CN106393052A - Wall-climbing robot - Google Patents
Wall-climbing robot Download PDFInfo
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- CN106393052A CN106393052A CN201610978851.2A CN201610978851A CN106393052A CN 106393052 A CN106393052 A CN 106393052A CN 201610978851 A CN201610978851 A CN 201610978851A CN 106393052 A CN106393052 A CN 106393052A
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- frame body
- wheel
- stump
- climbing robot
- robot
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
-
- 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
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention relates to a wall-climbing robot which comprises a frame, climbing mechanisms and self-adaptive mechanisms. The frame comprises a frame body and two connecting bodies oppositely mounted at the ends of the frame body. The climbing mechanisms are mounted on the frame body and used for enabling the robot to climb on a working surface; and the self-adaptive mechanisms are mounted on the two connecting bodies, and each self-adaptive mechanism comprises a supporting assembly, two driving wheels and a connecting rod and sliding block mechanism, wherein the supporting assembly is mounted in the middle of the corresponding connecting body, always makes contact with the working surface and can slide between the frame body and the working surface in a reciprocating mode, the two driving wheels are arranged on the corresponding connecting body and symmetrical about the supporting assembly, and the connecting rod and sliding block mechanism is used for connecting the supporting assembly with the driving wheels. When the working surface is a curved surface, under the action of the connecting rod and sliding block mechanism, the driving wheels are further driven to keep contact with the working surface, and finally the driving wheels and the supporting assemblies jointly support the robot, so that it is ensured that the robot has the stable climbing and operating capacity on various different working surfaces.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of climbing robot.
Background technology
Based on work high above the ground efficiency is low, safety coefficient low and relatively costly on the premise of, climbing robot is extensively subject to every profession and trade
Favor.Continuous improvement with social development levels and the increasingly complexity of working environment, people are to climbing robot function
Require also be continuously increased.Climbing robot mainly engages in the work such as detection, wall cleaning, rescue at present, as high-altitude pole
A kind of automated arm of limit operation, has broad application prospects.
With economic continuous development, the moulding of all kinds of buildings be not confined to traditional square or Else Rule shape
Shape, usually, traditional climbing robot can only be useful in walking in plane.
Content of the invention
Based on this it is necessary to provide a kind of climbing robot with curved surface self application ability.
A kind of climbing robot, including：
Framework, including frame body and two connectors being mounted opposite in described frame body end；
Seek connections with mechanism, be arranged on described frame body, be used for making described robot seek connections with work surface；
Adaptive mechanism, is arranged on junctor described in two, and described adaptive mechanism includes being arranged in described connector
Portion the support component being contacted with work surface all the time and reciprocatingly sliding between described frame body and described work surface, are arranged on
On described connector and with regard to two symmetrical driving wheels of described support component, and connect described support component and described driving wheel
Linkage rod slide block mechanism；
Wherein, when described support component is slided, described sliding-block linkage drives described two driving wheels to connect with work surface
Touch.
Wherein in an embodiment, described linkage rod slide block mechanism includes slidiing pin, elastic component, connecting rod and rocking bar, institute
State the chute cooperation opening up in the middle part of slidiing pin and described connector, described support component is connected with described slidiing pin, described
Elastic component is connected between described slidiing pin and described frame body, and one end of described connecting rod is hinged with described slidiing pin, institute
The other end stating connecting rod is hinged with one end of described rocking bar, and the other end of described rocking bar passes through the end of jointed shaft and described connector
Portion is hinged, and described driving wheel is connected with described jointed shaft.
Wherein in an embodiment, described elastic component is back-moving spring.
Wherein in an embodiment, described framework is additionally provided with barrier getting over mechanism, described barrier getting over mechanism includes being arranged on
First Stump-jump wheel and the second Stump-jump wheel on described frame body, described first Stump-jump wheel and the second Stump-jump wheel are located at same described respectively
Described in the two of adaptive mechanism between driving wheel, the center of described first Stump-jump wheel and the second Stump-jump wheel to described frame body away from
With a distance from the center of respectively less than described driving wheel to described frame body.
Wherein in an embodiment, described first Stump-jump wheel and the second Stump-jump wheel all offer for strengthening along its circumference
The anti-slop serrations of friction.
Wherein in an embodiment, described frame body includes two crossbeams be arrangeding in parallel, is vertically connected on described two horizontal
Two longerons between beam, and be arranged on the middle part of crossbeam described in two and parallel with described longeron and to same direction protrude two
Nose bar；
Described connector include V-shape mounting rod and be connected to described V-shape install boom end and described beam-end it
Between column, the middle part of described V-shape mounting rod is fixedly connected with the middle part of described crossbeam.
Wherein in an embodiment, described seek connections with the propeller that mechanism includes being arranged on described frame body and drive
The motor of described propeller rotational, the plane that the Plane of rotation of described propeller is located with described frame body is parallel.
Wherein in an embodiment, described frame body is additionally provided with the guard circle for protecting described propeller.
Wherein in an embodiment, described support component includes support bar and universal wheel, one end of described support bar with
Described linkage rod slide block mechanism connects, and the other end of described support bar is connected with described universal wheel.
Wherein in an embodiment, described driving wheel and described universal wheel are mounted on deformable rubber wheel case.
The climbing robot that the present invention provides, due to being mounted with adaptive mechanism, when work surface is for curved surface, support component
Keep contacting with work surface, in the presence of linkage rod slide block mechanism, be further driven to driving wheel and equally keep contacting with work surface,
Driving wheel is not at vacant state, finally make driving wheel and support component be collectively forming supporting role to robot it is ensured that
Robot is provided with stable seeking connections with and service ability on various different work surfaces.
Brief description
Fig. 1 is the perspective view of robot；
The side structure schematic view that Fig. 2 moves in the plane for robot；
The side structure schematic view that Fig. 3 moves on curved surface for robot；
Fig. 4 is the principle schematic of robot across obstacle.
Specific embodiment
For the ease of understanding the present invention, below with reference to relevant drawings, the present invention is described more fully.In accompanying drawing
Give the better embodiment of the present invention.But, the present invention can realize however it is not limited to herein in many different forms
Described embodiment.On the contrary, providing the purpose of these embodiments to be to make the disclosure is understood more
Plus it is thoroughly comprehensive.
It should be noted that when element is referred to as " being fixed on " another element, it can be directly on another element
Or can also there is element placed in the middle.When an element is considered as " connection " another element, it can be directly connected to
To another element or may be simultaneously present centering elements.Term as used herein " interior ", " outward ", "left", "right" and
For illustrative purposes only, being not offered as is unique embodiment for similar statement.
Refer to Fig. 1 and Fig. 2, a kind of climbing robot 000 simultaneously, including framework 100, seek connections with mechanism 200 and self adaptation machine
Structure 300.Framework 100 includes frame body 110 and two connectors 120, and two connectors 120 are relatively fixed and are arranged on frame body
On 110 two ends.Certainly, the quantity that connector 120 connects can also be more than two.Seek connections with mechanism 200 and be arranged on frame originally
On the side relative with connector 120 on body 110, seek connections with mechanism 200 and be used for making robot 000 be attached to work surface 500.From
Adapt to mechanism 300 to be arranged on two connectors 120, adaptive mechanism 300 includes support component 310, two driving wheels 330 and connecting rod
Slide block mechanism 320.Support component 310 is arranged on the middle part of connector 120, support component 310 contacted with work surface 500 all the time,
And can reciprocatingly slide between frame body 110 and work surface 500, two driving wheels 330 are with regard to the symmetrical setting of support component 310
On connector 120, two driving wheels 330, by the way of differential driving, rely on the speed difference between two driving wheels 330 to realize
The steering of robot 000.Linkage rod slide block mechanism 320 is then connected between support component 310 and driving wheel 330.Wherein, work as support
When assembly 310 slides, linkage rod slide block mechanism 320 drives two driving wheels 330 to contact with work surface 500.
Refering to Fig. 1, specifically, frame body 110 is rectangular configuration, and frame body 110 includes two crossbeams 111, two longeron 112 and
Two nose bars 113, two crossbeams 111 be arranged in parallel, and two longerons 112 are connected with crossbeam 111 respectively, phase between crossbeam 111 and longeron 112
Mutually vertical.Two nose bars 113 are then separately mounted to the middle part of two crossbeams 111, and nose bar 113 is parallel with longeron 112, and to same side
To protrusion.
Refering to Fig. 1, connector 120 includes V-shape mounting rod 121 and column 122, the middle part of V-shape mounting rod 121 and horizontal stroke
The middle part of beam 111 is fixedly connected, and the end of V-shape mounting rod 121 is substantially flush with the end of crossbeam 111, and column 122 then connects
Between V-shape mounting rod 121 end and crossbeam 111 end, column 122 can be integrally formed with V-shape mounting rod 121, stands
Post 122 is used for strengthening the stability being connected between V-shape mounting rod 121 and crossbeam 111.
Refering to Fig. 2 and Fig. 3, linkage rod slide block mechanism 320 includes slidiing pin 321, elastic component 322, connecting rod 323 and rocking bar
324.The middle part of V-shape mounting rod 121 vertically offers chute 121a, slidiing pin 321 then with this chute 121a phase
Cooperation, slidiing pin 321 up and down reciprocatingly can slide in chute 121a, and one end of elastic component 322 is with slidiing pin 321 even
Connect, the other end of elastic component 322 is then connected with the middle part of frame body 110 entablature 111, one end of connecting rod 323 and slidiing pin
321 is hinged, and the other end of connecting rod 323 is hinged with one end of rocking bar 324, and the other end of rocking bar 324 passes through jointed shaft 325 and V word
The end of type mounting rod 121 is hinged, and driving wheel 330 is then fixedly connected with jointed shaft 325, when slidiing pin 321 is to frame body 110
When slip in direction (i.e. upwards), connecting rod 323 will drive rocking bar 324 swing (counterclockwise), rocking bar 324 and V-shape mounting rod upwards
Angle between 121 diminishes, and rocking bar 324 drives two driving wheels 330 around jointed shaft 325 counter-clockwise swing.
Elastic component 322 is back-moving spring, and back-moving spring is cylindrical compression spring or conical compression spring, works as slidiing pin
321 upwards move when, back-moving spring produce compression, slidiing pin 321 can be along chute in the presence of back-moving spring elastic force
121a moves downward (resetting).
Seek connections with mechanism 200 and include propeller 210 and motor, motor is arranged on the middle part of crossbeam 111, drive electricity
The output shaft of machine is connected with propeller 210, and motor drives propeller 210 to rotate, and the Plane of rotation of propeller 210 is with frame originally
The plane that body 110 is located is parallel.When propeller 210 rotates forward, propeller 210 to the direction air-out deviating from work surface 500,
The counteracting force that air produces to propeller 210 then conducts to framework 100, and counteracting force is passed through driving wheel 330 He by framework 100
Support component 310 is conducted further to work surface 500, so that whole robot 000 is attached on work surface 500.Work as spiral
When the positive rotary speed of oar 210 increases, the counteracting force that air produces to propeller 210 increases, the Adhesion enhancement of robot 000；
On the contrary, when the positive rotary speed of propeller 210 reduces, the counteracting force that air produces to propeller 210 reduces, robot 000
Adhesive force weakens.
Refering to Fig. 1, frame body 110 is additionally provided with guard circle 220, guard circle 220 is connected with the both ends of crossbeam 111,
The straight line that propeller 210 rotating shaft is located is just passed through the center of guard circle 220 so that propeller 210 rotates the disc quilt being located
Guard circle 220 surrounds, guard circle 220 can be prevented effectively from collision between external interference thing and the propeller 210 of rotation it is ensured that
Propeller 210 runs well and produces enough thrust, makes reliable and stable being attached on work surface 500 of whole robot 000,
Prevent from coming off and damage robot 000.
Refering to Fig. 2 and Fig. 3, support component 310 includes support bar 312 and universal wheel 311, support bar 312 and frame body 110
The plane being located is vertical, and one end of support bar 312 is connected with slidiing pin 321, and universal wheel 311 is then another with support bar 312
End connects, and the driving wheel 330 at same V-shape mounting rod 121 two ends is symmetrical with regard to the line between two universal wheels 311, therefore, no
Pipe work surface 500 is plane or curved surface, and universal wheel 311 will keep contacting with work surface 500 all the time.
For increasing the contact area between robot 000 and work surface 500, driving wheel 330 and universal wheel 311 are respectively mounted
There is rubber wheel case, rubber wheel case can deform, in the presence of propeller 210 thrust, the deformation that rubber wheel case produces will make drive
Driving wheel 330 and universal wheel 311 even closer be attached on work surface 500 when curved surface (particularly work surface 500 be), further
Ensure robot 000 seeks connections with ability.
Refering to Fig. 3, typically, for the higher curved surface of degree of crook, traditional robot 000 cannot realize climbing well
Attached ability.For the robot 000 of the present invention, when it enters curved surface, the larger convex surface of such as curvature, two universal wheels 311
All the time contact with work surface 500, now, driving wheel 330 is in the non-contacting vacant state with work surface 500, due to support bar
312 and the total length of universal wheel 311 will not change, in the presence of propeller 210 thrust, slidiing pin 321 will be with respect to chute
121a moves upwards and extrudes elastic component 322, and framework 100 will move (moving downward) to the direction near work surface 500, continues
And drive driving wheel 330 to move closer to work surface 500.While driving wheel 330 moves downward, slidiing pin 321 will pass through
The collective effect of connecting rod 323 and rocking bar 324 makes driving wheel 330 around jointed shaft 325 counter-clockwise swing, and driving wheel 330 produces necessarily
Inclination angle, thus finally making driving wheel 330 keep farthest contacting with work surface 500.Driving wheel 330 and universal wheel 311
Jointly whole robot 000 is played a supporting role, robot 000 keeps new stress balance on new work surface 500.
Refering to Fig. 2, on the contrary, when robot 000 travels to plane from curved surface, universal wheel 311 is in gravity and elastic component 322
Move downward in the presence of elastic force, slidiing pin 321 chute 121a relatively moves downward, and connecting rod 323 drives rocking bar 324 to swing,
Angle between rocking bar 324 and V-shape mounting rod 121 increases, and driving wheel 330 clockwise oscillation makes driving wheel 330 He again
Universal wheel 311 is respectively formed between work surface 500 under new poised state and contacts it is ensured that robot 000 is reliably attached to
On work surface 500.
Meanwhile, robot 000 possesses and automatically goes up wall (work surface 500) ability, when robot 000 prepare from ground moving to
During metope, invert near the propeller 210 of metope, the propeller 210 away from metope is static, thus robot 000 is produced to
On pulling force, by universal wheel 311 up lifting, meanwhile, driving wheel 330 promotes robot 000 to move along metope, when all drivings
Wheel 330 is all formed with metope when contacting, and two propellers 210 rotate forward simultaneously, stable the seeking connections with metope of robot 000.
Refering to Fig. 1 and Fig. 4, further, framework 100 is additionally provided with barrier getting over mechanism 400, barrier getting over mechanism 400 includes
One Stump-jump wheel 410 and the second Stump-jump wheel 420, the first Stump-jump wheel 410 and the second Stump-jump wheel 420 are separately mounted to frame body 110
On the free end of two nose bars 113, the distance of center to the frame body 110 of the first Stump-jump wheel 410 and the second Stump-jump wheel 420 is all little
In driving wheel 330 center to frame body 110 distance, during robot 000 motion, for same adaptive mechanism 300, the
One Stump-jump wheel 410 and the second Stump-jump wheel 420 are respectively positioned on the front upper place of universal wheel 311.First Stump-jump wheel 410 and the second Stump-jump wheel
420 all open up anti-slop serrations 411 along its circumference, when anti-slop serrations 411 and bar contact, can strengthen frictional force, be easy to first and get over
Barrier wheel 410 and the successful across obstacle of the second Stump-jump wheel 420.
Refering to Fig. 4, specifically, on the right of the diameter of the first Stump-jump wheel 410 horizontal direction and the first Stump-jump wheel 410 place circumference
Intersection point formed peak, do tangent section 600 from this peak to driving wheel 330, be in the barrier under this tangent section 600
Hinder thing all can be spanned, likewise, the second Stump-jump wheel 420 is identical with the operation principle of the first Stump-jump wheel 410.In brief,
As long as the height of barrier is less than the height at the first Stump-jump wheel 410 or the second Stump-jump wheel 420 center, robot 000 all can get over
Cross.When across obstacle, the first Stump-jump wheel 410 rotates, by height certain for robot 000 lifting, so that the drive on the right
, across barrier, when the second Stump-jump wheel 420 is with bar contact, the second Stump-jump wheel 420 is same for driving wheel 330 and universal wheel 311
By robot 000 lifting certain altitude, make the driving wheel 330 on the left side and universal wheel 311 across barrier, so far, robot 000
Successful across obstacle.
Therefore, robot 000 adapts to the change of work surface 500 pattern, and changes driving by linkage rod slide block mechanism 320
The attitude of wheel 330, makes universal wheel 311 all mutually be close to work surface 500 with driving wheel 330, can be suitable for various relatively large structures bent
The surface of the face of cylinder of face and less radius of curvature and taper seat, especially tube bundle.Robot 000 not only adaptive ability
By force, translational speed is fast, and obstacle climbing ability is good.
Each technical characteristic of embodiment described above can arbitrarily be combined, for making description succinct, not to above-mentioned reality
The all possible combination of each technical characteristic applied in example is all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all it is considered to be the scope of this specification record.
Embodiment described above only have expressed the several embodiments of the present invention, and its description is more concrete and detailed, but simultaneously
Can not therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
Say, without departing from the inventive concept of the premise, some deformation can also be made and improve, these broadly fall into the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be defined by claims.
Claims (10)
1. a kind of climbing robot is it is characterised in that include：
Framework, including frame body and two connectors being mounted opposite in described frame body end；
Seek connections with mechanism, be arranged on described frame body, be used for making described robot seek connections with work surface；
Adaptive mechanism, is arranged on junctor described in two, and described adaptive mechanism includes being arranged on the middle part of described connector simultaneously
All the time the support component contacting with work surface and reciprocatingly sliding between described frame body and described work surface, is arranged on described
On connector and with regard to two symmetrical driving wheels of described support component, and the company connecting described support component and described driving wheel
Bar slide block mechanism；
Wherein, when described support component is slided, described sliding-block linkage drives described two driving wheels to contact with work surface.
2. climbing robot according to claim 1 it is characterised in that described linkage rod slide block mechanism include slidiing pin,
Chute cooperation, described support component and the institute opening up in the middle part of elastic component, connecting rod and rocking bar, described slidiing pin and described connector
State slidiing pin to connect, described elastic component is connected between described slidiing pin and described frame body, one end of described connecting rod with
Described slidiing pin is hinged, and the other end of described connecting rod is hinged with one end of described rocking bar, and the other end of described rocking bar passes through hinge
Spindle is hinged with the end of described connector, and described driving wheel is connected with described jointed shaft.
3. climbing robot according to claim 2 is it is characterised in that described elastic component is back-moving spring.
4. climbing robot according to claim 1 is it is characterised in that be additionally provided with barrier getting over mechanism on described framework, institute
State barrier getting over mechanism to include being arranged on the first Stump-jump wheel and the second Stump-jump wheel on described frame body, described first Stump-jump wheel and second is got over
Barrier wheel is located at described in two between driving wheel of same described adaptive mechanism respectively, described first Stump-jump wheel and the second Stump-jump wheel
Center to described frame body distance be respectively less than described driving wheel center to described frame body distance.
5. climbing robot according to claim 4 is it is characterised in that described first Stump-jump wheel and the second Stump-jump wheel are along it
Circumference all offers the anti-slop serrations for strengthening friction.
6. climbing robot according to claim 1 is it is characterised in that described frame body includes two horizontal strokes be arrangeding in parallel
Beam, is vertically connected on two longerons between described two crossbeams, and is arranged on the middle part of crossbeam described in two and is put down with described longeron
Row and two nose bars protruding to same direction；
Described connector includes V-shape mounting rod and is connected between described V-shape installation boom end and described beam-end
Column, the middle part of described V-shape mounting rod is fixedly connected with the middle part of described crossbeam.
7. climbing robot according to claim 1 is it is characterised in that described mechanism of seeking connections with includes being arranged on described frame originally
Propeller on body and the motor driving described propeller rotational, the Plane of rotation of described propeller and described frame body
The plane being located is parallel.
8. climbing robot according to claim 7 is it is characterised in that be additionally provided with for protecting on described frame body
State the guard circle of propeller.
9. climbing robot according to claim 1 is it is characterised in that described support component includes support bar and universal
Wheel, one end of described support bar is connected with described linkage rod slide block mechanism, and the other end of described support bar is connected with described universal wheel.
10. climbing robot according to claim 9 is it is characterised in that all pacify on described driving wheel and described universal wheel
Equipped with deformable rubber wheel case.
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| CN201610978851.2A CN106393052B (en) | 2016-10-28 | 2016-10-28 | Climbing robot |
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| CN201610978851.2A CN106393052B (en) | 2016-10-28 | 2016-10-28 | Climbing robot |
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| CN106393052A true CN106393052A (en) | 2017-02-15 |
| CN106393052B CN106393052B (en) | 2019-04-16 |
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| CN107177913A (en) * | 2017-06-07 | 2017-09-19 | 铜陵松宝智能装备股份有限公司 | A kind of the doff wheel control device and intelligence of robot of intelligence doffs robot |
| CN107572007A (en) * | 2017-09-01 | 2018-01-12 | 江苏集萃智能制造技术研究所有限公司 | A kind of mechanical structure for preventing lunar rover pitching |
| CN107651032A (en) * | 2017-11-02 | 2018-02-02 | 西南大学 | A kind of more adaptation external corner climbing robots |
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| CN108516027A (en) * | 2018-05-17 | 2018-09-11 | 香港中文大学（深圳） | A kind of support guide wheel construction and the cable climbing robot with the structure |
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| CN107177913A (en) * | 2017-06-07 | 2017-09-19 | 铜陵松宝智能装备股份有限公司 | A kind of the doff wheel control device and intelligence of robot of intelligence doffs robot |
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| CN107697181A (en) * | 2017-11-02 | 2018-02-16 | 西南大学 | Horizontal inner corner trim climbing robot |
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