CN106388729A - Wheel type wall-climbing robot and working method thereof - Google Patents

Abstract

The invention discloses a wheeled wall-climbing robot and a working method thereof, belonging to the technical field of robots. The robot body mainly includes a frame (2), N adhesive wheel drive devices (1), and ducted fans (3); the above-mentioned adhesive wheel drive devices (1) are installed on the frame (2), and each Each adhesive wheel drive device (1) is composed of active synchronous wheel (8), induction wheel (9), dragging synchronous wheel (10) and synchronous belt (11); the outer surface of synchronous belt (11) is pasted with adhesive material (12) Composition; the above-mentioned ducted fan (3) is installed on the frame (2) to provide thrust, as a pre-pressure of the adhesive material (12), so that the robot adheres to the vertical surface. The robot has a fast moving speed and high work efficiency. It can be used for cleaning the surfaces of buildings, solar panels, large wind turbines, etc., and can also be used for condition monitoring of large vertical surfaces.

Description

Wheeled wall-climbing robot and working method thereof

technology neighborhood

The invention relates to a wheeled wall-climbing robot and a working method thereof, belonging to the technical field of technicians.

Background technique

With the increasing number of high-rise buildings in cities, the demand for cleaning glass curtain walls of high-rise buildings is also increasing. The traditional cleaning of glass curtain walls of high-rise buildings requires staff to hang themselves high in the air through safety ropes, and clean the glass curtain walls of high-rise buildings with cleaning tools. Due to the many safety hazards of high-altitude operations, once an accident occurs, serious loss of life and property will inevitably occur. At the same time, the area of high-rise glass curtain walls is generally relatively large, and the efficiency of cleaning high-rise glass curtain walls by manual methods is very low. For this reason, need a kind of wheel type wall-climbing cleaning robot to replace manual to carry out the cleaning of high-rise glass curtain wall.

At present, the wall-climbing method adopted by the wall-climbing robot is vacuum suction cup adsorption, electromagnetic or magnetic adsorption. From the motion mechanism of the robot, it is divided into wheel type, crawler type and foot type. Negative pressure adsorption, such as patents CN104015831B, CN103723207B, CN103909991B, etc., and in the public document CN104857655A, the cleaning robot of Beihua University adopts the principle of fan negative pressure adsorption to adsorb the robot on the wall. Magnetic adsorption methods such as CN103332232B and the like. The above adsorption methods are mainly limited by the working surface. For example, the magnetic adsorption method wall-climbing robot must work on steel, iron and other working surfaces with magnetic adsorption capabilities. The negative pressure adsorption method requires the working surface to be relatively smooth and flat.

In terms of adhesion and adsorption methods, the patent CN103523108B discloses a wall-climbing robot with adhesive strips. The adhesive tape is made of rubber material. Driven by two wheels on the left and right sides of the robot, it utilizes the support of the elastic tail so that the body will not overturn from the vertical plane. The wall-climbing performance of the robot with this structure is stable, but its adaptability is poor.

Contents of the invention

Based on the above background, the present invention proposes a highly adaptable wheeled wall-climbing cleaning robot and its working method.

A wheeled wall-climbing robot, comprising a robot motion mechanism body and a control module, characterized in that: the robot motion mechanism body mainly includes a frame, N adhesion wheel drive devices, and ducted fans; the N adhesion The wheel driving device is symmetrically installed on the frame, and each adhesive wheel driving device is composed of a driving synchronous wheel, an induction wheel, a dragging synchronous wheel and a synchronous belt; the outer surface of the synchronous belt is composed of adhesive materials; the above-mentioned ducted fan It is installed on the frame and provides thrust, which acts as a pre-pressure for the bionic adhesive material to make the robot adhere to the vertical surface.

The working method of the wheeled wall-climbing robot is characterized in that it includes the following process: the robot is close to the moving surface, and the ducted fan is opened, and the thrust generated by it is used as the pre-pressure of the bionic adhesive material to make the robot adhere to the moving surface; The synchronous wheel drives the synchronous belt to rotate, so that the robot moves according to the motion control signal; the induction wheel rotates with the synchronous belt during the movement, and is used to support the synchronous belt to make it fit the moving surface.

The invention is driven by synchronous wheels, a synchronous belt is installed between the synchronous wheels, and the contact area between the belt and the contact surface is increased by utilizing the plane of the outer contour of the synchronous belt. After the robot is powered on, the ducted fan works at a fixed frequency to provide thrust, which acts as a pre-pressure for the adhesive material, making the robot adhere to the vertical working surface. Adhesive wheel drives are driven by the same high-power DC motor to drive the robot to move up and down and left and right. The robot has the characteristics of fast moving speed, reliable wall climbing, high cleaning efficiency, and strong ability to overcome obstacles.

The wheeled wall-climbing robot is characterized in that each of the above-mentioned adhesion wheel drive devices has two induction wheels. When crawling vertically, the contact area between the bionic adhesive material and the contact surface directly affects the adhesive force. The addition of two induction wheels significantly increases the area of the contact surface between the bionic adhesive material and the movement during the vertical crawling process, and improves the adhesion force. Both the active synchronous wheel and the trailing synchronous wheel are synchronous wheels, so that the feature of the outer surface of the synchronous belt being flat can be utilized to increase the area of the contact surface between the adhesive material and the movement.

The wheeled wall-climbing robot is characterized in that: the above-mentioned adhesive wheeled driving devices are four, and are evenly arranged on both sides of the frame. Each driving device is controlled by an independent motor, and the motor on the same side is controlled by the same signal, which ensures that the robot has strong power to meet the needs of carrying cleaning devices and other loads.

The wheeled wall-climbing robot is characterized in that: the above-mentioned adhesive material is a bionic adhesive material (such as literature, research progress of gecko imitation micro-nano bristle array. Science Bulletin, 2010 (6): 409-417; dry adhesion Transfer of carbon nanotube vertical arrays and evaluation of their adhesion properties. Science Bulletin, 2010, (8): 771-779). This type of material has strong adhesion, requires little pre-pressure, and is easy to desorb.

The wheeled wall-climbing robot is characterized in that: a wireless communication module is installed on the frame; and the control module is connected to the wireless communication module. The movement of the robot is controlled by installing control application software on the mobile communication device, and the communication with the robot and the motion control of the robot are realized through wireless communication methods such as WIFI and Bluetooth. The movement of the robot is realized through the wireless long-distance remote controller and the 2.4G frequency communication mode to realize the communication with the robot and complete the motion control.

The wheeled wall-climbing robot is characterized in that: the frame is equipped with a cleaning device through an elastic hinge; the cleaning device is connected with the body through a certain elastic hinge. The elastic hinge produces a certain pre-pressure to ensure that the cleaning device forms a certain pressure contact with the working surface to complete the cleaning operation, and the rear end of the robot does not tilt due to the high elasticity of the hinge and cannot move reliably.

The advantage of the present invention is that the wheeled wall-climbing robot is a robot that can crawl on a vertical surface and can perform surface detection. After adding a cleaning device, it can replace manual cleaning of working surfaces such as high-rise glass curtain walls and large fans. It belongs to a special robot. field. The invention uses the synchronous belt as the drive of the robot, increases the contact area between the imitation gecko bristle adhesive material pasted on the outer surface of the synchronous belt and the working surface, and is beneficial to increase the adhesive force. The use of 4-wheel drive improves the vertical driving capability of the robot and facilitates the carrying of loads. The ducted fan is used to provide the pre-pressure of the adhered material, which avoids the limitation of the moving surface material of the electromagnetic adsorption device and the roughness requirement of the working surface in the vacuum adsorption mode. The robot is simple in structure, flexible in movement, easy to operate, relatively low in cost, and easy to popularize.

Description of drawings:

Figure 1 is a wheeled wall-climbing cleaning robot;

Fig. 2 is adhesion wheel drive device;

Figure 3 is a schematic diagram of the installation and working principle of the ducted fan;

Figure 4 shows the duty cycle and thrust test results of the ducted fan control signal;

Figure 5 is the relationship curve between the tangential force and the thrust of the robot;

Label names in the figure: 1. Adhesive wheel drive device 2. Frame 3. Ducted fan 4. Fixing device 5. Body 6. Elastic hinge 7. Cleaning device 8. Active synchronous wheel 9. Induced wheel 10. Drag synchronous pulley 11. Synchronous belt 12. Adhesive material 13. Motor 14. Drive fan 15. Duct.

Specific implementation plan:

The specific content and working process of the wheeled wall-climbing cleaning robot of the patent of the present invention will be further described below in conjunction with the accompanying drawings.

FIG. 1 is a schematic diagram of the overall structure of a wheeled wall-climbing cleaning robot, which is mainly composed of an adhesive wheel drive device 1 , a ducted fan 3 and a cleaning device 7 . There are four adhesion wheel drive devices, which are distributed symmetrically at the four corners of the frame 2 . Wherein, the outer surface of the synchronous belt of the robot is pasted with the adhesive material 12 imitating the gecko bristle mechanism to ensure the reliability of the robot climbing walls. The ducted fan 3 is installed on the fuselage 5 through the fixing device 4. The ducted fan provides a certain thrust and acts on the robot body, so that the robot can be attached to the vertical work surface, and the thrust produced at the same time Acting on the adhesive material of the imitation gecko bristle mechanism on the outer surface of the robot timing belt, the adhesive material of the imitation gecko bristle mechanism produces a certain adhesive force, so that the robot can reliably move on the vertical working surface. The cleaning device 7 is connected to the fuselage through the elastic hinge 6 . Because the elastic force of the elastic hinge will generate a certain pre-pressure on the cleaning device, the cleaning device will form a certain pressure contact with the working surface to complete the cleaning operation. When the robot moves on the vertical working surface, it will drive the cleaning device to move to achieve the purpose of cleaning the working surface.

Figure 2 is a schematic diagram of an adhesive wheel drive. Adhesive wheel driving device 1 is made up of driving synchronous wheel 8 , induction wheel 9 , dragging synchronous wheel 10 and synchronous belt 11 . The outer surface of the synchronous belt 11 is pasted with the adhesive material 12 imitating the gecko bristle mechanism. The use of the synchronous belt increases the contact area between the imitation gecko bristle adhesive material pasted on the outer surface of the synchronous belt and the working surface, which is conducive to increasing the adhesion. Both the driving synchronous wheel and the dragging synchronous wheel have a tooth structure, and are meshed with the inner surface of the synchronous belt. The active synchronous wheel is connected with the motor through a coupling, and driven by the motor, the active synchronous wheel, the induction wheel and the dragging synchronous wheel drive the synchronous belt to walk together. The outer surface of the synchronous belt is pasted with an adhesive material imitating the bristle mechanism of the gecko, which has the characteristics of strong adhesion, small pre-pressure required, and easy detachment. The ducted fan on the fuselage provides a certain pre-pressure for the adhesive material, so that the adhesive material on the outer surface of the synchronous belt of the robot generates a certain adhesive force, ensuring that the robot can reliably move on the vertical working surface. The use of the adhesive material imitating the gecko bristle mechanism improves the driving ability of the robot in the vertical direction, making the robot reliable in wall climbing, flexible in movement, strong in obstacle surmounting performance, and able to meet greater load requirements. At the same time, the adhesive material of the imitation gecko bristle mechanism has good reusability. When the adhesive force of the material decreases, the adhesive material can be washed with ordinary clean water, so that the adhesive force of the adhesive material can be restored. Therefore, the robot also has the advantages of easy operation, low cost, and easy promotion.

Fig. 3 is a schematic diagram of ducted fan installation and working principle. The ducted fan 3 is installed on the robot body 5 through the device 4, and the motor 13 drives the fan 14 to rotate, sucking the air under the robot body into the duct 15, and from The upper part of the ducted fan exhausts the air. Because the ducted fan sucks the air from the bottom of the robot body, a short vacuum is generated at the bottom of the robot body, resulting in different pressures between the upper and lower sides of the robot body, so that the robot can be attached to a vertical working surface. At the same time, the thrust generated by the ducted fan is also used as the pre-pressure of the adhesive material of the imitation gecko bristle mechanism on the outer surface of the synchronous belt, so that the adhesive material can generate a certain adhesive force and ensure that the robot can reliably move on the vertical working surface. sports.

Figure 4 shows the duty cycle and thrust test results of the ducted fan control signal. This part of the test was carried out to test whether the actual control working state of the robot can produce the required thrust. The control signal adopts a 54Hz signal, and the speed of the motor is adjusted by changing the duty cycle, thereby changing the thrust of the ducted fan.

Figure 5 is the relationship curve between robot tangential force and thrust. The purpose of this test is to obtain the thrust generated under the motion control parameters of the ducted fan. According to the data in the figure, it can be seen that when the thrust is 7.4N, the tangential force of the robot can reach 50N, which meets the wall-climbing motion requirements of the robot after instantiation .

The content described in the above accompanying drawings should be understood as exemplary, and the present invention is not limited by these examples. Although a set of exemplary examples of cleaning devices are provided in this description, those skilled in the art can Alter it or replace it by equivalent. Apparently, all these changes or substitutions should be included within the scope of the present invention.

Claims (7)

1. A wheeled wall-climbing robot, comprising a robot kinematics body, control and operation function modules, is characterized in that: The robot motion mechanism body mainly includes a frame (2), N adhesive wheel drive devices (1), and a ducted fan (3); The above N adhesion wheel drive devices (1) are symmetrically installed on the frame (2), and each adhesion wheel drive device (1) is synchronized by the active synchronous wheel (8), the induction wheel (9), and the dragging belt. Composed of a wheel (10) and a timing belt (11); the outer surface of the timing belt (11) is composed of a bionic adhesive material (12); The above-mentioned ducted fan (3) is installed on the frame (2) to provide thrust and act as a pre-pressure for the adhesive material (12) to make the robot adhere to the vertical surface. 2. The wheeled wall-climbing robot according to claim 1, characterized in that: There are two induction wheels (9) for each of the above-mentioned adhesion wheel drive devices (1). 3. The wheeled wall-climbing robot according to claim 1, characterized in that: The above-mentioned adhesive wheel drive devices (1) are 4 pieces, which are evenly arranged in pairs on both sides of the frame (2), and each adhesive wheel drive device (1) is controlled by an independent motor. 4. The wheeled wall-climbing robot according to claim 1, characterized in that the above-mentioned adhesive material (12) is a bionic adhesive material. 5. The wheeled wall-climbing robot according to claim 1, characterized in that: a wireless communication module is installed on the frame (2); and the control module is connected to the wireless communication module. 6. The wheeled wall-climbing robot according to claim 1, characterized in that: the frame (2) is equipped with a cleaning device (7) through an elastic hinge. 7. The working method of the wheeled wall-climbing robot according to claim 1, characterized in that it comprises the following processes: The robot is close to the moving surface, and the ducted fan is turned on, and the thrust generated by it is used as the pre-pressure of the bionic adhesive material to make the robot adhere to the moving surface; The active synchronous wheel (8) drives the synchronous belt (11) to rotate, so that the robot moves according to the motion control signal; The induction pulley (9) rotates with the synchronous belt (11) during movement, and is used to support the synchronous belt so that it fits the moving surface.