CN103909991B - A kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof - Google Patents
A kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof Download PDFInfo
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Abstract
The invention discloses a kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof, comprise microadsorption module, lightweight kinematic mechanism and wall-climbing device human body, microadsorption module is connected with wall-climbing device human body by lightweight kinematic mechanism; The two-freedom mechanism that described lightweight kinematic mechanism is three rod members, two actuating device series connection are formed, one of them rod member and microadsorption module are fixedly connected, another rod member and wall-climbing device human body are fixedly connected, these two rod members are connected to the two ends of the 3rd rod member respectively by bearing, described two bearings are equipped with corresponding actuating device, and actuating device drives bearing rotary thus lifted by rod member drive microadsorption module, wall-climbing device human body or fallen.When running into obstacle, microadsorption module is adsorbed on wall by quiet suction type as " palm ", and lightweight kinematic mechanism realizes the upset of wall-climbing device human body with leaping over obstacles as " long-armed ".The bionical barrier-crossing wall-climbing robot of the present invention can cross over the obstacles such as large projection, wide groove flexibly.
Description
Technical field
The present invention relates to climbing robot technical field, particularly a kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof.
Background technology
Along with the fast development of Robotics, climbing robot is widely used at civilian, military, space industry as specialized robot.There is its environment particularity the application scenario of climbing robot, and such as, wall surface material is different, has the walls such as irony, glass and cement concrete; Degree of roughness and the situation of wall are various, have smooth, have coarse, simultaneously with obstacles such as large projection, wide grooves; The dimensional orientation of climbing is complicated, exists concavo-convex between wall, needs, from a plane climbing to another plane, to cause crossing over difficulty etc. problem.
Application number is that the Chinese patent of 200820079153.X discloses a kind of articular-jointed small-sized two-body negative-pressure wall climbing robot, there is front monomer negative pressure climbing robot, rear monomer negative pressure climbing robot is connected joint three part with pitching, but only connect joint by a pitching to connect, the height of the obstacle of leap and the width of groove are restricted; In addition, double bodies machinery people total quality is heavier, and the dynamic suction type of two robots causes the energy of consumption a lot.
Summary of the invention
The bionic type barrier-crossing wall-climbing robot that the object of the present invention is to provide a kind of strong adaptability, energy ezpenditure low and obstacle-detouring method thereof, gibbon can be imitated and cross over the obstacles such as large projection, wide groove, in realizing, face, the face conversion at right angle or outer right angle, makes robot better conform.
The concrete solution realizing the object of the invention is: a kind of bionic type barrier-crossing wall-climbing robot, comprises microadsorption module, lightweight kinematic mechanism and wall-climbing device human body, and microadsorption module is connected with wall-climbing device human body by lightweight kinematic mechanism; The two-freedom mechanism that described lightweight kinematic mechanism is three rod members, two actuating device series connection are formed, one of them rod member and microadsorption module are fixedly connected, another rod member and wall-climbing device human body are fixedly connected, these two rod members are connected to the two ends of the 3rd rod member respectively by bearing, described two bearings are equipped with corresponding actuating device, and actuating device drives bearing rotary thus lifted by rod member drive microadsorption module, wall-climbing device human body or fallen;
When climbing robot carries out obstacle detouring, start after the actuating device of lightweight kinematic mechanism receives drive singal to rotate, raise microadsorption module clear an obstacle by rod member, the angle between adjustment microadsorption module and wall makes microadsorption module be adsorbed on wall; After the absorption of microadsorption module is stable, close the adsorption of wall-climbing device human body, the actuating device of lightweight kinematic mechanism is rotated further, raise wall-climbing device human body clear an obstacle by rod member, the angle between adjustment wall-climbing device human body and wall makes climbing robot ontological adsorption theory on wall; After climbing robot ontological adsorption theory is stable, cancel the adsorption of microadsorption module, microadsorption module is lifted from wall by rod member by the actuating device of lightweight kinematic mechanism, and wall-climbing device human body continues mobile.
An obstacle-detouring method for bionic type barrier-crossing wall-climbing robot, step is as follows:
1st step, when climbing robot carries out obstacle detouring, start after the actuating device of lightweight kinematic mechanism receives drive singal to rotate, raise microadsorption module clear an obstacle by rod member, the angle between adjustment microadsorption module and wall makes microadsorption module be adsorbed on wall;
2nd step, after the absorption of microadsorption module is stable, close the adsorption of wall-climbing device human body, the actuating device of lightweight kinematic mechanism is rotated further, raise wall-climbing device human body clear an obstacle by rod member, the angle between adjustment wall-climbing device human body and wall makes climbing robot ontological adsorption theory on wall;
3rd step, after climbing robot ontological adsorption theory is stable, cancel the adsorption of microadsorption module, microadsorption module is lifted from wall by rod member by the actuating device of lightweight kinematic mechanism, and wall-climbing device human body continues mobile.
The present invention compared with prior art, its remarkable advantage is: (1) adopts four wheel drive, negative-pressure adsorption, can on wall flexible quick travel, when running into obstacle, realize crossing over by the Collaborative Control of the auxiliary of microadsorption module and lightweight kinematic mechanism, and face, the face conversion of interior right angle, outer right angle Different Plane can be carried out, enhance the manoevreability of robot, working environment adaptability, widen the operating range of robot; (2) microadsorption module adopts quiet suction type, and making still can provide very large adsorption affinity microadsorption module is little at volume, quality is light, and only works when obstacle detouring, greatly reduces power consumption; According to concrete wall working environment, the microadsorption module of different adsorpting type is installed, the wall of various degree of roughness can be adapted to; (3) lightweight kinematic mechanism is underactuatuated drive, decreases number of motors, obtains high-torque and exports, further reduce power consumption by low-speed motion; In addition, lightweight kinematic mechanism adopts the low-density material such as carbon fiber or industrial plastic to make, and makes robot conduct oneself with dignity little, low in energy consumption, relative load-carrying ability greatly, when overcoming identical moment, the rod member of transmission device can be made longer, higher projection and wider groove can be crossed over.
Accompanying drawing explanation
Fig. 1 is the block diagram of microadsorption module in bionic type barrier-crossing wall-climbing robot of the present invention.
Fig. 2 is the exploded view of the first assembling mode of lightweight kinematic mechanism in bionic type barrier-crossing wall-climbing robot of the present invention.
Fig. 3 is the block diagram of lightweight kinematic mechanism the second assembling mode in bionic type barrier-crossing wall-climbing robot of the present invention.
Fig. 4 is the block diagram of wall-climbing device human body in bionic type barrier-crossing wall-climbing robot of the present invention.
Fig. 5 is the process schematic that bionic type barrier-crossing wall-climbing robot of the present invention crosses over convex obstacle.
Fig. 6 is the process schematic that bionic type barrier-crossing wall-climbing robot of the present invention crosses over recessed obstacle.
Fig. 7 is the process schematic of right-angle surface face conversion in bionic type barrier-crossing wall-climbing robot of the present invention realizes.
Fig. 8 is the process schematic that bionic type barrier-crossing wall-climbing robot of the present invention realizes 180 ° of edged surface face conversions.
Detailed description of the invention
Below in conjunction with drawings and the specific embodiments, the present invention is described in further detail.
Bionic type barrier-crossing wall-climbing robot of the present invention is the barrier-surpassing robot of gibbon bionic type, mainly comprise wall-climbing device human body, microadsorption module and light-duty kinematic mechanism, be subject to the inspiration of between the woods climbing leap of gibbon by long-armed freedom and flexibility, based on four wheel drive negative-pressure adsorption climbing robot as body, a microadsorption module is connected with body by kinematic mechanism.Normal circumstances and accessible time, what four wheel drive negative-pressure adsorption climbing robot realized fast and flexible by dynamic suction type climbs wall motion; When running into the obstacle of various situation, microadsorption module and lightweight kinematic mechanism are just collaborative starts working, microadsorption module is adsorbed on wall by quiet suction type firmly as " palm ", realized the upset of robot body by lightweight kinematic mechanism as " long-armed ", cross over various obstacle.
Composition graphs 1 ~ 4, bionic type barrier-crossing wall-climbing robot of the present invention, comprises microadsorption module, lightweight kinematic mechanism and wall-climbing device human body, and microadsorption module is connected with wall-climbing device human body by lightweight kinematic mechanism; The two-freedom mechanism that described lightweight kinematic mechanism is three rod members, two actuating device series connection are formed, one of them rod member and microadsorption module are fixedly connected, another rod member and wall-climbing device human body are fixedly connected, these two rod members are connected to the two ends of the 3rd rod member respectively by bearing, described two bearings are equipped with corresponding actuating device, and actuating device drives bearing rotary thus lifted by rod member drive microadsorption module, wall-climbing device human body or fallen;
When climbing robot carries out obstacle detouring, start after the actuating device of lightweight kinematic mechanism receives drive singal to rotate, raise microadsorption module clear an obstacle by rod member, the angle between adjustment microadsorption module and wall makes microadsorption module be adsorbed on wall; After the absorption of microadsorption module is stable, close the adsorption of wall-climbing device human body, the actuating device of lightweight kinematic mechanism is rotated further, raise wall-climbing device human body clear an obstacle by rod member, the angle between adjustment wall-climbing device human body and wall makes climbing robot ontological adsorption theory on wall; After climbing robot ontological adsorption theory is stable, cancel the adsorption of microadsorption module, microadsorption module is lifted from wall by rod member by the actuating device of lightweight kinematic mechanism, and wall-climbing device human body continues mobile.
One, microadsorption module
Described microadsorption module adopts negative-pressure adsorption, magnetic suck, vacuum suction, electrostatic adherence or bionical suction type, wherein negative-pressure adsorption mode as shown in Figure 1, this microadsorption module comprises elastic seal ring 1, carbon fiber base plate 2, baroceptor, centrifugal pump body 3 and outer casing 4, the upper surface of carbon fiber base plate 2 is provided with outer casing 4, it is inner that centrifugal pump body 3 is placed in outer casing 4, the lower surface of carbon fiber base plate 2 is provided with circular seal groove, elastic seal ring 1 is stuck in the groove of seal groove, the lower surface of carbon fiber base plate 2, the wall of elastic seal ring 1 and the contact of this adsorption module forms annular seal space, baroceptor is arranged at the lower surface of carbon fiber base plate 2 for detecting annular seal space internal pressure value, the master control board of the data output end access wall-climbing device human body of baroceptor.Described elastic seal ring 1 is made up of high resiliency soft rubber or sponge usually.Seal groove and carbon fiber base plate 2 are spirally connected, and the upper surface of seal groove overlaps with the lower surface of carbon fiber base plate 2, the gas that the centrifugal pump body 3 of High Rotation Speed is extracted out in annular seal space forms negative pressure cavity, and outside pressure difference produces positive pressure makes it be pressed in wall in adsorption module.Baroceptor is for detecting annular seal space internal pressure value, and whether test adsorption affinity size is stablized, and ensures that the adsorbed state of microadsorption module is reliable.Outer casing 4 is fixedly mounted on carbon fiber base plate 2, adopts rapid shaping technique, uses industrial plastic to make, reduces the weight of adsorption module.Centrifugal pump body 3 by the lithium battery power supply of robot, and completes drived control by the master control board in machine human body.
Microadsorption module does not open absorption when robot normally moves, and only just staticly when leaping over obstacles or wall conversion is adsorbed on wall.Quiet suction type refers to that microadsorption module adsorption plant and wall surface in adsorption process relative motion do not occur, improve the leak tightness of adsorbent chamber, reduce power consumption, make still can provide very large adsorption affinity adsorption module is little at volume, quality is light simultaneously.Adopt the adsorption module of negative-pressure adsorption mode in present embodiment, according to specific occasion, also can select the adsorption module of magnetic suck, vacuum suction, electrostatic adherence or bionical absorption.
Two, lightweight kinematic mechanism
(1) the first assembling mode
Fig. 2 is the exploded view of the first assembling mode of lightweight kinematic mechanism, this kinematic mechanism is underactuatuated drive, the four-wheel drive of coupling is realized by two motors, decrease number of motors, obtain high-torque by low-speed motion to export, reduce power, further reduce power consumption, specifically comprise the first arc support 5-1, second arc support 5-2, first rod member 6-1, second rod member 6-2, clutch shaft bearing 7-1, second bearing 7-2, first synchronous pulley 8-1, second synchronous pulley 8-2, 3rd synchronous pulley 8-3, 4th synchronous pulley 8-4, first trapezoidal Timing Belt 9-1, second trapezoidal Timing Belt 9-2, first motor support base 10-1, second motor support base 10-2, first drive motor 11-1, second drive motor 11-2 and pipe link 12, wherein the first arc support 5-1 and the second arc support 5-2 comprises two axisymmetric supports respectively, the two ends of the first rod member 6-1 and the second rod member 6-2 are the cylinder of center drilling, this cylindrical axle center is parallel to each other and perpendicular to the bearing of trend of rod member, pipe link 12 is two parallel bars be fixedly connected by crossbeam, the two ends of every bar parallel bar are equipped with mounting hole, and two parallel bars are coaxial with two mounting holes of one end.
One end of described first arc support 5-1 embeds the absorption back side of microadsorption module, two supports of the other end are provided with coaxial mounting hole and insert clutch shaft bearing 7-1 in these two mounting holes, second arc support 5-2 one end embeds climbing robot bodies top, two supports of the other end are provided with coaxial mounting hole and in these two mounting holes, screw fastening is all passed through in the two ends of insertion the second bearing 7-2, clutch shaft bearing 7-1 and the second bearing 7-2; The cylinder of first rod member 6-1 one end is placed on clutch shaft bearing 7-1, the cylinder of the other end is clamped on inside the parallel bar of pipe link 12 one end, the cylinder of second rod member 6-2 one end is placed on the second bearing 7-2, the cylinder of the other end is clamped on inside the parallel bar of pipe link 12 other end, two mounting holes often holding of pipe link 12 all with its inside its center perforate coaxial; First drive motor 11-1 is fixed on one end of pipe link 12 by the first motor support base 10-1, the output shaft of the first drive motor 11-1 is through two mounting holes of this end pipe link 12 and its center perforate of inner side and stretch out, second drive motor 11-2 is fixed on the other end of pipe link 12 by the second motor support base 10-2, and the output shaft of the second drive motor 11-2 is through two mounting holes of this end pipe link 12 and its center perforate of inner side and stretch out; On clutch shaft bearing 7-1, cover has the first synchronous pulley 8-1, on second bearing 7-2, cover has the second synchronous pulley 8-2, the output shaft end of the first drive motor 11-1 is provided with the 3rd synchronous pulley 8-3, the output shaft end of the second drive motor 11-2 is provided with the 4th synchronous pulley 8-4, first trapezoidal Timing Belt 9-1 is installed on the first synchronous pulley 8-1 and the 3rd synchronous pulley 8-3, and the second trapezoidal Timing Belt 9-2 is installed on the second synchronous pulley 8-2 and the 4th synchronous pulley 8-4.
First synchronous pulley 8-1 and the second synchronous pulley 8-2 is fixing by screw radial direction, prevents end float misalignment; Add lubricant between first rod member 6-1 and clutch shaft bearing 7-1, between the second rod member 6-2 and the second bearing 7-2 and keep lubrication, make that clutch shaft bearing 7-1 can rotate with the rotation of the first synchronous pulley 8-1, the second bearing 7-2 can rotate with the rotation of the second synchronous pulley 8-2, thus angle when adjustment wall-climbing device human body or microadsorption module contact with wall.3rd synchronous pulley 8-3 is fixed on the output shaft of the first drive motor 11-1, the 4th synchronous pulley 8-4 is fixed on the output shaft of the second drive motor 11-2, and with the mounting hole interference fit of pipe link 12, make that the 3rd synchronous pulley 8-3 and the first drive motor 11-1 rotates simultaneously, the 4th synchronous pulley 8-4 and the second drive motor 11-2 rotates simultaneously.The rotation of the first drive motor 11-1 output shaft can drive lifting or falling of the first rod member 6-1, drives the rotation of the first synchronous pulley 8-1 and the 3rd synchronous pulley 8-3 simultaneously, and microadsorption module is rotated around clutch shaft bearing 7-1; The rotation of the second drive motor 11-2 output shaft can drive lifting or falling of the second rod member 6-2, drives the rotation of the second synchronous pulley 8-2 and the 4th synchronous pulley 8-4 simultaneously, and wall-climbing device human body is rotated around the second bearing 7-2.
(2) the second assembling mode
Fig. 3 is the block diagram of lightweight kinematic mechanism the second assembling mode, comprises pair of support rods 13-1, second couple of strut bar 13-2, the first motor 15-1, the second motor 15-2, a H type attaching parts 14-1, the 2nd H type attaching parts 14-2, the first T-shaped attaching parts 16-1, second T-shaped attaching parts 16-2 and two stock 17; One end of described pair of support rods 13-1 embeds the absorption back side of microadsorption module, the other end by screw fastening in the mounting hole of a H type attaching parts 14-1, and the second pair of strut bar 13-2 one end embeds climbing robot bodies top, the other end by screw fastening in the mounting hole of the 2nd H type attaching parts 14-2; Two sides be parallel to each other in one H type attaching parts 14-1 and the 2nd H type attaching parts 14-2 are equipped with bearing: the output shaft of the first motor 15-1 passes the bearing of H type attaching parts 14-1 two sides and is positioned at the first middle T-shaped attaching parts 16-1 end mounting hole of these two bearings, and the end of the first T-shaped attaching parts 16-1 and the output shaft of the first motor 15-1 are fixed by jackscrew; The output shaft of the second motor 15-2 passes the bearing of the 2nd H type attaching parts 14-2 two sides and is positioned at the second middle T-shaped attaching parts 16-2 end mounting hole of these two bearings, and the end of the second T-shaped attaching parts 16-2 and the output shaft of the second motor 15-2 are fixed by jackscrew; The top cross-bar of the first T-shaped attaching parts 16-1 is inserted in one end of two stocks 17, and the other end inserts the top cross-bar of the second T-shaped attaching parts 16-2, and the first T-shaped attaching parts 16-1 is fixedly connected by stock 17 and the second T-shaped attaching parts 16-2.The range of movement of described lightweight kinematic mechanism is limited by the angular pivotal range of the first motor 15-1 and the second motor 15-2.First T-shaped attaching parts 16-1 end and the first motor 15-1 output shaft are fixed by jackscrew, rotate along with the rotation of driving first motor 15-1, thus drive the climbing robot of opposite side to lift or fall; Second T-shaped attaching parts 16-2 end and the second motor 15-2 output shaft are fixed by jackscrew, rotate along with the rotation of driving second motor 15-2, thus drive the microadsorption module of opposite side to lift or fall.A described H type attaching parts 14-1, the 2nd H type attaching parts 14-2, the first T-shaped attaching parts 16-1, the second T-shaped attaching parts 16-2 are that industrial plastic rapid shaping makes, pair of support rods 13-1, second pair of strut bar 13-2 and two stock 17 are carbon fiber bar, also ensure that mechanical strength while quality is light.
Three, wall-climbing device human body
Fig. 4 is wall-climbing device human body, and in the present invention, wall-climbing device human body can adopt four wheel drive negative-pressure adsorption climbing robot, four motorized wheels, and mode of motion is flexible, can quick travel.Operating personal is by the absorption of remote control equipment (RCE) control, walking and obstacle detouring.In addition according to mission requirements, climbing robot can carry concrete apparatus, task of finishing the work, as investigation, detection etc.
During normal walking, only have wall-climbing device human body to open absorption, to be hanged by the microadsorption module that lightweight kinematic mechanism is connected with wall-climbing device human body and lift at certain altitude, do not contact with wall, also do not open absorption.When robot runs into the large obstacle that cannot walk around or will realize Different Plane change over condition, need, under the Collaborative Control effect of the auxiliary of microadsorption module and lightweight kinematic mechanism, to complete obstacle detouring or wall conversion.
Four, the obstacle-detouring method of bionic type barrier-crossing wall-climbing robot of the present invention
The obstacle-detouring method of bionic type barrier-crossing wall-climbing robot of the present invention, comprises the following steps:
1st step, when climbing robot carries out obstacle detouring, start after the actuating device of lightweight kinematic mechanism receives drive singal to rotate, raise microadsorption module clear an obstacle by rod member, the angle between adjustment microadsorption module and wall makes microadsorption module be adsorbed on wall;
2nd step, after the absorption of microadsorption module is stable, close the adsorption of wall-climbing device human body, the actuating device of lightweight kinematic mechanism is rotated further, raise wall-climbing device human body clear an obstacle by rod member, the angle between adjustment wall-climbing device human body and wall makes climbing robot ontological adsorption theory on wall;
3rd step, after climbing robot ontological adsorption theory is stable, cancel the adsorption of microadsorption module, microadsorption module is lifted from wall by rod member by the actuating device of lightweight kinematic mechanism, and wall-climbing device human body continues mobile.
Below in conjunction with accompanying drawing 5 ~ 8, lightweight kinematic mechanism, in the first assembling mode, is described in detail to the obstacle-detouring method of bionic type barrier-crossing wall-climbing robot of the present invention:
(1) as Fig. 5, bionic type barrier-crossing wall-climbing robot of the present invention crosses over the implementation method of convex obstacle:
Step 1, climbing robot ontological adsorption theory is on wall, and microadsorption module does not open absorption.Operating personal uses the slowly movement of wireless remote controller control, make robot as far as possible near convex obstacle, reach state as Suo Shi Fig. 5 (a), then send obstacle detouring instruction, in robot, master control board carries out decomposition planning after receiving instruction, converts corresponding drive singal to;
Step 2, first drive motor 11-1 of lightweight kinematic mechanism, start to rotate certain angle after second drive motor 11-2 receives drive singal, raise rod member and make microadsorption module energy clear an obstacle, then the first drive motor 11-1, second drive motor 11-2 is rotated further, fall the first rod member 6-1, second rod member 6-2 makes adsorption module be labelled to wall, in the process, first synchronous pulley 8-1, 3rd synchronous pulley 8-3 rotates with the first drive motor 11-1, second synchronous pulley 8-2 simultaneously, 4th synchronous pulley 8-4 rotates with the second drive motor 11-2, drive microadsorption module around clutch shaft bearing 7-1, second bearing 7-2 rotates, microadsorption module is finally made to become 0 ° of angle with wall and be close to wall, reach as Fig. 5 (b) state,
Step 3, microadsorption module is adsorbed on wall after opening centrifugal pump 3, baroceptor in microadsorption module measures adsorption affinity size in real time, until adsorbed state is stablized, then wall-climbing device human body stops absorption, first drive motor 11-1, the second drive motor 11-2 of lightweight kinematic mechanism rotate, and raise wall-climbing device human body and make it clear the jumps, reach as Fig. 5 (c) state.First drive motor 11-1, the second drive motor 11-2 are rotated further, and the transmission of synchronous pulley simultaneously drives climbing robot body to rotate around bearing, makes robot energy level be close to wall, reaches as Fig. 5 (d) state;
Step 4, wall-climbing device human body opens absorption, wall-climbing device human body internal gas pressure sensor measures adsorption affinity size in real time, wall is adsorbed on until stable, microadsorption module is just closed down centrifugal pump 3 and is stopped absorption, and lightweight kinematic mechanism rotates and microadsorption module lifted certain height, state as Suo Shi Fig. 5 (e), then wall-climbing device human body continues normal walking, crosses over convex obstacle and completes.
(2) as Fig. 6, bionic type barrier-crossing wall-climbing robot of the present invention crosses over the implementation method of recessed obstacle:
Composition graphs 6 (a) ~ (d), crosses over recessed obstructive process consistent with the convex obstacle of leap, no longer repeats at this.
(3) as Fig. 7, the implementation method of right-angle surface face conversion in bionic type barrier-crossing wall-climbing robot of the present invention:
Step 1, climbing robot ontological adsorption theory is on horizontal wall surface, and microadsorption module does not open absorption.When front runs into vertical walls, operating personal sends and moves forward instruction, makes robot as far as possible near vertical walls, then stops moving forward, reaches as Fig. 7 (a) state;
Step 2, the conversion instruction of face, transmission face, master control board in robot is resolved instruction and is carried out decomposition planning, first drive motor 11-1 of lightweight kinematic mechanism, second drive motor 11-2 receives drive singal and rotates certain angle, first rod member 6-1, second rod member 6-2 constantly picture protracts, and the first synchronous pulley 8-1, second synchronous pulley 8-2, 3rd synchronous pulley 8-3, the rotation of the 4th synchronous pulley 8-4 constantly adjusts the angle of microadsorption module, until finally make microadsorption module be close in vertical walls, the stop motion of lightweight kinematic mechanism, reach as Fig. 7 (b) state,
Step 3, microadsorption module is opened centrifugal pump 3 and is adsorbed in vertical walls, microadsorption module internal gas pressure sensor measures adsorption affinity size in annular seal space in real time, until adsorbed state stable after, wall-climbing device human body closes down absorption, lightweight kinematic mechanism drives the first drive motor 11-1, second drive motor 11-2 is rotated further, wall-climbing device human body is made to turn to below microadsorption module, first synchronous pulley 8-1 simultaneously, second synchronous pulley 8-2, 3rd synchronous pulley 8-3, the rotation of the 4th synchronous pulley 8-4 constantly adjusts the angle of wall-climbing device human body, wall-climbing device human body and vertical wall is finally made to be close to, state is as shown in Fig. 7 (c),
Step 4, wall-climbing device human body opens absorption, the intrinsic baroceptor of climbing robot detects adsorption affinity size in real time, vertical walls is adsorbed on until reliable and stable, then microadsorption module is closed down centrifugal pump 3 and is not adsorbed, and the first drive motor 11-1, the second drive motor 11-2 turn an angle and raise microadsorption module, reach state as Suo Shi Fig. 7 (d), then wall-climbing device human body continues mobile, completes the conversion of interior right-angle surface face.
(4) as Fig. 8, the implementation method of bionic type barrier-crossing wall-climbing robot of the present invention 180 ° of edged surface face conversions:
Step 1, climbing robot ontological adsorption theory is on vertical wall, and microadsorption module does not open absorption.When robot will roll over to vertical metope opposite side, operating personal sends the instruction that moves up, and makes robot as far as possible near vertical wall top, then stops moving forward, reaches as Fig. 8 (a) state.
Step 2, the conversion instruction of face, transmission face, master control board in robot is resolved instruction and is carried out decomposition planning, first drive motor 11-1 of lightweight kinematic mechanism, the second drive motor 11-2 receive drive singal and rotate certain angle, first rod member 6-1 and the second rod member 6-2 drives adsorption module constantly to sink, first synchronous pulley 8-1, the second synchronous pulley 8-2, the 3rd synchronous pulley 8-3, the 4th synchronous pulley 8-4 adjustment microadsorption module and wall angle are until be close to wall simultaneously, as Fig. 8 (b) state;
Step 3, microadsorption module unlatching centrifugal pump 3 adsorbs, microadsorption module internal gas pressure sensor measures adsorption affinity size in annular seal space in real time, until adsorbed state stable after, wall-climbing device human body closes down absorption, lightweight kinematic mechanism first drive motor 11-1, the second drive motor 11-2 are rotated further, and wall-climbing device human body is overturn and crosses over vertical metope to opposite side, as Fig. 8 (c).The rotation of the first synchronous pulley 8-1, the second synchronous pulley 8-2, the 3rd synchronous pulley 8-3, the 4th synchronous pulley 8-4 constantly adjusts the angle of wall-climbing device human body, finally make wall-climbing device human body and wall be close to, now wall-climbing device human body and microadsorption module are in vertical metope both sides;
Step 4, wall-climbing device human body opens absorption, the intrinsic baroceptor of climbing robot detects adsorption affinity size in real time, vertical walls is adsorbed on until reliable and stable, then microadsorption module is closed down centrifugal pump 3 and is not adsorbed, first drive motor 11-1, the second drive motor 11-2 turn an angle and raise microadsorption module, and make microadsorption module also roll over to vertical metope opposite side, reach state as Suo Shi Fig. 8 (d), then wall-climbing device human body continues mobile, completes 180 ° of edged surface face conversions.
In sum, bionic type barrier-crossing wall-climbing robot of the present invention can cross over the obstacles such as large projection, wide groove flexibly, and can effectively realize from ground to vertical wall, from vertical wall to ceiling surface etc. in the face, face of right-angle surface or right-angle surface change and cross window, overcome the defect that common climbing robot can only be operated in single plane, improve the comformability of climbing robot.
Claims (5)
1. a bionic type barrier-crossing wall-climbing robot, is characterized in that, comprises microadsorption module, lightweight kinematic mechanism and wall-climbing device human body, and microadsorption module is connected with wall-climbing device human body by lightweight kinematic mechanism; The two-freedom mechanism that described lightweight kinematic mechanism is three rod members, two actuating device series connection are formed, one of them rod member and microadsorption module are fixedly connected, another rod member and wall-climbing device human body are fixedly connected, these two rod members are connected to the two ends of the 3rd rod member respectively by bearing, described two bearings are equipped with corresponding actuating device, and actuating device drives bearing rotary thus lifted by rod member drive microadsorption module, wall-climbing device human body or fallen;
Described microadsorption module adopts negative-pressure adsorption mode, this microadsorption module comprises elastic seal ring (1), carbon fiber base plate (2), baroceptor, centrifugal pump body (3) and outer casing (4), the upper surface of carbon fiber base plate (2) is provided with outer casing (4), it is inner that centrifugal pump body (3) is placed in outer casing (4), the lower surface of carbon fiber base plate (2) is provided with circular seal groove, elastic seal ring (1) is stuck in the groove of seal groove, the lower surface of carbon fiber base plate (2), the wall of elastic seal ring (1) and the contact of this adsorption module forms annular seal space, baroceptor is arranged at the lower surface of carbon fiber base plate (2) for detecting annular seal space internal pressure value, the master control board of the data output end access wall-climbing device human body of baroceptor,
When climbing robot carries out obstacle detouring, start after the actuating device of lightweight kinematic mechanism receives drive singal to rotate, raise microadsorption module clear an obstacle by rod member, the angle between adjustment microadsorption module and wall makes microadsorption module be adsorbed on wall; After the absorption of microadsorption module is stable, close the adsorption of wall-climbing device human body, the actuating device of lightweight kinematic mechanism is rotated further, raise wall-climbing device human body clear an obstacle by rod member, the angle between adjustment wall-climbing device human body and wall makes climbing robot ontological adsorption theory on wall; After climbing robot ontological adsorption theory is stable, cancel the adsorption of microadsorption module, microadsorption module is lifted from wall by rod member by the actuating device of lightweight kinematic mechanism, and wall-climbing device human body continues mobile.
2. bionic type barrier-crossing wall-climbing robot according to claim 1, is characterized in that, described microadsorption module adopts negative-pressure adsorption, magnetic suck, vacuum suction, electrostatic adherence or bionical suction type.
3. bionic type barrier-crossing wall-climbing robot according to claim 1, is characterized in that, described wall-climbing device human body is four wheel drive negative-pressure adsorption climbing robot.
4. bionic type barrier-crossing wall-climbing robot according to claim 1, is characterized in that, described lightweight kinematic mechanism comprises the first arc support (5-1), second arc support (5-2), first rod member (6-1), second rod member (6-2), clutch shaft bearing (7-1), second bearing (7-2), first synchronous pulley (8-1), second synchronous pulley (8-2), 3rd synchronous pulley (8-3), 4th synchronous pulley (8-4), first trapezoidal Timing Belt (9-1), second trapezoidal Timing Belt (9-2), first motor support base (10-1), second motor support base (10-2), first drive motor (11-1), second drive motor (11-2) and pipe link (12), wherein the first arc support (5-1) and the second arc support (5-2) comprise two axisymmetric supports respectively, the two ends of the first rod member (6-1) and the second rod member (6-2) are the cylinder of center drilling, this cylindrical axle center is parallel to each other and perpendicular to the bearing of trend of rod member, pipe link (12) is two parallel bars be fixedly connected by crossbeam, the two ends of every bar parallel bar are equipped with mounting hole, and two parallel bars are coaxial with two mounting holes of one end,
One end of described first arc support (5-1) embeds the absorption back side of microadsorption module, two supports of the other end are provided with coaxial mounting hole and insert clutch shaft bearing (7-1) in these two mounting holes, second arc support (5-2) one end embeds climbing robot bodies top, two supports of the other end are provided with coaxial mounting hole and insertion the second bearing (7-2) in these two mounting holes, and screw fastening is all passed through in the two ends of clutch shaft bearing (7-1) and the second bearing (7-2), the cylinder of the first rod member (6-1) one end is placed on clutch shaft bearing (7-1), the cylinder of the other end is clamped on inside the parallel bar of pipe link (12) one end, the cylinder of the second rod member (6-2) one end is placed on that the second bearing (7-2) is upper, the cylinder of the other end is clamped on inside the parallel bar of pipe link (12) other end, two mounting holes often holding of pipe link (12) all with its inside its center perforate coaxial, first drive motor (11-1) is fixed on one end of pipe link (12) by the first motor support base (10-1), the output shaft of the first drive motor (11-1) is through two mounting holes of this end pipe link (12) and its center perforate of inner side and stretch out, second drive motor (11-2) is fixed on the other end of pipe link (12) by the second motor support base (10-2), and the output shaft of the second drive motor (11-2) is through two mounting holes of this end pipe link (12) and its center perforate of inner side and stretch out, the upper cover of clutch shaft bearing (7-1) has the first synchronous pulley (8-1), the upper cover of second bearing (7-2) has the second synchronous pulley (8-2), the output shaft end of the first drive motor (11-1) is provided with the 3rd synchronous pulley (8-3), the output shaft end of the second drive motor (11-2) is provided with the 4th synchronous pulley (8-4), first trapezoidal Timing Belt (9-1) is installed on the first synchronous pulley (8-1) and the 3rd synchronous pulley (8-3), second trapezoidal Timing Belt (9-2) is installed on the second synchronous pulley (8-2) and the 4th synchronous pulley (8-4).
5. bionic type barrier-crossing wall-climbing robot according to claim 1, it is characterized in that, described lightweight kinematic mechanism comprises pair of support rods (13-1), second pair of strut bar (13-2), the first motor (15-1), the second motor (15-2), a H type attaching parts (14-1), the 2nd H type attaching parts (14-2), the first T-shaped attaching parts (16-1), the second T-shaped attaching parts (16-2) and two stocks (17); One end of described pair of support rods (13-1) embeds the absorption back side of microadsorption module, the other end by screw fastening in the mounting hole of a H type attaching parts (14-1), and second pair of strut bar (13-2) one end embeds climbing robot bodies top, the other end by screw fastening in the mounting hole of the 2nd H type attaching parts (14-2); Two sides be parallel to each other in one H type attaching parts (14-1) and the 2nd H type attaching parts (14-2) are equipped with bearing: the output shaft of the first motor (15-1) is through the bearing of H type attaching parts (14-1) two sides and the first T-shaped attaching parts (16-1) end mounting hole of being positioned in the middle of these two bearings, and the end of the first T-shaped attaching parts (16-1) and the output shaft of the first motor (15-1) are fixed by jackscrew; The output shaft of the second motor (15-2) passes the bearing of the 2nd H type attaching parts (14-2) two sides and is positioned at the second middle T-shaped attaching parts (16-2) end mounting hole of these two bearings, and the end of the second T-shaped attaching parts (16-2) and the output shaft of the second motor (15-2) are fixed by jackscrew; The top cross-bar of the first T-shaped attaching parts (16-1) is inserted in one end of two stocks (17), the other end inserts the top cross-bar of the second T-shaped attaching parts (16-2), and the first T-shaped attaching parts (16-1) is fixedly connected by stock (17) and the second T-shaped attaching parts (16-2).
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