CN106828649A - A kind of Climbing Robot - Google Patents
A kind of Climbing Robot Download PDFInfo
- Publication number
- CN106828649A CN106828649A CN201710170011.8A CN201710170011A CN106828649A CN 106828649 A CN106828649 A CN 106828649A CN 201710170011 A CN201710170011 A CN 201710170011A CN 106828649 A CN106828649 A CN 106828649A
- Authority
- CN
- China
- Prior art keywords
- base plate
- negative pressure
- pressure cavity
- driving wheel
- motor
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention discloses a kind of Climbing Robot, including chassis, driving wheel and driven pulley；The chassis includes base plate, biside plate and two end plates, and the driving wheel and driven pulley are two, and two driving wheels and two driven pulley cross-distributions are on biside plate；A motor is separately installed with biside plate, the motor is connected by travelling gear with driving wheel；The negative pressure cavity of a closing is provided with the upper center of base plate, the bottom of the negative pressure cavity has a suction hole, a centrifugal fan is provided with the top of negative pressure cavity, is provided with around the base plate sealing width skirt of a week at the edge of base plate；Battery is provided with bottom, the battery is that motor and centrifugal fan are powered.It is of the invention light and handy, flexible, intelligent, efficient, rapidly can freely be walked on metope.
Description
Technical field
The present invention relates to robotics, more particularly to a kind of Climbing Robot.
Background technology
With making rapid progress for science and technology, artificial intelligence progressively replaces cumbersome labour；And Climbing Robot conduct
The product of this tendency of the day is just being widely used in the cleaning of high-rise, remote metal defect detection.It is existing to climb wall
Robot is divided into following a few classes essentially according to wall mode is climbed：One kind is to utilize guide rail, i.e., install some guide rails on a vertical surface,
Robot is passed through crawler belt or other walking mechanisms are moved on guide rail, material and shape need of the program to plane
It is not high, but installing guide rail can change planar appearance；Two is by way of vacuum suction, i.e., to be fixed robot using sucker
On the vertical plane, shortcoming is that planar smoothness there are certain requirements；Three is the such as electromagnet by way of electromagnetic adsorption
Deng, but it is only limitted to the particular planes such as metal.Therefore, how to design it is a it is light and handy, flexibly, intelligence, efficient wall-climbing machine, into
It is badly in need of the technical problem of solution for those skilled in the art.
The content of the invention
For deficiencies of the prior art, not side is used it is an object of the invention to solve existing Climbing Robot
Just, a kind of very flexible, the low problem of efficiency, there is provided Climbing Robot is light and handy, flexible, intelligent, efficient, can rapidly exist
Freely walked on metope.
In order to solve the above-mentioned technical problem, the technical solution adopted by the present invention is such：A kind of Climbing Robot, it is special
Levy and be：Including chassis, driving wheel and driven pulley；The chassis includes base plate, biside plate and two end plates, biside plate and two end plates
It is fixedly connected with the both sides and two ends on chassis respectively；The driving wheel and driven pulley are two, and two driving wheels and two driven
Wheel cross-distribution is on biside plate；A motor is separately installed with biside plate, the motor passes through travelling gear
It is connected with driving wheel, and driving wheel can be driven to rotate；
The negative pressure cavity of a closing is provided with the upper center of base plate, the bottom of the negative pressure cavity has a suction hole, the suction
Stomata runs through base plate；A centrifugal fan is provided with the top of negative pressure cavity, can be by the air in negative pressure cavity by the centrifugal fan
Outwards take out, so as to form negative pressure in negative pressure cavity；It is provided with around the base plate sealing width skirt of a week at the edge of base plate；
Battery is provided with bottom, the battery is that motor and centrifugal fan are powered.
Further, a control panel is additionally provided with base plate, the control panel includes control chip and radio receiving transmitting module,
The control chip is connected with two motors, centrifugal fan and radio receiving transmitting module；Control chip can be by wireless receiving and dispatching mould
The terminal control signal that block is received, is controlled to motor and centrifugal fan.
Compared with prior art, the invention has the advantages that：Simple structure, can quickly, freely, it is flexible in metope
Upper walking, and good stability, mobile efficiency high.
Brief description of the drawings
Fig. 1 is structural representation of the invention.
Fig. 2 is the distributed architecture schematic diagram of driving wheel and driven pulley.
In figure：11-base plate, 12-side plate, 13-end plate, 2-driving wheel, 3-driven pulley, 4-negative pressure cavity, 5-centrifugation
Fan.
Specific embodiment
Below in conjunction with drawings and Examples, the invention will be further described.
Embodiment：Referring to Fig. 1, Fig. 2, a kind of Climbing Robot, including chassis, driving wheel 2 and driven pulley 3.The chassis
Including base plate 11, biside plate 12 and two end plates 13, biside plate 12 and two end plates 13 are fixed with the both sides on chassis and two ends connect respectively
Connect.The driving wheel 2 and driven pulley 3 are two, and two driving wheels 2 and the cross-distribution of two driven pulley 3 are on biside plate 12；
A motor is separately installed with biside plate 12, the motor is connected by travelling gear with driving wheel 2, and being capable of band
Dynamic driving wheel 2 is rotated.Two driving wheels 2 and two driven pulleys 3 are intersected on biside plate 12 such that it is able to by motor
The control of rotation direction, realizes advance, retrogressing, left-hand rotation, right-hand rotation and rotation of robot etc.；Manipulation is convenient, and walking is free, spirit
It is living and in hgher efficiency.
The negative pressure cavity 4 of a closing is provided with the upper center of base plate 11, the bottom of the negative pressure cavity 4 has a suction hole, institute
Suction hole is stated through base plate 11；During specific implementation, the negative pressure cavity 4 is integrally formed with base plate 11, so that the sealing of negative pressure cavity 4
Effect is more preferable.A centrifugal fan 5 is provided with the top of negative pressure cavity 4, can be by the air in negative pressure cavity 4 by the centrifugal fan 5
Outwards take out, so as to form negative pressure in negative pressure cavity 4；It is provided with around the base plate sealing width skirt of 11 1 weeks at the edge of base plate 11.Pass through
The cooperation of centrifugal blower, negative pressure cavity 4 and sealing width skirt, so as to produce the pressure being pressed in robot on metope；When pressure foot
When enough big, robot can be close on metope；Now, then by controlling driving wheel 2, you can band mobile robot is up in metope
Walk.
Battery is provided with bottom, the battery is that motor and centrifugal fan 5 are powered.
A control panel is additionally provided with base plate 11, the control panel includes control chip and radio receiving transmitting module, the control
Chip is connected with two motors, centrifugal fan 5 and radio receiving transmitting module；Control chip can be received by radio receiving transmitting module
The terminal control signal for arriving, is controlled to motor and centrifugal fan 5.
Can't be dropped on wall to ensure that robot can be adsorbed, we have carried out stress point to robot
Analysis.
When Climbing Robot keeps direction straight up, when remaining static, the robot stress of Static Adsorption is analyzed
Situation.The moving wheel and wall for assuming initially that robot motion mechanism are rigid contact, and the pressure acted on sealing width skirt is equal
Even distribution；Due to being flexibly connected between sealing width skirt and wall-climbing device human body, therefore pressure on sealed skirt will not be by close
Envelope skirt is transmitted, i.e., wall is not directly delivered on Climbing Robot body to the pressure of width skirt in x-axis direction, wall-climbing machine device
Power and Coordinate Setting situation suffered by people.
Climbing Robot stress balance and torque equilibrium equation group on XOY plane：
In formula：Fp1--- it is equivalent with joint efforts in robot body that the suction-operated caused by inside and outside differential pressure is produced；
Fp2--- the equivalent of the robot sealed skirt that inside and outside differential pressure causes is made a concerted effort；
N1--- wall acts on the pressure on both the above road wheel；
N2--- wall acts on the pressure on following two rear walking wheel, 2 (N1+N2)=Fp1；
Nq--- wall is to the reaction force of sealed skirt, Nq=Fp2；
Ff1--- the frictional force on front walking wheel, F when being stictionf1=μ1N1；
μ1--- the confficient of static friction between wall and road wheel；
Ff2--- the frictional force on rear walking wheel, F when being stictionf2=μ2N2；
Ff3--- wall is to the frictional force of sealed skirt, F when being stictionf3=μ3N3；
μ2--- the confficient of static friction between wall and sealed skirt；
The gravity of G --- robot；
H --- robot center of gravity is with a distance from wall；
L --- robot center is with a distance from front and back wheel.
The reaction force of sealed skirt is cancelled out each other due to acting on the normal pressure on sealed skirt and wall, then absorption affinity
For：
Fp1=2 (N1+N2)；
Assuming that the negative-pressure adsorption power produced on sealed skirt is the 1/4 of robot body negative-pressure adsorption power, in vertical direction
, by simplifying, negative-pressure adsorption power is at least for stress balance situation：
Can be obtained by moment equilibrium condition, the equalising torque expression formula of climbing robot：
Skidded to prevent robot motion from taking turns simultaneously, at least must assure that N1＞ 0, then during robot inactive state, body
On negative-pressure adsorption power Fp1Should meet：
Finally it should be noted that the above embodiments are merely illustrative of the technical solutions of the present invention rather than restriction technologies side
Case, it will be understood by those within the art that, those modify or equivalent to technical scheme, and
The objective and scope of the technical program are not departed from, all should be covered in the middle of scope of the presently claimed invention.
Claims (2)
1. a kind of Climbing Robot, it is characterised in that：Including chassis, driving wheel and driven pulley；The chassis includes base plate, both sides
Plate and two end plates, biside plate and two end plates are fixedly connected with the both sides and two ends on chassis respectively；The driving wheel and driven pulley are equal
It is two, and two driving wheels and two driven pulley cross-distributions are on biside plate；A motor is separately installed with biside plate,
The motor is connected by travelling gear with driving wheel, and driving wheel can be driven to rotate；
The negative pressure cavity of a closing is provided with the upper center of base plate, the bottom of the negative pressure cavity has a suction hole, the suction hole
Through base plate；A centrifugal fan is provided with the top of negative pressure cavity, can be outside by the air in negative pressure cavity by the centrifugal fan
Take out, so as to form negative pressure in negative pressure cavity；It is provided with around the base plate sealing width skirt of a week at the edge of base plate；
Battery is provided with bottom, the battery is that motor and centrifugal fan are powered.
2. a kind of Climbing Robot according to claim 1, it is characterised in that：A control panel, institute are additionally provided with base plate
Stating control panel includes control chip and radio receiving transmitting module, the control chip and two motors, centrifugal fan and wireless receiving and dispatching
Module is connected；The terminal control signal that control chip can be received by radio receiving transmitting module, to motor and centrifugation wind
Fan is controlled.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710170011.8A CN106828649A (en) | 2017-03-21 | 2017-03-21 | A kind of Climbing Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710170011.8A CN106828649A (en) | 2017-03-21 | 2017-03-21 | A kind of Climbing Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106828649A true CN106828649A (en) | 2017-06-13 |
Family
ID=59129975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710170011.8A Pending CN106828649A (en) | 2017-03-21 | 2017-03-21 | A kind of Climbing Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106828649A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109878266A (en) * | 2019-03-15 | 2019-06-14 | 北京建筑大学 | A kind of absorption type climbing wheel and its working method |
| CN109973759A (en) * | 2019-04-19 | 2019-07-05 | 哈尔滨工业大学 | A kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface |
| WO2020125280A1 (en) * | 2018-12-17 | 2020-06-25 | 大连理工大学 | Detector for metal in wall |
| CN114475842A (en) * | 2022-02-23 | 2022-05-13 | 华中科技大学 | Double-layer flexible adsorption cavity for negative pressure type wall-climbing robot |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08310461A (en) * | 1995-05-19 | 1996-11-26 | Hitachi Zosen Corp | Suction device |
| CN1554518A (en) * | 2003-12-23 | 2004-12-15 | 北京航空航天大学 | Control system of self climbing cleaning robot |
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN101293541A (en) * | 2008-03-31 | 2008-10-29 | 浙江大学 | Telecontrol wall-climbing cleaning robot |
| CN201633804U (en) * | 2009-11-03 | 2010-11-17 | 大连海事大学 | Climbing robot for descaling ship walls |
| CN205168686U (en) * | 2015-10-15 | 2016-04-20 | 徐建芳 | Climb wall machine |
-
2017
- 2017-03-21 CN CN201710170011.8A patent/CN106828649A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08310461A (en) * | 1995-05-19 | 1996-11-26 | Hitachi Zosen Corp | Suction device |
| CN1554518A (en) * | 2003-12-23 | 2004-12-15 | 北京航空航天大学 | Control system of self climbing cleaning robot |
| CN1994805A (en) * | 2006-11-27 | 2007-07-11 | 哈尔滨工业大学 | Small-sized wall-climbing robot based on negative pressure absorption principle |
| CN101293541A (en) * | 2008-03-31 | 2008-10-29 | 浙江大学 | Telecontrol wall-climbing cleaning robot |
| CN201633804U (en) * | 2009-11-03 | 2010-11-17 | 大连海事大学 | Climbing robot for descaling ship walls |
| CN205168686U (en) * | 2015-10-15 | 2016-04-20 | 徐建芳 | Climb wall machine |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2020125280A1 (en) * | 2018-12-17 | 2020-06-25 | 大连理工大学 | Detector for metal in wall |
| CN109878266A (en) * | 2019-03-15 | 2019-06-14 | 北京建筑大学 | A kind of absorption type climbing wheel and its working method |
| CN109973759A (en) * | 2019-04-19 | 2019-07-05 | 哈尔滨工业大学 | A kind of absorption type omni-directional mobile robots along the walking of straight pipeline wall surface |
| CN114475842A (en) * | 2022-02-23 | 2022-05-13 | 华中科技大学 | Double-layer flexible adsorption cavity for negative pressure type wall-climbing robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106828649A (en) | A kind of Climbing Robot | |
| CN101412415B (en) | Backward thrust and negative pressure combined adsorption method for wall climbing robot and implementation thereof | |
| CN103909991B (en) | A kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof | |
| CN106388729A (en) | Wheel type wall-climbing robot and working method thereof | |
| CN101822513B (en) | Robot for cleaning wall surfaces | |
| CN105835978A (en) | Crawler-type magnetic-adsorption wall climbing robot | |
| CN101823256A (en) | Negative pressure adsorption wall-climbing robot | |
| CN106864620A (en) | A kind of omni-directional wheel Combined type wall surface climbing robot | |
| CN106428282A (en) | Wall-climbing trolley for spraying paint/glue | |
| CN108284886A (en) | A kind of Double-sucker Climbing Robot walked using the mode of crossing | |
| CN105947002B (en) | A kind of sucker track drive bionic device for being used to seek connections with smooth surface | |
| CN102211626A (en) | Wall climbing robot airflow adsorption technology and walk operation platform | |
| CN106184453A (en) | A kind of four rotor Climbing Robot crossing normal plane | |
| CN105292292A (en) | Multi-functional wall climbing car | |
| CN109625113B (en) | Multi-cavity sealing crawler-type wall-climbing robot and using method thereof | |
| CN106043484B (en) | A kind of shiny surface can obstacle detouring adsorbed wall-climbing robot | |
| CN205632715U (en) | Crawler -type magnetism adsorbs wall climbing robot | |
| CN104207733A (en) | Negative-pressure adsorption type corridor cleaning robot | |
| CN208484757U (en) | A kind of lightweight push-press type Climbing Robot | |
| CN206141654U (en) | Robot sucking disc formula track | |
| CN106428283A (en) | Inner wall corner climbing robot | |
| CN106477257B (en) | Trolley controlled by Android smart phone | |
| CN207875808U (en) | It is a kind of can obstacle detouring climbing robot | |
| CN111845995A (en) | Low-noise negative-pressure wall-climbing robot | |
| CN205574090U (en) | A sucking disc crawler drive bionic device for seeking connections with smooth surface |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20170613 |
|
| RJ01 | Rejection of invention patent application after publication |