CN107512323A - A kind of climbing robot - Google Patents

Abstract

The invention discloses a wall-climbing robot, which includes a motor, an outer frame, an inner frame, a parallel movement mechanism capable of moving in the XY plane, and a leg mechanism capable of lifting legs in the Z direction. The moving mechanism is installed in the outer frame, and the bottom of the outer frame and the inner frame are each equipped with four leg mechanisms that can be adsorbed on the wall; each of the four corners of the outer frame is equipped with a motor The parallel moving mechanism includes a mounting plate, a Y-direction sliding mechanism, an X-direction sliding mechanism, a bearing seat assembly, a toothed belt and a roller; the described bearing seat assembly includes a synchronous pulley, and the toothed belt winds Pass all rollers and synchronous pulley just in time to form " I " font closed circuit. The design is exquisite, the control is simple, it can walk flexibly on the wall, and the crawling is stable and reliable; in addition, it can be equipped with different functional equipment to complete cleaning, painting, surveying, etc., and its load and obstacle surmounting capabilities are remarkable.

Description

A wall-climbing robot

technical field

The invention relates to a wall-climbing robot.

Background technique

More and more high-rise buildings have become the new landscape of modern cities. These high-rise buildings mostly use ceramic tiles and glass curtain walls as their facades, and they need to be cleaned and other high-altitude operations every once in a while.

For a long time, most of the cleaning work on the facades of high-rise buildings has been done manually. security risks.

Contents of the invention

The present invention aims to provide a wall-climbing robot capable of moving and working in dangerous environments such as vertical walls, with stable and reliable crawling, flexible movement, simple control, and remarkable load and obstacle-surmounting capabilities.

For this reason, the technical solution adopted in the present invention is: a wall-climbing robot, including a motor, an outer frame, an inner frame, and a parallel movement mechanism that can move in the XY plane and a leg that can lift legs in the Z direction mechanism, the inner frame is installed in the outer frame through a parallel movement mechanism, and the outer frame and the bottom of the inner frame are each equipped with four leg mechanisms that can be adsorbed to the wall.

Further, the parallel moving mechanism includes a mounting plate, a Y-direction sliding mechanism, an X-direction sliding mechanism, a bearing seat assembly, a toothed belt and rollers; the mounting plate can move forward and backward through the Y-direction sliding mechanism. In the outer frame, the inner frame is installed at the bottom of the mounting plate through the X-direction sliding mechanism, and can move left and right; the bearing seat assembly includes a bearing seat, a rolling bearing and a timing pulley, and the bearing seat is installed at the end corner of the outer frame , the synchronous pulley is driven by the motor; the rollers are set to four, arranged in a rectangular shape on the mounting plate, and the toothed belt bypasses all the rollers and the synchronous pulley just to form an "I" closed shape circuit.

Further, the leg mechanism includes a thigh, a calf, a suction cup set and a pump device, and the thigh and the calf are connected by a telescopic cylinder and two tendons arranged in parallel to complete bending and leg lifting in the Z direction, so One end of the telescopic cylinder is connected to the thigh, and the other end is connected to the calf. The tendon is a connecting plate. One end of the tendon is hinged on the thigh, and the other end is hinged on the calf. The two tendons are connected by a tension spring; The suction cup set is installed at the bottom of the calf, and the pump device is used for vacuuming and inflating the suction cup set.

Further, the suction cup set includes a suction cup fixing base, a suction cup mounting plate, a quick-plug joint and a suction cup, and the suction cup mounting plate is installed on the bottom of the calf through the suction cup fixing base; the suction cups are arranged in three and are evenly distributed in a triangle , each suction cup is installed on the suction cup mounting plate through the quick-plug connector, and the pump device communicates with each suction cup through an air pipe.

Further, the suction cup set also includes a vacuum safety valve, a vacuum pressure switch, and a pressure sensor. The vacuum safety valve is arranged on the air pipe to ensure that each suction cup works independently. One end of the vacuum pressure switch is connected to the suction cup, and the other end is connected to the suction cup. The pressure sensor is connected.

Further, the left and right sides of the vacuum pressure switch are respectively provided with an inlet, and the bottom is provided with an outlet, and the outlet is only communicated with one of the inlets at a time; each of the suction cup groups is provided with two vacuum pressure switches, the first two The first suction cup is connected in parallel to the first vacuum pressure switch, the last suction cup is connected in parallel to the outlet of the first vacuum pressure switch and then connected to the second vacuum pressure switch, and the outlet of the second vacuum pressure switch is connected to the pressure sensor.

Further, the Y-direction sliding mechanism includes a Y-direction translation guide rod and a first sliding assembly, and the Y-direction translation guide rod is provided in two pieces, and the two Y-direction translation guide rods are arranged on the outer frame separately on the left and right, installed The left and right sides of the plate are respectively installed on the Y-direction translation guide rod on the corresponding side through the first sliding assembly, and can slide on the Y-direction translation guide rod; the X-direction sliding mechanism includes the X-direction translation guide rod, the second Two sliding components, the X-direction translation guide rods are set as two, and the two X-direction horizontal guide rods are separately installed on the mounting plate. on the moving guide rod, and can slide on the X-direction translation guide rod.

Furthermore, the front end and the rear end of the Y-direction translation guide rod are fixedly installed on the corresponding side bearing seats through the guide shaft support respectively; the two ends of the X-direction translation guide rod are installed through the T-shaped support of the guide shaft on the mounting plate.

On the basis of the above solution, the inner frame includes an inner frame template and a die-casting corner connector, and the leg mechanism on the inner frame is fixed on the inner frame template through a die-cast corner connector; the outer The frame includes an outer frame profile frame, the motor is installed on the outer frame profile frame through a motor mounting plate; the bearing seat assembly is installed on the outer frame through pads.

Beneficial effects of the invention: exquisite design, simple control, flexible walking on the wall, and stable and reliable crawling; in addition, it can be equipped with different functional equipment to complete cleaning, painting, surveying, etc., and its load and obstacle surmounting capabilities are remarkable.

Description of drawings

Fig. 1 is an axonometric view of the present invention.

Fig. 2 is a front view of the present invention.

Fig. 3 is a perspective view of the outer frame of the present invention.

Fig. 4 is a perspective view of the inner frame of the present invention.

Figure 5 is an isometric view of the leg mechanism of the present invention.

Fig. 6 is a perspective view of the bearing housing assembly of the present invention.

7 and 8 are isometric views of the parallel movement mechanism of the present invention.

In the figure: 1-motor, 2-outer frame, 3-inner frame, 4-parallel moving mechanism, 5-leg mechanism, 41-installation plate, 42-bearing seat assembly, 43-toothed belt, 44-roller , a1-bearing seat, a2-rolling bearing, a3-synchronous pulley, 51-thigh, 52-calf, 53-suction cup group, 54-telescopic cylinder, 55-tendon, 56-tension spring, b1-suction cup holder, b2-Suction cup mounting plate, b3-Quick connector, b4-Suction cup, 6-Y-direction translation guide rod, 7-first sliding assembly, 8-X-direction translation guide rod, 9-second sliding assembly, c- Guide shaft support, d-T-shaped support of guide shaft, 31-inner frame plate, 32-die-casting angle connector, 21-outer frame profile frame, 11-motor mounting plate, e-pad.

detailed description

The foregoing summary will be described more particularly hereinafter with reference to specific embodiments of the invention that are illustrated in the accompanying drawings.

The wall-climbing robot shown in Figure 1 and Figure 2 mainly consists of a motor 1, an outer frame 2, an inner frame 3, a parallel movement mechanism 4 that can move in the XY plane, and a leg that can lift legs in the Z direction Mechanism 5 is composed of, and motor 1 mainly provides power for the wall-climbing robot. In this embodiment, there is at least one motor 1, and there may be multiple motors. The inner frame 3 is installed in the outer frame 2 through the parallel movement mechanism 4, and the outer frame 2 and The bottom of the inner frame 3 is respectively equipped with four leg mechanisms 5 which can be adsorbed on the wall. In this embodiment, the outer frame 2 can also carry equipment with corresponding functions. Preferably, as shown in Fig. 3 and Fig. 4, the inner frame 3 includes an inner frame type plate 31 and a die-casting corner connector 32, and the leg mechanism 5 on the inner frame 3 is fixed on the inner frame type through the die-casting corner connector 32. on the board 31; the outer frame 2 includes the outer frame profile frame 21, the outer frame profile frame 21 has a better load capacity, and various functional equipment can be installed on the outer frame profile frame 21 to complete different types of operations, and the motor 1 passes The motor mounting plate 11 is installed on the profile frame 21 of the outer frame; all of the above can enable the wall-climbing robot to obtain better installation and use performance.

As shown in Fig. 1, Fig. 3, Fig. 6, Fig. 7 and Fig. 8, the parallel moving mechanism 4 in the above embodiment includes a mounting plate 41, a Y-direction sliding mechanism, an X-direction sliding mechanism, a bearing seat assembly 42, Toothed belt 43 and roller 44; Mounting plate 41 is installed in the outer frame 2 through the Y-direction sliding mechanism, and the inner frame 3 is installed on the bottom of the mounting plate 41 through the X-direction sliding mechanism; Formation 42 includes bearing seat a1, rolling bearing a2 and synchronous pulley a3, bearing seat a1 is installed at the end corner of outer frame 2, and in this embodiment, motor 1 can also be installed at the end corner of outer frame 2, and bearing seat assembly 42 Correspondingly, the synchronous pulley a3 is driven by the motor 1; four rollers 44 are arranged in a rectangular shape on the mounting plate 41, and the toothed belt 43 bypasses all the rollers 44 and the synchronous pulley a3 just forms an "I" closed shape circuit. In addition, the two ends of the toothed belt 43 in the embodiment can generally be connected by a belt connection block. Preferably, the bearing seat assembly 42 is installed on the outer frame 2 through spacers e.

The Y-direction sliding mechanism in this embodiment includes a Y-direction translation guide rod 6 and a first sliding assembly 7. There are two Y-direction translation guide rods 6, and the two Y-direction translation guide rods 6 are separately arranged on the outer frame 2 Above, the left and right sides of the mounting plate 41 are respectively installed on the Y-direction translation guide rod 6 on the corresponding side through the first sliding assembly 7, and can slide on the Y-direction translation guide rod 6; the X-direction sliding mechanism includes the X-direction translation The moving guide rod 8, the second sliding assembly 9, and the X-direction translation guide rod 8 are set to two, and the two X-direction horizontal guide rods 8 are separately installed on the mounting plate 41 front and rear, and the front and rear ends of the inner frame 3 respectively pass through the second The sliding assembly 9 is installed on the X-direction translation guide rod 8 at the corresponding end, and can slide on the X-direction translation guide rod 8 . As a preference, the front end and the rear end of the Y-direction translation guide rod 6 are fixedly installed on the corresponding bearing seat a1 through the guide shaft support c respectively; the two ends of the X-direction translation guide rod 8 are installed through the guide shaft T-shaped support d on the mounting plate 41.

As shown in Figure 5, preferably, the leg mechanism 5 includes a thigh 51, a shank 52, a suction cup set 53 and a pump device, and the thigh 51 and the shank 52 are connected by a telescopic cylinder 54 and two tendons 55 arranged in parallel, It can complete bending and leg raising in Z direction. One end of the telescopic cylinder 54 is connected to the thigh 51, and the other end is connected to the calf 52. The tendon 55 is a connecting plate. One end of the tendon 55 is hinged on the thigh 51, and the other end is hinged on the calf 52. Above, the two tendons 55 are connected by a tension spring 56, so that the cooperation between the thigh 51 and the calf 52 is compact, the movement is coherent, and the stability and reliability are guaranteed; the suction cup group 53 is installed at the bottom of the calf 52, and the pump device is used Vacuumize and inflate in suction cup group 53.

As a preference of the above-mentioned embodiment, the suction cup set 53 includes a suction cup fixing seat b1, a suction cup mounting plate b2, a quick-plug joint b3 and a suction cup b4, and the suction cup mounting plate b2 is installed on the bottom of the calf 52 through the suction cup fixing seat b1; the number of suction cups b4 is set to three And it is evenly distributed in a triangle. The quick-plug joint b3 passed by each suction cup b4 is installed on the suction cup mounting plate b2. The internal mechanism 5 can be adsorbed on the wall. This embodiment is more commonly used in daily life, and will not be repeated here.

In addition, the suction cup group 53 also includes a vacuum safety valve, a vacuum pressure switch, and a pressure sensor. The vacuum safety valve is arranged on the air pipe to ensure that each suction cup b4 works independently. One end of the vacuum pressure switch is connected to the suction cup b4, and the other end is connected to the pressure sensor. Preferably, the left and right sides of the vacuum pressure switch are respectively provided with an inlet, and the bottom is provided with an outlet, and the outlet is only communicated with one of the inlets at a time; each suction cup group 53 is provided with two vacuum pressure switches, and the first two suction cups b4 After connecting in parallel, connect to the first vacuum pressure switch, and connect the last suction cup b4 to the outlet of the first vacuum pressure switch in parallel, then connect to the second vacuum pressure switch, and connect the outlet of the second vacuum pressure switch to the pressure sensor. The above structure ensures that the vacuum between the three suction cups b4 of each suction cup group 53 is not affected, and as long as one suction cup b4 is working among the three suction cups b4 of the suction cup group 53, the normal operation of the whole system can be guaranteed.

The wall-climbing robot provided by this embodiment adopts a combination of leg-type and frame-type movement in the process of working on the wall, and its maneuverability is superior to that of wheel-type movement; wherein, the leg mechanism 5 can reciprocally contract and lift the legs, so that the outer frame 2 It is connected with the inner frame 3 to realize the action of raising the legs; and under the action of the parallel moving mechanism 4, it realizes the movement of gait, so as to move and work on the wall surface, and the functional equipment carried on the outer frame 2 performs corresponding work on the wall surface.

The above descriptions are only preferred embodiments, and should not be considered as limiting the implementation scope of the present invention. All equivalent changes and improvements made according to the application scope of the present invention shall still belong to the scope covered by the patent of the present invention.

Claims (9)

1. A kind of 1. climbing robot, it is characterised in that：Including motor (1), outer framework (2), inner frame (3), and can be put down in XY The travel mechanism in parallel (4) of in-plane moving and the leg mechanism (5) that lift leg motion can be done in Z-direction, the inner frame (3) pass through Travel mechanism (4) in parallel is arranged in the outer framework (2), and outer framework (2) and inner frame (3) bottom are respectively provided with four energy It is adsorbed in the leg mechanism (5) of metope.
2. 2. climbing robot according to claim 1, it is characterised in that：The travel mechanism in parallel (4) includes installing plate (41), Y-direction slipping mechanism, X are to slipping mechanism, bearing seat assembly (42), odontoid belt (43) and roller (44)；The installing plate (41) it is arranged on by what Y-direction slipping mechanism can move forward and backward in outer framework (2), the inner frame (3) is by X to slipping mechanism What can be moved left and right is arranged on installing plate (41) bottom；The bearing seat assembly (42) includes bearing block (a1), rolling bearing (a2) it is arranged on synchronous pulley (a3), the bearing block (a1) at the angle of outer framework (2) end, the synchronous pulley (a3) is by described Motor (1) drives；The roller (44) is arranged to four, in rectangular layout on installing plate (41), the odontoid belt (43) " work " font closed-loop path is just surrounded around whole rollers (44) and synchronous pulley (a3).
3. 3. climbing robot as claimed in claim 2, it is characterised in that:The leg mechanism (5) includes thigh (51), shank (52), sucker group (53) and pump installation, a telescopic cylinder (54) and two are passed through between the thigh (51) and shank (52) Tendon (55) connection of parallel arrangement, bending and Z-direction lift leg action can be completed, described telescopic cylinder (54) one end is connected to greatly On leg (51), the other end is connected on shank (52), and the tendon (55) is connecting plate, and one end of tendon (55) is hinged on thigh (51) on, the other end is hinged on shank (52), is connected between two tendons (55) by extension spring (56)；The sucker group (53) shank (52) bottom is installed on, the pump installation is vacuumized and inflated for sucker group (53).
4. 4. climbing robot as claimed in claim 3, it is characterised in that：The sucker group (53) includes sucker fixed seat (b1), sucker installing plate (b2), quick connector (b3) and sucker (b4), the sucker installing plate (b2) are fixed by the sucker Seat (b1) is arranged on shank (52) bottom；The sucker (b4) is arranged to three and uniform into triangle, and each sucker (b4) is logical Cross described quick connector (b3) to be installed on the sucker installing plate (b2), lead between the pump installation and each sucker (b4) Cross tracheae connection.
5. 5. climbing robot as claimed in claim 4, it is characterised in that：The sucker group (53) also include antivoid valve, Vacuum pressure switch, pressure sensor, the antivoid valve, which is arranged on tracheae, to be used to ensure each sucker (b4) independent work Make, described vacuum pressure switch one end connecting sucker (b4), the other end is connected with the pressure sensor.
6. 6. climbing robot as claimed in claim 5, it is characterised in that：The vacuum pressure switch left and right side is each provided with One import, bottom are provided with one outlet, export each and one of inlet communication；Each sucker group (53) sets Two vacuum pressure switch are equipped with, first vacuum pressure switch, last sucker are accessed after the first two sucker (b4) is in parallel (b4) second vacuum pressure switch, second vacuum pressure switch are accessed after in parallel with the outlet of first vacuum pressure switch Outlet connection pressure sensor.
7. 7. climbing robot as claimed in claim 4, it is characterised in that：The Y-direction slipping mechanism includes Y-direction translation guide rod (6), the first sliding assembly (7), the Y-direction translation guide rod (6) are arranged to two, and two Y-direction translation guide rods (6) are divided right and left and set Put on outer framework (2), the left and right sides of installing plate (41) is each arranged on the Y-direction of respective side by the first sliding assembly (7) On translation guide rod (6), and it can be slided on Y-direction translation guide rod (6)；The X includes X to translation guide rod (8), the to slipping mechanism Two sliding assemblies (9), the X are arranged to two to translation guide rod (8), and two X are separated installed in peace to horizontal guide (8) In loading board (41), the front and back end of inner frame (3) is arranged on the X of corresponding end to translation guide rod each via the second sliding assembly (9) (8) on, and can be in X to sliding on translation guide rod (8).
8. 8. climbing robot as claimed in claim 5, it is characterised in that：Y-direction translation guide rod (6) the front-end and back-end difference It is fixedly mounted on by guide shaft support (c) on the bearing block (a1) of respective side；The both ends of the X to translation guide rod (8) then lead to The T-shaped bearing (d) of the axis of guide is crossed on installing plate (41).
9. 9. climbing robot as claimed in claim 6, it is characterised in that：The inner frame (3) include inner frame template (31), Die casting angle connector (32), leg mechanism (5) on the inner frame (3) are fixed on described by die casting angle connector (32) On inner frame template (31)；The outer framework (2) includes outter frame profile frame (21), and the motor (1) passes through motor mounting plate (11) it is arranged on the outter frame profile frame (21)；The bearing seat assembly (42) is arranged on outer framework (2) by cushion block (e) On.