbing robot across obstacle provided in an embodiment of the present invention；
Figure 19 a to Figure 19 c is the signal of the step S1-2 of climbing robot across obstacle provided in an embodiment of the present invention
Figure；
Figure 20 is the schematic diagram of the step S1-3 of climbing robot across obstacle provided in an embodiment of the present invention；
Figure 21 is the schematic diagram of the step S1-4 of climbing robot across obstacle provided in an embodiment of the present invention；
Figure 22 is the schematic diagram of the step S1-5 of climbing robot across obstacle provided in an embodiment of the present invention；
Figure 23 is the schematic diagram of the step S1-6 of climbing robot across obstacle provided in an embodiment of the present invention；
Figure 24 is the schematic diagram of the step S1-7 of climbing robot across obstacle provided in an embodiment of the present invention；
Figure 25 is the schematic diagram of the step S1-8 of climbing robot across obstacle provided in an embodiment of the present invention；
Figure 26 is the schematic diagram of the step S1-9 of climbing robot across obstacle provided in an embodiment of the present invention；
Figure 27 is the schematic diagram of the step S2-1 of climbing robot stair climbing provided in an embodiment of the present invention；
Figure 28 is the schematic diagram of the step S2-2 of climbing robot stair climbing provided in an embodiment of the present invention；
Figure 29 is the schematic diagram of the step S2-4 of climbing robot stair climbing provided in an embodiment of the present invention；
Figure 30 is the schematic diagram of the step S2-5 of climbing robot stair climbing provided in an embodiment of the present invention；
Figure 31 is the schematic diagram of the step S2-6 of climbing robot stair climbing provided in an embodiment of the present invention.
Figure 32 is the schematic diagram of the step S2-7 of climbing robot stair climbing provided in an embodiment of the present invention；
Figure 33 is the schematic diagram of the step S2-8 of climbing robot stair climbing provided in an embodiment of the present invention；
Figure 34 is the schematic diagram of the step S2-9 of climbing robot stair climbing provided in an embodiment of the present invention；
Figure 35 is the schematic diagram of the step S2-10 of climbing robot stair climbing provided in an embodiment of the present invention；
Figure 36 is the schematic diagram of the step S2-11 of climbing robot stair climbing provided in an embodiment of the present invention.
Figure 37 a and Figure 37 b are the schematic diagrames for the step S3-1 that climbing robot provided in an embodiment of the present invention climbs slight slope；
Figure 38 is the schematic diagram for the step S3-2 that climbing robot provided in an embodiment of the present invention climbs slight slope；
Figure 39 is the schematic diagram for the step S3-3 that climbing robot provided in an embodiment of the present invention climbs slight slope；
Figure 40 is the schematic diagram for the step S3-4 that climbing robot provided in an embodiment of the present invention climbs slight slope；
Figure 41 is the schematic diagram for the step S3-5 that climbing robot provided in an embodiment of the present invention climbs slight slope；
Figure 42 is the schematic diagram for the step S3-6 that climbing robot provided in an embodiment of the present invention climbs slight slope.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that described herein, specific examples are only used to explain the present invention, not
For limiting the present invention.
It should be noted that when component is referred to as " being fixed on " or " being set to " another component, it can directly or
It connects on another component.When a component is known as " being connected to " another component, it be can be directly or indirectly
It is connected on another component.The orientation or positional relationship of the instructions such as term " on ", "lower", "left", "right" is based on attached drawing
Shown in orientation or positional relationship, be merely for convenience of describing, rather than the device or element of indication or suggestion meaning must have
There is specific orientation, be constructed and operated in a specific orientation, therefore should not be understood as the limitation to this patent.Term " first ",
" second " is used merely to facilitate description purpose, is not understood to indicate or imply relative importance or implicitly indicates technical characteristic
Quantity.The meaning of " plurality " is two or more, unless otherwise specifically defined.
In order to illustrate technical solutions according to the invention, it is described in detail below in conjunction with specific accompanying drawings and embodiments.
Fig. 1, Fig. 7, Fig. 9 and Figure 10 are please referred to, the embodiment of the present invention provides a kind of climbing robot 100, comprising: main frame
1, multiple mobile feet 2 and rotating mechanism 6, each mobile foot 2 are pivotally connected on main frame 1, and rotating mechanism 6 wraps
The first telescopic component 61, rack gear and multiple tooth sectors 63 are included, the first telescopic component 61 is fixedly installed on main frame 1 and can stretch
Long and shortening, rack gear are connected to the first telescopic component 61 and are slidably mounted on main frame 1, and rack gear is by the first telescopic component 61
Flexible drive is moved, and rack gear is also meshed in each tooth sector 63, tooth sector 63 be articulated in main frame 1 so as to
About the center axis thereof of its own on main frame 1, tooth sector 63 is fixedly connected with the mobile one-to-one correspondence of foot 2, therefore, turns
Each mobile foot 2 is able to drive to gear 63 to rotate on main frame 1.
Climbing robot 100 provided in an embodiment of the present invention, including main frame 1, multiple mobile feet 2 and rotating mechanism 6 lead to
Crossing the flexible of the first telescopic component 61 can be with the movement of carry-over bar, and then drives turn of tooth sector 63 and multiple mobile feet 2
Dynamic, the change in direction of creeping, the steering freedom of the climbing robot 100 can be realized without any rotation for main frame 1 itself
It is higher, turn to it is more flexible, greatly extend the climbing robot 100 can application range, for example, as high-altitude cleaning operation
Robot is in use, cleaning effect can be improved to avoid the blind area of cleaning；In in a limited space, it can also rapidly realize and climb
Row commutation improves mobile efficiency.
In one embodiment, referring to Fig. 7, each mobile foot 2 includes the flexible group of third being rotatablely connected with main frame 1
Part 21, the 4th telescopic component 22 being connect with third telescopic component 21 and the mobile sole knot being connect with the 4th telescopic component 22
Structure 23, third telescopic component 21 are able to carry out elongation and shortening, and then drive the 4th telescopic component 22 and mobile sole structure 23
Common mobile, the 4th telescopic component 22 is able to carry out elongation and shortening, and then drives mobile sole structure 23 mobile, also, the
The telescopic direction of three telescopic components 21 and the telescopic direction of the 4th telescopic component 22 are not parallel, therefore, each mobile sole structure
23 can be moved in two different directions respectively.Further pass through the cooperation of multiple mobile feet 2 creeper as a result,
Device people 100 can realize whole movement of creeping.In a preferred embodiment, the third telescopic component 21 in each movement foot 2
Telescopic direction and the telescopic direction of the 4th telescopic component 22 be orthogonal.
Further, multiple third telescopic components 21 rotate in the same plane, as a result, multiple 4th telescopic components 22
Telescopic direction be parallel to each other.For example, for the usually used state of climbing robot 100, that is, be placed on ground and
Speech, the telescopic direction of third telescopic component 21 can be horizontally oriented, and multiple first telescopic components 21 stretch in the horizontal plane, the
The telescopic direction of four telescopic components 22 is vertical direction, and the 4th telescopic component 22 is extended along gravity direction, this is climbed as a result,
Row robot 100 can advance in the horizontal plane and integral raising in the vertical direction.
In the present embodiment, the quantity of mobile foot 2 is at least three, such to be advantageous in that, when one of mobile sole
When structure 23 lifts (the 4th telescopic component 22 shortens in the vertical direction), separately there are at least two mobile sole structures 23 for branch
Support is to keep stable.Fig. 1, Fig. 3 and Fig. 4 are please referred to, in a preferred embodiment, the quantity of mobile foot 2 is four, four shiftings
The dynamic arrangement of foot 2 is circularized to support from the multiple directions around main frame 1, can be improved the crawling machine in this way
The stability of people 100.In other embodiments, the quantity of mobile foot 2 can also be more.
Fig. 7 to Fig. 9 is please referred to, third telescopic component 21 is including third electric pushrod 211 and is slidably mounted on its inside
Third push rod core 212, third electric pushrod 211 drive third push rod core 212 to extend and retract inside it.Please refer to Fig. 7, figure
9, Figure 11 and Figure 12, the 4th telescopic component 22 include the 4th electric pushrod 221 and the 4th push rod core for being slidably mounted on its inside
222, the 4th electric pushrod 221 drives the 4th push rod core 222 internal flexible from it and retracts.Third electric pushrod 211 is installed on
On main frame 1, the end of third push rod core 212 is connect with the 4th electric pushrod 221, the end of the 4th push rod core 222 and movement
Sole structure 23 connects.
Please continue to refer to Figure 10, climbing robot 100 includes four mobile feet 2, for make the mobile foot 2 of wherein at least one and
Rotation direction between the mobile foot 2 of others is not identical, and in the present embodiment, rotating mechanism 6 further includes at least one reverse gear
64, it is engaged between rack gear 621 and a tooth sector 63, the rotation side of at least one tooth sector 63 can be made in this way
To different from the rotation direction of other tooth sectors 63, and then realize above-mentioned purpose.Of course, the quantity of reverse gear 64 is less than
The quantity of tooth sector 63.Such to be advantageous in that, four mobile feet 2 can turn to different location always during rotation
The direction and, it is ensured that the overall stability of climbing robot 100 avoids four mobile feet 2 from turning to the one of main frame 1
Side and lead to the problem of overturning due to the climbing robot 100 is uneven because supporting.
Further, it is equably arranged on main frame 1 for four mobile feet 2 of realization and guarantees the climbing robot in turn
100 overall stability, the line that the position of four tooth sectors 63 is arranged with the heart form a square.Such as Figure 10 institute
Show, in the present embodiment, rack gear 621 includes four sub- rack gears, the respectively first sub- rack gear 6211, the second sub- rack gear 6212, the
Three sub- rack gears 6213 and the 4th sub- rack gear 6214, four sub- rack gears respectively correspond a tooth sector 63.Wherein, the first sub- tooth
Item 6211 and the second sub- rack gear 6212 are parallel to each other and are aligned, and respective tooth, towards being arranged in the direction away from each other, third is sub
Rack gear 6213 and the 4th sub- rack gear 6214 are parallel to each other and are aligned, and respective tooth court is arranged in the direction away from each other, because
This, four tooth sectors 63 are arranged in the outside of four sub- rack gears, four sub- rack gears be respectively positioned on two neighboring tooth sector 63 it
Between space in.The sub- rack gear 6213 of third and the 4th sub- rack gear 6214 are located at the first sub- rack gear 6211 and the second sub- rack gear 6212
Length direction side, also, the distance between the sub- rack gear 6213 of third and the 4th sub- rack gear 6214 are less than the first sub- rack gear
6211 and second the distance between the sub- rack gear 6212, as a result, on the basis of guaranteeing that four tooth sectors 63 are square arrangement,
Setting for two reverse gears 64 reserves space.
In one embodiment, please continue to refer to Figure 10, four sub- rack gears setting in a strip shape, in two neighboring sub- rack gear
Between rack gear connecting plate 622 is also respectively connected, be linked to be a "convex" shaped between four rack gear connecting plates 622 and four sub- rack gears
The sliding frame 62 of structure.First telescopic component 61 is set to the inside of the sliding frame 62 comprising the first electric pushrod 611
The first push rod core 612 internal with it is slidably connected to is connected to the ending vertical of the first push rod core 612 positioned at third
Rack gear connecting plate 622 between rack gear 6213 and the 4th sub- rack gear 6214.First electric pushrod 611 drives the first push rod core 612
It is extended and retracted inside from it, so as to be able to drive entire sliding frame 62 mobile for the first push rod core 612, and then drives four the
The rotation of three telescopic components 21.It is preferred that the glide direction of sliding frame 62 is parallel to the rotational plane of mobile foot 2, namely
Parallel with the bottom surface of main frame 1, rotate gear 64 and reverse gear 64 are also put down in parallel with the bottom surface of main frame 1
Rotation in surface.
Referring to Fig. 10, due to the first sub- rack gear 6211 and the second sub- rack gear 6212 be located remotely from each other mutual side for
Tooth sector 63 engages, therefore, the two steering teeth directly engaged respectively with the first sub- rack gear 6211 and the second sub- rack gear 6212
The rotation direction of wheel 63 is on the contrary, the rotation of two mobile feet 2 to be separately connected with two tooth sectors 63 is in mirror image pair
Claim, in being located remotely from each other or close to each other when rotation, defining this two mobile feet 2 is respectively previous foot 201 and the first two foot 202.
The rotation directions of two tooth sectors 63 directly engaged respectively with two reverse gears 64 on the contrary, to this two steering teeth
The rotation of two mobile feet 2 that wheel 63 is separately connected is in mirror symmetry, and in being located remotely from each other or close to each other when rotation, definition is somebody's turn to do
Two mobile feet 2 are respectively rear three feet 203 and rear four foot 204, previous foot 201, the first two foot 202, rear three foot 203 and rear four foot
204 can be arranged successively along the counter clockwise direction for overlooking orientation.Also, due to the setting of reverse gear 64, previous foot 201 and rear four
The rotation of foot 204 is also in mirror symmetry, and the rotation of the first two foot 202 and rear three foot 203 is also in mirror symmetry.Therefore, in mobile foot
During 2 rotations, four mobile feet 2 can be always supported main frame 1 from different position and direction, ensure that this
The stability of climbing robot 100.
In a preferred embodiment, the first sub- rack gear 6214 of sub- rack gear 6211 to the 4th is arranged so that each mobile foot 2
90 ° can be rotated, this four mobile feet 2 can turn to the moving direction each parallel to the first push rod core 612 as a result, or hang down
Directly in the moving direction of the first push rod core 612, refering to what is shown in Fig. 4, the X-shaped either to fall between.
It is understood that the definition of above-mentioned previous foot 201, the first two foot 202, rear three foot 203 and rear four foot 204 is base
It is defined in the moving direction of the first push rod core 612, while convenient for its crawling process is described below.And in practical applications,
Since four mobile feet 2 can rotate 90 ° respectively, four mobile feet 2 substantially have no point of front and back, from overlook direction
It sees and also has no obvious differentiation, with reference to shown in Fig. 3 to Fig. 6.It, can be by any adjacent two mobile 2 turns of foot in crawling process
It moves to direction of creeping is parallel to, that is, the climbing robot 100 of the application can creep towards any direction, without considering main body
The direction of frame 1 realizes the flexible choice in direction of creeping and the high freedom of steering.
Fig. 7, Fig. 9, Figure 11 and Figure 12 are please referred to, in one embodiment, which further includes center
Support leg 4 comprising the second telescopic component 41 and support leg bottom structure 42, the second telescopic component 41 are vertically installed on main frame
1 middle part, support leg bottom structure 42 are connected to the second telescopic component 41 and are located at the lower section of main frame 1.In the second telescopic component
41 when being extended and being shortened, and support leg bottom structure 42 moves in the vertical direction therewith, thus, which can
It is extended and is shortened in the vertical direction.The central support foot 4, which is arranged, to be advantageous in that, when the central support foot 4 elongation,
A temporary support can be provided for the climbing robot 100, so that four mobile feet 2 be allowed to contract in the vertical direction
It returns, then can be rotated simultaneously by action drives four mobile feet 2 of rotating mechanism 6, realize turning for the climbing robot 100
To.Certainly, be set as can be from disassembly and assembly on the climbing robot 100, with selectivity in some cases for central support foot 4
Ground uses the central support foot 4.
Similarly, the second telescopic component 41 includes the second electric pushrod 411 and the second push rod for being slidably mounted on its inside
Core 412, the second electric pushrod 411 drive the second inside from of push rod core 412 to extend and retract.Support leg bottom structure 42 is connected to
The end of second push rod core 412.
In a particular application, the structure of 611 to the 4th electric pushrod 221 of the first electric pushrod can be identical, but its length
Can be different, the structure of 612 to the 4th push rod core 222 of the first push rod core can also be identical, but its length can be different.Preferably
It is the length maximum of third electric pushrod 211 and third push rod core 212, such as can is 100mm, and the second electric pushrod 411
Length to 412 to the 4th push rod core 222 of the 4th electric pushrod 221 and the second push rod core can be 50mm, can mention in this way
For the suitable creep speed of climbing robot 100 and whole height.
In one embodiment, Fig. 7 and Fig. 9 are please referred to, main frame 1 includes upper backup pad 11, lower supporting plate 12 and connects
Multiple support columns 13 between the two are connected to, to form certain space, third between upper backup pad 11 and lower supporting plate 12
One end on electric pushrod 211 far from the 4th telescopic component 22 is installed on upper backup pad 11 and lower supporting plate 12 in a manner of sandwiched
Between.It can reinforce the connection between main frame 1 and third telescopic component 21 in this way, and 21 court of third telescopic component can be reduced
Risk that is mobile or falling off occurs to gravity direction.Specifically, on third electric pushrod 211 far from the 4th telescopic component 22 one
It is connected between the upper surface at end and the lower surface of upper backup pad 11, far from the 4th telescopic component 22 on third electric pushrod 211
It is connected between the lower surface of one end and the upper surface of lower supporting plate 12.Sliding frame 62 is slidably connected to the upper table of upper backup pad 11
Face.
Upper backup pad 11 can be identical with the structure of lower supporting plate 12, and the shape of shell 5 can correspond to 11 He of upper backup pad
The shape of lower supporting plate 12 is designed.As shown in figure 9, upper backup pad 11 and lower supporting plate 12 include outer ring in a ring
Supporter 141 and inner ring supporter 142, the position to contact with each other between outer ring supporter 141 and inner ring supporter 142 form four
A interconnecting piece 140.Third electric pushrod 211 is rotatably installed in correspondingly between two interconnecting pieces 140 up and down, four steerings
Gear 63 corresponds the upper surface for being articulated in the interconnecting piece 140 of upper support 11, and reverse gear 64 is articulated in inner ring supporter
On 142 upper surface.
Fig. 7 and Fig. 9 are please referred to, outer ring supporter 141 is in quadrangle starriness, and inner ring supporter 142 turns for being pivotally connected four
To gear 63, thus it is square.Interconnecting piece 140 is arranged on outer ring supporter 141 with respect to the middle part of the position of indent, this
Sample, outer ring supporter 141 will not cause to interfere to the rotation of third telescopic component 21.The corresponding inner ring support of outer ring supporter 141
The part on the side of body 142 protrudes outward.
Fig. 1 and Fig. 2 are please referred to, which may include a shell 5, be covered on main frame 1, in this way
Certain space can be provided between main frame 1 and shell 5 for accommodating such as controller, battery, cabling (not shown)
Structure.Specifically as shown in fig. 7, shell 5 is mounted on the top of upper backup pad 11, and outer ring supporter 141 is covered.Further
Ground, shell 5 can will also cover with respect to the space around the angle of protrusion between upper backup pad 11 and lower supporting plate 12, only retain and prop up
Relative to the space of interior recess in order to the rotation of third telescopic component 21 between fagging 11 and lower supporting plate 12.Such as Fig. 7 institute
Show, shell 5 includes upper housing 51 and side shell pieces 52, and upper housing 51 covers the upper surface for being located at upper backup pad 11, and side shell pieces 52 is in
Bending is simultaneously connected at the position between upper backup pad 11 and lower supporting plate 12 with respect to protrusion.In a particular application, upper housing
51 and side shell pieces 52 can be integrally formed, or fission design simultaneously install respectively.
In one embodiment, which further includes solar energy photovoltaic panel 81, as shown in Figures 2 and 3, too
Positive energy photovoltaic panel 81 is fixedly installed in the upper surface of shell 5 to utilize solar energy.Inside the solar energy photovoltaic panel 81 and shell 5
Battery connection is guaranteeing controller, 61 to the 4th telescopic component 22 of the first telescopic component just constantly to provide electric energy for battery
Often work, and then guarantee that the climbing robot 100 can continue working.
Further, interior connector 143 is respectively further comprised please continue to refer to Fig. 9, upper backup pad 11 and lower supporting plate 12, it is interior
Connector 143 is located at 142 inside of inner ring supporter and is fixedly connected on the side of inner ring supporter 142.The interior connector 143
For providing the fixed installation position of the second telescopic component 41.Specifically, the second electric pushrod 411 is mounted on a fixing piece 145
On, which is fixedly installed on the upper surface of interior connector 143 of upper backup pad 11.In a particular application, this is interior
Connector 143 can be in " ten " font, and four ends connect one to one on four sides of inner ring supporter 142.
In addition, the middle part infall of two interior connectors 143 in " ten " font is respectively formed mounting hole (not shown), first
First electric pushrod 611 of telescopic component 61 may pass through two mounting holes up and down and be fixed on this two interior connectors 143, from
And central support foot 4 can be extended and be shortened in the vertical direction relative to the interior connector 143.To make in central supported
In the case that foot 4 is fully retracted, height of the main frame 1 apart from ground is unlikely to excessive, and the first electric pushrod 611 can be close in its
The position at lower part or middle part is connect with interior connector 143, thus, the one end of the first electric pushrod 611 far from the first push rod core 612
The top of main frame 1 can be protruded from.On this basis, the shape of shell 5 should cooperate the first electric pushrod 611 protrusion part and
Design.As Fig. 1, Fig. 5 and it is shown in Fig. 6, the height at the middle part of shell 5 is maximum, and entire shell 5 can be with arc-shaped table
Face.In a particular application, shell 5 can be designed as the shape of any adaptation, with no restriction to this.
In a preferred embodiment, upper backup pad 11 and lower supporting plate 12 are integrally formed.Also, by four thirds
After the end of telescopic component 21 is articulated in interconnecting piece 140, it will distinguish between support column 13 and upper backup pad 11 and lower supporting plate 12
It is welded to connect.It further, can after being assembled respectively between fixing piece 145, the second telescopic component 41 and sliding frame 62
The end of second push rod core 412 is welded on rack gear connecting plate 622 and fixing piece 145 is welded on interior connector 143.
It please refers to shown in Fig. 9, Figure 11 and Figure 12, each mobile foot 2 further includes mobile foot protection structure 24, is connected to the
It between the end and the 4th electric pushrod 221 of three push rod cores 212, is integrated with the fixed installation of the 4th telescopic component 22, and by the
Including the protection of four telescopic components 22.Specifically, mobile foot protection structure 24 includes with opening towards mobile sole structure 23
The protective shell 241 of mouth and the push rod mounting bracket 242 being set to inside protective shell 241, the fixed peace of the 4th electric pushrod 221
In push rod mounting bracket 242, the 4th push rod core 222 stretches out inside protective shell 241 as a result,.It is such to be advantageous in that, by
Usually complicated path is faced in mobile foot 2 and is exposed to the external environment of shell 5, and the setting of protective shell 241 can protect it
The 4th internal electric pushrod 221 guarantees the 4th telescopic component 22 from destruction and influence from extraneous dust, rainwater etc.
Normal work.
Please continue to refer to Figure 12, push rod mounting bracket 242 includes the first u-bracket 2421 and the second u-bracket 2422, the
One u-bracket 2421 and the second u-bracket 2422 connect side by side in the form of respective opening is towards the side of protective shell 241,
4th electric pushrod 221 is fixed on and passes through the first u-bracket 2421, while being also fixed on and passing through the second u-bracket
2422.The height of first u-bracket 2421 can be greater than the height of the second u-bracket 2422, under such 4th electric pushrod 221
Portion is fixed on the 2nd U type bracket 2422, and the bottom end of the second u-bracket 2422 may be sized to greater than the first u-bracket
2421 size, so that the second u-bracket 2422 can be contacted and be fixed together with the inner wall of shell 5, and the first u-bracket
2421 for guaranteeing the top of the 4th electric pushrod 221 and the stability at middle part.The 4th electric pushrod 221 is pacified with push rod as a result,
Dress bracket 242 and protective shell 241 are fixedly installed togather and synchronizing moving.Due to the size of the bottom end of the second u-bracket 2422
It is larger, cause the telescopic direction of the 4th telescopic component 22 to shift to avoid its bottom unbalance stress from deforming, it can be
At least one reinforcing member 244 is set to support again between its upper and lower ends, and then guarantees the normal work of the 4th telescopic component 22,
As shown in figure 12.
Accordingly, referring to Fig. 9, central support foot 4 is arranged in the middle part of main frame 1 and is set by the lid of upper housing 51, upper casing
Body 51 has been able to play certain protective role to the first electric pushrod 611, and on this basis, the first electric pushrod 611 can be only
It is mounted at the middle part mounting hole of upper and lower two interior connectors 143, is no longer needed to by identical first u-bracket 2421 '
Protective shell and the second U-shaped mounting bracket are set.It can simplify the structure of the climbing robot 100 in this way and reduce manufacturing cost.
In one embodiment, the space between shell 5 and main frame 1 is arranged in the controller of the climbing robot 100
It is interior, and it is connected to each third telescopic component 21, every one the 4th telescopic component 22, the first telescopic component 61 and the second telescopic component
41, with each third telescopic component 21 of independent control, every one the 4th telescopic component 22, the first telescopic component 61 and second flexible group
The movement of part 41.
In one embodiment, Fig. 1, Fig. 3, Fig. 5 and Fig. 6 are please referred to, which further includes fixation and recognition system
System 3, is used to receive positioning signal and judges surrounding paths, and ambient enviroment for identification, positioning identification system 3 is connected to
The information of identification is simultaneously fed back to controller by controller, and controller transfers corresponding walking program according to the feedback information, in turn
It controls the climbing robot 100 and accordingly makes the movement such as advance, retrogressing, raising, reduction or steering.As shown in figures 1 and 3,
Positioning identification system 3 is mountable on the surface of shell 5, so that it more protrudes to receive around positioning signal and identification
Environment.
Please refer to Fig. 8 and Figure 12, in the present embodiment, climbing robot 100 further includes multiple sensors 80, for detecting four
Whether a mobile foot 2 and central support foot 4 extend in the vertical direction and foreshorten to extreme position, and four mobile feet of detection
2 rotation situation, and those information are fed back into controller.Specifically, which includes 12 sensors altogether
80, corresponding two sensors 80 of central support foot 4, each movement foot 2 corresponds to two sensors 80, two sensors 80
In one for detecting whether corresponding central support foot 4 or mobile foot 2 extend to extreme position, therein another is used for
It detects corresponding central support foot 4 or whether mobile foot 2 is retracted to extreme position.Most latter two sensor 80 corresponds to rotating mechanism
6 settings to detect the flexible situation of the first telescopic component 61, and then may determine that four mobile feet 2 around main frame 1
Distribution situation.
Fig. 7,11 and Figure 12 is please referred to, central support foot 4 and each mobile foot 2, which respectively further comprise, to be arranged in protective shell 241
Interior mounting frame for sensor 25, mounting frame for sensor 25 ', it is L-shaped, it is vertically installed at the first u-bracket 2421, the first U
On type bracket 2421 ', so that respective two sensors 80 arrange along the vertical direction.Central support foot 4 and each mobile foot
2 respectively further comprise assistant strip 243, assistant strip 243 ', are vertically installed on mobile sole structure 23 and support leg bottom structure 42
On, parallel with mounting frame for sensor 25 and be positioned apart from, two sensors 80 are arranged in sensor installation branch at intervals
On frame 25.Thus when the 4th telescopic component 22 and the second telescopic component 41 are extended and shortened in the vertical direction, it is auxiliary
Item 243 is helped also to move up and down with corresponding mobile sole structure 23 and support leg bottom structure 42, in turn, 243 meeting of assistant strip
Successively close to two sensors 80, whether two sensors 80 appear in its spy by detection assistant strip 243, assistant strip 243 '
Surveying in range can determine whether the 4th telescopic component 22 and the second telescopic component 41 extend and shrink back to extreme position.
Fig. 8 and Fig. 9 are please referred to, is set to upper branch for detecting two sensors 80 of rotation situation of four mobile feet 2
With can be as close as possible to sliding frame 62 on fagging 11, and be arranged along the telescopic direction of the first telescopic component 61.Slider box
In being also fixed with accessory plate 65 far from the side of the first telescopic component 61 on frame 62, the accessory plate 65 is from court on sliding frame 62
Extend to the first telescopic component 61, so that its end is fallen into the investigative range of two sensors 80.When the first telescopic component 61
When flexible, sliding frame 62 drives the accessory plate 65 mobile, thus, it is to the detection of accessory plate 65 by two detectors
It can be seen that the angle that four mobile feet 2 turn over, reaches 90 ° such as whether having been rotated by.Then, which can incite somebody to action
The information feeds back to controller.
Mobile sole structure 23 and support leg bottom structure 42 can be directed to according to the road surface types and situation etc. to be creeped
Design to property.
In one embodiment, mobile sole structure 23 and support leg bottom structure 42 all can be plates or orbicules
Deng, such as sunken bottom cushion, soft sphere or flat cushion 71, Figure 15 is please referred to, this is suitable for swashing on the road surface of general horizontal
It goes, anti-skid chequer 710 can be equipped on the bottom surface for being used to contact with road surface.
Figure 13 and Figure 14 are please referred to, in one embodiment, mobile sole structure 23 and support leg bottom structure 42 can be with
To shovel land leveller 72, when the climbing robot 100 is creeped on inclined soil property road surface, shovel land leveller 72 can be by soil property road
Face, which is evened out, places so that it is steady and gradually climbs up slope.
Specifically, shovel land leveller 72 evens flabellum 721, two supports disks 722, mounting post out including multiple bending settings
723, connector 724 and rotation motor 725, the both ends of mounting post 723 are connected to the centre bore of two support disks 722
Place, it is multiple even out 721 sandwiched of flabellum two support disk 722 edges and be uniformly distributed, rotation motor 725 is connected to peace
Between the one end and connector 714 for filling column 723, the other end of connector 724 is connected to the end of the 4th push rod core 222.It is revolving
Under the drive for turning motor 725, mounting post 723 is together with support disk 722 and evens flabellum 721 out and pushes away about connector 724 and the 4th
The central axis of bar core 222 makes rotating motion.Certainly, rotation motor 725 is also connect by cabling with the battery inside shell 5,
Whether the connection that controller is also used to control between each rotation motor 725 and battery simultaneously opens.For example, working as one of them
When the location of mobile foot 2 needs to be evened out, then controller control movement the foot 2 corresponding rotation motor 725 and battery it
Between connect.
Figure 16 and Figure 17 are please referred to, in one embodiment, mobile sole structure 23 and support leg bottom structure 42 can be with
For air draught component 73, for being adsorbed on relatively flat surface, such as glass.Therefore, which can be used in one
On a little biggish surfaces of gradient, such as glass curtain wall, the solar energy photovoltaic panel of building, and can execute in turn it is some special
Work, such as bear a heavy burden or be glass curtain wall, solar energy photovoltaic panel cleaning work.
Specifically, which includes the bottom plate 731 equipped with multiple stomatas 7310, the opposite installation with bottom plate 731
Upper cover body 732 and the blower 733 between bottom plate 731 and upper cover body 732, outer surface middle part and the 4th push rod core of upper cover
222 end connection.Blower 733 further may include mounting plate 7331, fan 7332 and blower cover board 7333, mounting plate
7331 and the opposite installation of blower cover board 7333 to accommodate and protect fan 7332 including, mounting plate 7331 is fixed on bottom plate 731
Above and not exclusively block stomata 7310.Certainly, fan 7332 is also connect by cabling with battery.It is rotated in fan 7332
When, negative pressure is formed close to the side of bottom plate 731 in the space between bottom plate 731 and upper cover body 732, forces air by bottom plate 731
Stomata 7310 enter, the bottom plate 731 of the air draught component 73 can tively firm adsorb on some surfaces as a result,.Equally
Ground, each air draught component 73 are connected to battery, and when one of mobile foot 2 needs to leave adsorbed surface, control
Device controls to be disconnected between the corresponding fan 7332 of movement foot 2 and battery.
Introduce how the climbing robot 100 is realized across obstacle 91 and climbed by taking flat cushion 71 as an example separately below
Stair 92, and for shoveling land leveller 72 introduce the climbing robot 100 and how to realize and climb soil slope.
Figure 18 to Figure 26 is please referred to, the step of for 100 across obstacle 91 of climbing robot.
The climbing robot 100 encounters barrier 91 in crawling process, and positioning identification system 3 identifies the barrier
91, and the information of the barrier 91 is transferred to controller, controller controls the climbing robot 100 into across obstacle
Program.At this point, central support foot 4 is removed by integral demounting.
Step 1-1, as shown in figure 18, the 4th telescopic component 22 elongation of four mobile feet 2, main frame 1 is together with shell 5
(under be collectively referred to as fuselage) is increased to the top of barrier 91；
The 4th telescopic component 22 of step 1-2, previous foot 201 shorten, and mobile sole structure 23 increases, as shown in figure 19a,
Then third telescopic component 21 extends, and as shown in fig. 19b, the 4th telescopic component 22 extends again, and mobile sole structure 23 reduces,
At this point, previous foot 201 spans barrier 91；
Step 1-3, as shown in figure 20, the 4th telescopic component 22 of the first two foot 202 shorten, and then third telescopic component 21 is stretched
Long, the 4th telescopic component 22 extends again, at this point, the first two foot 202 spans barrier 91；
Step 1-4, as shown in figure 21, previous foot 201 and the first two respective third telescopic component 21 of foot 202 shorten, and after
One foot and the respective third telescopic component 21 of rear two foot extend, and fuselage is pushed to move forward；
Step 1-5, as shown in figure 22, the 4th telescopic component 22 of rear three foot 203 shorten, and then third telescopic component 21 is stretched
Long, last 4th telescopic component 22 reduces；
Step 1-6, as shown in figure 23, the 4th telescopic component 22 of rear four foot 204 shorten, and then the 4th telescopic component 22 is stretched
It is long, last 4th telescopic component 22 elongation.At this point, barrier 91 is located at below fuselage close to previous foot 201 and the first two foot 202
At position；
Step 1-7, as shown in figure 24, repeat the above steps 1-2 to 1-6, and barrier 91 is located at immediately below fuselage at this time；
Step 1-8, as shown in figure 25, repeat the above steps 1-2 to 1-6, and barrier 91 is located at close below fuselage at this time
At the position of latter foot and rear two foot；
Step 9, as shown in figure 26, repeat the above steps 1-2 to 1-6, and the climbing robot 100 is completely across mistake at this time
Barrier 91.
The step of please referring to Figure 27 to Figure 36, being 100 stair climbing 92 of climbing robot of the application.
The climbing robot 100 encounters stair 92 in crawling process, and positioning identification system 3 identifies the stair 92, and
Its information is transferred to controller, controller controls the climbing robot 100 and enters stair climbing program.
Step 2-1, as shown in figure 27, four mobile foot 2 respective 4th telescopic component 22 elongations, fuselage are increased above
First step；At this point, central support foot 4 retracts.
Step 2-2, as shown in figure 28, the 4th telescopic component 22 of previous foot 201 shorten, then its third telescopic component 21
Elongation, last 4th telescopic component 22 elongation and its movement sole structure 23 drop down on first step；The 4th of the first two foot 202
Telescopic component 22 shortens, and then its 4th telescopic component 22 extends, last its 4th telescopic component 22 elongation, and it moves sole
Structure 23 drops down on first step；
Step 2-3, previous foot 201 and the first two respective third telescopic component 21 of foot 202 shorten simultaneously, and rear three foot 203
It is extended simultaneously with the respective third telescopic component 21 of rear four foot 204, fuselage is pushed to move forward；
Step 2-4, as shown in figure 29, latter foot are increased by its 4th telescopic component 22, then flexible by third
Component 21 and extend, the lower section of first step is reduced and dropped down by the 4th telescopic component 22；The first two foot 202 by its 4th
Telescopic component 22 and increase, then by the 4th telescopic component 22 extend, pass through the 4th telescopic component 22 reduce；
Step 2-5, as shown in figure 30, repeat the above steps 2-1 to 2-4, at this point, previous foot 201 and the first two foot 202 are climbed up
Second step, rear three foot 203 and rear four foot 204 be close to first step；
Step 2-6, as shown in figure 31, repeat the above steps 2-1 to 2-4, at this point, previous foot 201 and the first two foot 202 are climbed up
Third step, rear three foot 203 and rear four foot 204 have climbed up first step；
Step 2-7, as shown in figure 32, repeat the above steps 2-2 to 2-4, at this point, previous foot 201 and previous foot 201 continue
It moves forward, rear three foot 203 and rear four foot 204 have climbed up second step；
Step 2-8, as shown in figure 33, repeat the above steps 2-2 to 2-4, at this point, previous foot 201 and previous foot 201 continue
It moves forward, rear three foot 203 and rear four foot 204 have climbed up third step；
The steering procedure of climbing robot 100 is described then in conjunction with the stair 92.
Step 2-9, as shown in figure 34, the second telescopic component 41 of central support foot 4 extend, and entire supporting fuselage is risen
Come, four respective 4th telescopic components 22 of mobile foot 2 shorten, and four mobile sole structures 23 are lifted away from ledge surface；
Step 2-10, as shown in figure 35, the second telescopic component 41 of central support foot 4 push sliding frame 62 mobile, and four
A mobile foot 2 rotates 90 °, and in Figure 35, the first two foot 202 and rear three foot 203 turn to, previous foot outside perpendicular to paper
201 and rear four foot 204 turn to it is inside perpendicular to paper；
Step 2-11, as shown in figure 36, the elongation of four mobile foot 2 respective 4th telescopic components 22, and by supporting fuselage
Get up, then, central support foot 4 retracts；
Later, it repeats the above steps and 21- to 2-8 and combines step 2-9 and 2-11, which can be after
Continuous stairs 92.
The step of please referring to Figure 37 to Figure 42, climbing slight slope for the climbing robot 100.
The climbing robot 100 encounters slight slope in crawling process, and positioning identification system 3 identifies the slight slope, and by its
Information is transferred to controller, and controller controls the climbing robot 100 and enters the program for climbing slight slope.At this point, central support foot 4 can
It is assembled on the climbing robot 100.
Step 3-1, as shown in Figure 37 a shown in, the elongation of four mobile foot 2 respective 4th telescopic components 22, central supported
Second telescopic component 41 of foot 4 extends, and fuselage increases；Then, as shown in Figure 37 b, previous foot 201 and the first two foot 202 are respective
4th telescopic component 22 shortens, and then respective third telescopic component 21 extends, finally, respective 4th telescopic component 22 is stretched
Long to touch slight slope to mobile sole structure 23, controller controls the shovel land leveller 72 that previous foot 201 and the first two foot 202 are connected
Rotation, slope herein is evened out, and previous foot 201 and the first two foot 202 are supported here；
Step 3-2, as shown in figure 38, central support foot 4 are retracted, and previous foot 201 and the first two respective third of foot 202 are flexible
Component 21 shortens, and latter foot and the respective third telescopic component 21 of rear two foot extend, and pushes fuselage to move forward, central support foot
4 the second telescopic component 41, which is extended to its support leg bottom structure 42, touches slight slope, and controller drives its corresponding shovel land leveller
72 rotations, even slight slope below out and are fixed on herein；
Step 3-3, as shown in figure 39, rear three foot 203 and respective 4th telescopic component 22 of rear four foot 204 shorten, then
Respective third telescopic component 21 shortens, last respective 4th telescopic component 22 elongation to its respective mobile sole structure 23
Slight slope is touched, the shovel land leveller 72 that three feet 203 and rear four foot 204 are connected after controller control is rotated, evened out below
Slight slope, and rear three foot 203 and rear four foot 204 are supported in herein；
Step 3-4, as shown in figure 40, previous foot 201 and the first two respective 4th telescopic component 22 of foot 202 shorten, then
Respective third telescopic component 21 extends, and last respective 4th telescopic component 22 elongation is moved sole structure 23 to it and touched
Slight slope, the shovel land leveller 72 that previous foot 201 and the first two foot 202 are connected rotate, slope herein are evened out, and by previous foot
201 support here with the first two foot 202；
Step 3-5, as shown in figure 41, central support foot 4 are retracted, and previous foot 201 and the first two respective third of foot 202 are flexible
Component 21 shortens, and latter foot and the respective third telescopic component 21 of rear two foot extend, and pushes fuselage to move forward, central support foot
4 the second telescopic component 41, which is extended to its support leg bottom structure 42, touches slight slope, and controller drives its corresponding shovel land leveller
72 rotations, even part slight slope below out and are fixed on herein；
Step 3-6, as shown in figure 42, rear three foot 203 and respective 4th telescopic component 22 of rear four foot 204 shorten, then
Respective third telescopic component 21 shortens, last respective 4th telescopic component 22 elongation to its respective mobile sole structure 23
Slight slope is touched, the shovel land leveller 72 that three feet 203 and rear four foot 204 are connected after controller control is rotated, evened out below
Slight slope, and rear three foot 203 and rear four foot 204 are supported in herein.
When creeping on glass curtain wall, in addition to mobile sole structure 23 is air draught component 73, step of creeping and across hindering
The step of hindering object 91 can be identical, repeats no more.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of climbing robot characterized by comprising
Main frame；
Multiple mobile feet, each mobile foot are rotationally connected on the main frame；And
Rotating mechanism, including the first telescopic component, rack gear and multiple tooth sectors；First telescopic component is fixedly installed in institute
It states on main frame, the rack gear is slidably mounted on the main frame and is driven by first telescopic component and slided, the tooth
Item is engaged in the tooth sector, and the tooth sector is articulated in the main frame；The tooth sector and the mobile foot one
One correspondence is fixedly connected.
2. climbing robot as described in claim 1, which is characterized in that the rotating mechanism further includes at least one reversed tooth
Wheel, the quantity of the reverse gear are less than the quantity of the tooth sector, and the reverse gear is engaged in the rack gear and one
Between the tooth sector.
3. climbing robot as claimed in claim 2, which is characterized in that the quantity of the mobile foot and the tooth sector is equal
It is four, the quantity of the reverse gear is two；Four tooth sector arrangements are square；The rack gear includes mutual
Four parallel sub- rack gears, each sub- rack gear is between two neighboring tooth sector.
4. climbing robot as claimed in claim 3, which is characterized in that the rotational structure further includes multiple rack gear connections
Plate, the rack gear connecting plate are connected between the every two adjacent sub- rack gear；First telescopic component includes the first electricity
Dynamic push rod and the first push rod core driven by first electric pushrod；First electric pushrod is fixedly installed in the main body
On frame, the first push rod core is moved along the direction parallel with the sub- rack gear, and the end of the first push rod core is connected to
One of them described rack gear connecting plate.
5. climbing robot according to any one of claims 1 to 4, which is characterized in that the glide direction of the rack gear is flat
Row is in the bottom surface of the main frame, rotation in surface of the tooth sector in the bottom surface for being parallel to the main frame.
6. climbing robot as described in claim 1, which is characterized in that the climbing robot further includes central support foot,
The central support foot includes the second telescopic component and the support leg bottom structure for being connected to second telescopic component, and described second
Telescopic component is installed on the center of the main frame and for driving the support leg bottom structure to be moved；Described second
Bottom surface of the telescopic direction of telescopic component perpendicular to the main frame.
7. climbing robot as described in claim 1 or 6, which is characterized in that each mobile foot includes and the main body
It the third telescopic component of frame rotation connection, the 4th telescopic component that is connect with the third telescopic component and is stretched with the described 4th
The mobile sole structure of contracting component connection, the third telescopic component is for driving the 4th telescopic component and the mobile foot
Bottom structure is moved, and the 4th telescopic component is for driving the mobile sole structure to be moved；The third is flexible
The telescopic direction of component and the telescopic direction of the 4th telescopic component are not parallel.
8. climbing robot as claimed in claim 7, which is characterized in that the climbing robot further include:
Controller is connected to the third telescopic component, the 4th telescopic component and the first telescopic component, stores in the controller
Have at least one program of walking, the controller according to each third telescopic component of program independent control of walking accordingly,
Each 4th telescopic component and the first telescopic component.
9. climbing robot as claimed in claim 8, which is characterized in that the climbing robot further includes and the controller
Multiple sensors of connection, first telescopic component and the 4th telescopic component correspond at least one described sensor,
The sensor is used to detect the flexible situation of first telescopic component and the 4th telescopic component, and by letter detected
Breath feeds back to the controller.
10. climbing robot as claimed in claim 8 or 9, which is characterized in that
The mobile sole structure is flat cushion, and the bottom surface of the flat cushion is equipped with anti-skid chequer；Or
The mobile sole structure is shovel land leveller, and the shovel land leveller is connected to the controller, and can rotate to be used for
Even ground out；Or
The mobile sole structure is air draught component, and the air draught component is connected to the controller, and can be adsorbed on wait inhale
On attached face.
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| CN201910425192.3A CN110315506B (en) | 2019-05-21 | 2019-05-21 | Crawling robot |
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Also Published As
| Publication number | Publication date |
|---|---|
| CN110315506B (en) | 2023-09-22 |
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