CN110641568B - Crawling robot - Google Patents
Crawling robot Download PDFInfo
- Publication number
- CN110641568B CN110641568B CN201910949273.3A CN201910949273A CN110641568B CN 110641568 B CN110641568 B CN 110641568B CN 201910949273 A CN201910949273 A CN 201910949273A CN 110641568 B CN110641568 B CN 110641568B
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- chassis
- piece
- main board
- connecting rod
- crawling robot
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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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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a crawling robot, wherein a chassis is fixedly connected with a main board, an elastic piece is arranged between the chassis and the main board, a vent hole is formed in the position where the main board is overlapped with the chassis, a first suction accessory is fixedly connected with the main board and communicated with the vent hole; decide the pole with mainboard fixed connection, first connecting rod with decide the pole and rotate the connection, the second connecting rod with decide the pole and rotate the connection, first connecting rod is kept away from decide the one end of pole with the second connecting rod is kept away from decide the one end of pole all with branch rotates the connection, the second adsorb the piece with branch the opening intercommunication, rotate the piece with mainboard fixed connection, the output that rotates the piece runs through decide the pole, and with first connecting rod rotates the connection. The robot has the advantages that the maneuverability and the stability of the crawling robot are improved, and the purpose of well crossing obstacles is achieved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a crawling robot.
Background
At present, the crawling robot is widely applied to the automation operation process of the modern industrial field, especially in some high-risk and high-strength industrial fields. The existing crawling robot is mainly divided into a sucker type and a magnetic type according to the adsorption mode of the robot, and is mainly divided into a wheeled robot, a walking robot and a tracked robot according to the walking mode of the robot. The wheeled robot has the advantages of stable movement, high maneuverability, convenience in operation and the like, but cannot climb a slope; the walking robot can walk on uneven ground, has better maneuverability, but has the problem of poor stability; these two kinds of moving mechanism can't satisfy actual requirement, and tracked robot can walk on unevenness subaerial, and stability is good, climbs great slope, but the effect of strideing across the barrier is not good, has greatly influenced work efficiency.
On some curtain walls of high-rise buildings, crawling robots which are stable in movement, mobility, good in stability and capable of well crossing obstacles are generally needed, but existing crawling robots cannot meet the needs.
Disclosure of Invention
The invention aims to provide a crawling robot which is stable in movement, good in maneuverability and stability and capable of well crossing obstacles.
In order to achieve the purpose, the crawling robot adopted by the invention comprises a main board, two walking wheels, a driving piece, a chassis component and a stabilizing component, wherein the walking wheels are rotatably connected with the main board and are positioned at four bottom corners of the main board, the driving piece is fixedly connected with the main board and drives each walking wheel to rotate, the chassis component comprises a chassis, an elastic piece and a first suction part, the chassis is fixedly connected with the main board and is positioned below the main board, the elastic piece is arranged between the chassis and the main board, a vent hole is formed at the position where the main board and the chassis coincide, the first suction part is fixedly connected with the main board and is communicated with the vent hole, the number of the chassis components is two, and the two chassis components are oppositely arranged;
the stabilizing component comprises a fixed rod, a first connecting rod, a second connecting rod, a supporting rod, a second adsorption piece and a rotating piece, the fixed rod is fixedly connected with the mainboard and is positioned above the mainboard, the first connecting rod is rotatably connected with the fixed rod, the second connecting rod is rotatably connected with the fixed rod and is positioned at one end of the fixed rod far away from the first connecting rod, one end of the first connecting rod far away from the fixed rod and one end of the second connecting rod far away from the fixed rod are both rotatably connected with the supporting rod, the supporting rod is of an L-shaped structure, the inside of the supporting rod is a cavity, one end of the supporting rod far away from the first connecting rod is provided with an opening, the second adsorption piece is communicated with the opening of the supporting rod, the rotating piece is fixedly connected with the mainboard, the output end of the rotating piece penetrates through the fixed rod and is rotatably connected with the first connecting rod, the number of the stabilizing assemblies is four, and the stabilizing assemblies are evenly distributed on the main board.
Wherein, the chassis includes sealed cowling, mounting panel and sealing washer, the sealed cowling with mainboard fixed connection, and be located the below of mainboard, the mounting panel with sealed cowling fixed connection, and be located the sealed cowling is kept away from the one end of mounting panel, the sealing washer with mounting panel fixed connection, and be located the mounting panel is kept away from the one end of sealed cowling, just the sealing washer contacts with the curtain.
Wherein, the sealing washer has the depressed groove on the one end with curtain contact.
The base plate further comprises a first sucking disc, and the first sucking disc is fixedly connected with the sealing ring and is located inside the concave groove.
The number of the first suction cups is at least two, and each first suction cup is uniformly distributed in the concave groove.
The base plate further comprises an attaching piece, the attaching piece is fixedly connected with the sealing ring and located at the outer edge of the sealing ring, and the attaching piece is in contact with the curtain wall.
Wherein, stabilize the subassembly and still include the second sucking disc, the second sucking disc with branch fixed connection, just the second sucking disc with the opening intercommunication.
Wherein, the second sucking disc has a plurality of apertures on the one end with curtain wall contact.
Wherein, each walking wheel is provided with anti-skidding lines.
The invention has the beneficial effects that: when an obstacle is encountered during crawling, firstly the front chassis is jacked up by the obstacle, the elastic element contracts to lift the chassis, the chassis is tightly attached to the obstacle under the action of restoring force of the elastic element, meanwhile, the first suction element on the rear chassis increases power to ensure that the robot can be adsorbed on a curtain wall, after the first suction element increases power, the two stabilizing assemblies on the rear end act, the corresponding second suction elements act respectively, the rotating element drives the first connecting rod to rotate, and under the cooperation of the fixed rod, the first connecting rod, the second connecting rod and the supporting rod, one end of the supporting rod with the opening abuts against the curtain wall and is adsorbed on the curtain wall under the action of the second suction element, and normal crawling of the robot is kept, after that, the chassis at the rear end and the stabilizing component at the front end can cross the obstacle in the same way, and the crawling robot has stable movement, good maneuverability and stability and can well cross the obstacle through the continuous alternation of two chassis and four stabilizing components.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the drawings without creative efforts.
Fig. 1 is an overall structural view of a crawling robot of the present invention.
Fig. 2 is a schematic structural view of the crawling robot of the present invention.
Fig. 3 is an enlarged view of the stabilizing assembly of the present invention.
Fig. 4 is a side view of the crawling robot of the present invention.
100-crawling robot, 10-main board, 11-vent hole, 20-road wheel, 21-antiskid line, 30-driving piece, 40-chassis component, 41-chassis, 411-sealing cover, 412-mounting plate, 413-sealing ring, 414-sunken groove, 415-first sucker, 416-attaching piece, 42-elastic piece, 43-first sucking piece, 50-stabilizing component, 51-fixed rod, 52-first connecting rod, 53-second connecting rod, 54-supporting rod, 541-opening, 55-second sucking piece, 56-rotating piece, 57-second sucker, 571-small hole.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are illustrative and intended to be illustrative of the invention and are not to be construed as limiting the invention.
In the description of the present invention, it is to be understood that the terms "length", "width", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", and the like, indicate orientations or positional relationships based on the orientations or positional relationships illustrated in the drawings, and are used merely for convenience in describing the present invention and for simplicity in description, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed in a particular orientation, and be operated, and thus, are not to be construed as limiting the present invention. Further, in the description of the present invention, "a plurality" means two or more unless specifically defined otherwise.
Referring to fig. 1 to 4, the present invention provides a crawling robot 100, including a main board 10, traveling wheels 20, a driving member 30, a chassis assembly 40 and a stabilizing assembly 50, where the traveling wheels 20 are rotatably connected to the main board 10 and located at four bottom corners of the main board 10, the driving member 30 is fixedly connected to the main board 10, and the driving member 30 drives each traveling wheel 20 to rotate, the chassis assembly 40 includes a chassis 41, an elastic member 42 and a first suction attachment 43, the chassis 41 is fixedly connected to the main board 10 and located below the main board 10, the elastic member 42 is disposed between the chassis 41 and the main board 10, a vent hole 11 is formed at a position where the main board 10 and the chassis 41 coincide, the first suction attachment 43 is fixedly connected to the main board 10, and the first suction attachment 43 is communicated with the vent hole 11, the number of the chassis assemblies 40 is two, the two chassis assemblies 40 are oppositely arranged;
stabilizing component 50 includes decide pole 51, first connecting rod 52, second connecting rod 53, branch 54, second adsorbs piece 55, rotates piece 56, decide pole 51 with mainboard 10 fixed connection, and be located the top of mainboard 10, first connecting rod 52 with decide pole 51 and rotate and connect, second connecting rod 53 with decide pole 51 and rotate and connect, and be located decide pole 51 and keep away from the one end of first connecting rod 52, first connecting rod 52 keeps away from the one end of deciding pole 51 with second connecting rod 53 keeps away from the one end of deciding pole 51 all with branch 54 rotates and is connected, and branch 54 is L type structure, the inside of branch 54 is the cavity, branch 54 keeps away from the one end of first connecting rod 52 has opening 541, second adsorbs piece 55 with branch 54 opening 541 communicates, rotate piece 56 with mainboard 10 fixed connection, and the output end of the rotating member 56 penetrates through the fixed rod 51 and is rotatably connected with the first connecting rod 52, and the number of the stabilizing assemblies 50 is four, and the stabilizing assemblies are uniformly distributed on the main board 10.
In this embodiment, the main plate 10 supports components on the crawling robot 100 and simultaneously sends control commands to the driving unit 30, the first suction unit 43, the second suction unit 55 and the rotating unit 56, the driving unit 30 is a speed reduction motor, the first suction unit 43 and the second suction unit 55 are radial centrifugal fans, the rotating unit 56 is a driving motor, the elastic unit 42 is a spring, in an operating state, the two chassis 41 of the crawling robot 100 are close to a curtain wall or the ground, the two first suction units 43 operate to enable the crawling robot 100 to be closely attached to the wall surface, when the chassis 41 at the front end meets an obstacle in the traveling direction, the crawling robot 100 continues to maintain the crawling operation, and the chassis 41 at the front end is pushed outward, so that the first suction attachment 43 is moved away from the wall surface, and the power of the first suction attachment 43 on the chassis 41 at the rear end is increased, thereby providing sufficient suction force for the crawling robot 100 and ensuring that the crawling robot 100 does not fall down during traveling. Meanwhile, when the first suction device 43 moves, the two stabilizing assemblies 50 at the rear end move, the two rotating members 56 rotate to drive the corresponding first connecting rods 52 to make a circular rotation around one end of the fixed rod 51, and under the cooperation of the second connecting rods 53 and according to the L-shaped structure of the supporting rods 54, one end of the supporting rod 54, which is far away from the first connecting rod 52, abuts against a curtain wall surface, the opening 541 of the supporting rod 54 is tightly attached to the wall surface by the suction force generated by the second suction device 55, and the supporting rod 54 rotates one circle, so that the supporting rod 54 is tightly attached to the wall surface once, that is, while the crawling robot 100 continues to keep crawling, the two supporting rods 54 at the rear end intermittently absorb and tightly attach the wall surface, and provide enough suction force for the crawling robot 100 again, ensuring that the crawling robot 100 does not fall off during travel.
When the chassis 41 at the front end is pushed to the same height as the obstacle, the chassis 41 will continue to advance forward along with the rotation of the road wheels 20, when the chassis 41 at the front end passes over the obstacle, the elastic member 42 returns to the original state, so that the chassis 41 at the front end is close to the next wall surface, at this time, the chassis 41 at the front end and the chassis 41 at the rear end provide sufficient adsorption force for the robot together, when the robot moves forward, the chassis 41 at the rear end repeats the same action as the chassis 41 at the front end, and simultaneously, the two stabilizing components 50 at the front end act, so that the function that the chassis 41 at the rear end crosses the obstacle is realized. Therefore, the crawling robot 100 can move stably, has good mobility and stability, and can well cross obstacles.
Further, the chassis 41 includes a sealing cover 411, a mounting plate 412 and a sealing ring 413, the sealing cover 411 with the mainboard 10 fixed connection, and be located the below of mainboard 10, the mounting plate 412 with the sealing cover 411 fixed connection, and be located the sealing cover 411 is kept away from the one end of mounting plate 412, the sealing ring 413 with the mounting plate 412 fixed connection, and be located the mounting plate 412 is kept away from the one end of sealing cover 411, just the sealing ring 413 contacts with the curtain wall.
In this embodiment, the sealing cover 411, the mounting plate 412, and the packing 413 are sequentially disposed, and the vent hole 11 penetrates the sealing cover 411, the mounting plate 412, and the packing 413, the mounting plate 412 can increase the structural strength of the chassis 41, and after the packing 413 is in contact with a wall surface, the first suction member 43 generates suction force to form negative pressure between the packing 413 and the wall surface, so that the packing 413 can be attached to the wall surface, and the crawling robot 100 does not fall down during traveling, and it should be noted that: when the crawling robot 100 is in a working state, one side of the sealing ring 413 is attached to the ground; when the crawling robot 100 is in a non-working state, the sealing rings 413 on the two chassis 41 of the crawling robot 100 are substantially in the same plane.
Further, the sealing ring 413 has a concave groove 414 on the end contacting the curtain wall.
In this embodiment, the arrangement of the concave groove 414 can make the sealing ring 413 and the wall surface tightly attached to each other, so as to ensure that the crawling robot 100 does not fall down in the advancing process, so that the crawling robot 100 can well span the obstacle and has good stability.
Further, the bottom plate 41 further includes a first suction cup 415, and the first suction cup 415 is fixedly connected to the sealing ring 413 and is located inside the concave groove 414.
In this embodiment, the first suction disc 415 is arranged to enhance the adhesion strength between the sealing ring 413 and the wall surface, so that the adhesion is tighter, the crawling robot 100 is ensured not to fall off during the advancing process, the crawling robot 100 can well stride over obstacles, and the stability is good.
Further, the number of the first suction cups 415 is at least two, and each of the first suction cups 415 is uniformly distributed inside the concave groove 414.
In this embodiment, the plurality of first suction pads 415 are uniformly distributed inside the concave groove 414, so that the adhesion between the sealing ring 413 and the wall surface can be increased, the crawling robot 100 is ensured to crawl, and the crawling robot 100 does not fall down during traveling, thereby improving the moving stability of the crawling robot 100.
Further, the chassis 41 further comprises an abutting piece 416, the abutting piece 416 is fixedly connected with the sealing ring 413 and is located at the outer edge of the sealing ring 413, and the abutting piece 416 is in contact with the curtain wall.
In this embodiment, the fitting piece 416 is made of an elastic material, the fitting piece 416 is fixed to the outer edge of the sealing ring 413, and the fitting piece 416 is arranged so that a gap is not generated between the sealing ring 413 and a wall surface, and negative pressure generated by the first suction piece 43 is rapidly formed among the sealing ring 413, the vent hole 11 and the wall surface, thereby ensuring that the crawling robot 100 does not fall off in the advancing process.
Further, the stabilizing assembly 50 further comprises a second suction cup 57, the second suction cup 57 is fixedly connected to the supporting rod 54, and the second suction cup 57 is communicated with the opening 541.
In this embodiment, under the cooperation of the fixed rod 51, the first connecting rod 52, the second connecting rod 53 and the supporting rod 54, the second suction cup 57 with one end of the opening 541 on the supporting rod 54 abuts against the curtain wall, and further the suction cup is attached to the curtain wall, so that the crawling robot 100 can be prevented from falling down in the traveling process.
Further, the end of the second suction cup 57 contacting the curtain wall has a plurality of small holes 571.
In this embodiment, the small holes 571 are arranged such that the suction force generated by the second suction member 55 can enter the negative pressure space formed between the second suction cup 57 and the curtain wall through the small holes 571, so as to enhance the adhesion between the second suction cup 57 and the curtain wall, and prevent the crawling robot 100 from falling down during the traveling process.
Further, each of the road wheels 20 has an anti-skid thread 21.
In this embodiment, the anti-slip pattern 21 is arranged to increase the friction between the road wheel 20 and the curtain wall, so that the crawling robot 100 can move more stably.
While the invention has been described with reference to a preferred embodiment, it will be understood by those skilled in the art that various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (9)
1. A crawling robot is characterized in that,
the walking wheel assembly comprises a main board, walking wheels, a driving piece, a chassis assembly and a stabilizing assembly, wherein the walking wheels are rotationally connected with the main board and are positioned at four bottom corners of the main board, the driving piece is fixedly connected with the main board, the driving piece drives each walking wheel to rotate, the chassis assembly comprises a chassis, an elastic piece and a first suction piece, the chassis is fixedly connected with the main board and is positioned below the main board, the elastic piece is arranged between the chassis and the main board, a vent hole is formed in the position where the main board is overlapped with the chassis, the first suction piece is fixedly connected with the main board and is communicated with the vent hole, the number of the chassis assemblies is two, and the two chassis assemblies are oppositely arranged;
the stabilizing component comprises a fixed rod, a first connecting rod, a second connecting rod, a supporting rod, a second adsorption piece and a rotating piece, the fixed rod is fixedly connected with the mainboard and is positioned above the mainboard, the first connecting rod is rotatably connected with the fixed rod, the second connecting rod is rotatably connected with the fixed rod and is positioned at one end of the fixed rod far away from the first connecting rod, one end of the first connecting rod far away from the fixed rod and one end of the second connecting rod far away from the fixed rod are both rotatably connected with the supporting rod, the supporting rod is of an L-shaped structure, the inside of the supporting rod is a cavity, one end of the supporting rod far away from the first connecting rod is provided with an opening, the second adsorption piece is communicated with the opening of the supporting rod, the rotating piece is fixedly connected with the mainboard, the output end of the rotating piece penetrates through the fixed rod and is rotatably connected with the first connecting rod, the number of the stabilizing assemblies is four, and the stabilizing assemblies are evenly distributed on the main board.
2. The crawling robot of claim 1,
the chassis includes sealed cowling, mounting panel and sealing washer, the sealed cowling with mainboard fixed connection, and be located the below of mainboard, the mounting panel with sealed cowling fixed connection, and be located the sealed cowling is kept away from the one end of mounting panel, the sealing washer with mounting panel fixed connection, and be located the mounting panel is kept away from the one end of sealed cowling, just the sealing washer contacts with the curtain.
3. The crawling robot of claim 2,
and one end of the sealing ring, which is in contact with the curtain wall, is provided with a concave groove.
4. The crawling robot of claim 3,
the base plate further comprises a first sucking disc, and the first sucking disc is fixedly connected with the sealing ring and is located inside the concave groove.
5. The crawling robot of claim 4,
the number of the first suction cups is at least two, and each first suction cup is uniformly distributed in the concave groove.
6. The crawling robot of claim 5,
the chassis further comprises an attaching piece, the attaching piece is fixedly connected with the sealing ring and located at the outer edge of the sealing ring, and the attaching piece is in contact with the curtain wall.
7. The crawling robot of any of the claims 1 to 6,
the stabilizing assembly further comprises a second sucker which is fixedly connected with the supporting rod, and the second sucker is communicated with the opening.
8. The crawling robot of claim 7,
and one end of the second sucker, which is in contact with the curtain wall, is provided with a plurality of small holes.
9. The crawling robot of claim 8,
each walking wheel is provided with anti-skid grains.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910949273.3A CN110641568B (en) | 2019-10-08 | 2019-10-08 | Crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910949273.3A CN110641568B (en) | 2019-10-08 | 2019-10-08 | Crawling robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110641568A CN110641568A (en) | 2020-01-03 |
| CN110641568B true CN110641568B (en) | 2020-11-03 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910949273.3A Expired - Fee Related CN110641568B (en) | 2019-10-08 | 2019-10-08 | Crawling robot |
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| CN (1) | CN110641568B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112193347A (en) * | 2020-11-11 | 2021-01-08 | 张丽英 | Crawling robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US8738226B2 (en) * | 2011-07-18 | 2014-05-27 | The Boeing Company | Holonomic motion vehicle for travel on non-level surfaces |
| CN205514419U (en) * | 2016-03-16 | 2016-08-31 | 孙振博 | A cleaning device for glass curtain wall |
| CN205952114U (en) * | 2016-08-19 | 2017-02-15 | 周渝霖 | Robot of crawling |
| JP6792870B2 (en) * | 2017-02-16 | 2020-12-02 | 学校法人 中央大学 | Wall suction device and wall movement device |
| CN107363296B (en) * | 2017-07-27 | 2019-01-08 | 南京航空航天大学 | A kind of independently creep bores riveting system and its operation method |
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