CN113353169A - Wheel type negative pressure adsorption type wall climbing robot capable of crossing obstacle and obstacle crossing method thereof - Google Patents
Wheel type negative pressure adsorption type wall climbing robot capable of crossing obstacle and obstacle crossing method thereof Download PDFInfo
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- CN113353169A CN113353169A CN202110677621.3A CN202110677621A CN113353169A CN 113353169 A CN113353169 A CN 113353169A CN 202110677621 A CN202110677621 A CN 202110677621A CN 113353169 A CN113353169 A CN 113353169A
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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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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/02—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems using reflection of acoustic waves
- G01S15/06—Systems determining the position data of a target
- G01S15/08—Systems for measuring distance only
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
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Abstract
A wheel type negative pressure adsorption type wall-climbing robot capable of crossing obstacles comprises a robot body; the robot body is connected with the measuring device, the lifting device and the moving device; the three groups of lifting devices are connected with the negative pressure generating device; the lifting device controls the negative pressure generating device to ascend and descend; the obstacle crossing method comprises the following steps: when the robot moves forward and the data of the ultrasonic ranging sensor reaches a preset value, the electromagnet is electrified, and the robot starts to cross the obstacle; the first negative pressure fan of the first adsorption cavity stops rotating, and the second negative pressure fan and the third negative pressure fan are switched to a high-speed gear; when the movement distance is equal to the distance between the adsorption chambers, the second negative pressure fan stops, the adsorption chambers rise, and the first adsorption chambers and the third adsorption chambers are high-speed gears; when the movement distance is equal to the distance between the adsorption chambers again, the negative pressure fan of the third chamber is stopped, the adsorption chamber III is lifted, the adsorption chambers I and III are high-speed gears, and the robot completely passes through the obstacle; the device has the characteristics of rapid and free movement, obstacle crossing and strong negative pressure adsorption stability.
Description
Technical Field
The invention belongs to the technical field of wall climbing robots, and particularly relates to a wheel type negative pressure adsorption type wall climbing robot capable of crossing obstacles and an obstacle crossing method thereof.
Background
The wheel type negative pressure adsorption type wall-climbing robot has the characteristics of high moving speed and no limitation by the surface material of the wall, can replace human beings to carry out wall surface operation in a dangerous environment, and has high use value. The main indexes for measuring the performance of the wall climbing robot are the stability of adsorption and the flexibility of movement. The adsorption stability of the robot is improved, so that the flexibility of the movement of the robot is usually sacrificed, and the robot cannot well complete complex tasks such as obstacle crossing, groove crossing and the like; and the robot which can walk fast and freely and has strong wall surface adaptability is easy to have dangerous conditions of turning, side turning, overturning and the like. The contradiction between the two causes the design of the wall-climbing robot to have inherent defects, thereby limiting the application range and the development prospect of the current wheel type negative pressure adsorption type wall-climbing robot.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention aims to provide a wheel type negative pressure adsorption type wall climbing robot capable of crossing obstacles and an obstacle crossing method thereof.
In order to achieve the purpose, the invention adopts the technical scheme that:
a wheel type negative pressure adsorption type wall climbing robot capable of crossing obstacles comprises a robot body, a measuring device, a negative pressure generating device, a lifting device and a moving device;
the number of the negative pressure generating devices is at least three, the number of the lifting devices corresponds to the number of the negative pressure generating devices one by one, and each negative pressure generating device is connected with the car roof through the corresponding lifting device; each negative pressure generating device can realize relative rotation of not more than 10 degrees relative to the axis of the lifting device; the wall-climbing robot capable of crossing obstacles can be adsorbed on the wall surface through the adsorption force generated by each negative pressure generating device, and the negative pressure generating devices connected with each other are driven to be close to or far away from the wall surface through the lifting device.
The measuring device comprises an ultrasonic ranging sensor and a probe, wherein the ultrasonic ranging sensor is arranged at the front end of the roof of the vehicle, and the probe is arranged at the front end of the frame; when a probe in the robot measuring device touches an obstacle, a contact switch at the top end of the probe is triggered to indicate that the robot cannot cross the obstacle and cannot go forward continuously, and the robot is prompted to give an alarm and needs manual intervention to turn or retreat; if the contact switch at the front end of the probe is not triggered, the robot can continue to move forwards; when the robot continues to move forward and meets an obstacle, the ultrasonic ranging sensor detects height information of the obstacle and transmits the height information to the controller, the controller sends a corresponding instruction after receiving the information, the lifting device is controlled to lift, so that the negative pressure generating device is controlled to be far away from the wall surface, the first negative pressure fan stops rotating, the second negative pressure fan and the third negative pressure fan are switched from a low speed gear to a high speed gear, and the robot starts obstacle crossing movement.
The lifting devices comprise at least three groups, including a first group of lifting devices, a second group of lifting devices and a third lifting device; the first lifting device is arranged at the front part of the lower end of the car roof through a first top plate; the second lifting device is arranged in the middle of the lower end of the car roof through a second top plate; the third lifting device is arranged at the tail part of the lower end of the car roof through a top plate III;
the first group of lifting devices and the first group of negative pressure generating devices connected with the first group of lifting devices are positioned at the front end of the robot body; the second lifting device and a second group of negative pressure generating devices connected with the second lifting device are positioned in the middle of the robot body; and the third lifting device and a third group of negative pressure generating devices connected with the third lifting device are positioned at the tail part of the robot body.
The first lifting device at least comprises two identical spring damping units, and each spring damping unit comprises a pair of first circular electromagnets and second circular electromagnets; an electromagnet of the circular electromagnet is fixedly connected to the bottom end of the top plate; the bottom end of the circular electromagnet II is fixedly connected with the upper end of the push rod I; the lower end of the push rod I is fixedly connected with the ear seat I; the first lug seat is connected with the first group of negative pressure generating devices through a first pin shaft; two ends of the first spring coil are respectively wound on the outer sides of the first circular electromagnet and the second circular electromagnet and are arranged inside the first cylindrical shell sleeve; the upper end of the first spring coil is in contact with and fixed with the first top plate, the lower end of the first spring coil props against one end face of the first bearing inner ring, the other end face of the first bearing inner ring abuts against a shaft collar on the first push rod and is positioned through the shaft collar, and the first bearing inner ring is in interference fit with the first push rod; at least two rows of balls are arranged between the first bearing inner ring and the first shell sleeve, and a first retainer is arranged outside the balls to prevent the balls from shifting and falling off; the centers of the first electromagnet, the second circular electromagnet, the first spring coil, the first push rod, the first bearing inner ring and the first shell sleeve are all located on the same axis;
the shell sleeve I is provided with two spring retainer rings I and two spring retainer rings II and is used for limiting the axial movement range of the push rod I, the bearing inner ring I connected with the push rod I, the retainer I and the circular electromagnet II; the bearing inner ring I, the retainer I and the circular electromagnet II can move up and down along the axis along with the movement of the push rod I; when the two groups of circular electromagnets are in a power-off state, the lower end face of a shaft ring of the push rod abuts against the second spring retainer ring, the distance between the second circular electromagnet and the first circular electromagnet is kept to be maximum, the first spring coil is in a micro-compression state, and the first group of negative pressure generating devices are enabled to be close to the wall face to normally work due to spring resistance; when the circular electromagnet II and the circular electromagnet I are in a powered state, attraction is generated between the circular electromagnet II and the circular electromagnet I, so that the push rod I and a component connected with the push rod I overcome spring resistance and ascend along an axis until the bearing inner ring I abuts against the spring retainer ring I, and the first group of negative pressure generating devices are far away from the wall surface;
the lower end of the first ear seat is in an isosceles trapezoid shape, the inclination angles of inclined planes on two sides of the trapezoid are not more than 10 degrees, the first adsorption chamber matched with the first ear seat can rotate along the inclination angle of the inclined plane by not more than 10 degrees, and when the robot body inclines in the obstacle crossing process of the robot, the first group of negative pressure generating devices are vertical to the wall surface to provide continuous and stable adsorption force;
the number and the internal structure of the spring damping units in the second lifting device, the internal component structure of the second shell sleeve, the external geometric shape of the second shell sleeve and the connection mode of the negative pressure generating device are the same as those of the first lifting device;
the number and the internal structure of the spring damping units, the structure of the three internal components of the shell sleeve, the external geometric shape of the shell sleeve and the connection mode of the negative pressure generating device in the third lifting device are the same as those of the first lifting device.
An obstacle crossing method of a wheel type negative pressure adsorption type wall climbing robot capable of crossing obstacles comprises the following steps:
when a probe in the robot measuring device touches an obstacle, a contact switch at the top end of the probe is triggered to indicate that the robot cannot cross the obstacle and cannot go forward continuously, and the robot is prompted to give an alarm and needs manual intervention to turn or retreat; if the contact switch at the front end of the probe is not triggered, the robot can continue to move forwards;
when | X (t) -X0|≥R0Namely, the ultrasonic distance measuring sensor is used for measuring the distance X (t) between the top end of the vehicle and the wall surface and the distance X from the sensor to the bottom end of the robot in real time0Comparing, and when the value is more than or equal to the maximum height value R which can be crossed by the robot0When the robot passes through the front part, the robot can not pass through the front part and is prompted by an alarm, and then the robot stops advancing; at the moment, the robot is moved backwards or moved leftwards and rightwards through manual intervention;
when | X (t) -X0|＜r0When the robot is in use, the ultrasonic distance measuring sensor measures the distance X (t) between the top end of the vehicle and the wall surface and the distance X from the sensor to the bottom end of the robot in real time0Comparing, when the value is less than the maximum obstacle height r which can be crossed by the robot when the three adsorption chambers are all in low-speed gears and the robot performs plane motion0When the obstacle crossing system is started, the robot can move forwards continuously without starting the obstacle crossing system;
(r is when r)0≤|X(t)-X0|＜R0When the robot is in use, the ultrasonic distance measuring sensor measures the distance X (t) between the top end of the vehicle and the wall surface and the distance X from the sensor to the bottom end of the robot in real time0Comparing, and when the value is less than the maximum height value R which can be crossed by the robot0When the robot is in front of the robot, an obstacle that can be crossed by the robot exists, the obstacle crossing system is started, and the robot performs obstacle crossing movement;
and 6, recalculating the displacement value of the robot from the moment when the third negative pressure fan is powered off, when the displacement value is equal to the distance from the front wall of the third chamber to the tail end of the robot body, powering off the circular electromagnet IV and the circular electromagnet VI in the third group of lifting devices, descending the push rod III to drive the third negative pressure generating device to be close to the wall surface, restarting rotating the third negative pressure fan III and switching to a low-speed gear, simultaneously switching the high-speed gear to the low-speed gear of the first negative pressure fan and the second negative pressure fan, and continuing to advance the robot body to finish obstacle crossing movement.
Compared with the prior art, the invention has the beneficial effects that:
1) the invention can ensure better stability while moving rapidly. The invention adopts a wheel type structure, and has better moving speed and flexibility in the moving process. Because the wheel type structure has a small contact area with the wall surface and has the problem of unstable movement, a suspension framework is added in the mobile device, so that better stability can be ensured when the wall surface is uneven and an obstacle is crossed.
2) The invention has better obstacle-crossing judging capability in the process of climbing the wall. The front section of the robot is provided with an extended probe, and the top end of the probe is provided with a contact switch which can be used as a prerequisite for judging whether the robot can pass through. Meanwhile, the front end of the ultrasonic ranging device is provided with two ultrasonic ranging sensors which are horizontally and vertically placed, and the measured data can more accurately judge the size and the shape of the front obstacle and the feasibility of crossing the obstacle. By combining the two methods, the obstacle crossing method provided by the invention can be better realized.
Drawings
Fig. 1 is an overall structural diagram of a wall-climbing robot provided by the invention.
Fig. 2(a) is an internal structure view of the first lifting device according to the present invention.
Fig. 2(b) is an internal structure view of a second lifting device according to the present invention.
Fig. 2(c) is an internal structure view of a third lifting device according to the present invention.
FIG. 2(d) is a partial view of a push rod ear mount of the first lifting device of the present invention.
FIG. 2(e) is a partial view of a push rod ear mount of the second lifting device of the present invention.
FIG. 2(f) is a partial view of a push rod ear mount of a third lifting device of the present invention.
FIG. 3(a) is a partial view of a first negative pressure generating apparatus according to the present invention.
FIG. 3(b) is a partial view of a second negative pressure generating apparatus according to the present invention.
FIG. 3(c) is a partial view of a third negative pressure generating apparatus according to the present invention.
Fig. 4 is a diagram of a moving device of a wall-climbing robot according to the present invention.
Fig. 5 is a structural diagram of a wall-climbing robot body provided by the invention.
Fig. 6(a) is a schematic obstacle crossing view of the robot of the present invention crossing a recessed obstacle.
Fig. 6(b) is a schematic diagram of the obstacle crossing when the robot of the present invention crosses the convex obstacle.
In the figure:
1-a measuring device; 11-ultrasonic ranging sensor; 12-a probe;
2-lifting means; 21-a first lifting device, 211-a first circular electromagnet; 212-spring coil one; 213-circular electromagnet II; 214-bearing inner race one; 215-cage one; 216-push rod one; 217-ear mount one; 218-spring collar one; 219-shell one; 2110-spring retainer ring two; 2111-pin I; 2112-top plate one;
22-second lifting means; 221-circular electromagnet three; 222-spring coil two; 223-circular electromagnet five; 224-bearing inner race two; 225-cage two; 226-push rod two; 227-ear mount two; 228-spring retainer ring three; 229-shell two; 2210-spring retainer four; 2211-Pin II; 2212-top plate two;
23-third lifting means; 231-circular electromagnet four; 232-spring coil three; 233-round electromagnet six; 234-bearing inner race three; 235-a third retainer; 236-push rod three; 237-ear seat three; 238-spring retainer ring five; 239-shell sleeve III; 2310-spring retainer ring six; 2311-Pin III; 2312-top plate three;
3-a negative pressure generating device; 31-a first negative pressure generating device; 311-brushing a sealing strip; 312-adsorption chamber one; 313-a first negative pressure fan;
32-a second negative pressure generating device; 321-brushing a second sealing strip; 322-adsorption chamber two; 323-negative pressure fan two;
33-a third negative pressure generating device; 331-sealing strip brushing three; 332-adsorption chamber three; 333-negative-pressure air blower III;
4-a mobile device; 41-Mecanum wheels; 42-a hub motor; 43-independent suspension; 44-wheel axle; 45-wheel axle; 5-a robot body; 51-vehicle roof; 52-upright column; 53-vehicle frame.
Detailed Description
In order to make the objects, features and advantages of the present invention more obvious and understandable, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a wheel type negative pressure adsorption type wall-climbing robot comprises a robot body 5, a measuring device 1, a negative pressure generating device 3, a lifting device 2 and a moving device 4;
referring to fig. 1 and 5, the robot body 5 is a rectangular frame structure, and includes a roof 51, a pillar 52, and a frame 53. The robot body 5 is connected with the measuring device 1, the lifting device 2 and the moving device 4.
Referring to fig. 1 and 5, the measuring device 1 includes 1 ultrasonic ranging sensor 11 and 1 probe 12. The measuring device 1 is arranged at the front end of the robot body 5, wherein the ultrasonic ranging sensor 11 is fixed in the middle of the front end of the vehicle roof 51 and is vertically arranged; the probe and contact switch 12 is fixed in the middle of the front end of the frame 53, and the vertical distance from the contact switch to the wall surface is the maximum height of the robot body which can cross the obstacle, namely the radius of the wheel. When the contact switch is not triggered, which indicates that there is no obstacle in front or that the obstacle is not larger than the maximum height that the robot body 5 can span, the robot body 5 can continue to move forward. When the contact switch is triggered, the size of the obstacle in front exceeds the maximum height which can be spanned by the robot, the robot body cannot realize obstacle crossing, and manual intervention needs to be carried out on the robot to enable the robot to carry out steering or retreating operation.
The ultrasonic ranging sensor 11 is used for measuring the distance X (t) between the top of the robot and the wall surface and the distance X between the sensor and the bottom of the robot in the control unit0And comparing, and using the difference value as a judgment standard of the robot start-stop obstacle crossing device.
Referring to fig. 1 and 3(a), the negative pressure generating devices have at least three groups, the first negative pressure generating device 31 is provided with a first adsorption chamber 312, the first adsorption chamber 312 is rectangular or cylindrical in appearance, a through hole is formed in the center of the upper part of the first adsorption chamber 312 for installing a first negative pressure fan 313, and a circle of first sealing strip brush 311 is arranged on the inner side of the lower part of the first adsorption chamber 312; the first ear seat 217 is connected with the first negative pressure generating device 31 through a first pin 2111; the upper part of the first negative pressure generating device 31 is connected with the first lifting device 21; the first negative pressure fan 313 is switched between a low gear and a high gear according to the motion state of the robot body 5 to provide sufficient suction force.
The second negative pressure generating device 32 comprises the same components and corresponding connection mode as the first negative pressure generating device 31.
The third negative pressure generating device 33 comprises the same components and corresponding connection mode as the first negative pressure generating device 31.
During the operation of the negative pressure generating device, the stable pressure formed in the adsorption chamber is set to be P1Atmospheric pressure of P0The leakage rate in the adsorption cavity is Q, the height of the air suction gap is h, and the equivalent weight of the inner diameter and the outer diameter of the adsorption cavity are respectively Din,DoutThe relationship between the pressure in the adsorption chamber and the leakage amount is
Wherein η is the gas sticking coefficient;
g is the acceleration of gravity;
t is the gas temperature;
r is a universal gas constant;
the above quantities are all regarded as constants under the working conditions of the wall climbing robot.
If the rotating speed of the fan is n, Q is kP1n, where k is a parameter related only to the fan structure, can be derived
In the formula, P1Is a stable pressure formed in the adsorption chamber;
P0is atmospheric pressure;
q is the leakage in the adsorption chamber;
h is the height of the air suction gap;
Din,Doutrespectively the inner and outer sides of the adsorption chamberDiameter equivalent;
eta is the gas sticking coefficient;
g is the acceleration of gravity;
t is the gas temperature;
r is a universal gas constant;
it is understood from this that the height h of the suction gap affects the magnitude of the suction force. When the rotation speed n is constant, the smaller the gap height h is, the stable pressure p formed in the adsorption chamber1The larger.
Referring to fig. 3(b) and 3(c), when the first negative pressure fan 313, the second negative pressure fan 323 and the third negative pressure fan 333 are activated, the internal and external pressure difference of the first adsorption chamber 312, the second adsorption chamber 322 and the third adsorption chamber 332 forms an adsorption force pushing the robot to the wall surface from outside to inside; when the first negative pressure fan 313, the second negative pressure fan 323 and the third negative pressure fan 333 are stopped, the internal and external pressures of the first adsorption chamber 312, the second adsorption chamber 322 and the third adsorption chamber 332 are equal, and the adsorption force of the pushing robot disappears.
When the first negative pressure fan 313, the second negative pressure fan 323 and the third negative pressure fan 333 are in the low gear state, the adsorption forces generated by the first adsorption chamber 312, the second adsorption chamber 322 and the third adsorption chamber 332 are respectively FLi(i ═ 1,2, 3); when the first negative pressure fan 313, the second negative pressure fan 323 and the third negative pressure fan 333 are in the high gear state, the adsorption forces generated by the first adsorption chamber 312, the second adsorption chamber 322 and the third adsorption chamber 332 are respectively FHi(i ═ 1,2,3), and the minimum adsorption force required for stable operation of the wall-climbing robot is FtotHere for FtotA simple calculation is made:
G≤ftot＝μNtot＝μFtot (3)
that is to say that the first and second electrodes,
in the formula, FtotThe minimum adsorption force required by the stable work of the robot;
ftottotal friction for the robot when working；
NtotThe wall faces the total supporting force of the robot when in work;
mu is a dynamic friction factor of the robot and the wall surface;
g is the gravity of the robot body.
When the adsorption chamber I312, the adsorption chamber II 322 and the adsorption chamber III 332 are operated and in a low gear when the adsorption chamber I is moved without obstacles, the following conditions should be satisfied:
in the formula, FtotThe minimum adsorption force required by the stable work of the robot;
FLiand the adsorption force generated when the negative pressure fan in each adsorption cavity works in a low gear state.
When the obstacle is crossed, whether the obstacle at the front end is convex or concave, the obstacle can be judged and detected through the probe 12 and the ultrasonic distance measuring sensor 11;
1) when the ultrasonic ranging sensor 11 detects an obstacle, in the first negative pressure generating device 31, the first negative pressure fan 313 stops rotating and the negative pressure generating device 31 rises; meanwhile, in the second negative pressure generating device 32 and the third negative pressure generating device 33, the working states of the second negative pressure fan 323 and the third negative pressure fan 333 are switched to a high-speed gear to ensure that sufficient adsorption force is provided when the obstacle crossing is carried out, so that the obstacle crossing can be stably carried out. At this time, the following conditions should be satisfied:
Ftot≤FH2+FH3 (6)
in the formula, FtotThe minimum adsorption force required by the stable work of the robot;
FH2and FH3The second negative pressure fan and the third negative pressure fan respectively generate adsorption force when working in a high gear state.
2) When the robot continues to move forwards and the first negative pressure fan 313 is powered off, the displacement of the robot is recalculated, and when the displacement value is equal to the distance from the front wall of the first adsorption chamber 312 to the front wall of the second adsorption chamber, the second negative pressure fan 332 stops rotating and the negative pressure generating device 32 rises; meanwhile, in the first negative pressure generating device 31 and the third negative pressure generating device 33, the working states of the first negative pressure fan 331 and the third negative pressure fan 333 are switched to a high-speed gear, so that sufficient adsorption force is provided during obstacle crossing. At this time, the following conditions should be satisfied:
Ftot≤FH1+FH3 (7)
in the formula, FtotThe minimum adsorption force required by the stable work of the robot;
FH1and FH3Respectively the adsorption force generated when the first negative pressure fan 313 works in a high gear state,
3) when the robot continues to move forward and the displacement value of the robot is recalculated from the moment when the second negative pressure fan 323 is powered off, and when the displacement value is equal to the distance from the front wall of the second adsorption chamber 322 to the front wall of the third adsorption chamber 332, in the third negative pressure generating device 33, the third negative pressure fan 333 stops rotating and the third negative pressure generating device rises; meanwhile, in the second negative pressure generating device 32, the working state of the third negative pressure fan 332 is switched to a high-speed gear to ensure that sufficient adsorption force is provided when the obstacle is crossed, and at the moment, the following requirements are met:
Ftot≤FH1+FH2 (8)
in the formula, FtotThe minimum adsorption force required by the stable work of the robot;
FH1and FH2The first negative pressure fan 313 and the second negative pressure fan 323 respectively generate adsorption force when working in a high gear state;
4) when the robot continues to move forwards, the displacement of the robot is recalculated when the power of the negative pressure fan III 333 is cut off, and when the displacement value is equal to the distance from the front wall of the adsorption chamber III 332 to the tail end of the robot body, the robot completely crosses the obstacle, at the moment, the running states of the three groups of negative pressure generating devices 3 are restored to the parameters before the robot crosses the obstacle, at the moment, the following conditions are met:
in the formula, FtotThe minimum adsorption force required by the stable work of the robot;
FLithe adsorption force generated when the negative pressure fans in the adsorption chambers work in a low gear state;
referring to fig. 2(a) and 2(d), the first group of lifting devices at least comprises two identical spring damping units, each spring damping unit comprises a first circular electromagnet 211 and a second circular electromagnet 213, the first circular electromagnet 211 is fixedly connected to the bottom end of the first top plate 2112, the bottom end of the second circular electromagnet 213 is fixedly connected to the upper end of the first push rod 216, the lower end of the first push rod 216 is fixedly connected to a first ear seat 217, and the first ear seat 217 is connected to the first negative pressure generating device 31 through a first pin 2111; two ends of the first spring coil 212 are respectively wound on the outer sides of the first circular electromagnet 211 and the second circular electromagnet 213 and are arranged inside the first cylindrical shell 219; the upper end of the first spring coil 212 is in contact with and fixed to the first top plate 2112, and the lower end of the first spring coil abuts against the end face of the first bearing inner ring 214. The other end face of the first bearing inner ring 214 is tightly positioned against a collar on the first push rod 216 and is in interference fit with the first push rod; two rows of balls are arranged between the bearing inner ring I214 and the shell sleeve I219, and the balls are prevented from being displaced and falling off by using the retainer I215; the centers of the first circular electromagnet 211, the second circular electromagnet 213, the first spring coil 212, the first push rod 216, the first bearing inner ring 214 and the first shell sleeve 219 are all located on the same axis.
Two spring collars one 218 and two spring collars two 2110 are arranged on the shell sleeve one 219 and used for limiting the axial movement range of the push rod one 216 and the connected component thereof. The second circular electromagnet 213 and the component connected with the second circular electromagnet can move up and down along the axis. When the second circular electromagnet 213 and the first circular electromagnet 211 are in the power-off state, the lower end face of the shaft collar of the first push rod 216 abuts against the second spring retaining ring 2110, the distance between the second circular electromagnet 213 and the first circular electromagnet 211 is kept to be maximum, the first spring coil 212 is still in a micro-compression state, and the spring resistance enables the first negative pressure generating device 31 to be capable of working normally close to the wall face. When the second circular electromagnet 213 and the first circular electromagnet 211 are in the energized state, a large attractive force is generated between the second circular electromagnet 213 and the first circular electromagnet 211, so that the first push rod 216 and the assembly connected with the first push rod can overcome the resistance of the spring and ascend along the axis until the first bearing inner ring 214 abuts against the first spring retainer 218, and the negative pressure generating device 31 is far away from the wall surface.
The lower end of the first ear seat 217 is trapezoidal, and the two sides of the first ear seat 217 are respectively provided with an inclination angle not greater than 10 degrees, so that the first group of negative pressure generating devices 31 can rotate relative to the lifting device 21 in the moving direction by not greater than 10 degrees, and therefore when the robot body 5 inclines in the obstacle crossing process of the robot, the negative pressure generating devices 31 can still be vertical to the wall surface, and continuous and stable adsorption force is provided.
The second lifting device 22 comprises the same components and corresponding connections as the first set of lifting devices 21.
Referring to fig. 1, 2(b) and 2(e), the second group of lifting devices 22 at least includes two identical spring damping units, each spring damping unit includes a circular electromagnet three 221 and a circular electromagnet five 223, the circular electromagnet three 221 is fixedly connected to the bottom end of the top plate two 2212, the bottom end of the circular electromagnet five 223 is fixedly connected to the upper end of the push rod two 226, the lower end of the push rod two 226 is fixedly connected to the ear seat two 227, and the ear seat two 227 is connected to the second negative pressure generating device 32 through a pin shaft two 2211; two ends of the second spring coil 222 are respectively wound on the outer sides of the third circular electromagnet 221 and the fifth circular electromagnet 223 and are arranged inside the second cylindrical shell 229; the upper end of the second spring coil 222 is in contact with and fixed to the second top plate 2212, and the lower end of the second spring coil abuts against the end face of the second bearing inner ring 224; the other end face of the second bearing inner ring 224 is tightly positioned against a shaft ring on the second push rod 226 and is in interference fit with the second push rod; two rows of balls are arranged between the second bearing inner ring 224 and the second shell 229, and the second retainer 225 is used for preventing the balls from shifting and falling off; centers of the circular electromagnet III 221, the circular electromagnet V223, the spring coil II 222, the push rod II 226, the bearing inner ring II 224 and the shell sleeve II 229 are all located on the same axis.
Two spring retainer rings three 228 and four spring retainer rings 2210 are arranged on the shell sleeve two 229 and are used for limiting the axial movement range of the push rod two 226 and the connected components thereof; the circular electromagnet five 223 and the component connected with the circular electromagnet can move up and down along the axis; when the circular electromagnet five 223 and the circular electromagnet three 221 are in the power-off state, the lower end face of the second push rod 226 collar abuts against the spring retainer ring four 2210, the distance between the circular electromagnet five 223 and the circular electromagnet three 221 is kept to be maximum, the spring coil two 222 is still in a micro-compression state, and the spring resistance enables the second negative pressure generating device 32 to be close to the wall surface to normally work. When the circular electromagnet five 223 and the circular electromagnet three 221 are in the energized state, at this time, a large attractive force is generated between the circular electromagnet five 223 and the circular electromagnet three 221, so that the second push rod 226 and the component connected with the second push rod overcome the spring resistance and ascend along the axis until the second bearing inner ring 224 abuts against the third spring retainer 228, and the second negative pressure generating device 32 is far away from the wall surface.
The lower end of the second ear seat 227 is trapezoidal, and the two sides of the second ear seat are respectively provided with an inclination angle not greater than 10 degrees, so that the second group of negative pressure generating devices 32 can rotate relative to the second lifting device 22 in the moving direction by not greater than 10 degrees, and therefore when the robot body 5 inclines in the obstacle crossing process of the robot, the second negative pressure generating devices 32 can still be vertical to the wall surface, and continuous and stable adsorption force is provided.
The third lifting device 23 comprises the same components and corresponding connections as the first set of lifting devices 21.
Referring to fig. 2(c) and 2(f), the third lifting device 23 at least includes two identical spring damping units, each spring damping unit includes a round electromagnet four 231 and a round electromagnet six 233, the round electromagnet four 231 is fixedly connected to the bottom end of the top plate three 2312, the bottom end of the round electromagnet six 233 is fixedly connected to the upper end of the push rod three 236, the lower end of the push rod three 236 is fixedly connected to the ear seat three 237, and the ear seat three 237 is connected to the third negative pressure generating device 33 through a pin shaft three 2311; two ends of the spring coil III 232 are respectively wound on the outer sides of the round electromagnet IV 231 and the round electromagnet VI 233 and are arranged inside the cylindrical shell III 239; the upper end of the spring coil III 232 is in contact with and fixed on the top plate III 2312, and the lower end of the spring coil III abuts against the end face of the bearing inner ring III 234; the other end surface of the bearing inner ring III 234 is tightly positioned against a shaft ring on the push rod III 236 and is in interference fit with the push rod III; two rows of balls are arranged between the bearing inner ring III 234 and the shell sleeve III 239, and the balls are prevented from shifting and falling off by the retainer III 235; the centers of the four circular electromagnets 231, the six circular electromagnets 233, the three spring coils 232, the three push rods 236, the three bearing inner rings 234 and the three shell sleeves 239 are all positioned on the same axis.
Referring to fig. 2(f), two spring rings five 238 and four spring rings 2310 are arranged on the casing third 239 to limit the axial movement range of the push rod third 236 and the connected component thereof; the circular electromagnet six 233 and the component connected with the circular electromagnet six 233 can move up and down along the axis; when the circular electromagnet six 233 and the circular electromagnet four 231 are in the power-off state, the lower end face of the push rod three 236 shaft collar abuts against the spring retainer ring four 2210, the distance between the circular electromagnet six 233 and the circular electromagnet four 231 is kept to be maximum, the spring coil three 232 is still in a micro-compression state, and the spring resistance enables the third negative pressure generating device 33 to be close to the wall face to normally work. When the circular electromagnet six 233 and the circular electromagnet four 231 are in the energized state, at this time, a large attractive force is generated between the circular electromagnet six 233 and the circular electromagnet four 231, so that the third push rod 236 and the component connected with the third push rod 236 overcome the spring resistance and rise along the axis until the third bearing inner ring 234 abuts against the spring retainer five 238, thereby causing the third negative pressure generating device 33 to be away from the wall surface.
The lower end of the third lug seat 237 is trapezoidal, the two sides of the third lug seat are respectively provided with an inclination angle not greater than 10 degrees, so that the third group of negative pressure generating devices 33 can rotate relative to the third lifting device 23 in the moving direction by not greater than 10 degrees, and therefore when the robot body 5 inclines in the obstacle crossing process of the robot, the third negative pressure generating devices 33 can still be vertical to the wall surface, and continuous and stable adsorption force is provided.
Referring to fig. 4, the moving means includes four sets of mecanum wheels 41, hub motors 42, independent suspensions 43, and wheel shafts 44; wheel axle 45 is positioned below frame 53 and has mecanum wheels 41 mounted on its ends and hub motor 42 mounted on its inner side to allow independent motion control of each mecanum wheel 41.
The independent suspension 43 is formed by combining a shock absorber and a spiral spring and is symmetrical as a whole; the independent suspension 43 has one end fixed to the lower side of the frame 53 and the other end connected to the mecanum wheel 41 via a hinge. When the robot moves on an uneven wall surface, the tire inclination angle of the Mecanum wheels 41 can be adjusted by adopting the independent suspension, so that the motion stability of the robot is improved.
An obstacle crossing method of a wheel type negative pressure wall climbing robot capable of crossing obstacles comprises the following steps of:
when a probe 12 in the robot measuring device 1 touches an obstacle, a contact switch at the top end of the probe 12 is triggered to indicate that the obstacle robot cannot cross and cannot go forward continuously, and an alarm is given to prompt that manual intervention is needed to enable the robot to turn or retreat; if the contact switch at the front end of the probe 12 is not triggered, the robot can continue to move forwards;
when | X (t) -X0|≥R0Description of the inventionAn obstacle which cannot be crossed by the robot exists in front of the robot, and the robot cannot pass through the obstacle and gives an alarm to prompt and then stops advancing; at the moment, the robot is enabled to retreat or move left and right through manual intervention;
when | X (t) -X0|＜r0When the obstacle crossing system is started, the robot can move forwards continuously without starting the obstacle crossing system;
(r is when r)0≤|X(t)-X0|＜R0When the obstacle crossing system is started, the robot performs obstacle crossing movement;
and 3, after the robot starts the obstacle crossing system, firstly calculating the moving displacement of the robot through the rotating speed of a motor, when the displacement value is equal to the distance from the sensor 11 to the front wall of the first adsorption chamber 312, electrifying the first circular electromagnet 211 and the second circular electromagnet 213 in the first group of lifting devices 21, lifting the first push rod 216 to drive the first negative pressure generating device 31 to be far away from the wall surface, stopping the rotation of the first negative pressure fan 313, and switching the second negative pressure fan 323 and the third negative pressure fan 333 to a high-speed gear. So as to ensure that enough adsorption force is provided when the obstacle is crossed;
and 6, when the robot continues to move forwards, recalculating the displacement of the robot from the power failure of the third negative pressure fan 333, when the displacement value is equal to the distance from the front wall of the third adsorption chamber 332 to the tail end of the robot body, powering off the circular electromagnet four 231 and the circular electromagnet six 233 in the third lifting device 23, descending the push rod three 236 to drive the third group of negative pressure generating devices 33 to be close to the wall surface, starting the rotation of the third negative pressure fan 333 again and switching to a low-speed gear, simultaneously switching the high-speed gear to the low-speed gear of the first negative pressure fan 313 and the second negative pressure fan 323, and continuing to move forwards to finish obstacle crossing movement.
As shown in fig. 1 to 5, an embodiment of the present invention provides a wall-climbing robot, including a robot main body frame 5, a measuring device 1, a lifting device 2, a negative pressure generating device 3, and a moving device 4; the measuring device 1, the lifting device 2, the negative pressure generating device 3 and the moving device 4 are all arranged on a robot main body frame 5; the measuring device 1 is positioned at the front end of the robot and comprises 1 ultrasonic ranging sensor 11 and 1 probe 12; three groups of negative pressure generating devices and corresponding lifting devices 2 are arranged in the robot, and the first adsorption cavity 312, the second adsorption cavity 322 and the third adsorption cavity 332 of the robot are controlled to achieve the obstacle crossing function. Meanwhile, the moving device 4 consisting of four sets of Mecanum wheels 41, hub motors 42, independent suspension structures 43 and wheel shafts 44 provides the functions of moving and steering the robot on the wall surface.
When the wall climbing robot in this embodiment works, the first negative pressure fan 313, the second negative pressure fan 323, and the third negative pressure fan 333 are started, the first adsorption chamber 312, the second adsorption chamber 322, and the third adsorption chamber 332 are adsorbed on the working surface by the adsorption force generated by the first negative pressure fan 313, the second negative pressure fan 323, and the third negative pressure fan 333, and the mecanum wheel 41 is controlled by the in-wheel motor 42 to move freely. The first sealing strip brush 311, the second sealing strip brush 321 and the third sealing strip brush 331 are canvas brushes and are fixed on the inner side surfaces of the adsorption chambers through hot melt adhesives. The bottom end of the brush is lower than the bottom end of the adsorption cavity 32 by not less than 3mm during installation, and the brush is slightly bent under pressure during movement so that the brush can be always kept in contact with the wall surface, thereby reducing the leakage rate in the first adsorption cavity 321, the second adsorption cavity 323 and the third adsorption cavity 323, and effectively reducing the friction between the first adsorption cavity 321, the second adsorption cavity 323 and the third adsorption cavity 323 and the wall surface.
In one embodiment, preferably, the lifting device is as shown in fig. 2(a), and comprises two identical spring damping units, wherein each spring damping unit comprises a pair of a first circular electromagnet 211 and a second circular electromagnet 213; the circular electromagnet I211 is fixedly connected to the bottom end of the top plate I2112; the bottom end of the second round electromagnet 213 is fixedly connected with the upper end of the first push rod 216; the lower end of the push rod I216 is fixedly connected with an ear seat I217; the first ear seat 217 is connected with the first group of negative pressure generating devices 31 through a first pin 2111; two ends of the first spring coil 212 are respectively wound on the outer sides of the first circular electromagnet 211 and the second circular electromagnet 213 and are arranged inside the first cylindrical shell 219; the upper end of the first spring coil 212 is in contact with and fixed to the first top plate 2112, the lower end of the first bearing inner ring 214 abuts against one end face of the first bearing inner ring 214, the other end face of the first bearing inner ring 214 abuts against a collar on the first push rod 216 and is positioned through the collar, and the first bearing inner ring 214 is in interference fit with the push rod; at least two rows of balls are arranged between the first bearing inner ring 214 and the first shell 219, and a first retainer 215 is arranged outside the balls to prevent the balls from shifting and falling off; the centers of the first electromagnet 211, the second circular electromagnet 213, the first spring coil 212, the first push rod 216, the first bearing inner ring 214 and the first shell sleeve 219 are all located on the same axis;
the first shell sleeve 219 is provided with two spring retainer rings 218 and two spring retainer rings 2110 for limiting the axial movement range of the first push rod 216, the first bearing inner ring 214 connected with the first push rod 216, the first retainer 215 and the second circular electromagnet 213; the bearing inner ring I214, the retainer I215 and the circular electromagnet II 213 can move up and down along the axis along with the movement of the push rod I216; when the second set of circular electromagnets 213 is in a power-off state, the lower end face of the shaft collar of the first push rod 216 abuts against the second spring retainer 2110, the distance between the second circular electromagnet 213 and the first circular electromagnet 211 is kept to be maximum, the first spring coil 212 is in a micro-compression state, and the spring resistance enables the first set of negative pressure generating device 31 to be close to the wall surface to normally work; when the second circular electromagnet 213 and the first circular electromagnet 211 are in an electrified state, an attractive force is generated between the second circular electromagnet 213 and the first circular electromagnet 211, so that the first push rod 216 and the assembly connected with the first push rod 216 ascend along the axis by overcoming the spring resistance until the first bearing inner ring 214 abuts against the first spring retainer 218, and the first group of negative pressure generating devices 31 are far away from the wall surface;
the lower end of the first ear seat 217 is in an isosceles trapezoid shape, the inclination angles of inclined planes on two sides of the trapezoid are not more than 10 degrees, the first adsorption chamber 312 matched with the first ear seat 217 can rotate along the inclination angle of the inclined plane by not more than 10 degrees, and when the robot body 5 inclines in the obstacle crossing process of the robot, the first group of negative pressure generating devices 31 are vertical to the wall surface to provide continuous and stable adsorption force;
the number of the spring damping units in the second lifting device 22 and the internal structure thereof, the internal component structure of the second casing 229, the external geometry of the second casing 229 and the connection mode with the negative pressure generating device 32 are the same as those of the first lifting device 21;
the number of spring damping units in the third lifting device 23 and the internal structure thereof, the internal component structure of the casing third 239, the external geometry of the casing third 239 and the connection mode with the negative pressure generating device 33 are the same as those of the first lifting device 21.
In one embodiment, as shown in fig. 1, if the probe 12 installed in front of the roof 51 of the robot body 5 touches an obstacle, the robot stops moving, which means that the obstacle cannot be crossed by the robot, and the robot backs up or turns through manual intervention.
In one embodiment, as shown in fig. 1, the contact switch 12 installed in front of the frame 53 of the robot body 5 does not touch the obstacle, and the robot continues to move. When the ultrasonic ranging sensor 11 in front of the robot main body 5 meets the obstacle crossing condition, the robot starts an obstacle crossing system.
The first negative pressure generating device 31 of the robot rises after the circular electromagnets I211 and II 213 are electrified, and simultaneously the working states of the negative pressure fans II 323 and III 333 in the second negative pressure generating device 32 and the third negative pressure generating device 33 are switched to a high-speed gear, so that enough adsorption force is ensured during obstacle crossing;
when the robot continues to move forwards and the first negative pressure fan 313 is powered off, the displacement of the robot is recalculated, and when the displacement value is equal to the distance from the front wall of the first chamber to the front wall of the second chamber, the first group of negative pressure generating devices 31 descend; the working states of the first negative pressure fan 331 and the third negative pressure fan 333 are switched to a high-speed gear, the second negative pressure fan 332 stops rotating, and the group of negative pressure generating devices 32 are lifted simultaneously;
when the robot continues to move forwards and the second negative pressure fan 323 is powered off, the displacement of the robot is recalculated, and when the displacement value is equal to the distance from the front wall of the second chamber to the front wall of the third chamber, the second negative pressure generating device 32 descends; the working states of the first negative pressure fan 331 and the second negative pressure fan 332 are switched to a high-speed gear, the third negative pressure fan 333 stops rotating, and the group of negative pressure generating devices 33 are lifted simultaneously;
when the robot continues to move forwards and the displacement of the robot is recalculated from the power-off of the third negative pressure fan 333, and when the displacement value is equal to the distance from the front wall of the third adsorption chamber 332 to the tail end of the robot body, the third negative pressure generating device 33 descends, which indicates that the robot body 5 completely passes through the obstacle. At this time, various operation parameters of the negative pressure generating device 3 are restored to the state that the robot performs plane motion, and the robot continues to move forward.
Referring to fig. 6(a) and (b), the first adsorption chamber, the second adsorption chamber, and the third adsorption chamber are arranged from top to bottom in sequence. Each figure shows the states of the robot when the robot is over the obstacle from left to right.
Reference throughout this specification to the term one embodiment means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the invention, a plurality means two or more unless specifically defined otherwise.
Table 1: symbols and description of symbols
Claims (5)
1. A wheel type negative pressure adsorption type wall climbing robot capable of crossing obstacles is characterized by comprising a robot body (5), a measuring device (1), a negative pressure generating device (3), a lifting device (2) and a moving device (4);
the number of the negative pressure generating devices (3) is at least three, the number of the lifting devices (2) corresponds to the number of the negative pressure generating devices (3) one by one, and each negative pressure generating device (3) is connected with the car roof (51) through the corresponding lifting device (2); each negative pressure generating device (3) can realize relative rotation of not more than 10 degrees relative to the axis of the lifting device (2); the wall-climbing robot capable of crossing obstacles can be adsorbed on the wall surface by the adsorption force generated by each negative pressure generating device (3), and the negative pressure generating devices (3) connected with each other are driven to be close to or far away from the wall surface by the lifting device (2).
2. A obstacle-surmountable wheel type negative pressure adsorption type wall-climbing robot according to claim 1, wherein said measuring device (1) comprises an ultrasonic distance measuring sensor (11) and a probe (12), the ultrasonic distance measuring sensor (11) is installed at the front end of a vehicle roof (51), the probe (12) is installed at the front end of a vehicle frame (53); when a probe (12) in the robot measuring device (1) touches an obstacle, a contact switch at the top end of the probe (12) is triggered to indicate that the obstacle robot cannot cross and cannot continue to advance, and an alarm is given to prompt that manual intervention is needed to enable the robot to turn or retreat; if the contact switch at the front end of the probe (12) is not triggered, the robot can continue to move forwards; when the robot moves forwards continuously and meets an obstacle, the ultrasonic distance measuring sensor (11) detects height information of the obstacle and transmits the height information to the controller, the controller sends a corresponding instruction after receiving the information, the lifting device (2) is controlled to lift, so that the negative pressure generating device (3) is controlled to be away from the wall surface, the first negative pressure fan (313) stops rotating, the second negative pressure fan (323) and the third negative pressure fan (333) are switched from a low gear to a high gear, and the robot starts obstacle crossing movement.
3. A obstacle-surmountable, wheel-type, negative pressure adsorption-type, wall-climbing robot according to claim 1, characterized in that said lifting devices (2) are at least three groups, comprising a first lifting device (21), a second lifting device (22) and a third lifting device (23); the first lifting device (21) is arranged at the front part of the lower end of the vehicle roof (51) through a first top plate (2112); the second lifting device (22) is arranged in the middle of the lower end of the vehicle roof (51) through a second top plate (2212); the third lifting device (23) is arranged at the tail part of the lower end of the car roof (51) through a top plate III (2312);
the first lifting device (21) and the first group of negative pressure generating devices (31) connected with the first lifting device are positioned at the front end of the robot body; the second lifting device (22) and a second group of negative pressure generating devices (32) connected with the second lifting device are positioned in the middle of the robot body; the third lifting device (23) and a third group of negative pressure generating devices (33) connected with the third lifting device are positioned at the tail part of the robot body.
4. A obstacle-surmountable, wheel-type, negative pressure adsorption-type wall-climbing robot according to claim 3, wherein said first lifting device (21) comprises at least two identical spring damping units, each spring damping unit comprising a pair of a first circular electromagnet (211) and a second circular electromagnet (213); the circular electromagnet I (211) is fixedly connected to the bottom end of the top plate I (2112); the bottom end of the round electromagnet II (213) is fixedly connected with the upper end of the push rod I (216); the lower end of the push rod I (216) is fixedly connected with the ear seat I (217); the first ear seat (217) is connected with the first negative pressure generating device (31) through a first pin shaft (2111); two ends of the first spring coil (212) are respectively wound on the outer sides of the first circular electromagnet (211) and the second circular electromagnet (213) and are arranged inside the first cylindrical shell sleeve (219); the upper end of the first spring coil (212) is in contact with and fixed to the first top plate (2112), the lower end of the first spring coil abuts against one end face of the first bearing inner ring (214), the other end face of the first bearing inner ring (214) abuts against a shaft ring on the first push rod (216) and is positioned through the shaft ring, and the first bearing inner ring (214) is in interference fit with the first push rod; at least two rows of balls are arranged between the first bearing inner ring (214) and the first shell sleeve (219), and a first retainer (215) is arranged outside the balls and can prevent the balls from shifting and falling off; the centers of the first electromagnet (211), the second circular electromagnet (213), the first spring coil (212), the first push rod (216), the first bearing inner ring (214) and the first shell sleeve (219) are all located on the same axis;
the shell sleeve I (219) is provided with two spring retainer rings I (218) and two spring retainer rings II (2110) which are used for limiting the axial movement range of the push rod I (216), the bearing inner ring I (214) connected with the push rod I (216), the retainer I (215) and the circular electromagnet II (213); the bearing inner ring I (214), the retainer I (215) and the circular electromagnet II (213) can move up and down along the axis along with the movement of the push rod I (216); when the second round electromagnet (213) group is in a power-off state, the lower end face of the shaft ring of the first push rod (216) abuts against the second spring retainer ring (2110), the distance between the second round electromagnet (213) and the first round electromagnet (211) is kept to be maximum, the first spring coil (212) is in a micro-compression state, and the spring resistance enables the first group of negative pressure generating devices (31) to be close to the wall face to normally work; when the electromagnet group is in a power-on state, attraction force is generated between the circular electromagnet II (213) and the circular electromagnet I (211), so that the push rod I (216) and the assembly connected with the push rod I (216) overcome spring resistance and ascend along the axis until the bearing inner ring I (214) abuts against the spring retainer ring I (218), and the first group of negative pressure generating devices (31) are far away from the wall surface;
the lower end of the ear seat I (217) is in an isosceles trapezoid shape, the inclination angles of inclined planes on two sides of the trapezoid are not more than 10 degrees, an adsorption chamber I (312) matched with the ear seat I (217) can rotate along the inclination angle of the inclined plane by not more than 10 degrees, and when the robot body (5) inclines in the obstacle crossing process of the robot, the first group of negative pressure generating devices (31) are vertical to the wall surface to provide continuous and stable adsorption force;
the number and the internal structure of the spring damping units in the second lifting device (22), the internal component structure of the second shell (229), the external geometric shape of the second shell (229) and the connection mode of the negative pressure generating device (32) are the same as those of the first lifting device (21);
the number and the internal structure of the spring damping units in the third lifting device (23), the internal component structure of the shell sleeve III (239), the external geometry of the shell sleeve III (239) and the connection mode of the negative pressure generating device (33) are the same as those of the first lifting device (21).
5. An obstacle crossing method of a wheel type negative pressure adsorption type wall climbing robot capable of crossing obstacles is characterized by comprising the following steps:
step 1, when the wall climbing robot moves on a wall surface in a plane mode, a first circular electromagnet (211) and a second circular electromagnet (213) in a first lifting device, a third circular electromagnet (221) and a fifth circular electromagnet (223) in a second lifting device, a fourth circular electromagnet (231) and a sixth circular electromagnet (233) in a third lifting device are all in a power-off state, and meanwhile, a first negative pressure fan (313), a second negative pressure fan (323) and a third negative pressure fan (333) are all in a low-speed gear position;
when a probe (12) in the robot measuring device (1) touches an obstacle, a contact switch at the top end of the probe (12) is triggered to indicate that the obstacle robot cannot cross and cannot continue to advance, and an alarm is given to prompt that manual intervention is needed to enable the robot to turn or retreat; if the contact switch at the front end of the probe (12) is not triggered, the robot can continue to move forwards;
step 2, when the robot continues to move forwards, the ultrasonic distance measuring sensor (11) arranged at the front end of the vehicle roof (51) measures the distance X (t) between the top end of the vehicle and the wall surface in real time, and the distance X between the value and the distance X from the sensor to the bottom end of the robot is measured in the control unit0Comparing and setting R0Maximum height value, r, that the robot can cross0Is when threeThe adsorption chambers are all in low-speed gears, the maximum obstacle height which can be crossed by the robot when the robot performs plane motion is numerically equal to the distance h between the lower ends of the adsorption chambers and the wall surface, and the following three conditions are provided:
when | X (t) -X0|≥R0Namely, the ultrasonic distance measuring sensor (11) is used for measuring the distance X (t) between the top end of the vehicle and the wall surface and the distance X from the sensor to the bottom end of the robot in real time0Comparing, and when the value is more than or equal to the maximum height value R which can be crossed by the robot0When the robot passes through the front part, the robot can not pass through the front part and is prompted by an alarm, and then the robot stops advancing; at the moment, the robot is moved backwards or moved leftwards and rightwards through manual intervention;
when | X (t) -X0|＜r0When the robot is in use, the ultrasonic distance measuring sensor (11) measures the distance X (t) between the top end of the vehicle and the wall surface and the distance X from the sensor to the bottom end of the robot in real time0Comparing, when the value is less than the maximum obstacle height r which can be crossed by the robot when the three adsorption chambers are all in low-speed gears and the robot performs plane motion0When the obstacle crossing system is started, the robot can move forwards continuously without starting the obstacle crossing system;
(r is when r)0≤|X(t)-X0|＜R0When the robot is in use, the ultrasonic distance measuring sensor (11) measures the distance X (t) between the top end of the vehicle and the wall surface and the distance X from the sensor to the bottom end of the robot in real time0Comparing, and when the value is less than the maximum height value R which can be crossed by the robot0When the robot is in front of the robot, an obstacle that can be crossed by the robot exists, the obstacle crossing system is started, and the robot performs obstacle crossing movement;
step 3, after the robot starts the obstacle crossing system, firstly calculating the moving displacement of the robot through the rotating speed of a motor, when the numerical value is equal to the distance between a sensor (11) and the front wall of an adsorption chamber I (312), electrifying a circular electromagnet I (211) and a circular electromagnet II (213) in a first lifting device (21), lifting a push rod I (216) to drive a first group of negative pressure generating devices (31) to be far away from the wall surface, stopping rotation of a negative pressure fan I (313), and switching the negative pressure fan II (323) and a negative pressure fan III (333) to a high-speed gear to ensure that enough adsorption force is provided when the obstacle crossing is performed;
step 4, when the robot continues to move forwards and the first negative pressure fan (313) is powered off, the displacement value of the robot is recalculated, when the displacement value is equal to the distance from the front wall of the first chamber to the front wall of the second chamber, the first circular electromagnet (211) and the second circular electromagnet (213) in the first group of lifting devices (21) are powered off, the first push rod (216) descends to drive the first negative pressure generating device (31) to be close to the wall surface, meanwhile, the circular electromagnet III (221) and the circular electromagnet V (223) in the second group of lifting devices (22) are electrified, the push rod II (226) rises to drive the second negative pressure generating device (32) to be far away from the wall surface, at the moment, the negative pressure fan I (313) starts to rotate again and is switched to a high-speed gear, the negative pressure fan II (323) stops rotating, and the negative pressure fan III (333) still keeps the high-speed gear to rotate so as to ensure that enough adsorption force is provided when obstacles are crossed;
step 5, recalculating the displacement value of the robot from the power failure of the second negative pressure fan (323), when the displacement value is equal to the distance between the front wall of the second chamber and the front wall of the third chamber, powering off the third circular electromagnet (221) and the fifth circular electromagnet (223) in the second group of lifting devices (22), lowering the second push rod (226) to drive the second negative pressure generating device (32) to be close to the wall surface, simultaneously powering on the fourth circular electromagnet (231) and the sixth circular electromagnet (233) in the third group of lifting devices (23), raising the third push rod (236) to drive the third negative pressure generating device (33) to be away from the wall surface, rotating the second negative pressure fan (323) again and switching to a high-speed gear, stopping rotating the third negative pressure fan (333), and keeping the first negative pressure fan (313) operating at the high-speed gear to ensure that enough adsorption force is provided when the obstacle is crossed;
and 6, recalculating the displacement value of the robot from the power failure of the third negative pressure fan (333), when the displacement value is equal to the distance from the front wall of the third chamber to the tail end of the robot body, powering off the circular electromagnets IV (231) and VI (233) in the third group of lifting devices (23), lowering the third push rod (236) to drive the third negative pressure generating device (33) to be close to the wall surface, restarting rotation of the third negative pressure fan (333) and switching to a low-speed gear, simultaneously switching the high-speed gear to the low-speed gear of the first negative pressure fan (313) and the second negative pressure fan (323), and continuing to advance the robot body (5) to complete obstacle crossing movement.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110677621.3A CN113353169B (en) | 2021-06-18 | 2021-06-18 | Wheel type negative pressure adsorption type wall climbing robot capable of crossing obstacle and obstacle crossing method thereof |
Applications Claiming Priority (1)
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| CN114013528A (en) * | 2021-11-01 | 2022-02-08 | 重庆大学 | Wall-climbing robot for walking operation of boiler water wall in thermal power plant |
| CN114234018A (en) * | 2021-12-20 | 2022-03-25 | 河北大唐国际王滩发电有限责任公司 | Disconnect-type pipeline inspection robot |
| CN116184860A (en) * | 2023-04-27 | 2023-05-30 | 北京国领智能科技有限公司 | Magnetic attraction crawler type wall climbing robot dynamics modeling and control method |
| CN116465899A (en) * | 2023-04-25 | 2023-07-21 | 北京云航智信新能源科技有限公司 | Automatic detection device and detection method for weld joint surface defects of large structural part |
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