CN110696938B - Wall climbing robot - Google Patents
Wall climbing robot Download PDFInfo
- Publication number
- CN110696938B CN110696938B CN201910925636.XA CN201910925636A CN110696938B CN 110696938 B CN110696938 B CN 110696938B CN 201910925636 A CN201910925636 A CN 201910925636A CN 110696938 B CN110696938 B CN 110696938B
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- steering engine
- climbing robot
- foot
- connecting body
- wall climbing
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- 230000009194 climbing Effects 0.000 title claims abstract description 46
- 238000010521 absorption reaction Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 6
- 238000001179 sorption measurement Methods 0.000 abstract description 28
- 230000009193 crawling Effects 0.000 abstract description 5
- 230000035699 permeability Effects 0.000 abstract description 5
- 238000001514 detection method Methods 0.000 description 3
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005021 gait Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000000149 penetrating effect Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a wall climbing robot, which comprises: the first body is provided with a foot adsorption component, and the second body is also provided with a foot adsorption component; the connecting assembly comprises a connecting body, one side of the connecting body is in sliding connection with the first body in the A direction, and the other side of the connecting body is in sliding connection with the second body in the B direction; the driving assembly comprises an A-direction steering engine and a B-direction steering engine, the A-direction steering engine is arranged on the first body, and the A-direction steering engine is in driving connection with the connecting body to drive the connecting body to slide along the first body in the A direction; the steering engine in the direction B is arranged on the connecting body, and the steering engine in the direction B is in driving connection with the second body to drive the second body to slide with the connecting body in the direction B. The first body and the second body are connected in a sliding manner in two different directions of the A direction and the B direction through the connecting body, the structure is simple, and the movement in the two directions is realized; the magnetic force is utilized for adsorption, and the magnetic force is applied to the wall surface with magnetic permeability for crawling, so that the adsorption force is strong.
Description
Technical Field
The invention relates to the field of robots, in particular to a wall climbing robot.
Background
The wall climbing robot has great application value and academic research significance in various fields such as equipment detection, wall cleaning and the like. However, most of the existing wall climbing robots are applicable to planes, and cannot be applicable to cambered surfaces with larger curvatures.
The prior wall climbing robots are mainly divided into foot type, wheel type and crawler type. The wheel type wall climbing robot has the advantages of high moving speed and flexible turning direction, but relatively weak adsorption capacity and high requirement on the wall surface. The crawler type wall climbing robot has strong adsorption force, larger wall contact surface, low requirement on the wall surface, high adaptability, inflexible turning direction and large volume and weight. The foot type wall climbing robot is more flexible in turning direction, moderate in adsorption force and lower in requirement on the wall surface, and can be suitable for an arc surface with larger curvature, but is more complex to control and slower in moving speed. The wall climbing robot in the prior art has the problem of complex structure.
Disclosure of Invention
The invention aims to solve the technical problems that: the wall climbing robot is simple in structure and strong in adsorption force when applied to the magnetic permeability wall surface.
The invention solves the technical problems as follows:
a wall climbing robot comprising:
a first body having a foot adsorbing assembly disposed thereon, the foot adsorbing assembly configured to be adsorbed together with or separated from the wall surface by magnetic force;
a second body, also having a foot absorption assembly thereon;
The connecting assembly comprises a connecting body, one side of the connecting body is in sliding connection with the first body in the A direction, and the other side of the connecting body is in sliding connection with the second body in the B direction;
The driving assembly comprises an A-direction steering engine and a B-direction steering engine, the A-direction steering engine is arranged on the first body, and the A-direction steering engine is in driving connection with the connecting body to drive the connecting body to slide along the first body in the A direction; the steering engine in the B direction is arranged on the connecting body, and the steering engine in the B direction is in driving connection with the second body to drive the second body to slide with the connecting body in the B direction.
The A direction and the B direction refer to two different directions.
The beneficial effects of the invention are as follows: the first body and the second body are connected in a sliding manner in two different directions of the A direction and the B direction through the connecting body, the structure is simple, and the movement in the two directions is realized; the magnetic force is utilized for adsorption, and the magnetic force is applied to the wall surface with magnetic permeability for crawling, so that the adsorption force is strong.
As a further improvement of the technical scheme, a B-direction chute is formed in the second body in a penetrating manner, a sliding arm is arranged on the lower side of the connecting body and slides along the B-direction chute, and the lower part of the sliding arm extends to the lower part of the B-direction chute and is connected with a first limiting plate; the upper side of the connecting body is provided with an A-direction chute, the lower side of the first body is provided with a sliding block, the sliding block slides along the A-direction chute, and the lower part of the sliding block extends to the lower side of the A-direction chute and is connected with a second limiting plate. From this, first body and second body have realized through connector, spout, first limiting plate, slider and second limiting plate that first body and second body realize sliding connection in two different directions of A direction and B direction.
As a further improvement of the technical scheme, a B-direction rack is arranged on the upper side of the second body, and the output end of the B-direction steering engine is in transmission connection with the B-direction rack through a gear; the upper side of the connecting body is provided with an A-direction rack, and the A-direction steering engine is in transmission connection with the A-direction rack through a gear.
As a further improvement of the above technical solution, the foot adsorbing assembly includes a motor mounted on the first body/the second body, a swing member drivingly connected to the motor, and an electromagnetic chuck connected to the swing member. Therefore, the motor drives the electromagnetic chuck to rotate away from or close to the wall surface through the swinging piece, so that wall climbing is realized. The foot adsorption assembly on the first body is adsorbed on the wall surface, when the foot adsorption assembly moves, the foot adsorption assembly on the second body leaves the wall surface, the second body moves along the A direction and/or the B direction relative to the first body, and then the foot adsorption assembly of the second body adsorbs the wall surface to reciprocate.
As a further improvement of the technical scheme, the foot adsorption component further comprises a first tension spring and a second tension spring, the upper side of the sucker is connected with a connecting frame, the connecting frame is hinged with the swinging piece, two ends of the first tension spring are respectively connected with the front side of the connecting frame and the front side of the swinging piece, and two ends of the second tension spring are respectively connected with the rear side of the connecting frame and the rear side of the swinging piece. The first tension spring and the second tension spring are arranged to realize the hinge connection of the connecting frame and the swinging part, so that when the wall climbing machine encounters an uneven position on the wall surface, the electromagnetic chuck adapts to the wall surface to rotate and be attached to the wall surface, and the adsorption capacity is strong.
As a further improvement of the technical scheme, the rack in the direction B is an arc-shaped rack. The arc-shaped rack is arranged, so that the arc-shaped rack can adapt to an arc-shaped wall surface, moves on the arc-shaped wall surface, and the adsorption force between the foot adsorption component and the arc-shaped wall surface is better.
As a further improvement of the above technical solution, the wall climbing robot further comprises a sensor mounted on the first body/the second body, the sensor being configured to detect a distance of the wall climbing robot from the obstacle. Thus, the wall climbing robot can judge whether the obstacle can block the walking route through the sensor. The wall climbing robot can adjust the walking route according to the signals fed back by the sensor.
As a further improvement of the above technical solution, the sensor includes an infrared sensor and an ultrasonic sensor.
As a further improvement of the above technical solution, the first body is provided with two foot adsorption assemblies diagonally arranged thereon, and the second body is provided with two foot adsorption assemblies diagonally arranged thereon. Therefore, when the wall climbing robot moves, the wall climbing robot is supported diagonally by the foot adsorption component on the second body or the first body in a state that the foot adsorption component on the first body or the second body is separated from the wall surface, so that torque formed by gravity during unilateral support can be reduced, and the burden on a motor is reduced.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings that are required to be used in the description of the embodiments will be briefly described below. It is evident that the drawings described are only some embodiments of the invention, but not all embodiments, and that other designs and drawings can be obtained from these drawings by a person skilled in the art without inventive effort.
FIG. 1 is a perspective view of an embodiment;
FIG. 2 is a second perspective view of an embodiment;
Fig. 3 is a perspective view of the connector.
In the accompanying drawings:
100-first body; 110-mounting rack; 120-A steering engine; 130-B direction steering engine;
200-a second body; 210-B direction rack; 220-B direction sliding grooves;
310-electromagnetic chuck; 311-connecting frames; 320-swinging parts; 330-a first tension spring; 340-a second tension spring;
400-linker; 410-a sliding arm; 420-A direction chute; 430-a direction rack; 440-a first limiting plate; 450-second limiting plate.
Detailed Description
The conception, specific structure, and technical effects produced by the present invention will be clearly and completely described below with reference to the embodiments and the drawings to fully understand the objects, features, and effects of the present invention. It is apparent that the described embodiments are only some embodiments of the present invention, but not all embodiments, and that other embodiments obtained by those skilled in the art without inventive effort are within the scope of the present invention based on the embodiments of the present invention. In addition, all connections or connection relationships mentioned herein do not refer to direct connection of the components, but rather to the fact that, depending on the particular implementation, a better connection structure may be formed by adding or subtracting connection aids. The technical features of the invention can be interactively combined on the premise of no contradiction and conflict.
Embodiments are described in detail below in conjunction with fig. 1-3.
An embodiment is as follows, a wall climbing robot, comprising:
a first body 100 having a foot adsorbing member provided thereon, the foot adsorbing member being configured to be adsorbed to or separated from the wall surface by magnetic force;
a second body 200, also having a foot absorption assembly disposed thereon;
The connecting assembly comprises a connecting body 400, wherein one side of the connecting body 400 is in sliding connection with the first body 100 in the A direction, and the other side of the connecting body 400 is in sliding connection with the second body 200 in the B direction;
The driving assembly comprises an A-direction steering engine 120 and a B-direction steering engine 130, the A-direction steering engine 120 is arranged on the first body 100, and the A-direction steering engine 120 is in driving connection with the connecting body 400 to drive the connecting body 400 to slide along the first body 100 in the A direction; the steering engine 130 in the direction B is installed on the connecting body 400, and the steering engine 130 in the direction B is in driving connection with the second body 200 to drive the second body 200 to slide with the connecting body 400 in the direction B.
The a direction and the B direction refer to two different directions. Specifically, in the present embodiment, the a direction refers to the left-right direction, and the B direction refers to the front-rear direction.
The first body 100 and the second body 200 are slidably connected in two different directions of the direction a and the direction B through the connector 400, and the structure is simple, so that movement in two directions is realized; the magnetic force is utilized for adsorption, and the magnetic force is applied to the wall surface with magnetic permeability for crawling, so that the adsorption force is strong.
Specifically, the first body 100 is provided with two foot absorption members diagonally arranged thereon, and the second body 200 is provided with two foot absorption members diagonally arranged thereon.
The connecting assembly comprises a connecting body 400, a sliding arm 410 is arranged on the lower side of the connecting body 400, the sliding arm 410 slides along the B-direction sliding groove 220, and the lower part of the sliding arm 410 extends below the B-direction sliding groove 220 and is connected with a first limiting plate 440; the upper side of the connecting body 400 is provided with an A-direction chute 420, the lower side of the first body 100 is provided with a sliding block, the sliding block slides along the A-direction chute 420, and the lower part of the sliding block extends to the lower side of the A-direction chute 420 and is connected with a second limiting plate 450. Thus, the first body 100 and the second body 200 are slidably connected in two different directions of the a direction and the B direction by the connecting body 400, the sliding groove, the first limiting plate 440, the sliding block, and the second limiting plate 450.
The upper side of the second body 200 is provided with a B-direction rack 210, and the output end of the B-direction steering engine 130 is in transmission connection with the B-direction rack 210 through a gear; an A-direction rack 430 is arranged on the upper side of the connecting body 400, and the A-direction steering engine 120 is in transmission connection with the A-direction rack 430 through a gear.
The foot suction assembly includes a motor mounted on the first body 100/second body 200, a swing piece 320 drivingly connected to the motor, and an electromagnetic chuck 310 connected to the swing piece 320. Therefore, the motor drives the electromagnetic chuck 310 to rotate away from or close to the wall surface through the swinging piece 320, so that wall climbing is realized.
The foot adsorption assembly further comprises a first tension spring 330 and a second tension spring 340, wherein the upper side of the sucker is connected with a connecting frame 311, the connecting frame 311 is hinged with the swinging piece 320, two ends of the first tension spring 330 are respectively connected with the front side of the connecting frame 311 and the front side of the swinging piece 320, and two ends of the second tension spring 340 are respectively connected with the rear side of the connecting frame 311 and the rear side of the swinging piece 320. The first tension spring 330 and the second tension spring 340 are arranged to realize the hinge connection of the connecting frame 311 and the swinging piece 320, so that when the wall climbing machine encounters an uneven position on the wall surface, the electromagnetic chuck 310 adapts to the rotation of the wall surface and is attached to the wall surface, and the adsorption capacity is strong.
The B-direction rack 210 is an arc-shaped rack. The arc-shaped rack is arranged, so that the arc-shaped rack can adapt to an arc-shaped wall surface, moves on the arc-shaped wall surface, and the adsorption force between the foot adsorption component and the arc-shaped wall surface is better.
The mounting bracket 110 is mounted on the upper side of the first trunk 100.
A battery is arranged between the two A-direction steering engines 120, and the battery supplies power for the A-direction steering engines 120, the B-direction steering engines 130 and the electromagnetic chucks 310.
The crawling robot further comprises a controller electrically connected with the A-direction steering engine 120, the B-direction steering engine 130 and the electromagnetic chucks 310.
The crawling robot working principle of the invention is as follows: the moving requirement comprises an A-direction moving mode, a B-direction moving mode and a detour mode.
In the initial state, the electromagnetic chuck 310 on the first body 100 and the second body 200 are both attracted to the magnetic permeability wall, the controller cuts off the power supply of the electromagnetic chuck 310 on the first body 100 and separates the powered-off chuck from the wall through the rotation of the motor, then the A-direction steering engine 120 drives the first body 100 to slide along the A direction relative to the second body 200, the powered-off chuck is attached to the wall again when the motor reversely rotates and charges the electromagnetic chuck 310, then the electromagnetic chuck 310 on the second body 200 performs the power supply of the electromagnetic chuck 310, the rotation of the motor separates the powered-off chuck from the wall, the A-direction steering engine 120 drives the first body 100 to slide along the A direction relative to the second body 200, and the powered-off chuck is attached to the wall again when the motor reversely rotates and charges the electromagnetic chuck 310, so as to complete an A-direction gait cycle.
Executing a B-direction moving instruction in a B-direction moving mode, wherein the B-direction moving instruction is different from the A-direction moving instruction only in that: the a-direction steering engine 120 drives the first body 100 to slide in the a-direction with respect to the second body 200, and the B-direction steering engine 130 drives the first body 100 to slide in the B-direction with respect to the second body 200. Thereby completing a B-direction gait cycle.
In the detour mode, the sensor acquires the distance and position of the obstacle, and the controller executes the A-direction movement instruction and the B-direction movement instruction according to the acquired distance and position of the obstacle so as to detour the obstacle.
The wall climbing robot further comprises a sensor, wherein the sensor comprises an infrared sensor and an ultrasonic sensor. The ultrasonic sensor and the infrared sensor are both mounted on the mounting frame 110 and face the left side of the wall climbing robot, and the sensor is configured to detect the distance between the wall climbing robot and an obstacle. Compared with an infrared sensor, the ultrasonic sensor has longer detection distance, the infrared sensor has closer detection distance, and the ultrasonic sensor and the infrared sensor have different working mediums and do not interfere with each other when being matched.
In the present embodiment, since both the ultrasonic sensor and the infrared sensor face the left side of the wall climbing robot, the left side of the wall climbing robot is taken as the advancing direction for this purpose. The wall climbing robot advances by executing the a-direction movement instruction.
When the ultrasonic sensor and the infrared sensor do not detect the obstacle, the wall climbing robot can walk freely.
When the ultrasonic sensor detects an obstacle, but the infrared sensor does not detect the obstacle, the condition that the wall climbing robot has an obstacle in the advancing direction is described, but the obstacle is a certain distance away from the wall climbing robot, the wall climbing robot can avoid the obstacle through oblique walking at the moment, the wall climbing robot specifically executes a detour mode, and meanwhile executes an A-direction moving instruction and a B-direction moving instruction, and the wall climbing robot obliquely walks relative to the obstacle to avoid the obstacle.
When the ultrasonic sensor and the infrared sensor detect the obstacle, the obstacle is indicated to be closer to the wall climbing robot, the wall climbing robot cannot continue to advance, the wall climbing robot needs to transversely move to avoid the obstacle and then advance, specifically, the wall climbing robot executes a direction B moving instruction, transversely moves to avoid the obstacle until the infrared sensor cannot detect the obstacle, and the wall climbing robot executes the direction A moving instruction to continue to advance.
While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the embodiments described above, and various equivalent modifications and substitutions can be made by those skilled in the art without departing from the spirit of the present invention, and these equivalent modifications and substitutions are intended to be included in the scope of the present invention as defined in the appended claims.
Claims (4)
1. A wall climbing robot, characterized in that: comprising the following steps:
a first body having a foot adsorbing assembly disposed thereon, the foot adsorbing assembly configured to be adsorbed together with or separated from the wall surface by magnetic force;
a second body, also having a foot absorption assembly thereon;
The connecting assembly comprises a connecting body, one side of the connecting body is in sliding connection with the first body in the A direction, and the other side of the connecting body is in sliding connection with the second body in the B direction;
The driving assembly comprises an A-direction steering engine and a B-direction steering engine, the A-direction steering engine is arranged on the first body, and the A-direction steering engine is in driving connection with the connecting body to drive the connecting body to slide along the first body in the A direction; the steering engine in the B direction is arranged on the connecting body, the steering engine in the B direction is in driving connection with the second body to drive the second body to slide with the connecting body in the B direction, a through B direction chute is formed in the second body, a sliding arm is arranged on the lower side of the connecting body and slides along the B direction chute, and the lower part of the sliding arm extends to the lower part of the B direction chute and is connected with a first limiting plate; the upper side of the connecting body is provided with an A-direction chute, the lower side of the first body is provided with a sliding block, the sliding block slides along the A-direction chute, the lower part of the sliding block extends to the lower part of the A-direction chute and is connected with a second limiting plate, the upper side of the second body is provided with a B-direction rack, and the output end of the B-direction steering engine is in transmission connection with the B-direction rack through a gear; the upper side of connector is equipped with A direction rack, A direction steering wheel pass through the gear with A direction rack transmission is connected, foot absorption subassembly is including installing motor, the goods of furniture for display rather than for use and the electromagnetic chuck who is connected with the goods of furniture for display rather than for use that are connected on first body/second body, foot absorption subassembly still includes first extension spring and second extension spring, the upside of sucking disc is connected with the link, the link with the goods of furniture for display rather than for use is articulated, the both ends of first extension spring are connected with the front side of link and the front side of goods of furniture for use respectively, the both ends of second extension spring are connected with the rear side of link and the rear side of goods of furniture for use respectively, be provided with two foot absorption subassemblies on the first body in diagonal arrangement, be provided with two foot absorption subassemblies in diagonal arrangement on the second body.
2. A wall climbing robot according to claim 1, wherein: the rack in the direction B is an arc-shaped rack.
3. A wall climbing robot according to claim 1, wherein: the system further includes a sensor mounted on the first body/the second body, the sensor configured to detect a distance of the wall climbing robot from the obstacle.
4. A wall climbing robot according to claim 3, wherein: the sensor includes an infrared sensor and an ultrasonic sensor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910925636.XA CN110696938B (en) | 2019-09-27 | 2019-09-27 | Wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910925636.XA CN110696938B (en) | 2019-09-27 | 2019-09-27 | Wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110696938A CN110696938A (en) | 2020-01-17 |
| CN110696938B true CN110696938B (en) | 2024-06-18 |
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ID=69196841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910925636.XA Active CN110696938B (en) | 2019-09-27 | 2019-09-27 | Wall climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN110696938B (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210822519U (en) * | 2019-09-27 | 2020-06-23 | 佛山科学技术学院 | Wall-climbing robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202593672U (en) * | 2012-04-20 | 2012-12-12 | 上海电机学院 | Integral wall-climbing robot |
| CN102700645B (en) * | 2012-05-30 | 2014-03-26 | 江南大学 | Climbing robot for wind driven generator tower |
| CN203666819U (en) * | 2013-11-20 | 2014-06-25 | 徐州工业职业技术学院 | Wall-climbing robot with moving-type adsorption racks |
| CN104670356A (en) * | 2015-02-10 | 2015-06-03 | 徐州工业职业技术学院 | Guide post type sucking disc wall-climbing robot |
| CN106741274B (en) * | 2017-02-16 | 2023-05-05 | 耿逸芃 | Sucking disc type wall climbing robot capable of adjusting stride and moving method thereof |
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2019
- 2019-09-27 CN CN201910925636.XA patent/CN110696938B/en active Active
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN210822519U (en) * | 2019-09-27 | 2020-06-23 | 佛山科学技术学院 | Wall-climbing robot |
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| CN110696938A (en) | 2020-01-17 |
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