CN1068302A

CN1068302A - Omnidirectional wall walking mechanism

Info

Publication number: CN1068302A
Application number: CN 92108426
Authority: CN
Inventors: 陈振华; 钱晋武; 龚振邦; 谢伟民; 谈士力; 沈林勇; 朱方文
Original assignee: University of Shanghai for Science and Technology
Current assignee: University of Shanghai for Science and Technology
Priority date: 1992-05-16
Filing date: 1992-05-16
Publication date: 1993-01-27

Abstract

The present invention is to provide a kind of omnidirectional wall walking mechanism, broken through conventional art, adopt three messenger chains of a motor to stretch realizing, the motion of lifting and rotation, and 4 layers of frame-type and two groups of 8 fixing sucking disk structures of adopting, have the ability of bearing a heavy burden preferably and obstacle climbing ability, also have comprehensive function and the directional correction function of turning to, make that mechanism can be correctly to the direction walking of determining arbitrarily, thereby can be applied in the occasion of many limiting conditions well, as scouring, the spraying of high building external wall window, and rescue, detection etc.

Description

Omnidirectional wall walking mechanism

The present invention is to provide a kind of omnidirectional wall walking mechanism that has novel concepts, belong to the window class that cleans the windows automatically of human lives's needs.

Development along with new technology revolution in the mechanical engineering field, the wall walking robot is as an emerging field in the mechanical engineering, structure and application prospect are being subjected to the professional's in many fields attention cleverly for they, as be applied under ultimate limit state to clean, detect, maintenance, and fire-fighting, rescue etc.Wall traveling gear of the prior art often is divided three classes by moving method: the adsorbed class of 1, sliding; 2, crawler type class; 3, fixing absorption frame-type class.With the immediate prior art of the present invention be wall walking robot by MITI of Japan's Industrial Technology Institute mechanical technique Research Institute, it adopts the moving method of fixing absorption frame-type, the octal palm aspiration climbing robot that this research institute began to develop in nineteen eighty-two, and once built in the ripple international fair and performed in 1985, Japanese mechanical technique Vol.43(1989 that research institute reports in 1989) No.4 has done thematic introduction to this wall walking mechanism (MEL-Spider by name), it is to adopt multiple electric motors, have 8 sucker tower structures, have wall walking and obstacle climbing ability on the quadrature both direction.As shown in table 1, there has been technical deficiency in this prior art, as: no omnirange steering capability, reduced the manoevreability that mechanism walks; Do not possess directional correction kinetic energy, in a single day deflection takes place in the equipment pedestal, can't proofread and correct, and influences the predetermined operation program; Robot wall walking driver has 17 more than.

In view of modern skyscraper trends towards developing to height, glass port wall to the skyscraper outside, perhaps cleaning, the spraying of the external wall of other materials such as marble, ceramic tile veneer, traditional mode is by manually finishing, work under bad environment not only, and inefficiency, competent this environment of development robot of the wall walking of work down has been the problem that the professional faces in this field.Purpose of the present invention mainly is to provide a kind of and has broken through the new construction of prior art feature in mechanical aspects, creates a kind of the deficiencies in the prior art that overcome, and improves the omnidirectional wall walking mechanism of the manoevreability that the wall walking robot moves.

Obstacle climbing ability

Comprehensive steering capability

Speed m/min

The actuator number

Mode of motion

Main application scenario

Japan: MEL-Spider

Have

Do not have

Up and down about 0.5 0.25

17

Intermittently

High building outer wall spraying cleaning etc.

The present invention

Have

1.2

1

Intermittently

Wipe the outer side window wall of high building, spraying etc.

Table 1 the present invention and prior art information slip comparison sheet

As shown in table 1, the present invention only uses a motor as propulsion source, realize the walking movement and the pivot stud motion of wall walking mechanism, on physical construction, the present invention has adopted four layers of tower structure, on the inside and outside two-layer framework two groups of vacuum cups are housed respectively, realize the traveling gear motion by motor, the connection of its power is switched by three power-transfer clutchs in three messenger chains of three relative motions of internal and external frame (flexible, lifting and rotation) respectively and is finished.Allow to proofread and correct the orientation of inner frame center shaft in the process of walking, for the operation brush of traveling gear provides the failure-free benchmark.The present invention possesses comprehensive locomotive function, directional correction function and bigger obstacle climbing ability, is that the skyscraper outer side surface cleans, wipes the desirable robot of window.

Below will be to structure of the present invention and feature, and described in detail in conjunction with the accompanying drawings:

Fig. 1 is the structure and the transmission scheme drawing of omnidirectional wall walking mechanism.

As shown in Figure 1, the present invention is mainly by outside frame 1, and framework 2, framework 3 and inner frame 4 constitute.Outside frame 1 comprises: vacuum cup 5, tooth bar 18, gear 17, guide rail 36 and obstacle sensor 34; Framework 2 comprises: motor 7, gear 8,9,10,11, power-transfer clutch 12,13,14,

worm screw

15,19,23, worm gear 16,20,24, gear 25 and

roller

31,33; Framework 3 comprises: tooth bar 22,

gear

21,27, shifting slide gear 26 and guide rail 32; Inner frame 4 comprises: big gear wheel 28, center shaft 29, four spot contact bearings 37, work brush 30 and aspect sensor 35.The propulsion source of move mode of the present invention as shown in Figure 1 is to be finished by positive and negative the transferring of motor 7, and the embodiment of three messenger chains of three kinds of relative motions of internal and external frame (flexible, lifting and rotation) is as follows:

1, fore and aft motion, promptly framework 2(comprises framework 3, inner frame 4) with respect to the straight-line motion of outside frame 1, straight-linely stretch or contract and realize by the forward or reverse of motor 7.At first holdback clutch 13,14, closed power-transfer clutch 12, start motor 7 then, make the power that passes through gear 8 driven gears 9 drive worm screws 15 through power-transfer clutch 12, drive worm gear 16 by worm screw 15, simultaneously drive tooth bars 18 by gear 17, thereby realize fore and aft motion of the present invention, flexible supporting realizes by being installed in guide rail 36 on the outside frame 1 and the roller 31 on the framework 2 respectively.

2, dipping and heaving, promptly framework 3(comprises inner frame 4) with respect to the straight-line motion of the vertical frame of framework 2, the going up or realizing by the forward or reverse of motor 7 down of this motion.At first holdback clutch 12,14, closed power-transfer clutch 13, start motor 7 then, make the power that passes through gear 8 driven gears 10 drive worm screws 19 through power-transfer clutch 13, drive worm gear 20 by worm screw 19, simultaneously drive tooth bars 22 by gear 21, thereby realize dipping and heaving of the present invention, the lifting supporting realizes by being installed in roller 33 on the framework 2 and the guide rail 32 on the framework 3 respectively.

3, rotatablely move, promptly framework 3 is with respect to the rotatablely moving of inner frame 4, and the forward or reverse of relative rotary motion is realized by the forward or reverse of motor 7.At first holdback clutch 12,13, closed power-transfer clutch 14 starts motor 7 then, makes the power that passes through gear 8 driven gears 11 drive worm screws 23 through power-transfer clutch 14, drive worm gear 24 by worm screw 23, drive shifting slide gear 26 by gear 25 simultaneously, and drive big gear wheel 28, thereby realize of the present invention rotatablely moving by gear 27, rotatablely moving allows comprehensive rotation, and its supporting is realized by four spot contact bearings 37 that are installed in 3 of center shaft 29 and frameworks.

Sensor 34 on the outside frame 1 is used to detect the bar projection obstacle of wall walking robot when wall is walked, and when finding obstacle, can instruct entire mechanism to cross over or avoid this obstacle.

Moving mainly by being installed in one group of 4 vacuum cup 5 on the outside frame 1 and 4 vacuum cups 6 of another group on the inner frame 4 of entire mechanism is adsorbed on wall off and on, moves off and on simultaneously and realizes.The suction dish 5 of taking seriously adsorbs walls, according to job requirements, determines the walking orientation, utilizes dipping and heaving to be lifted away from wall by vacuum cup 6, utilizes fore and aft motion to do to utilize dipping and heaving to put down vacuum cup 6 then to the assigned direction walking again, and adsorbs wall; Vacuum cup 5 is thrown off, and utilizes dipping and heaving to be lifted away from wall, by the motor counter-rotating, utilizes fore and aft motion, has realized to the assigned direction walking, thereby has made entire mechanism move a stroke before each.When direction of travel need change, promptly vacuum cup 6 adsorbed walls, and vacuum cup 5 is thrown off, and utilizing rotatablely moves changes the direction of fore and aft motion, thereby has changed the direction of travel of entire mechanism.Inner frame 4 and orientation relative wall remain unchanged in whole walking process, it provides failure-free translation coordinate system for work brush 30 location, and it is to be detected the accumulated error of inner frame 4 null directions that produce in the motion and instructed in time to proofread and correct by aspect sensor 35 to guarantee that orientation reliability in this course is provided.

Claims

1, a kind of wall walking mechanism that adopts fixing absorption frame-type to move, the invention is characterized in that described wall walking mechanism adopts motor 7 to drive switching by power-transfer clutch 12,13,14 and realizes flexible, the lifting of omnidirectional wall walking and rotatablely move, the frame part of this omnidirectional wall walking mechanism is made of outside frame 1, framework 2, framework 3 and inner frame 4, outside frame 1 comprises: vacuum cup 5, tooth bar 18, gear 17, guide rail 36 and obstacle sensor 34; Framework 2 comprises: motor 7, gear 8,9,10,11, power-transfer clutch 12,13,14, worm screw 15,19,23, worm gear 16,20,24, gear 25 and roller 31,33; Framework 3 comprises: tooth bar 22, gear 21,27, shifting slide gear 26 and guide rail 32; Inner frame 4 comprises: big gear wheel 28, center shaft 29, four spot contact bearings 37, work brush 30 and aspect sensor 35.

2, by the described omnidirectional wall walking mechanism of claim 1, it is characterized in that detecting the accumulated error of inner frame 4 null directions of this omnidirectional wall walking mechanism on the go generation by aspect sensor 35, and instruction in time proofreaies and correct the orientation relative wall who guarantees inner frame 4 and remains unchanged, for work brush 30 location provide failure-free translation coordinate system.

3, by the described omnidirectional wall walking mechanism of claim 1, it is characterized in that the flexible of described omnidirectional wall walking mechanism, the mode of worm screw self-locking is adopted in mechanism's self-locking of lifting and rotation three road messenger chains.