CN106741274A - The sucker type wall climbing robot and its moving method of adjustable stride - Google Patents
The sucker type wall climbing robot and its moving method of adjustable stride Download PDFInfo
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- CN106741274A CN106741274A CN201710083685.4A CN201710083685A CN106741274A CN 106741274 A CN106741274 A CN 106741274A CN 201710083685 A CN201710083685 A CN 201710083685A CN 106741274 A CN106741274 A CN 106741274A
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- sucker
- steering wheel
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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
The present invention discloses a kind of sucker type wall climbing robot and its moving method of adjustable stride, and the sucker type wall climbing robot of adjustable stride includes：Robot body, it includes control system and range finder module；Two the first steering wheels, it is respectively arranged on two relative outsides of robot body, and be connected with robot body by a servo cylinder respectively, the cylinder rod of servo cylinder along X-axis setting, with by control system the first steering wheel of driving along X-axis reciprocating motion；Two the second steering wheels, it is respectively arranged on a middle part for the top surface of expansion link, and is connected with the first steering wheel rotation of homonymy by a connector respectively；Two sucker disk seats, the two ends of its bottom surface for being respectively arranged on expansion link, for installing sucker；Range finder module, servo cylinder, the first steering wheel and the second steering wheel are connected with control system respectively.What the present invention adjusted sucker foot by setting servo cylinder crosses distance, improves obstacle climbing ability, and can realize upset advance, turn and advance of creeping shift action.
Description
Technical field
The invention belongs to robotics, the sucker type wall climbing robot of more particularly to a kind of adjustable stride and its
Moving method.
Background technology
At present, climbing robot is divided into vacuum suction and magnetic suck two ways by suction type.Wherein, vacuum suction is
The gas excluded by the swabbing action of high velocity air in confined space forms vacuum, for climbing robot provides absorption strength.
Vacuum suction climbing robot, typically there is crawler type, wheeled, telescopic etc., and limbs or shoe are used travel mechanism more
Band.It is complicated as the robot architecture of travel mechanism using limbs, cause to control and move all relatively slow, and use caterpillar band type
Climbing robot can realize the quick motion on wall, but not possess obstacle climbing ability, and vacuum suction wall-climbing device
People's generally move mode is single, dumb, especially when barrier is run into, if absorption may result in suction on barrier
It is attached insecure.
The content of the invention
The present invention is for move mode is single, be unable to the technical problem of avoiding obstacles present in prior art, there is provided
A kind of move mode is versatile and flexible and adjustable stride is with the sucker type wall climbing robot and its moving method of avoiding obstacles.
In order to solve the above technical problems, the technical solution adopted by the present invention is：
A kind of sucker type wall climbing robot of adjustable stride, including
Robot body, it includes control system and range finder module；
Two the first steering wheels, it is respectively arranged on two relative outsides of the robot body, and passes through a servo respectively
Cylinder is connected with the robot body, and the cylinder rod of the servo cylinder is set along X-axis, with the control of the control system
System is lower to drive first steering wheel to be moved back and forth along X-axis, and two drive shafts of first steering wheel are set along y-axis；
Two the second steering wheels, it is respectively arranged on a middle part for the top surface of expansion link, two drivings of second steering wheel
Axle is set along z-axis, and is connected by first steering wheel rotation of a connector and homonymy respectively；
Two sucker disk seats, the two ends of its bottom surface for being respectively arranged on the expansion link, for installing sucker；
The range finder module, servo cylinder, the first steering wheel and the second steering wheel are connected with the control system respectively.
Preferably, the robot body includes main casing, the control system is located in the main casing, the control
System processed includes power supply, control module, vavuum pump and two magnetic valves, and the vavuum pump connects with two magnetic valves respectively
Connect, two magnetic valves are connected by pipeline with two sucker disk seats respectively, first steering wheel, the second steering wheel, control
Module, vavuum pump and magnetic valve are connected with power supply respectively, and the range finder module, servo cylinder, first steering wheel, the second rudder
Machine, vavuum pump and magnetic valve are connected with the control module respectively.
Preferably, the magnetic valve has C-terminal, D ends and E ends, the E ends of the magnetic valve and air communication, it is described true
D end of the empty pump by two the first bronchuses respectively with two magnetic valves is connected, and the C-terminal of each magnetic valve connects respectively
Two the second bronchuses are connected to, to be connected with two sucker disk seats respectively.
Preferably, two relative outsides of the main casing are connected to a side body, first steering wheel is located at
In the side body, the opposite sides of the side body is respectively equipped with an elongated hole, and the drive shaft of first steering wheel stretches out institute
It is connected with the connector after stating elongated hole, the bottom of first steering wheel is connected on first installing plate, first peace
The bottom surface for filling plate is provided with dovetail groove, and the bottom surface in the side body is provided with the guide rail of the swallow-tail form coordinated with the dovetail groove,
So that the length direction of guide rail described in push-and-pull lower edge of first steering wheel in the servo cylinder is moved back and forth.
Preferably, the expansion link is cylindrical in shape structure.
Preferably, the expansion link includes the first bar and the second bar, first bar is inserted in one end of second bar
It is interior, the first cross sectional plates and the second cross sectional plates, first cross sectional plates and second are separately installed with first bar and the second bar
Two-way cylinder is provided between cross sectional plates, is connected with the cylinder rod respectively with the two-way cylinder, the two-way cylinder is installed on
On two installing plates, the inwall of the one end of second installing plate with the second bar for inserting first bar is slidably connected.
Preferably, the connector includes U-board, two ends and the U-board of the output shaft of first steering wheel
Two side plate connections, one end of the output shaft of second steering wheel is connected with the base plate of the U-board.
Preferably, the sucker is double-deck sucker.
A kind of moving method of the sucker type wall climbing robot of adjustable stride, including the step of upset advance and turning
Step, be the step of the upset is advanced：
1) the first sucker foot and the second sucker are in adsorbed state enough, then the first sucker foot freedom of entry
State, the control module transmits a signal to the first steering wheel B, and the first steering wheel B is around its drive shaft turns first
Angle, therefore the synchronous drive robot body and the first sucker rotate first angle enough；
2) signal transmission is given the first steering wheel A by the control module, and the first steering wheel A is around its drive shaft turns
180 °, therefore synchronous drive first sucker rotates 180 ° enough；
3) after the first steering wheel B receives the control signal of the control module, around its drive shaft turns second angle,
The second angle is 180 ° with first angle sum, therefore the synchronous drive robot body and sucker rotate second jiao enough
Degree, makes first sucker fit with metope enough, and then the magnetic valve is powered off, and the vavuum pump passes through the magnetic valve and the
Two sucker connections of one sucker foot, two sucker suctions of the first sucker foot are completed and once turned on metope
Turn to advance；
The step of turning is：
1) the first sucker foot and the second sucker are in adsorbed state enough, then the first sucker foot freedom of entry
State, the control module transmits a signal to the first steering wheel B, the first steering wheel B around its drive shaft turns third angle,
Therefore Timing Belt mobile robot main body and the first sucker rotate third angle angle enough；
2) control module by signal transmission to the second steering wheel B, the second steering wheel B around its drive shaft (in figure by
In blocking and not shown) fourth angle is rotated, therefore drive the synchronous axial system fourth angle of robot body 1；
3) the first steering wheel B receives the control signal of control module, and third angle is rotated backward around its drive shaft, because
This drives the first sucker to rotate backward third angle enough, the first sucker is fitted with metope enough, then magnetic valve power-off, vavuum pump
Connected with two suckers of the first sucker foot by magnetic valve, two sucker suctions of the first sucker foot are complete on metope
Into once turning.
Preferably, the moving method of sucker type wall climbing robot also include creep advance the step of, it is described creep before
The step of entering completes after the turning step, and its step is：
1) the first sucker foot and the second sucker are in adsorbed state enough, then the second sucker foot freedom of entry shape
State, the control module transmits a signal to the first steering wheel A, and the first steering wheel A is around its drive shaft turns the third angle
Degree, therefore drive the robot body and the second sucker to rotate third angle enough；
2) signal transmission is rotated the 4th by the control module to the second steering wheel B, the second steering wheel B around the second drive shaft B
It is vertical with robot body after after angle, therefore the expansion link synchronous axial system fourth angle of drive the second sucker foot；
3) signal transmission is given the second steering wheel A by the control module, and the second steering wheel A is around its drive shaft turns fourth angle
Degree, therefore drive robot body's synchronous axial system fourth angle；
4) the first steering wheel A receives the control signal of the control module, and the third angle is rotated backward around its drive shaft
Degree, therefore drive the second sucker to rotate backward third angle enough, the second sucker is fitted with metope enough, then magnetic valve power-off,
Vavuum pump is connected by two suckers of magnetic valve and the second sucker foot, two sufficient sucker suctions of the second sucker on metope,
Complete and once creep advance.
Compared with prior art, the present invention is had an advantageous effect in that：The present invention is adjusted by setting servo cylinder
Sucker foot crosses distance, improves obstacle climbing ability and can with any position in accurate movement to plane, with by upset
The shift action of advance of advancing, turn and creep reaches the diversified purpose of move mode.
Brief description of the drawings
Fig. 1 is that the front view structure (two suckers are enough in adsorbed state) of the sucker type wall climbing robot in the present invention is illustrated
Figure；
Fig. 2 is the top view of Fig. 1；
Fig. 3 is the control principle drawing of the sucker type wall climbing robot in the present invention；
Fig. 4 is absorption and the control principle drawing of free state of the sucker foot of the sucker type wall climbing robot in the present invention；
Fig. 5 be sucker type wall climbing robot in the present invention overturn advance during the step of 1) state diagram；
Fig. 6 be sucker type wall climbing robot in the present invention overturn advance during the step of 2) state diagram；
Fig. 7 be sucker type wall climbing robot in the present invention overturn advance during the step of 3) state diagram；
Fig. 8 is sucker type wall climbing robot in the present invention 1 the step of during turning) state diagram；
Fig. 9 is sucker type wall climbing robot in the present invention 2 the step of during turning) state diagram；
Figure 10 is sucker type wall climbing robot in the present invention 3 the step of during turning) state diagram；
Figure 11 be sucker type wall climbing robot in the present invention creep advance during the step of 1) state diagram；
Figure 12 be sucker type wall climbing robot in the present invention creep advance during the step of 2) state diagram；
Figure 13 be sucker type wall climbing robot in the present invention creep advance during the step of 3) state diagram；
Figure 14 be sucker type wall climbing robot in the present invention creep advance during the step of 4) state diagram；
Figure 15 is the internal structure schematic diagram of the expansion link with drive mechanism of the sucker type wall climbing robot in the present invention.
In figure：
1- robot bodies；
The first steering wheels of 11A- A；The first drive shafts of 111A- A；
The first steering wheels of 11B- B；The first drive shafts of 111B- B；
12- power supplys；13- control modules；
14- vavuum pumps；15- magnetic valves；
The bronchuses of 16- first；17- three-way connections；
The bronchuses of 18- second；19- side bodies；
2A- the first sucker foots；2B- the second sucker foots；
21- sucker disk seats；22- suckers；
The second steering wheels of 23A- A；The second drive shafts of 231A- A；
The second steering wheels of 23B- B；The second drive shafts of 231B- B；
24- expansion links；The bars of 241- first；
The bars of 242- second；The cross sectional plates of 243- first；
The cross sectional plates of 244- second；25- short tubes；
3- connectors；4- range finder modules；
The two-way cylinders of 5-；6- servo cylinders；
7- guide rails；The installing plates of 81- first；
The installing plates of 82- second；9- elongated holes.
Specific embodiment
To make those skilled in the art more fully understand technical scheme, below in conjunction with the accompanying drawings and specific embodiment
The present invention is elaborated.
As shown in Fig. 1 to Figure 15, embodiment of the invention discloses that a kind of sucker type wall climbing robot of adjustable stride,
Including 1, two the first steering wheels of robot body, two the second steering wheels and two sucker disk seats 21, wherein, robot body 1 includes
Control system and range finder module 4, two the first steering wheels are respectively arranged on two relative outsides of robot body 1, and pass through one respectively
Individual servo cylinder 6 is connected with robot body 1, and the cylinder rod of servo cylinder 6 is set along X-axis, with the control of control system
The first steering wheel of lower driving is moved back and forth along X-axis, and two drive shafts of the first steering wheel are set along y-axis.Two the second steering wheel difference
Located at a middle part for the top surface of expansion link 24, expansion link 24 is cylindrical in shape structure, to mitigate weight.Two drivings of the second steering wheel
Axle is set along z-axis, and is connected by the first steering wheel rotation of a connector 3 and homonymy respectively.In order to simplify structure, connection
Part 3 includes U-board, and the two ends of the output shaft of the first steering wheel are connected with the two of U-board side plates, the one of the output shaft of the second steering wheel
End is connected with the base plate of U-board.First steering wheel is used for drive connection part 3 and drives sucker foot 2 or driven machine human agent 1 around the
The drive shaft turns of one steering wheel.Second steering wheel is used for drive connection part 3 and drives robot body 1 or sucker foot 2 around the second rudder
The drive shaft turns of machine.Two sucker disk seats 21 are respectively arranged on the two ends of the bottom surface of expansion link 24, for installing sucker 22.Sucker 22
It is double-deck sucker, double-deck sucker cavity is small, area big, is more beneficial for absorption.Range finder module 4, servo cylinder 6, the first steering wheel and
Second steering wheel is connected with control system respectively.
In the present embodiment, robot body 1 includes main casing, and control system is in main casing, as shown in figure 3, control
System includes power supply 12, control module 13, vavuum pump 14 and two magnetic valves 15, and vavuum pump 14 connects with two magnetic valves 15 respectively
Connect, two magnetic valves 15 are connected by pipeline with two sucker disk seats 21 respectively, allow vavuum pump 14 by two magnetic valves 15
A sucker 22 in two suckers 22 is set to adsorb or in free state respectively.First steering wheel, the second steering wheel, control module 13,
Vavuum pump 14 and magnetic valve 15 are connected with power supply 12 respectively, and range finder module 4, servo cylinder 6, the first steering wheel, the second steering wheel, true
Empty pump 14 and magnetic valve 15 are connected with control module 13 respectively, there is corresponding action under the control of control module 13.
In view of factors such as deadweight, control, rigid conditions, each sucker foot 2 of the present embodiment takes two suckers respectively
22, each sucker 22 is separately fixed in each sucker disk seat 21, and two sucker disk seats 21 of each sucker foot 2 are connected by expansion link 24
Connect, that is, two sucker disk seats 21 are divided into the two ends of expansion link 24, top shell body is located at the middle part of expansion link 24.Correspondingly, as schemed
Shown in 4, magnetic valve 15 has C-terminal, D ends and E ends, the E ends of magnetic valve 15 and air communication, and vavuum pump 14 is connected by one three
Head is connected with two the first bronchuses 16, is connected with the D ends respectively with two magnetic valves 15, the C-terminal difference of each magnetic valve 15
Two the second bronchuses 18 are connected with by a three-way connection 17, are connected with two institute's suckers 22 respectively with each sucker foot 2
Connect.Continuing with Fig. 1, sucker disk seat 21 is provided with the short tube 25 connected with sucker 22, and short tube 25 passes through expansion link 24, second gas
Pipe 18 is connected with short tube 25.The operating principle of the sucker 22 of the sucker type wall climbing robot in the present embodiment is as shown in figure 4, vacuum
Pump 14 is constantly working, and when magnetic valve 15 is powered off, the C-terminal of magnetic valve 15 is logical with D terminations, the sucker 22 being connected with the magnetic valve 15
Connect vavuum pump 14 and enter adsorbed state；When magnetic valve 15 is powered, the C-terminal of magnetic valve is logical with E terminations, that is, air is connected, with this
The freedom of entry state of sucker 22 of the connection of magnetic valve 15.If so ensure that security after machine man-hour accident power-off
And mitigate the burden of battery.
In the present embodiment, continuing with Fig. 1, two relative outsides of main casing are connected to a side body, the first rudder
Machine is located in side body, and the opposite sides of side body is respectively equipped with an elongated hole 9, after the drive shaft of the first steering wheel stretches out elongated hole 9
It is connected with connector 3, the bottom of the first steering wheel is connected on first installing plate 81, and the bottom surface of the first installing plate 81 is provided with swallow
Stern notch, the bottom surface in side body is provided with the guide rail 7 of the swallow-tail form coordinated with dovetail groove, so that the first steering wheel is in servo cylinder 6
Push-and-pull under along guide rail 7 length direction move back and forth, the first steering wheel by connector 3 drive the second steering wheel and corresponding sucker
Seat 21 is moved, with avoiding obstacles.Specifically, range finder module 4 obtains robot with respect to wall locations and metope tilt angle information,
Realize that the face face of robot is changed by calculating again, reach the purpose of precise control.In addition, when range finder module 4 has been detected
(range finder module 4 obtains the distance between sucker foot and barrier L1 to barrier, when suctions of the L1 equal or nearly equal to wherein side
Sit with crossing two legs the distance crossed, that is, be possible to fall within barrier after sucker is crossed enough) when, can control watch by control module 13
The expanding-contracting action of convinced cylinder 6, so that sucker can get around barrier after crossing enough.
In order to more nimbly elude barrier, expansion link 24 includes the first bar 241 and the second bar 242, the second bar 242
Insert in the first bar 241 one end；The first cross sectional plates 243 and the second cross sectional plates are separately installed with first bar 241 and the second bar 242
244, two-way cylinder 5, the first cross sectional plates 243 and the second cross sectional plates are provided between the first cross sectional plates 243 and the second cross sectional plates 244
244 cylinder rod respectively with two-way cylinder 5 is connected, and two-way cylinder 5 is installed on second installing plate 82, the second installing plate 82 with
The inwall that second bar 242 is used for the one end for inserting the first bar 241 is slidably connected.Two-way cylinder 5 connects with power supply 12, control module 13
Connect, to realize the flexible of cylinder rod under the control of control module 13.For example, can be by the cross sectional plates of two-way cylinder 5 and first
The cylinder rod of 243 connections stretches, so that the first cross sectional plates drive relative second bar 242 of the first bar 241 to stretch, for adjusting the suction
The distance between two suckers 22 sat with crossing two legs, avoiding obstacles.
The action that sucker type wall climbing robot in the present embodiment can be carried out includes that upset is advanced, turned and advance of creeping,
Fig. 5 to Figure 14 is specifically referred to, for the ease of illustrating, two sucker foots 2 are respectively designated as the first sucker foot 2A and second
Sucker foot 2B, two the first steering wheels divide into the first steering wheel A11A and the first steering wheel B11B, accordingly, the first steering wheel A11A's
The drive shaft that drive shaft is named as the first drive shaft A111A, the first steering wheel B11B is named as the first drive shaft B111B.Two
Two steering wheels divide into the second steering wheel A23A and the second steering wheel B23B, accordingly, the drive shaft name second of the second steering wheel A23A
The drive shaft of drive shaft A231A, the second steering wheel B23B names the second drive shaft B231B.Wherein,
Overturning the step of advancing is：
1) the first sucker foot 2A and the second sucker foot 2B are in adsorbed state, then the first sucker foot 2A freedom of entry shapes
State, control module 13 transmits a signal to the first steering wheel B11B, the first steering wheel B11B and rotates first jiao around its drive shaft 111B
Degree, therefore Timing Belt mobile robot main body 1 and the first sucker foot 2A rotate first angle；Such as first angle is 30 °, specific ginseng
See Fig. 5.
2) control module 13 rotates signal transmission to the first steering wheel A11A, the first steering wheel A11A around its drive shaft 111A
180 °, therefore synchronous drive the first sucker foot 2A rotates 180 °, referring specifically to Fig. 6.
3) after the first steering wheel 11B receives the control signal of control module 13, second angle is rotated around its drive shaft 111B,
Second angle is 180 ° with first angle sum, namely second angle is 150 °, referring specifically to Fig. 7, therefore Timing Belt movement machine
Human agent 1 and sucker foot 2A rotate 150 °, the first sucker foot 2A is fitted with metope, then magnetic valve 15A power-off, vavuum pump 14
Connected with two suckers 22 of the first sucker foot 2A by magnetic valve 15A, two suckers 22 of the first sucker foot 2A are adsorbed in wall
On face, once inside out advance is completed.
The step of turning is：
1) the first sucker foot 2A and the second sucker foot 2B are in adsorbed state as shown in Figure 1, then the first sucker foot
2A freedom of entry states, control module 13 transmits a signal to the first steering wheel B11B, and the first steering wheel B11B is around its drive shaft
111B rotates third angle, therefore Timing Belt mobile robot main body 1 and the first sucker foot 2A rotation third angle angles, such as the
Three angles are 30 °, referring specifically to Fig. 8.
2) control module 13 (schemes signal transmission to the second steering wheel B23B, the second steering wheel B23B around its drive shaft 231B
In it is not shown due to blocking) rotate fourth angle, therefore drive 30 ° of robot body 1 synchronous axial system fourth angle, specific ginseng
See Fig. 9.The third angle and fourth angle be given in the present embodiment are all 30 °, and in actual applications, third angle and the 4th
Angle can also be different, that is, are not in contact between the two.
3) the first steering wheel 11B receives the control signal of control module 13, in its drive shaft 111B reversely (step 1)
The rotation direction of the first steering wheel 11B is assumed to be forward direction) 30 ° of third angle is rotated, therefore drive the first sucker foot 2A to rotate backward
30 °, referring specifically to Figure 10, the first sucker foot 2A is set to be fitted with metope, then magnetic valve 15A power-off, vavuum pump 14 passes through electromagnetism
Valve 15A is connected with two suckers 22 of the first sucker foot 2A, and two suckers 22 of the first sucker foot 2A are adsorbed on metope, is completed
Once turn.
The moving method of sucker type wall climbing robot, also includes the step of creeping advance, and the step of the advancing that creep is turning
Completed after curved step, its step is：
1) the first sucker foot 2A and the second sucker foot 2B are in adsorbed state as shown in Figure 10, then the second sucker foot
2B freedom of entry states, control module 13 transmits a signal to the first steering wheel A11A, and the first steering wheel A11A is around its drive shaft
111A rotates third angle, and such as third angle is 30 °, therefore drives the sucker foot 2B of robot body 1 and second to rotate
Third angle, referring specifically to Figure 11.
2) signal transmission is given the second steering wheel B23B by control module 13, and the second steering wheel B23B is around the second drive shaft B231B
Rotation fourth angle (not shown due to blocking in figure), such as fourth angle is 30 °, therefore drives stretching for the second sucker foot 2B
It is vertical with robot body 1 after the synchronous axial system fourth angle of contracting bar 24, referring specifically to Figure 12.
3) control module 13 (schemes signal transmission to the second steering wheel A23A, the second steering wheel A23A around its drive shaft 231A
In it is not shown due to blocking) rotate fourth angle, fourth angle be 30 °, therefore drive the synchronous axial system the 4th of robot body 1
Angle, referring specifically to Figure 13.
4) the first steering wheel A11A receive control module 13 control signal, around its drive shaft 111A reversely (step 1)
In the rotation direction of the first steering wheel 11A be assumed to be forward direction) rotate third angle, such as 30 °, therefore drive the second sucker foot 2B
Third angle is rotated backward, referring specifically to Figure 14, the second sucker foot 2B is fitted with metope, then magnetic valve 15B power-off, vacuum
Pump 14 is connected by magnetic valve 15B with two suckers 22 of the second sucker foot 2B, and two suckers 22 of the second sucker foot 2B are adsorbed
On metope, complete and once creep advance.
Sucker type wall climbing robot in the present invention makes machine using the suction that the generation of vavuum pump 14 vacuum is converted into sucker 22
Device people is adsorbed on wall, using the gas path on-off of the control sucker 22 of magnetic valve 15 with the adsorbed state for controlling sucker sufficient, passes through
The rotation of steering wheel makes robot realize walking task.The robot has that low-profile, structure are exquisite, movement is flexible, absorption is steady
It is fixed, the advantages of movement is accurate, can be used to scouting, explore, monitor, anti-terrorism, the field such as wall cleaning.
Above example is only exemplary embodiment of the invention, is not used in the limitation present invention, protection scope of the present invention
It is defined by the claims.Those skilled in the art can make respectively in essence of the invention and protection domain to the present invention
Modification or equivalent are planted, this modification or equivalent also should be regarded as being within the scope of the present invention.
Claims (10)
1. a kind of sucker type wall climbing robot of adjustable stride, it is characterised in that including
Robot body (1), it includes control system and range finder module (4)；
Two the first steering wheels, it is respectively arranged on two relative outsides of the robot body (1), and passes through a servo gas respectively
Cylinder (6) is connected with the robot body (1), and the cylinder rod of the servo cylinder (6) is set along X-axis, with the control
First steering wheel is driven to be moved back and forth along X-axis under the control of system, the drive shaft of two first steering wheels sets along y-axis
Put；
Two the second steering wheels, it is respectively arranged on a middle part for the top surface of expansion link (24), two drivings of second steering wheel
Axle is set along z-axis, and is connected by first steering wheel rotation of a connector (3) and homonymy respectively；
Two sucker disk seats (21), the two ends of its bottom surface for being respectively arranged on the expansion link (24), for installing sucker (22)；
The range finder module (4), servo cylinder (6), the first steering wheel and the second steering wheel are connected with the control system respectively.
2. the sucker type wall climbing robot of adjustable stride according to claim 1, it is characterised in that the robot master
Including main casing, in the main casing, the control system includes power supply (12), control mould to the control system to body (1)
Block (13), vavuum pump (14) and two magnetic valves (15), the vavuum pump (14) are connected with two magnetic valves (15) respectively,
Two magnetic valves (15) are connected by pipeline with two sucker disk seats (21) respectively, first steering wheel, the second steering wheel,
Control module (13), vavuum pump (14) and magnetic valve (15) are connected with power supply (12) respectively, and the range finder module (4), servo
Cylinder (6), first steering wheel, the second steering wheel, vavuum pump (14) and magnetic valve (15) connect with the control module (13) respectively
Connect.
3. the sucker type wall climbing robot of adjustable stride according to claim 2, it is characterised in that the magnetic valve
(15) with C-terminal, D ends and E ends, the E ends of the magnetic valve (15) and air communication, the vavuum pump (14) is by two first
D end of the bronchus (16) respectively with two magnetic valves (15) is connected, and the C-terminal of each magnetic valve (15) is connected to
Two the second bronchuses (18), to be connected with two sucker disk seats (21) respectively.
4. the sucker type wall climbing robot of adjustable stride according to claim 1, it is characterised in that the main casing body phase
To two outsides be connected to a side body, first steering wheel is located in the side body, the side body it is relative
Be respectively provided on two sides with an elongated hole (9), the drive shaft of first steering wheel stretch out after the elongated hole (9) with the connector (3)
Connection, the bottom of first steering wheel is connected on first installing plate (81), and the bottom surface of first installing plate (81) sets
There is a dovetail groove, the bottom surface in the side body is provided with the guide rail (7) of the swallow-tail form coordinated with the dovetail groove, so that described the
The length direction of guide rail (7) described in push-and-pull lower edge of one steering wheel in the servo cylinder (6) is moved back and forth.
5. the sucker type wall climbing robot of adjustable stride according to claim 1, it is characterised in that the expansion link
(24) it is cylindrical in shape structure.
6. the sucker type wall climbing robot of adjustable stride according to claim 5, it is characterised in that the expansion link
(24) including the first bar (241) and the second bar (242), one end of second bar (242) is inserted in first bar (241),
The first cross sectional plates (243) and the second cross sectional plates (244) are separately installed with first bar (241) and the second bar (242), it is described
Two-way cylinder (5) is provided between first cross sectional plates (243) and the second cross sectional plates (244), with respectively with the two-way cylinder (5)
Cylinder rod is connected, and the two-way cylinder (5) is installed on second installing plate (82), second installing plate (82) and second
Bar (242) is slidably connected for inserting the inwall of one end of first bar (241).
7. the sucker type wall climbing robot of adjustable stride according to claim 1, it is characterised in that the connector
(3) including U-board, the two ends of the output shaft of first steering wheel are connected with two side plates of the U-board, second steering wheel
One end of output shaft be connected with the base plate of the U-board.
8. the sucker type wall climbing robot of the adjustable stride according to any one of claim 1 to 7, it is characterised in that institute
It is double-deck sucker to state sucker (22).
9. a kind of moving method of the sucker type wall climbing robot of stride as claimed in claim 1 adjustable, including before upset
The step of entering and the step of turn, it is characterised in that the step of upset is advanced be：
1) first sucker foot (2A) and the second sucker foot (2B) are in adsorbed state, then first sucker foot (2A)
Freedom of entry state, the control module (13) transmits a signal to the first steering wheel B (11B), the first steering wheel B
(11B) rotates first angle, therefore the synchronous drive robot body (1) and the first sucker foot around its drive shaft (111B)
(2A) rotates first angle；
2) signal transmission is given the first steering wheel A (11A) by the control module (13), and the first steering wheel A (11A) is around it
Drive shaft (111A) rotates 180 °, therefore synchronous drive first sucker foot (2A) rotates 180 °；
3) after first steering wheel (11B) receives the control signal of the control module (13), turn around its drive shaft (111B)
Dynamic second angle, the second angle is 180 ° with first angle sum, therefore synchronously drives the robot body (1) and inhale
Sit with crossing two legs (2A) rotate second angle, first sucker foot (2A) is fitted with metope, then the magnetic valve (15A) powers off,
The vavuum pump (14) is connected by the magnetic valve (15A) with two suckers (22) of the first sucker foot (2A), described
Two suckers (22) of the first sucker foot (2A) are adsorbed on metope, complete once inside out advance；
The step of turning is：
1) first sucker foot (2A) and the second sucker foot (2B) are in adsorbed state, then first sucker foot (2A)
Freedom of entry state, the control module (13) transmits a signal to the first steering wheel B (11B), and the first steering wheel B (11B) is enclosed
Around its drive shaft turns third angle, therefore Timing Belt mobile robot main body (1) and the first sucker foot (2A) rotate third angle；
2) signal transmission is given the second steering wheel B (23B) by the control module (13), and the second steering wheel B (23B) drives around it
Axle (231B) is (not shown due to blocking in figure) to rotate fourth angle, therefore drives the synchronous axial system fourth angle of robot body 1
Degree；
3) the first steering wheel B (11B) receives the control signal of control module (13), and the third angle is rotated backward around its drive shaft
Degree, therefore drive the first sucker foot (2A) to rotate backward third angle, the first sucker foot (2A) is fitted with metope, then electromagnetism
Valve (15A) is powered off, and vavuum pump (14) is connected by magnetic valve (15A) with two suckers (22) of the first sucker foot (2A), described
Two suckers (22) of the first sucker foot (2A) are adsorbed on metope, complete and once turn.
10. the moving method of sucker type wall climbing robot according to claim 9, it is characterised in that also include and creep
The step of advance, the step of the advancing that creep completes after the turning step, and its step is：
1) first sucker foot (2A) and the second sucker foot (2B) are in adsorbed state, and then the second sucker foot (2B) enters
Free state, the control module (13) transmits a signal to the first steering wheel A (11A), and the first steering wheel A (11A) is enclosed
Around its drive shaft turns third angle, therefore the robot body (1) and the second sucker foot (2B) is driven to rotate third angle；
2) signal transmission is given the second steering wheel B (23B) by the control module (13), and the second steering wheel B (23B) is around the second drive shaft
After B (231B) rotates fourth angle, therefore expansion link (24) synchronous axial system fourth angle of drive second sucker foot (2B)
It is vertical with robot body (1) afterwards；
3) signal transmission turns to the second steering wheel A (23A), the second steering wheel A (23A) by the control module (13) around its drive shaft
Dynamic fourth angle, therefore drive robot body (1) synchronous axial system fourth angle；
4) the first steering wheel A (11A) receives the control signal of the control module (13), and is rotated backward around its drive shaft
Three angles, therefore drive the second sucker foot (2B) to rotate backward third angle, the second sucker foot (2B) is fitted with metope, then
Magnetic valve (15B) is powered off, and vavuum pump (14) is connected by magnetic valve (15B) with two suckers (22) of the second sucker foot (2B),
Two suckers (22) of the second sucker foot (2B) are adsorbed on metope, complete and once creep advance.
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| CN201710083685.4A CN106741274B (en) | 2017-02-16 | 2017-02-16 | Sucking disc type wall climbing robot capable of adjusting stride and moving method thereof |
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| CN111976857A (en) * | 2020-08-25 | 2020-11-24 | 广东省智能制造研究所 | Self-rotating double-body wall-climbing robot |
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| CN112285503A (en) * | 2020-10-26 | 2021-01-29 | 国网江苏省电力有限公司电力科学研究院 | GIS/GIL partial discharge detection device |
| CN114455023A (en) * | 2022-01-19 | 2022-05-10 | 中船澄西船舶修造有限公司 | Wall-climbing robot and control method thereof |
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