CN104071249A - Double-caterpillar-band wall-climbing monitoring robot - Google Patents
Double-caterpillar-band wall-climbing monitoring robot Download PDFInfo
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- CN104071249A CN104071249A CN201410329572.4A CN201410329572A CN104071249A CN 104071249 A CN104071249 A CN 104071249A CN 201410329572 A CN201410329572 A CN 201410329572A CN 104071249 A CN104071249 A CN 104071249A
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Abstract
The invention relates to a double-caterpillar-band wall-climbing monitoring robot. The double-caterpillar-band wall-climbing monitoring robot comprises a static electricity generator, a battery pack, a control transmission module, a camera and a pair of drive motors, wherein the static electricity generator, the battery pack, the control transmission module, the camera and the drive motors are arranged on a base. Caterpillar band frames are arranged on the two sides of the base and each caterpillar band frame is covered with a caterpillar band. Each caterpillar band is a flexible comb-tooth-type bipolar caterpillar band. The two sides of each caterpillar band are respectively provided with a tooth root. A plurality of comb teeth connected with every two tooth roots on the two sides are arranged between the corresponding tooth roots in parallel. Each comb tooth is covered with a polyimide insulation material. The static electricity generator is connected with the caterpillar bands through electric brushes, so that the tooth roots and the comb teeth of the caterpillar bands carry high-voltage positive static electricity and high-voltage negative static electricity. A wall is stimulated to generate inductive charges so that the whole monitoring robot can be attached to the wall. The double-caterpillar-band wall-climbing monitoring robot is reasonable in structure, strong in attraction capacity, flexible in movement and capable of achieving inclined walking and zero-radius turning. The double-caterpillar-band wall-climbing monitoring robot is wide in application prospect in the fields of anti-terrorist investigation, high-rise detection and the like.
Description
Technical field
The present invention relates to a kind of climbing robot, specifically a kind of pair of crawler belt climbed wall supervisory-controlled robot.
Background technology
At present, there are on the market four kinds of watch-dogs, respectively: fixed type tradition watch-dog, helicopter carrying type watch-dog, satellite monitoring equipment and robot carrying type watch-dog.
Fixed type tradition watch-dog need to be fixed and connecting cable, cannot move flexibly, and monitoring range is very limited; It is large that helicopter carries watch-dog noise, easily exposes, and cannot realize closely on-site supervision; Satellite monitoring equipment cannot be monitored indoor activity, has dead angle, and cost is high, high to operating personal technical requirements; The motion of robot carrying type watch-dog is flexible, and good concealment is practical, but with walking number in the majority, climbs wall type and occupy minority.
Current mainly, negative-pressure adsorption attached based on magnetic and vacuum suction form of climbing robot.The shortcomings such as these three kinds of forms exist and adapt to wall material narrow range, and noise is large, power consumption height.Meanwhile, the adsorption plant that the climbing robot of the suction type based on above is used is often too heavy, and moving velocity is slow, and load-carrying capacity is poor.The patent No. is that the Chinese invention patent of ZL200910071269.8 discloses a kind of single crawler type wall climbing robot based on electrostatic absorption principle, this climbing robot adopts single flexible metallized film crawler belt as running gear and adsorption plant, conduct oneself with dignity little, moving velocity is large, but metallized film crawler belt adsorption efficiency is low, and load-carrying capacity is poor, and mono-track form can only realize straight-line motion, mobile very flexible, limitation is large.
Summary of the invention
Technical matters to be solved by this invention to be in order overcoming in above-mentioned prior art a little less than adsorption power, to move inflexible deficiency, provides a kind of rational in infrastructure, and wall supervisory-controlled robot is climbed in high adsorption capacity, motion flexibly two crawler belts.
The present invention solves the problems of the technologies described above adopted technical scheme: a kind of pair of crawler belt climbed wall supervisory-controlled robot, and it is provided with pedestal, is installed with electrostatic generator, battery pack, control transport module, camera and a pair of drive motor in the middle of pedestal; It is characterized in that: pedestal bilateral symmetry is provided with a pair of crawler frame, each crawler frame is provided with driving wheel and the flower wheel for driving crawler belt to rotate, driving wheel inner side is provided with belt pulley, and driving wheel is driven and rotated by corresponding drive motor by belt and belt pulley; Crawler belt covers on crawler frame between driving wheel and flower wheel; Described crawler belt is flexible interdigitated electrode structure bipolarity crawler belt, and its both sides are provided with tooth root, middle parallel some broach that are connected with both sides tooth root respectively that are provided with, and broach outer wrap has polyimide foam insulation; The tooth root of described crawler belt directly contacts with the brush being arranged on crawler frame; Electrostatic generator is connected with crawler belt via wire, brush, makes the tooth root of crawler belt and broach carry respectively the positive and negative static of high pressure; Broach excites wall to produce induced charge, and then produces a coulomb adsorption, and whole supervisory-controlled robot is adsorbed on wall.
The width of described crawler belt upper comb dent is 3-5mm, and the center-to-center distance of two adjacent fingers is 5-7mm, and whole broach duty cycle range is 0.5-0.7.
Described whole broach outer wrap has polyimide foam insulation; The thickness of described polyimide surface insulating material is 0.08-0.12mm.
On described crawler frame, be also provided with track tension device, it is provided with spring-damper, tension wheel, tensioning connecting panel, described tension wheel be connected on crawler frame or tensioning connecting panel on; On the tensioning connecting panel of described both sides, one end has strip hole, and connecting pin is housed in strip hole, by this connecting pin, connects flower wheel, and the tensioning connecting panel other end is connected with spring-damper; The spring-damper other end is connected on crawler frame.
The present invention is by controlling transport module and camera composition control supervisory system; Camera can be 360 ° of cameras of two-freedom.
The present invention produces high-pressure electrostatic under the effect of electrostatic generator, excites between metope and interdigitated electrode structure crawler belt and produces the charges of different polarity, makes supervisory-controlled robot be adsorbed in surface of wall.At Dual Drive motor, provide under the condition of power and differential, reversion, locking in good time, can on metope, realize and advance, retreat, turn to and hover flexibly, and realize Long-distance Control and transmission of video by wireless signal, realize high-altitude monitoring.The flexible interdigitated electrode structure bipolarity crawler belt that the present invention adopts, has improved adsorption efficiency and load-carrying capacity greatly, and adsorption power can reach 3.33 times of same specification coating type crawler belt adsorption power, and load-carrying capacity is strong; It adopts the mode of the two crawler belts of Dual-motors Driving to walk, and by the difference of the left and right crawler belt rotating speed of two motor differential controls, thereby realizes oblique walking and no-radius turning action, overcomes the defect that existing equipment can only straight line moving, moves more flexible; The present invention adopt a whole set of wireless monitoring technology and climbing robot technology integrated, increased the use function of climbing robot monitoring.Against existing technologies, the present invention is simple in structure, and flexibly, noise is low, with low cost, in fields such as anti-terrorism investigation, high building detections, has broad application prospects in motion.
Accompanying drawing explanation
Below in conjunction with accompanying drawing, the present invention is further described.
Fig. 1 is that the present invention forms structural representation.
Fig. 2 is the schematic cross-section of crawler belt in the present invention.
Fig. 3 is the local enlarged diagram that in the present invention, drive motor is connected with driving wheel.
Fig. 4 is the local enlarged diagram of stretching device in the present invention.
Number in the figure is: 1. crawler belt, 2. camera, 3. flower wheel, 4. tensioning connecting panel, 5. spring-damper, 6. tension wheel, 7. crawler frame, 8. driving wheel, 9. brush, 10. belt, 11. belt pulleys, 12. drive motor, 13. electrostatic generators, 14. battery pack, 15. control transport module.
The specific embodiment
As shown in Figure 1, a kind of pair of crawler belt climbed wall supervisory-controlled robot, and it is provided with pedestal, is installed with electrostatic generator 13, battery pack 14, controls transport module 15, camera 2 and a pair of drive motor 12 in the middle of pedestal.Battery pack 14 is electrostatic generator 13 power supplies.The both positive and negative polarity of electrostatic generator 13 is connected with positive negative brush 9 respectively via wire.The bilateral symmetry of pedestal is provided with a pair of crawler frame 7, each crawler frame 7 is provided with driving wheel 8 and the flower wheel 3 for driving crawler belt 1 to rotate, driving wheel 8 inner sides are provided with belt pulley 11, and driving wheel 8 is driven and rotated by corresponding drive motor 12 by belt 10 and belt pulley 11; Crawler belt 1 covers on crawler frame 7 between driving wheel 8 and flower wheel 3, forms two caterpillar belt structures.
As shown in Figure 2, described crawler belt 1 is flexible interdigitated electrode structure bipolarity crawler belt, and its both sides are provided with tooth root 1-1, middle parallel some broach 1-2 that are connected with both sides tooth root respectively that are provided with, and broach outer wrap has polyimide foam insulation 1-3.The width of described crawler belt upper comb dent is 3-5mm, and the center-to-center distance of two adjacent fingers is 5-7mm, and whole broach dutycycle is 0.5-0.7.Described whole broach outer wrap has polyimide foam insulation; The thickness of described polyimide surface insulating material is 0.08-0.12mm.The outer body material of described crawler belt 1 is polyimide foam insulation 1-3, copper broach 1-2 and tooth root 1-1 that in this insulating material 1-3, coated two row are placed face-to-face; Copper broach 1-2 part is wrapped up by polyimide foam insulation 1-3 completely, and for being adsorbed on metope, tooth root 1-1 is exposed in air.On each crawler frame, be connected with respectively a pair of brush, its end is exposed to airborne tooth root 1-1 with crawler belt 1 and contacts.
The tooth root 1-1 of described crawler belt 1 directly contacts with the brush 9 being arranged on crawler frame; Electrostatic generator 13 is connected with crawler belt 1 via wire, brush 9, makes the tooth root 1-1 of crawler belt 1 and broach 1-2 carry respectively the positive and negative static of high pressure; Broach 1-2 carries after high-pressure electrostatic, excites wall to produce induced charge, thereby produces a coulomb adsorption, and whole supervisory-controlled robot is adsorbed on wall.
As shown in Figure 3, the present invention adopts Dual-motors Driving, and drive motor 12 is fixed in the middle of pedestal or is fixed on crawler frame 7, is connected with belt pulley 11, and belt pulley 11 outsides, around belt 10, output power to driving wheel 8 by belt-driving; Two drive motor 12 are realized differential and are rotated under the control of controlling transport module 15, thereby realize differential action.
As shown in Figure 4, on described crawler frame 7, be also provided with track tension device, it is provided with spring-damper 5, tension wheel 6, tensioning connecting panel 4, and described tension wheel 6 is connected on crawler frame 7 or on tensioning connecting panel 6; On the tensioning connecting panel 6 of described both sides, one end has strip hole, and connecting pin is housed in strip hole, by this connecting pin, connects flower wheel 3, and tensioning connecting panel 4 other ends are connected with spring-damper 5; Spring-damper 5 other ends are connected on crawler frame 7.Spring-damper 5 passes to flower wheel 3 by tensioning connecting panel 4 by elastic force, makes flower wheel 3 play on strip hole, tensioned tracks 1.Described flower wheel 3, tension wheel 6, driving wheel 8 are connected on crawler frame 7 by antifriction-bearing box, at the periphery covering crawler belt 1 of three wheels.
The present invention is by controlling transport module 15 and camera 2 composition control supervisory systems; Camera 2 can be 360 ° of cameras of two-freedom.Camera 2 is realized pitching and horizontally rotates under the control of controlling transport module 15.
Principle of work of the present invention is: electrostatic generator 13 produces the positive and negative static of 60kV, via the transmission of wire, brush 9, makes the tooth root 1-1 of crawler belt 1 and broach 1-2 carry respectively the positive and negative static of high pressure; Broach 1-2 carries after high-pressure electrostatic, excites wall to produce induced charge, thereby produces a coulomb adsorption, and whole supervisory-controlled robot is adsorbed on wall; The rotation of Dual Drive motor, exports to driving wheel 8 by belt-driving by rotary power, thereby drives crawler belt 1 running, and robot is creeped on wall; Under the control of controlling transport module 15, Dual Drive motor carries out synchronized rotation, differential speed rotation, contrarotation and locking, thus realize advance, obliquely advance, no-radius rotation and hovering action; Control transport module 15 and export two-way camera 2 control signals simultaneously, control thus camera 2 and realize two-freedom rotation.
The flexible interdigitated electrode structure bipolarity crawler belt that the present invention adopts, has improved adsorption efficiency and load-carrying capacity greatly, and adsorption power can reach 3.33 times of same specification coating type crawler belt adsorption power, and load-carrying capacity is strong; The present invention makes robot in wall flexible motion by two caterpillar belt structure designs, especially can make supervisory-controlled robot oblique travelling on wall by controlling double-motor differential; And control motor forward, another motor reversal, make robot no-radius rotation on wall.Like this, by the difference of the left and right crawler belt rotating speed of two motor differential controls, thereby realize oblique walking and no-radius turning action, overcome the defect that existing equipment can only straight line moving, move more flexible.The present invention adopt a whole set of wireless monitoring technology and climbing robot technology integrated, increased the use function of climbing robot monitoring.It is simple in structure, and flexibly, noise is low, with low cost, in fields such as anti-terrorism investigation, high building detections, has broad application prospects in motion.
Claims (4)
1. two crawler belts are climbed a wall supervisory-controlled robot, and it is provided with pedestal, are installed with electrostatic generator, battery pack, control transport module, camera and a pair of drive motor in the middle of pedestal; It is characterized in that: pedestal bilateral symmetry is provided with a pair of crawler frame, each crawler frame is provided with driving wheel and the flower wheel for driving crawler belt to rotate, driving wheel inner side is provided with belt pulley, and driving wheel is driven and rotated by corresponding drive motor by belt and belt pulley; Crawler belt covers on crawler frame between driving wheel and flower wheel; Described crawler belt is flexible interdigitated electrode structure bipolarity crawler belt, and its both sides are provided with tooth root, middle parallel some broach that are connected with both sides tooth root respectively that are provided with, and broach outer wrap has polyimide foam insulation; The tooth root of described crawler belt directly contacts with the brush being arranged on crawler frame; Electrostatic generator is connected with crawler belt via wire, brush, makes the tooth root of crawler belt and broach carry respectively the positive and negative static of high pressure; Broach excites wall to produce induced charge, and then produces a coulomb adsorption, and whole supervisory-controlled robot is adsorbed on wall.
2. according to claim 1 pair of crawler belt climbed wall supervisory-controlled robot, it is characterized in that: the width of described crawler belt upper comb dent is 3-5mm, and the center-to-center distance of two adjacent fingers is 5-7mm, and whole broach duty cycle range is 0.5-0.7.
3. according to claim 1 pair of crawler belt climbed wall supervisory-controlled robot, it is characterized in that: described whole broach outer wrap has polyimide foam insulation; The thickness of described polyimide surface insulating material is 0.08-0.12mm.
4. according to claim 1 pair of crawler belt climbed wall supervisory-controlled robot, it is characterized in that: on described crawler frame, be also provided with track tension device, it is provided with spring-damper, tension wheel, tensioning connecting panel, described tension wheel be connected on crawler frame or tensioning connecting panel on; On the tensioning connecting panel of described both sides, one end has strip hole, and connecting pin is housed in strip hole, by this connecting pin, connects flower wheel, and the tensioning connecting panel other end is connected with spring-damper; The spring-damper other end is connected on crawler frame.
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| CN201410329572.4A CN104071249A (en) | 2014-07-11 | 2014-07-11 | Double-caterpillar-band wall-climbing monitoring robot |
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| CN201410329572.4A CN104071249A (en) | 2014-07-11 | 2014-07-11 | Double-caterpillar-band wall-climbing monitoring robot |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105438294A (en) * | 2015-12-18 | 2016-03-30 | 哈尔滨科能熔敷科技有限公司 | Climbing arm robot with V-shaped permanent magnetic chain sheets and spring buffering mechanism |
| CN105644640A (en) * | 2015-12-18 | 2016-06-08 | 哈尔滨科能熔敷科技有限公司 | Wall-climbing robot used for measuring thickness of coating of water wall of boiler through mathematical modeling |
| CN106419725A (en) * | 2016-12-02 | 2017-02-22 | 广东省智能制造研究所 | Double-crawler belt type wall-climbing robot based on electrostatic adsorption principle |
| CN106985925A (en) * | 2017-03-24 | 2017-07-28 | 北京航空航天大学 | A kind of vertical surface climbing task platform based on Electrostatic Absorption |
| WO2019024739A1 (en) * | 2017-07-31 | 2019-02-07 | Guangdong Institute Of Intelligent Manufacturing | Tracked wall climbing robot |
| CN111845995A (en) * | 2020-08-28 | 2020-10-30 | 广东省智能制造研究所 | Low-noise negative-pressure wall-climbing robot |
| CN113879416A (en) * | 2021-11-04 | 2022-01-04 | 上海意延机电工程有限公司 | Tractor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN105438294A (en) * | 2015-12-18 | 2016-03-30 | 哈尔滨科能熔敷科技有限公司 | Climbing arm robot with V-shaped permanent magnetic chain sheets and spring buffering mechanism |
| CN105644640A (en) * | 2015-12-18 | 2016-06-08 | 哈尔滨科能熔敷科技有限公司 | Wall-climbing robot used for measuring thickness of coating of water wall of boiler through mathematical modeling |
| CN105644640B (en) * | 2015-12-18 | 2017-10-20 | 哈尔滨科能熔敷科技有限公司 | The climbing robot of boiler water wall overlay thickness is measured using mathematical modeling |
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| WO2019024739A1 (en) * | 2017-07-31 | 2019-02-07 | Guangdong Institute Of Intelligent Manufacturing | Tracked wall climbing robot |
| CN111845995A (en) * | 2020-08-28 | 2020-10-30 | 广东省智能制造研究所 | Low-noise negative-pressure wall-climbing robot |
| CN113879416A (en) * | 2021-11-04 | 2022-01-04 | 上海意延机电工程有限公司 | Tractor |
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Application publication date: 20141001 |