CN110745194B - Wall climbing robot and serial robot group thereof - Google Patents
Wall climbing robot and serial robot group thereof Download PDFInfo
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- CN110745194B CN110745194B CN201911226354.7A CN201911226354A CN110745194B CN 110745194 B CN110745194 B CN 110745194B CN 201911226354 A CN201911226354 A CN 201911226354A CN 110745194 B CN110745194 B CN 110745194B
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- 230000009194 climbing Effects 0.000 title claims abstract description 44
- 238000001179 sorption measurement Methods 0.000 claims description 11
- 238000009423 ventilation Methods 0.000 claims description 8
- 238000004891 communication Methods 0.000 claims description 6
- 238000000926 separation method Methods 0.000 claims description 4
- 230000008859 change Effects 0.000 claims description 3
- 230000007547 defect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 13
- 238000004140 cleaning Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 6
- 239000011521 glass Substances 0.000 description 5
- 230000033001 locomotion Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000013461 design Methods 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000005086 pumping Methods 0.000 description 2
- 239000003463 adsorbent Substances 0.000 description 1
- 230000004888 barrier function Effects 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000001681 protective effect Effects 0.000 description 1
- 238000011160 research Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- B—PERFORMING OPERATIONS; TRANSPORTING
- 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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Abstract
The application discloses a wall climbing robot and a series robot group thereof, belonging to the field of robots. The wall climbing robot comprises a walking unit and a turning unit, wherein the turning unit is hinged to one side of the walking unit and is used for driving the walking unit to turn; the walking unit comprises a shell, a plurality of robot feet are hinged on the circumferential side wall of the shell, and a walking worm used for driving the robot feet to walk is arranged in the shell; the end part of the robot foot is hinged with a joint foot, and a foot worm for driving the joint foot to walk is arranged in the robot foot; the bottom of the joint foot is provided with a foot sucker, and an air pump for controlling the foot sucker to suck and relax is arranged in the foot sucker. The application overcomes the defect that the use of the wall climbing robot in the prior art is still inconvenient, and the wall climbing robot is convenient to use, so that people can work away from high altitude dangers, and the wall climbing robot has the advantages of relatively small volume, small occupied space, relatively wide application range, and high safety and stability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wall climbing robot and a serial robot group thereof.
Background
With the continuous promotion of the urban process of society, a high-rise building is pulled up, so that a great amount of land resources are saved for the high-rise building, urban construction is accelerated, and the development of society is promoted; with the rapid increase of the number of high-rise buildings, the problems of high maintenance and cleaning difficulty are increasingly revealed.
The wall climbing robot is a device for realizing high-altitude operation. In terms of the current research conditions at home and abroad, the robot is mainly divided into two types. A magnetic adsorption high-altitude cleaning robot is characterized in that the cleaning robot is adsorbed on a high-altitude wall surface by means of a magnetic adsorption material and has stronger adsorption force, adsorption movement on the high-altitude wall surface can be realized through a magnetic track, wheels, a sucker or a foot type structure, and specified operation is completed, but the robot can only work on the high-altitude wall surface of a specific material, so that the application range is greatly limited.
The other is a high-altitude wall surface track type, the high-altitude wall surface track is usually installed on an outer wall high-altitude wall surface when a building is built, when the building is in high-altitude operation, a cantilever crane device fixed on the roof is dragged to enable a robot to move up and down along the high-altitude wall surface track to finish the operation, however, the track installed on the high-altitude wall surface of the outer wall limits the structure of the building and greatly influences the appearance of the whole building, and meanwhile, the application range of the robot is limited.
At present, cleaning and detection of the outer wall of the high-rise building are generally finished by manual work, people climb on the outer wall of the urban high-rise building to carry out wall detection and cleaning work under the traction of a protective rope, and the high-rise building outer wall cleaning machine is high in danger, high in labor intensity and low in working efficiency. How to effectively utilize robots to realize high-altitude effects is always pursued in the industry.
Through searching, a great deal of patent publication about wall climbing robots has been made, such as Chinese patent application number: 2016105417388, filing date: the invention is characterized by comprising the following steps of 2016, 7 months and 11 days: be used for abluent wall climbing robot of glass curtain wall, this application discloses a wall climbing robot that is used for glass curtain wall to wash, including the robot housing, the top of robot housing is equipped with the fixed column, one side of fixed column is equipped with the sliding tray, and sliding block is slided in the sliding tray, one side that the fixed column was kept away from to the sliding block is equipped with the removal post, the one end that the sliding block was kept away from to the removal post is equipped with belt cleaning device, and the bottom of removal post is connected with the output shaft of a telescoping device, a telescoping device is located the top of robot housing, one side that the fixed column was kept away from to the fixed column is equipped with the rotation seat, the top of robot housing is rotated the seat, and the top of rotation seat is equipped with camera device, be equipped with main control panel in the robot housing. This application can be automatic climb the wall to wash glass curtain wall, make people keep away from danger, work efficiency is high, but the device volume is bigger and more bulkier, hardly all works on the wall that the condition is bad, in addition in case fall down from the high altitude, damage very easily, still have certain optimization space.
Disclosure of Invention
1. Technical problem to be solved by the invention
The application aims to overcome the defect that the use of the wall climbing robot is still inconvenient in the prior art, and provides the wall climbing robot and the series robot group thereof, and the wall climbing robot is convenient to use, so that people can work away from high altitude dangers, has relatively small volume, small occupied space, relatively wide application range and high safety and stability, and is suitable for popularization and application; the wall climbing robot can be directly connected in series to form a robot group, so that the wall climbing robot can adapt to high-altitude work under different conditions and load capacity is increased.
2. Technical proposal
In order to achieve the above purpose, the technical scheme provided by the invention is as follows:
The invention relates to a wall climbing robot which comprises a walking unit and a turning unit, wherein the turning unit is hinged to one side of the walking unit and is used for driving the walking unit to turn; the walking unit comprises a shell, a plurality of robot feet are hinged to the circumferential side wall of the shell at intervals, and a walking worm used for driving the robot feet to rotate and walk relative to the shell is arranged in the shell; the end part of the robot foot is hinged with a joint foot, and a foot worm for driving the joint foot to rotate and walk relative to the robot foot is arranged in the robot foot; the foot suction disc is arranged at the bottom of the joint foot.
Further, the end part of the robot foot opposite to the walking worm is provided with meshing teeth matched with the walking worm, and the walking worm is driven by a motor to rotate and synchronously drive the robot foot to move; the opposite end parts of the joint foot and the foot worm are provided with meshing teeth matched with the foot worm, and the foot worm is driven by a motor to rotate and synchronously drive the joint foot to move.
Further, the turning unit comprises steering arms and a rotating seat which are distributed up and down, and one side of each steering arm is hinged with the side face of the shell; the rotating seat is provided with a support column, a lifting worm is arranged in the steering arm, the side surface of the support column is correspondingly provided with meshing teeth matched with the lifting worm, the lifting worm drives the support column to lift up and down, the bottom of the rotating seat is connected with a supporting base through a slewing bearing in a rotating fit manner, and a turning sucker is arranged below the supporting base; and a power motor connected with the bottom of the rotating seat is arranged in the supporting base and is used for driving the rotating seat to rotate.
Furthermore, the side surface of the shell opposite to the steering arm is provided with a joint plate, the side surface of the steering arm is correspondingly provided with a mounting plate, the mounting plate is connected with the joint plate, and the mounting plate is in rotary fit connection with the steering arm through a bearing.
Still further, be provided with flexible unit between mounting panel and the joint board, this flexible unit one end links to each other with the joint board, and the other end links to each other with the mounting panel, and flexible unit is used for driving the distance change between casing and the steering arm.
Furthermore, the foot suction cups are controlled to be adsorbed and separated by a control air pump, a control air pump valve is arranged on a control main pipe of the control air pump, and the control main pipe is respectively communicated with each foot suction cup through a plurality of connecting branch pipes; each connecting branch pipe is provided with a branch pipe valve; the control main pipe is also provided with a compensation air circuit unit, the compensation air circuit unit comprises a compensation air pump, the compensation air pump is communicated with the control main pipe through a pipeline, and the pipeline of the compensation air pump is provided with a control valve.
Further, an air pump for controlling the adsorption and separation of the foot suction cups is arranged in each joint foot, an outer vent pipe communicated with air is arranged on each foot suction cup, and an air pipe valve is arranged on each outer vent pipe; the air conditioner further comprises a compensation air circuit unit, the compensation air circuit unit comprises a compensation air pump, the compensation air pump is provided with compensation pipes which are respectively communicated with each external vent pipe, and each compensation pipe is provided with a compensation valve; the compensation air pump is also provided with an exhaust pipe, and the exhaust pipe is provided with an exhaust valve.
Furthermore, a plurality of serial holes are formed in the side face of the shell, and the serial holes are used for splicing and connecting the shells in series; the side of the shell is also provided with a plurality of air chamber holes at intervals, the air chamber holes are communicated with the foot suction disc through a communication air pipe, and the air chamber holes are provided with air chamber plugs.
The invention relates to a serial robot group, which adopts the wall climbing robot, and a plurality of shells are connected in series in sequence and share a turning unit.
Furthermore, the shells are connected through bolts through serial holes, and the foot suction cups at the same positions corresponding to the shells are communicated through air chamber holes.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
(1) According to the wall climbing robot, the walking unit is completed by the joint foot and the robot foot in a matched mode, the walking process is more flexible and convenient, the worm is adopted for walking transmission control, the transmission ratio is large, the transmission is stable, the self-locking function is achieved, and the use safety and the stability are high.
(2) The wall climbing robot comprises the walking unit and the turning unit, and the robot can turn on the high-altitude wall integrally through the arrangement of the turning unit, so that continuous back and forth work can be automatically realized, and the use convenience is effectively improved.
(3) The wall climbing robot has the advantages that the whole structural design is small and compact, all the transmissions are arranged in the structure, the shell is cylindrical, and the wall climbing robot is not easy to damage when falling down in time and is beneficial to reducing the use cost.
(4) According to the wall climbing robot, the high-definition camera is arranged on the wall climbing robot in a matched mode, so that a cleaning tool can be carried to clean a high-altitude wall, the high-altitude wall or glass can be observed through the camera, dangerous accidents are prevented, and different functions can be achieved through different things.
(5) According to the wall climbing robot, the pressure sensor is further arranged in the foot sucker and used as a negative pressure switch, so that firm adsorption can be ensured.
(6) According to the serial robot group, the plurality of shells can be connected in series at will through the serial holes arranged on the shells, so that the serial robot group is convenient for selecting the arrangement of the main bodies with different lengths according to different working environments, can adapt to high-altitude work under different environments, is convenient for obstacle surmounting, and obviously increases the load capacity.
(7) According to the serial robot group, the air chamber holes are communicated through the communication air pipes among the shells which are sequentially connected in series, so that the adsorption state of a plurality of groups of foot suction cups can be controlled by sharing one air pump, the use quantity of internal air pumps can be saved, the use cost can be reduced, the air pumps can be externally connected, and the load capacity can be improved.
Drawings
FIG. 1 is a schematic view of a wall climbing robot according to the present invention;
FIG. 2 is a schematic diagram of a side view structure of a wall climbing robot according to the present invention;
FIG. 3 is a schematic diagram of a side view structure of a wall climbing robot according to the present invention;
FIG. 4 is a schematic diagram of the front view of the structure of FIG. 1 according to the present invention;
FIG. 5 is a schematic diagram of the right-hand structure of the present invention from the perspective of FIG. 1;
FIG. 6 is a schematic view of the motion limit position of the joint foot according to the present invention;
FIG. 7 is a schematic view of the state of the running limit position of the robot foot in the present invention;
FIG. 8 is a schematic diagram of the distribution of the compensation gas circuit unit in the present invention;
FIG. 9 is another schematic diagram of the distribution of the compensation gas circuit unit according to the present invention;
FIG. 10 is a schematic view of a robot walking state according to the present invention;
Fig. 11 is a schematic structural view of a serial robot group according to the present invention.
Reference numerals in the schematic drawings illustrate:
100. A housing; 101. a joint plate; 102. a connection end; 103. a communicating air pipe; 104. a serial hole; 105. a gas chamber plug;
110. robot foot; 111. a walking worm; 120. a joint foot; 121. a foot suction cup;
200. A steering arm; 201. a camera bracket; 202. a camera; 203. a mounting plate; 210. a rotating seat; 211. a support column; 212. lifting the worm; 220. a slewing bearing; 230. a support base; 231. turning sucking discs;
300. A compensating air pump; 301. an exhaust pipe; 302. a compensation tube; 303. a compensation valve; 304. a tracheal valve; 305. an outer vent pipe; 310. a control valve; 320. connecting branch pipes; 321. a branch pipe valve; 400. controlling an air pump; 401. controlling an air pump valve; 402. and controlling the main pipe.
Detailed Description
For a further understanding of the present invention, the present invention will be described in detail with reference to the drawings.
In the description of the present invention, it should be noted that the directions or positional relationships indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience of describing the present invention and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The invention is further described below with reference to examples.
Example 1
As shown in fig. 1 to 8, the wall climbing robot of the present embodiment includes a walking unit and a turning unit, wherein the walking unit is used for realizing the walking motion of the robot, and the turning unit is connected with the walking unit and hinged at one side thereof, for realizing the turning and steering of the walking unit. The walking unit comprises a shell 100, a plurality of robot feet 110 are hinged to the circumferential side wall of the shell 100 at intervals, and a walking worm 111 for driving the robot feet 110 to rotate and walk relative to the shell 100 is arranged in the shell 100; the end part of the robot foot 110 is hinged with a joint foot 120, and a foot worm for driving the joint foot 120 to rotate and walk relative to the robot foot 110 is arranged in the robot foot 110; the bottom of the joint foot 120 is provided with a foot sucker 121, an air pump for controlling the suction and the release of the foot sucker 121 is arranged in the joint foot 120, and the suction or the separation of the foot sucker 121 to the climbing wall surface is realized through air inlet and outlet.
As shown in fig. 5, the end of the robot foot 110 opposite to the walking worm 111 in the present embodiment is provided with a semicircular arc meshing tooth matched with the walking worm 111, and the walking worm 111 is driven by a motor to rotate and synchronously drive the robot foot 110 to move; specifically, the two ends of the walking worm 111 are respectively provided with a power servo motor and a bearing seat, the power servo motor is connected with the walking worm 111 and is used for driving the walking worm 111 to rotate, the robot foot 110 is driven by the walking worm 111 through gear engagement transmission, so that the robot foot 110 can rotate and walk relative to the shell 100, the reciprocating walking of the robot foot 110 can be controlled through forward and reverse rotation of the motor, the robot foot 110 can be hinged with the shell 100 through a pin shaft, and a space for the robot foot 110 to rotate is formed in the shell 100; similarly, a foot worm and a motor for driving the foot worm to rotate are arranged in the robot foot 110, semicircular arc-shaped meshing teeth matched with the foot worm are arranged at the end part of the joint foot 120 opposite to the foot worm, the foot worm is driven by the motor to rotate and synchronously drive the joint foot 120 to move, and the reciprocating walking of the joint foot 120 can be controlled by forward and backward rotation of the motor; the joint foot 120 and the robot foot 110 can also be hinged through a pin shaft. The present embodiment realizes the sensitivity of the robot walking process by the arrangement of the joint foot 120 and the robot foot 110.
The embodiment also comprises a turning unit, wherein the turning unit comprises steering arms 200 and a rotating seat 210 which are distributed up and down, and one side of each steering arm 200 is hinged with the side surface of the shell 100; specifically, the opposite side of the housing 100 to the steering arm 200 is provided with an engagement plate 101, the side of the steering arm 200 is correspondingly provided with a mounting plate 203, the mounting plate 203 is connected to the engagement plate 101, and the mounting plate 203 is connected to the steering arm 200 through a bearing in a rotating fit. The rotating seat 210 is provided with a support column 211, the steering arm 200 is internally provided with a lifting worm 212 and a motor for driving the lifting worm 212 to rotate, specifically, the upper end of the lifting worm 212 is connected with a coupler through a transmission key, the coupler is connected with the motor through the transmission key, and the motor is used for driving the lifting worm 212; the lower end of the lifting worm 212 may be connected to the steering arm 200 through a worm bearing. The side of the supporting column 211 is correspondingly provided with meshing teeth matched with a lifting worm 212, and the lifting worm 212 is driven to rotate by a motor, namely, the supporting column 211 is synchronously driven to lift up and down. The contact between the support column 211 and the inner wall of the steering arm 200 through the cooperation of the friction reducing pulley and the sliding rail helps to reduce friction between the support column 211 and the steering arm 200 when lifting. The bottom of the rotating seat 210 is connected with a supporting base 230 through a slewing bearing 220 in a rotating fit manner, and a turning sucker 231 is arranged below the supporting base 230; and a power motor connected to the bottom of the rotating base 210 is provided in the support base 230, and is used to drive the rotating base 210 to rotate. The rotating base 210 can rotate relative to the supporting base 230, and an air pump for controlling the suction and release is also provided in the turn suction cup 231. Specifically, the pivoting support 220 may adopt a bidirectional thrust ball bearing, the rotating shaft of the power motor passes through the pivoting support 220 and is connected with the rotating seat 210 through a transmission key, and the forward and reverse rotation of the power motor can control the rotating seat 210 to further control the forward and reverse rotation of the whole shell 100, so as to realize the turning of the robot. When turning is needed, the lifting worm 212 is started to drive the supporting column 211 to move downwards, namely the whole supporting base 230 is driven to move downwards until the turning sucker 231 is attached to the wall surface, at the moment, the air pump in the turning sucker 231 sucks air to firmly adsorb the turning sucker 231 on the wall surface, at the moment, the foot sucker 121 on the shell 100 can be separated from the wall surface, the supporting base 230 continues to move downwards until the whole shell 100 of the robot is supported, then the motor in the supporting base 230 is started to drive the rotating base 210 to rotate and turn, namely the whole shell 100 is driven to rotate and turn, after the whole shell 100 is rotated to a proper position, the lifting worm 212 reversely rotates, so that the joint foot 120 moves downwards to contact the wall surface, the foot sucker 121 on the shell 100 is controlled to be adsorbed on the wall surface again tightly, then the turning sucker 231 is controlled to be separated from the wall surface, and the supporting column 211 continues to move upwards for a certain height. The robot can flexibly turn through the turning unit, is convenient to flexibly adjust in actual use, and is suitable for various working environments.
The steering arm 200 in this embodiment is provided with a camera support 201 and a camera 202, the camera 202 may be connected with the camera support 201 through a support pin, the camera support 201 may be connected with the steering arm 200 through a screw, the camera 202 may be a bluetooth camera, and may be connected with a mobile phone or a computer terminal. The camera 202 is used for collecting high-altitude operation information, observing the conditions of high-altitude building walls or high-altitude glass walls, avoiding dangerous events, and also can be provided with a spraying or cleaning device on the robot to paint or clean the high-altitude walls, so that dangerous operations are manually kept away from, and the working efficiency is high. Different devices can be installed according to the needs, so that the robot can realize different functions.
In this embodiment, four joint feet 120 are uniformly distributed around the outer periphery of the housing 100, which are A, B, C, D four joint feet 120 respectively; an integrated PLC circuit board is further disposed in the housing 100, and is used for controlling information such as rotation and walking of each joint foot 120, rotation and walking of the robot foot 110, lifting of the support column 211, pumping or separating of each suction cup air pump, and the like, so as to realize automatic intelligent control of wall climbing of the robot. The signals on the PLC circuit board can be connected with an external handheld terminal through a signal line or a wireless transmission mode, and the setting, the signal transmission control and the like of the PLC circuit board belong to the conventional mature technology in the industry, and are not repeated here.
As shown in fig. 10, when the wall climbing robot of the present embodiment actually operates, as shown in the state of fig. a, the foot suction cup 121 at the lower end of the a-joint foot 120 is in a negative pressure state, and as the robot body rotates to enter the state B, the foot suction cup 121 at the lower end of the a-joint foot 120 is still in a negative pressure state, the foot suction cup 121 at the lower end of the B-joint foot 120 contacts the wall surface and is pumped by the internal air pump, so as to gradually suck the wall surface, the foot suction cup 121 at the lower end of the a-joint foot 120 begins to slowly separate from the wall surface until after the state c, the foot suction cup 121 at the lower end of the a-joint foot 120 is completely separated from the wall surface, and the foot suction cup 121 at the lower end of the B-joint foot 120 is in a negative pressure state, so as to be tightly adsorbed on the wall surface, which is the walking process of the robot on the vertical wall surface. And forward and backward movement of the joint foot 120 can be realized by forward and backward rotation control of the motor. In this embodiment, a pressure sensor is further disposed inside the foot sucker 121 as a negative pressure switch, so as to ensure firm adsorption.
The wall climbing robot can turn on the high-altitude wall through the turning unit, continuous work back and forth is automatically achieved, and the walking unit and the turning unit can be controlled respectively; the whole structure is designed to be compact and small, each transmission is arranged in the structure, the shell 100 is cylindrical, and the shell is not easy to damage when falling down in high altitude in time, thereby being beneficial to reducing the use cost; the worm is used for transmission control, the transmission ratio is large, the transmission is stable, the self-locking function is realized, and the use safety and stability are high.
Example 2
Further, in this embodiment, a telescopic unit is disposed between the mounting plate 203 and the joint plate 101, one end of the telescopic unit is connected to the joint plate 101, the other end is connected to the mounting plate 203, and the telescopic unit is used for driving the distance between the housing 100 and the steering arm 200 to change. Specifically, this flexible unit can adopt cylinder or other flexible control power in the trade, and cylinder one end sets up on mounting panel 203, and its telescopic link links to each other with joint plate 101, can realize the distance regulation and control between walking unit and the turning unit through flexible unit control to be convenient for the robot to cross different barriers etc., it is more nimble convenient to use.
Example 3
The basic structure of the wall climbing robot of the present embodiment is the same as that of the foregoing embodiment, and further, the present embodiment further includes a compensation air path unit, as shown in fig. 8, an air pump for controlling the adsorption and detachment of the foot suction cup 121 is disposed in each joint foot 120, an outer ventilation pipe 305 communicating with air is disposed on the air pump, and an air pipe valve 304 is disposed on the outer ventilation pipe 305; the compensation air path unit comprises a compensation air pump 300, wherein a compensation pipe 302 which is respectively communicated with each external ventilation pipe 305 is arranged on the compensation air pump 300, and a compensation valve 303 is arranged on each compensation pipe 302; the compensating air pump 300 is further provided with an exhaust pipe 301, and the exhaust pipe 301 is provided with an exhaust valve. As shown in fig. 8, there are four joint feet 120 and four external ventilation pipes 305, and four branch pipes are disposed on the compensating air pump 300 and are respectively connected with the corresponding external ventilation pipes 305.
The embodiment can effectively ensure the use safety by arranging the compensation air circuit unit, when the air pump in a certain joint foot 120 fails, the air pump 300 can be used as an emergency air pump, and when the air pump in a certain joint foot 120 fails accidentally, the foot suction cup 121 can not be adsorbed by the wall surface and can not continue to walk backwards, at the moment, the air pipe valve 304 on the outer ventilation pipe 305 is closed, the compensation valve 303 on the compensation pipe 302 communicated with the outer ventilation pipe 305 is opened, and then the air pumping and sucking control of the foot suction cup 121 can be realized through the compensation air pump 300, so that the normal adsorbent separation operation of the foot suction cup 121 is satisfied; when the air pump in each foot suction cup 121 is normally used, the compensation air pump 300 is used as a standby air pump, and the compensation valves 303 on the compensation pipes 302 are closed respectively.
Example 4
Further, as shown in fig. 9, in the present embodiment, the plurality of foot suction cups 121 share an air pump, specifically, the plurality of foot suction cups 121 are all controlled to be adsorbed and separated by the control air pump 400, the control manifold 402 of the control air pump 400 is provided with the control air pump valve 401, and the control manifold 402 is respectively communicated with each foot suction cup 121 through the plurality of connection branch pipes 320; each connecting branch pipe 320 is provided with a branch pipe valve 321; the control manifold 402 is further provided with a compensation air circuit unit, the compensation air circuit unit comprises a compensation air pump 300, the compensation air pump 300 is communicated with the control manifold 402 through a pipeline, and the pipeline of the compensation air pump 300 is provided with a control valve 310. In the embodiment, the air pump 400 is controlled to perform air suction and inflation control on the foot suction disc 121, the compensation air pump 300 is used as a standby air pump, the control valve 310 is closed, the compensation air pump 300 does not work in a normal use state, and the control air pump valve 401 and the branch pipe valve 321 are opened to work; when the control air pump 400 fails accidentally, the control air pump valve 401 is closed, the control valve 310 is opened, and the compensation air pump 300 starts to work and keeps normal use. The embodiment further reduces the number of the pneumatic elements, lightens the weight of the robot and reduces the manufacturing cost.
Example 5
The basic structure of the wall climbing robot of the present embodiment is the same as that of the foregoing embodiment, and further, in this embodiment, a plurality of serial holes 104 are formed on a side surface of the housing 100, and the serial holes 104 are used for splicing and connecting the plurality of housings 100 in series; for example, bolts can be used for series connection; the side surface of the housing 100 is further provided with a plurality of air chamber holes at intervals, the air chamber holes are communicated with the foot suction disc 121 through the communication air pipe 103, and the air chamber holes are provided with air chamber plugs 105. When the shell 100 of a single robot is normally and independently used, each air chamber hole is sealed by an air chamber plug 105, and the serial holes 104 and the air chamber holes are used when the shells 100 of a plurality of robots are connected in series, so that the robots of the embodiment can be connected in series for use through the structural design, not only can the obstacle surmounting capability of the robots be enhanced, but also the load capability of the robots can be obviously improved.
As shown in fig. 11, in the present embodiment, a series robot group, that is, the wall climbing robot in the above embodiment is adopted, a plurality of housings 100 are sequentially connected in series, and share one turning unit. The multiple shells 100 are connected through the serial holes 104 by bolts, and the foot suction cups 121 corresponding to the same positions of the multiple shells 100 are communicated through the air chamber holes, so that the air pump in one foot suction cup 121 can be shared. Specifically, fig. 11 is a schematic diagram showing a series connection of three housings 100, wherein one side of the first housing 100 is still configured with a turning unit, and the other side of the first housing 100 is only connected in series by using the housing 100, and the three housings 100 share one turning unit to control the whole turning process, and the specific process is the same as the above embodiment and will not be repeated herein. The air chamber holes are communicated with each other through the communication air pipes 103 between the housings 100 connected in series in sequence. As shown in fig. 5, specifically, air chamber holes are correspondingly formed on the side walls of the shells 100 according to the number and positions of the foot suction cups 121, each air chamber hole is communicated with the corresponding foot suction cup 121 through a communication air pipe 103, when the shells 100 are connected in series, the wall surfaces are in fit, the air chamber holes at the corresponding positions are also in fit, the peripheries of the air chamber holes can be matched with a circle of sealing ring, so that tightness is ensured when the air chamber holes are fit, the foot suction cups 121 at the corresponding positions of two adjacent shells 100 are communicated through fit of the air chamber holes, an air pump can be shared to control the adsorption state of the plurality of groups of foot suction cups 121, and the air chamber holes on the outermost end surfaces can be sealed by air chamber plugs 105. Therefore, the number of the internal air pumps can be saved, the use cost is reduced, the external air pumps can be connected, the load capacity is improved, the obstacle size to be crossed can be judged according to the working environment in practical application, the number of the serial connection shells 100 can be correspondingly arranged, and steering is performed through cooperation of the turning units when running to meet obstacles.
The invention and its embodiments have been described above by way of illustration and not limitation, and the invention is illustrated in the accompanying drawings and described in the drawings in which the actual structure is not limited thereto. Therefore, if one of ordinary skill in the art is informed by this disclosure, the structural mode and the embodiments similar to the technical scheme are not creatively designed without departing from the gist of the present invention.
Claims (8)
1. A wall climbing robot, characterized in that: the steering device comprises a walking unit and a turning unit, wherein the turning unit is hinged to one side of the walking unit and is used for driving the walking unit to steer; the walking unit comprises a shell (100), a plurality of robot feet (110) are hinged to the circumferential side wall of the shell (100) at intervals, and a walking worm (111) for driving the robot feet (110) to rotate and walk relative to the shell (100) is arranged in the shell (100); the end part of the robot foot (110) is hinged with a joint foot (120), and a foot worm used for driving the joint foot (120) to rotate and walk relative to the robot foot (110) is arranged in the robot foot (110); the bottom of the joint foot (120) is provided with a foot sucker (121);
The turning unit comprises steering arms (200) and a rotating seat (210) which are distributed up and down, and one side of each steering arm (200) is hinged with the side face of the shell (100); a support column (211) is arranged on the rotating seat (210), a lifting worm (212) is arranged in the steering arm (200), meshing teeth matched with the lifting worm (212) are correspondingly arranged on the side surface of the support column (211), the lifting worm (212) drives the support column (211) to lift up and down, the bottom of the rotating seat (210) is connected with a supporting base (230) through a slewing bearing (220) in a rotating fit manner, and a turning sucker (231) is arranged below the supporting base (230); a power motor connected with the bottom of the rotating seat (210) is arranged in the supporting base (230) and is used for driving the rotating seat (210) to rotate;
The foot sucking discs (121) are controlled to be adsorbed and separated by a control air pump (400), a control air pump valve (401) is arranged on a control main pipe (402) of the control air pump (400), and the control main pipe (402) is respectively communicated with each foot sucking disc (121) through a plurality of connecting branch pipes (320); each connecting branch pipe (320) is provided with a branch pipe valve (321); the control main pipe (402) is further provided with a compensation air circuit unit, the compensation air circuit unit comprises a compensation air pump (300), the compensation air pump (300) is communicated with the control main pipe (402) through a pipeline, and the pipeline of the compensation air pump (300) is provided with a control valve (310).
2. A wall climbing robot according to claim 1, wherein: the end part of the robot foot (110) opposite to the walking worm (111) is provided with meshing teeth matched with the walking worm (111), and the walking worm (111) is driven by a motor to rotate and synchronously drive the robot foot (110) to move; the end of the joint foot (120) opposite to the foot worm is provided with meshing teeth matched with the foot worm, and the foot worm is driven by a motor to rotate and synchronously drive the joint foot (120) to move.
3. A wall climbing robot according to claim 1, wherein: the side of the shell (100) opposite to the steering arm (200) is provided with a joint plate (101), the side of the steering arm (200) is correspondingly provided with a mounting plate (203), the mounting plate (203) is connected with the joint plate (101), and the mounting plate (203) is connected with the steering arm (200) through bearing running fit.
4. A wall climbing robot according to claim 3, wherein: a telescopic unit is arranged between the mounting plate (203) and the joint plate (101), one end of the telescopic unit is connected with the joint plate (101), the other end of the telescopic unit is connected with the mounting plate (203), and the telescopic unit is used for driving the distance between the shell (100) and the steering arm (200) to change.
5. A wall climbing robot according to claim 1, wherein: an air pump for controlling the adsorption and separation of the foot suction cups (121) is arranged in each joint foot (120), an outer vent pipe (305) communicated with air is arranged on the air pump in each foot suction cup (121), and an air pipe valve (304) is arranged on the outer vent pipe (305); the air conditioner further comprises a compensation air circuit unit, the compensation air circuit unit comprises a compensation air pump (300), a compensation pipe (302) which is respectively communicated with each external ventilation pipe (305) is arranged on the compensation air pump (300), and a compensation valve (303) is arranged on each compensation pipe (302); the compensating air pump (300) is also provided with an exhaust pipe (301), and the exhaust pipe (301) is provided with an exhaust valve.
6. A wall climbing robot according to claim 1, wherein: a plurality of serial holes (104) are formed in the side face of the shell (100), and the serial holes (104) are used for splicing and connecting the shells (100) in series; a plurality of air chamber holes are further formed in the side face of the shell (100) at intervals, the air chamber holes are communicated with the foot sucker (121) through the communication air pipe (103), and air chamber plugs (105) are arranged on the air chamber holes.
7. A series robot set, characterized in that: a wall climbing robot according to any one of claims 1-6, wherein a plurality of housings (100) are connected in series and share a single turning unit.
8. A tandem robot group according to claim 7, characterized in that: the multiple shells (100) are connected through bolts through the serial holes (104), and the foot suction discs (121) at the same positions corresponding to the multiple shells (100) are communicated through the air chamber holes.
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| CN201911226354.7A CN110745194B (en) | 2019-12-04 | 2019-12-04 | Wall climbing robot and serial robot group thereof |
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| CN112617692A (en) * | 2020-12-15 | 2021-04-09 | 中建铁路投资建设集团有限公司 | Glass stands wall surface cleaning robot outward |
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