CN106945740B - A kind of wheel leg convolution climbing robot of multi-cavity absorption - Google Patents
A kind of wheel leg convolution climbing robot of multi-cavity absorption Download PDFInfo
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- CN106945740B CN106945740B CN201710103129.9A CN201710103129A CN106945740B CN 106945740 B CN106945740 B CN 106945740B CN 201710103129 A CN201710103129 A CN 201710103129A CN 106945740 B CN106945740 B CN 106945740B
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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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- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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Abstract
本发明公开了一种多腔吸附的轮腿结合式爬壁机器人。该爬壁机器人包括：多腔负压吸附底盘，包括多个由一个吸盘和一个微型真空泵形成的负压吸附腔，用于将机器人吸附于壁面上；轮式运动机构，安装在多腔负压吸附底盘上，用于驱动机器人前进后退和转向；三段式越障臂，为三段三自由度结构，一端固定在多腔负压吸附底盘上，另一端安装吸盘用于将机器人吸附于壁面上；控制模块，包括电池、数传模块和驱动板，电池用于供电，数传模块提供远程遥控功能，驱动板用于驱动轮式运动机构和三段式越障臂做出动作，并驱动多腔负压吸附底盘和三段式越障臂的吸盘吸附于壁面。本发明壁面适应性强，吸附可靠性高，轮腿结合的设计兼顾了速度与越障两方面的需求。
The invention discloses a multi-cavity adsorption wheel-leg combination wall-climbing robot. The wall-climbing robot includes: a multi-chamber negative pressure adsorption chassis, including a plurality of negative pressure adsorption chambers formed by a suction cup and a micro vacuum pump, which are used to adsorb the robot on the wall surface; a wheeled motion mechanism is installed on the multi-chamber negative pressure The adsorption chassis is used to drive the robot forward, backward and steering; the three-segment obstacle arm is a three-segment three-degree-of-freedom structure, one end is fixed on the multi-chamber negative pressure adsorption chassis, and the other end is installed with a suction cup for adsorbing the robot to the wall surface On; the control module, including battery, data transmission module and drive board, the battery is used for power supply, the data transmission module provides remote control function, the drive board is used to drive the wheeled motion mechanism and the three-stage obstacle crossing arm to make actions, and drive The multi-chamber negative pressure suction chassis and the suction cups of the three-section barrier arm are attached to the wall. The wall surface of the invention has strong adaptability and high adsorption reliability, and the design of the combination of wheels and legs takes into account the requirements of both speed and obstacle crossing.
Description
Technical field
The present invention relates to robotic technology field, especially a kind of wheel leg convolution climbing robot of multi-cavity absorption.
Background technique
Climbing robot is a kind of can move in vertical walls and the robot of operation.Climbing robot can replace the mankind
Execute building wall surface cleaning, ship hull spray painting, the flaw detection of storage tank inside and outside wall and military investigation, the work operations such as high altitude firefighting, drop
The danger of low staff.Climbing robot has a wide range of applications in building, bridge, shipbuilding, military field.
Climbing robot, especially negative pressure adsorption wall-climbing robot required in the stability of wall adsorption it is very high, one
Denier robot loses adsorption capacity when wall surface works, and gently then leads to job interruption, heavy then device fall is caused to injure and threaten week
Side personnel safety.In addition, climbing robot inevitably encounters pipeline when moving on wall surface, plateau, gap etc. can not
The problem of obstacle and wall surface conversion of detour.Therefore, the obstacle climbing ability of climbing robot determines the size of its space.
Existing wheel leg exchange is climbed wall parallel robot, crawler belt sucker type wall climbing robot, full Pneumatic vacuum absorption type and is climbed
Wall robot and negative pressure adsorption wall-climbing robot lack the means across wall surface obstacle；Negative-pressure adsorption-type bionic wall climbing machine
Person joint's quantity is more and fully relies on absorption foot to move, and movement velocity is slow；Bionic type barrier-crossing wall-climbing robot barrier getting over mechanism
Amount of articulation is more and freedom degree is few, and control is complicated and obstacle detouring mode is single, and centrifugal blower used has power consumption strong noise is big to lack
Point, single negative pressure cavity reliability are also poor.
Summary of the invention
High-speed motion and more with obstacle crossing ability can be stablized in wall surface the purpose of the present invention is to provide a kind of
The wheel leg convolution climbing robot of chamber absorption.
The technical solution for realizing the aim of the invention is as follows: a kind of wheel leg convolution climbing robot of multi-cavity absorption, packet
Include multi-cavity negative absorption chassis, wheel type motion mechanism, three-stage obstacle detouring arm and control module:
The multi-cavity negative adsorbs chassis, including multiple negative-pressure adsorption chambers, each negative-pressure adsorption chamber include a sucker and
One minipump, for robot to be adsorbed in wall surface；
The wheel type motion mechanism is mounted on multi-cavity negative absorption chassis, for driving robot forward-reverse and turning
To；
The three-stage obstacle detouring arm is three sections of Three Degree Of Freedom structures, and one end is fixed on multi-cavity negative absorption chassis, another
End installation sucker, sucker are used to robot being adsorbed in wall surface；
The control module, including battery, digital transmission module and driving plate；Battery is used for as the other component power supplies of robot；
Digital transmission module provides long-range remote control function；Driving plate makes movement for driving wheel-type movement mechanism and three-stage obstacle detouring arm, and
Drive the sucker suction of multi-cavity negative absorption chassis and three-stage obstacle detouring arm in wall surface；
The course of work of above-mentioned climbing robot is as follows:
When climbing robot normal movement, robot is adsorbed on wall surface by multi-cavity negative absorption chassis, wheel type movement
Mechanism drives robot forward-reverse and steering, and three-stage obstacle detouring arm, which lifts, does not contact wall surface；
When climbing robot obstacle detouring, three-stage obstacle detouring arm falls in sucker on wall surface, starts on three-stage obstacle detouring arm
Sucker suction on wall surface, then is released the absorption work on multi-cavity negative absorption chassis by vacuum pump, with the suction of three-stage obstacle detouring arm
Disk is support, and multi-cavity negative absorption chassis is moved to the other side of barrier and is adsorbed on wall surface by three-stage obstacle detouring arm, then
The absorption work of sucker on three-stage obstacle detouring arm is closed, three-stage obstacle detouring arm is withdrawn, completes obstacle detouring.
As a kind of specific example, multi-cavity negative absorption chassis includes pedestal, the first sucker, the second sucker, third
Sucker, the 4th sucker, the first minipump, the second minipump, third minipump, the 4th minipump；
First sucker, the second sucker, third sucker, the 4th sucker pass through sucker fixed screw respectively and are fixed on pedestal
Lower surface, and sucker venthole is arranged in the center of each sucker；First minipump, the second minipump, third are miniature true
Sky pump, the 4th minipump are set to base upper surface, and the aspirating hole of four vacuum pumps passes through plastic hose the bottom of across respectively
Seat is connected with corresponding sucker venthole.
As a kind of specific example, the wheel type motion mechanism includes the first wheel, the second wheel, third wheel, the 4th
Wheel, the first driving servo motor, the second driving servo motor, the first synchronous belt, the second synchronous belt, the second motor cabinet, third
Motor cabinet, wheel axletree bearing seat, small pulley, the first coupling sleeve, the second coupling sleeve；
First wheel, the second wheel, third wheel, the 4th wheel are respectively arranged at the quadrangle of pedestal, each vehicle
Wheel is fixed on base upper surface by two one group of wheel axletree bearing seat, is equipped with 1 small pulley between every group of wheel axletree bearing seat；
The same side of direction of travel is arranged in first wheel, third wheel, and the corresponding small pulley of two wheels is synchronous by first
Together, the other side of direction of travel, and the corresponding small pulley of two wheels is arranged in the second wheel, the 4th wheel to band connection
It is linked together by the second synchronous belt, small pulley operates synchronously ipsilateral wheel holding；The first driving servo motor
It is fixed on base upper surface by the second motor cabinet, the first driving servo motor passes through the axis phase of the first coupling sleeve and the first wheel
Connection drives first wheel of side, the operating of third wheel；The second driving servo motor is fixed on bottom by third motor cabinet
Seat upper surface, second driving servo motor be connected by the second coupling sleeve with the axis of the 4th wheel, drive second wheel of side,
The operating of 4th wheel.
As a kind of specific example, the three-stage obstacle detouring arm include base, rotating seat, first motor seat, the 5th sucker,
Rotating servo motor, suction cup carrier, vacuum pump, the first rotary shaft, the second rotary shaft；
Described base one end is fixed on base upper surface center, the other end and is mounted on rotating seat by the first rotary shaft
On the bearing of one end, one end of first motor seat is mounted on the bearing of the rotating seat other end by the second rotary shaft；Rotating seat
Both ends fix an obstacle detouring arm servo motor respectively, so that base and first motor seat relative rotation seat be driven to rotate；First
One rotating servo motor is set in motor cabinet, for driving the suction cup carrier of the first motor seat other end rotate, thus drive the
Five suckers are rotated around first motor seat；5th sucker is connect by plastic flexible pipe with the vacuum pump being fixed on rotating seat, when the
When five sucker paster near walls, starting vacuum pump reduces suction cup interior air pressure, and the 5th sucker is adsorbed on wall under atmospheric pressure effect
On face.
As a kind of specific example, the control module include battery, chassis driving plate, digital transmission module, arm driving plate,
Holder driving plate；
The battery, chassis driving plate and digital transmission module are fixed on sole plate base upper surface, and arm driving plate and holder drive
Movable plate is set to inside rotating seat；Battery is that all control panels in robot, servo motor and vacuum pump power supply, digital transmission module mention
For long-range remote control function, chassis driving plate controls the first minipump, the second minipump, third minipump, the
The work of four minipumps, the first driving servo motor, the second driving servo motor and vacuum pump, arm driving plate control the
The work of one rotary shaft, holder driving plate control the work of the second rotary shaft, rotating servo motor.
Compared with prior art, the present invention its remarkable advantage are as follows: (1) negative-pressure adsorption mode is used, it can be in non-magnetic
Material surface work, has wider wall surface adaptability；(2) wheel type motion mechanism ensure that robot on smooth wall surface
Movement velocity；(3) the multi-cavity suction type of multi-sucker is driven both to ensure that the stability and safety of absorption using minipump
Property, and power consumption and noise are reduced, improve cruise duration when invisible robot and wireless remote control；(4) obstacle detouring arm is by machine
Device people has the ability across wall surface obstacle, and the ability moved between different wall surfaces, can be in more complicated wall surface ring
It is used in border.
Detailed description of the invention
Fig. 1 is the schematic top plan view of the stereochemical structure for the wheel leg convolution climbing robot that multi-cavity of the invention adsorbs.
Fig. 2 is the elevational schematic view of the stereochemical structure for the wheel leg convolution climbing robot that multi-cavity of the invention adsorbs.
Fig. 3 is the negative-pressure adsorption-type chassis top view for the wheel leg convolution climbing robot that multi-cavity of the invention adsorbs.
Fig. 4 is the negative-pressure adsorption-type chassis bottom view for the wheel leg convolution climbing robot that multi-cavity of the invention adsorbs.
Fig. 5 is the transmission system schematic perspective view for the wheel leg convolution climbing robot that multi-cavity of the invention adsorbs.
Fig. 6 is the obstacle detouring arm schematic perspective view for the wheel leg convolution climbing robot that multi-cavity of the invention adsorbs.
Figure label explanation: 1, pedestal；2-1, the first sucker；2-2, the second sucker；2-3, third sucker；2-4, the 4th inhale
Disk；3-1, the first minipump；3-2, the second minipump；3-3, third minipump；3-4, the 4th micro vacuum
Pump；4, battery；5, chassis driving plate；6, digital transmission module；7-1, the first wheel；7-2, the second wheel；7-3, third wheel；7-4,
4th wheel；8-1, the first driving servo motor；8-2, the second driving servo motor；9-1, the first synchronous belt；9-2, second are together
Walk band；10, base；11, rotating seat；12, first motor seat；13, the 5th sucker；14, rotating servo motor；15, suction cup carrier；
16, vacuum pump；17, the first rotary shaft；18, the second rotary shaft；19, arm driving plate；20, holder driving plate；21, sucker is fixed
Screw；22, sucker venthole；23-1, the second motor cabinet；23-2, third motor cabinet；24, wheel axletree bearing seat；25, small pulley；
26-1, the first coupling sleeve；26-2, the second coupling sleeve；27, obstacle detouring arm servo motor.
Specific embodiment
Present invention is further described in detail with reference to the accompanying drawing.
In conjunction with Fig. 1~2, the wheel leg convolution climbing robot of multi-cavity absorption of the present invention, including multi-cavity negative absorption chassis,
Wheel type motion mechanism, three-stage obstacle detouring arm and control module:
The multi-cavity negative adsorbs chassis, including multiple negative-pressure adsorption chambers, each negative-pressure adsorption chamber include a sucker and
One minipump, for robot to be adsorbed in wall surface；
The wheel type motion mechanism is mounted on multi-cavity negative absorption chassis, for driving robot forward-reverse and turning
To；
The three-stage obstacle detouring arm is three sections of Three Degree Of Freedom structures, and one end is fixed on multi-cavity negative absorption chassis, another
End installation sucker, sucker are used to robot being adsorbed in wall surface；
The control module, including battery, digital transmission module and driving plate；Battery is used for as the other component power supplies of robot；
Digital transmission module provides long-range remote control function；Driving plate makes movement for driving wheel-type movement mechanism and three-stage obstacle detouring arm, and
Drive the sucker suction of multi-cavity negative absorption chassis and three-stage obstacle detouring arm in wall surface；
The course of work of above-mentioned climbing robot is as follows:
When climbing robot normal movement, robot is adsorbed on wall surface by multi-cavity negative absorption chassis, wheel type movement
Mechanism drives robot forward-reverse and steering, and three-stage obstacle detouring arm, which lifts, does not contact wall surface；
When climbing robot obstacle detouring, three-stage obstacle detouring arm falls in sucker on wall surface, starts on three-stage obstacle detouring arm
Sucker suction on wall surface, then is released the absorption work on multi-cavity negative absorption chassis by vacuum pump, with the suction of three-stage obstacle detouring arm
Disk is support, and multi-cavity negative absorption chassis is moved to the other side of barrier and is adsorbed on wall surface by three-stage obstacle detouring arm, then
The absorption work of sucker on three-stage obstacle detouring arm is closed, three-stage obstacle detouring arm is withdrawn, completes obstacle detouring.
In conjunction with Fig. 3~4, multi-cavity negative absorption chassis includes pedestal 1, the first sucker 2-1, the second sucker 2-2, third
Sucker 2-3, the 4th sucker 2-4, the first minipump 3-1, the second minipump 3-2, third minipump 3-3,
Four minipump 3-4；
The first sucker 2-1, the second sucker 2-2, third sucker 2-3, the 4th sucker 2-4 pass through the fixed spiral shell of sucker respectively
Silk 21 is fixed on 1 lower surface of pedestal, and sucker venthole 22 is arranged in the center of each sucker；It is first minipump 3-1, second micro-
Type vacuum pump 3-2, third minipump 3-3, the 4th minipump 3-4 are set to 1 upper surface of pedestal, four vacuum pumps
Aspirating hole passes through plastic hose respectively and is connected across pedestal 1 with corresponding sucker venthole 22.
In conjunction with Fig. 5, the wheel type motion mechanism includes the first wheel 7-1, the second wheel 7-2, third wheel 7-3, the 4th
Wheel 7-4, first driving servo motor 8-1, second driving servo motor 8-2, the first synchronous belt 9-1, the second synchronous belt 9-2,
Second motor cabinet 23-1, third motor cabinet 23-2, wheel axletree bearing seat 24, small pulley 25, the first coupling sleeve 26-1, the second coupling sleeve
26-2；
The first wheel 7-1, the second wheel 7-2, third wheel 7-3, the 4th wheel 7-4 are respectively arranged at pedestal 1
Quadrangle, the wheel axletree bearing seat 24 that each wheel passes through two one group are fixed on 1 upper surface of pedestal, every group of wheel axletree bearing seat 24
Between be equipped with 1 small pulley 25；The same side of direction of travel, and two vehicles are arranged in first wheel 7-1, third wheel 7-3
It takes turns corresponding small pulley 25 to link together by the first synchronous belt 9-1, the second wheel 7-2, the 4th wheel 7-4 setting are being advanced
The other side in direction, and the corresponding small pulley 25 of two wheels is linked together by the second synchronous belt 9-2, small pulley 25 makes
Ipsilateral wheel holding is obtained to operate synchronously；The first driving servo motor 8-1 is fixed on pedestal 1 by the second motor cabinet 23-1
Surface, the first driving servo motor 8-1 are connected by the first coupling sleeve 26-1 with the axis of the first wheel 7-1, and the side the is driven
One wheel 7-1, third wheel 7-3 operating；The second driving servo motor 8-2 is fixed on pedestal by third motor cabinet 23-2
1 upper surface, the second driving servo motor 8-2 are connected by the second coupling sleeve 26-2 with the axis of the 4th wheel 7-4, and the side is driven
Second wheel 7-2, the 4th wheel 7-4 operating.
In conjunction with Fig. 6, the three-stage obstacle detouring arm include base 10, rotating seat 11, first motor seat 12, the 5th sucker 13,
Rotating servo motor 14, suction cup carrier 15, vacuum pump 16, the first rotary shaft 17, the second rotary shaft 18；
1 upper surface center of pedestal is fixed in described 10 one end of base, the other end is mounted on by the first rotary shaft 17
On the bearing of 11 one end of rotating seat, one end of first motor seat 12 is mounted on 11 other end of rotating seat by the second rotary shaft 18
On bearing；An obstacle detouring arm servo motor 27 is fixed at the both ends of rotating seat 11 respectively, to drive base 10 and first motor seat
The rotation of 12 relative rotation seats 11；One rotating servo motor 14 is set in first motor seat 12, for driving first motor seat 12
The suction cup carrier 15 of the other end rotates, so that the 5th sucker 13 be driven to rotate around first motor seat 12；5th sucker 13 passes through plastics
Hose is connect with the vacuum pump 16 being fixed on rotating seat 11, and when the 5th sucker 13 is close to wall surface, starting vacuum pump 16 will be inhaled
Disk air pressure inside reduces, and the 5th sucker 13 is adsorbed on wall surface under atmospheric pressure effect.
In conjunction with Fig. 1, the control module includes battery 4, chassis driving plate 5, digital transmission module 6, arm driving plate 19, holder
Driving plate 20；
The battery 4, chassis driving plate 5 and digital transmission module 6 are fixed on 1 upper surface of sole plate base, 19 He of arm driving plate
Holder driving plate 20 is set to inside rotating seat 11；Battery 4 is that all control panels, servo motor and vacuum pump supply in robot
Electricity, digital transmission module 6 provide long-range remote control function, and chassis driving plate 5 controls the first minipump 3-1, the second minipump
3-2, third minipump 3-3, the 4th minipump 3-4, the first driving servo motor 8-1, the second driving servo motor
The work of 8-2 and vacuum pump 16, arm driving plate 19 control the work of the first rotary shaft 17, second rotation of the control of holder driving plate 20
The work of shaft 18, rotating servo motor 14.
With reference to the accompanying drawing and specific embodiment is described in further details the present invention.
Embodiment 1
The wheel leg convolution climbing robot of multi-cavity absorption of the present invention includes following four module combined with Figure 1 and Figure 2: Gu
Due to the negative pressure adsorption module of the compositions such as first sucker 2-1 on pedestal 1 etc. and the first minipump 3-1, wheel, driving are watched
Take the wheel type movement module of the compositions such as motor and synchronous belt, the composition such as base 10, rotating seat 11, motor cabinet, sucker, vacuum pump 16
Obstacle detouring arm module, the nothing of the compositions such as battery 4, digital transmission module 6, chassis driving plate 5, arm driving plate 19, holder driving plate 20
Line traffic control module.
In negative pressure adsorption module, such as Fig. 4 sucker 2-4 is fixed on bottom plate lower part by 21 4 screws, sucker center there are
Venthole 22 runs through bottom plate.Sucker is the soft sucker of rubber material, there is certain deformation space.Minipump as shown in Figure 5
3-4 etc. is placed in bottom plate top, and vacuum pump aspirating hole passes through bottom plate by plastic hose and is connected in sucker venthole 22 equal.Work as suction
When disk and wall surface are affixed, vacuum pump startup reduces air pressure in sucker, is adsorbed on bottom plate on wall surface.Four suckers and micro vacuum
Pump works independently, and is mutually redundant.
In wheel type movement module, wheel 7-3 as shown in Figure 5 etc. is placed in pedestal two sides, and axletree passes through two one group
Bearing block is fixed on pedestal top.It is 1 small pulley 25 between two bearings.The small pulley of two ipsilateral wheels passes through synchronization
Band connection together, allows ipsilateral wheel holding to operate synchronously.The driving servo motor of driving wheel is fixed on bottom by motor cabinet
Seat upside, is connected with the axis of wheel by coupling sleeve and wheel is driven to operate.When negative pressure adsorption module starting, pedestal is close to wall
Face, four wheels press wall surface, then drive vehicle wheel rotation by driving motor.Two sides wheel can independent control, pass through two sides wheel
Same run back to carry out the movement of forward-reverse and steering.
In obstacle detouring arm module, as shown in fig. 6, pedestal top center is fixed in 10 one end of base, the other end is rotary shaft peace
On the bearing of rotating seat.The rotary shaft of motor cabinet is then mounted on the bearing of the rotating seat other end.Rotating seat both ends are each solid
A fixed obstacle detouring arm servo motor drives base and the rotation of motor cabinet relative rotation seat.A rotation is fixed in motor cabinet to watch
Motor is taken, the rotation of suction cup carrier 15 of the driving motor seat other end drives the 5th sucker 13 to rotate around motor cabinet.5th sucker 13 is logical
Plastic flexible pipe is crossed to connect with the vacuum pump 16 being fixed on rotating seat.When the 5th sucker 13 is close to wall surface, start vacuum pump 16
Suction cup interior air pressure is reduced, the 5th sucker 13 is adsorbed on wall surface under atmospheric pressure effect.
In wireless control module, battery 4, chassis driving plate 5 and digital transmission module 6 are fixed on pedestal 1, arm driving plate and
Holder driving plate is placed in inside rotating seat.Battery 4 is all control panels in robot, servo motor and vacuum pump power supply.Number
Transmission module 6 provides long-range remote control function, and chassis driving plate controls the work of 4 minipumps etc. on bottom plate, 2 wheel drivings
The work of servo motor etc. and the work of vacuum pump.Arm driving plate 19 is responsible for the control of the first rotary shaft 17, holder driving plate
20 are responsible for the control that the second rotary shaft 18 and suction cup carrier 15 rotate.
The rotating seat 11 of obstacle detouring arm, which lifts, when wall is climbed by robot raises the 5th sucker 13, and the pumpings such as minipump will inhale
The air pressure insides such as disk reduce, and sucker suction drives pedestal 1 to press to ground in wall surface, and wheel etc. is close to wall surface.Drive servo motor
The first wheel 7-1 is driven to rotate, ipsilateral third wheel 7-3 is under the first synchronous belt 9-1 effect in the synchronous rotation of the first wheel 7-1
Turn.When two sides wheel advances, entire robot is driven to advance on wall surface.When two sides wheel is rotated with differential or opposite direction
When, robot can turn on wall surface.
When robot encounters obstacle on wall surface, obstacle detouring arm falls rotating seat 11, and the 5th sucker 13 is allowed to fall in obstacle
On the wall surface at edge.Starting vacuum pump 16 will be pumped into negative-pressure adsorption in being then shut off on pedestal 1 on wall surface inside the 5th sucker 13
Minipump etc., so that robot base is detached from wall surface.Obstacle detouring arm passes through the second rotary shaft 18 for rotating seat 11 opposite first
Motor cabinet 12 lifts, the rotating servo electricity after the arrival of robot chassis can be with the height of leaping over obstacles, in first motor seat 12
Machine 14 rotates, and band mobile robot is axis rotation around first motor seat 12.When robot chassis is rotated to the obstacle other end, stop
Rotating servo motor 14 works, and obstacle detouring arm falls the wall that robot chassis is placed in the obstacle other side further around the second rotary shaft 18
On face.Chassis is adsorbed to robot chassis on metope close to unlatching minipump etc. after wall surface.The absorption of robot chassis
Vacuum pump 16 is closed after on to wall surface, obstacle detouring arm, which lifts rotating seat 11, after the 5th sucker 13 loses absorption allows sucker to be higher than
After obstacle, robot can sail out of obstacle and continue wall surface advance.
In conclusion the wheel leg convolution climbing robot of multi-cavity absorption of the present invention has absorption to stablize, movement velocity is fast,
It may span across obstacle and control simple advantage, extend the application field of climbing robot.
Claims (2)
1. a kind of wheel leg convolution climbing robot of multi-cavity absorption, which is characterized in that including multi-cavity negative absorption chassis, wheeled
Movement mechanism, three-stage obstacle detouring arm and control module:
The multi-cavity negative adsorbs chassis, including multiple negative-pressure adsorption chambers, and each negative-pressure adsorption chamber includes a sucker and one
Minipump, for robot to be adsorbed in wall surface；
The wheel type motion mechanism is mounted on multi-cavity negative absorption chassis, for driving robot forward-reverse and steering；
The three-stage obstacle detouring arm is three sections of Three Degree Of Freedom structures, and one end is fixed on multi-cavity negative absorption chassis, other end peace
Sucker is filled, sucker is used to robot being adsorbed in wall surface；
The control module, including battery, digital transmission module and driving plate；Battery is used for as the other component power supplies of robot；Number passes
Module provides long-range remote control function；Driving plate makes movement for driving wheel-type movement mechanism and three-stage obstacle detouring arm, and drives
Multi-cavity negative adsorbs the sucker suction of chassis and three-stage obstacle detouring arm in wall surface；
The course of work of above-mentioned climbing robot is as follows:
When climbing robot normal movement, robot is adsorbed on wall surface by multi-cavity negative absorption chassis, wheel type motion mechanism
Robot forward-reverse and steering are driven, three-stage obstacle detouring arm, which lifts, does not contact wall surface；
When climbing robot obstacle detouring, three-stage obstacle detouring arm falls in sucker on wall surface, starts the vacuum on three-stage obstacle detouring arm
Sucker suction on wall surface, then is released the absorption work on multi-cavity negative absorption chassis by pump, and the sucker with three-stage obstacle detouring arm is
Multi-cavity negative absorption chassis is moved to the other side of barrier and is adsorbed on wall surface, turned off by support, three-stage obstacle detouring arm
Three-stage obstacle detouring arm is withdrawn in the absorption work of sucker on three-stage obstacle detouring arm, completes obstacle detouring；
Multi-cavity negative absorption chassis includes pedestal (1), the first sucker (2-1), the second sucker (2-2), third sucker (2-
3), the 4th sucker (2-4), the first minipump (3-1), the second minipump (3-2), third minipump (3-3),
4th minipump (3-4)；
First sucker (2-1), the second sucker (2-2), third sucker (2-3), the 4th sucker (2-4) are solid by sucker respectively
Determine screw (21) and be fixed on pedestal (1) lower surface, and sucker venthole (22) are arranged in the center of each sucker；First minipump
(3-1), the second minipump (3-2), third minipump (3-3), the 4th minipump (3-4) are set to pedestal
(1) upper surface, the aspirating hole of four vacuum pumps pass through plastic hose across pedestal (1) and corresponding sucker venthole (22) respectively
It is connected；
The wheel type motion mechanism includes the first wheel (7-1), the second wheel (7-2), third wheel (7-3), the 4th wheel (7-
4), the first driving servo motor (8-1), the second driving servo motor (8-2), the first synchronous belt (9-1), the second synchronous belt (9-
2), the second motor cabinet (23-1), third motor cabinet (23-2), wheel axletree bearing seat (24), small pulley (25), the first coupling sleeve (26-
1), the second coupling sleeve (26-2)；
First wheel (7-1), the second wheel (7-2), third wheel (7-3), the 4th wheel (7-4) are respectively arranged at pedestal
(1) quadrangle, the wheel axletree bearing seat (24) that each wheel passes through two one group are fixed on pedestal (1) upper surface, every group of vehicle
1 small pulley (25) is equipped between wheel bearing seat (24)；Direction of travel is arranged in first wheel (7-1), third wheel (7-3)
The same side, and the corresponding small pulley (25) of two wheels is linked together by the first synchronous belt (9-1), the second wheel (7-
2), the other side of direction of travel is arranged in the 4th wheel (7-4), and the corresponding small pulley (25) of two wheels is same by second
Step band (9-2) links together, and small pulley (25) operates synchronously ipsilateral wheel holding；The first driving servo motor
(8-1) is fixed on pedestal (1) upper surface by the second motor cabinet (23-1), and the first driving servo motor (8-1) connects by first
Axle sleeve (26-1) is connected with the axis of the first wheel (7-1), drives first wheel of side (7-1), third wheel (7-3) operating；
Second driving servo motor (8-2) is fixed on pedestal (1) upper surface, the second driving servo by third motor cabinet (23-2)
Motor (8-2) is connected by the second coupling sleeve (26-2) with the axis of the 4th wheel (7-4), drive second wheel of side (7-2),
The operating of 4th wheel (7-4)；
The three-stage obstacle detouring arm includes base (10), rotating seat (11), first motor seat (12), the 5th sucker (13), rotation
Servo motor (14), suction cup carrier (15), vacuum pump (16), the first rotary shaft (17), the second rotary shaft (18)；
Pedestal (1) upper surface center is fixed in described base (10) one end, the other end is installed by the first rotary shaft (17)
On the bearing of rotating seat (11) one end, one end of first motor seat (12) is mounted on rotating seat by the second rotary shaft (18)
(11) on the bearing of the other end；An obstacle detouring arm servo motor (27) is fixed at the both ends of rotating seat (11) respectively, thus driving machine
Seat (10) and first motor seat (12) relative rotation seat (11) rotation；One rotating servo motor is set in first motor seat (12)
(14), for driving the suction cup carrier (15) of first motor seat (12) other end to rotate, to drive the 5th sucker (13) around first
Motor cabinet (12) rotation；5th sucker (13) is connect by plastic flexible pipe with the vacuum pump (16) being fixed on rotating seat (11),
When the 5th sucker (13) is close to wall surface, starting vacuum pump (16) reduces suction cup interior air pressure, and the 5th sucker (13) is in atmosphere
It is adsorbed on wall surface under pressure effect.
2. the wheel leg convolution climbing robot of multi-cavity absorption according to claim 1, which is characterized in that the control mould
Block includes battery (4), chassis driving plate (5), digital transmission module (6), arm driving plate (19), holder driving plate (20)；
The battery (4), chassis driving plate (5) and digital transmission module (6) are fixed on sole plate base (1) upper surface, arm driving plate
(19) and holder driving plate (20) is set to rotating seat (11) inside；Battery (4) is all control panels, servo motor in robot
It powers with vacuum pump, digital transmission module (6) provides long-range remote control function, and chassis driving plate (5) controls the first minipump (3-
1), the second minipump (3-2), third minipump (3-3), the 4th minipump (3-4), the first driving servo electricity
The work of machine (8-1), the second driving servo motor (8-2) and vacuum pump (16), arm driving plate (19) control the first rotary shaft
(17) work, holder driving plate (20) control the work of the second rotary shaft (18), rotating servo motor (14).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710103129.9A CN106945740B (en) | 2017-02-24 | 2017-02-24 | A kind of wheel leg convolution climbing robot of multi-cavity absorption |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201710103129.9A CN106945740B (en) | 2017-02-24 | 2017-02-24 | A kind of wheel leg convolution climbing robot of multi-cavity absorption |
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| CN106945740B true CN106945740B (en) | 2019-03-05 |
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Families Citing this family (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108177703A (en) * | 2018-02-10 | 2018-06-19 | 西安建筑科技大学 | It is a kind of can obstacle detouring climbing robot and its obstacle-detouring method |
| CN109353419A (en) * | 2018-10-12 | 2019-02-19 | 桐城市立行电子科技有限公司 | A kind of magnetic-type climbing robot for secondary |
| CN109572844B (en) * | 2019-01-09 | 2024-11-08 | 北京史河科技有限公司 | Wall climbing robot |
| CN109879077B (en) * | 2019-03-26 | 2023-12-29 | 广东电网有限责任公司 | Step-type automatic loading and unloading device capable of climbing |
| CN110497978A (en) * | 2019-08-29 | 2019-11-26 | 南京禹智智能科技有限公司 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
| CN111216820B (en) * | 2020-02-28 | 2024-12-24 | 广州力多机器人智能科技有限公司 | Low-noise rust removal robot |
| CN111846027A (en) * | 2020-08-07 | 2020-10-30 | 广东电科院能源技术有限责任公司 | Robot chassis structure |
| CN112315389A (en) * | 2020-11-23 | 2021-02-05 | 深圳怪虫机器人有限公司 | Glass curtain wall cleaning robot |
| CN113002652A (en) * | 2021-03-16 | 2021-06-22 | 昆明理工大学 | Wall-climbing robot with obstacle crossing function and obstacle crossing method thereof |
| CN113173214B (en) * | 2021-04-21 | 2022-04-01 | 昆明理工大学 | A vacuum adsorption motion device and its constructed obstacle climbing robot |
| CN113353169B (en) * | 2021-06-18 | 2023-01-24 | 西安理工大学 | Wheel type negative pressure adsorption type wall climbing robot capable of crossing obstacle and obstacle crossing method thereof |
| CN113335409B (en) * | 2021-06-28 | 2022-04-08 | 中国电子科技集团公司第三十八研究所 | Wall-climbing robot based on roller type sucker |
| CN113415349B (en) * | 2021-08-12 | 2022-06-17 | 同济大学 | A sucker-type walking wall-climbing robot |
| CN113696987B (en) * | 2021-09-18 | 2022-05-27 | 河北工业大学 | Single-track wall-climbing robot |
| CN114892978B (en) * | 2022-03-24 | 2024-07-19 | 温州一建城建集团有限公司 | Civil engineering basic mould construction process and fixing device thereof |
| CN118907027B (en) * | 2024-07-23 | 2025-03-04 | 齐鲁工业大学(山东省科学院) | An autonomous obstacle avoidance and handling robot |
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| CN1068302A (en) * | 1992-05-16 | 1993-01-27 | 上海科学技术大学 | Omnidirectional wall walking mechanism |
| US5468099A (en) * | 1993-08-11 | 1995-11-21 | Vought Aircraft Company | Seam tracking drilling machine |
| WO2011029206A1 (en) * | 2009-09-10 | 2011-03-17 | Robotinc.Ch Ag | Suction device |
| CN201914347U (en) * | 2010-09-21 | 2011-08-03 | 长春理工大学 | Multi-cavity negative-pressure-adsorption type wall-climbing robot |
| CN103909991B (en) * | 2014-04-01 | 2016-02-10 | 南京赫曼机器人自动化有限公司 | A kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof |
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