CN104802877A - Wall-climbing robot - Google Patents
Wall-climbing robot Download PDFInfo
- Publication number
- CN104802877A CN104802877A CN201510191876.3A CN201510191876A CN104802877A CN 104802877 A CN104802877 A CN 104802877A CN 201510191876 A CN201510191876 A CN 201510191876A CN 104802877 A CN104802877 A CN 104802877A
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- China
- Prior art keywords
- wall
- fixed mount
- inner ring
- actuator
- attaching parts
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Links
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 230000009194 climbing Effects 0.000 claims description 23
- 238000012806 monitoring device Methods 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 238000010276 construction Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 5
- 230000009193 crawling Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Classifications
-
- 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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Invalid Beds And Related Equipment (AREA)
Abstract
The invention relates to a wall-climbing robot, which comprises a lifting force self-balancing system, wall traveling units, a robot body frame structure and a wall operating unit, wherein the lifting force self-balancing system, the wall traveling units and the wall operating unit are mounted on the robot body frame structure. The lifting force self-balancing system is used for providing lifting force for the robot and pressure on a wall, the wall traveling units are used for enabling the robot to travel on the wall, and the wall operating unit is used for monitoring the motion of the rotor and the condition of the wall. By means of the cooperation between the lifting force self-balancing system, the wall traveling units and the wall operating unit, the robot can efficiently climb on the wall.
Description
Technical field
The present invention relates to a kind of robot, particularly relate to a kind of wall climbing robot.
Background technology
Be in the Climbing Robot of conceptual phase at present, its principle is mostly principle of negative pressure, namely differential pressure of atmospheric pressure is utilized to be pressed on metope by robot, this adhering mode for the degree of finish of metope and flatness requirement higher, make its application scenario greatly limited, when can not enough be met for these 2, traditional Climbing Robot just loses ample scope for abilities.
Meanwhile, even if at bright and clean smooth vertical or unsettled, due to its adsorbing mechanism existence, the alerting ability of robotic movement must be caused greatly limited, and overall operation efficiency reduces greatly.Need a kind ofly can realize effectively attachment and can the Climbing Robot of Effec-tive Function meet now more and more this kind of demand simultaneously.
Summary of the invention
For above-mentioned technological deficiency, the object of this invention is to provide a kind of wall climbing robot, realized the machine human body of efficient wall crawling exercises by the cooperation of lift self-balancing system, wall running gear and wall apparatus for work.
To achieve these goals, technical scheme of the present invention is:
A kind of wall climbing robot, comprise lift self-balancing system, wall running gear, organism frame structure, wall apparatus for work, described lift self-balancing system, wall running gear and wall apparatus for work are arranged in organism frame structure.Described lift self-balancing system is used for providing lift and the pressure to wall for robot, and described wall running gear is provided for robot and can walks on wall, and described wall apparatus for work is used for motion and the wall situation of monitoring robot.
Preferably, described lift self-balancing system comprises lifting system, interior loop mechanism, outer loop mechanism, Internal and external cycle connecting device.
The multi-angle achieving lifting system by arranging Internal and external cycle mechanism regulates, and thinks that robot provides the lift and the suitable pressure to wall that can climb
Preferably, described organism frame structure comprises inner ring upper case, inner ring lower case, outer ring upper case, outer ring lower case, the first leg shell, the second leg shell.
Preferably, described wall running gear is running gear system.
Preferably, described wall apparatus for work comprises robot motion's monitor and wall monitoring device.
Preferably, gyroscope chip is installed in described lifting system, by rotor power system described in gyroscope chip controls towards, control the attitude of wall climbing robot.
Preferably, described wall running gear is multi-joint class foot formula physical construction.
Technique effect of the present invention is: abandoned traditional climbing thinking and directly adopted screw propeller cutting air to provide lift with balancing gravity.Design a set of DCB Specimen self-balancing system, provide lift and to wall pressure towards most effective angle all the time by gyroscope and respective algorithms real-time ensuring rotor.
Meanwhile, on traveling gear, adopt the Universal wheel structure of active drive, cardan wheel can realize unitary rotation under horizontal stage electric machine drives, and realizes the flexible adjustment of robot motion.Wheel hub adopts the light-weight design of as far as possible saving material volume, ensure that the portability of wheel hub, is convenient to start fast under driven by servomotor.The Pattern Design of tire can increase the area of contact with metope, increases friction force, and the groove structure of UNICOM is conducive to the realization of draining simultaneously, makes robot to adapt to wet environment.More than design makes robot more very one raise compared to traditional adsorption plant in kinematic dexterity.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of wall climbing robot of the present invention;
Fig. 2 is lifting system structural representation;
Fig. 3 is inner ring mechanism structure schematic diagram;
Fig. 4 is the in-house structural representation of inner ring;
Fig. 5 is the structural representation of attaching parts and Internal and external cycle connecting device;
Fig. 6 is outer ring mechanism structure schematic diagram;
Fig. 7 is lifting system, interior loop mechanism, outer loop mechanism and Internal and external cycle connecting device integral structure schematic diagram;
Fig. 8 is travel driving unit structural representation;
Fig. 9 is wall apparatus for work structural representation;
Figure 10 is lifting system inner structure schematic diagram.
Detailed description of the invention
A kind of wall climbing robot, comprise lift self-balancing system, wall running gear and organism frame structure, wall apparatus for work, described lift self-balancing system, wall running gear and wall apparatus for work are arranged in organism frame structure.Described lift self-balancing system is used for providing lift and the pressure to wall for robot, and described wall running gear is provided for robot and can walks on wall, and described wall apparatus for work is used for motion and the wall situation of monitoring robot.
Described lift self-balancing system comprises lifting system, interior loop mechanism and outer loop mechanism; Described lifting system comprises rotor power system 8 and power system fixed mount 9, and described rotor power system 8 is fixedly mounted on described power system fixed mount 9; The first attaching parts 15, first inner ring actuator 11, second inner ring actuator 17, driven wheel 18 and flight controller 14 that described interior loop mechanism comprises inner ring fixed mount 10 and is arranged on described inner ring fixed mount 10; The two ends of the power system fixed mount 9 of described lifting system are fixedly connected with described first inner ring actuator 11 with described first attaching parts 15 respectively; Described outer loop mechanism comprises outer ring inner gear 23, outer ring fixed mount 24, fixed leg 25, and described outer ring fixed mount 24 is connected by described fixed leg 25 with described outer ring inner gear 23; Described driven wheel 18 engages with described outer ring inner gear 23; Described first inner ring actuator 11 rotates for driving power system fixed mount 9, and described second inner ring actuator 17 rotates for driving driven wheel 18, and then interior loop mechanism is rotated relative to outer loop mechanism; Described flight controller 14 is for the lift that controls described rotor power system (8) and provide and the pressure to wall.
Described lift self-balancing system also comprises, second attaching parts 12 and the 3rd attaching parts 16, described second attaching parts 12 and the 3rd attaching parts 16 are fixedly mounted on described inner ring fixed mount 10, described first inner ring actuator 11 is rotatably connected with described second attaching parts 12, and described first attaching parts 15 is rotatably connected with described 3rd attaching parts 16.
Described first attaching parts 15 is provided with hollow shaft 31, described 3rd attaching parts 16 arranges porose 32, described first attaching parts 15 is rotatably connected by hollow shaft 31 and hole 32 and the 3rd attaching parts 16.
Described lift self-balancing system also comprises, Internal and external cycle connecting device 13, and described Internal and external cycle connecting device 13 is fixedly mounted on described inner ring fixed mount 10, and described Internal and external cycle connecting device 13 comprises connecting device fixed mount 21 and rolling body 22; Described rolling body 22 rolls on inner gear 23 side, described outer ring.
Described lift self-balancing system also comprises driven gear 19, and described driven gear 19 is arranged on described inner ring fixed mount 10, and engages with described outer ring inner gear 23.
The principle of work of described lift self-balancing system is: power system fixed mount 9 rotates under the drive of the first inner ring actuator 11, thus rotor power system 8 rotates; Second inner ring actuator 17 drives driving gear 18 to rotate, thus drives outer ring inner gear 23 to rotate, and then interior loop mechanism is rotated relative to outer loop mechanism, thus realizes the rotation of power system fixed mount 9 relative to outer loop mechanism.Under two kinds of effects rotated, the multi-angle achieving lifting system regulates, and thinks that robot provides the lift and the suitable pressure to wall that can climb
Described organism frame structure comprises inner ring upper case 1, inner ring lower case 2, outer ring upper case 3, outer ring lower case 4, first leg shell 5 and the second leg shell 6, described inner ring upper case 1 is fixedly connected on described inner ring fixed mount 10 with inner ring lower case 2, described outer ring upper case 3 and described outer ring lower case 4 are fixedly connected on described outer ring fixed mount 24, described first leg shell 5 is fixedly connected with described second leg shell 6, and described first leg shell 5 is fixedly connected with described outer ring lower case 4.
Described wall running gear is running gear system, it comprises wheel 7 and travel driving unit, described travel driving unit comprises the first actuator 26, actuator fixed mount 27 and the second actuator 28, described first actuator 26 is fixedly mounted on described actuator fixed mount 27, described second actuator 28 is fixedly mounted on described driving fixed mount 27, is fixedly mounted on the second leg shell 6 simultaneously.Described first actuator 26 is for realizing the rotation of wheel 7, and described second actuator 28 for realizing the rotation of wheel 7 S. A., thus realizes each to walking of wall running gear.
Described wall apparatus for work comprises robot motion's monitor 29 and wall monitoring device 30, and described robot motion's monitor 29 is arranged in described outer ring lower case 4 with described wall monitoring device 30.
Gyroscope chip 33 is installed in described lifting system, by gyroscope chip 33 control described rotor power system 8 towards, control the attitude of wall climbing robot.
Described lifting system, except above-mentioned double-rotor type lifting system, can also replace with the device that can provide hoisting force of arbitrary form; Described wall running gear, except above-mentioned active Universal wheel type running gear, can also replace with multi-joint class foot formula physical construction; These routines all belonging to those skilled in the art are replaced, and do not repeat them here.
Protection scope of the present invention includes but not limited to above-mentioned preferred implementation, and any known substitute mode, all falls within the scope of protection of the present invention.
Claims (10)
1. a wall climbing robot, comprises lift self-balancing system, wall running gear, organism frame structure and wall apparatus for work, and described lift self-balancing system, wall running gear and wall apparatus for work are arranged in described organism frame structure; Described lift self-balancing system is used for providing lift and the pressure to wall for robot, and described wall running gear is provided for robot and can walks on wall, and described wall apparatus for work is used for motion and the wall situation of monitoring robot.
2. wall climbing robot according to claim 1, described lift self-balancing system comprises lifting system, interior loop mechanism and outer loop mechanism; Described lifting system comprises power system (8) and power system fixed mount (9), and described power system (8) is fixedly mounted on described power system fixed mount (9); Described interior loop mechanism comprises inner ring fixed mount (10) and is arranged on the first attaching parts (15), the first inner ring actuator (11), the second inner ring actuator (17), driven wheel (18) and the flight controller (14) on described inner ring fixed mount (10); The two ends of the power system fixed mount (9) of described lifting system are fixedly connected with described first inner ring actuator (11) with described first attaching parts (15) respectively; Described outer loop mechanism comprises outer ring inner gear (23), outer ring fixed mount (24) and fixed leg (25), and described outer ring fixed mount (24) is connected by described fixed leg (25) with described outer ring inner gear (23); Described driven wheel (18) engages with described outer ring inner gear (23); Described first inner ring actuator (11) rotates for driving power system fixed mount (9), described second inner ring actuator (17) rotates for driving driven wheel (18), and then interior loop mechanism is rotated relative to outer loop mechanism; Described flight controller (14) is for the lift that controls described power system (8) and provide and the pressure to wall.
3. wall climbing robot according to claim 2, described lift self-balancing system also comprises, second attaching parts (12) and the 3rd attaching parts (16), described second attaching parts (12) and the 3rd attaching parts (16) are fixedly mounted on described inner ring fixed mount (10), described first inner ring actuator (11) and described second attaching parts (12) are rotatably connected, and described first attaching parts (15) and described 3rd attaching parts (16) are rotatably connected.
4. wall climbing robot according to claim 3, described first attaching parts (15) is provided with hollow shaft (31), described 3rd attaching parts (16) is arranged porose (32), and described first attaching parts (15) is rotatably connected with the 3rd attaching parts (16) by hollow shaft (31) and hole (32).
5. the wall climbing robot according to any one of claim 2-4, described lift self-balancing system also comprises, Internal and external cycle connecting device (13) and driven gear (19), described Internal and external cycle connecting device (13) is fixedly mounted on described inner ring fixed mount (10), and described Internal and external cycle connecting device (13) comprises connecting device fixed mount (21) and rolling body (22); Described rolling body (22) rolls on inner gear (23) side, described outer ring; Described driven gear (19) is arranged on described inner ring fixed mount (10), and engages with described outer ring inner gear (23).
6. the wall climbing robot according to any one of claim 1-5, described organism frame structure comprises inner ring upper case (1), inner ring lower case (2), outer ring upper case (3), outer ring lower case (4), first leg shell (5) and the second leg shell (6), described inner ring upper case (1) and inner ring lower case (2) are fixedly connected on described inner ring fixed mount (10), described outer ring upper case (3) and described outer ring lower case (4) are fixedly connected on described outer ring fixed mount (24), described first leg shell (5) is fixedly connected with described second leg shell (6), described first leg shell (5) is fixedly connected with described outer ring lower case (4).
7. the wall climbing robot according to any one of claim 1-6, described wall running gear is running gear system, it comprises wheel (7) and travel driving unit, described travel driving unit comprises the first actuator (26), actuator fixed mount (27) and the second actuator (28), described first actuator (26) is fixedly mounted on described actuator fixed mount (27), described second actuator (28) is fixedly mounted on described driving fixed mount (27), is fixedly mounted in described organism frame structure simultaneously; Described first actuator (26) is for realizing the rotation of wheel (7), and described second actuator (28) for realizing the rotation of wheel (7) S. A., thus realizes each to walking of wall running gear.
8. the wall climbing robot according to any one of claim 1-7, described wall apparatus for work comprises robot motion's monitor (29) and wall monitoring device (30).
9. the wall climbing robot according to any one of claim 1-8, also comprise, be arranged on the gyroscope chip (33) in described lifting system, by gyroscope chip (33) control described lifting system power towards, and then control the attitude of wall climbing robot.
10. the wall climbing robot according to any one of claim 1-9, described wall running gear is multi-joint class foot formula physical construction running gear.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510191876.3A CN104802877B (en) | 2015-04-21 | 2015-04-21 | A kind of wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510191876.3A CN104802877B (en) | 2015-04-21 | 2015-04-21 | A kind of wall climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN104802877A true CN104802877A (en) | 2015-07-29 |
| CN104802877B CN104802877B (en) | 2017-11-17 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510191876.3A Expired - Fee Related CN104802877B (en) | 2015-04-21 | 2015-04-21 | A kind of wall climbing robot |
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| CN (1) | CN104802877B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106388725A (en) * | 2016-11-25 | 2017-02-15 | 厦门华蔚物联网科技有限公司 | Wall robot capable of surmounting and tramping obstacles |
| CN106864620A (en) * | 2017-04-05 | 2017-06-20 | 西南大学 | A kind of omni-directional wheel Combined type wall surface climbing robot |
| CN107235087A (en) * | 2017-06-01 | 2017-10-10 | 北京航空航天大学 | A kind of robot vehicle |
| CN107606384A (en) * | 2017-10-12 | 2018-01-19 | 济南普利市政管网工程有限责任公司 | A kind of modularization Work machine platform for pipe with small pipe diameter water supply line |
| CN109399432A (en) * | 2018-11-23 | 2019-03-01 | 燕山大学 | A kind of hoistway job platform that climbs certainly |
| CN113715933A (en) * | 2021-09-08 | 2021-11-30 | 薄丽 | Material transfer mechanism is used in coast engineering construction |
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| CN1413809A (en) * | 2001-10-24 | 2003-04-30 | 吴志明 | Control method for building environmental protection robot and robot using the method |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106388725A (en) * | 2016-11-25 | 2017-02-15 | 厦门华蔚物联网科技有限公司 | Wall robot capable of surmounting and tramping obstacles |
| CN106388725B (en) * | 2016-11-25 | 2019-01-18 | 厦门华蔚物联网科技有限公司 | It is a kind of can obstacle detouring step on the wall robot of barrier |
| CN106864620A (en) * | 2017-04-05 | 2017-06-20 | 西南大学 | A kind of omni-directional wheel Combined type wall surface climbing robot |
| CN106864620B (en) * | 2017-04-05 | 2023-02-21 | 西南大学 | Omnidirectional wheel combined type wall climbing robot |
| CN107235087A (en) * | 2017-06-01 | 2017-10-10 | 北京航空航天大学 | A kind of robot vehicle |
| CN107606384A (en) * | 2017-10-12 | 2018-01-19 | 济南普利市政管网工程有限责任公司 | A kind of modularization Work machine platform for pipe with small pipe diameter water supply line |
| CN109399432A (en) * | 2018-11-23 | 2019-03-01 | 燕山大学 | A kind of hoistway job platform that climbs certainly |
| CN109399432B (en) * | 2018-11-23 | 2019-12-03 | 燕山大学 | A kind of hoistway job platform that climbs certainly |
| CN113715933A (en) * | 2021-09-08 | 2021-11-30 | 薄丽 | Material transfer mechanism is used in coast engineering construction |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104802877B (en) | 2017-11-17 |
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