CN106240666A - Negative pressure adsorption wall-climbing robot and system thereof - Google Patents
Negative pressure adsorption wall-climbing robot and system thereof Download PDFInfo
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- CN106240666A CN106240666A CN201610750849.XA CN201610750849A CN106240666A CN 106240666 A CN106240666 A CN 106240666A CN 201610750849 A CN201610750849 A CN 201610750849A CN 106240666 A CN106240666 A CN 106240666A
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- negative pressure
- climbing robot
- pressure adsorption
- robot
- adsorption wall
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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
Abstract
A kind of negative pressure adsorption wall-climbing robot and system thereof, it mainly solves existing range and uses environment to limit many, poor universality, Maintenance Difficulty, Function Extension and technology upgrading difficulty high etc. technical problem.Its drip irrigation device is: include power negative pressure adsorption wall-climbing robot (1), unpowered negative pressure adsorption wall-climbing robot (2), system control device.It is mainly applied to robot work under various complicated.
Description
Technical field
The invention belongs to robotics and automatic field, relate to the method for designing of a kind of climbing robot, pass through base
Design in modular independent assortment, it is achieved climbing robot volume, shape, the Rapid Variable Design of lift-launch ability, to adapt to difference
Environment and demand.
Background technology
In recent ten years, robotics fast development.Point is searched and rescued as battle reconnaissance, anti-terrorism monitoring and hazardous environment
Ground mobile robot, frequently occur in the recent period on world arena, become and introduce the focus attracted attention.Along with sending out of modern science and technology
Exhibition, at multiple fields, such as anti-terrorism investigation, skyscraper detection, wall cleaning etc. is required for realizing the robot of wall climbing function,
Therefore the research of climbing robot technology is also at the critical stage developed rapidly.This climbing robot can be freely various
Advancing on the wall of angle, carry multiple sensors simultaneously or corresponding load device completes task, it can apply to multiple multiple
Heterocycle border, provides front real time information for operator, it is detected at space search, hazardous environment and samples, battle reconnaissance, city
The fields such as city's rescue, explosive and anti-terrorism chemical defence have a wide range of applications demand.
And current, common climbing robot requires design according to a certain specific climbing often, at volume, power, bears
Load, control, traffic capacity aspect all have larger difference, the overall robot that its volume is bigger, the particularly suction of this type of robot
Attached is often an entirety, and deformability is limited, thus causes its obstacle climbing ability by bigger restriction, reduce further it
Range.So, existing climbing robot is primarily present following defect:
One is that range limits many with use environment.These climbing robots are different because of volume, shape, load capacity,
When use environment and the demand of user are difficult to when having more change carry out adaptation quickly, to respective use by the change of local
Scope and use environment also have more restriction；
Two is poor universality, Maintenance Difficulty.Being difficult with when environment or demand change, user must use and multiple climb wall machine
Device people completes different tasks.And existing climbing robot is from becoming a system, the parts of this type of robot occur therefore
Professional is needed to keep in repair during barrier, it is impossible to quickly to repair and recover function；
Three is Function Extension and technology upgrading difficulty height.Extended capability and the subsequent upgrade ability of this type of robot are difficult to,
Also cannot be reequiped according to actual needs by user oneself, it is impossible to carry out secondary development and remodeling, i.e. enable improvement, be also
Complete machine improves, and the scheme of being substantially is made a new start, so that improves is of a high price.
This type of robot existing, mainly has than more typical: the Chinese patent of Application No. 200610151073.6 is open
A kind of small-sized wall-climbing robot based on negative-pressure adsorption principle；This robot uses sealed skirt sealing means, it is difficult to realize certainly
Help attitude translation function.The Chinese patent of Application No. 01138618.5 discloses a kind of crawler-type multiple sucking disc wall climbing
Implementation method, this robot volume is relatively big, and structure is complicated；CN97121896 discloses one " climbing robot ", described machine
Device people utilizes propeller or ducted fan to produce the thrust pointing to wall under power drive, makes robot be affixed on wall；This
Climb the inefficient of wall mode, thus application is the most restricted.The climbing robot function of CN200910024927.8 is preferable, but negative
Pressure regulatory mechanism is complicated, it is difficult to rapidly adapts to varying environment, limits its use.
In a word, existing climbing robot volume is relatively big, and structure is complicated, and volume, shape, load capacity are different, right
Respective range and use environment also have more restriction, are difficult with when environment or demand change, deformability
Limited, it is restricted from obstacle climbing ability；Lack the ability of secondary transformation, be difficult to extension and subsequent upgrade；Lack according to ring
The ability that the ability of border difference self-organizing and shortage parts rapid-maintenance are changed, maintenance cost is high.The disappearance of these abilities will
The serious application hindering climbing robot.
So, there is the biggest demand to design a kind of negative pressure adsorption wall-climbing robot, it is possible to quickly to change according to user's request
Become self performance and complete different task.
Summary of the invention
It is an object of the invention to provide a kind of versatility, ease for use and maintainability good, maintenance cost is low, the suitability is strong
Negative pressure adsorption wall-climbing robot.
The technical solution adopted for the present invention to solve the technical problems is: a kind of power negative pressure adsorption wall-climbing robot bag
Include component connecting device (11), depression generator (12), control device (13), support and sealing device (14) and power mobile
Device (15), is provided with depression generator, controls device and power moving device, support and close in described support and sealing device
Component connecting device is connected outside seal apparatus.
The component connecting device (11) of the present invention includes union joint, spring, fastener, and spring one end connects robot, another
End connects union joint, and union joint end is provided with fastener.
The union joint of the present invention includes male connector (111) and spill union joint (112), male connector (111) and
Spill union joint (112) matches.
The depression generator (12) of the present invention includes that impeller, the pump housing, pump drive motor cabinet, motor-driven jackscrew, water conservancy diversion
Ring, pressure-regulating valve, the pump housing is connected on the support baseboard of robot, and the pump that is connected on the pump housing drives motor cabinet, and pump drives electricity
Motor output shaft on support is deep in the feature holes of impeller, the motor-driven jackscrew fastening being arranged in screwed hole, thus
Impeller rotates；The guide ring of rectified action has been set between impeller and motor support base；Impeller in depression generator
And between the pump housing, use twice " L " shape labyrinth gap to seal, material is thus formed negative pressure cavity, be provided with pressure in negative pressure cavity and adjust
Joint valve.
The power moving device (15) of the present invention includes driving motor, moving wheel, drives motor one end to connect moving wheel, separately
One end connects control device.
The unpowered negative pressure adsorption wall-climbing robot of one of the present invention include component connecting device, depression generator,
Control device, support and sealing device and unpowered freely turn to mobile device (25), being provided with in described support and sealing device
Depression generator, control device and the unpowered mobile device that freely turns to, support and connect assembly connection dress outside sealing device
Put.
The unpowered of the present invention freely turns to mobile device (25) to include cardo ring, moving wheel, and cardo ring one end connects fortune
Driving wheel, the other end connects support and sealing device.
The system of a kind of negative pressure adsorption wall-climbing robot of the present invention includes power negative pressure adsorption wall-climbing robot
(1), unpowered negative pressure adsorption wall-climbing robot (2), system control device, described power negative pressure adsorption wall-climbing robot
(1) being cooperated connection by component connecting device with unpowered negative pressure adsorption wall-climbing robot (2), system control device divides
Lian Jie control device on power negative pressure adsorption wall-climbing robot (1) and unpowered negative pressure adsorption wall-climbing robot (2).
Male connector (111) on the power negative pressure adsorption wall-climbing robot (1) of the present invention and spill union joint
(112) respectively with the male connector (111) on unpowered negative pressure adsorption wall-climbing robot (2) and spill union joint (112)
It is connected.
The system control device of the present invention can be received by the way of wirelessly or non-wirelessly or transmit signal.
The present invention is based on such a general thought: by the robot of more than 2 same designs is used connecting portion
Part is interconnected to an entirety, and realizes global behavior by overall controlling device；And each machine has completely per capita
Power set, negative-pressure adsorption power apparatus and activity control device, there is certain lift-launch ability respectively.
Can need to combine several robots according to difference, it is achieved volume, shape, absorption affinity, lift-launch weight
Change.There are certain differential ability and elastic connection between the modular robot connected, obstacle climbing ability can be promoted.
Module is damaged, it is achieved Fast-Maintenance by replacing.
The present invention can change robot according to different demands with the modularization robot of independent assortment by design
Volume, shape, carry ability, improve the obstacle climbing ability of climbing robot, it is possible to quick replacement broken parts, have well
Versatility, autgmentability, easy to use.
The technical solution realizing the object of the invention is: a kind of modular negative pressure adsorption wall-climbing robot, including
Overall controlling device after modular small scale robot and module connect forms.Small scale robot is divided into two classes: have from action
The robot of power and the robot without self-power.The robot having self-power includes that component connecting device, negative pressure fill
Put, control device, support and sealing device and power moving device composition；Robot without self-power includes that assembly connects dress
Put, depression generator, control device, support and sealing device and unpowered freely turn to mobile device to form.All of mould
Block robot is formed a whole by attachment means, overall controlling device control it.
The attachment means of robot is made up of union joint, ball, spring, fastener.Union joint is divided into " convex ", " recessed " two kinds of companies
Joint, is connected on the shell of modular robot by spring.Robot profile substantially cuboid, four in the horizontal direction
Two " convex ", concave joints it are respectively arranged with on face." convex ", concave joint are attached by fastener, and the inside of " recessed " type union joint is attached
There is ball." convex " " recessed " joint has certain vertical direction excursion capability by ball and spring, when union joint after connecting
While due to the factor such as obstacle detouring produce lifting time, be connected with it is held essentially constant.The negative pressure of this robot fills
Put and include that impeller, the pump housing, pump drive motor cabinet, motor-driven jackscrew, guide ring;The pump housing is connected in the support baseboard of robot
On, the pump that is connected on the pump housing drives motor cabinet, is connected in pump and drives the motor output shaft on motor cabinet to be deep into the feature of impeller
In hole, then utilize the motor-driven jackscrew fastening being arranged in screwed hole, thus impeller rotates;Prop up with motor at impeller
The guide ring of rectified action has been set between Zuo;Twice " L " shape labyrinth is used between impeller and the pump housing in depression generator
Formula clearance seal.The band of the bottom edge of robot is connected on base plate, the internal filling sponge of band；This band leads to
Cross installation press strip be fixed on base plate or be adhesive on base plate；Band is seamless overall structure, and material is rain repellent silk.
Compared with prior art, its remarkable advantage is the present invention: 1), realize freely assembling by attachment means, robot
Take modularized design, can be combined with other robot by attachment means, so make robot can be assembled into not similar shape
Shape, has good handling capacity to different terrain, and there is certain excursion capability the coupling part of each robot, can make machine
People keeps entirety to be basically unchanged when obstacle detouring, and only a small amount of small machine people is subjected to displacement, and by connecting the change of robot quantity, carries
For different load capacity, meet the mission requirements of various special environment;2), small-sized efficient, robot depression generator
Impeller-driven uses little moment of torsion height rotation speed servo motor, impeller and the pump housing to use low-density material to make and robot parts
Many places use gusset design structure to make robot deadweight the least, and relative load bearing capacity is relatively big, and several robots can carry after connecting
For bigger load capacity, Simultaneous Stabilization is good, can stream time long;3), simple in construction, utilize rapid shaping technique,
Make the negative pressure within modularization robot, control, the unit such as driving uses overall structure, be completely embedded, thus reduce and climb
The complexity of the structure of wall robot, improves the reliability of entirety;4), energy consumption low, in the present invention use modular robot
It is respectively provided with negative pressure generating unit, at overall diverse location, just there is several negative pressure force after assembled formation, make negative pressure be uniformly distributed,
Simultaneously in the case of the environment such as obstacle detouring change, only having small part robot location skew, remaining machine can be located per capita for a long time
Working under same stable environment, power unit can be made to operate under economic power, these make invented wall-climbing device
The energy consumption of people is relatively low, has the longer use time;5), climbing robot use wide rectangular ring under base plate to seal,
Can thoroughly solve the spooling problem that skirt-type seals;6), there is good maintainability, extensibility and upgrading ability, pass through modularity
Design, when small part small machine people is when being damaged, it is ensured that robot entirety still has certain ability to act, by replacing
Change damage small machine people, can the function of quick-recovery robot soon, it is simple to the use of the environment such as field, the present invention has two kinds at present
Disparate modules, but the module of specific function can be designed according to user's request, as with photographic head, diastimeter etc., simultaneously
Due to technology upgrading, having the unit such as the power of module, negative pressure and be likely to upgrade, these improve to add and have
In robot, there is good extensibility and upgrading ability.
The present invention uses a kind of modularized wall-climbing robot, it is possible to independent assortment realizes own vol, shape, lift-launch energy
The Rapid Variable Design of power, meets the demand of different task.
Can freely change the volume of robot, shape with the modularized wall-climbing robot of independent assortment, take as one
Loading capability, has good versatility, ease for use and maintainability, it is adaptable to all applications of climbing robot, market
Have a extensive future, there is good economic well-being of workers and staff.
The invention aims to provide a kind of negative pressure adsorption wall-climbing robot, the logical of climbing robot can be effectively improved
By property, ease for use and maintainability, user can freely change shape and the volume of climbing robot for varying environment, with
Meet different space requirements.User can be according to self needs, each functional module of independent assortment climbing robot, easily
Carrying out secondary development, in the case of robot breaks down, user has only to change certain module, reduces maintenance cost, carries
For system maintainability., it is possible to independent assortment realizes own vol, shape, the Rapid Variable Design of lift-launch ability, meets difference and appoints
The demand of business.
Accompanying drawing explanation
Fig. 1 is the structural representation of the present invention；
Fig. 2 is unpowered inside modules top view；
Fig. 3 is power plant module inside top figure；
Fig. 4 is module connection diagram；
Fig. 5 is block combiner exemplary plot.
In figure: 1-power negative pressure adsorption wall-climbing robot, 2-is unpowered negative pressure adsorption wall-climbing robot, 11-assembly
Attachment means, 12-depression generator, 13-control device, 14-support and sealing device, 15-power moving device, 25-without
Power freely turns to mobile device, 111-male connector, 112-spill union joint.
Detailed description of the invention
With embodiment, the present invention is described in further details below in conjunction with the accompanying drawings.
Embodiment 1, the modularization robot designed by the present invention includes following essential part: support and sealing device
14, male connector 111, spill union joint 112, depression generator 12, control device 13, power moving device 15；Meanwhile,
The modular robot of the present invention is divided into power negative-pressure adsorption-type and unpowered negative-pressure adsorption-type amphitypy, power negative-pressure adsorption-type machine
People also has driving motor, and without self-power, machine people also has cardo ring, refering to Fig. 1 to Fig. 5.
Embodiment 2, the gluing rubber friction tape with anti-skidding effect outside the climbing robot movable pulley of the present invention, for
The wall that the materials such as coating, masonry or cement are constituted, it has self-service realization and climbs the function of wall attitude conversion, refering to Fig. 1 to figure
5, remaining same above-described embodiment.
Embodiment 3, the control device 13 of the present invention comprises the parts such as radio station, information panel, battery, it is possible to pass through radio station
Accept the instruction that remote control unit sends.Depression generator 12 include impeller, the pump housing, pump drive motor cabinet, motor-driven jackscrew,
Guide ring, pressure-regulating valve.The pump housing is connected on the support baseboard of robot, and the pump that is connected on the pump housing drives motor cabinet, is connected
Drive the motor output shaft on motor cabinet to be deep in the feature holes of impeller at pump, then utilize the motor being arranged in screwed hole
Transmission jackscrew fastens, thus impeller rotates;The guide ring of rectified action has been set between impeller and motor support base;Negative pressure
Use twice " L " shape labyrinth gap to seal between impeller and the pump housing in generating means, material is thus formed negative pressure cavity, it is provided that
Climbing robot is pressed on wall by absorption affinity.Pressure-regulating valve makes to back down valve less than certain value at the air pressure of negative pressure cavity,
Connection outside air carrys out a liter high pressure, is closing higher than certain air pressure late gate, is this ensures that thering at the air pressure in negative pressure cavity
In a stable scope.The driving motor that power plant module has comprises driving plate and left and right controls motor, it is possible to control respectively
The speed of left and right two-wheeled and rotation direction, it is simple to motor control, refering to Fig. 1 to Fig. 5, remaining same above-described embodiment.
Embodiment 4, is connected on base plate by band bottom the negative pressure cavity of depression generator 12 of the present invention, band
Internal filling sponge.This band is fixed on base plate by installing press strip or is adhesive on base plate.Band is seamless whole
Body structure, material is rain repellent silk.Ensure the sealing of negative pressure cavity.Unpowered module has cardo ring in bottom, can arbitrarily turn
Dynamic moving wheel direction, it is simple to auxiliary rotates when robot motion, refering to Fig. 1 to Fig. 5, remaining same above-described embodiment.
Embodiment 5, the modular robot of the present invention has four interfaces in the horizontal direction: be that convex connects in front side and left side
111；Being spill union joint 112 at rear side and right side, the inside of spill union joint has ball.All of joint passes through spring
It is connected with shell；Male connector 111 and spill union joint 112 link together, and fix with fastener；By such connection side
Formula, when robot surmounts obstacles, when a modular robot because of obstacle generation lifting or unsettled time, the module machine being connected with it
Device people be held essentially constant, it is therefore prevented that robot die-offs because of lifting or the unsettled pressure causing negative pressure cavity and produces danger, refers to
Fig. 1 to Fig. 5, remaining same above-described embodiment.
Embodiment 6, a kind of assembled state of modular robot of the present invention.In the drawings, the rectangle having netted shade is power
Negative pressure adsorption wall-climbing robot 1, space rectangles is unpowered negative pressure adsorption wall-climbing robot 2, and module connects through connection
Head completes.Each module is provided which absorption affinity, and motor control is poor by speed difference and the rotation direction of four power plant modules
Different realize；So can enable the invention to Optional assembling modules, be formed with different connected modes and any power plant module
Assembling scheme, the demand of different task can be met, refering to Fig. 1 to Fig. 5, remaining same above-described embodiment.
Embodiment 7, the module climbing robot work process of the present invention is: first according to mission requirements and use set of circumstances
Close modules installation load.Remote controller is utilized to send instructions to the radio station-information panel of modules, information panel
Send the commands to the startup of depression generator and speed control information has been sent to driving means, driving of depression generator
Dynamic air impeller high speed rotating, gets rid of the gas of annular seal space chamber interior, and then forms negative pressure, makes climbing robot be attracted to
On climbed wall, realize the climbing robot walking at wall by the speed and rotation direction rationally changing each power plant module
And turning function, refering to Fig. 1 to Fig. 5, remaining same above-described embodiment.
Claims (10)
1. a power negative pressure adsorption wall-climbing robot, is characterized in that: it includes that component connecting device (11), negative pressure fill
Put (12), control device (13), support and sealing device (14) and power moving device (15), in described support and sealing device
It is provided with depression generator, controls device and power moving device, support and outside sealing device, connect component connecting device.
A kind of power negative pressure adsorption wall-climbing robot the most according to claim 1, is characterized in that: described assembly connects dress
Putting (11) and include union joint, spring, fastener, spring one end connects robot, and the other end connects union joint, and union joint end is provided with
Fastener.
A kind of power negative pressure adsorption wall-climbing robot the most according to claim 2, is characterized in that: described union joint includes
Male connector (111) and spill union joint (112), male connector (111) and spill union joint (112) match.
A kind of power negative pressure adsorption wall-climbing robot the most according to claim 1, is characterized in that: described negative pressure fills
Putting (12) and include impeller, the pump housing, motor-driven jackscrew, guide ring, pressure-regulating valve, the pump housing is connected in the support baseboard of robot
On, the pump that is connected on the pump housing drives motor cabinet, and pump drives the motor output shaft on motor cabinet to be deep in the feature holes of impeller, peace
The motor-driven jackscrew fastening being contained in screwed hole, thus impeller rotates；Water conservancy diversion is set between impeller and motor support base
Ring；Use twice " L " shape labyrinth gap to seal between impeller and the pump housing in depression generator, be inside provided with pressure regulation
Valve.
A kind of power negative pressure adsorption wall-climbing robot the most according to claim 1, is characterized in that: described power mobile fills
Putting (15) to include driving motor, moving wheel, drive motor one end to connect moving wheel, the other end connects control device.
6. a unpowered negative pressure adsorption wall-climbing robot, is characterized in that: it includes that component connecting device, negative pressure fill
Put, control device, support and sealing device and unpowered freely turn to mobile device (25), set in described support and sealing device
There is depression generator, control device and the unpowered mobile device that freely turns to, support and outside sealing device, connect assembly connection
Device.
One the most according to claim 6 is unpowered negative pressure adsorption wall-climbing robot, is characterized in that: described unpowered from
By turning to mobile device (25) to include cardo ring, moving wheel, cardo ring one end connects moving wheel, and the other end connects support and seals
Device.
8. a system for negative pressure adsorption wall-climbing robot, is characterized in that: it includes power negative pressure adsorption wall-climbing robot
(1), unpowered negative pressure adsorption wall-climbing robot (2), system control device, described power negative pressure adsorption wall-climbing robot
(1) being cooperated connection by component connecting device with unpowered negative pressure adsorption wall-climbing robot (2), system control device divides
Lian Jie control device on power negative pressure adsorption wall-climbing robot (1) and unpowered negative pressure adsorption wall-climbing robot (2).
The system of a kind of negative pressure adsorption wall-climbing robot the most according to claim 8, is characterized in that: described power negative pressure
Male connector (111) on adsorbed wall-climbing robot (1) and spill union joint (112) respectively with unpowered negative-pressure adsorption-type
Male connector (111) on climbing robot (2) is connected with spill union joint (112).
The system of a kind of negative pressure adsorption wall-climbing robot the most according to claim 8, is characterized in that: described system control
Device processed can be received by the way of wirelessly or non-wirelessly or transmit signal.
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| CN106741271A (en) * | 2016-12-26 | 2017-05-31 | 同方威视技术股份有限公司 | Climbing robot |
| CN106915389A (en) * | 2017-04-13 | 2017-07-04 | 西南石油大学 | A kind of magnetic adsorbability self-adaptive regulating and method based on spring deformation |
| CN107995484A (en) * | 2017-12-13 | 2018-05-04 | 广东轻工职业技术学院 | Adjustable berth away from polyphaser array filming apparatus |
| CN114802510A (en) * | 2022-03-30 | 2022-07-29 | 沈阳工业大学 | Wind turbine generator set outer surface detection device and working method thereof |
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| CN114802510A (en) * | 2022-03-30 | 2022-07-29 | 沈阳工业大学 | Wind turbine generator set outer surface detection device and working method thereof |
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