CN104802877B - A kind of wall climbing robot - Google Patents
A kind of wall climbing robot Download PDFInfo
- Publication number
- CN104802877B CN104802877B CN201510191876.3A CN201510191876A CN104802877B CN 104802877 B CN104802877 B CN 104802877B CN 201510191876 A CN201510191876 A CN 201510191876A CN 104802877 B CN104802877 B CN 104802877B
- Authority
- CN
- China
- Prior art keywords
- wall
- driver
- climbing robot
- inner ring
- running gear
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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- 230000009194 climbing Effects 0.000 title claims abstract description 44
- 230000033001 locomotion Effects 0.000 claims abstract description 12
- 238000012544 monitoring process Methods 0.000 claims abstract description 4
- 238000005183 dynamical system Methods 0.000 claims description 12
- 238000012806 monitoring device Methods 0.000 claims description 7
- 238000005096 rolling process Methods 0.000 claims description 4
- 239000007787 solid Substances 0.000 claims 1
- 230000009193 crawling Effects 0.000 abstract description 2
- 238000010586 diagram Methods 0.000 description 5
- 239000003463 adsorbent Substances 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 239000000463 material Substances 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
A kind of wall climbing robot, including lift self-balancing system, wall running gear, organism frame structure, wall apparatus for work, the lift self-balancing system, wall running gear and wall apparatus for work are arranged in organism frame structure.The lift self-balancing system is used to provide lift and the pressure to wall for robot, and the wall running gear is used to allow the robot to walk on wall, and the wall apparatus for work is used for motion and the wall situation of monitoring robot.The machine human body of efficient wall crawling exercises is realized by the cooperation of lift self-balancing system, wall running gear and wall apparatus for work.
Description
Technical field
The present invention relates to a kind of robot, more particularly to a kind of wall climbing robot.
Background technology
The Climbing Robot of conceptual phase is currently in, its principle is mostly principle of negative pressure, i.e., using differential pressure of atmospheric pressure by machine
Device people is pressed on metope, and this adhering mode is higher for the finish and flatness requirement of metope so that its application scenario is big
Big limited, when that can not be met enough for this 2 points, traditional Climbing Robot just loses ample scope for abilities.
Meanwhile even if in bright and clean smooth vertical or hanging face, due to the presence of its adsorbing mechanism, necessarily cause machine
The flexibility of human action is significantly limited, and overall operation efficiency substantially reduces.Need one kind can realize effectively attachment and meanwhile can
The Climbing Robot of Effec-tive Function meets current increasing such a demand.
The content of the invention
It is certainly flat by lift it is an object of the invention to provide a kind of wall climbing robot for above-mentioned technological deficiency
The machine human body of efficient wall crawling exercises is realized in the cooperation of balance system, wall running gear and wall apparatus for work.
To achieve these goals, the technical scheme is that：
A kind of wall climbing robot, including lift self-balancing system, wall running gear, organism frame structure, wall
Apparatus for work, the lift self-balancing system, wall running gear and wall apparatus for work are arranged in organism frame structure.
The lift self-balancing system is used to provide lift and the pressure to wall for robot, and the wall running gear is used to cause
Robot can walk on wall, and the wall apparatus for work is used for motion and the wall situation of monitoring robot.
Preferably, the lift self-balancing system includes lifting system, interior loop mechanism, outer loop mechanism, Internal and external cycle company
Connection device.
The multi-angle regulation of lifting system is realized by loop mechanism inside and outside setting, to provide and can climb for robot
Rise lift and suitably to the pressure of wall
Preferably, the organism frame structure includes inner ring upper case, inner ring lower case, outer ring upper case, outer ring bottom
Shell, the first leg shell, the second leg shell.
Preferably, the wall running gear is running gear system.
Preferably, the wall apparatus for work includes robot motion's monitor and wall monitoring device.
Preferably, gyroscope chip is installed in the lifting system, the rotor is controlled by gyroscope chip
The direction of dynamical system, control the posture of wall climbing robot.
Preferably, the wall running gear is multi-joint class foot formula mechanical structure.
The technical effects of the invention are that：Abandon traditional climbing thinking and directly provide liter using propeller cutting air
Power is with balancing gravity.A set of DCB Specimen self-balancing system is designed, can be by gyroscope and respective algorithms real-time ensuring rotor all the time
Lift is provided towards most effective angle and to wall pressure.
Meanwhile in walking mechanism, using the Universal wheel structure of active drive, universal wheel can be real under horizontal stage electric machine driving
Existing unitary rotation, realizes being adjusted flexibly for robot motion.Wheel hub is ensured using the light-weight design for saving material volume as far as possible
The portability of wheel hub, it is easy to quickly start in the case where servomotor drives.The Pattern Design of tire can increase the contact with metope
Area, increase frictional force, while the groove structure of UNICOM is advantageous to the realization of draining so that robot is adapted to moist ring
Border.Design causes robot to be raised in terms of kinematic dexterity compared to traditional adsorbent equipment more very one above.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of the 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 connector and the structural representation of Internal and external cycle attachment means；
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 attachment means overall structure diagram；
Fig. 8 is travel driving unit structural representation；
Fig. 9 is wall apparatus for work structural representation；
Figure 10 is lifting system internal structure schematic diagram.
Embodiment
A kind of wall climbing robot, including lift self-balancing system, wall running gear and organism frame structure, wall
Apparatus for work, the lift self-balancing system, wall running gear and wall apparatus for work are arranged in organism frame structure.
The lift self-balancing system is used to provide lift and the pressure to wall for robot, and the wall running gear is used to cause
Robot can walk on wall, and the wall apparatus for work is used for motion and the wall situation of monitoring robot.
The lift self-balancing system includes lifting system, interior loop mechanism and outer loop mechanism；The lift produces dress
Put and be fixedly mounted on the dynamical system including rotor power system 8 and dynamical system fixed mount 9, the rotor power system 8
On fixed mount 9；The interior loop mechanism includes inner ring fixing frame 10 and the first connector in the inner ring fixing frame 10
15th, the first inner ring driver 11, the second inner ring driver 17, drive gear 18 and flight controller 14；The lift produces dress
The both ends for the dynamical system fixed mount 9 put are fixed with first connector 15 and the first inner ring driver 11 respectively to be connected
Connect；The outer loop mechanism include outer ring internal gear 23, outer ring fixed mount 24, fixed column 25, the outer ring fixed mount 24 with it is described
Outer ring internal gear 23 is connected by the fixed column 25；The drive gear 18 engages with the outer ring internal gear 23；It is described
First inner ring driver 11 rotates for driving power system fixed mount 9, and the second inner ring driver 17 is used to drive
Gear 18 rotates, and then interior loop mechanism is rotated relative to outer loop mechanism；The flight controller 14 is used to control the rotor
The lift and the pressure to wall that dynamical system (8) is provided.
The lift self-balancing system also includes, the second connector 12 and the 3rd connector 16, second connector 12
And the 3rd connector 16 be fixedly mounted in the inner ring fixing frame 10, the first inner ring driver 11 is connected with described second
Part 12 is rotatably connected, and first connector 15 is rotatably connected with the 3rd connector 16.
Hollow shaft 31 is provided with first connector 15, is provided with hole 32 on the 3rd connector 16, described
A connection piece 15 is rotatably connected by hollow shaft 31 and hole 32 with the 3rd connector 16.
The lift self-balancing system also includes, Internal and external cycle attachment means 13, and the Internal and external cycle attachment means 13 fix peace
In the inner ring fixing frame 10, the Internal and external cycle attachment means 13 include attachment means fixed mount 21 and rolling element 22；Institute
Rolling element 22 is stated to roll on the side of outer ring internal gear 23.
The lift self-balancing system also includes driven gear 19, and the driven gear 19 is arranged on the inner ring fixing frame
On 10, and engaged with the outer ring internal gear 23.
The operation principle of the lift self-balancing system is：Band of the dynamical system fixed mount 9 in the first inner ring driver 11
Dynamic lower rotation, so as to which rotor power system 8 rotates；Second inner ring driver 17 driving driving gear 18 rotates, outer so as to drive
Circle internal gear 23 rotate, and then cause in loop mechanism rotated relative to outer loop mechanism, so as to realize dynamical system fixed mount 9 relative to
The rotation of outer loop mechanism.In the presence of two kinds of rotations, the multi-angle regulation of lifting system is realized, thinks that robot carries
Energize the lift that enough climbs and suitably to the pressure of wall
The organism frame structure include 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, the inner ring upper case 1 are fixedly connected on the inner ring fixing frame with inner ring lower case 2
On 10, the outer ring upper case 3 is fixedly connected on the outer ring fixed mount 24 with the outer ring lower case 4, first leg
Portion's shell 5 is fixedly connected with second leg shell 6, and first leg shell 5 is fixedly connected with the outer ring lower case 4.
The wall running gear is running gear system, and it includes wheel 7 and travel driving unit, the hoofing part
Device includes the first driver 26, the driver 28 of driver fixed mount 27 and second, and first driver 26 is fixedly mounted on
On the driver fixed mount 27, second driver 28 is fixedly mounted on the driving fixed mount 27, while fixed peace
On the second leg shell 6.First driver 26 is used for the rotation for realizing wheel 7, and second driver 28 is used for real
The rotation of the existing rotary shaft of wheel 7, so as to realize each to walking of wall running gear.
The wall apparatus for work includes robot motion's monitor 29 and wall monitoring device 30, the robot motion
Monitor 29 is arranged in the outer ring lower case 4 with the wall monitoring device 30.
Gyroscope chip 33 is installed in the lifting system, the rotor power is controlled by gyroscope chip 33
The direction of system 8, control the posture of wall climbing robot.
The lifting system may be replaced by any form of energy in addition to above-mentioned double-rotor type lifting system
The device of lifting force is enough provided；The wall running gear may be replaced by addition to above-mentioned active Universal wheel type running gear
Multi-joint class foot formula mechanical structure；These belong to the conventional replacement of those skilled in the art, will not be repeated here.
Protection scope of the present invention includes but is not limited to above-mentioned preferred embodiment, any known substitute mode, falls
Enter in protection scope of the present invention.
Claims (25)
- A kind of 1. wall climbing robot, it is characterised in that：Including lift self-balancing system, wall running gear, organism frame Structure and wall apparatus for work, the lift self-balancing system, wall running gear and wall apparatus for work are arranged on described In organism frame structure；The lift self-balancing system is used to provide lift and the pressure to wall, the wall for robot Running gear be used for allow the robot to walk on wall, the wall apparatus for work be used for monitoring robot motion and Wall situation；The lift self-balancing system includes lifting system, interior loop mechanism, outer loop mechanism and dress is connected with Internal and external cycle Put；The interior loop mechanism includes the first inner ring driver (11) and the second inner ring driver (17), the first inner ring driver (11) the lifting system rotation is driven, the second inner ring driver (17) causes interior loop mechanism relative to the outer ring Mechanism rotates, so as to realize that the lifting system rotates relative to the interior loop mechanism and the outer loop mechanism；At two kinds In the presence of rotation, the multi-angle regulation of lifting system is realized, to provide the lift that can be climbed for the robot Suitably to the pressure of wall.
- 2. wall climbing robot according to claim 1, it is characterised in that：The lifting system includes dynamical system System (8) and dynamical system fixed mount (9), the dynamical system (8) are fixedly mounted on the dynamical system fixed mount (9)；Institute Stating interior loop mechanism also includes inner ring fixing frame (10) and the first connector (15) in the inner ring fixing frame (10), drives Moving gear (18) and flight controller (14)；The both ends of the dynamical system fixed mount (9) of the lifting system respectively with institute The first connector (15) is stated to be fixedly connected with the first inner ring driver (11)；The outer loop mechanism includes outer ring internal gear (23), outer ring fixed mount (24) and fixed column (25), the outer ring fixed mount (24) pass through institute with the outer ring internal gear (23) Fixed column (25) is stated to be connected；The drive gear (18) is engaged with the outer ring internal gear (23)；The first inner ring driving Device (11) rotates for driving power system fixed mount (9), and the second inner ring driver (17) is used to drive drive gear (18) rotate, and then interior loop mechanism is rotated relative to outer loop mechanism；The flight controller (14) is used to control the power The lift and the pressure to wall that system (8) is provided.
- 3. wall climbing robot according to claim 2, it is characterised in that：The lift self-balancing system also includes, Second connector (12) and the 3rd connector (16), second connector (12) and the 3rd connector (16) are fixedly mounted on institute State in inner ring fixing frame (10), the first inner ring driver (11) is rotatably connected with second connector (12), described First connector (15) is rotatably connected with the 3rd connector (16).
- 4. wall climbing robot according to claim 3, it is characterised in that：It is provided with first connector (15) Hollow shaft (31), hole (32) is provided with the 3rd connector (16), first connector (15) passes through hollow shaft (31) It is rotatably connected with hole (32) and the 3rd connector (16).
- 5. the wall climbing robot according to any one of claim 2-4, it is characterised in that：The lift self-balancing system System also includes, and Internal and external cycle attachment means (13) and driven gear (19), the Internal and external cycle attachment means (13) are fixedly mounted on institute State in inner ring fixing frame (10), the Internal and external cycle attachment means (13) include attachment means fixed mount (21) and rolling element (22)； The rolling element (22) rolls on outer ring internal gear (23) side；The driven gear (19) is consolidated installed in the inner ring Determine on frame (10), and engaged with the outer ring internal gear (23).
- 6. the wall climbing robot according to any one of claim 1-4, it is characterised in that：The organism frame structure Including inner ring upper case (1), inner ring lower case (2), outer ring upper case (3), outer ring lower case (4), the first leg shell (5) and Two leg shells (6), the inner ring upper case (1) are fixedly connected in the inner ring fixing frame (10) with inner ring lower case (2), institute State outer ring upper case (3) to be fixedly connected on the outer ring fixed mount (24) with the outer ring lower case (4), first leg Shell (5) is fixedly connected with second leg shell (6), first leg shell (5) and the fixed company of the outer ring lower case (4) Connect.
- 7. wall climbing robot according to claim 5, it is characterised in that：The organism frame structure is included on inner ring Portion's shell (1), inner ring lower case (2), outer ring upper case (3), outer ring lower case (4), the first leg shell (5) and the second leg shell (6), the inner ring upper case (1) is fixedly connected in the inner ring fixing frame (10) with inner ring lower case (2), on the outer ring Portion's shell (3) and the outer ring lower case (4) are fixedly connected on the outer ring fixed mount (24), first leg shell (5) with Second leg shell (6) is fixedly connected, and first leg shell (5) is fixedly connected with the outer ring lower case (4).
- 8. the wall climbing robot according to any one of claim 1-4,7, it is characterised in that：The wall walking dress Running gear system is set to, it includes wheel (7) and travel driving unit, and the travel driving unit includes the first driver (26), driver fixed mount (27) and the second driver (28), first driver (26) are fixedly mounted on the driver On fixed mount (27), second driver (28) is fixedly mounted on the driver fixed mount (27), second driving Device (28) while it is fixedly mounted in the organism frame structure；First driver (26) is used to realize turning for wheel (7) Dynamic, second driver (28) is used for the rotation for realizing wheel (7) rotary shaft, so as to realize each to row of wall running gear Walk.
- 9. wall climbing robot according to claim 5, it is characterised in that：The wall running gear is running on wheels Device, it includes wheel (7) and travel driving unit, and it is solid that the travel driving unit includes the first driver (26), driver Determine frame (27) and the second driver (28), first driver (26) is fixedly mounted on the driver fixed mount (27), Second driver (28) is fixedly mounted on the driver fixed mount (27), and second driver (28) is simultaneously fixed In the organism frame structure；First driver (26) is used for the rotation for realizing wheel (7), second driving Device (28) is used for the rotation for realizing wheel (7) rotary shaft, so as to realize each to walking of wall running gear.
- 10. wall climbing robot according to claim 6, it is characterised in that：The wall running gear is wheeled row Walking apparatus, it includes wheel (7) and travel driving unit, and the travel driving unit includes the first driver (26), driver Fixed mount (27) and the second driver (28), first driver (26) are fixedly mounted on the driver fixed mount (27) On, second driver (28) is fixedly mounted on the driver fixed mount (27), and second driver (28) is simultaneously It is fixedly mounted in the organism frame structure；Rotation of first driver (26) for realizing wheel (7), described second Driver (28) is used for the rotation for realizing wheel (7) rotary shaft, so as to realize each to walking of wall running gear.
- 11. the wall climbing robot according to any one of claim 1-4,7,9-10, it is characterised in that：The wall Apparatus for work includes robot motion's monitor (29) and wall monitoring device (30).
- 12. wall climbing robot according to claim 5, it is characterised in that：The wall apparatus for work includes machine People's movement monitor (29) and wall monitoring device (30).
- 13. wall climbing robot according to claim 6, it is characterised in that：The wall apparatus for work includes machine People's movement monitor (29) and wall monitoring device (30).
- 14. wall climbing robot according to claim 8, it is characterised in that：The wall apparatus for work includes machine People's movement monitor (29) and wall monitoring device (30).
- 15. the wall climbing robot according to any one of claim 1-4,7,9-10,12-14, it is characterised in that：Also Including the gyroscope chip (33) in the lifting system, the lift being controlled by gyroscope chip (33) Generation device power direction, and then control the posture of wall climbing robot.
- 16. wall climbing robot according to claim 5, it is characterised in that：Also include, produced installed in the lift Gyroscope chip (33) in device, the lifting system power direction is controlled by gyroscope chip (33), and then controlled The posture of wall climbing robot processed.
- 17. wall climbing robot according to claim 6, it is characterised in that：Also include, produced installed in the lift Gyroscope chip (33) in device, the lifting system power direction is controlled by gyroscope chip (33), and then controlled The posture of wall climbing robot processed.
- 18. wall climbing robot according to claim 8, it is characterised in that：Also include, produced installed in the lift Gyroscope chip (33) in device, the lifting system power direction is controlled by gyroscope chip (33), and then controlled The posture of wall climbing robot processed.
- 19. wall climbing robot according to claim 11, it is characterised in that：Also include, produced installed in the lift Gyroscope chip (33) in generating apparatus, the lifting system power direction is controlled by gyroscope chip (33), and then Control the posture of wall climbing robot.
- 20. the wall climbing robot according to any one of claim 1-4,7,9-10,12-14,16-19, its feature It is：The wall running gear is multi-joint class foot formula mechanical structure running gear.
- 21. wall climbing robot according to claim 5, it is characterised in that：The wall running gear is multi-joint Class foot formula mechanical structure running gear.
- 22. wall climbing robot according to claim 6, it is characterised in that：The wall running gear is multi-joint Class foot formula mechanical structure running gear.
- 23. wall climbing robot according to claim 8, it is characterised in that：The wall running gear is multi-joint Class foot formula mechanical structure running gear.
- 24. wall climbing robot according to claim 11, it is characterised in that：The wall running gear is multi-joint Class foot formula mechanical structure running gear.
- 25. wall climbing robot according to claim 15, it is characterised in that：The wall running gear is multi-joint Class foot formula mechanical structure 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 |
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| CN104802877A CN104802877A (en) | 2015-07-29 |
| CN104802877B true CN104802877B (en) | 2017-11-17 |
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| CN201510191876.3A Expired - Fee Related CN104802877B (en) | 2015-04-21 | 2015-04-21 | A kind of wall climbing robot |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
| 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 |
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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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|---|---|
| CN104802877A (en) | 2015-07-29 |
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