CN115541072B - Foot pressure detection structure of wall climbing robot - Google Patents
Foot pressure detection structure of wall climbing robot Download PDFInfo
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- CN115541072B CN115541072B CN202211286183.9A CN202211286183A CN115541072B CN 115541072 B CN115541072 B CN 115541072B CN 202211286183 A CN202211286183 A CN 202211286183A CN 115541072 B CN115541072 B CN 115541072B
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- shell
- sliding
- casing
- outer side
- arc
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
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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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of wall climbing robots, and particularly relates to a foot pressure detection structure of a wall climbing robot, which comprises a bracket, wherein one end of the bracket is provided with a ducted fan, the other end of the bracket is connected with a pressing plate through a connecting mechanism, the connecting mechanism comprises a shell, the outer side surface of the shell is detachably connected with the bracket, the shell is provided with a sliding cavity with an opening, a shell is slidably arranged in the sliding cavity, one end of the shell, which is far away from the shell, is detachably connected with a connector, the connector is connected with the pressing plate, a reset spring and a sliding resistance changing device are further arranged in the shell, the reset spring is abutted against the end part of the shell, the sliding resistance changing device is connected with the shell, and the resistance is changed along with the sliding of the shell, and the sliding resistance changing device is connected with a current detection module.
Description
Technical Field
The invention belongs to the field of wall climbing robots, and particularly relates to a foot pressure detection structure of a wall climbing robot.
Background
The foot of the wall climbing robot is critical to the wall climbing robot, determines whether the robot can climb on the wall surface effectively and efficiently, is the only mechanical part contacted with the wall surface in the climbing process, and bears an important perception function.
The wall climbing robot in the prior art is attached to the wall surface through negative pressure adsorption and magnetic adsorption, however, whether the foot is attached to the wall surface correctly is difficult to judge in the prior art, so that whether the foot of the wall climbing robot is attached to the wall surface correctly cannot be known.
Disclosure of Invention
The invention aims to provide a foot pressure detection structure of a wall climbing robot, which aims to solve the defects in the prior art.
In order to achieve the aim of the invention, the invention adopts the following technical scheme:
the foot pressure detection structure of the wall climbing robot comprises a bracket, wherein one end of the bracket is provided with a ducted fan, and the other end of the bracket is connected with a pressing plate through a connecting mechanism;
the connecting mechanism comprises a shell, the outer side surface of the shell is detachably connected with the support, the shell is provided with a sliding cavity with an opening, a casing is slidably arranged in the sliding cavity, one end of the casing, which is far away from the shell, is detachably connected with a connector, and the connector is connected with the pressing plate;
the shell is internally provided with a reset spring and a sliding resistance-changing device, the reset spring is abutted against the end part of the shell, the sliding resistance-changing device is connected with the shell and changes the resistance along with the sliding of the shell, and the sliding resistance-changing device is connected with a current detection module.
Further, the outer side surface of the support is fixedly connected with two supporting rods, and the shell is positioned between the two supporting rods and detachably connected with the supporting rods.
Further, the sliding resistance-changing device comprises an insulating column fixedly connected to the end part of the casing, a plurality of metal rings are fixedly sleeved on the outer side surface of the insulating column, and two symmetrically arranged elastic sheets are fixedly connected to the outer side surface of the metal rings;
the outer side surfaces of the two elastic sheets are correspondingly provided with two arc-shaped sheets, the insulating columns are used for sliding to the two arc-shaped sheets, the outer diameter of each elastic sheet is larger than the inner diameter of each arc-shaped sheet, the arc-shaped sheets are fixedly connected to the inner wall of the shell, and the two arc-shaped sheets are connected with the current detection module.
Further, the elastic sheet is arc-shaped and obliquely arranged.
Further, the two arc-shaped pieces are respectively connected with the current detection module through wires.
Further, the shell is provided with an installation cavity with an opening, the opening direction is in the same direction as the sliding cavity, a sliding plate is slidably arranged in the installation cavity, the sliding plate is connected with one end of a limiting rod, and the other end of the limiting rod penetrates through the shell and is fixedly connected with the inner wall of the shell.
Furthermore, the limiting rods are provided with a plurality of limiting rods, and the reset springs are sleeved on the limiting rods.
The invention has the following beneficial effects: because the thrust effect of duct fan, the clamp plate, when the sucking disc laminating is on the wall, produce relative slip between casing and the cover shell, the slip varistor device produces the slip, change its resistance, then the current detection module detects the electric current value of change, can judge the motion stroke of casing according to the size of electric current value, thereby judge whether the clamp plate is laminated on the wall, whether there is certain foot structure to be in multiple information such as unsettled state, finally through these information, can judge the running condition of wall climbing robot, compared with prior art, the invention can judge the motion stroke of casing through the size of electric current value in the running process of wall climbing robot, thereby finally judge the laminating condition of its foot structure and wall.
Drawings
FIG. 1 is a schematic diagram of the overall structure of the present invention;
FIG. 2 is a schematic view of the present invention when it is applied to a wall surface;
FIG. 3 is an enlarged schematic view of FIG. 2 at a;
FIG. 4 is a schematic cross-sectional view showing the mating relationship of the arcuate tab and the resilient tab.
Detailed Description
The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 4 of the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. The technical means used in the examples are conventional means well known to those skilled in the art unless otherwise indicated.
In addition, the embodiments of the present invention and the features of the embodiments may be combined with each other without collision.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, or are directions or positional relationships conventionally understood by those skilled in the art, are merely for convenience of describing the present invention and for simplifying the description, and are not to indicate or imply that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like, are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The foot pressure detection structure of the wall climbing robot comprises a bracket 2, wherein a ducted fan 3 is arranged at one end of the bracket 2, and a pressing plate 5 is connected to the other end of the bracket 2 through a connecting mechanism 4;
the connecting mechanism 4 comprises a shell 403, the outer side surface of the shell 403 is detachably connected with the bracket 2, the shell 403 is provided with a sliding cavity with an opening, a casing 402 is slidably arranged in the sliding cavity, one end of the casing 402, which is far away from the shell 403, is detachably connected with a connector 401, and the connector 401 is connected with the pressing plate 5;
the casing 403 is further internally provided with a return spring 406 and a sliding resistance variable device, the return spring 406 abuts against the end part of the casing 402, the sliding resistance variable device is connected with the casing 402 and changes the resistance along with the sliding of the casing 402, and the sliding resistance variable device is connected with a current detection module.
The ducted fan 3 is the prior art, and comprises fan blades, a motor and a shell, wherein the shell is connected with the bracket 2, the blowing direction of the ducted fan faces away from the direction of the pressing plate 5, the bracket 2 is of a hollow structure, and the ducted fan 3 is arranged in the bracket for the wind to flow through, so that in the concrete implementation, the foot structure of the invention is arranged at the four ends of the robot, the pressing plate 5 is pressed on the wall surface 6 through wind by the four ducted fans 3, and the robot is attached on the wall surface 6.
Due to the thrust action of the ducted fan 3, the wall climbing robot is attached to the wall surface 6, meanwhile, relative sliding is generated between the shell 403 and the shell 402, namely, the pressing plate 5 is attached to the wall surface 6, the shell 403 moves towards the shell 402, the whole wall climbing robot moves towards the wall surface 6 in the whole process, the sliding resistance variable device slides to change the resistance of the sliding resistance variable device, the current detection module detects a changed current value, the movement stroke of the shell 403 can be judged according to the magnitude of the current value, so that whether the pressing plate 5 is attached to the wall surface 6 or not is judged, whether a certain foot structure is in a suspended state or not is judged, and finally, the operation condition of the wall climbing robot and the attachment condition of the wall surface 6 can be judged according to the information, and the purpose of resetting is realized by the reset spring 406.
Further, the outer side surface of the bracket 2 is fixedly connected with two struts 1, and the housing 403 is located between the two struts 1 and detachably connected with the struts 1.
Two struts 1 are symmetrically arranged and are positioned at two sides of the housing 403, and the struts 1 can be connected with the housing 403 through screws.
It should be noted that, the current detection module is prior art, it can include detection power supply and ampere meter, detection power supply passes through wire 404 and connects the slip varistor device, and the ampere meter that connects that wire 404 corresponds, ampere meter and detection power supply all can set up on climbing the wall robot, in addition, all be provided with wire casing 101 on the opposite one side of two branches 1, wire 404 passes casing 403 and is located wire casing 101, and wear out to extend to climbing the wall robot on from branch 1, wire casing 101 has realized the effect of arrangement, fixed pencil, can set up corresponding ribbon, wire knot etc. parts on branch 1 and fix wire 404.
Further, the sliding resistance-changing device includes an insulation post 407 fixedly connected to the end of the casing 402, the outer side surface of the insulation post 407 is fixedly sleeved with a plurality of metal rings 409, and the outer side surface of the metal rings 409 is fixedly connected with two symmetrically arranged elastic sheets 408;
two arc-shaped pieces 410 are correspondingly arranged on the outer sides of the two elastic pieces 408, the insulating columns 407 are used for sliding into the two arc-shaped pieces 410, the outer diameter of the elastic pieces 408 is larger than the inner diameter of the arc-shaped pieces 410, the arc-shaped pieces 410 are fixedly connected to the inner wall of the shell 403, and the two arc-shaped pieces 410 are connected with the current detection module.
Further, the elastic piece 408 is arc-shaped and is disposed obliquely.
Further, two arc-shaped pieces 410 are connected to the current detection module through wires 404, respectively.
Specifically, the insulating post 407 is made of an insulating material, such as plastic, and a plurality of metal rings 409 are disposed on the insulating post 407 at intervals and equidistantly, the elastic sheet 408 is made of metal, its position corresponds to and matches with the arc sheet 410, the elastic sheet 408 is inclined towards a direction away from the arc sheet 410, because of its larger outer diameter, when the casing 403 moves under the thrust of the ducted fan 3, the arc sheet 410 contacts with the elastic sheet 408 to form a closed circuit, and the elastic sheet 408 is bent, its bending direction faces the axis of the insulating post 407, and the inclined structure of the elastic sheet 408 can facilitate bending when the arc sheet 410 contacts, so that a certain pressure is generated between the elastic sheet 408 and the elastic sheet 408 when the elastic sheet 408 is bent.
Because the pressure and the contact area of the contact resistor can change the resistance value, the bending structure when the elastic sheet 408 is contacted with the arc sheet 410 can enable the elastic sheet 408 to generate pressure and tightly contact with the arc sheet 410, so that stable current is formed between the arc sheet 410 and the elastic sheet 408, the elastic sheet 408 adopts an alloy material with higher resistivity to provide resistance, in the moving process of the shell 403, the contact quantity of the arc sheet 410 and the elastic sheet 408 is increased, so that the contact area of the arc sheet 410 and the elastic sheet 408 is changed in real time in the moving process of the shell 403 in the whole, the current value is inversely related to the contact quantity of the elastic sheet 408, and the quantity of the elastic sheet 408 contacted by the arc sheet 410 can be reflected through the changed current value, so that the moving stroke of the shell 403, namely the fitting condition of the pressing plate 5 and the wall surface 6, is reflected.
Further, when the return spring 406 is at the maximum stroke, that is, the pressing plate 5 does not contact the wall surface 6, the arc piece 410 is spaced from the elastic piece 408, and a closed circuit is not formed at this time, so that the current value is 0.
Further, the casing 402 is provided with a mounting cavity having an opening, and the opening direction is in the same direction as the sliding cavity, a sliding plate 411 is slidably disposed in the mounting cavity, the sliding plate 411 is connected with one end of the stop lever 405, and the other end of the stop lever 405 passes through the casing 402 and is fixedly connected with the inner wall of the housing 403.
Further, the limiting rods 405 are provided with a plurality of limiting rods 405, and the reset springs 406 are sleeved on the limiting rods 405.
The connector 401 plays a role of a limiting slide plate 411, the connector 401 and the casing 402 can be connected by a screw, one end of the return spring 406 contacts with the inner wall of one end of the casing 403 far away from the casing 402, the other end of the return spring 406 contacts with the outer end surface of the casing 402, when the casing 403 moves towards the casing 402, the return spring 406 is compressed along with the outer end surface, and then the elastic force of the return spring 406 provides thrust for the return of the casing 403.
The above embodiments are only illustrative of the preferred embodiments of the present invention and are not intended to limit the scope of the present invention, and various modifications, variations, alterations, substitutions made by those skilled in the art to the technical solution of the present invention should fall within the protection scope defined by the claims of the present invention without departing from the spirit of the design of the present invention.
Claims (5)
1. Foot pressure detection structure of wall climbing robot, including the support, duct fan (3) are installed to support one end, its characterized in that: the other end of the bracket is connected with a pressing plate (5) through a connecting mechanism (4);
the connecting mechanism (4) comprises a shell (403), the outer side surface of the shell (403) is detachably connected with the support, the shell (403) is provided with a sliding cavity with an opening, a casing (402) is slidably arranged in the sliding cavity, one end, far away from the shell (403), of the casing (402) is detachably connected with a connector (401), and the connector (401) is connected with the pressing plate (5);
a reset spring (406) and a sliding resistance-changing device are further arranged in the shell (403), the reset spring (406) is abutted against the end part of the shell (402), the sliding resistance-changing device is connected with the shell (402) and changes the resistance along with the sliding of the shell (402), and the sliding resistance-changing device is connected with a current detection module;
the sliding resistance-changing device comprises an insulating column (407) fixedly connected to the end part of the casing (402), a plurality of metal rings (409) are fixedly sleeved on the outer side surface of the insulating column (407), two symmetrically arranged elastic sheets (408) are fixedly connected to the outer side surface of the metal rings (409), and the elastic sheets (408) are arc-shaped and obliquely arranged;
two the lateral surface of elastic piece (408) corresponds is provided with two arc pieces (410), insulating post (407) are used for sliding to two in arc piece (410), the external diameter of elastic piece (408) is greater than the internal diameter of arc piece (410), arc piece (410) fixed connection is in the inner wall of casing (403), two arc piece (410) are connected respectively through wire (404) the electric current detection module.
2. The foot pressure detection structure of a wall climbing robot according to claim 1, wherein: the bracket comprises two semicircular plates (2) which are symmetrically arranged, the two semicircular plates (2) are wrapped on the outer side faces of the ducted fans (3), and the two semicircular plates (2) are detachably connected with the ducted fans (3).
3. The foot pressure detection structure of a wall climbing robot according to claim 2, wherein: the inner side of the semicircular plate (2) is provided with an arc groove (203), the outer side of the ducted fan (3) is fixedly provided with an annular protrusion (302), the annular protrusion (302) is embedded into the arc groove (203), two ends of the semicircular plate (2) are respectively provided with a connecting part (201), and the two connecting parts (201) of the semicircular plate (2) are detachably connected.
4. The foot pressure detection structure of a wall climbing robot according to claim 2, wherein: the outer side faces of the two semicircular plates (2) are fixedly connected with supporting rods (1), and one ends, away from the semicircular plates (2), of the two supporting rods (1) are detachably connected with the outer side faces of the shell (403).
5. The foot pressure detection structure of a wall climbing robot according to claim 1, wherein: the novel sliding type sliding device is characterized in that the casing (402) is provided with an installation cavity with an opening, the opening direction is in the same direction as the sliding cavity, a sliding plate (411) is slidably arranged in the installation cavity, one end of a plurality of limiting rods (405) is connected with the sliding plate (411), the other end of each limiting rod (405) penetrates through the casing (402) and is fixedly connected with the inner wall of the casing (403), and a plurality of reset springs (406) are sleeved on each limiting rod (405).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211286183.9A CN115541072B (en) | 2022-10-20 | 2022-10-20 | Foot pressure detection structure of wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211286183.9A CN115541072B (en) | 2022-10-20 | 2022-10-20 | Foot pressure detection structure of wall climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN115541072A CN115541072A (en) | 2022-12-30 |
| CN115541072B true CN115541072B (en) | 2023-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211286183.9A Active CN115541072B (en) | 2022-10-20 | 2022-10-20 | Foot pressure detection structure of wall climbing robot |
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| CN (1) | CN115541072B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240668A (en) * | 2016-09-19 | 2016-12-21 | 南京航空航天大学 | A kind of convex articular type climbing robot |
| CN110481669A (en) * | 2019-08-30 | 2019-11-22 | 南京大学 | A kind of spider-shaped bionic wall climbing robot based on frictional force attachment techniques |
| WO2020015695A1 (en) * | 2018-07-20 | 2020-01-23 | 酷黑科技（北京）有限公司 | Ducted fan unmanned aerial vehicle and housing thereof |
| CN213442829U (en) * | 2020-09-16 | 2021-06-15 | 董承儒 | Wheel type wall-climbing robot with adjustable adsorption force |
| CN215944723U (en) * | 2021-09-08 | 2022-03-04 | 中建深圳装饰有限公司 | Building curtain wall check out test set carries on structure based on wall climbing robot |
-
2022
- 2022-10-20 CN CN202211286183.9A patent/CN115541072B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240668A (en) * | 2016-09-19 | 2016-12-21 | 南京航空航天大学 | A kind of convex articular type climbing robot |
| WO2020015695A1 (en) * | 2018-07-20 | 2020-01-23 | 酷黑科技（北京）有限公司 | Ducted fan unmanned aerial vehicle and housing thereof |
| CN110481669A (en) * | 2019-08-30 | 2019-11-22 | 南京大学 | A kind of spider-shaped bionic wall climbing robot based on frictional force attachment techniques |
| CN213442829U (en) * | 2020-09-16 | 2021-06-15 | 董承儒 | Wheel type wall-climbing robot with adjustable adsorption force |
| CN215944723U (en) * | 2021-09-08 | 2022-03-04 | 中建深圳装饰有限公司 | Building curtain wall check out test set carries on structure based on wall climbing robot |
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| Publication number | Publication date |
|---|---|
| CN115541072A (en) | 2022-12-30 |
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