CN110949558A - Rotor multi-foot hybrid wall-climbing robot - Google Patents
Rotor multi-foot hybrid wall-climbing robot Download PDFInfo
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- CN110949558A CN110949558A CN201911280253.8A CN201911280253A CN110949558A CN 110949558 A CN110949558 A CN 110949558A CN 201911280253 A CN201911280253 A CN 201911280253A CN 110949558 A CN110949558 A CN 110949558A
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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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Abstract
The invention discloses a rotor multi-foot hybrid wall-climbing robot device, which comprises mechanical rotor units, wherein the rotating directions of two adjacent mechanical rotor units are opposite; the mechanical foot unit comprises a mechanical arm unit and an electromagnet positioned at the extending end of the mechanical arm unit; the mechanical foot unit is symmetrically arranged at two opposite edges of the chassis support; the mechanical rotor wing can change the angle between the rotor wing and the chassis support through a rotating shaft connected to the rotor wing, so that the rotor wing generates a component force always along the end part of the chassis support in the obstacle crossing process, namely, the component force in the advancing direction of the robot, and the robot is helped to cross the obstacle more quickly and reduce energy consumption. When the rotor rotates, a pressure towards the chassis bracket is generated, so that the aim of climbing the wall is fulfilled. The purpose of providing two rotors with opposite directions of rotation is to avoid the robot from rotating on the wall.
Description
Technical Field
The invention relates to a rotor wing multi-foot hybrid wall-climbing robot, and belongs to the technical field of wall-climbing robots.
Background
The robot is a product combining traditional mechanics and modern electronic technology, and the wall-climbing robot is an important component in the field of mobile robots, and is realized by combining a moving mechanism, such as wheels, tracks, legs and the like, with an adsorption mechanism, such as magnets, suckers and the like, for adsorbing the moving mechanism on a wall surface, so that the ground moving technology is expanded to a vertical space, and the application range of the robot is expanded. The field of wall-climbing robots has achieved great success since the first prototype of vertical avoidance mobile robots was successfully developed by the university of osaka-fu university in japan in 1966. The adsorption form of the domestic wall-climbing robot is various, a magnetic adsorption robot, a negative pressure adsorption robot, an electrostatic adsorption robot and the like exist, the motion form is mostly multi-foot type and crawler type, and the motion form is single walking type, double body type and triple body type.
The adsorption force of the multi-foot sucker type robot is mainly provided by a sucker, the principle is vibration adsorption, negative pressure adsorption, static adsorption and the like, walking and obstacle crossing in all directions can be realized, and the multi-foot sucker type robot has the defects of low speed and poor reliability, and an obstacle cannot be crossed once the obstacle is too large in size.
The adsorption force of the peristaltic adsorption robot is mainly provided by a sucker, the peristaltic adsorption robot simulates a snake to move and cross obstacles, but the peristaltic adsorption robot is low in moving speed and complex in structure, and is not beneficial to production and maintenance.
The double-body robot is formed by connecting two single wall-climbing robot modules together through a connecting mechanism, the adsorption principle is negative pressure adsorption, magnetic adsorption and the like, the robot is realized by lifting one single robot to cross an obstacle and then lifting the other single robot to cross the obstacle, but the robot is difficult to keep balance in the obstacle crossing process and is not practical.
At present, chinese patent with publication number CN110341825A discloses a wall climbing robot, including base, the arm of crawling, adsorb piece and booster fan, four edges of base are located respectively to four arms of crawling, adsorb the piece and correspond the setting with the arm of crawling, on booster fan located the base, adsorb the piece and booster fan locates the both sides of base respectively, booster fan orientation is bloied towards the direction of keeping away from the base. The working principle is as follows: the rotation through booster fan produces the thrust towards the base direction, even when climbing the wall robot and being perpendicular or negative angle, the thrust that booster fan produced can be balanced with gravity, and supplementary absorption piece makes the wall climbing robot can adsorb on the pipeline inner wall.
In the above structure, the booster fan is used for generating thrust to balance with gravity. Since gravity is vertically downward, the booster fan, if it were to overcome gravity, would produce a vertically upward thrust or a force that could be resolved to a vertically upward direction. If the booster fan is not arranged in a right angle but arranged obliquely, the force can be decomposed in the horizontal direction, and at the moment, the wall climbing robot is easy to be stressed unstably due to the external force in multiple directions, is easier to rotate in the advancing process and deviates from the original expected path. If only one booster fan is arranged, the robot can rotate continuously under the action of the rotating torque, and the stability of the robot is influenced, so that the booster fan disclosed in the publication number CN110341825A is difficult to make the robot move forwards stably.
Disclosure of Invention
The invention provides a rotor wing multi-foot hybrid wall-climbing robot which has the advantages that the robot can stably cross obstacles and is not easy to rotate.
Rotor multi-foot hybrid wall climbing robot device includes:
the mechanical rotor wing units are at least provided with two mechanical rotor wing units, and the rotating directions of the two adjacent mechanical rotor wing units are opposite;
the mechanical foot unit comprises a mechanical arm unit and an electromagnet positioned at the extending end of the mechanical arm unit;
the mechanical foot unit is symmetrically arranged at two opposite edges of the chassis support;
and the controller is arranged on the chassis support, is communicated with the mechanical rotor wing unit and is used for controlling the rotation speed of the mechanical rotor wing unit.
In one embodiment of the invention, the mechanical rotor unit comprises a transmission shaft and a wing arranged on the top of the transmission shaft in an annular array, wherein one side of the wing facing the chassis support is a convex surface, and the other side of the wing is a plane.
In one embodiment of the invention, the mechanical arm unit comprises at least two arm sections connected through a shaft, one end of the mechanical arm unit, which is provided with the electromagnet, is deep outside the edge of the chassis support, and the other end of the mechanical arm unit is connected with the chassis support.
In one embodiment of the invention, each mechanical foot unit further comprises a connecting assembly, the connecting assembly comprises a foot bracket fixedly connected to the chassis bracket and a foot turntable located at the top of the foot bracket, and one end of the arm section close to the chassis bracket is connected with the foot turntable.
In one embodiment of the invention, the mechanical foot unit comprises a foot joint rotating shaft arranged at the joint between the arm section and the chassis support and the joint between two adjacent arm sections.
In one embodiment of the present invention, the mechanical rotor unit further comprises a rotating shaft located between the wing and the transmission shaft for adjusting an included angle between the wing and the chassis
In one embodiment of the invention, the arm section is provided with two ends, namely a first arm hinged with the chassis support and a second arm hinged with the first arm at the end departing from the chassis support, the electromagnet is positioned at the end of the second arm departing from the first arm, and the electromagnet is in conductive communication with the controller.
In one embodiment of the invention, a mounting body is connected between the electromagnet and the second arm.
In one embodiment of the invention, one end of the wing close to the transmission shaft is provided with a shaft hole, the axis of the shaft hole is arranged parallel to the chassis bracket, and a bolt for connecting the wing and the hub penetrates through the shaft hole.
The invention has the following beneficial effects:
the mechanical rotor wing can change the angle between the rotor wing and the chassis support through a rotating shaft connected to the rotor wing, so that the rotor wing generates a component force always along the end part of the chassis support in the obstacle crossing process, namely, the component force in the advancing direction of the robot, and the robot is helped to cross the obstacle more quickly and reduce energy consumption. When the rotor rotates, a pressure towards the chassis bracket is generated, so that the aim of climbing the wall is fulfilled.
The purpose of setting up two opposite direction of rotation rotors is to offset the rotatory moment who produces, avoids the robot to spin on the wall, guarantees the normal work of robot. If only one rotor wing is provided, the robot can continuously rotate under the action of the reaction torque, the stability and the reliability of the robot are seriously influenced, and the two rotor wings with opposite rotating directions are configured, so that the reaction torque can be mutually balanced, stronger power can be provided when the obstacle crossing is carried out, the speed is increased, and the obstacle crossing is carried out more quickly and efficiently.
The two rotors are provided with a controller which controls the rotation speed of the rotors so as to adjust the pressure.
The controller on the chassis support calculates the required pressure according to the information of the sensor and judges whether the auxiliary electromagnet needs to be started or not, and then the rotating speed of the motor is controlled to achieve the purposes of obstacle crossing and normal walking.
The electromagnet is connected with a controller on the chassis bracket through circuit connection so as to control the adsorption and the desorption.
The root of the mechanical rotor blade is provided with a horizontal shaft hole which is connected with the hub through a bolt, and the connection mode allows the blade to flap within a certain range; and set up a vertical shaft hole again at the root of paddle, link to each other with other structures of propeller hub through the bolt, this kind of connected mode allows the paddle to swing by a small margin from beginning to end to avoid paddle root bending or fatigue fracture.
Drawings
FIG. 1 is a schematic view of the overall structure of a robot;
FIG. 2 is a schematic diagram of a left-end three-foot obstacle crossing;
FIG. 3 is a schematic diagram of a right-end three-foot obstacle crossing;
FIG. 4 is a schematic diagram of a right-end three-foot obstacle crossing;
FIG. 5 is a schematic structural view of the linkage between two sections of the robotic arm;
FIG. 6 is a schematic structural view of a connection between a wing and a transmission shaft;
FIG. 7 is a schematic structural view of a connector;
FIG. 8 is an enlarged view of part A of FIG. 1 for showing the structure of the mechanical foot;
fig. 9 is an enlarged view of a portion B of fig. 1 to show a structure of the connection assembly.
In the figure, 1, a chassis support; 11. a chassis side portion; 12. a chassis end portion; 2. a mechanical foot unit; 21. a mechanical arm mechanism; 211. a first section of mechanical arm; 212. a second section of mechanical arm; 22. a mechanical foot; 221. mounting the main body; 222. an electromagnet; 23. a connecting assembly; 231. a foot support; 232. a foot turntable; 3. a load wheel mechanism; 31. a loading wheel; 32. a drive shaft; 4. a motor; 5. a mechanical rotor; 7. a controller; 8. swinging and vibrating hinge; 9. a shaft hole; 10. swinging hinges; 11. a hub.
Detailed Description
A rotor multi-foot hybrid wall-climbing robot device is shown in figure 1 and comprises a chassis support 1, wherein the chassis support 1 is arranged to be rectangular, the long side of the rectangle is a side portion, the short side of the rectangle is an end portion, and a mechanical rotor unit 5 and a mechanical foot unit 2 are arranged on the chassis support 1.
The mechanical rotor units 5 are at least provided with two mechanical rotor units 5, in the embodiment, the two mechanical rotor units 5 are arranged in the middle of the chassis support 1, and the connecting line of the two mechanical rotor units 5 is parallel to the edge of the end part of the chassis support 1. Two mechanical rotor units 5 drive rotatoryly through motor 4, and motor 4 can be established and deviate from mechanical rotor unit one side at chassis support 1, and two motors 4 mutual independence, turn to opposite for the direction of rotation of mechanical rotor unit 5 is also opposite. The purpose of setting up two opposite direction of rotation rotors is to offset the rotatory moment who produces, avoids the robot to spin on the wall, guarantees the normal work of robot.
The two rotors are provided with a controller 7, the controller 7 is electrically communicated with the motor 4 to control the starting, braking and rotating speed of the motor 4 so as to control the rotating speed of the mechanical rotor unit 5 and further adjust the pressure.
The mechanical rotor unit 5 comprises a transmission shaft 32 which is vertically led out upwards from the chassis bracket 1, and the transmission shaft 32 is coaxially connected with an output shaft of the motor 4; a plurality of wings are annularly arrayed at the top of the transmission shaft 32, in the embodiment, three wings are adopted, one side of each wing facing the chassis support 1 is a convex surface, and the other side is a plane. Therefore, when the rotor rotates, pressure towards the chassis support 1 is generated, and the whole device is pressed on the wall surface, so that the aim of climbing the wall is fulfilled.
As shown in fig. 6, a rotating shaft for adjusting an included angle between the wing and the chassis is provided between the wing and the transmission shaft 32. The transmission shaft 32 is connected with the wings through a shimmy hinge 8 and a flapping hinge 10, a motor 4 is arranged at a triangular position at the top of the transmission shaft 32 to control the rotation angle of the flapping hinge 10, a shaft hole 9 is formed in one end, close to the transmission shaft 32, of each wing, the axis of the shaft hole 9 is parallel to the chassis support 1, and a bolt used for connecting the wings and the hub 11 penetrates through the shaft hole 9. The bolts are a pendulum swing hinge 8 and a flap swing hinge 10.
The chassis frame 1 is provided with mechanical foot units 2 at two ends, six mechanical foot units 2 are provided in the present embodiment, and three mechanical foot units are provided at two ends. Each robot foot unit 2 comprises a robot arm unit, an electromagnet 222 at the protruding end of the robot arm unit. In this embodiment, as shown in fig. 5, each robot arm unit includes two arm sections connected by a shaft, which are a first arm connected to the chassis frame 1 and a second arm located at an end of the first arm away from the chassis frame 1. Wherein a connection assembly 23 is arranged between the first arm and the chassis frame 1. The connecting assembly 23 includes a foot bracket 231 fixedly connected to the chassis bracket 1, and a foot turntable 232 positioned on top of the foot bracket 231. The foot support 231 is desk-shaped, the foot turntable 232 is jacked up by four rod pieces, and the foot turntable 232 can be rotatably arranged. The concrete rotating structure is as follows: the bottom of the foot turntable 232 is provided with a shaft hole 9, a motor shaft is inserted into the shaft hole 9, the foot turntable 232 is driven to rotate through a key, and the motor 4 is fixedly connected to the foot support 231. The end of the first arm close to the chassis support 1 is connected with the foot turntable 232, the mechanical foot unit 2 comprises a foot joint rotating shaft arranged at the joint between the arm section and the chassis support 1 and the joint between two adjacent arm sections, the joint rotating shaft is a motor shaft, as shown in fig. 7, the motor 4 is fixedly connected with the first arm, the motor shaft is connected with the second arm through a connecting piece, one end of the connecting piece is fixedly connected with the second arm, the other end of the connecting piece is provided with a shaft hole 9, and the motor shaft is inserted into the shaft hole and transmits motion through a key.
The end of the second arm, which is far away from the first arm, is provided with an electromagnet 222, which extends out of the edge of the chassis support 1, and the electromagnet 222 is in conductive communication with the controller 7. The mounting main body 221 is connected between the electromagnet 222 and the second arm, the mounting main body 221 is a triangular steel plate, a plurality of through holes are formed in the steel plate, the steel plate is fixedly connected with the second arm through bolts, and threaded holes are also formed in the electromagnet 222 and fixedly connected with the steel plate through bolts.
The mechanical foot unit 2 comprises a plurality of foot joint steering engines, one of which is arranged on the foot turntable 232 and the mechanical arm mechanism 21 is arranged on the foot joint steering engines in a driving manner; the foot joint steering engine is a steering engine used in an aeromodelling, and is different from a common motor 4 in that the steering engine comprises a motor 4 and a reduction gear set; so that the foot joint steering engine can drive the mechanical arm mechanism 21 to rotate relative to the chassis support 1.
The mechanical arm mechanism 21 includes a first mechanical arm 211 and a second mechanical arm 212, two ends of the first arm are movably disposed at one end of the foot turntable 232 and the second arm, the foot electromagnet 222 mechanism is disposed at the other end of the second arm, one of the foot joint steering engines can drive the first arm to rotate relative to the chassis support 1, and the other foot joint steering engine is disposed at a connection position of the first arm and the second arm to drive the second arm to rotate relative to the first arm.
The foot electromagnet 222 mechanism includes a mounting main body 221 and at least two rows of electromagnets 222, the mounting main body 221 is movably disposed on the robot arm mechanism 21, for example, the mounting main body 221 is movably disposed on the end of the second arm, and each of the foot electromagnets 222 is disposed on the mounting main body 221. The number of electromagnets 222 may be three rows.
Two pairs of loading wheels 31 are further arranged on the chassis support 1, and the loading wheels 31 are symmetrically arranged on two side parts of the chassis support 1. The mechanical foot unit 2 is capable of providing a multi-foot motion pattern. The multi-leg movement mode is mainly used for obstacle crossing, as shown in fig. 2, the second arm of the left-end three-leg rotates by a certain angle to jack the vehicle body to form a certain angle to an obstacle, so that the obstacle can be conveniently crossed, the motor 4 in the driving wheel drives the wheel to move forward, when the obstacle is positioned at the bottom of the vehicle body, the second arm returns to the initial position to restore the vehicle body, as shown in fig. 3 and 4, the right wheel also crosses the obstacle in the same mode, the second arm of the right-end three-leg rotates by a certain angle to jack the vehicle body to form a certain angle to the obstacle, so that the obstacle can be conveniently crossed, the motor 4 in the driving wheel drives the wheel to move forward, and when the obstacle is positioned at the bottom of the vehicle body.
In obstacle crossing, the bogie wheels 31 and the mechanical foot unit 2 can be used in cooperation to achieve better travel and obstacle crossing. When the robot travels on a plane, the robot is firmly attached to the wall by means of pressure which is generated by the rotor wing and points to the wall, and then the motor 4 drives the bogie wheel 31 to travel on the wall. At this time, the mechanical foot unit 2 may selectively turn on or off the electromagnet 222 according to the situation, so as to achieve the purpose of reducing energy consumption and saving energy.
As shown in fig. 2 to 4, when the rotary-wing multi-foot hybrid wall-climbing robot encounters an obstacle, the controller 7 sends a command to instruct the electromagnet 222 on the mechanical foot unit 2 to turn on, the front half of the robot is lifted under the support of the mechanical foot, the rear half bogie wheel 31 of the robot is driven by the motor 4 to pass the front half bogie wheel 31 of the robot over the obstacle under the condition, the sensor on the robot detects that the front pair of bogie wheels 31 pass the obstacle, the controller 7 sends a command again, the robot is leveled to a normal walking position under the action of the mechanical foot unit 2, namely, the robot is kept parallel to the wall, and the motor 4 drives the robot to move forward for a distance. When the sensor detects that the rear pair of bogie wheels 31 are about to touch the obstacle, the controller 7 gives a command again, the electromagnet 222 is turned off, the electromagnet 222 is turned on, the rear half part of the robot is lifted up through the mechanical foot unit 2, the front pair of bogie wheels 31 driven by the motor 4 enable the whole robot to cross the obstacle, and the robot is laid flat after the robot smoothly passes through the obstacle. In the whole obstacle crossing process, the mechanical rotor wing 5 is always kept open, and the angle between the rotor wing and the chassis support 1 is timely adjusted according to the obstacle crossing process, so that the rotor wing generates a component force always along the end part of the chassis support 1, namely, the component force along the advancing direction of the robot in the obstacle crossing process, and therefore the robot is helped to cross the obstacle more quickly and energy consumption is reduced.
Although the present invention has been described with reference to the preferred embodiments, it should be understood that various changes and modifications can be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A rotor multi-foot hybrid wall-climbing robot device, comprising:
the mechanical rotor wing units (5) are at least provided with two mechanical rotor wing units, and the rotating directions of the two adjacent mechanical rotor wing units (5) are opposite;
the mechanical foot unit (2) comprises a mechanical arm unit and an electromagnet (222) positioned at the extending end of the mechanical arm unit;
the mechanical foot unit comprises a chassis support (1) and a mechanical foot unit (2), wherein the chassis support (1) is used for bearing a mechanical rotor wing unit (5) and the mechanical foot unit (2), the mechanical rotor wing unit (5) is located in the middle of the chassis support (1), and the mechanical foot unit (2) is symmetrically arranged at two opposite edges of the chassis support (1);
and the controller (7) is arranged on the chassis support (1), is communicated with the mechanical rotor wing unit and is used for controlling the rotation speed of the mechanical rotor wing unit.
2. The rotary-wing multi-foot hybrid wall-climbing robot device according to claim 1, characterized in that: the mechanical rotor wing unit comprises a transmission shaft (32) and wings arranged on the top of the transmission shaft (32) in an annular array mode, one side, facing the chassis support (1), of each wing is a convex surface, and the other side of each wing is a plane.
3. The rotary-wing multi-foot hybrid wall-climbing robot device according to claim 1, characterized in that: the mechanical arm unit comprises at least two arm sections connected through a shaft, one end of the mechanical arm unit, which is provided with an electromagnet (222), is arranged outside the edge of the chassis support (1) in a deep position, and the other end of the mechanical arm unit is connected with the chassis support (1).
4. A rotary-wing multi-foot hybrid wall-climbing robot device according to claim 3, characterized in that: each mechanical foot unit (2) further comprises a connecting assembly (23), the connecting assembly (23) comprises a foot support (231) fixedly connected to the chassis support (1) and a foot turntable (232) located at the top of the foot support (231), and one end, close to the chassis support (1), of the arm section is connected with the foot turntable (232).
5. The rotary-wing multi-foot hybrid wall-climbing robot device according to claim 4, wherein: the mechanical foot unit (2) comprises foot joint rotating shafts arranged at the joint between the arm sections and the chassis support (1) and the joint between two adjacent arm sections.
6. A rotary-wing multi-foot hybrid wall-climbing robot device according to claim 2, characterized in that: the mechanical rotor unit (5) further comprises a rotating shaft which is positioned between the wing and the transmission shaft (32) and used for adjusting an included angle between the wing and the chassis.
7. A rotary-wing multi-foot hybrid wall-climbing robot device according to claim 3, characterized in that: the arm section is provided with both ends, is respectively for deviating from the second arm of chassis support (1) one end with chassis support (1) looks articulated first arm, articulated in first arm, electromagnet (222) are located the second arm and deviate from the one end of first arm, and electromagnet (222) and controller (7) electrically conduct the intercommunication.
8. The rotary-wing multi-foot hybrid wall-climbing robot device according to claim 7, wherein: an installation main body (221) is connected between the electromagnet (222) and the second arm.
9. The rotary-wing multi-foot hybrid wall-climbing robot device according to claim 1, characterized in that: one end of the wing, which is close to the transmission shaft (32), is provided with a shaft hole (9), the axis of the shaft hole (9) is arranged in parallel to the chassis bracket (1), and a bolt for connecting the wing and the propeller hub (11) penetrates through the shaft hole (9).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911280253.8A CN110949558A (en) | 2019-12-13 | 2019-12-13 | Rotor multi-foot hybrid wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911280253.8A CN110949558A (en) | 2019-12-13 | 2019-12-13 | Rotor multi-foot hybrid wall-climbing robot |
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| CN110949558A true CN110949558A (en) | 2020-04-03 |
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| CN201911280253.8A Pending CN110949558A (en) | 2019-12-13 | 2019-12-13 | Rotor multi-foot hybrid wall-climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112829846A (en) * | 2021-03-03 | 2021-05-25 | 广东省科学院智能制造研究所 | Wall-climbing robot and wall surface transition method thereof |
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| CN112829846B (en) * | 2021-03-03 | 2024-01-30 | 广东省科学院智能制造研究所 | Wall climbing robot and wall transition method thereof |
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Application publication date: 20200403 |