CN103832500A - Gecko robot - Google Patents
Gecko robot Download PDFInfo
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- CN103832500A CN103832500A CN201210478037.6A CN201210478037A CN103832500A CN 103832500 A CN103832500 A CN 103832500A CN 201210478037 A CN201210478037 A CN 201210478037A CN 103832500 A CN103832500 A CN 103832500A
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Abstract
The invention discloses a gecko robot. The gecko robot comprises a power system, an absorption system and a control system. The power system comprises wheels, a drive motor, a rotary disc, a linear motor, a push rod and a connecting rod. The absorption system comprises a high-speed motor, a fan, labyrinth-type cavities and a vacuum air supplement device. Due to the multi-cavity structure, the reliability and adaptability of the robot in the working process are improved. By the vacuum air supplement device, walking drive force of the robot is more stable, and the capacity of the robot of adapting to different walls is enhanced. The gecko robot can be used for detecting cracks, measuring thicknesses and detecting cracks of weld joints of nuclear waste liquid tanks and reactor pressure tanks, for spraying giant walls, cleaning glass walls, installing tiles, detecting cracks of bridges, and detecting, measuring and maintaining inner walls and outer walls of circular large tanks or spherical tanks, and can also be used for rust removing, spraying and the like of ships.
Description
Technical field
The present invention relates to machine gecko field, especially utilize continuous negative pressure principle, adopt the Multicarity crab type Negative pressure machine wall tiger of Multicarity adsorption structure.
Background technology
Machine gecko, as a special branch of robot, is characterized in overcoming Action of Gravity Field free motion on wall, top ceiling.Due to the particularity of machine gecko work, receive the concern of countries in the world researcher.
Along with urban skyscraper constantly occurs, the thing followed is the problem of high-rise operation.Machine gecko application at present mainly concentrates on following field: in nuke industry, for nuclear waste tank, reactor pressure tank being carried out to flaw detection, thickness measuring and seam inspection etc.; In construction trade, for the spraying to huge wall, the cleaning of glass wall, ceramic tile is installed, bridge flaw detection etc.; In fire department, for delivery of relief goods and materials; In petrochemical industry, for the inside and outside wall of the large tank of circle or spherical tank is checked, measured and maintains; In shipbuilding industry, for rust cleaning, spraying etc. to hull.
Along with improving constantly of national economy level, will there is the work that more relates to aloft work, the application of machine gecko also can have more and more wide prospect.
Conventional machines gecko mainly contains vacuum suction and the attached two kinds of forms of magnetic: the shortcoming of vacuum adsorption type robot is in the time that wall is rough and uneven in surface, easily make sucker gas leakage, thereby adsorption affinity is declined, load-carrying capacity reduces, in the time running into wall and have large crackle and brickwork joint, robot can not complete absorption action.The convex-concave strong adaptability of magnetic suction type to wall, and adsorption affinity is large, must be permeability magnetic material but require wall.These two kinds of robots have again mobile poor continuity, the problems such as inefficiency simultaneously.Above two kinds of machine geckoes, due to the requirement of usage condition, have seriously been limited the applied environment of machine gecko.
For the deficiency of current machine gecko, the invention provides one and utilize continuous negative pressure principle, adopt Multicarity adsorption structure, have wall structure shape adaptablely, good stability, is not limited by wall surface material, mobile machine gecko flexibly.Robot control utilizes remote controller operation, controls flexibly and easily, has good application prospect.
Summary of the invention
The technical problem to be solved in the present invention is: the deficiency that overcomes current Negative pressure machine wall tiger technology, a kind of Multicarity crab type Negative pressure machine wall tiger is provided, have wall structure shape adaptable, good stability, not limited by wall surface material, move the features such as flexible, be specially adapted to skyscraper or aloft work.
The technical solution used in the present invention is: a kind of machine gecko, the fan that this robot utilizes high-speed electric expreess locomotive to drive, extracts the gas in annular seal space between robot and wall, makes to produce continuous negative pressure in annular seal space, makes robot complete the process of absorption.
This robot comprises power system, adsorption system, control system.Power system comprises wheel, drive motor, rotating disk, linear electric motors, push rod, connecting rod; Adsorption system comprises high-speed electric expreess locomotive, fan, labyrinth type cavity, vacuum gas supplementary device.Control system comprises receiving system and remote controller.Adopt continuous negative pressure principle can well overcome the adjustment of robot to body of wall, the mode that simultaneously adopts wheeled driving and crab type to turn to, makes robot have good motion continuity;
Drive motor is fixed on rotating disk, and motor output shaft adopts bearing to fix with wheel sub-connection, rotating disk and base, and rotating disk can rotate within the scope of 90 °; Linear electric motors are fixed on base, adopt connecting rod to connect between linear electric motors push rod and rotating disk, and the composition reverse mechanism of crank block, can be by the crank motion of linear electric motors, drives pushrod movement, and then drive dial rotation to complete to turn to.
Four cavitys are fixed on base, the part that wherein contacts wall is labyrinth type flexible structure, the negative pressure system of cavity is made up of the high-speed electric expreess locomotive and the fan that are fixed on cavity adapter plate, the fan that utilizes high-speed electric expreess locomotive to drive, extract the gas in annular seal space between robot and wall, make generation continuous negative pressure in annular seal space.
The present invention adopts continuous negative pressure principle can well overcome the adjustment of robot to body of wall, and the mode that simultaneously adopts wheeled driving and crab type to turn to makes robot have good motion continuity; Be subject to the inspiration of octopus multi-sucker, designed the Multicarity structure with novelty, improved reliability and the comformability of robot working process; Vacuum gas supplementary valve gear makes robot ambulation propulsive effort more stable simultaneously, has increased the adaptive capacity of robot to different walls, thereby has widened the field of application of machine gecko.
The key technical indexes of the present invention: peak suction 40KPa, overall mass 1.8kg, absorption motor speed 11000rpm, drive motor tractive force >32N, load force >14N.
The technique effect that the present invention realizes is: utilize continuous negative pressure principle, adopt Multicarity adsorption structure, have wall structure shape adaptable, the feature such as good stability, is not limited by wall surface material, mobile flexible.Robot control utilizes remote controller operation, controls flexibly and easily, has good application prospect.
Accompanying drawing explanation
Fig. 1 be robot keystone configuration figure (on)
Fig. 2 be robot keystone configuration figure (under)
Fig. 3 is that robot is walked crosswise mode chart
Fig. 4 is 360 °, robot original place turning figure
Wherein: 1. drive motor 2. base 3. cavity adapter plate 4. rotating disk 5. wheel 6. linear electric motors 7. fan 8. connecting rod 9. high-speed electric expreess locomotives and vacuum gas supplementary device 10. push rod 11. labyrinth type cavitys.
The specific embodiment
As shown in the figure, the present invention includes power system, adsorption system, control system.Power system comprises wheel 5, drive motor 1, rotating disk 4, linear electric motors 6, push rod 10, connecting rod 8; Adsorption system comprises high-speed electric expreess locomotive and vacuum gas supplementary device 9, fan 7, labyrinth type cavity 11.Control system comprises receiving system and remote controller.
Drive motor 1 is fixed on rotating disk 4, and motor 1 output shaft is connected with wheel 5, and rotating disk 4 adopts bearing to fix with base 2, and rotating disk 4 can rotate within the scope of 90 °; Linear electric motors 6 are fixed on base 2, between linear electric motors push rod 10 and rotating disk 4, adopt connecting rod 8 to connect, and the composition reverse mechanism of crank block, can pass through the crank motion of linear electric motors 6, drive push rod 10 to move, and then driving rotating disk 4 has rotated and turns to.
Four cavitys are fixed on base 2, the part that wherein contacts wall is flexible 11 structures of labyrinth type, the negative pressure system of cavity is made up of the high-speed electric expreess locomotive 9 and the fan 7 that are fixed on cavity adapter plate 3, the fan 7 that utilizes high-speed electric expreess locomotive 9 to drive, extract the gas in annular seal space 11 between robot and wall, make generation continuous negative pressure in annular seal space.
Robot is mainly used in nuclear waste tank, reactor pressure tank to carry out flaw detection, thickness measuring and seam inspection, spraying to huge wall, the cleaning of glass wall, ceramic tile is installed, bridge is detected a flaw, the inside and outside wall of the large tank of circle or spherical tank is checked, measured and maintains, and can also be used for rust cleaning, spraying etc. to hull.
Claims (7)
1. a machine gecko, is characterized in that: the fan that this robot utilizes high-speed electric expreess locomotive to drive, extract the gas in annular seal space between robot and wall, and make to produce continuous negative pressure in annular seal space, make robot complete the process of absorption.
2. machine gecko according to claim 1, is characterized in that comprising power system, adsorption system, control system; Power system comprises drive motor (1), rotating disk (4), wheel (5), linear electric motors (6), push rod (10), connecting rod (8); Adsorption system comprises high-speed electric expreess locomotive and vacuum gas supplementary device (9), fan (7), labyrinth type cavity (11); Control system comprises receiving system and remote controller.
3. machine gecko according to claim 2, it is characterized in that: drive motor (1) is fixed on rotating disk (4), motor (1) output shaft is connected with wheel (5), rotating disk (4) adopts bearing to fix with base (2), and rotating disk (4) can rotate within the scope of 90 °.
4. machine gecko according to claim 3, it is characterized in that: linear electric motors (6) are fixed on base (2), between linear electric motors push rod (10) and rotating disk (4), adopt connecting rod (8) to connect, the composition reverse mechanism of crank block, can pass through the crank motion of linear electric motors (6), drive push rod (10) motion, and then drive rotating disk (4) to rotate and turn to.
5. machine gecko according to claim 4, it is characterized in that: four cavitys are fixed on base (2), the part that wherein contacts wall is labyrinth type flexibility (11) structure, the negative pressure system of cavity is made up of the high-speed electric expreess locomotive (9) and the fan (7) that are fixed on cavity adapter plate (3), the fan (7) that utilizes high-speed electric expreess locomotive (9) to drive, extract the gas in annular seal space (11) between robot and wall, make generation continuous negative pressure in annular seal space.
6. machine gecko according to claim 5, it is characterized in that: principle of work is to adopt continuous negative pressure principle can well overcome the adjustment of robot to body of wall, the mode that simultaneously adopts wheeled driving and crab type to turn to, makes robot have good motion continuity; Be subject to the inspiration of octopus multi-sucker, designed the Multicarity structure with novelty, improved reliability and the comformability of robot working process; Vacuum gas supplementary valve gear makes robot ambulation propulsive effort more stable simultaneously, has increased the adaptive capacity of robot to different walls, thereby has widened the field of application of machine gecko.
7. machine gecko according to claim 6, it is characterized in that: the key technical indexes of the present invention: peak suction 40KPa, overall mass 1.8kg, absorption motor speed 11000rpm, drive motor tractive force >32N, load force >14N.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210478037.6A CN103832500A (en) | 2012-11-22 | 2012-11-22 | Gecko robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210478037.6A CN103832500A (en) | 2012-11-22 | 2012-11-22 | Gecko robot |
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|---|---|
| CN103832500A true CN103832500A (en) | 2014-06-04 |
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| CN201210478037.6A Pending CN103832500A (en) | 2012-11-22 | 2012-11-22 | Gecko robot |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802877A (en) * | 2015-04-21 | 2015-07-29 | 杨一超 | Wall-climbing robot |
| CN106608306A (en) * | 2016-07-25 | 2017-05-03 | 中科新松有限公司 | Wall-climbing robot |
| CN107336559A (en) * | 2017-03-17 | 2017-11-10 | 黄京华 | Plotting unit |
| CN107618580A (en) * | 2016-07-14 | 2018-01-23 | 电子科技大学 | A kind of Antiskid chassis and the dolly with the Antiskid chassis |
| CN107913021A (en) * | 2016-10-11 | 2018-04-17 | 张家港市博雅文化传播有限公司 | A kind of glass-cleaning robot transfer |
| CN109333995A (en) * | 2018-10-12 | 2019-02-15 | 内蒙古工业大学 | A kind of pneumatic equipment bladess coating maintaining robot and its maintaining method |
| CN110029801A (en) * | 2018-01-12 | 2019-07-19 | 中科院微电子研究所昆山分所 | A kind of spray equipment |
| CN110203296A (en) * | 2019-05-23 | 2019-09-06 | 华中科技大学 | A kind of curved surface is mobile to adsorb machining robot and its absorption working method |
| CN113771979A (en) * | 2021-09-27 | 2021-12-10 | 北京理工大学 | Reverse thrust adsorption wall-climbing robot |
| WO2022073334A1 (en) * | 2020-10-10 | 2022-04-14 | 北京黑蚁兄弟科技有限公司 | Aerial work robot, control system and control method |
-
2012
- 2012-11-22 CN CN201210478037.6A patent/CN103832500A/en active Pending
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104802877A (en) * | 2015-04-21 | 2015-07-29 | 杨一超 | Wall-climbing robot |
| CN104802877B (en) * | 2015-04-21 | 2017-11-17 | 杨一超 | A kind of wall climbing robot |
| CN107618580A (en) * | 2016-07-14 | 2018-01-23 | 电子科技大学 | A kind of Antiskid chassis and the dolly with the Antiskid chassis |
| CN106608306A (en) * | 2016-07-25 | 2017-05-03 | 中科新松有限公司 | Wall-climbing robot |
| CN107913021A (en) * | 2016-10-11 | 2018-04-17 | 张家港市博雅文化传播有限公司 | A kind of glass-cleaning robot transfer |
| CN107336559A (en) * | 2017-03-17 | 2017-11-10 | 黄京华 | Plotting unit |
| CN110029801B (en) * | 2018-01-12 | 2021-03-19 | 昆山微电子技术研究院 | Spraying device |
| CN110029801A (en) * | 2018-01-12 | 2019-07-19 | 中科院微电子研究所昆山分所 | A kind of spray equipment |
| CN109333995A (en) * | 2018-10-12 | 2019-02-15 | 内蒙古工业大学 | A kind of pneumatic equipment bladess coating maintaining robot and its maintaining method |
| CN109333995B (en) * | 2018-10-12 | 2021-07-06 | 内蒙古工业大学 | Wind turbine blade coating maintenance robot and maintenance method thereof |
| CN110203296A (en) * | 2019-05-23 | 2019-09-06 | 华中科技大学 | A kind of curved surface is mobile to adsorb machining robot and its absorption working method |
| WO2022073334A1 (en) * | 2020-10-10 | 2022-04-14 | 北京黑蚁兄弟科技有限公司 | Aerial work robot, control system and control method |
| CN113771979A (en) * | 2021-09-27 | 2021-12-10 | 北京理工大学 | Reverse thrust adsorption wall-climbing robot |
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Application publication date: 20140604 |