CN206187154U - Interior corner climbing robot - Google Patents
Interior corner climbing robot Download PDFInfo
- Publication number
- CN206187154U CN206187154U CN201621295012.2U CN201621295012U CN206187154U CN 206187154 U CN206187154 U CN 206187154U CN 201621295012 U CN201621295012 U CN 201621295012U CN 206187154 U CN206187154 U CN 206187154U
- Authority
- CN
- China
- Prior art keywords
- road wheel
- corner
- robot
- metope
- frictional force
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
- Toys (AREA)
Abstract
The utility model relates to an interior corner climbing robot, it includes fuselage and drive arrangement, it still sets up including the symmetry the action wheel of fuselage both sides, the drive arrangement output connection has transmission, transmission with be connected with the universal parts that are used for regulations action wheel orientation between the action wheel, make the action wheel hug closely in two walls in corner when rotating, the action take turns and produce frictional force F between two walls, this frictional force F have the reentrant corner line that prevents vertical ascending weight that the robot dropped and the interior corner of orientation and with reentrant corner line vertically weight. The problem that the wall robot needs complicated adsorption technology of climbing has been solved to this scheme among the prior art.
Description
Technical field
The utility model is related to climbing robot, specifically a kind of corner climbing robot.
Background technology
Climbing Robot can be climbed and fulfiled assignment in perpendicular walls, and climbing robot is also called wall robot,
Because vertical walls operation is also called limit robot abroad beyond the limit of people.
Climbing robot must possess absorption and mobile two basic functions, realize that the function of wall is climbed by robot, adsorb
Technology is core.Traditional climbing robot has vacuum suction, magnetic suck and climbs up by holding on to formula three kinds of adsorption forms of absorption.Vacuum suction side
Formula has the advantages that not limited by wall surface material, but when wall is rough and uneven in surface, easily makes sucker gas leakage so that absorption affinity and
Bearing capacity is decreased obviously.Magnetic suck method can be divided into two kinds of electromagnet and permanent magnet, and electromagnet formula maintenance absorption affinity needs electric power,
But control more convenient.Permanent magnet type is not influenceed by powering off, safe and reliable in use, but control is more bothered.Magnetic suck mode
To the convex-concave strong adaptability of wall, and absorption affinity is much larger than vacuum suction mode, in the absence of the problem of vacuum leak, but requires wall
Face must be permeability magnetic material, therefore seriously limit the applied environment of climbing robot.Climb up by holding on to formula absorption be by catching or
The projection for catching on wall is realized climbing wall, and this mode requires that wall is coarse, then improper for hydraulically smooth surface.
In the prior art, the research to above-mentioned these Climbing Robots is concentrated mainly on the adsorption function of vertical wall,
But all use defect in the presence of some all the time：Climbing Robot using magnetic suck mode has particular/special requirement to metope, is applicable
Scope is small；High power components are needed using the Climbing Robot of vacuum suction mode to produce negative pressure；Using bionic gecko pin side
The Climbing Robot wheel efficiency of formula is low.
The content of the invention
The purpose of this utility model is to provide a kind of corner climbing robot, and its simple structure is easy to control, can
Solve the problems, such as that Climbing Robot needs complicated adsorption technology in the prior art.
The technical solution of the utility model is as follows：
A kind of corner climbing robot, it includes fuselage and drive device, and it also includes being symmetricly set on the fuselage
The road wheel of both sides, the drive device output is connected with transmission device, is connected between the transmission device and the road wheel
Have the universal member for adjusting road wheel direction, make road wheel be close to corner two metopes rotate when, road wheel with it is described
Frictional force F, frictional force F are produced between two metopes has the component straight up that prevents that robot from dropping and towards interior wall
The inside corner line at angle and the component vertical with inside corner line.
Further, the corner is 90 °, and the road wheel of the fuselage both sides symmetrically divides along the inside corner line of corner
Cloth；The road wheel towards corner inside corner line, and the direction of road wheel it is vertical with the inside corner line or with the inside corner line
Angle in certain value acute angle.
Further, the drive device is motor, and the transmission device is power transmission shaft, and the universal member is universal
Section, the road wheel is that left and right coaxial configuration is used between two pairs and each pair road wheel.
Further, also including remote control, the remote control is by the direction of universal joint regulation and control road wheel, by adjusting
Save the rotating speed of the rotation speed regulating and controlling road wheel of motor.
This programme using corner special construction, by adjusting direction and the rotation of road wheel, make climbing robot with
Frictional force F is produced between metope, the motion or suspension of climbing robot is realized using the component on frictional force F vertical directions,
Realizing can just be such that climbing robot adsorbs on metope without the adsorption technology such as magnetic suck or suction type absorption.This climbing machine
Device people's simple structure, it is small volume, lightweight, without as the complicated adsorption technology such as magnetic-type or suction type, machine just can be completed
Body is moved on a vertical plane, and without remaining power set is added again, control is simple and easily realizes.
This programme ensures motion process for conventional perpendicular type interior wall corner structure, climbing robot using symmetrical structure
Stability.For needing the static running status hovered on metope, using road wheel towards on the premise of vertical with inside corner line,
Climbing robot is set not possess up condition, under setting herein, it is only necessary to ensure robot by adjusting the rotating speed of road wheel
" absorption " is on metope.For remaining motion state of robot, using the road wheel of both sides towards inside corner line and and inner corner trim
The angle of line is at an acute angle, now, the angle of the fixation angle, the rotating speed of a regulation and control road wheel, you can control the upper of robot
It is capable or descending, control simple and reliable.
The drive device of this programme realized using easily controlled motor, transmission device using power transmission shaft come transmitting torque,
Universal member conveniently adjusts the direction of road wheel using universal joint, and also using four wheel constructions, each pair road wheel or so coaxially connects
Connect, make robot or so stress equalization, beneficial to held stationary.Road wheel rotation, road wheel and wall are driven by the rotation of motor
There is contact between face so that metope is conducive to robot to move up and down the frictional force of robot, while the rigidity limitation of fuselage
The active force between road wheel and metope is increased, frictional force is increased, fuselage " absorption " is realized on metope.
Compared with prior art, the utility model simple structure, it is easy to control, without complicated traditional adsorption technology,
Just reach the purpose of dynamic equilibrium during travelling.It need not adsorb the requirement that is magnetic to metope as magnetic-type, it is not required that
As suction type suction type requirement high-power negative pressure, with reliability and terseness very high；And movement velocity is fast, control ratio
It is relatively simple, it is easier to implement.The utility model efficiency high, energy consumption are low, have a wide range of application, and are coordinating the condition of remote control
Under, can be widely used in various special working environments, such as work high above the ground robot, Disaster Relief Robot, detection robot
Deng.
Brief description of the drawings
Fig. 1 is structural representation of the present utility model；
Fig. 2 is force analysis figure of the utility model on corner；
Fig. 3 is a kind of positive structure schematic of specific embodiment of the utility model；
Fig. 4 is the view that climbing robot shown in Fig. 3 climbs corner.
Specific embodiment
The utility model will be further described with reference to the accompanying drawings and examples.
There is the phenomenon of corner for building, the utility model proposes a kind of Climbing Robot in dependence corner,
A kind of its walking mechanism that wall is climbed as simple structure, stabilization, neither using has the magnetic-type of limitation to metope nor uses big
The suction type adsorption technology of power, but produce friction to reach the purpose of absorption metope by the drive device 3 and metope of body.
As shown in figure 1, the climbing robot of this programme is in addition to fuselage and drive device 3, also including being symmetricly set on the fuselage both sides
Road wheel, the drive device 3 output be connected with transmission device 2, be connected between the transmission device 2 and the road wheel
Universal member 4.Drive device 3 produces power, transmission device 2 that power is transferred into road wheel, and universal member 4 is to realize varied angle
The parts of power transmission, universal member 4 can change the direction of road wheel.
When needing to climb wall, external pressure effect under, road wheel be close to corner two metopes rotate, road wheel with it is described
Relative motion is produced between two metope α, β, because the cambered surface that road wheel is contacted with metope has certain elastic and larger rub
Coefficient, metope are wiped nor definitely smooth, therefore, the frictional force F with component straight up, frictional force are produced between the two
F is that the road wheel of robot both sides is subject to metope to the vector of its frictional force.Overall Analysis are carried out to robot, can
Know, as gravity mg of the frictional force F components straight up more than robot, robot is climbed upwards with certain acceleration
Climb；When frictional force F components straight up are equal to the gravity mg of robot, the state of robot is at the uniform velocity climbing, even upwards
Speed decline, hover on two metopes of corner in one kind；When frictional force F components straight up are less than robot
During gravity mg, robot is declined with certain acceleration along metope.And frictional force F is towards inside corner line and vertical with inside corner line point
Amount is then to provide the source of pressure between road wheel and metope.
As shown in Fig. 2 force analysis, respectively there is a road wheel structure as shown in Figure 1, fuselage both sides, two road wheel and right
Claim to set, then corresponding tangent between the circumferential surface of road wheel and the two of corner metopes, the diameter of road wheel 11 is in wall
The projection line of the angle of the intersection L of projection line and two metopes on the α of face and the diameter of road wheel 12 on metope β is with intersection L's
Angle is equal, be two road wheels direction it is equal with the angle of the inside corner line of corner.
When needing robot to climb corner, to make metope produce frictional force " absorption " robot not drop, road wheel is pressed
Rotated according to direction shown in Fig. 1, the direction of road wheel is acute angle with the angle of inside corner line, mechanics analysis such as Fig. 2 suffered by robot
Shown, it is F that road wheel 11 is subject to the friction force of metope αf, it is F that road wheel 12 is subject to the friction force of metope βr。Ff
F is decomposed on metope αf1And Ff2, FrF is decomposed on metope βr1And Fr2.Wherein, Ff2、Fr2For straight up, Ff1、Fr1Respectively
On plane α and plane β and perpendicular to intersection L (i.e. inside corner line).Ff1、Fr1Both vectors are robot to metope
Pressure (direction shown in Fig. 2 is inwardly), with metope to the FN of robotr、FNlVector offset.Ff2、Fr2Both vectors
Be the frictional force F that is subject to of robot in component straight up, work as Ff2、Fr2Both vectors are put down with the gravity of robot
During weighing apparatus, fuselage will be made not fall.Robot adjusts the direction of road wheel and the folder of inside corner line when corner starts to climb upwards
Angle, increases the rotating speed of road wheel, when frictional force F increases to certain value, Ff2、Fr2Gravity of both vectors more than robot
Mg, robot starts climbing upwards.
When needing robot " absorption " on metope, in the vertical direction should be without velocity, now, the court of road wheel
To vertical with inside corner line, road wheel is still rotated according to direction as shown in Figure 1, when road wheel is rotated, has extruding generation to rub to metope
Power is wiped, extruding force is offset with the support force of metope, and frictional force and gravity are offset, and is realized and is adsorbed without magnetic suck or suction type
Can just make robot " absorption " on metope Deng adsorption technology.
When robot accelerates decline, uniform motion on metope, the direction of road wheel is still acute angle with the angle of inside corner line,
Road wheel is still rotated according to direction as shown in Figure 1, and force analysis is similar to, and repeats no more here.Summary is got up, and maintains fuselage upward
Soaring condition is ∑ (Ff2, Fr2)≥mg；The condition of hovering is ∑ (Ff2, Fr2)=mg；The condition of decline is ∑ (Ff2, Fr2)≤
Mg, can be by regulating and controlling the direction of road wheel with the rotating speed of the angle of inside corner line and road wheel to regulate and control ∑ (Ff2, Fr2) it is big
It is small.
Generally, the corner is 90 °, as shown in Figure 3,4, four road wheels of the fuselage both sides along corner the moon
Linea angulata is symmetrical.Due to the angle, OK of the component size of frictional force F in the vertical directions and the direction of road wheel and inside corner line
The rotating speed of driving wheel is relevant, for regulation and control are convenient, in the same motion process of robot, climbing process is such as accelerated upwards, keeps row
The direction of driving wheel is that an acute angle value is constant with the angle of inside corner line, in addition robot hovering, fall when, the rotation side of road wheel
To with it is soaring when identical and with inside corner line angle it is consistent.When the timing of angle one, motor speed are bigger, fuselage is subject to upward work
It is firmly bigger, but due to the limitation of mechanical structure, it is impossible to unlimited increase, under fuselage is just met when reaching with gravitational equilibrium not
Fall；Continue increase rotating speed and then realize soaring effect, reduce rotating speed and then realize whereabouts effect, road wheel is not towards in whole process
Become.Specifically, control as described below：
1st, when robot is hovered on two metopes of corner, its road wheel towards corner inside corner line and with the moon
Linea angulata is vertical, and the rotating speed for adjusting road wheel makes the frictional force F between road wheel and two metope in component straight up etc.
In the gravity of robot.
2nd, when the metope of Robot two accelerate upwards climbing when, its road wheel towards corner inside corner line and with the inner corner trim
The angle of line is in the acute angle of certain value, and adjusting the rotating speed of road wheel makes the frictional force F between road wheel and two metope perpendicular
Gravity of the straight upward component more than robot.
3rd, when the metope of Robot two at the uniform velocity upwards climb or decline when, its road wheel towards corner inside corner line and with
The angle of the inside corner line is in the acute angle of certain value, and the rotating speed of regulation road wheel makes the frictional force between road wheel and two metope
F is equal to the gravity of robot in component straight up.
4th, when the metope of Robot two accelerate decline when, its road wheel towards corner inside corner line and with the inside corner line
Angle in certain value acute angle, adjust the rotating speed of road wheel make frictional force F between road wheel and two metope vertically to
On component less than robot gravity.
During specific implementation, the drive device 3 uses the motor of variable-ratio, and the transmission device 2 uses power transmission shaft, described
Universal member 4 uses universal joint, and the road wheel is that left and right coaxial configuration is used between two pairs and each pair road wheel so that left and right
Stress equalization, it is ensured that road wheel has certain elasticity and coefficient of friction.
For convenience of controlling, universal joint is controlled using remote control, so as to regulate and control the direction of road wheel；Remote control also can be square
Just the rotating speed of regulation motor, so as to regulate and control the rotating speed of road wheel.
Claims (4)
1. a kind of corner climbing robot, including fuselage and drive device, it is characterised in that：It is also described including being symmetricly set on
The road wheel of fuselage both sides, the drive device output is connected with transmission device, between the transmission device and the road wheel
Be connected with the universal member for adjusting road wheel direction, make road wheel be close to corner two metopes rotate when, road wheel with
Frictional force F, frictional force F are produced between two metope has the component straight up and direction for preventing that robot from dropping
The inside corner line of corner and the component vertical with inside corner line.
2. a kind of corner climbing robot according to claim 1, it is characterised in that：The corner is 90 °, described
The road wheel of fuselage both sides is symmetrical along the inside corner line of corner；The road wheel towards corner inside corner line, and action
The direction of wheel is vertical with the inside corner line or angle with the inside corner line in certain value acute angle.
3. a kind of corner climbing robot according to claim 1 and 2, it is characterised in that：The drive device is electricity
Machine, the transmission device is power transmission shaft, and the universal member is universal joint, and the road wheel is between two pairs and each pair road wheel
Using left and right coaxial configuration.
4. a kind of corner climbing robot according to claim 3, it is characterised in that：Also include remote control, it is described
The rotating speed of direction of the remote control by universal joint regulation and control road wheel, the rotation speed regulating and controlling road wheel by regulation motor.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621295012.2U CN206187154U (en) | 2016-11-30 | 2016-11-30 | Interior corner climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621295012.2U CN206187154U (en) | 2016-11-30 | 2016-11-30 | Interior corner climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206187154U true CN206187154U (en) | 2017-05-24 |
Family
ID=58725349
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621295012.2U Active CN206187154U (en) | 2016-11-30 | 2016-11-30 | Interior corner climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206187154U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111501544A (en) * | 2020-04-30 | 2020-08-07 | 陈贞全 | Maintenance lifting platform for bridge double-column type pier |
-
2016
- 2016-11-30 CN CN201621295012.2U patent/CN206187154U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111501544A (en) * | 2020-04-30 | 2020-08-07 | 陈贞全 | Maintenance lifting platform for bridge double-column type pier |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106428283B (en) | A kind of corner climbing robot | |
| CN208085842U (en) | A kind of crawler-type wall climbing robot | |
| CN103909991B (en) | A kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof | |
| WO2015074522A1 (en) | Suction cup capable of increasing friction and suction-type auto-moving apparatus | |
| CN110077483A (en) | A kind of negative-pressure adsorption robot and become adsorption capacity non-plane motion control method | |
| CN106388729A (en) | Wheel type wall-climbing robot and working method thereof | |
| CN206187154U (en) | Interior corner climbing robot | |
| CN103738427A (en) | Continuous hopping robot with single leg and adjustable overhead postures | |
| CN205930983U (en) | Four rotors of normal direction face can be crossed and wall robot is climbed | |
| CN206708019U (en) | A kind of damping screw-type vacuum pump | |
| CN106184453A (en) | A kind of four rotor Climbing Robot crossing normal plane | |
| Zhou et al. | Design of wall-climbing robot using electrically activated rotational-flow adsorption unit | |
| CN108622219A (en) | A kind of propeller side compression type adsorption wall climbing robot | |
| CN103523108A (en) | Wall-climbing robot with adhesive bands | |
| CN206544554U (en) | Wall device is climbed by a kind of adjustable robot | |
| CN207345968U (en) | One kind climbing corner robot | |
| CN106476924B (en) | A kind of outside corner of wall Climbing Robot | |
| CN104648516B (en) | Self-adaptive flight adsorbed wall-climbing robot | |
| CN106120552A (en) | A kind of friction wheel type cable climbing measuring robots | |
| CN207773298U (en) | A kind of climbing robot | |
| JP2016084118A (en) | Travel wheel of wall surface suction travel device | |
| CN107628139A (en) | Magnetically adsorbed wall-climbing wheel | |
| CN208007136U (en) | Adsorbing mechanism and robot | |
| CN206857530U (en) | Conveyer belt with buffer structure | |
| CN207141225U (en) | A kind of magnetically adsorbed wall-climbing wheel |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |