CN104773223A - Wall climbing robot traveling mechanism on basis of negative pressure adsorption feet - Google Patents
Wall climbing robot traveling mechanism on basis of negative pressure adsorption feet Download PDFInfo
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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
一种基于负压吸附足的爬壁机器人行走机构，包括驱动轮、从动轮、链条和一组负压吸附足，负压吸附足包括吸盘和吸盘杆，吸盘安装在吸盘杆的下端，负吸盘杆的上端与活塞连接，活塞的上部与顶压弹簧的下端连接，壳体内设有滑腔，顶压弹簧的上端顶触在滑腔的顶壁；吸盘杆和活塞可上下滑动地密封装配在滑腔内，吸盘杆的内腔呈中空，吸盘杆的壁面开有吸盘杆负压口和吸盘杆大气口，壳体的壁面上还有壳体负压口和壳体大气口，吸盘杆负压口和吸盘杆大气口之间的距离与壳体负压口和壳体大气口之间的距离之差为活塞的位移行程，壳体负压口与负压产生装置连接，活塞外的壳体内安装电磁装置。本发明简化结构、元件少、体积小、成本较低。
A walking mechanism of a wall-climbing robot based on negative pressure adsorption feet, including a driving wheel, a driven wheel, a chain and a set of negative pressure adsorption feet. The negative pressure adsorption feet include a suction cup and a suction cup rod. The suction cup is installed at the lower end of the suction cup rod. The upper end of the rod is connected to the piston, and the upper part of the piston is connected to the lower end of the pressing spring. There is a sliding chamber in the housing, and the upper end of the pressing spring touches the top wall of the sliding chamber; In the sliding chamber, the inner cavity of the suction cup rod is hollow, and the wall surface of the suction cup rod is provided with a suction cup rod negative pressure port and a suction cup rod atmospheric port. The difference between the distance between the pressure port and the atmospheric port of the sucker rod and the distance between the negative pressure port of the housing and the atmospheric port of the housing is the displacement stroke of the piston. The negative pressure port of the housing is connected with the negative pressure generating device, and the shell outside the piston An electromagnetic device is installed in the body. The invention has simplified structure, few components, small volume and low cost.
Description
技术领域technical field
本发明涉及爬壁机器人，尤其是一种爬壁机器人行走机构。The invention relates to a wall-climbing robot, in particular to a walking mechanism of a wall-climbing robot.
背景技术Background technique
爬壁机器人的关键技术之一是壁面吸附与行走机构的设计。目前行走机构的吸附方式包括负压吸附、电磁吸附等，负压吸附适用于平整光滑壁面，电磁吸附只能应用于导磁壁面。现有的负压吸附方式一般采用阀控吸盘的形式，结构较为复杂、元件多、体积大。采用此类结构吸附足的爬壁机器人外形尺寸较为庞大，并且每个吸附足都需要对应的控制阀，控制逻辑和时序较为复杂，成本高。One of the key technologies of the wall-climbing robot is the design of wall adsorption and walking mechanism. At present, the adsorption methods of the walking mechanism include negative pressure adsorption, electromagnetic adsorption, etc. Negative pressure adsorption is suitable for flat and smooth walls, while electromagnetic adsorption can only be applied to magnetically conductive walls. The existing negative pressure adsorption method generally adopts the form of a valve-controlled suction cup, which has a relatively complicated structure, many components, and a large volume. The wall-climbing robot with such a structure of adsorption feet is relatively large in size, and each adsorption foot needs a corresponding control valve, the control logic and timing are relatively complicated, and the cost is high.
发明内容Contents of the invention
为了克服已有爬壁机器人的负压吸附方式的结构复杂、元件多、体积大、成本较高的不足，本发明提供一种简化结构、元件少、体积小、成本较低的基于负压吸附足的爬壁机器人行走机构。In order to overcome the shortcomings of the existing negative pressure adsorption method of wall-climbing robots, such as complex structure, many components, large volume, and high cost, the present invention provides a vacuum-based adsorption system with simplified structure, few components, small volume, and low cost. Walking mechanism of a wall-climbing robot with feet.
本发明解决其技术问题所采用的技术方案是：The technical solution adopted by the present invention to solve its technical problems is:
一种基于负压吸附足的爬壁机器人行走机构，包括驱动轮、从动轮、链条和一组负压吸附足，所述负压吸附足包括吸盘和吸盘杆，所述吸盘安装在吸盘杆的下端，所述负压吸附足还包括壳体、活塞和顶压弹簧，所述吸盘杆的上端与所述活塞连接，所述活塞的上部与所述顶压弹簧的下端连接，所述壳体内设有供所述吸盘杆、活塞和顶压弹簧装配的滑腔，所述顶压弹簧的上端顶触在所述滑腔的顶壁；所述吸盘杆和活塞可上下滑动地密封装配在滑腔内，所述吸盘杆的内腔呈中空，所述吸盘杆的壁面开有吸盘杆负压口和吸盘杆大气口，所述壳体的壁面上还有壳体负压口和壳体大气口，所述吸盘杆负压口和吸盘杆大气口之间的距离与壳体负压口和壳体大气口之间的距离之间的差值为所述活塞的位移行程，所述壳体负压口与负压产生装置连接，所述活塞外的壳体内安装用以通过电磁原理带动活塞向上运动压缩弹簧的电磁装置。A walking mechanism for a wall-climbing robot based on negative pressure adsorption feet, including a driving wheel, a driven wheel, a chain and a set of negative pressure adsorption feet, the negative pressure adsorption feet include a suction cup and a suction cup rod, and the suction cup is installed on the suction cup rod The lower end, the negative pressure adsorption foot also includes a housing, a piston and a pressure spring, the upper end of the suction cup rod is connected to the piston, the upper part of the piston is connected to the lower end of the pressure spring, and the inside of the housing There is a sliding chamber for the suction cup rod, piston and pressing spring to be assembled, and the upper end of the pressing spring is in contact with the top wall of the sliding chamber; In the cavity, the inner cavity of the suction cup rod is hollow, and the wall surface of the suction cup rod is provided with a suction cup rod negative pressure port and a suction cup rod atmospheric port, and the wall surface of the shell also has a shell negative pressure port and a shell atmospheric port. mouth, the difference between the distance between the negative pressure port of the suction cup rod and the atmospheric port of the suction cup rod and the distance between the negative pressure port of the housing and the atmospheric port of the housing is the displacement stroke of the piston, and the housing The negative pressure port is connected with the negative pressure generating device, and an electromagnetic device for driving the piston upwards to compress the spring is installed in the shell outside the piston through the electromagnetic principle.
本发明中，负压吸附足处于吸附状态时，吸盘杆负压口与壳体负压口对齐，吸盘杆大气口与壳体大气口错开位置；负压吸附足处于离壁状态时，吸盘杆负压口与壳体负压口错开位置，吸盘杆大气口与壳体大气口对齐。In the present invention, when the negative pressure adsorption foot is in the adsorption state, the negative pressure port of the suction cup rod is aligned with the negative pressure port of the housing, and the air port of the suction cup rod is staggered from the large air port of the housing; The negative pressure port and the negative pressure port of the shell are staggered, and the air port of the suction cup rod is aligned with the air port of the shell.
进一步，所述吸盘杆负压口位于吸盘杆大气口的上方，所述壳体负压口位于壳体大气口的上方，所述吸盘杆负压口和吸盘杆大气口之间的距离大于壳体负压口和壳体大气口之间的距离。Further, the negative pressure port of the suction cup rod is located above the atmospheric port of the suction cup rod, the negative pressure port of the housing is located above the atmospheric port of the housing, and the distance between the negative pressure port of the suction cup rod and the atmospheric port of the suction cup rod is greater than that of the shell The distance between the negative pressure port of the body and the atmospheric port of the shell.
或者是：所述吸盘杆负压口位于吸盘杆大气口的下方，所述壳体负压口位于壳体大气口的下方，所述吸盘杆负压口和吸盘杆大气口之间的距离小于壳体负压口和壳体大气口之间的距离。Or: the negative pressure port of the suction cup rod is located below the atmospheric port of the suction cup rod, the negative pressure port of the housing is located below the atmospheric port of the housing, and the distance between the negative pressure port of the suction cup rod and the atmospheric port of the suction cup rod is less than The distance between the negative pressure port of the shell and the atmospheric port of the shell.
再进一步，所述电磁装置为电磁线圈。Still further, the electromagnetic device is an electromagnetic coil.
本发明的技术构思为：使用时，将壳体负压口与负压产生装置相连，以提供负压。在吸附状态下，电磁线圈失电，弹簧将活塞、吸盘杆和吸盘的联接体推至下极限位置。此时吸盘杆负压口与壳体负压口对齐，吸盘杆大气口与壳体大气口错开位置。则在吸盘杆和吸盘内腔形成负压，吸盘直接吸附于壁面。在离壁状态下，电磁线圈得电并驱动活塞、吸盘杆和吸盘的联接体移动到上极限位置。此时吸盘杆负压口与壳体负压口错开，吸盘杆大气口与壳体大气口对齐。则吸盘杆和吸盘内腔与外部负压隔开，而与大气联通，吸盘失去吸附力，离开壁面。The technical idea of the present invention is: when in use, connect the negative pressure port of the shell with the negative pressure generating device to provide negative pressure. In the suction state, the electromagnetic coil is de-energized, and the spring pushes the connecting body of the piston, the suction cup rod and the suction cup to the lower limit position. At this time, the negative pressure port of the suction cup rod is aligned with the negative pressure port of the housing, and the air port of the suction cup rod is staggered from the air port of the housing. Then a negative pressure is formed in the sucker rod and the inner chamber of the sucker, and the sucker is directly adsorbed on the wall. In the wall-free state, the electromagnetic coil is energized and drives the coupling body of the piston, the sucker rod and the sucker to move to the upper limit position. At this time, the negative pressure port of the suction cup rod is staggered from the negative pressure port of the housing, and the air port of the suction cup rod is aligned with the air port of the housing. Then the suction cup rod and the suction cup inner cavity are separated from the external negative pressure, and communicated with the atmosphere, and the suction cup loses its adsorption force and leaves the wall.
本发明的有益效果主要表现在：1、简化结构、元件少、体积小、成本较低；2、不仅适用于水平平整壁面，也适用于非水平平整壁面。The beneficial effects of the present invention are mainly manifested in: 1. Simplified structure, less components, small volume, and low cost; 2. Not only applicable to horizontal and flat walls, but also applicable to non-horizontal and flat walls.
附图说明Description of drawings
图1是基于负压吸附足的爬壁机器人行走机构的示意图。Figure 1 is a schematic diagram of the walking mechanism of a wall-climbing robot based on negative pressure adsorption feet.
图2是负压吸附足的吸附状态示意图。Fig. 2 is a schematic diagram of the adsorption state of the negative pressure adsorption foot.
图3是负压吸附足的离壁状态示意图。Fig. 3 is a schematic diagram of the wall-off state of the negative pressure adsorption foot.
具体实施方式Detailed ways
下面结合附图对本发明作进一步描述。The present invention will be further described below in conjunction with the accompanying drawings.
参照图1～图3，一种基于负压吸附足的爬壁机器人行走机构，包括驱动轮11、从动轮12、链条13和一组负压吸附足，所述负压吸附足包括吸盘5和吸盘杆4，所述吸盘5安装在吸盘杆4的下端，所述负压吸附足还包括壳体6、活塞3和顶压弹簧1，所述吸盘杆4的上端与所述活塞3连接，所述活塞3的上部与所述顶压弹簧1的下端连接，所述壳体6内设有供所述吸盘杆4、活塞3和顶压弹簧1装配的滑腔，所述顶压弹簧1的上端顶触在所述滑腔的顶壁；所述吸盘杆4和活塞3可上下滑动地密封装配在滑腔内，所述吸盘杆4的内腔呈中空，所述吸盘杆4的壁面开有吸盘杆负压口7和吸盘杆大气口9，所述壳体6的壁面上还有壳体负压口8和壳体大气口10，所述吸盘杆负压口7和吸盘杆大气口9之间的距离与壳体负压口8和壳体大气口10之间的距离之间的差值为所述活塞3的位移行程，所述壳体负压口8与负压产生装置连接，所述活塞3外的壳体内安装用以通过电磁原理带动活塞3向上运动压缩弹簧的电磁装置2。Referring to Figures 1 to 3, a walking mechanism for a wall-climbing robot based on negative pressure adsorption feet includes a driving wheel 11, a driven wheel 12, a chain 13, and a set of negative pressure adsorption feet. The negative pressure adsorption feet include suction cups 5 and Suction cup rod 4, described suction cup 5 is installed on the lower end of suction cup rod 4, and described negative pressure adsorption foot also comprises housing 6, piston 3 and pressure spring 1, and the upper end of described suction cup rod 4 is connected with described piston 3, The upper part of the piston 3 is connected to the lower end of the pressing spring 1, and the housing 6 is provided with a sliding cavity for the assembly of the sucker rod 4, the piston 3 and the pressing spring 1, and the pressing spring 1 The upper end of the top touches the top wall of the sliding cavity; the suction cup rod 4 and the piston 3 can be sealed and assembled in the sliding cavity up and down, the inner cavity of the suction cup rod 4 is hollow, and the wall surface of the suction cup rod 4 There are suction cup rod negative pressure port 7 and suction cup rod atmospheric port 9, and the wall surface of the housing 6 also has a housing negative pressure port 8 and a housing atmospheric port 10, and the suction cup rod negative pressure port 7 and the suction cup rod atmospheric port The difference between the distance between the ports 9 and the distance between the housing negative pressure port 8 and the housing atmospheric port 10 is the displacement stroke of the piston 3, and the housing negative pressure port 8 and the negative pressure generating device Connected, the housing outside the piston 3 is equipped with an electromagnetic device 2 for driving the piston 3 to move upwards and compress the spring through the electromagnetic principle.
进一步，如图2和图3所示，所述吸盘杆负压口7位于吸盘杆大气口9的上方，所述壳体负压口8位于壳体大气口10的上方，所述吸盘杆负压口7和吸盘杆大气口9之间的距离大于壳体负压口8和壳体大气口10之间的距离。Further, as shown in Fig. 2 and Fig. 3, the negative pressure port 7 of the suction cup rod is located above the atmospheric port 9 of the suction cup rod, the negative pressure port 8 of the housing is located above the atmospheric port 10 of the housing, and the negative pressure port of the suction cup rod The distance between the pressure port 7 and the air port 9 of the suction cup rod is greater than the distance between the negative pressure port 8 of the housing and the air port 10 of the housing.
或者是：所述吸盘杆负压口位于吸盘杆大气口的下方，所述壳体负压口位于壳体大气口的下方，所述吸盘杆负压口和吸盘杆大气口之间的距离小于壳体负压口和壳体大气口之间的距离。该方式是可以选择的另一种实现方式(没有用附图显示)。Or: the negative pressure port of the suction cup rod is located below the atmospheric port of the suction cup rod, the negative pressure port of the housing is located below the atmospheric port of the housing, and the distance between the negative pressure port of the suction cup rod and the atmospheric port of the suction cup rod is less than The distance between the negative pressure port of the shell and the atmospheric port of the shell. This mode is another optional implementation mode (not shown in the drawings).
再进一步，所述电磁装置2为电磁线圈。Still further, the electromagnetic device 2 is an electromagnetic coil.
本实施例的爬壁机器人行走机构。该行走机构由驱动轮11、从动轮12、链条13和一组负压吸附足组成。一组吸附足均布安装在链条13上。当其中一个吸附足运动至驱动轮11正下方即图示15的位置时，吸附足进入吸附状态，使得爬壁机器人在驱动轮11和链条13的作用下前进。当吸附足处于从动轮12正下方即图示14的位置时，即吸附足即将离开壁面时，由于从动轮12安装位置相对于驱动轮11偏下，爬壁机器人的重力和吸附足的电磁线圈2共同作用，使得吸附足进入离壁状态，并离开壁面。如此循环，爬壁机器人可在任意倾斜角度的平整壁面吸附并行走。The walking mechanism of the wall-climbing robot of the present embodiment. This walking mechanism is made up of driving wheel 11, driven wheel 12, chain 13 and one group of negative pressure adsorption feet. One group of adsorption feet is evenly distributed on the chain 13. When one of the adsorption feet moves to the position directly below the driving wheel 11, that is, the position shown in Figure 15, the adsorption foot enters the adsorption state, so that the wall-climbing robot advances under the action of the driving wheel 11 and the chain 13. When the adsorption foot is directly below the driven wheel 12, that is, the position shown in Figure 14, that is, when the adsorption foot is about to leave the wall, since the installation position of the driven wheel 12 is lower than the driving wheel 11, the gravity of the wall-climbing robot and the electromagnetic coil of the adsorption foot 2 work together to make the adsorption foot enter the wall-free state and leave the wall. In such a cycle, the wall-climbing robot can absorb and walk on a flat wall with any inclined angle.
本实施例的负压吸附足，将壳体负压口8与负压产生装置相连，以提供负压。在吸附状态下，电磁装置2失电，顶压弹簧1将活塞3、吸盘杆4和吸盘5的联接体推至下极限位置。此时吸盘杆负压口7与壳体负压口8对齐，吸盘杆大气口9与壳体大气口10错开位置。则在吸盘杆4和吸盘5内腔形成负压，吸盘直接吸附于壁面。在离壁状态下，电磁装置2得电并驱动活塞3、吸盘杆4和吸盘5的联接体移动到上极限位置。此时吸盘杆负压口7与壳体负压口8错开，吸盘杆大气口9与壳体大气口10对齐。则吸盘杆4和吸盘5内腔与外部负压隔开，而与大气联通，吸盘5失去吸附力，离开壁面。The negative pressure adsorption foot of this embodiment connects the negative pressure port 8 of the housing with the negative pressure generating device to provide negative pressure. In the adsorption state, the electromagnetic device 2 is de-energized, and the pressure spring 1 pushes the connecting body of the piston 3, the sucker rod 4 and the sucker 5 to the lower limit position. At this time, the negative pressure port 7 of the suction cup rod is aligned with the negative pressure port 8 of the housing, and the air port 9 of the suction cup rod is staggered from the air port 10 of the housing. Then a negative pressure is formed in the cavity of the sucker rod 4 and the sucker 5, and the sucker is directly adsorbed on the wall. In the wall-free state, the electromagnetic device 2 is powered and drives the coupling body of the piston 3, the sucker rod 4 and the sucker 5 to move to the upper limit position. At this time, the vacuum port 7 of the sucker rod is staggered from the negative pressure port 8 of the housing, and the air port 9 of the suction cup rod is aligned with the air port 10 of the housing. Then the sucker bar 4 and the sucker 5 inner cavity are separated from the external negative pressure, and connected with the atmosphere, the sucker 5 loses the adsorption force and leaves the wall.
Claims (5)
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105835066A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Magnetic wheel set robot traveling device |
| CN108382485A (en) * | 2018-03-01 | 2018-08-10 | 哈尔滨工业大学 | A kind of inflatable software foot crawling robot for autotomying sufficient |
| CN110040190A (en) * | 2019-04-23 | 2019-07-23 | 哈尔滨理工大学 | A kind of adsorption system for sucker crawler-type wall climbing robot |
| CN114321140A (en) * | 2021-12-21 | 2022-04-12 | 苏州绿的谐波传动科技股份有限公司 | Vacuum negative pressure adsorption device and multi-legged robot |
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| CN105835066A (en) * | 2016-05-30 | 2016-08-10 | 哈工大机器人集团有限公司 | Magnetic wheel set robot traveling device |
| CN105835066B (en) * | 2016-05-30 | 2018-01-16 | 哈工大机器人集团有限公司 | A kind of magnet-wheel group robot walking device |
| CN108382485A (en) * | 2018-03-01 | 2018-08-10 | 哈尔滨工业大学 | A kind of inflatable software foot crawling robot for autotomying sufficient |
| CN108382485B (en) * | 2018-03-01 | 2020-03-31 | 哈尔滨工业大学 | A self-disrupting inflatable soft-footed crawling robot |
| CN110040190A (en) * | 2019-04-23 | 2019-07-23 | 哈尔滨理工大学 | A kind of adsorption system for sucker crawler-type wall climbing robot |
| CN114321140A (en) * | 2021-12-21 | 2022-04-12 | 苏州绿的谐波传动科技股份有限公司 | Vacuum negative pressure adsorption device and multi-legged robot |
| CN114321140B (en) * | 2021-12-21 | 2024-06-21 | 苏州绿的谐波传动科技股份有限公司 | Vacuum negative pressure adsorption device and multi-legged robot |
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Application publication date: 20150715 |