CN113173214B - Vacuum adsorption movement device and obstacle-crossing climbing robot constructed by same - Google Patents
Vacuum adsorption movement device and obstacle-crossing climbing robot constructed by same Download PDFInfo
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- CN113173214B CN113173214B CN202110429958.2A CN202110429958A CN113173214B CN 113173214 B CN113173214 B CN 113173214B CN 202110429958 A CN202110429958 A CN 202110429958A CN 113173214 B CN113173214 B CN 113173214B
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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
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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Abstract
The invention discloses a vacuum adsorption movement device, which comprises a chassis, a moving assembly, a spring assembly and a vacuum cavity assembly, wherein the chassis is provided with a base plate; discloses an obstacle-crossing climbing robot, which comprises a vacuum adsorption movement device and a rotary arm structure; two ends of the rotary arm structure are respectively provided with a group of vacuum adsorption movement devices. According to the vacuum adsorption movement device, the external vacuum cavity is arranged, and the whole moving mechanism is arranged in the vacuum cavity, so that the whole mechanism is more compact and the adsorption is more stable; make climbing robot's removal subassembly laminating wall that can be better through spring unit's setting to have certain adaptability to the wall of difference. The climbing robot has the wall obstacle crossing function through the arrangement of the energy storage mechanical arm module, and can realize multiple functions of crossing obstacles by right-angle surfaces, transition of heterogeneous wall surfaces, crossing of wall obstacles and the like. Meanwhile, the energy storage module in the energy storage mechanical arm reduces the energy consumption of the whole mechanical arm, so that the self weight is reduced, and the cost is saved.
Description
Technical Field
The invention relates to a vacuum adsorption movement device and an obstacle-crossing climbing robot constructed by the same, and belongs to the technical field of climbing robots.
Background
With the rapid development of robot technology, the climbing robot is widely applied to the nuclear industry, the building industry and the fire fighting industry, and the climbing robot is adopted to replace manual work to complete high-altitude operation at present, so that the application of cleaning and detection automatic operation is more and more extensive. The climbing robot belongs to a special robot, and a main working mode needs to be attached to a wall surface, but the general climbing robot has unstable attaching capacity, low load and weak obstacle crossing capacity, so that the robot cannot meet the operation requirement of a complex wall surface. Therefore, the wall surface is stably adsorbed, and the climbing robot has good obstacle crossing performance and is difficult to design for the climbing robot.
Disclosure of Invention
The invention provides a vacuum adsorption movement device which is adsorbed or separated from a wall surface through the matching of a moving part, a spring assembly and a vacuum cavity assembly; further provides an obstacle-crossing climbing robot, and a platform for climbing the wall and crossing the obstacle of the robot is built.
The technical scheme of the invention is as follows: a vacuum adsorption movement device comprises a chassis 6, a moving assembly, a spring assembly and a vacuum cavity assembly 1; two groups of moving components are mounted on the base plate 6, the spring components are respectively connected with the base plate 6 and the vacuum cavity component 1, and the spring components are located between the two groups of moving components and are matched with the vacuum cavity component 1, so that the vacuum adsorption moving device is adsorbed or separated from the wall surface.
The moving assembly comprises a large belt wheel 7, a large belt wheel connecting piece 8, a small belt wheel 9, a small belt wheel connecting piece 10, a sliding block 11, a sliding rail 12, a synchronous belt 13, a motor III 14, an output shaft sleeve 15, a supporting wheel 16 and a supporting wheel connecting piece; wherein, the axial one side of the big belt wheel 7 is connected with one end of the big belt wheel connecting piece 8, the output shaft sleeve 15 is fixed on the axial other side of the big belt wheel 7, run through to the other side from one axial side of the big belt wheel 7 through the output shaft sleeve 15, the small belt wheel 9 is connected with one side of the small belt wheel connecting piece 10, the other side of the small belt wheel connecting piece 10 is connected with the sliding block 11, the sliding block 11 arranged on the sliding rail 12 can move along the sliding rail 12 and can be limited by the screw, the other end of the big belt wheel connecting piece 8, the sliding rail 12 are respectively connected with the chassis 6, the supporting wheel 16 is connected with the supporting wheel connecting piece, the synchronous belt 13 sequentially bypasses the big belt wheel 7, the small belt wheel 9 and a plurality of supporting wheels 16, the extending shaft of the motor III 14 is inserted into the output shaft sleeve 15 to drive the big belt wheel 7.
The main body of the output shaft sleeve 15 is cylindrical, and a hole matched with a pin and an extending shaft of the motor III 14 is formed in the middle of the main body; the supporting wheels 16 are designed in a plurality of manners, the cross section of the supporting wheel connecting piece I4 for mounting the supporting wheels 16 at the corners is designed to be a right triangle, the right angle is positioned at the outer side, and the cross section of the supporting wheel connecting piece II 17 for mounting the supporting wheels 16 between the corners is designed to be a rectangle.
The spring assembly consists of a linear bearing 18, a spring 19 and a guide rod 20; one end of a guide rod 20 is inserted into an inner hole of the linear bearing 18, a spring 19 is arranged between the other end of the guide rod 20 and a base of the linear bearing 18, the other end of the guide rod 20 is fixedly connected with the vacuum cavity assembly 1 through a bolt, and the base of the linear bearing 18 is fixedly connected with the chassis 6 through a bolt.
The vacuum cavity assembly 1 comprises a vacuum cavity I1-1, a vacuum cavity II 1-2, a vacuum cavity III 1-3, a vacuum cavity IV 1-4, a vacuum pump 2, an air pipe 3, an adsorbing material supporting plate 5 and an adsorbing material 21; the vacuum cavity I1-1, the vacuum cavity II 1-2, the vacuum cavity III 1-3 and the vacuum cavity IV 1-4 are connected into a box body with an open top surface through bolts, and an adsorbing material supporting plate 5 is arranged at the opening end of the vacuum cavity component 1 and used for adhering an adsorbing material 21; one end of the air pipe 3 is inserted into an air inlet of the vacuum pump 2, and the other end of the air pipe 3 is inserted into an air hole reserved in the vacuum cavity component 1.
The adsorption material supporting plate 5 is made of epoxy resin, the adsorption material 21 is made of Teflon, and the adsorption material and the Teflon are adhered by nano-adhesive.
An obstacle-crossing climbing robot comprises a vacuum adsorption movement device and a rotary arm structure; the rotary arm structure is powered by a motor II 30, and two ends of the rotary arm structure are respectively provided with a group of vacuum adsorption movement devices.
The energy storage structure is also included; the rotating arm structure comprises two groups of rotating arms II 25 and rotating arms III 26; one end of the energy storage module is arranged at the joint of the second rotating arm group II 25 and the third rotating arm group III 26, and the other end of the energy storage module is arranged at the joint of the second rotating arm group II 25 and the third rotating arm group III 26;
the energy storage structure comprises an energy storage box shell 31, an energy storage box cover 32, a planetary speed increaser 33, a coupler 34, a flange bearing I35, a spring box cover 36, a spring 37, a spring box 38, a damping box cover 39, a damping brush 40, a damping box 41 and a transmission shaft 42; one end of an energy storage box shell 31 is connected with an energy storage box cover 32, a clamping groove is formed in the inner side of the energy storage box cover 32 and used for fixing a planetary speed increaser 33, an output shaft of the planetary speed increaser 33 is connected with one end of a transmission shaft 42 through a coupler 34, a flange bearing I35 is assembled on the transmission shaft 42 and connected with a spring box cover 36, the innermost ring of a spring 37 positioned by a shaft shoulder is fixed on the transmission shaft 42, the outermost ring of the spring 37 is fixed in a spring box 38, the spring box cover 36 is connected with one side of the spring box 38, a vibration reduction box cover 39 is installed on the other side of the spring box 38, a vibration reduction brush 40 is installed on the transmission shaft 42, a vibration reduction brush 40 positioned by the shaft shoulder is installed in a vibration reduction box 41 through the vibration reduction box cover 39, and the vibration reduction box cover 39 is fixedly connected with the vibration reduction box 41.
The vibration reduction brush 40 comprises a piston ring 40-1, a rubber pad I40-2, a rubber pad II 40-3 and a sealing pad 40-4; one end of a piston ring 40-1 is sleeved on a transmission shaft 42, a fixed rubber pad I40-2 at one side of the other end of the piston ring 40-1 is attached to a damping box cover 39, a fixed rubber pad II 40-3 at the other side of the other end of the piston ring 40-1 is attached to a damping box 41, and a fixed sealing pad 40-4 at the top surface of the other end of the piston ring 40-1 is attached to the damping box cover 39 and the damping box 41.
The speed increasing ratio of the planetary speed increaser 33 is set to be 1: 10, the spring 37 is made of 55SiMnVB, the width is 3cm, and the damping coefficient of the vibration-damping brush is 0.65.
The invention has the beneficial effects that: according to the vacuum adsorption movement device, the external vacuum cavity is arranged, and the whole moving mechanism is arranged in the vacuum cavity, so that the whole mechanism is more compact and the adsorption is more stable; make climbing robot's removal subassembly laminating wall that can be better through spring unit's setting to have certain adaptability to the wall of difference. The climbing robot has the wall obstacle crossing function through the arrangement of the energy storage mechanical arm module, and can realize multiple functions of crossing obstacles by right-angle surfaces, transition of heterogeneous wall surfaces, crossing of wall obstacles and the like. Meanwhile, the energy storage module in the energy storage mechanical arm reduces the energy consumption of the whole mechanical arm, so that the self weight is reduced, and the cost is saved.
Drawings
FIG. 1 is a schematic view of a vacuum chamber assembly of the present invention;
FIG. 2 is a first internal structure view of the vacuum suction exercise device of the present invention;
FIG. 3 is a second internal structure view of the vacuum suction exercise device of the present invention;
FIG. 4 is a block diagram of the spring assembly of the present invention;
FIG. 5 is a third internal structure view of the vacuum suction exercise device of the present invention;
FIG. 6 is a block diagram of the output shaft sleeve of the present invention;
FIG. 7 is an external view of the robot of the present invention;
FIG. 8 is a schematic external view of the energy storage structure and the arm structure of the present invention;
fig. 9 is an exploded view of the energy storage module of the present invention;
fig. 10 is a cross-sectional view of an energy storage module configuration of the present invention;
fig. 11 is an assembled view of the energy storage module of the present invention;
FIG. 12 is a cross-sectional view of a swivel joint of the present invention;
FIG. 13 is a schematic view of the structure of the vibration dampening brush of the present invention;
the reference numbers in the figures are: 1-vacuum chamber assembly, 1-vacuum chamber I, 1-2-vacuum chamber II, 1-3-vacuum chamber III, 1-4-vacuum chamber IV, 2-vacuum pump, 3-gas pipe, 4-supporting wheel connector I, 5-adsorbing material pallet, 6-base plate, 7-large belt wheel, 8-large belt wheel connector, 9-small belt wheel, 10-small belt wheel connector, 11-slide block, 12-slide rail, 13-synchronous belt, 14-motor III, 15-output shaft sleeve, 16-supporting wheel, 17-supporting wheel connector II, 18-linear bearing, 19-spring, 20-guide rod, 21-adsorbing material, 24-rotating arm I, 25-rotating arm II, 26-rotating arm III, 27-rotating arm IV, 28-motor I, 29-aluminum plate, 30-motor II, 31-energy storage box, 32-energy storage box cover, 33-planetary speed increaser, 34-coupler, 35-flange bearing I, 36-spring box cover, 37-spring, 38-spring box, 39-vibration reduction box cover, 40-vibration reduction brush, 41-vibration reduction box, 42-transmission shaft, 43-flange bearing II, 44-short shaft III, 45-locking nut I, 46-flange bearing III, 47-short shaft IV, 48-locking nut II, 49-short shaft I, 50-locking nut III, 51-flange bearing IV, 52-short shaft II, 53-locking nut IV and 54-flange bearing V.
Detailed Description
Example 1: as shown in fig. 1-6, a vacuum adsorption movement device comprises a chassis 6, a moving assembly, a spring assembly, a vacuum chamber assembly 1; two groups of moving components are mounted on the base plate 6, the spring components are respectively connected with the base plate 6 and the vacuum cavity component 1, and the spring components are located between the two groups of moving components and are matched with the vacuum cavity component 1, so that the vacuum adsorption moving device is adsorbed or separated from the wall surface.
Further, the moving assembly can be arranged to comprise a large belt wheel 7, a large belt wheel connecting piece 8, a small belt wheel 9, a small belt wheel connecting piece 10, a sliding block 11, a sliding rail 12, a synchronous belt 13, a motor III 14, an output shaft sleeve 15, a supporting wheel 16 and a supporting wheel connecting piece; wherein one axial side of a large belt wheel 7 is connected with one end of a large belt wheel connecting piece 8 through a pin, an output shaft sleeve 15 is fixed on the other axial side of the large belt wheel 7 through a screw, the large belt wheel 7 penetrates through from one axial side to the other axial side through the pin and is in threaded connection with an extending shaft of a motor III 14 inserted into the output shaft sleeve 15 through the output shaft sleeve 15, a small belt wheel 9 is connected with one side of a small belt wheel connecting piece 10 through the pin, the other side of the small belt wheel connecting piece 10 is connected with a sliding block 11 through the screw, the sliding block 11 arranged on a sliding rail 12 can move along the sliding rail 12 and can be limited through the screw (namely when the sliding block moves to a proper position, the screw can be fixed on the sliding rail to limit the movement of the sliding block to realize limiting, the sliding block 11 is arranged on the sliding rail 12 to facilitate the installation of a synchronous belt 13), the other end of the large belt wheel connecting piece 8 and the sliding rail 12 are respectively connected with a chassis 6 through bolts, and a supporting wheel 16 is connected with the supporting wheel connecting piece through the pin, the synchronous belt 13 sequentially bypasses the large belt wheel 7, the small belt wheel 9 and the plurality of supporting wheels 16, and the motor III 14 extends out of the shaft and is inserted into the output shaft sleeve 15 to drive the large belt wheel 7.
Furthermore, the main body of the output shaft sleeve 15 can be arranged to be cylindrical, and a hole matched with a pin and an extending shaft of the motor III 14 is formed in the middle of the main body; the structure is specially designed, and compared with the traditional connection modes such as a coupler, the structure can effectively save space, and can transmit the force of the motor extension shaft and drive the synchronous belt to move. The supporting wheels 16 are designed in a plurality of manners, the cross section of the supporting wheel connecting piece I4 for mounting the supporting wheels 16 at the corners is designed to be a right triangle, the right angle is positioned at the outer side, and the cross section of the supporting wheel connecting piece II 17 for mounting the supporting wheels 16 between the corners is designed to be a rectangle. A plurality of be more than three, through a plurality of supporting wheels, the different connecting piece structure of cooperation simultaneously can support effectively to further can let the hold-in range when with the wall contact more high-efficient, the design of the supporting wheel cooperation right angle connecting piece of corner for example not only can prevent the interference of hold-in range, can also bear the transverse load that brings when tensioning hold-in range better.
Further, the small belt wheel connecting piece 10 can be arranged to adopt a U-shaped structure, and two free ends on the opening side of the U-shaped structure are connected with the small belt wheel 9 through pins. The large belt wheel connecting piece can be designed in an L shape, the opposite side motor is supported and installed on the chassis through the nylon column, the small belt wheel is connected through the connecting piece in the U-shaped structure, the whole design is convenient to install, and meanwhile, the driving force for running of the synchronizing wheel can be effectively provided while the manufacturing cost is saved.
Further, the spring assembly can be composed of a linear bearing 18, a spring 19 and a guide rod 20; one end of a guide rod 20 is inserted into an inner hole of the linear bearing 18, a spring 19 is arranged between the other end of the guide rod 20 and a base of the linear bearing 18, the other end of the guide rod 20 is fixedly connected with the vacuum cavity assembly 1 through a bolt, and the base of the linear bearing 18 is fixedly connected with the chassis 6 through a bolt.
Further, the vacuum cavity assembly 1 can be arranged to comprise a vacuum cavity I1-1, a vacuum cavity II 1-2, a vacuum cavity III 1-3, a vacuum cavity IV 1-4, a vacuum pump 2, a gas pipe 3, an adsorbing material supporting plate 5 and an adsorbing material 21; the vacuum cavity I1-1, the vacuum cavity II 1-2, the vacuum cavity III 1-3 and the vacuum cavity IV 1-4 are connected into a box body with an open top surface through bolts, and an integrated clip-shaped adsorbing material supporting plate 5 is arranged at the open end of the vacuum cavity component 1 and is used for adhering an adsorbing material 21; one end of the air pipe 3 is inserted into an air inlet of the vacuum pump 2, and the other end of the air pipe 3 is inserted into an air hole reserved in the vacuum cavity component 1.
Further, the adsorbing material supporting plate 5 may be made of epoxy resin, the adsorbing material 21 is made of teflon, and the adsorbing material and the teflon are adhered by using a nano adhesive. The nanometer glue can be used for effectively sticking the adsorbing material supporting plate 5 and the adsorbing material 21, and can prevent other sticking materials from deforming after being solidified so as to influence the flatness of the adsorbing material.
Further, holes may be provided on the base plate 6 to reduce the weight and facilitate the pumping of gas from the vacuum chamber assembly.
An obstacle-crossing climbing robot is shown in figures 1-13 and comprises a vacuum adsorption movement device and a rotary arm structure; the rotary arm structure is powered by a motor II 30, and two ends of the rotary arm structure are respectively provided with a group of vacuum adsorption movement devices, in this case, a torque motor can be adopted.
Example 2: a vacuum adsorption movement apparatus was substantially the same as in example 1; an obstacle-crossing climbing robot is basically the same as the obstacle-crossing climbing robot in the embodiment 1, and the difference is that:
further, an energy storage structure can be arranged; the rotating arm structure comprises two groups of rotating arms II 25 and rotating arms III 26; one end of the energy storage module is arranged at the joint of the second rotating arm group II 25 and the third rotating arm group III 26, and the other end of the energy storage module is arranged at the joint of the second rotating arm group II 25 and the third rotating arm group III 26; the energy storage structure comprises an energy storage box shell 31, an energy storage box cover 32, a planetary speed increaser 33, a coupler 34, a flange bearing I35, a spring box cover 36, a spring 37, a spring box 38, a damping box cover 39, a damping brush 40, a damping box 41 and a transmission shaft 42; one end of an energy storage box shell 31 is connected with an energy storage box cover 32 through screws, a clamping groove is formed in the inner side of the energy storage box cover 32 and used for fixing a planetary speed increaser 33, an output shaft of the planetary speed increaser 33 is connected with one end of a transmission shaft 42 through a coupler 34, a flange bearing I35 is assembled on the transmission shaft 42 and connected with a spring box cover 36 through screws, the innermost ring of a spring 37 positioned by a shaft shoulder is welded on the transmission shaft 42, the outermost ring of the spring 37 is welded in a spring box 38, the spring box cover 36 is connected with one side of the spring box 38 through screws, a vibration reduction box cover 39 is installed on the other side of the spring box 38, a vibration reduction brush 40 is installed on the transmission shaft 42, a vibration reduction brush 40 positioned by the shaft shoulder is installed in a vibration reduction box 41 through the vibration reduction box cover 39, and the vibration reduction box cover 39 and the vibration reduction box 41 are fixedly connected through solid glue for ensuring the sealing performance. Under the condition of adopting an energy storage structure, a commonly used servo motor is adopted.
Furthermore, the vibration reduction brush 40 can be arranged to comprise a piston ring 40-1, a rubber pad I40-2, a rubber pad II 40-3 and a sealing pad 40-4; one end of a piston ring 40-1 is sleeved on a transmission shaft 42, one side of the other end of the piston ring 40-1 is bonded with a fixed rubber pad I40-2 and is bonded with a damping box cover 39 through glue, the other side of the other end of the piston ring 40-1 is bonded with a fixed rubber pad II 40-3 and is bonded with a damping box 41 through glue, and the top surface of the other end of the piston ring 40-1 is bonded with the damping box cover 39 and the damping box 41 through a fixed sealing pad 40-4 and is bonded with glue.
Further, the planetary speed-increasing gear 33 can be set to a speed-increasing ratio of 1: 10, the spring 37 is made of 55SiMnVB, the width is 3cm, and the damping coefficient of the vibration-damping brush is 0.65.
Further, one end of the energy storage module can be arranged at the joint of the first set of rotating arm II 25 and rotating arm III 26 through a flange bearing III 46, a short shaft IV 47 and a locking nut II 48, and the other end of the energy storage module is arranged at the joint of the second set of rotating arm II 25 and rotating arm III 26 through a flange bearing II 43, a short shaft III 44 and a locking nut I45; the flange bearing II 43 is fixed with the second group of rotating arms II 25 through screws, the short shaft III 44 is nested in the inner ring of the flange bearing II 43, the motor II 30 is connected with the second group of rotating arms II 25 through screws, the output shaft of the motor II 30 and the input end of the planetary speed increaser 33 in the energy storage module are inserted into a reserved hole of the short shaft III 44 and are fixedly connected through screws, and the locking nut I45 is in threaded connection with the short shaft III 44 and is matched with a shaft shoulder to fix and fix the second group of rotating arms III 26; the damping box 41 and the flange bearing III 46 are fixed on two sides of the first group of rotating arms II 25 through screws, the short shaft IV 47 is nested in an inner ring of the flange bearing III 46 and is positioned through a shaft shoulder, the transmission shaft 42 extends into a preformed hole of the short shaft IV 47 and is fixed through the screws, and the locking nut II 48 is in threaded connection with the short shaft IV 47 and is matched with the shaft shoulder to position and fix the first group of rotating arms III 26.
Furthermore, the rotating arm structure can also comprise two groups of rotating arms I24 and IV 27, each group of rotating arms I24, II 25, III 26 and IV 27 are connected in sequence, the first group of rotating arms I24 and II 25, the first group of rotating arms III 26 and IV 27 are respectively fixed through a rotating joint I; the second group of rotating arms I24 and II 25, the second group of rotating arms III 26 and IV 27 are respectively fixed through a rotating joint II; the rotary joint I comprises a locking nut III 50, a short shaft I49 and a flange bearing IV 51, and the rotary joint II comprises a short shaft II 52, a flange bearing V54 and a locking nut IV 53; wherein, the rotary joint I in the first set of rocking arm I24, rocking arm II 25 is installed: the locking nut III 50 is in threaded connection with the short shaft I49 and is matched with a shaft shoulder for positioning and fixing the first group of rotating arms II 25, the flange bearing IV 51 is fixed with the first group of rotating arms I24 through screws and is in positioning matching with the short shaft I49 through the shaft shoulder, the motor I28 is connected with the first group of rotating arms I24 through screws, an extending shaft of the motor I28 is inserted into a reserved hole of the short shaft I49 and is fixed through the screws, and the installation modes of the rotary joints I in the first group of rotating arms III 26 and the rotating arms IV 27 are the same; the rotary joints II in the second group of rotating arms I24 and II 25 are arranged as follows: and a locking nut IV 53 is in threaded connection with the short shaft II 52 and is matched with a shaft shoulder for positioning and fixing the second group of rotating arms II 25, a flange bearing V54 is fixed with the second group of rotating arms I24 through screws and is in positioning and matching with the short shaft II 52 through the shaft shoulder, and the installation modes of the rotary joints II in the second group of rotating arms III 26 and the rotating arms IV 27 are the same. Or joints at two positions of the first group of rotating arms I24, the second group of rotating arms II 25, the second group of rotating arms I24 and the second group of rotating arms II 25 are also connected through an energy storage structure, one end of an energy storage module is arranged at the joints of the first group of rotating arms I24 and the second group of rotating arms II 25 through a flange bearing III 46, a short shaft IV 47 and a locking nut II 48, and the other end of the energy storage module is arranged at the joints of the second group of rotating arms I24 and the second group of rotating arms II 25 through a flange bearing II 43, a short shaft III 44 and a locking nut I45; the two joints of the first group of rotating arms III 26 and IV 27, the second group of rotating arms III 26 and IV 27 are also connected through an energy storage structure; one end of the energy storage module is arranged at the joints of the first group of rotating arms III 26 and the rotating arms IV 27 through flange bearings III 46, short shafts IV 47 and locking nuts II 48, and the other end of the energy storage module is arranged at the joints of the second group of rotating arms III 26 and the rotating arms IV 27 through flange bearings II 43, short shafts III 44 and locking nuts I45.
Further, a robot arm may be provided with aluminum plates 29 for supporting the arm i 24 and the arm iv 27, respectively. The surface of the aluminum plate 29 is provided with a through hole for connecting with a vacuum cavity component in the vacuum adsorption movement device through a bolt.
The working process of the invention is as follows: use climbing robot to stride across right angle wall as an example, vacuum pump 2 takes out the interior air of vacuum cavity subassembly 1 through trachea 3 during initial state for two sets of vacuum adsorption telecontrol equipment all adsorb in vertical wall. At this time, the spring 19 in the spring assembly is in a compressed state, and pushes the chassis 6 to drive the whole moving assembly to press on the vertical wall surface. The motor III 14 is started to drive the large belt wheel 7, the synchronous belt 13 is operated through the small belt wheel 9 and the supporting wheel 16, and then the two groups of vacuum adsorption moving devices move on the vertical wall surface simultaneously. When detecting the right angle wall and needing to stride across, one side vacuum pump 2 stops the power supply, this side vacuum adsorption telecontrol equipment and wall separation, energy storage arm module 4 operates and delivers this side vacuum adsorption telecontrol equipment to right angle wall target location, and stop with the gesture that the right angle wall is about to the laminating, this side vacuum pump resumes the power supply, adsorb this side vacuum adsorption telecontrol equipment in right angle wall, opposite side vacuum pump 2 stops the power supply, deliver to right angle wall target location with opposite side vacuum adsorption telecontrol equipment by energy storage arm module 4, so far accomplish the robot and stride across right angle wall.
Regarding to the situation that the climbing robot is adsorbed on a wall surface to move and has the obstacle crossing function, the mechanical arm must have weight limitation (for example, the total weight of a driving device at the central joint of some mechanical arms cannot exceed 1kg, the torque cannot be lower than 20Nm and meet a certain rotating speed requirement, or other situations with weight limitation) under the condition that the power requirement is met, therefore, some traditional climbing robots with the obstacle crossing function directly adopt motor driving, and the mode is easy to cause that the obstacle crossing cannot be effectively crossed due to insufficient torque, or the torque is sufficient, and the climbing robot cannot effectively adsorb the climbing wall due to overlarge weight. And the energy storage arm of this application, through energy storage module's setting, the extreme moment that is used for compensating extreme position is stored to the gravitational potential energy when climbing robot operation, and then reduces driving motor's power demand under satisfying the operating condition.
How to construct the energy storage module through reasonable synthesis and connection is very important for climbing robots to cross obstacles. According to the wall climbing robot, the spring box cover 36, the spring 37 and the spring box 38 are arranged on the transmission shaft 42 with the energy storage structure from one end to the other end, and then the damping box cover 39, the damping brush 40 and the damping box 41 are arranged, so that the stability is better, the improvement of the stability not only can reduce the energy loss of stored elastic potential energy, but also can ensure that the wall climbing robot can effectively climb the wall; the vibration reduction brush 40 consisting of a piston ring 40-1, a rubber pad I40-2, a rubber pad II 40-3 and a sealing pad 40-4 is further matched, so that the vibration reduction brush stably runs, effectively eliminates vibration, reduces motion impact, reasonably releases stored energy and meets the control requirement; meanwhile, damping paint can be smeared on the sealing gasket.
The position of the climbing robot for generating the maximum gravitational potential energy is that the rotating arm II 25 and the rotating arm III 26 are in the same straight line, and at the moment, the rotating arm naturally falls under the action of gravity and stores energy through the energy storage module. The speed ratio of the planetary speed increaser 33 of the invention is therefore set to 1: 10, the spring 37 is made of 55SiMnVB with the width of 3cm, the damping coefficient of the vibration reduction brush is 0.65, and the balance of the resistance generated by the vacuum adsorption movement device and the gravity of the mechanical arm, the damping generated by the vibration reduction brush and the elastic force of the spring can be further ensured through the arrangement, so that the middle joint of the mechanical arm can move at a constant speed.
The working principle of the energy storage module is as follows: taking the mechanical arm in an initial state as an example of a straight line vertically downward, a motor II 30 fixed to a rotating arm II 25 provides a driving force to enable the rotating arm III 26 to rotate relative to the rotating arm II 25, and meanwhile, the power is transmitted to a planetary speed increaser 33 through a short shaft III 44, and the speed increaser has a speed increaser ratio of 1: 10, when the motor II 30 extends out of 1/2 circles, the planetary speed increaser 33 extends out of 5 circles. The extension shaft of the planetary speed increaser 33 transmits power to a transmission shaft 42 through a coupler 34, the transmission shaft 42 drives a spring 37 to rotate and store elastic potential energy, and meanwhile, a damping brush 40 rotates in a damping box 41 to eliminate vibration. When the mechanical arm moves in a return stroke, the motor II 30 drives the rotating arm III 26 to move in the opposite direction, the transmission is carried out through the planetary speed increaser 33, the spring 37 releases the stored elastic potential energy, and the vibration is eliminated through the vibration reduction brush 40. At the moment, the energy storage module is used for assisting power, the torque required by the motor II 30 is reduced, and the other two joints of the mechanical arm are used for driving the mechanical arm to reach the target position.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (9)
1. A vacuum adsorption movement device is characterized in that: comprises a chassis (6), a moving component, a spring component and a vacuum cavity component (1); two groups of moving components are mounted on the chassis (6), the spring components are respectively connected with the chassis (6) and the vacuum cavity component (1), and the spring components are positioned between the two groups of moving components and are matched with the vacuum cavity component (1) to further realize the adsorption or separation of the vacuum adsorption moving device and the wall surface;
the moving assembly comprises a large belt wheel (7), a large belt wheel connecting piece (8), a small belt wheel (9), a small belt wheel connecting piece (10), a sliding block (11), a sliding rail (12), a synchronous belt (13), a motor III (14), an output shaft sleeve (15), a supporting wheel (16) and a supporting wheel connecting piece; wherein one axial side of the large belt wheel (7) is connected with one end of the large belt wheel connecting piece (8), the output shaft sleeve (15) is fixed on the other axial side of the large belt wheel (7), run through to the opposite side through output axle sleeve (15) from big band pulley (7) axial one side through the round pin and stretch out the hub connection with motor III (14) that insert in output axle sleeve (15), little band pulley (9) are connected with little band pulley connecting piece (10) one side, little band pulley connecting piece (10) opposite side is connected with slider (11), slider (11) installed on slide rail (12) can move and can pass through the screw spacing along slide rail (12), big band pulley connecting piece (8) other end, slide rail (12) are connected with chassis (6) respectively, supporting wheel (16) are connected with the supporting wheel connecting piece, hold-in range (13) are walked around big band pulley (7) in proper order, little band pulley (9), a plurality of supporting wheel (16), motor III (14) stretch out the axle and insert drive big band pulley (7) in output axle sleeve (15).
2. The vacuum suction motion device of claim 1, wherein: the main body of the output shaft sleeve (15) is cylindrical, and a hole matched with a pin and an extending shaft of the motor III (14) is formed in the middle of the main body; the supporting wheels (16) are designed in a plurality of ways, the section of the supporting wheel connecting piece I (4) of the supporting wheel (16) installed at the corner adopts a right triangle design, the right angle is positioned at the outer side, and the section of the supporting wheel connecting piece II (17) of the supporting wheel (16) installed between the corners adopts a rectangular design.
3. The vacuum suction motion device of claim 1, wherein: the spring assembly consists of a linear bearing (18), a spring (19) and a guide rod (20); one end of a guide rod (20) is inserted into an inner hole of the linear bearing (18), a spring (19) is arranged between the other end of the guide rod (20) and a base of the linear bearing (18), the other end of the guide rod (20) is fixedly connected with the vacuum cavity assembly (1) through a bolt, and the base of the linear bearing (18) is fixedly connected with the chassis (6) through a bolt.
4. The vacuum suction motion device of claim 1, wherein: the vacuum cavity assembly (1) comprises a vacuum cavity I (1-1), a vacuum cavity II (1-2), a vacuum cavity III (1-3), a vacuum cavity IV (1-4), a vacuum pump (2), an air pipe (3), an adsorbing material supporting plate (5) and an adsorbing material (21); the vacuum cavity I (1-1), the vacuum cavity II (1-2), the vacuum cavity III (1-3) and the vacuum cavity IV (1-4) are connected into a box body with an open top surface through bolts, and an adsorbing material supporting plate (5) is arranged at the opening end of the vacuum cavity assembly (1) and used for adhering an adsorbing material (21); one end of the air pipe (3) is inserted into an air inlet of the vacuum pump (2), and the other end of the air pipe (3) is inserted into an air hole reserved in the vacuum cavity component (1).
5. The vacuum suction motion device of claim 4, wherein: the adsorption material supporting plate (5) is made of epoxy resin, the adsorption material (21) is made of Teflon, and the adsorption material supporting plate and the adsorption material are adhered by nano-adhesive.
6. The utility model provides a climbing robot hinders more which characterized in that: comprising a vacuum adsorption movement device, swivel arm arrangement according to any one of claims 1-5; the rotary arm structure provides power through a motor II (30), and two ends of the rotary arm structure are respectively provided with a group of vacuum adsorption movement devices.
7. The obstacle climbing robot of claim 6, wherein: the energy storage structure is also included; the rotating arm structure comprises two groups of rotating arms II (25) and rotating arms III (26); one end of the energy storage module is arranged at the joint of the second rotating arm group (25) and the third rotating arm group (26), and the other end of the energy storage module is arranged at the joint of the second rotating arm group (25) and the third rotating arm group (26);
the energy storage structure comprises an energy storage box shell (31), an energy storage box cover (32), a planetary speed increaser (33), a coupler (34), a flange bearing I (35), a spring box cover (36), a spring (37), a spring box (38), a vibration reduction box cover (39), a vibration reduction brush (40), a vibration reduction box (41) and a transmission shaft (42); one end of an energy storage box shell (31) is connected with an energy storage box cover (32), a clamping groove is formed in the inner side of the energy storage box cover (32) and used for fixing a planetary speed increaser (33), an output shaft of the planetary speed increaser (33) is connected with one end of a transmission shaft (42) through a coupler (34), a flange bearing I (35) is assembled on the transmission shaft (42) and connected with a spring box cover (36), the innermost ring of a spring (37) positioned by a shaft shoulder is fixed on the transmission shaft (42), the outermost ring of the spring (37) is fixed in the spring box (38), the spring box cover (36) is connected with one side of the spring box (38), a vibration reduction box cover (39) is installed on the other side of the spring box (38), a vibration reduction brush (40) is installed on the transmission shaft (42), the vibration reduction brush (40) positioned by the shaft shoulder is installed in the vibration reduction box (41) through the vibration reduction box cover (39), and the vibration reduction box cover (39) is fixedly connected with the vibration reduction box (41).
8. The obstacle climbing robot of claim 7, wherein: the vibration reduction brush (40) comprises a piston ring (40-1), a rubber pad I (40-2), a rubber pad II (40-3) and a sealing pad (40-4); one end of a piston ring (40-1) is sleeved on a transmission shaft (42), a fixed rubber pad I (40-2) on one side of the other end of the piston ring (40-1) is attached to a vibration reduction box cover (39), a fixed rubber pad II (40-3) on the other side of the other end of the piston ring (40-1) is attached to a vibration reduction box (41), and a fixed sealing gasket (40-4) on the top surface of the other end of the piston ring (40-1) is attached to the vibration reduction box cover (39) and the vibration reduction box (41).
9. The obstacle climbing robot of claim 7, wherein: the speed increasing ratio of the planetary speed increaser (33) is set to be 1: 10, the spring (37) is made of 55SiMnVB, the width is 3cm, and the damping coefficient of the vibration-damping brush is 0.65.
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| US8100205B2 (en) * | 2010-04-06 | 2012-01-24 | Robotex Inc. | Robotic system and method of use |
| CN102631754B (en) * | 2012-04-28 | 2014-03-05 | 李建成 | Reciprocating escape device |
| US20140031977A1 (en) * | 2012-07-27 | 2014-01-30 | Engineering Services Inc. | Modular mobile robot |
| US9688326B2 (en) * | 2013-03-13 | 2017-06-27 | Research Foundation Of The City University Of New York | Robotic device for navigating inclined surfaces |
| CN103264733B (en) * | 2013-04-24 | 2015-08-19 | 浙江大学 | A kind of single robot leg of power energy storage is caprioled mechanism |
| IL230750B (en) * | 2014-01-30 | 2018-02-28 | Wolf Yosi | Ground robot drive system |
| CN103909991B (en) * | 2014-04-01 | 2016-02-10 | 南京赫曼机器人自动化有限公司 | A kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof |
| CH711196A2 (en) * | 2015-06-05 | 2016-12-15 | Logistics Wash Holding Ag | Chassis with linear and pivoting movements with detachable feet detachable with respect to the travel surface. |
| CN106945740B (en) * | 2017-02-24 | 2019-03-05 | 南京理工大学 | A kind of wheel leg convolution climbing robot of multi-cavity absorption |
| CN107933725B (en) * | 2017-11-20 | 2023-07-18 | 河北工业大学 | Multifunctional obstacle-surmounting wall-climbing robot |
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