CN106080824A - Pan Bi robot and robot movement control method and robot obstacle-overpass control method - Google Patents
Pan Bi robot and robot movement control method and robot obstacle-overpass control method Download PDFInfo
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- CN106080824A CN106080824A CN201610506542.5A CN201610506542A CN106080824A CN 106080824 A CN106080824 A CN 106080824A CN 201610506542 A CN201610506542 A CN 201610506542A CN 106080824 A CN106080824 A CN 106080824A
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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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Abstract
nullThe present invention provides a kind of Pan Bi robot and robot movement control method and robot obstacle-overpass control method，Belong to and climb wall loading attachment field，Including upper machine body and lower body，Upper machine body and lower body are connected by connector，Relative slip can occur between upper machine body and lower body with connector，Upper machine body is provided with driving upper machine body and lower body and the relative actuating unit slided of connector with lower body，Upper machine body and lower body lower surface are provided with lifting lower limb or Convenient table，Lifting lower limb and Convenient table one end are provided with absorption foot，Upper machine body and lower body are provided with Obstacle Detection Device，Control device it is provided with in upper machine body or lower body，Control device and receive the signal that Obstacle Detection Device detects，Control device and control actuating unit、Lifting lower limb and absorption foot-propelled are made，Portability antiseptic treatment equipment is climbed up tank and is closed and carry out anticorrosion cleaning，Can move with 3 D stereo，Cross the obstacle on oil tank wall.
Description
Technical field
The present invention provides a kind of Pan Bi robot and robot movement control method and robot obstacle-overpass control method, belongs to
In climbing wall loading attachment field.
Background technology
Due to after crude oil extraction to next stage provide and deliver before, need store in oil storage tank, oil tank typically uses patch
Ferrous casings, there will be the situation of corrosion, and in crude oil, has corrosive elements, can accelerate the interior of oil tank after long-time use
Wall erosion, so needing periodically to do preservative treatment at inner wall of oil tank, to ensure that the long-term normal of oil tank uses, existing in oil tank
Preservative treatment mode is, is carried out preservative treatment by being manually entered oil tank, but operation in oil tank, light is bad, the most dangerous, with
Time, there is a lot of toxic gas in oil tank, staff can be made to be poisoned at work, existing robot only can go in the plane
Walk, because of the restriction of its running gear so that it is cannot walk by the vertical direction, the most just cannot carry anticorrosion equipment climbing tank
Close and carry out preservative treatment, in the moving process that climbing tank closes, the obstacle on oil tank wall can be crossed.
Summary of the invention
Present invention aim at providing a kind of Pan Bi robot and robot movement control method and robot obstacle-overpass control
Method processed, portability antiseptic treatment equipment is climbed up tank and is closed and carry out anticorrosion cleaning, can move with 3 D stereo, cross on oil tank wall
Obstacle.
Pan Bi robot of the present invention, including upper machine body and lower body, upper machine body and lower body by connector even
Connect, relative slip, upper machine body and lower body between upper machine body and lower body with connector, can be occurred to be provided with driving upper machine body
The actuating unit that slide relative with connector with lower body, upper machine body and lower body lower surface are provided with lifting lower limb or Convenient table, rise
Fall lower limb and Convenient table one end are provided with absorption foot, upper machine body and lower body and are provided with in Obstacle Detection Device, upper machine body or lower body
It is provided with control device, controls device and receive the signal that Obstacle Detection Device detects, control device and control actuating unit, lifting lower limb
Make with absorption foot-propelled.
Pan Bi robot of the present invention, the number of lifting lower limb and Convenient table is respectively four, and is distributed in upper machine body
Or on four angles of lower body, it is achieved firm support, upper machine body and lower body are linked together by connector, it is impossible to separate, on
Body can slide along track is relative with connector generation with lower body, but the direction that upper machine body and lower body slide is mutual
Vertical, form a transportable two-dimensional coordinate system, any position in two-dimensional coordinate system can be moved to, moving
In, utilizing the absorption foot on lifting lower limb that walking surface is fixed, and the absorption foot of Convenient table decontrols adsorption plane, lifting lower limb is by upper
Body, lower body and connector together lift, it is achieved the motion on z-axis direction, and then upper machine body and lower body are sent out with connector
Raw slip relatively, it is achieved x-axis becomes the movement that plane coordinates is fastened altogether with y-axis, thus achieves the three-dimensional that spatial coordinate is fastened
Three-dimensional movable, makes the present invention to move, and when running into obstacle, crosses on any one direction in space,
In moving process, remain four absorption feet firm adsorb walking surface, the walking consolidated can be realized, also may be used simultaneously
So that the present invention carries out Pan Bi, actuating unit, lifting lower limb and absorption foot are all controlled by control device, can assign a task and make control
Device processed automatically controls this structure and moves to target location, it is possible to connecting with controlling device, direct this structure of Non-follow control moves,
When Obstacle Detection Device detects obstacle, control device and stretch out by controlling lifting lower limb, improve the height of this structure, cross
Obstacle.
Described Pan Bi robot, upper machine body lower surface is provided with lifting lower limb, and lower body lower surface is provided with Convenient table.Only go up
Installing lifting lower limb on body, the energy that this structure can be made to move consumption reduces.
Described Pan Bi robot, upper machine body and lower body surface are provided with slide rail, and connector upper and lower is equipped with and upper machine
The slide block that slide rail on body and lower body coordinates, the movement locus of upper machine body and lower body is mutually perpendicular to.Make upper machine body and lower machine
Body can move towards any direction and optional position in the plane coordinate system that X-axis and Y-axis form.
Described Pan Bi robot, lifting lower limb is the control of ball-screw or servo-cylinder, ball-screw or servo-cylinder
Device is connected to control the communication ends of device.Controller is made can the length of lifting lower limb depths to be accurately controlled.
Described Pan Bi robot, actuating unit includes tooth bar and motor, and the rotating shaft of motor is provided with gear, and tooth bar is installed
On upper machine body or lower body, motor is arranged on connector, and drags upper machine body or lower machine by the engagement of wheel and rack
Body, the controller of motor is connected to control device.Being controlled motor work by controlling device, motor is moved by gear driven tooth bar
Dynamic, thus realize occurring between upper machine body or lower body and connector relative motion, the most herein motor select motor or
Servomotor, makes control device can accurately control the relative movement distance between upper machine body or lower body and connector.
Described Pan Bi robot, actuating unit includes linear motor rotor and linear motor stator electric, linear motor stator electric
Being fixed on upper machine body and lower body, linear motor rotor is arranged on connector, and linear electric motors are provided with electric machine controller, controls
Device passes through motor controller controls linear electric motors action.Mover is fixed by this process, using the linear motor stator electric as track
Be arranged on upper machine body and lower body so that it is between occur relative movement so that linear motor stator electric drive upper machine body and under
Body movement.
Described Pan Bi robot, absorption foot includes permanent magnetic chuck and drives motor, and the rotating shaft of permanent magnetic chuck is provided with drives
Moving gear, is driven gear to be coordinated with driving the driving gear on machine shaft by chain, drives the controller of motor to be connected to
Control device.Drive motor to be driven by driving gear and drive pinion rotation, drive the rotating shaft of pinion rotation permanent magnetic chuck, make forever
Magnetic-disc switching between adsorbed state and release conditions, makes absorption foot can adsorb climbing surface and decontrol climbing surface,
Absorption foot is made to coordinate lifting lower limb and Convenient table walking.
Described Pan Bi robot, sets communicator in upper machine body or lower body, control device by communicator and control
Background communication processed.Making control device can carry out data exchange with background server, controlling device can be by running state information
Feeding back to background server by communicator, background work personnel can pass through background server by running status by automatically becoming
For manually, this structure of Non-follow control moves.
Described Pan Bi robot, Obstacle Detection Device includes optical camera, acoustic detection device and touch sensor.
And Obstacle Detection Device is installed on four sides of upper machine body and lower body, thus detect the obstacle in all directions.
Described Pan Bi robot, when lifting lower limb and reaching long status, obstacle detection information still detects obstacle
During signal, control device and send alarm signal.When running into special circumstances, when being i.e. difficult to the obstacle crossed over, can be actively to backstage
Server push alarm signal, makes staff process in time.
Described robot movement control method, controls device and controls power set motion, control the suction of absorption foot, put,
Also controlling the flexible of lifting lower limb, concrete control method is:
(1) the absorption foot release of Convenient table, the absorption foot absorption of lifting lower limb, the upper machine body being connected with Convenient table or lower body
Fix relative to position with the wall of climbing；
(2) lifting lower limb stretches out, by upper machine body, lower body and connector jack-up；
(3) upper machine body and lower body and connector generation relative movement, make upper machine body relative with connector with lower body
Position relationship changes；
(4) after upper machine body and lower body move into place, lifting lower limb is retracted, and makes the absorption foot of Convenient table be combined also with climbing wall
Absorption, now the absorption foot release on lifting lower limb, lifting lower limb continues retraction；
(5) upper machine body and lower body and connector generation relative movement, make upper machine body relative with connector with lower body
Position relationship changes, and again moves；
(6) after having moved, lifting lower limb stretches out, and makes the absorption foot absorption climbing wall on lifting lower limb, meanwhile, on Convenient table
Absorption foot release climbing wall, lifting lower limb continues to stretch out, and with this reciprocation cycle.
Described robot movement control method, can Shi Pan wall robot on the premise of energy consumption minimum, it is achieved at oil
Move on top tank structure, carry anticorrosion equipment the most thereon, people can be replaced to complete oil tank wall anticorrosive work by Pan Bi robot.
Robot of the present invention obstacle-overpass control method, the stroke of lifting lower limb is more than the twice of barrier height, simultaneously
Convenient table height is higher than obstacle, its method particularly includes:
(1) lifting lower limb rises to lift the absorption foot of lower limb higher than obstacle, and upper machine body occurs relative slip with connector so that it is
In two lifting lower limbs surmount obstacles；
(2) lifting lower limb drops to climb wall, and makes absorption foot thereon adsorb climbing wall, the simultaneously absorption on Convenient table
Foot decontrols climbing wall, and then lifting lower limb continues to raise, by the Convenient table on upper machine body, connector and lower body and lower body all
Lift, until the absorption foot on Convenient table is higher than obstacle；
(3) there is relative slip in lower body with connector, makes four Convenient tables surmount obstacles；
(4) lifting lower limb shrinks, and makes the absorption foot contact climbing wall of Convenient table, and the absorption foot of Convenient table holds climbing wall, with
Time lifting lower limb absorption foot decontrol climbing wall, lifting lower limb continues to shrink makes the absorption foot of lifting lower limb higher than obstacle；
(5) there is relative slip in upper machine body with connector, makes two Convenient tables of residue surmount obstacles；
(6) obstacle-overpass is completed.
The present invention compared with prior art has the beneficial effect that
Pan Bi robot and robot movement control method and robot obstacle-overpass control method, lifting lower limb and Convenient table
Number is respectively four, and is distributed on four angles of upper machine body or lower body, it is achieved firm support, connector by upper machine body and
Lower body links together, it is impossible to separate, and upper machine body can slide along track is relative with connector generation with lower body, but on
The direction that body and lower body slide is orthogonal, forms a transportable two-dimensional coordinate system, can move to two
Any position in dimension coordinate system, in movement, utilizes the absorption foot on lifting lower limb to be fixed walking surface, and Convenient table
Absorption foot decontrols adsorption plane, and upper machine body, lower body and connector are together lifted by lifting lower limb, it is achieved the motion on z-axis direction, so
Rear upper machine body is relative with connector generation with lower body to slide, it is achieved x-axis becomes the movement that plane coordinates is fastened altogether with y-axis, so
It is achieved that the 3 D stereo that spatial coordinate is fastened moves, makes the present invention to move, and when running into obstacle, in space
Any one direction on cross over, in moving process, remain four absorption feet firm adsorb walking surface,
Can realize the walking consolidated, the present invention can also be made simultaneously to carry out Pan Bi, actuating unit, lifting lower limb and absorption foot are all by controlling
Device controls, and can assign a task makes control device automatically control this structure to move to target location, it is possible to control device even
Logical, direct this structure of Non-follow control moves, and when Obstacle Detection Device detects obstacle, controls device and stretches by controlling lifting lower limb
Go out, improve the height of this structure, surmount obstacles.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram；
Fig. 2 is absorption leg structure schematic diagram.
In figure: 1, upper machine body；2, tooth bar；3, track；4, slide block A；5, motor；6, gear；7, device is controlled；8, communication dress
Put；9, Obstacle Detection Device；10, slide block B；11, lower body；12, Convenient table；13, connector；14, absorption foot；15, lifting lower limb；
16, the rotating shaft of permanent magnetic chuck；17, gear is driven；18, permanent magnetic chuck；19, chain；20, driving gear；21, motor is driven.
Detailed description of the invention
It is described further climbing wall robotic embodiment below in conjunction with the present invention:
Embodiment 1: as depicted in figs. 1 and 2, Pan Bi robot of the present invention, including upper machine body 1 and lower body 11,
Upper machine body 1 and lower body 11 are connected by connector 13, can occur relative between upper machine body 1 and lower body 11 with connector 13
Sliding, upper machine body 1 is provided with driving upper machine body 1 and lower body 11 and the relative engine slided of connector 13 with lower body 11
Structure, upper machine body 1 and lower body 11 lower surface are provided with lifting lower limb 15 or Convenient table 12, and lifting lower limb 15 and Convenient table 12 one end are provided with suction
Attached foot 14, upper machine body 1 and lower body 11 are provided with control device 7 in being provided with Obstacle Detection Device 9, upper machine body 1 or lower body 11,
Control device 7 and receive the signal that Obstacle Detection Device 9 detects, control device 7 and control actuating unit, lifting lower limb 15 and absorption foot
14 actions, the number of lifting lower limb 15 and Convenient table 12 is respectively four, and is distributed in four angles of upper machine body 1 or lower body 11
On, it is achieved firm support, upper machine body 1 and lower body 11 are linked together by connector 13, it is impossible to separate, upper machine body 1 and lower machine
Body 11 can occur relative slip along track 3 with connector 13, but the direction that upper machine body 1 and lower body 11 slide is mutually to hang down
Straight, form a transportable two-dimensional coordinate system, any position in two-dimensional coordinate system can be moved to, in movement,
Utilize the absorption foot 14 on lifting lower limb 15 that walking surface is fixed, and the absorption foot 14 of Convenient table 12 decontrols adsorption plane, lifting
Upper machine body 1, lower body 11 and connector 13 are together lifted by lower limb 15, it is achieved the motion on z-axis direction, then upper machine body 1 and under
There is relative slip with connector 13 in body 11, it is achieved x-axis becomes the movement that plane coordinates is fastened altogether with y-axis, thus achieves
The 3 D stereo that spatial coordinate is fastened moves, and makes the present invention to move.
Described 3 D stereo all-around mobile structure, connector 13 is rectangular configuration, and connector 13 end face and bottom surface are divided
Be not provided with slide block A4 and slide block B 10, slide block A4 and slide block B 10 to be mutually perpendicular to, slide block A4 and slide block B 10 respectively with the rail of upper machine body
The track of road and lower body 11 coordinates, and makes the motion track of upper machine body and lower body 11 be mutually perpendicular to.
Described Pan Bi robot, upper machine body 1 lower surface is provided with lifting lower limb 15, and lower body 11 lower surface is provided with Convenient table
12。
Described Pan Bi robot, upper machine body 1 and lower body 11 surface are provided with slide rail, and connector 13 upper and lower is equipped with
The slide block coordinated with the slide rail on upper machine body 1 and lower body 11, the movement locus of upper machine body 1 and lower body 11 is mutually perpendicular to.
Described Pan Bi robot, lifting lower limb 15 is the control of ball-screw or servo-cylinder, ball-screw or servo-cylinder
Device processed is connected to control the communication ends of device 7.
Described Pan Bi robot, actuating unit includes tooth bar 2 and motor 5, and the rotating shaft of motor 5 is provided with gear 6, tooth bar
2 are arranged on upper machine body 1 or lower body 11, and motor 5 is arranged on connector 13, and engage dragging by gear 6 and tooth bar 2
Upper machine body 1 or lower body 11, the controller of motor 5 is connected to control device 7.
Described Pan Bi robot, absorption foot 14 includes permanent magnetic chuck 18 and drives motor 21, the rotating shaft 16 of permanent magnetic chuck
Being provided with driving gear 17, drive gear 17 to be coordinated with driving gear 20 by chain 19, driving gear 20 is arranged on reduction box
On power output shaft, the power input shaft of reduction box is connected by shaft coupling with the rotating shaft driving motor 21, drives motor 21
Controller is connected to control device 7.
Set communicator 8 in described Pan Bi robot, upper machine body 1 or lower body 11, control device 7 and pass through communicator
8 with control background communication.
Described Pan Bi robot, Obstacle Detection Device 9 includes optical camera, acoustic detection device and sensing contact
Device.
Described Pan Bi robot, when lifting lower limb 15 and reaching long status, obstacle detection information still detects barrier
When hindering signal, control device 7 and send alarm signal.
Described Pan Bi robot, uses explosion-proof material, to ensure the intensity of the present invention.
Below in conjunction with the present invention, robot movement control method embodiment is described further:
Described robot movement control method, control device 7 control power set motion, control absorption foot 14 suction,
Putting, also control the flexible of lifting lower limb 15, concrete control method is:
(1) the absorption foot 14 of Convenient table 12 discharges, and the absorption foot 14 of lifting lower limb 15 adsorbs, the lower machine being connected with Convenient table 12
Body 11 is fixed relative to position with the wall of climbing；
(2) lifting lower limb 15 stretches out, by upper machine body 1, lower body 11 and connector 13 jack-up；
(3) there is relative movement with connector 13 in upper machine body 1 and lower body 11, makes upper machine body 1 and lower body 11 and is connected
The relative position relation of part 13 changes；
(4), after upper machine body 1 and lower body 11 move into place, lifting lower limb 15 is retracted, and makes the absorption foot 14 of Convenient table 12 and climbs
Climbing wall combine and adsorb, now the absorption foot 14 on lifting lower limb 15 discharges, and lifting lower limb 15 continues retraction；
(5) there is relative movement with connector 13 in upper machine body 1 and lower body 11, makes upper machine body 1 and lower body 11 and is connected
The relative position relation of part 13 changes, and again moves；
(6) after having moved, lifting lower limb 15 stretches out, and makes the absorption foot 14 absorption climbing wall on lifting lower limb 15, meanwhile, fixing
Absorption foot 14 release climbing wall on lower limb 12, lifting lower limb 15 continues to stretch out, and with this reciprocation cycle.
Below in conjunction with the present invention, robot movement control method embodiment is described further:
Described robot obstacle-overpass control method, the stroke of lifting lower limb 15, more than the twice of barrier height, is fixed simultaneously
Lower limb 12 height is higher than obstacle, its method particularly includes:
(1) lifting lower limb 15 rises to the absorption foot 14 lifting lower limb 15 higher than obstacle, and upper machine body 1 occurs relative with connector 13
Slide so that it is in two lifting lower limbs 15 surmount obstacles；
(2) lifting lower limb 15 drops to climb wall, and makes absorption foot 14 thereon adsorb climbing wall, simultaneously on Convenient table 12
Absorption foot 14 decontrol climbing wall, then lifting lower limb 15 continue raise, by upper machine body 1, connector 13 and lower body 11 and under
Convenient table 12 on body 11 all lifts, until the absorption foot 14 on Convenient table 12 is higher than obstacle；
(3) there is relative slip with connector 13 in lower body 11, makes four Convenient tables 12 surmount obstacles；
(4) lifting lower limb 15 shrinks, and makes the absorption foot 14 contact climbing wall of Convenient table 12, and the absorption foot 14 of Convenient table 12 holds
Climbing wall, the absorption foot 14 of lifting lower limb 15 decontrols climbing wall simultaneously, and lifting lower limb 15 continues to shrink the absorption foot 14 making lifting lower limb 15
Higher than obstacle；
(5) there is relative slip with connector 13 in upper machine body 1, makes two Convenient tables 12 of residue surmount obstacles；
(6) obstacle-overpass is completed.
Claims (10)
1. a Zhong Pan wall robot, it is characterised in that include upper machine body (1) and lower body (11), upper machine body (1) and lower body
(11) connected by connector (13), between upper machine body (1) and lower body (11) with connector (13), relative slip can occur,
Upper machine body (1) is provided with lower body (11) and drives the dynamic of the relative slip of upper machine body (1) and lower body (11) and connector (13)
Force mechanisms, upper machine body (1) and lower body (11) lower surface are provided with lifting lower limb (15) or Convenient table (12), lift lower limb (15) and fix
Lower limb (12) one end is provided with absorption foot (14), and upper machine body (1) and lower body (11) are provided with Obstacle Detection Device (9), upper machine body (1)
Or in lower body (11), it is provided with control device (7), control device (7) and receive the signal that Obstacle Detection Device (9) detects, control
Device (7) controls actuating unit, lifting lower limb (15) and absorption foot (14) action.
Pan Bi robot the most according to claim 1, it is characterised in that upper machine body (1) lower surface is provided with lifting lower limb (15),
Lower body (11) lower surface is provided with Convenient table (12).
Pan Bi robot the most according to claim 1 and 2, it is characterised in that upper machine body (1) and lower body (11) surface set
Slide rail, connector (13) upper and lower is had to be equipped with the slide block coordinated with the slide rail on upper machine body (1) and lower body (11), upper machine
The movement locus of body (1) and lower body (11) is mutually perpendicular to.
Pan Bi robot the most according to claim 3, it is characterised in that lifting lower limb (15) is ball-screw or servo oil
The controller of cylinder, ball-screw or servo-cylinder is connected to control the communication ends of device (7).
Pan Bi robot the most according to claim 4, it is characterised in that actuating unit includes tooth bar (2) and motor (5),
The rotating shaft of motor (5) is provided with gear (6), and tooth bar (2) is arranged on upper machine body (1) or lower body (11), and motor (5) is arranged on
On connector (13), and drag upper machine body (1) or lower body (11) by gear (6) with engaging of tooth bar (2), motor (5)
Controller is connected to control device (7).
Pan Bi robot the most according to claim 5, it is characterised in that absorption foot (14) includes permanent magnetic chuck (18) and drives
Galvanic electricity machine (21), the rotating shaft (16) of permanent magnetic chuck is provided with driving gear (17), drives gear (17) to pass through chain (19) and drive
Driving gear (20) in galvanic electricity machine (21) rotating shaft coordinates, and drives the controller of motor (21) to be connected to control device (7).
Pan Bi robot the most according to claim 6, it is characterised in that set communication in upper machine body (1) or lower body (11)
Device (8), controls device (7) by communicator (8) and control background communication.
Pan Bi robot the most according to claim 7, it is characterised in that Obstacle Detection Device (9) include optical camera,
Acoustic detection device and touch sensor.
9. the robot movement control method of the Pan Bi robot that a kind is applied to described in claim 1-8, it is characterised in that control
Device processed (7) controls power set motion, controls the suction of absorption foot (14), puts, and also controls the flexible of lifting lower limb (15), specifically controls
Method processed is:
(1) absorption foot (14) release of Convenient table (12), absorption foot (14) absorption of lifting lower limb (15), it is connected with Convenient table (12)
Upper machine body (1) or lower body (11) with climbing wall fix relative to position；
(2) lifting lower limb (15) is stretched out, by upper machine body (1), lower body (11) and connector (13) jack-up；
(3) there is relative movement with connector (13) in upper machine body (1) and lower body (11), makes upper machine body (1) and lower body (11)
Change with the relative position relation of connector (13)；
(4), after upper machine body (1) and lower body (11) move into place, lifting lower limb (15) is retracted, and makes the absorption foot of Convenient table (12)
(14) being combined with climbing wall and adsorb, now lifting absorption foot (14) release on lower limb (15), lifting lower limb (15) continues retraction；
(5) there is relative movement with connector (13) in upper machine body (1) and lower body (11), makes upper machine body (1) and lower body (11)
Change with the relative position relation of connector (13), again move；
(6) after having moved, lifting lower limb (15) is stretched out, and makes the absorption foot (14) on lifting lower limb (15) adsorb and climbs wall, meanwhile, Gu
Determining absorption foot (14) the release climbing wall on lower limb (12), lifting lower limb (15) continues to stretch out, and with this reciprocation cycle.
10. being applied to a robot obstacle-overpass control method for Pan Bi robot described in claim 1-8, its feature exists
In, the stroke of lifting lower limb (15) is more than the twice of barrier height, and Convenient table (12) height is higher than obstacle, its concrete grammar simultaneously
For:
(1) lifting lower limb (15) rises to the absorption foot (14) lifting lower limb (15) higher than obstacle, upper machine body (1) and connector (13)
Raw relatively slide so that it is in two liftings lower limb (15) surmount obstacles；
(2) lifting lower limb (15) drops to climb wall, and makes absorption foot (14) thereon adsorb climbing wall, simultaneously Convenient table (12)
On absorption foot (14) decontrol climbing wall, then lift lower limb (15) continue raise, by upper machine body (1), connector (13) and lower machine
Convenient table (12) on body (11) and lower body (11) all lifts, until the absorption foot (14) on Convenient table (12) is higher than barrier
Hinder；
(3) there is relative slip in lower body (11) with connector (13), makes four Convenient tables (12) surmount obstacles；
(4) lifting lower limb (15) is shunk, and makes absorption foot (14) the contact climbing wall of Convenient table (12), the absorption foot of Convenient table (12)
(14) holding climbing wall, the absorption foot (14) simultaneously lifting lower limb (15) decontrols climbing wall, and lifting lower limb (15) continues contraction makes lifting
The absorption foot (14) of lower limb (15) is higher than obstacle；
(5) there is relative slip in upper machine body (1) with connector (13), makes two Convenient tables (12) of residue surmount obstacles；
(6) obstacle-overpass is completed.
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| CN108296686A (en) * | 2018-02-17 | 2018-07-20 | 李大德 | Shipbuilding Intelligent welding equipment walking robot |
| CN108326753A (en) * | 2018-02-11 | 2018-07-27 | 哈尔滨工业大学 | One kind climbing wall type shot-peening robot |
| CN109911050A (en) * | 2019-04-17 | 2019-06-21 | 郑宏远 | One kind is from climbing robot omnidirectional barrier getting over mechanism and obstacle-detouring method |
| CN110051262A (en) * | 2019-05-13 | 2019-07-26 | 内蒙古农业大学 | A kind of the obstacle detouring system and its robot of active obstacle formula glass-cleaning robot |
| CN110842982A (en) * | 2019-11-28 | 2020-02-28 | 台州风达机器人科技有限公司 | Robot supporting structure for stepping movement |
| CN112278103A (en) * | 2020-10-12 | 2021-01-29 | 苏州青众创业服务有限公司 | Robot climbing structure with detection function |
| CN114852205A (en) * | 2021-02-03 | 2022-08-05 | 广东博智林机器人有限公司 | Movable chassis |
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| CN108326753A (en) * | 2018-02-11 | 2018-07-27 | 哈尔滨工业大学 | One kind climbing wall type shot-peening robot |
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| CN110051262B (en) * | 2019-05-13 | 2020-10-02 | 内蒙古农业大学 | Obstacle crossing system of autonomous obstacle crossing type glass cleaning robot and robot thereof |
| CN110842982A (en) * | 2019-11-28 | 2020-02-28 | 台州风达机器人科技有限公司 | Robot supporting structure for stepping movement |
| CN112278103A (en) * | 2020-10-12 | 2021-01-29 | 苏州青众创业服务有限公司 | Robot climbing structure with detection function |
| CN114852205A (en) * | 2021-02-03 | 2022-08-05 | 广东博智林机器人有限公司 | Movable chassis |
| CN114852205B (en) * | 2021-02-03 | 2023-04-14 | 广东博智林机器人有限公司 | Mobile chassis |
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