CN104828171B - 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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- CN104828171B CN104828171B CN201510244332.9A CN201510244332A CN104828171B CN 104828171 B CN104828171 B CN 104828171B CN 201510244332 A CN201510244332 A CN 201510244332A CN 104828171 B CN104828171 B CN 104828171B
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- pressure adsorption
- negative
- sucker
- climbing robot
- smooth surface
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 title claims abstract description 43
- 230000033001 locomotion Effects 0.000 claims abstract description 10
- 230000007704 transition Effects 0.000 claims abstract description 4
- 230000009194 climbing Effects 0.000 claims description 24
- 230000003028 elevating effect Effects 0.000 claims description 21
- 230000009471 action Effects 0.000 claims description 6
- 239000003463 adsorbent Substances 0.000 claims description 5
- 230000013011 mating Effects 0.000 claims description 4
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 3
- 230000015572 biosynthetic process Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000003519 ventilatory effect Effects 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)
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 walking mechanism of climbing robot.
Background technology
The today developing rapidly in science and technology, robot obtains in every field and is widely applied and develops, and especially climbs wall
Robot can carry out work high above the ground in the wall tilting, and can complete the task that many mankind can not complete, and is that the mankind mitigate
Many danger, climbing robot can be born different equipment to realize different functions, and for example climbing robot is permissible now
The metope of vertical high-rise, inclination photovoltaic panel, skyscraper glass are carried out, also can bear fire-fighting instrument, right
Skyscraper carries out fire-fighting work.
Content of the invention
Complex structure, relatively costly, adsorption capacity in order to overcome the shortcomings of prior art climbing robot are poor, the present invention
Provide the inclination hydraulically smooth surface wall-climbing device based on negative-pressure adsorption foot that a kind of structure is simple, cost is relatively low, adsorption capacity is good
The walking mechanism of people.
The technical solution adopted for the present invention to solve the technical problems is:
A kind of based on negative-pressure adsorption foot inclination hydraulically smooth surface climbing robot walking mechanism, including frame, universal
Support wheel, driving means and one group of negative-pressure adsorption foot, described bottom of the frame is installed and is supported universal wheel, and described driving means include chain
Bar, drive sprocket, the driver by movable sprocket with order to drive drive sprocket to rotate connect, and described chain is sleeved on described active
Sprocket wheel and by movable sprocket, the movement locus of described chain includes straightway and arc section, the two ends of described straightway with described
The two ends continuously smooth transition of segmental arc forms closed curve, and one group of negative-pressure adsorption is arranged on described chain enough at equal intervals；
Described negative-pressure adsorption includes sucker enough, and described sucker is arranged on the lower end of sucker connecting plate, described sucker connecting plate
It is connected with the motion end in order to drive the elevating mechanism of described sucker connecting plate up and down action, described elevating mechanism is arranged on roller
On connecting plate, described roller connecting plate installs at least two x mating with the x direction limit guide rail in frame up and down to spacing rolling
, to limited roller, described x is to limited roller and y to spacing for wheel and at least two y mating with the y direction limit guide rail in frame
The rotation direction of roller is mutually perpendicular to, and the air inlet of described sucker is connected with external connecting negative pressure adsorbent equipment.
Described chain has two, and two chains are arranged symmetrically in described frame, the straightway of a chain with another
Straightway is arranged in parallel.
Two chains are all in transmission connection with same driver.Certainly, every chain can also simultaneously with respective driving
Device connects.
Further, described elevating mechanism is connected with the apparatus for controlling of lifting in order to control elevating mechanism action.
The air inlet of described sucker passes through tracheae and sucker and controls magnetic valve to be connected, described sucker control magnetic valve with external
Negative pressure adsorption equipment connects.
Described elevating mechanism is lift cylinder, and the elevating lever of described lift cylinder is fixedly connected with described sucker connecting plate.
Described apparatus for controlling of lifting is arranged on the upper end of sucker connecting plate.
Described sucker controls magnetic valve to be arranged on the side of described elevating mechanism.
The air inlet/outlet of described lift cylinder installs thread straight-through gas-tpe fitting.
L type elbow gas-tpe fitting installed by the air inlet of described sucker.
In the present invention, when negative-pressure adsorption is in adsorbed state enough, cylinder controls solenoid valves, and cylinder controls magnetic valve valve
Door open, cylinder is ventilated by tracheae, the certain stroke of cylinder slide downward, and sucker by cylinder drive move downward so that
Sucker contacts with photovoltaic panel, and sucker controls solenoid valves so that sucker controls magnetic valve valve to open, in sucker simultaneously
Air drained by tracheae so that sucker inside and outside produce must negative pressure, atmospheric pressure makes sucker absorption tightly in oblique light
On slide wall face, and then the negative-pressure adsorption of climbing robot is adsorbed enough on tilting hydraulically smooth surface.
When negative-pressure adsorption needs to leave inclination hydraulically smooth surface enough, cylinder controls magnetic valve power-off, and cylinder controls magnetic valve valve
Door is closed, and does not have gas to pass through, cylinder resets to reset condition in cylinder, and sucker controls magnetic valve power-off simultaneously, and tracheae can not
Drain air in sucker so that the negative pressure in sucker disappears, so sucker is driven motion upwards by cylinder so that sucker and inclining
Skew ray slide wall emaciated face from, and then make climbing robot negative-pressure adsorption foot from tilt hydraulically smooth surface depart from.
Beneficial effects of the present invention are mainly manifested in: structure is simple, cost is relatively low, adsorption capacity is good.
Brief description
Fig. 1 is the schematic diagram of the walking mechanism of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot.
Fig. 2 is the line frame graph of the walking mechanism of the 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.
Specific embodiment
The invention will be further described below in conjunction with the accompanying drawings.
With reference to Fig. 1～Fig. 4, a kind of walking mechanism of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot, bag
Including rack 15, Universal support wheel 11, driving means and one group of negative-pressure adsorption foot 10, described frame 15 bottom is installed and is supported universal wheel
11, described driving means include chain 12, drive sprocket 13, the driver by movable sprocket 14 with order to drive drive sprocket to rotate
Connect, described chain 12 is sleeved on described drive sprocket 13 and by movable sprocket 14, and the movement locus of described chain 12 includes directly
The two ends continuously smooth transition formation closed curve of line segment and arc section, the two ends of described straightway and described segmental arc, one group
Negative-pressure adsorption foot 10 is arranged on described chain 12 at equal intervals；
Described negative-pressure adsorption foot 10 includes sucker 1, and described sucker 1 is arranged on the lower end of sucker connecting plate 2, and described sucker is even
Fishplate bar 2 is connected with the motion end in order to drive the elevating mechanism 3 of described sucker connecting plate up and down action, and described elevating mechanism 3 is pacified
Be contained on roller connecting plate 4 (roller connecting plate 4 is arranged on chain 12), described roller connecting plate install up and down at least two with
The x of the x direction limit guide rail coupling in frame is mated to limited roller 5 and at least two with the y direction limit guide rail in frame
Y to limited roller 6, described x is mutually perpendicular to limited roller 5 and y to the rotation direction of limited roller 6, the entering of described sucker 1
Gas port is connected with external connecting negative pressure adsorbent equipment.
Described chain 12 has two, and two chains 12 are arranged symmetrically in described frame, the straightway of a chain with another
A piece straightway is arranged in parallel.
Two chains 12 are all in transmission connection with same driver.Certainly, every chain can also simultaneously with respective drive
Dynamic device connects.
Further, described elevating mechanism 3 is connected with the apparatus for controlling of lifting 9 in order to control elevating mechanism action.
The air inlet of described sucker 1 passes through tracheae 7 and sucker and controls magnetic valve 8 to be connected, described sucker control magnetic valve and
External connecting negative pressure adsorbent equipment connects.
Described elevating mechanism 3 is lift cylinder, and the elevating lever of described lift cylinder is fixing with described sucker connecting plate 2 even
Connect.
Described apparatus for controlling of lifting 9 is arranged on the upper end of sucker connecting plate 2.
Described sucker controls magnetic valve 8 to be arranged on the side of described elevating mechanism 3.
The air inlet/outlet of described lift cylinder installs thread straight-through gas-tpe fitting.
L type elbow gas-tpe fitting installed by the air inlet of described sucker.
In the present embodiment, this walking mechanism is made up of straightway, segmental arc, driving means and Universal support wheel, drives dress
Put including chain frame, chain, driving wheel and driven pulley, the two ends continuously smooth mistake of the two ends of described straightway and described segmental arc
Cross formation closed curve, described chain is located on described closed curve, and described negative-pressure adsorption is arranged at equal intervals at described chain enough
On bar；As shown in figure 3, two closed curves being arranged symmetrically, the negative-pressure adsorption that definition is located on straightway is walking foot enough, position
Negative-pressure adsorption on segmental arc is to turn round foot enough；When walking mechanism straight line moving, the sufficient group of walking is to adsorb
Hydraulically smooth surface, turn round sufficient group and be in leaving the state of hydraulically smooth surface, chain-driving absorption foot moves, due to absorption foot
Group is provided with bearing roller and screw bolt-type roller, and when absorption foot moves, bearing roller and screw bolt-type roller can be in chain frames
Upper slip, makes walking mechanism travel forward, otherwise similar, and when walking mechanism needs to turn, it is regular for turning round sufficient group
Absorption on tilting hydraulically smooth surface, the sufficient group of walking is in leaving the state of hydraulically smooth surface；Universal support wheel is expert at
The effect of support is played when walking mechanism's straight line moving and turn.
Described sucker 1 is arranged on the lower end of absorption foot, and described sucker 1 side is provided with the screwed hole installing gas-tpe fitting
Described sucker connecting plate 2 is provided with bolt hole, and the lower end of the described upper end of sucker 1 and described sucker connecting plate 2 is passed through
Described bolt connection, the described upper end of sucker connecting plate 2 and described lift cylinder also by described bolt connection, this
Lift cylinder described in sample and described sucker 1 just link together, and described cylinder control magnetic valve is arranged on described
The centre of the upper end of sucker connecting plate, described sucker controls magnetic valve to be arranged on the side of described cylinder, described lifting
Cylinder, sucker, cylinder control magnetic valve and sucker control magnetic valve has been respectively mounted described thread straight-through gas-tpe fitting or l type is curved
Head gas-tpe fitting, described tracheae is connected to the absorption make on described thread straight-through gas-tpe fitting or l type elbow gas-tpe fitting
Foot constitutes a complete gas circuit；By control magnetic valve valve switch controlling described cylinder and described sucker
Ventilatory conditions, and then control the described lifting of cylinder and the absorption situation of described sucker；Described roller connecting plate with
The side of described cylinder connects, and the upper and lower ends of described roller connecting plate have been respectively mounted x described in 2 to limited roller 5
(such as bearing roller) and the y described in 2 are to limited roller 6 (such as screw bolt-type roller).
The course of work of the present embodiment: when negative-pressure adsorption is in adsorbed state enough, cylinder controls solenoid valves, cylinder control
Magnetic valve valve processed is opened, and cylinder is ventilated by tracheae, the certain stroke of cylinder slide downward, and sucker is driven downwards by cylinder
So that sucker contacts with photovoltaic panel, sucker controls solenoid valves so that sucker controls magnetic valve valve to beat simultaneously for motion
Open, the air in sucker drained by tracheae so that sucker inside and outside produce must negative pressure, atmospheric pressure makes sucker suction tightly
It is attached on inclination hydraulically smooth surface, and then the negative-pressure adsorption of climbing robot is adsorbed enough on tilting hydraulically smooth surface.
When negative-pressure adsorption needs to leave inclination hydraulically smooth surface enough, cylinder controls magnetic valve power-off, and cylinder controls magnetic valve valve
Door is closed, and does not have gas to pass through, cylinder resets to reset condition in cylinder, and sucker controls magnetic valve power-off simultaneously, and tracheae can not
Drain air in sucker so that the negative pressure in sucker disappears, so sucker is driven motion upwards by cylinder so that sucker and inclining
Skew ray slide wall emaciated face from, and then make climbing robot negative-pressure adsorption foot from tilt hydraulically smooth surface depart from.
Claims (10)
1. a kind of based on negative-pressure adsorption foot inclination hydraulically smooth surface climbing robot walking mechanism it is characterised in that: described row
Walk mechanism and include frame, Universal support wheel, driving means and one group of negative-pressure adsorption foot, described bottom of the frame installs Universal support
Wheel, described driving means include chain, drive sprocket, the driver by movable sprocket with order to drive drive sprocket to rotate, described
Chain is sleeved on described drive sprocket and by movable sprocket, and the movement locus of described chain includes straightway and arc section, described
The two ends of straightway form closed curve with the two ends continuously smooth transition of described arc section, and one group of negative-pressure adsorption is pacified enough at equal intervals
It is contained on described chain；
Described negative-pressure adsorption includes sucker enough, and described sucker is arranged on the lower end of sucker connecting plate, described sucker connecting plate and use
Connected with the motion end driving the elevating mechanism of described sucker connecting plate up and down action, described elevating mechanism is arranged on roller and connects
On plate, described roller connecting plate install up and down at least two x mating with the x direction limit guide rail in frame to limited roller and
, to limited roller, described x is to limited roller and y to limited roller at least two y mating with the y direction limit guide rail in frame
Rotation direction be mutually perpendicular to, the air inlet of described sucker is connected with external connecting negative pressure adsorbent equipment.
2. the walking mechanism of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot as claimed in claim 1, it is special
Levy and be: described chain has two, two chains are arranged symmetrically in described frame, the straightway of a chain is straight with another
Line segment is arranged in parallel.
3. the walking mechanism of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot as claimed in claim 2, it is special
Levy and be: two chains are all in transmission connection with same driver.
4. the vehicle with walking machine of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot as described in one of claims 1 to 3
Structure it is characterised in that: described elevating mechanism is connected with the apparatus for controlling of lifting in order to control elevating mechanism action.
5. the vehicle with walking machine of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot as described in one of claims 1 to 3
Structure it is characterised in that: the air inlet of described sucker passes through tracheae and sucker and controls magnetic valve to be connected, described sucker control magnetic valve
It is connected with external connecting negative pressure adsorbent equipment.
6. the walking mechanism of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot as claimed in claim 4, it is special
Levy and be: described elevating mechanism is lift cylinder, the elevating lever of described lift cylinder is fixedly connected with described sucker connecting plate.
7. the walking mechanism of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot as claimed in claim 4, it is special
Levy and be: described apparatus for controlling of lifting is arranged on the upper end of sucker connecting plate.
8. the walking mechanism of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot as claimed in claim 5, it is special
Levy and be: described sucker controls magnetic valve to be arranged on the side of described elevating mechanism.
9. the walking mechanism of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot as claimed in claim 6, it is special
Levy and be: the air inlet/outlet of described lift cylinder installs thread straight-through gas-tpe fitting.
10. the walking mechanism of the inclination hydraulically smooth surface climbing robot based on negative-pressure adsorption foot as claimed in claim 5, it is special
Levy and be: l type elbow gas-tpe fitting installed by the air inlet of described sucker.
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 |
|---|---|---|---|
| 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 CN104828171A (en) | 2015-08-12 |
| CN104828171B true CN104828171B (en) | 2017-01-18 |
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| 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 |
| CN108556941B (en) * | 2017-12-18 | 2021-06-29 | 北京圣龙博睿科技有限公司 | Wall surface walking mechanism and wall 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 |
| 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 |
| 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 |
| 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 |
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| CN204641935U (en) * | 2015-05-13 | 2015-09-16 | 浙江工业大学 | Based on the traveling gear of the inclination hydraulically smooth surface climbing robot of negative-pressure adsorption foot |
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- 2015-05-13 CN CN201510244332.9A patent/CN104828171B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03202285A (en) * | 1989-10-31 | 1991-09-04 | Portsmouth Technol Consultants Ltd | Robot device |
| CN101058321A (en) * | 2007-06-06 | 2007-10-24 | 哈尔滨工业大学 | Mini micro-acoustic wall-climbing robot based on vacuum adsorption principle |
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| CN104828171A (en) | 2015-08-12 |
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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 |
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Application publication date: 20150812 Assignee: Huzhou nuochuan Technology Co.,Ltd. Assignor: Peixian Duchuang Technology Development Co.,Ltd. Contract record no.: X2024330000194 Denomination of invention: Walking mechanism of inclined smooth wall climbing robot based on negative pressure adsorption foot Granted publication date: 20170118 License type: Common License Record date: 20240711 |
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Application publication date: 20150812 Assignee: ZHEJIANG BAIBO MACHINERY TECHNOLOGY Co.,Ltd. Assignor: Peixian Duchuang Technology Development Co.,Ltd. Contract record no.: X2024330000221 Denomination of invention: Walking mechanism of inclined smooth wall climbing robot based on negative pressure adsorption foot Granted publication date: 20170118 License type: Common License Record date: 20240723 |