CN114802515B - Crawling mechanism of vacuum adsorption type four-corner starfish wall-climbing robot - Google Patents
Crawling mechanism of vacuum adsorption type four-corner starfish wall-climbing robot Download PDFInfo
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- CN114802515B CN114802515B CN202210595484.3A CN202210595484A CN114802515B CN 114802515 B CN114802515 B CN 114802515B CN 202210595484 A CN202210595484 A CN 202210595484A CN 114802515 B CN114802515 B CN 114802515B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention relates to a crawling mechanism of a vacuum adsorption type four-corner starfish wall climbing robot, which specifically comprises an outer four-corner starfish lifting device, an inner four-corner starfish lifting device, a pneumatic vacuum generating device, a four-corner starfish shell, a straight running device based on an electric push rod and a rotating device based on an ellipsometer mechanism. The pneumatic vacuum generating device is utilized to realize the vacuum adsorption of the inner sucker and the outer sucker, and the lifting movement of the inner sucker and the outer sucker is realized through the inner four-corner starfish lifting device and the outer four-corner starfish lifting device; the electric push rod in the straight running device based on the electric push rod drives the inner four-corner starfish lifting device to directly run in the extending process, and drives the four-corner starfish shell and the outer four-corner starfish lifting device to directly run in the retracting process; the rotating device based on the ellipsometer mechanism realizes the rotating motion of the inner four-corner starfish lifting device through the transmission of a crank and a connecting rod.
Description
Technical Field
The invention relates to the field of outer wall cleaning, in particular to a crawling mechanism of a vacuum adsorption type four-corner starfish wall-climbing robot.
Background
The working of cleaning the outer wall is advanced in foreign technology compared with domestic technology, and part of countries carry out robot cleaning operation for a long time, and most of cities in China still use workers for cleaning. The cleaning and wiping of the outer wall and glass of the high-rise building requires outdoor and overhead operations, and the operation is difficult and dangerous because of the necessity of using vehicles such as overhead baskets, hanging plates, lifting tables and the like.
If the wall climbing robot is adopted, the dangerous degree is greatly reduced, and the labor cost is saved. Many problems still exist in the existing various wall climbing robots, for example: the wall climbing robot based on the negative pressure adsorption principle adopts a negative pressure integral sliding mode, so that the adsorption surface is worn and the energy consumption is high; the two-foot wall climbing robot has weak load bearing capacity; the rotary wing type wall climbing robot is difficult to control the direction, and immediately fails after power disappears.
Disclosure of Invention
Aiming at the problems of low working efficiency and great hidden danger to workers in the existing manual high-altitude cleaning mode, the invention provides the crawling mechanism of the vacuum adsorption type four-corner starfish wall-climbing robot, which has the characteristics of strong adsorption force, strong loading capacity, easily controlled direction, small energy consumption and the like, and can replace workers to finish the cleaning of the outer wall.
The invention adopts the following technical scheme:
a crawling mechanism of a vacuum adsorption type four-corner starfish wall-climbing robot comprises an outer four-corner starfish lifting device, an inner four-corner starfish lifting device, a four-corner starfish shell, a pneumatic vacuum generating device, a straight running device based on an electric push rod and a rotating device based on an ellipsometer mechanism.
The outer four-corner starfish lifting device comprises an outer optical axis, a first rack, a first optical axis sliding block, an outer sucker, a first outer four-corner bracket, a second outer four-corner bracket, a first gear and a first speed reducing motor; the outer sucking discs are fixedly arranged at four end corners of the first outer four-corner bracket through threaded connection with the outer optical axis, and the first optical axis sliding blocks are distributed at four end corners of the second outer four-corner bracket and are matched with the outer optical axis in a moving mode; the first racks are symmetrically arranged on two sides of the first outer four-corner bracket; the first speed reducing motor is fixedly arranged on two sides of the second outer four-corner bracket; the first gear is fixedly arranged on an output shaft of the first gear motor.
The inner four-corner starfish lifting device comprises an inner optical axis, a second optical axis sliding block, an inner sucking disc, an inner four-corner bracket, a second gear motor, a main board and a second rack; the inner sucker is fixedly arranged at four end corners of the inner four-corner bracket through threaded connection with the inner optical axis; the second optical axis sliding blocks are distributed at four end corners of the main board and are matched with the inner optical axis in a moving pair; the second racks are symmetrically arranged at two sides of the inner four-corner bracket; the second gear motors are symmetrically arranged on two sides of the main board; the second gear is fixedly arranged on an output shaft of the second gear motor.
The four-corner starfish shell comprises a first four-corner connector, a second four-corner connector and a four-corner top plate, and the four-corner top plate is connected with a second outer four-corner bracket through the first four-corner connector and the second four-corner connector; the four-corner top plate can be provided with cleaning tools for cleaning the outer wall.
The pneumatic vacuum generating device comprises a first air pump and a second air pump, and the first air pump and the second air pump are fixedly arranged on the main board; vacuum adsorption and vacuum release are realized by controlling the on-off of the first air pump and the second air pump.
The straight running device based on the electric push rod comprises a connecting bridge, the electric push rod, a first guide rail and a first sliding block, wherein the electric push rod is fixedly arranged on a top plate with four corners and fixedly connected with the center of the connecting bridge, and the first sliding block is fixedly arranged at two ends of the connecting bridge and matched with the first guide rail in a moving pair.
The rotating device based on the ellipsometer mechanism comprises a rotating main shaft, a screw rod sliding table device, a crank, a connecting rod, a second guide rail and a second sliding block.
The top of the rotating main shaft is connected with the connecting bridge through a revolute pair, and the bottom of the rotating main shaft is fixedly arranged on the main board.
The screw rod sliding table device comprises a third sliding block, a sliding table seat, a ball screw and a stepping motor, wherein the sliding table seat is fixedly arranged on one side of the connecting bridge, the ball screw is fixedly arranged on the sliding table seat, an output shaft of the stepping motor is fixed with the ball screw, and the third sliding block is matched with the ball screw in a moving way.
One end of the crank is fixedly arranged on the rotary main shaft, and the other end of the crank is connected with the center of the connecting rod through a revolute pair.
One end of the connecting rod is connected with the second sliding block through a revolute pair, and the other end of the connecting rod is connected with the third sliding block through a revolute pair.
The second guide rail is fixedly arranged on the four-corner top plate.
The second sliding block is matched with the second guide rail to move the web.
The first gear is driven by the first gear motor in the outer four-corner starfish lifting device to rotate, so that the first rack and the first gear relatively move, and the purpose of lifting the outer sucker is achieved; the second gear is driven by the second gear motor in the inner four-corner starfish lifting device to rotate, so that the second rack and the second gear move relatively, and the purpose of lifting the inner sucker is achieved.
The electric push rod in the straight running device based on the electric push rod pushes the connecting bridge to move straight, the main board is driven to move straight through the rotary main shaft, and then the inner four-corner starfish lifting device is driven to realize straight running.
The stepping motor in the rotating device based on the ellipsometer mechanism drives the ball screw to rotate, so that the third sliding block makes reciprocating linear motion on the ball screw, the second sliding block is driven by the connecting rod to make reciprocating linear motion on the second guide rail, one end of the crank rotates relative to the center of the connecting rod through the revolute pair, and the rotating main shaft is driven to rotate, so that the inner four-corner starfish lifting device is driven to rotate.
The outer sucking disc, the outer optical axis, the inner sucking disc, the inner optical axis, the first optical axis sliding block and the second optical axis sliding block are all 4 in number, and the number of the first rack, the second rack, the first gear, the second gear, the first gear motor, the second gear motor, the first guide rail and the first sliding block is 2.
A waist-shaped hole is formed in a four-corner top plate in the four-corner starfish shell, and the rotary main shaft moves in the waist-shaped hole.
The first four-corner connector and the second four-corner connector in the four-corner starfish shell connect the four-corner top plate with the second external four-corner bracket together, so that the synchronous movement of the four-corner starfish shell and the external four-corner starfish lifting device is ensured in the running process of the machine.
Compared with the prior art, the invention has the beneficial effects that:
1. the suction cup is used for forming approximate vacuum inside to be adsorbed on a wall, so that the adsorption capacity and the adsorption reliability are improved;
2. the rotation angle is controlled by adopting a rotation device based on an ellipsometer mechanism, so that the movement direction can be accurately controlled;
3. the inner sucking disc and the outer sucking disc are adopted for alternate adsorption, so that the abrasion of the adsorption surface is small, and the energy consumption is small.
Drawings
FIG. 1 is a three-dimensional structure diagram of a crawling mechanism of a vacuum adsorption type four-corner starfish wall-climbing robot;
FIG. 2 is a three-dimensional block diagram of the hidden tetragonal roof of FIG. 1;
FIG. 3 is a three-dimensional structure diagram of an inner four-corner starfish lifting device in the device of the invention;
FIG. 4 is a side view of the device of the present invention as attached to a wall;
in the figure: 11-an outer optical axis; 12-a first rack; 13-a first optical axis slider; 14-an outer sucker; 15-a first outer quadrangle support; 16-a second outer quadrangle support; 17-a first gear; 18-a first gear motor; 21-a first four-corner connector; 22-a second four-corner connector; 23-a tetragonal top plate; 31-an inner optical axis; 32-a second optical axis slider; 33-an inner suction cup; 34-inner four corner brackets; 35-a second gear; 36-a second gear motor; 37-a main board; 38-a second rack; 41-a first air pump; 42-a second air pump; 51—a connecting bridge; 52-an electric push rod; 53-a first rail; 54—a first slider; 61-rotating the spindle; 62-a screw rod sliding table device; 621—a third slider; 622—a skid base; 623—a ball screw; 624-a stepper motor; 63-crank; 64-connecting rod; 65-a second guide rail; 66-second slider.
Detailed Description
In order to better express the technical scheme and beneficial effects of the whole invention, the invention is further described in detail below with reference to the accompanying drawings.
Initial state:
the first air pump 41 and the second air pump 42 are started, the inner sucking disc 33 and the outer sucking disc 14 start sucking air, approximate vacuum is formed between the inner sucking disc 33 and the outer sucking disc 14 and the wall, the suction is firmly absorbed on the wall, the first gear motor 18 and the second gear motor 36 respectively drive the first gear 17 and the second gear 35 to realize synchronous rotation, the first gear 17 and the second gear 35 respectively move upwards relative to the first rack 12 and the second rack 38, the second outer four-corner bracket 16 and the main board 37 respectively move upwards relative to the first outer four-corner bracket 15 and the inner four-corner bracket 34, and at the moment, the first gear 17 and the second gear 35 are respectively meshed at the top positions of the first rack 12 and the second rack 38.
Motion process:
step one: inner suction cup 33 is lifted
The first air pump 41 stops working, the inner sucker 33 releases vacuum adsorption, the second gear 35 is driven to rotate by the second gear motor 36, and the second rack 38 moves upwards relative to the second gear 35, so that the inner sucker 33 is lifted.
Step two: straight running of inner four-corner starfish lifting device
The electric push rod 52 extends out to enable the first sliding block 54 to move on the first guide rail 53 and drive the rotary main shaft 61 to move in the kidney-shaped hole of the quadrangular top plate 23, and the rotary main shaft 61 is fixedly connected with the main plate 37, so that the inner quadrangular starfish lifting device is driven to move straight.
Step three: inner four-corner starfish lifting device rotates
The step motor 624 drives the ball screw 623 to rotate, so that the third slide block 621 makes reciprocating rectilinear motion on the ball screw 623, and thus the second slide block 66 is driven to make rectilinear motion on the second guide rail 65, two ends of the connecting rod 64 are respectively connected with the second slide block 66 and the third slide block 621 by rotating pairs, each point on the connecting rod 64 draws ellipses with different long and short axes in the motion process, one end of the crank 63 rotates relatively with the center of the connecting rod 64 through the rotating pairs, the other end of the crank 63 is fixedly connected with the rotating main shaft 61, the lower end of the rotating main shaft 61 is fixedly connected with the main plate 37 in the inner four-corner starfish lifting device, and the upper end of the rotating main shaft 61 is connected with the connecting bridge 51 by the rotating pairs, so that the crank 63 drives the inner four-corner starfish lifting device to rotate in the rotating process.
Step four: the inner suction cup 33 descends
The first air pump 41 is started, the inner sucker 33 starts to suck air, the second gear 35 is driven by the second gear motor 36 to rotate reversely, and the second rack 38 moves downwards relative to the second gear 35, so that the inner sucker 33 descends and is adsorbed on the wall.
Step five: the outer suction cup 14 is lifted
The second air pump 42 stops working, the outer sucker 14 releases vacuum adsorption, the first gear 17 is driven to rotate by the first gear motor 18, and the first rack 12 moves upwards relative to the first gear 17, so that the outer sucker 14 is lifted.
Step six: straight shape of outer lifting device
The electric push rod 52 is retracted, and the shell of the electric push rod 52 is fixedly arranged on the quadrangle top plate 23, so that the quadrangle starfish shell and the outer quadrangle starfish lifting device are driven to move straight in the retraction process.
Step seven: the outer suction cup 14 descends
The second air pump 42 is started, the outer sucker 14 starts to suck air, the first gear 17 is driven by the first gear motor 18 to rotate reversely, the first rack 12 moves downwards relative to the first gear 17, the outer sucker 14 descends and is adsorbed on a wall, and the whole machine is completed.
The foregoing detailed description of the embodiments of the present invention will be given with reference to the accompanying drawings, but the scope of the invention is not limited thereto, and equivalents, modifications and the like may be made without departing from the spirit of the invention. The protection scope of the invention is subject to the claims.
Claims (2)
1. The utility model provides a mechanism of crawling of wall robot is climbed to vacuum adsorption formula four corners starfish which characterized in that: the device comprises an outer four-corner starfish lifting device, an inner four-corner starfish lifting device, a four-corner starfish shell, a pneumatic vacuum generating device, a straight running device based on an electric push rod and a rotating device based on an ellipsometer mechanism;
the outer four-corner starfish lifting device comprises an outer optical axis (11), a first rack (12), a first optical axis sliding block (13), an outer sucker (14), a first outer four-corner bracket (15), a second outer four-corner bracket (16), a first gear (17) and a first gear motor (18); the outer sucking discs (14) and the outer optical shafts (11) are fixedly arranged at four end corners of a first outer four-corner bracket (15) through threaded connection, and the first optical shaft sliding blocks (13) are distributed at four end corners of a second outer four-corner bracket (16) and are matched with the outer optical shafts (11) in a moving mode; the first racks (12) are symmetrically arranged at two sides of the first outer four-corner bracket (15); the first reducing motor (18) is fixedly arranged at two sides of the second outer four-corner bracket (16); the first gear (17) is fixedly arranged on an output shaft of the first gear motor (18);
the inner four-corner starfish lifting device comprises an inner optical axis (31), a second optical axis sliding block (32), an inner sucking disc (33), an inner four-corner bracket (34), a second gear (35), a second gear motor (36), a main board (37) and a second rack (38); the inner sucker (33) is fixedly arranged at four end corners of the inner four-corner bracket (34) through threaded connection with the inner optical axis (31); the second optical axis sliding blocks (32) are distributed at four end corners of the main board (37) and are matched with the inner optical axis (31) in a moving pair; the second racks (38) are symmetrically arranged at two sides of the inner four-corner bracket (34); the second gear motors (36) are symmetrically arranged on two sides of the main board (37); the second gear (35) is fixedly arranged on an output shaft of the second speed reduction motor (36);
the four-corner starfish shell comprises a first four-corner connector (21), a second four-corner connector (22) and a four-corner top plate (23), and the four-corner top plate (23) is connected with a second outer four-corner bracket (16) through the first four-corner connector (21) and the second four-corner connector (22); a cleaning tool can be carried on the four-corner top plate (23) to carry out the cleaning work of the outer wall;
the pneumatic vacuum generating device comprises a first air pump (41) and a second air pump (42), and the first air pump (41) and the second air pump (42) are fixedly arranged on the main board (37); vacuum adsorption and vacuum release are realized by controlling the on-off of the first air pump (41) and the second air pump (42);
the straight running device based on the electric push rod comprises a connecting bridge (51), an electric push rod (52), a first guide rail (53) and a first sliding block (54), wherein the electric push rod (52) is fixedly arranged on a quadrangular top plate (23) and fixedly connected with the center of the connecting bridge (51), and the first sliding block (54) is fixedly arranged at two ends of the connecting bridge (51) and matched with the first guide rail (53) in a moving pair;
the rotating device based on the ellipsometer mechanism comprises a rotating main shaft (61), a screw rod sliding table device (62), a crank (63), a connecting rod (64), a second guide rail (65) and a second sliding block (66);
the top of the rotating main shaft (61) is connected with the connecting bridge (51) through a revolute pair, and the bottom of the rotating main shaft (61) is fixedly arranged on the main board (37);
the screw rod sliding table device (62) comprises a third sliding block (621), a sliding table seat (622), a ball screw (623) and a stepping motor (624), wherein the sliding table seat (622) is fixedly arranged on one side of the connecting bridge (51), the ball screw (623) is fixedly arranged on the sliding table seat (622), an output shaft of the stepping motor (624) is fixedly connected with the ball screw (623), and the third sliding block (621) is matched with the ball screw (623) in a moving way;
one end of the crank (63) is fixedly arranged on the rotary main shaft (61), and the other end of the crank is connected with the center of the connecting rod (64) through a revolute pair;
one end of the connecting rod (64) is connected with the second sliding block (66) through a revolute pair, and the other end of the connecting rod is connected with the third sliding block (621) through a revolute pair;
the second guide rail (65) is fixedly arranged on the quadrangular top plate (23);
the second sliding block (66) is matched with the second guide rail (65) to move the web;
the first gear (17) is driven to rotate by the first gear motor (18) in the outer four-corner starfish lifting device, so that the first rack (12) and the first gear (17) move relatively, and the purpose of lifting the outer sucker (14) is achieved; a second gear motor (36) in the inner four-corner starfish lifting device drives a second gear (35) to rotate, so that a second rack (38) and the second gear (35) move relatively, and the purpose of lifting an inner sucker (33) is achieved;
the electric push rod (52) in the straight running device based on the electric push rod pushes the connecting bridge (51) to directly run, and the main board (37) is driven to directly run through the rotary main shaft (61), so that the inner four-corner starfish lifting device is driven to realize straight running;
the stepping motor (624) in the rotating device based on the ellipsometer mechanism drives the ball screw (623) to rotate, so that the third sliding block (621) makes reciprocating linear motion on the ball screw (623), the connecting rod (64) drives the second sliding block (66) to make reciprocating linear motion on the second guide rail (65), one end of the crank (63) makes relative rotation with the center of the connecting rod (64) through the revolute pair, and accordingly the rotating main shaft (61) is driven to rotate, and the inner four-corner starfish lifting device is driven to rotate.
2. The crawling mechanism of the vacuum adsorption type four-corner starfish wall-climbing robot according to claim 1, wherein the crawling mechanism comprises the following components: the number of the outer sucking discs (14), the outer optical axis (11), the inner sucking discs (33), the inner optical axis (31), the first optical axis sliding blocks (13) and the second optical axis sliding blocks (32) is 4, and the number of the first racks (12), the second racks (38), the first gears (17), the second gears (35), the first gear motor (18), the second gear motor (36), the first guide rails (53) and the first sliding blocks (54) is 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210595484.3A CN114802515B (en) | 2022-05-30 | 2022-05-30 | Crawling mechanism of vacuum adsorption type four-corner starfish wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210595484.3A CN114802515B (en) | 2022-05-30 | 2022-05-30 | Crawling mechanism of vacuum adsorption type four-corner starfish wall-climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN114802515A CN114802515A (en) | 2022-07-29 |
| CN114802515B true CN114802515B (en) | 2023-05-30 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202210595484.3A Active CN114802515B (en) | 2022-05-30 | 2022-05-30 | Crawling mechanism of vacuum adsorption type four-corner starfish wall-climbing robot |
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Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103935164A (en) * | 2014-05-06 | 2014-07-23 | 郑州大学 | Ellipsograph |
| WO2021012426A1 (en) * | 2019-07-22 | 2021-01-28 | 朱家义 | Anti-fall wall climbing robot and walking method thereof |
-
2022
- 2022-05-30 CN CN202210595484.3A patent/CN114802515B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103935164A (en) * | 2014-05-06 | 2014-07-23 | 郑州大学 | Ellipsograph |
| WO2021012426A1 (en) * | 2019-07-22 | 2021-01-28 | 朱家义 | Anti-fall wall climbing robot and walking method thereof |
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| Publication number | Publication date |
|---|---|
| CN114802515A (en) | 2022-07-29 |
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