CN112744307B - A wall-climbing robot for smooth plane and a wall-climbing method thereof - Google Patents
A wall-climbing robot for smooth plane and a wall-climbing method thereof Download PDFInfo
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- CN112744307B CN112744307B CN202110021051.2A CN202110021051A CN112744307B CN 112744307 B CN112744307 B CN 112744307B CN 202110021051 A CN202110021051 A CN 202110021051A CN 112744307 B CN112744307 B CN 112744307B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
本发明公开了一种用于光滑平面的爬壁机器人及其爬壁方法，该爬壁机器人包括主体框架、内框架和外框架，其中，采用在主体框架内外分别设置具备真空吸附功能的内框架和外框架的方式，使得在进行直线运动时，机器人沿外框架的引动路线完成直线前进或后退运动，在进行转向运动时，机器人以位于主体框架内部的内框架为转动中心，进行快速转向工作，也正是由于转动中心在主体框架内部，所以实现了转向所需空间小的技术效果；本发明还具备如下优点：选用真空吸附，吸附能力强，可控性强；选用框架式结构，移动距离可控；选用镂空框架式结构，总体自重轻；成本相对于其他爬壁机器人设备方案较低。
The present invention discloses a wall-climbing robot for a smooth plane and a wall-climbing method thereof. The wall-climbing robot comprises a main frame, an inner frame and an outer frame, wherein the inner frame and the outer frame with vacuum adsorption function are respectively arranged inside and outside the main frame, so that when performing linear motion, the robot completes linear forward or backward motion along the guiding route of the outer frame, and when performing turning motion, the robot uses the inner frame located inside the main frame as the rotation center to perform rapid turning work. It is precisely because the rotation center is inside the main frame that the technical effect of small space required for turning is achieved; the present invention also has the following advantages: vacuum adsorption is selected, the adsorption capacity is strong, and the controllability is strong; a frame structure is selected, and the moving distance is controllable; a hollow frame structure is selected, and the overall dead weight is light; the cost is lower than other wall-climbing robot equipment solutions.
Description
Technical Field
The invention relates to the technical field of robots, in particular to the mechanical fields of construction, fire protection, equipment detection and the like, so that the robots can perform maintenance, detection and cleaning work on high-altitude vertical smooth glass curtain walls, in particular to a wall climbing robot for a smooth plane and a wall climbing method thereof.
Background
With the continuous development of the economic level, more and more high-risk and heavy work is replaced by robots, such as cleaning curtain walls of high-rise buildings, inspection, quality detection, cutting, welding and polishing of facilities such as petrochemical storage tanks, ocean platforms and bridges, rust removal and spraying of ships and planes, detection of skins, maintenance and overhaul of nuclear facilities and the like, and dangerous and heavy work is gradually performed by wall climbing robots instead of manpower, particularly, the inspection of nuclear waste liquid storage tanks, which is extremely harmful to human bodies, is performed.
However, the existing wall climbing robot has large steering space, large volume, heavy weight and high manufacturing and using cost.
Disclosure of Invention
The invention aims to overcome the defects and shortcomings of the prior art and provide a wall climbing robot with small steering space and used for a smooth plane and a wall climbing method thereof.
The invention provides a wall climbing robot for a smooth plane, which comprises a main body frame, an inner frame and an outer frame, wherein the inner frame is positioned in the main body frame and is connected with the inner wall of the main body frame, an inner mounting frame is arranged below the inner frame and can rotate relative to the inner frame, at least one inner vacuum chuck for adsorbing a wall surface is arranged on the inner mounting frame, the inner mounting frame is connected with a first motor for driving the main body frame to rotate, the inner frame is connected with an output shaft of the first motor, the outer frames are arranged on two sides of the main body frame, the outer frames are connected with the outer wall of the main body frame through rotating arms, the rotating arms are connected with a second motor for driving the main body frame to move linearly, and at least one outer vacuum chuck for adsorbing the wall surface is arranged on the outer frame.
Preferably, the main body frame comprises a first chamber for realizing an internal adsorption wall surface and a second chamber for realizing a walking drive, the inner frame is positioned in the first chamber, and the second motor is positioned in the second chamber.
Preferably, when the second chamber is provided only at one side of the first chamber, the upper parts of the outer frames at both sides of the main body frame are connected as one body by a connecting rod, and the connecting rod is located above the main body frame.
Preferably, two outer frames are arranged on one side of the main body frame, each outer frame is connected with one outer vacuum chuck, and the number of the inner vacuum chucks is 4.
Preferably, when the outer frames on the same side are connected, the second motor is provided only as one.
Preferably, the inner frame is located between the first motor and the inner mounting frame, and an end portion of an output shaft of the first motor is movably connected with the inner mounting frame.
Preferably, the main body frame is a hollowed cuboid frame.
Preferably, the internal mounting frame is a rectangular parallelepiped frame, and the first motor is mounted in the middle of the internal mounting frame.
The invention also provides a wall climbing method applying the wall climbing robot for the smooth plane, which comprises the following steps:
The outer vacuum chuck of the outer frame is separated from the wall body when the inner vacuum chuck of the inner frame is adsorbed on the wall body, at the moment, the second motor rotates to enable the outer frame to move forwards relative to the inner frame and the main frame, then the outer vacuum chuck of the outer frame is adsorbed on the wall body, the inner vacuum chuck of the inner frame is separated from the wall body, the second motor rotates again to enable the inner frame and the main frame to move forwards relative to the outer frame, and the linear forward movement of the robot is completed;
the steering movement is that the outer vacuum chuck of the outer frame is separated from the wall body, the inner vacuum chuck of the inner frame is adsorbed on the wall body, and at the moment, the outer frame and the main body frame are driven to horizontally rotate for 90 degrees relative to the inner frame through the rotation of the first motor, so that one-time horizontal rotation is completed.
Compared with the prior art, the invention has the following beneficial effects:
1. According to the wall climbing robot for the smooth plane, the inner frame and the outer frame with the vacuum adsorption function are respectively arranged inside and outside the main body frame, so that the robot can linearly move forwards or backwards along the actuation route of the outer frame when in linear motion, and the robot can quickly turn by taking the inner frame positioned inside the main body frame as the rotation center when in turning motion, and the technical effect of small space required by turning is realized just because the rotation center is positioned inside the main body frame;
2. The invention also has the advantages of strong adsorption capacity and controllability by selecting vacuum adsorption, controllable moving distance by selecting a frame type structure, light total self weight by selecting a hollow frame type structure and lower cost compared with other wall climbing robot equipment schemes.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the drawings that are needed in the embodiments will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present invention, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic view of the overall structure of a wall climbing robot for smooth surfaces according to the present invention;
FIG. 2 is a schematic view of a part of the structure of FIG. 1;
FIG. 3 is a schematic view of the structure of the inner frame of the present invention;
FIG. 4 is a schematic view of the structure of the main frame of the present invention;
The vacuum chuck comprises a first motor, an internal vacuum chuck 2, a main body frame 3, an external vacuum chuck 4, an outer frame 5, an inner frame 6, a second motor 7, a connecting rod 8, a rotating arm 9, an internal mounting frame 10, a first chamber 11 and a second chamber 12.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention aims to overcome the defects and shortcomings of the prior art and provide a wall climbing robot with small steering space and used for a smooth plane and a wall climbing method thereof.
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
As shown in fig. 1-4, the invention provides a wall climbing robot for a smooth plane, which comprises a main body frame 3, an inner frame 6 and an outer frame 5, wherein the inner frame 6 is positioned inside the main body frame 3 and is connected with the inner wall of the main body frame 3, an inner mounting frame 10 is arranged below the inner frame 6, the inner mounting frame 10 and the inner frame 6 can rotate relatively, at least one inner vacuum chuck 2 for adsorbing a wall surface is arranged on the inner mounting frame 10, the inner mounting frame 10 is connected with a first motor 1 for driving the main body frame 3 to rotate, the inner frame 6 is connected with an output shaft of the first motor 1, two sides of the main body frame 3 are respectively provided with an outer frame 5, the outer frames 5 are connected with the outer wall of the main body frame 3 through rotating arms 9, the rotating arms 9 are connected with a second motor 7 for driving the main body frame 3 to move linearly, and at least one outer vacuum chuck 4 for adsorbing the wall surface is arranged on the outer frame 5. The vacuum chuck is of a structure in the prior art, the same vacuum adsorption device matched with the vacuum chuck is of a structure in the prior art, the vacuum adsorption device is not specifically described herein, the second motor 7 can be connected with the rotating arm 9, and can also be connected through a gear transmission or belt transmission and other transmission structures in the prior art, so long as corresponding driving can be achieved, the rotating arm 9 is fixedly connected with the second motor 7 and the corresponding driving structure, other positions are hinged so as to drive the robot to perform linear motion, and the inner frame 6 and the outer frame 5 with vacuum adsorption functions are respectively arranged inside and outside the main frame 3, so that the robot performs linear forward or backward motion along the actuation route of the outer frame 5 when performing linear motion, and the robot performs rapid steering operation by taking the inner frame 6 positioned inside the main frame 3 as a rotation center when performing steering motion, and the technical effect of small space required for steering is achieved because the rotation center is positioned inside the main frame 3.
For the convenience of installation, the main body frame 3 comprises a first chamber 11 for realizing the inner adsorption wall surface and a second chamber 12 for realizing the walking driving, the inner frame 6 and the parts connected with the inner frame are positioned in the first chamber 11, the second motor 7 is positioned in the second chamber 12, the second chamber 12 can be arranged at two sides of the first chamber 11, the second chamber 12 can be arranged at one side of the first chamber 11 for reducing the structural volume, and when the second chamber 12 is arranged at only one side of the first chamber 11, the upper parts of the outer frames 5 at two sides of the main body frame 3 are connected into a whole through the connecting rods 8 for realizing the technical purpose that a small amount of the second motors 7 can drive the outer frames 5 to move, and the connecting rods 8 are positioned above the main body frame 3.
In order to ensure the stability of the movement of the robot, two outer frames 5 are arranged on one side of the main body frame 3, and each outer frame 5 is connected with one external vacuum chuck 4, and the number of the internal vacuum chucks 2 is 4.
In the present invention, when the outer frames 5 on the same side are connected, the second motor 7 is provided as one.
In order to ensure the stability of the steering movement, the inner frame 6 is positioned between the first motor 1 and the inner mounting frame 10, and the end of the output shaft of the first motor 1 is movably connected with the inner mounting frame 10.
In order to reduce the dead weight, the main body frame 3 is a hollowed cuboid frame.
In the present invention, the internal mounting frame 10 is a rectangular parallelepiped frame, and the first motor 1 is mounted in the middle of the internal mounting frame 10.
The invention also provides a wall climbing method applying the wall climbing robot for the smooth plane, which comprises the following steps:
When the inner vacuum chuck 2 of the inner frame 6 is adsorbed on the wall, the outer vacuum chuck 4 of the outer frame 5 is separated from the wall, at the moment, the second motor 7 rotates to enable the outer frame 5 to move forwards relative to the inner frame 6 and the main body frame 3, then the outer vacuum chuck 4 of the outer frame 5 is adsorbed on the wall, the inner vacuum chuck 2 of the inner frame 6 is separated from the wall, the second motor 7 rotates again to enable the inner frame 6 and the main body frame 3 to move forwards relative to the outer frame 5 to complete the linear forward movement of the robot, and the movement process of the linear backward movement is only required to control the main body frame 3, the inner frame 6 and the outer frame 5 to move backwards through the second motor 7;
The steering motion is that the outer vacuum suction cups 4 of the outer frame 5 are separated from the wall body, the inner vacuum suction cups 2 of the inner frame 6 are adsorbed on the wall body, and at the moment, the outer frame 5 and the main body frame 3 are driven to horizontally rotate for 90 degrees relative to the inner frame 6 through the rotation of the first motor 1, so that one horizontal rotation is completed.
The principles and embodiments of the present invention have been described in detail with reference to the above examples, which are only for the purpose of aiding in understanding the principles and concepts of the present invention for a smooth-planar wall-climbing robot, and variations in terms of the detailed description and application will occur to those of ordinary skill in the art in light of the teachings herein. In view of the foregoing, this description should not be construed as limiting the invention.
Claims (3)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110021051.2A CN112744307B (en) | 2021-01-08 | 2021-01-08 | A wall-climbing robot for smooth plane and a wall-climbing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202110021051.2A CN112744307B (en) | 2021-01-08 | 2021-01-08 | A wall-climbing robot for smooth plane and a wall-climbing method thereof |
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| Publication Number | Publication Date |
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| CN112744307A CN112744307A (en) | 2021-05-04 |
| CN112744307B true CN112744307B (en) | 2024-12-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202110021051.2A Active CN112744307B (en) | 2021-01-08 | 2021-01-08 | A wall-climbing robot for smooth plane and a wall-climbing method thereof |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486187A (en) * | 2009-02-27 | 2009-07-22 | 北京工业大学 | Barrier-free constant speed creeping robot |
| CN108860356A (en) * | 2018-06-21 | 2018-11-23 | 宁波介量机器人技术有限公司 | A kind of climbing robot |
| CN214420580U (en) * | 2021-01-08 | 2021-10-19 | 中国石油大学胜利学院 | Wall-climbing robot for smooth plane |
Family Cites Families (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20070161323A1 (en) * | 2005-12-29 | 2007-07-12 | Marvel Characters, Inc. | Vacuum assisted wall climbing toy |
| CN203666819U (en) * | 2013-11-20 | 2014-06-25 | 徐州工业职业技术学院 | Wall-climbing robot with moving-type adsorption racks |
| TWI581844B (en) * | 2016-01-27 | 2017-05-11 | Genius Toy Taiwan Co Ltd | Climbing wall toys |
| CN111204380A (en) * | 2020-01-10 | 2020-05-29 | 上海工程技术大学 | A wall-climbing robot |
-
2021
- 2021-01-08 CN CN202110021051.2A patent/CN112744307B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101486187A (en) * | 2009-02-27 | 2009-07-22 | 北京工业大学 | Barrier-free constant speed creeping robot |
| CN108860356A (en) * | 2018-06-21 | 2018-11-23 | 宁波介量机器人技术有限公司 | A kind of climbing robot |
| CN214420580U (en) * | 2021-01-08 | 2021-10-19 | 中国石油大学胜利学院 | Wall-climbing robot for smooth plane |
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| CN112744307A (en) | 2021-05-04 |
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