CN104828171A - Negative pressure adsorption foot-based traveling mechanism for wall-climbing robot on oblique and smooth wall surface - Google Patents
Negative pressure adsorption foot-based traveling mechanism for wall-climbing robot on oblique and smooth wall surface Download PDFInfo
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- CN104828171A CN104828171A CN201510244332.9A CN201510244332A CN104828171A CN 104828171 A CN104828171 A CN 104828171A CN 201510244332 A CN201510244332 A CN 201510244332A CN 104828171 A CN104828171 A CN 104828171A
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- pressure adsorption
- negative
- sucker
- climbing robot
- inclination
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- 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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- Combustion & Propulsion (AREA)
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Abstract
The invention relates to a negative pressure adsorption foot-based traveling mechanism for a wall-climbing robot on an oblique and smooth wall surface. The negative pressure adsorption foot-based traveling mechanism comprises a machine stand, universal support wheels, a driving device and a group of negative pressure adsorption feet; the universal support wheels are arranged on the bottom of the machine stand; the driving device comprises chains, a driving chain wheel, a driven chain wheel and a driver for driving the driving chain wheel to rotate; each chain is arranged on each of the driving chain wheel and the driven chain wheel in a sleeving manner; a movement locus of each chain includes a straight line segment and a circular arc segment, wherein both ends of each straight line segment are in continuous smooth transition with both ends of the corresponding circular arc segment to form a closed curve; the group of negative pressure adsorption feet are arranged on the chains at an equal interval. The negative pressure adsorption foot-based traveling mechanism for the wall-climbing robot on the oblique smooth wall surface, which is provided by the invention, is simple in structure, relatively low in cost and good in adsorption capability.
Description
Technical field
The present invention relates to climbing robot field, especially a kind of traveling gear of climbing robot.
Background technology
In today of scientific and technological develop rapidly, robot obtains application and development widely in every field, especially climbing robot can carry out aloft work at the wall tilted, the task that many mankind can not complete can be completed, for the mankind alleviate much danger, climbing robot can bear different equipment to realize different functions, such as climbing robot can clean the metope of vertical high-rise, inclination photovoltaic panel, skyscraper glass now, also can bear fire-fighting instrument, fire-fighting work is carried out to skyscraper.
Summary of the invention
In order to overcome the deficiency that complex structure, cost are higher, adsorption power is poor of prior art climbing robot, the invention provides the traveling gear of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot that a kind of structure is simple, cost is lower, adsorption power is good.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of traveling gear of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot, comprise frame, Universal support is taken turns, actuating device and one group of negative-pressure adsorption foot, install bottom described frame and support cardan wheel, described actuating device comprises chain, drive sprocket, be connected with the actuator in order to drive drive sprocket to rotate by movable sprocket, described chain is sleeved on described drive sprocket and by movable sprocket, the path of motion of described chain comprises linear portion and arc section, the two ends of described linear portion and the two ends continuously smooth transition of described segmental arc form loop curve, one group of negative-pressure adsorption foot is arranged on described chain at equal intervals,
Described negative-pressure adsorption foot comprises sucker, described sucker is arranged on the lower end of sucker connecting panel, described sucker connecting panel is connected with the motion end of the lifting mechanism in order to drive described sucker connecting panel knee-action, described lifting mechanism is arranged on roller connecting panel, described roller connecting panel installs at least two X mated with the X-direction limit guide rail in frame up and down to limited roller and at least two Y-direction limited rollers mated with the Y-direction limit guide rail in frame, described X is mutually vertical with the rotation direction of Y-direction limited roller to limited roller, the admission port of described sucker is connected with external connecting negative pressure adsorption plant.
Described chain has two, and two chains are arranged symmetrically in described frame, and linear portion and another root linear portion of a chain are arranged in parallel.
Two chains are all in transmission connection with same actuator.Certainly, every root chain also can be connected with respective actuator simultaneously.
Further, described lifting mechanism is connected with the apparatus for controlling of lifting in order to control lifting mechanism action.
The admission port of described sucker is connected with sucker Controlling solenoid valve by tracheae, and described sucker Controlling solenoid valve is connected with external connecting negative pressure adsorption plant.
Described lifting mechanism is lift cylinder, and the lifting bar of described lift cylinder is fixedly connected with described sucker connecting panel.
Described apparatus for controlling of lifting is arranged on the upper end of sucker connecting panel.
Described sucker Controlling solenoid valve is arranged on the side of described lifting mechanism.
The air inlet/outlet of described lift cylinder installs thread straight-through gas-tpe fitting.
The admission port of described sucker installs L-type elbow gas-tpe fitting.
In the present invention, when negative-pressure adsorption foot is in adsorbed state, cylinder Controlling solenoid valve is energized, cylinder Controlling solenoid valve valve open, cylinder is ventilated by tracheae, the stroke that cylinder slide downward is certain, and sucker is moved downward by cylinder drive, sucker is contacted with photovoltaic panel, sucker Controlling solenoid valve energising simultaneously, make sucker Controlling solenoid valve valve open, air in sucker is drained by tracheae, make inside and outside generation of sucker must negative pressure, barometric pressure make sucker tightly be adsorbed on inclination hydraulically smooth surface, and then the negative-pressure adsorption of climbing robot foot is adsorbed on inclination hydraulically smooth surface.
When negative-pressure adsorption foot needs to leave inclination hydraulically smooth surface, the power-off of cylinder Controlling solenoid valve, cylinder Controlling solenoid valve valve closing, do not have gas to pass through in cylinder, cylinder resets to virgin state, sucker Controlling solenoid valve power-off simultaneously, tracheae can not drain the air in sucker, and the negative pressure in sucker is disappeared, so sucker is driven upward movement by cylinder, make sucker and oblique light slide wall emaciated face from, and then the negative-pressure adsorption of climbing robot foot is departed from from inclination hydraulically smooth surface.
Beneficial effect of the present invention is mainly manifested in: structure is simple, cost is lower, adsorption power good.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the traveling gear of inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot.
Fig. 2 is the line frame graph of the traveling gear of inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot.
Fig. 3 is the adsorbed state schematic diagram of absorption foot.
Fig. 4 is the vacant state schematic diagram of absorption foot.
Detailed description of the invention
Below in conjunction with accompanying drawing, the invention will be further described.
With reference to Fig. 1 ~ Fig. 4, a kind of traveling gear of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot, comprise frame 15, Universal support wheel 11, actuating device and one group of negative-pressure adsorption foot 10, install bottom described frame 15 and support cardan wheel 11, described actuating device comprises chain 12, drive sprocket 13, be connected with the actuator in order to drive drive sprocket to rotate by movable sprocket 14, described chain 12 is sleeved on described drive sprocket 13 and by movable sprocket 14, the path of motion of described chain 12 comprises linear portion and arc section, the two ends of described linear portion and the two ends continuously smooth transition of described segmental arc form loop curve, one group of negative-pressure adsorption foot 10 is arranged on described chain 12 at equal intervals,
Described negative-pressure adsorption foot 10 comprises sucker 1, described sucker 1 is arranged on the lower end of sucker connecting panel 2, described sucker connecting panel 2 is connected with the motion end of the lifting mechanism 3 in order to drive described sucker connecting panel knee-action, described lifting mechanism 3 is arranged on (roller connecting panel 4 is arranged on chain 12) on roller connecting panel 4, described roller connecting panel installs at least two X mated with the X-direction limit guide rail in frame up and down to limited roller 5 and at least two Y-direction limited rollers 6 mated with the Y-direction limit guide rail in frame, described X is mutually vertical with the rotation direction of Y-direction limited roller 6 to limited roller 5, the admission port of described sucker 1 is connected with external connecting negative pressure adsorption plant.
Described chain 12 has two, and two chains 12 are arranged symmetrically in described frame, and linear portion and another root linear portion of a chain are arranged in parallel.
Two chains 12 are all in transmission connection with same actuator.Certainly, every root chain also can be connected with respective actuator simultaneously.
Further, described lifting mechanism 3 is connected with the apparatus for controlling of lifting 9 in order to control lifting mechanism action.
The admission port of described sucker 1 is connected with sucker Controlling solenoid valve 8 by tracheae 7, and described sucker Controlling solenoid valve is connected with external connecting negative pressure adsorption plant.
Described lifting mechanism 3 is lift cylinder, and the lifting bar of described lift cylinder is fixedly connected with described sucker connecting panel 2.
Described apparatus for controlling of lifting 9 is arranged on the upper end of sucker connecting panel 2.
Described sucker Controlling solenoid valve 8 is arranged on the side of described lifting mechanism 3.
The air inlet/outlet of described lift cylinder installs thread straight-through gas-tpe fitting.
The admission port of described sucker installs L-type elbow gas-tpe fitting.
In the present embodiment, this traveling gear is taken turns by linear portion, segmental arc, actuating device and Universal support and is formed, actuating device comprises chain frame, chain, drive wheel and flower wheel, the two ends of described linear portion and the two ends continuously smooth transition of described segmental arc form loop curve, described chain is positioned on described loop curve, and described negative-pressure adsorption foot is equally spaced arranged on described chain; As shown in Figure 3, two loop curves be arranged symmetrically with, defining the negative-pressure adsorption foot be positioned on linear portion is walking foot, and the negative-pressure adsorption be positioned on segmental arc is sufficient in turning round foot; When traveling gear straight line moving time, walk sufficient group and be adsorbed on inclination hydraulically smooth surface, turning round sufficient group is be in the state leaving inclination hydraulically smooth surface, the motion of chain-driving absorption foot, bearing roller and screw bolt-type roller is provided with owing to adsorbing sufficient group, in time adsorbing foot motion, bearing roller and screw bolt-type roller can slide on chain frame, traveling gear is travelled forward, otherwise it is similar, when traveling gear needs to turn time, turning round sufficient group is regular being adsorbed on inclination hydraulically smooth surface, and walking sufficient group is be in the state leaving inclination hydraulically smooth surface; Universal support wheel plays the effect of support when traveling gear straight line moving and turning.
Described sucker 1 is arranged on the lower end of absorption foot, described sucker 1 side is provided with the sucker connecting panel 2 described in tapped bore installing gas-tpe fitting and is provided with bolt hole, the upper end of described sucker 1 is connected by described bolt with the lower end of described sucker connecting panel 2, the upper end of described sucker connecting panel 2 is also connected by described bolt with described lift cylinder, lift cylinder described like this and described sucker 1 have just linked together, described cylinder Controlling solenoid valve is arranged on the centre of the upper end of described sucker connecting panel, described sucker Controlling solenoid valve is arranged on the side of described cylinder, described lift cylinder, sucker, cylinder Controlling solenoid valve and sucker Controlling solenoid valve have all installed described thread straight-through gas-tpe fitting or L-type elbow gas-tpe fitting, described tracheae is connected to the complete gas circuit of the sufficient formation one of the absorption that described thread straight-through gas-tpe fitting or L-type elbow gas-tpe fitting make, by the ventilatory conditions controlling described cylinder and described sucker of the switch of Controlling solenoid valve valve, so control described in the lifting of cylinder and the absorption situation of described sucker, described roller connecting panel is connected with the side of described cylinder, and X described in 2 has all been installed to the Y-direction limited roller 6 (such as screw bolt-type roller) described in limited roller 5 (such as bearing roller) and 2 in the two ends up and down of described roller connecting panel.
The working process of the present embodiment: when negative-pressure adsorption foot is in adsorbed state, cylinder Controlling solenoid valve is energized, cylinder Controlling solenoid valve valve open, cylinder is ventilated by tracheae, the stroke that cylinder slide downward is certain, and sucker is moved downward by cylinder drive, sucker is contacted with photovoltaic panel, sucker Controlling solenoid valve energising simultaneously, make sucker Controlling solenoid valve valve open, air in sucker is drained by tracheae, make inside and outside generation of sucker must negative pressure, barometric pressure make sucker tightly be adsorbed on inclination hydraulically smooth surface, and then the negative-pressure adsorption of climbing robot foot is adsorbed on inclination hydraulically smooth surface.
When negative-pressure adsorption foot needs to leave inclination hydraulically smooth surface, the power-off of cylinder Controlling solenoid valve, cylinder Controlling solenoid valve valve closing, do not have gas to pass through in cylinder, cylinder resets to virgin state, sucker Controlling solenoid valve power-off simultaneously, tracheae can not drain the air in sucker, and the negative pressure in sucker is disappeared, so sucker is driven upward movement by cylinder, make sucker and oblique light slide wall emaciated face from, and then the negative-pressure adsorption of climbing robot foot is departed from from inclination hydraulically smooth surface.
Claims (10)
1. the traveling gear based on the inclination hydraulically smooth surface climbing robot of negative-pressure adsorption foot, it is characterized in that: described traveling gear comprises frame, Universal support is taken turns, actuating device and one group of negative-pressure adsorption foot, install bottom described frame and support cardan wheel, described actuating device comprises chain, drive sprocket, be connected with the actuator in order to drive drive sprocket to rotate by movable sprocket, described chain is sleeved on described drive sprocket and by movable sprocket, the path of motion of described chain comprises linear portion and arc section, the two ends of described linear portion and the two ends continuously smooth transition of described segmental arc form loop curve, one group of negative-pressure adsorption foot is arranged on described chain at equal intervals,
Described negative-pressure adsorption foot comprises sucker, described sucker is arranged on the lower end of sucker connecting panel, described sucker connecting panel is connected with the motion end of the lifting mechanism in order to drive described sucker connecting panel knee-action, described lifting mechanism is arranged on roller connecting panel, described roller connecting panel installs at least two X mated with the X-direction limit guide rail in frame up and down to limited roller and at least two Y-direction limited rollers mated with the Y-direction limit guide rail in frame, described X is mutually vertical with the rotation direction of Y-direction limited roller to limited roller, the admission port of described sucker is connected with external connecting negative pressure adsorption plant.
2. as claimed in claim 1 based on the traveling gear of the inclination hydraulically smooth surface climbing robot of negative-pressure adsorption foot, it is characterized in that: described chain has two, two chains are arranged symmetrically in described frame, and linear portion and another root linear portion of a chain are arranged in parallel.
3., as claimed in claim 2 based on the traveling gear of the inclination hydraulically smooth surface climbing robot of negative-pressure adsorption foot, it is characterized in that: two chains are all in transmission connection with same actuator.
4. the traveling gear of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot as described in one of claims 1 to 3, is characterized in that: described lifting mechanism is connected with the apparatus for controlling of lifting in order to control lifting mechanism action.
5. the traveling gear of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot as described in one of claims 1 to 3, it is characterized in that: the admission port of described sucker is connected with sucker Controlling solenoid valve by tracheae, described sucker Controlling solenoid valve is connected with external connecting negative pressure adsorption plant.
6., as claimed in claim 4 based on the traveling gear of the inclination hydraulically smooth surface climbing robot of negative-pressure adsorption foot, it is characterized in that: described lifting mechanism is lift cylinder, the lifting bar of described lift cylinder is fixedly connected with described sucker connecting panel.
7., as claimed in claim 4 based on the traveling gear of the inclination hydraulically smooth surface climbing robot of negative-pressure adsorption foot, it is characterized in that: described apparatus for controlling of lifting is arranged on the upper end of sucker connecting panel.
8., as claimed in claim 5 based on the traveling gear of the inclination hydraulically smooth surface climbing robot of negative-pressure adsorption foot, it is characterized in that: described sucker Controlling solenoid valve is arranged on the side of described lifting mechanism.
9. as claimed in claim 6 based on the traveling gear of the inclination hydraulically smooth surface climbing robot of negative-pressure adsorption foot, it is characterized in that: the air inlet/outlet of described lift cylinder installs thread straight-through gas-tpe fitting.
10. as claimed in claim 5 based on the traveling gear of the inclination hydraulically smooth surface climbing robot of negative-pressure adsorption foot, it is characterized in that: the admission port of described sucker installs L-type elbow gas-tpe fitting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510244332.9A CN104828171B (en) | 2015-05-13 | 2015-05-13 | Negative pressure adsorption foot-based traveling mechanism for wall-climbing robot on oblique and smooth wall surface |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510244332.9A CN104828171B (en) | 2015-05-13 | 2015-05-13 | Negative pressure adsorption foot-based traveling mechanism for wall-climbing robot on oblique and smooth wall surface |
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| CN104828171A true CN104828171A (en) | 2015-08-12 |
| CN104828171B CN104828171B (en) | 2017-01-18 |
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105398504A (en) * | 2015-12-23 | 2016-03-16 | 苏州哈工众志自动化科技有限公司 | Wall climbing robot motion platform and method |
| CN107157410A (en) * | 2017-07-12 | 2017-09-15 | 烟台海特林自动化科技有限公司 | The control method of cleaning robot running gear |
| CN107444512A (en) * | 2017-08-09 | 2017-12-08 | 中科新松有限公司 | A kind of walking mechanism of climbing robot |
| CN108263573A (en) * | 2016-12-30 | 2018-07-10 | 核动力运行研究所 | A kind of nuclear power plant's sucked type float assembly |
| CN108556941A (en) * | 2017-12-18 | 2018-09-21 | 北京圣龙博睿科技有限公司 | Wall walking mechanism and Climbing Robot |
| CN108820063A (en) * | 2018-07-13 | 2018-11-16 | 中国电子科技集团公司第二十研究所 | Combined sucking disc device |
| CN110089972A (en) * | 2019-03-06 | 2019-08-06 | 上海逍森自动化科技有限公司 | The glass-wall cleaning robot of plane motion |
| CN114379666A (en) * | 2022-01-26 | 2022-04-22 | 中科特检机器人科技(北京)有限公司 | Multi-foot adsorption detection robot with mechanical arm |
| CN114379667A (en) * | 2022-01-26 | 2022-04-22 | 中科特检机器人科技(北京)有限公司 | Multi-foot curtain wall cleaning robot capable of crossing obstacles |
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Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105398504A (en) * | 2015-12-23 | 2016-03-16 | 苏州哈工众志自动化科技有限公司 | Wall climbing robot motion platform and method |
| CN108263573A (en) * | 2016-12-30 | 2018-07-10 | 核动力运行研究所 | A kind of nuclear power plant's sucked type float assembly |
| CN107157410A (en) * | 2017-07-12 | 2017-09-15 | 烟台海特林自动化科技有限公司 | The control method of cleaning robot running gear |
| CN107444512A (en) * | 2017-08-09 | 2017-12-08 | 中科新松有限公司 | A kind of walking mechanism of climbing robot |
| CN108556941A (en) * | 2017-12-18 | 2018-09-21 | 北京圣龙博睿科技有限公司 | Wall walking mechanism and Climbing Robot |
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| CN110089972A (en) * | 2019-03-06 | 2019-08-06 | 上海逍森自动化科技有限公司 | The glass-wall cleaning robot of plane motion |
| CN110089972B (en) * | 2019-03-06 | 2023-05-30 | 上海逍森自动化科技有限公司 | Curtain wall cleaning robot with plane motion and control method thereof |
| CN114379666A (en) * | 2022-01-26 | 2022-04-22 | 中科特检机器人科技(北京)有限公司 | Multi-foot adsorption detection robot with mechanical arm |
| CN114379667A (en) * | 2022-01-26 | 2022-04-22 | 中科特检机器人科技(北京)有限公司 | Multi-foot curtain wall cleaning robot capable of crossing obstacles |
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Effective date of registration: 20200917 Address after: 221600 north side of Pei highway and east side of Hanrun Road (room 2013, building 6, science and technology entrepreneurship Park), Peixian Economic Development Zone, Xuzhou City, Jiangsu Province Patentee after: Peixian Duchuang Technology Development Co., Ltd Address before: The city Zhaohui six districts Chao Wang Road Hangzhou city Zhejiang province Zhejiang University of Technology No. 18 310014 Patentee before: ZHEJIANG University OF TECHNOLOGY |