CN106240668B - A kind of convex articular type climbing robot - Google Patents

Abstract

The invention discloses a curved surface joint type wall-climbing robot, which includes a frame and a control system. The frame is divided into an upper frame and a lower frame; the lower frame is installed on the The lower end of the central axis of the upper frame; the hinged structure is connected to the rotating device; the lower side of the upper frame is connected with the A system leg structure in the vertical direction; the lower side of the end of the lower frame is vertically The leg structure of the B system is connected; the corresponding circuit is controlled by the control system to control the behavior of the robot; the robot of the present invention continuously adjusts its own posture according to the change of the curvature of the curved surface during the movement process to move closer to the curved surface, and has great advantages. High adaptability to the curved surface; the invention adopts the moving mode of the foot, no matter it is moving or overcoming obstacles, it can better complete various tasks, so it has a very wide application field and scope.

Description

A Curved Surface Articulated Wall Climbing Robot

technical field

The invention belongs to the field of intelligent robots, and in particular relates to a curved-surface joint type wall-climbing robot, which can adapt to different curvature surfaces and can replace manual operations in various operations.

Background technique

A wall-climbing robot refers to an automated device that can move on a vertical wall to complete tasks and has an adsorption function. It will play a pivotal role in the intelligent future. As a load platform, wall-climbing robots can be used in many fields. For example, in the field of construction, wall-climbing robots carry paint or water tanks instead of manually painting walls or cleaning glass; in the field of petrochemicals, wall-climbing robots often use magnetic adsorption The method is to move on the wall of the metal tank, and carry some special equipment to detect the damage on the surface of the metal tank or weld the seam of the metal tank; in the field of aviation, the damage of the aircraft skin surface affects the safety of the aircraft flight, and the As the carrier of various detection equipment, the robot crawls on the surface of the aircraft to complete the detection task. It can be seen that the wall-climbing robot has a wide application prospect.

Several types of wall-climbing robots have been disclosed in the existing technology, such as a negative pressure adsorption wall-climbing robot (application number: 200910024927.8), the robot moves in a wheeled structure, and its movement is relatively flexible and fast; the negative pressure generating device Two "L"-shaped labyrinth gap seals are used between the middle impeller and the pump body, which has an obvious adsorption effect on a plane and is not easy to absorb failures, but this kind of robot is difficult to move on a curved surface, and the The sealing belt of the robot is easily damaged and the stability is not enough; another example is the wall-climbing robot (application number: CN97121896), which uses rotating paddles or ducted fans as power to enable the robot to stick to the wall. The efficiency of the wall-climbing method is low, so it is greatly limited in the practical application in the future.

To sum up, most of the current wall-climbing robots mainly move and turn on flat and smooth walls, but cannot directly work on curved surfaces. In other words, the efficiency of climbing walls is not high, and there are restrictions on operations under curved surface conditions. And the leg structure of the wall-climbing robot of the prior art is fixed and cannot be adjusted, and the angle between the leg structures cannot be adjusted, which further limits the future intelligent operation of the wall-climbing robot, so a wall-climbing robot is designed to be able to adjust The length of the leg structure and the ability to adapt to walls with different curvatures have always been technical problems to be solved by those skilled in the art.

Contents of the invention

The present invention is realized in this way. The present invention discloses a curved surface joint type wall-climbing robot, which includes a frame and a control system. The frame is divided into an upper frame and a lower frame; The connecting structure and the rotating device are installed at the lower end of the central axis of the upper frame, and the hinged structure is connected with the rotating device; the lower side of the upper frame is connected to the A system leg structure in the vertical direction; the lower frame The lower side of the end of the vertical direction is connected with the B system leg structure; wherein the upper frame and the A system leg structure form the A system of the present invention; the lower frame and the B system leg structure form the B system of the present invention, so The control system described above is the driving circuit of the corresponding stepper motor that controls the maneuvering operation of the entire curved surface joint type wall-climbing robot, the high-speed on-off valve that controls the adsorption and release of the corresponding suction cup, and the high-speed on-off valve that controls the expansion and contraction of the corresponding cylinder. Through the corresponding drive circuit in the control system to control the switching of the dual systems of the A system and the B system and the function of the hinge structure, not only the forward or backward movement of the robot on the wall can be controlled, but also the robot can be realized in situ through the rotating device. Make a steering movement.

Further, the hinge structure includes a forearm, a first elbow, a second elbow, an upper arm and a rotating device; the upper end of the forearm is connected to the upper frame, and the stator of the first elbow is installed on the forearm , the upper end of the first elbow is connected with the lower end of the forearm, the rotor of the first elbow is installed on the upper arm, the lower end of the first elbow is connected with the upper end of the upper arm; the rotor of the second elbow is installed at the lower end of the upper arm, and the second The elbow is connected to the lower end of the upper arm, and the lower end of the second elbow is connected to the rotating device through the stator. The hinge structure is similar to the structure of the human arm, which is equivalent to the connecting rod joint structure of the elbow joint. The leg structure is controlled by the rotation of the stator and the rotor. The state of the whole wall-climbing robot is controlled to move forward.

Further, the rotating device includes a large gear, an upper turntable and a stepping motor of the rotating part, a stator of the second elbow is installed on the central axis of the upper end of the upper turntable, and the stator is connected with the lower end of the second elbow, The lower end of the upper turntable is connected with a large gear; the stepping motor of the rotating part is controlled through the corresponding circuit, and the rotating device is controlled to realize the function that the wall-climbing robot can rotate in situ.

Further, the number of the system A leg structure is four groups, and the system A leg structure includes a double-acting cylinder of the system A, a stepping motor unit of the system A connected to the piston part of the double-acting cylinder of the system A, connected to A-system suction cup with A-system stepper motor unit.

Further, the stepping motor group of the A system includes the first stepping motor group and the fourth stepping motor group, the stepping motor group of the A system is connected with the double-acting cylinder piston part of the A system through the stator, and connected with the piston part of the A system through the rotor. The suction cup of system A is connected. Due to the high control precision of the stepping motor, the stepping motor of system A can be controlled through the corresponding drive circuit, and then the movement state of the leg structure of system A can be controlled.

Further, the number of the system B leg structure is four groups, and the system B leg structure includes a double-acting cylinder of the system B, a stepping motor unit of the system B connected to the piston part of the double-acting cylinder of the system B, connected to B-system suction cup with B-system stepper motor unit.

Further, the stepping motor group of the B system includes a second stepping motor group and a third stepping motor group, the stepping motor group of the B system is connected with the piston part of the double-acting cylinder of the B system through the stator, and connected with the piston part of the double-acting cylinder through the rotor. The suction cup of system B is connected, and the stepping motor unit of system B is controlled through the corresponding drive circuit, and then the movement state of the leg structure of system B is controlled.

Further, the suction cups of the system A and the system B are suction cups with an organ-type air chamber.

The beneficial effects of the present invention and prior art are:

(1) By choosing the dual-system switching adsorption design scheme of A and B, the multi-degree-of-freedom leg mechanism is used for coordinated control, so that the robot can adapt to the curved surface, and can be close to the curvature by changing the angle between the two systems smaller surfaces;

(2) Through the structure similar to the human arm, which is equivalent to the hinge structure of the connecting rod joint structure of the elbow joint, controlling the movement of the elbow and the stepping motor control of the rotating device can realize the movement and steering movement of the robot. The robot of the present invention The design can carry more loads, and the structure is simple and flexible, and the adsorption is stable;

(3) Each system is equipped with four leg mechanisms, which have telescoping and pitching behaviors of the leg structure. Controlling the stepping motor and double-acting cylinder of the leg mechanism can adjust the attitude of the robot, so that each robot The suction cups of the legs can be completely adsorbed on the curved surface.

Description of drawings

Fig. 1 is a sectional view of a curved surface joint type wall-climbing robot of the present invention;

Fig. 2 is a top view of a curved joint type wall-climbing robot of the present invention;

Fig. 3 is a schematic diagram of the initial state of a curved surface joint type wall-climbing robot of the present invention;

Fig. 4 is a schematic diagram of the state of the leg structure of system A when a curved surface joint type wall-climbing robot of the present invention moves forward;

Fig. 5 is a schematic diagram of the state of the leg structure of the A system after the forward movement of a curved joint type wall-climbing robot according to the present invention;

Fig. 6 is a schematic diagram of the state of the leg structure of a curved-surface articulated wall-climbing robot performing in-situ rotation behavior B system of the present invention;

Fig. 7 is a schematic diagram of the state of the leg structure of system B when a curved surface joint type wall-climbing robot of the present invention moves forward;

Fig. 8 is a schematic diagram of the state of the leg structure of system B after the forward movement of a curved-joint wall-climbing robot according to the present invention;

Fig. 9 is a schematic diagram of the state of the leg structure of system A when a curved surface joint type wall-climbing robot of the present invention returns to the initial state;

Fig. 10 is a schematic diagram of a curved joint type wall-climbing robot of the present invention when it is restored to its initial state.

Among them, 1-upper frame, 2-A system double-acting cylinder, 3-first stepping motor unit, 4-A system sucker, 5-big gear, 6-upper turntable, 7-first elbow, 8- The second elbow, 9-lower frame, 10-B system double-acting cylinder, 11-second stepping motor unit, 12-B system suction cup, 13-upper arm, 14-rotating part stepping motor, 15-forearm, 16-the third stepping motor group, 17-the fourth stepping motor group.

Detailed ways

The present invention will be further described in detail below in conjunction with the accompanying drawings.

As shown in Fig. 1 and Fig. 2, a kind of curved surface joint type wall-climbing robot of the present invention comprises frame and control system, frame is divided into upper frame 1 and lower frame 9; Rotating device is installed on the central axis lower end of upper frame 1; Hinged structure is connected with rotating device; Hinged structure comprises forearm 15, first elbow 7, second elbow 8, upper arm 13 and rotating device; Forearm 15 upper ends Connect with the upper frame 1, the lower end of the forearm 15 is connected with the upper end of the first elbow 7, the stator of the first elbow 7 is installed on the forearm 15; the lower end of the first elbow 7 is connected with the upper end of the upper arm 13, the first elbow The rotor of section 7 is mounted on upper arm 13 . The lower end of the upper arm 13 is connected with the upper end of the second elbow 8, and the rotor of the second elbow 8 is mounted on the lower end of the upper arm 13; the lower end of the second elbow 8 is connected with the rotating device through the stator. The rotating device is installed between the hinged structure and the lower frame 9. The rotating device includes a large gear 5, an upper turntable 6 and a stepping motor 14 of the rotating part. The upper end center shaft of the upper turntable 6 is equipped with a second elbow The stator of 8 is connected with the lower end of the second elbow 8 through the stator, and the lower end of the upper turntable 6 is connected with a large gear 5; the stepping motor 14 of the rotating part is controlled by a corresponding circuit, and the rotating device is controlled to realize that the wall-climbing robot can rotate in situ Function.

Four sets of leg structures of system A are vertically connected to the underside of the upper frame 1; four sets of leg structures of system B are vertically connected to the lower side of the end of the lower frame 9; wherein the upper frame 1 and the legs of system A The internal structure forms the A system of the present invention; the A system leg structure includes the A system double-acting cylinder 2, the A system stepping motor unit connected with the A system double-acting cylinder 2 piston part, and the A system stepping motor unit Including the first stepping motor unit 3 and the fourth stepping motor unit 17, connected to the system A suction cup 4 of the system A stepping motor unit, the stepping motor unit of the A system is connected to the system A double-acting cylinder 2 pistons through the stator Partial connection, through the rotor and A system sucker 4 connection, because the control precision of the stepping motor is high, the A system stepping motor 3 can be controlled through the corresponding drive circuit;

The lower frame 9 and the B system leg structure form the B system of the present invention, and the B system leg structure includes the B system double-acting cylinder 10, and the B system stepping motor connected to the B system double-acting cylinder 10 piston part The unit, the B system stepping motor group includes the second stepping motor group 11 and the third stepping motor group 16, which is connected to the B system suction cup 12 of the B system stepping motor group, and the B system stepping motor group passes through the stator It is connected to the piston part of the double-acting cylinder 10 of the B system, connected to the suction cup 12 of the B system through the rotor, and controls the stepping motor unit of the B system through the corresponding drive circuit, and then controls the motion state of the leg structure of the B system.

As shown in Figure 3, the first command behavior 1 means to move the A system of the curved surface jointed wall-climbing robot forward for a distance L. Figure 3 shows the initial state of the curved surface jointed wall-climbing robot, and all suction cups of the robot are simultaneously adsorb On the curved surface, the black in the figure represents the state of the suction cup, and the white represents the state of the suction cup release. First, the high-speed switching valve is controlled by the corresponding control system, so that the suction cup 4 of the A system in the A system becomes the release state, and then the rotor of the first stepping motor unit 3 in the initial state is controlled to rotate clockwise by using the corresponding drive circuit, and the second The rotor of the four-stepping motor unit 17 rotates counterclockwise, so that the sucker 4 of the system A is readjusted to the vertical direction; the corresponding high-speed switching valve in the control system A makes the double-acting cylinders 2 of the system A shrink upward, as shown in the figure The state of the leg mechanism shown in 4, as shown in Figure 4, the stator of the first elbow 7 in the hinge structure is controlled by the corresponding drive circuit to rotate α degrees clockwise, and the rotor of the second elbow 8 rotates counterclockwise β degrees, so that the A system of the robot moves forward for a certain distance. As shown in Figure 5, control the corresponding high-speed switching valves in system A so that the double-acting cylinders 2 of system A extend downward to a certain length, and then use the corresponding drive circuit to control the first stepping motor unit 3 according to the curvature of the curved surface. The rotor rotates an angle counterclockwise, and the rotor of the fourth stepping motor unit 17 rotates an angle clockwise, so that the suction cup 4 of the A system can completely fit the curved surface, which becomes the state in Figure 5; at this time, the curved surface is completed Omni-directional articulated robot A system moves forward for a distance L and successfully absorbs on the curved surface.

Behavior 2 is to let the robot rotate arbitrarily at a certain angle γ degrees in place. Since the motion state of the robot at this time is that all the suction cups shown in Fig. The drive circuit controls the rotor of the second stepping motor unit 11 to rotate clockwise, and the rotor of the third stepping motor unit 16 to rotate counterclockwise, so that the sucker 12 of the B system and the double-acting cylinder 10 of the B system are in a straight line, and then pass through the corresponding The high-speed switching valve retracts the piston of the double-acting cylinder 10 of the B system to reach the state of the B system in Figure 6; in order to allow the robot to rotate at a certain angle, the rotor of the first elbow 7 must be controlled to rotate clockwise by the drive circuit α degrees, the stator of the second elbow 8 rotates β degrees counterclockwise, so that each part of the hinge structure is on a straight line, and the hinge structure is perpendicular to the upper frame 1; finally, the stepper motor 14 of the rotating part of the rotating device is controlled by a drive circuit to rotate Gamma degrees, this completes the action of behavior 2.

Behavior 3 moves the system B of the curved-surface articulated wall-climbing robot forward for a certain distance L1. In the state of Figure 6, the robot first uses the corresponding drive circuit to control the rotor of the first elbow 7 to rotate clockwise by α1 degrees, and controls the second The stator of the elbow 8 rotates β1 degree counterclockwise, so that the curved surface articulated wall-climbing robot becomes the state shown in FIG. The rotor of the three-stepping motor unit 16 rotates clockwise for an angle, and at the same time uses the corresponding high-speed switching valve to control the double-acting cylinder 10 of the B system to extend a certain distance, so that the sucker 12 of the B system can completely fit the curved surface, which becomes the figure 8 state; at this point, the curved surface omni-directional articulated robot system B moves forward for a distance L1 and is successfully adsorbed on the curved surface.

Behavior 4 restores the surface articulated wall-climbing robot from the state in Figure 8 to the initial state. First utilize the corresponding driving circuit to control the rotor of the first stepping motor unit 3 to rotate clockwise, and the rotor of the fourth stepping motor unit 17 to rotate counterclockwise, so that the suction cup 4 of the A system and the double-acting cylinder 2 of the A system are in a straight line, Then the piston of the double-acting cylinder 2 of the A system is retracted backward through the corresponding high-speed switch valve to reach the state of the A system in Fig. 9; The rotor of the second elbow 8 rotates β1 degree counterclockwise, so that the curved surface articulated wall-climbing robot becomes the state shown in Figure 9; finally, according to the curvature of the curved surface, the rotor of the first stepping motor unit 3 is controlled to rotate counterclockwise by an angle according to the corresponding drive circuit , the rotor of the fourth stepping motor unit 17 rotates an angle clockwise, and at the same time controls the double-acting cylinder 2 of the A system through the corresponding high-speed switching valve to make the piston extend downwards, thereby ensuring that the sucker 4 of the A system can completely fit the curved surface, This becomes the state of Figure 10; the operation of behavior 4 is completed at this time.

The above is the complete motion process of the curved surface articulated wall-climbing robot. No matter whether the robot is going straight or turning, the four suction cups can be firmly adsorbed on the curved surface after the action is completed, with high motion stability; the robot is moving. According to the change of the curvature of the surface, it constantly adjusts its posture to move closer to the surface, which is highly adaptable to the surface of the robot; because the robot uses the foot movement, whether it is moving or moving Obstacles can better complete various tasks, so it has a wide range of application fields and scope.

The technical solutions provided by the embodiments of the present invention have been introduced in detail above, and the principles and implementation modes of the embodiments of the present invention have been explained by using specific examples in this paper. The descriptions of the above embodiments are only applicable to help understand the embodiments of the present invention At the same time, for those of ordinary skill in the art, according to the embodiment of the present invention, there will be changes in the specific implementation and application scope. In summary, the content of this specification should not be construed as limiting the present invention.

Claims (7)

1. a kind of convex articular type climbing robot, including rack and control system, which is characterized in that the rack is divided into Upper spider（1）And lower bearing bracket（9）；The lower bearing bracket（9）Upper spider is installed on by hinge structure and rotating device（1） Central shaft lower end；The hinge structure is connect with rotating device；The upper spider（1）Lower vertical direction be connected with A system leg structures；The lower bearing bracket（9）End lower vertical direction be connected with B system leg structure；The hinge Structure includes forearm（15）, first ancon（7）, the second ancon（8）, upper arm（13）；The forearm（15）Upper end and upper spider （1）Connection, the first ancon（7）Stator be mounted on forearm（15）On, first ancon（7）Upper end and forearm（15）Lower end Connection, first ancon（7）Rotor be mounted on upper arm（13）On, first ancon（7）Lower end and upper arm（13）Upper end connection；Institute The second ancon stated（8）Rotor be mounted on upper arm（13）Lower end, the second ancon（8）With upper arm（13）Lower end connection, the Two ancons（8）Lower end connect by stator with rotating device.

2. convex articular type climbing robot according to claim 1, which is characterized in that the rotating device includes big Gear（5）, upper turntable（6）And rotating part stepper motor（14）, the upper turntable（6）Upper end center axis on be equipped with Two ancons（8）Stator, pass through stator and the second ancon（8）Lower end connection, upper turntable（6）Lower end be connected with gear wheel （5）.

3. convex articular type climbing robot according to claim 1, which is characterized in that the A system leg structures Number for four groups, the A systems leg structure includes A system double-acting cylinders（2）, it is connected to A system double-acting cylinders （2）The A system stepper motors of piston portion are connected to the A system suckers of A system stepper motors（4）.

4. convex articular type climbing robot according to claim 3, which is characterized in that the A system stepper motors Group includes the first stepper motor（3）And the 4th stepper motor（17）, the A systems stepper motor by stator with A system double-acting cylinders（2）Piston portion connects, and passes through rotor and A system suckers（4）Connection.

5. convex articular type climbing robot according to claim 1, which is characterized in that the B system leg structure Number for four groups, the B system leg structure includes B system double-acting cylinder（10）, it is connected to B system double-acting cylinder （10）The B system stepper motor of piston portion is connected to the B system sucker of B system stepper motor（12）.

6. convex articular type climbing robot according to claim 5, which is characterized in that the B system stepper motor Group includes the second stepper motor（11）And third stepper motor (16), the B system stepper motor pass through stator With B system double-acting cylinder（10）Piston portion connects, and passes through rotor and B system sucker（12）Connection.

7. according to any convex articular type climbing robot of claim 3 ~ 6, which is characterized in that the A systems are inhaled Disk（4）And B system sucker（12）It is the sucker with organ type gas chamber.