CN107512322A - A kind of Climbing Robot - Google Patents
A kind of Climbing Robot Download PDFInfo
- Publication number
- CN107512322A CN107512322A CN201710781953.XA CN201710781953A CN107512322A CN 107512322 A CN107512322 A CN 107512322A CN 201710781953 A CN201710781953 A CN 201710781953A CN 107512322 A CN107512322 A CN 107512322A
- Authority
- CN
- China
- Prior art keywords
- arm
- climbing
- drive device
- adsorbent equipment
- induction installation
- 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.)
- Withdrawn
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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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/008—Manipulators for service tasks
- B25J11/0085—Cleaning
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
A kind of Climbing Robot, belong to robotic technology field, including adapting table, climbing arm, induction installation, controller and battery.Climbing arm has three, respectively left arm, right arm and postbrachium, and three climbing arms are located at left side, right side and the rear side of adapting table respectively.Every climbing arm possesses three degree of freedom, and three joints make it that climbing arm is divided into four sections, and climbing arm is provided with drive device, and drive device carries out multi-angle stretching, extension by driving joint motions to climb arm.The end that arm is climbed at every is additionally provided with adsorbent equipment, and adsorbent equipment can adsorb metope.Camera and position indicator are carried on induction installation.Controller plc can identify the environment of surrounding by induction installation and drive device and adsorbent equipment are controlled.Battery is drive device, adsorbent equipment and induction installation power supply.The Climbing Robot of the present invention, can walk freely on metope, the work such as cleaning and maintenance available for external wall of high-rise building are surveyed, and avoid the danger of manual work.
Description
Technical field
A kind of Climbing Robot, belong to robotic technology field, more particularly to a kind of Climbing Robot.
Background technology
Fast development and the intelligent continuous progress with modernization with science and technology, also have some dangerous building rings
Border or the dead angle that can not manually monitor, which also need people to carry out manual operation or inspection, these work, to be had very big danger, is
The personal safety of operating personnel is ensure that, inventing a kind of Climbing Robot can walk freely on metope, be built available for high level
The work such as cleaning and the maintenance exploration of exterior wall are built, avoid the danger of manual work.
The content of the invention
The purpose of the present invention is to overcome the shortcomings of that above-mentioned people need to carry out dangerous sex work, and invention one kind can be in metope
The Climbing Robot of upper walking freely.
A kind of Climbing Robot, including adapting table, climbing arm, induction installation, controller and battery.The climbing arm has three
Bar, respectively left arm, right arm and postbrachium, three climbing arms are located at left side, right side and the rear side of adapting table respectively.Every climbing arm
Possess three degree of freedom, three joints make it that climbing arm is divided into four sections, and climbing arm is provided with drive device, and drive device passes through driving
Joint motions make it that climbing arm carries out multi-angle stretching, extension.The end that arm is climbed at every is additionally provided with adsorbent equipment, adsorbent equipment energy
Enough adsorb metope.Camera and position indicator are carried on the induction installation.The controller and drive device, adsorbent equipment and sense
Device is answered to be connected, controller can identify the environment of surrounding by induction installation and be controlled to drive device and adsorbent equipment
System so that robot can complete required work.The battery is drive device, adsorbent equipment and induction installation power supply.
Preferably, adsorbent equipment is adsorbed on metope by the way of suction.
A kind of Climbing Robot is so to climb wall：It is left under robot crawling to corner under the control action of controller
Adsorbent equipment on arm is bonded and adsorbed on metope with metope, and then the adsorbent equipment on right arm and postbrachium is also bonded metope simultaneously
Absorption is on metope, now, robot by the active force of adsorbent equipment steadily hold metope；Creeped upwards on metope
When, the adsorbent equipment on postbrachium unclamps metope, the drive device driving joint motions on postbrachium so that it is small that postbrachium steps one upwards
Walk, then the adsorbent equipment absorption metope on postbrachium, now postbrachium is in contraction state；Then, the drive device driving of left arm
Left arm steps a step upwards；Then, right arm also then steps a step upwards, the drive device driving joint of postbrachium while taking a step
Motion allows postbrachium to be stretched so that adapting table climbs a segment distance upwards, and then postbrachium shrinks a step advanced in years upwards, this process
A step so that robot creeps upwards.When being creeped to the right on metope, left arm shrink cause left arm step a step to the right, then after
Arm is taken a step to the right a step；Then, right arm steps to the right a step, and left arm is stretched while taking a step so that adapting table is to the right
A mobile segment distance, then left arm, which shrinks, steps to the right a step, and this process make it that robot creeps to the right a step.
The Climbing Robot of the present invention, can walk freely on metope, cleaning and inspection available for external wall of high-rise building
The work such as exploration are repaiied, avoid the danger of manual work.
Brief description of the drawings
Fig. 1 is Climbing Robot structural representation.
In figure, 1- adapting tables, 2- climbing arms, 21- drive devices, 22- adsorbent equipments, 23- joints, 3- induction installations, 4-
Controller, 5- batteries, a- left arms, b- right arms, c- postbrachiums.
Embodiment
The present invention is illustrated below in conjunction with the accompanying drawings：A kind of Climbing Robot, including adapting table 1, climbing arm 2, sense
Answer device 3, controller 4 and battery 5.The climbing arm 2 has three, respectively left arm a, right arm b and postbrachium c, three climbing arms 2
It is located at left side, right side and the rear side of adapting table 1 respectively.Every climbing arm 2 possesses three degree of freedom, and three joints 23 cause climbing
Arm 2 divides for four sections, and climbing arm 2 is provided with drive device 21, and drive device 21 is by driving the motion climbing arm 2 of joint 23 to carry out
Multi-angle stretches.Adsorbent equipment 22 is additionally provided with the end that every is climbed arm 2, adsorbent equipment 22 is adsorbed by the way of suction
On metope.Camera and position indicator are carried on the induction installation 3.The controller 4 and drive device 21, adsorbent equipment 22 and
Induction installation 3 is connected, and controller 4 can identify the environment of surrounding by induction installation 3 and drive device 21 and absorption are filled
Put 22 to be controlled so that robot can complete required work.The battery 5 is drive device 21, adsorbent equipment 22 and sense
Device 3 is answered to power.
A kind of Climbing Robot is so to climb wall：Under the control action of controller 4, under robot crawling to corner,
Adsorbent equipment 22 on left arm 1 is bonded and adsorbed on metope with metope, then the adsorbent equipment 22 on right arm b and postbrachium c
Metope is bonded simultaneously to adsorb on metope, now, robot by the active force of adsorbent equipment 22 steadily hold metope.In metope
On when creeping upwards, the adsorbent equipment 22 on postbrachium c unclamps metope, and the drive device 21 on postbrachium c drives joint 23 to move, and makes
Obtain postbrachium c and step a small step upwards, then the adsorbent equipment 22 on postbrachium c adsorbs metope, and now postbrachium c is in contraction state；
Then, left arm a drive device 21 drives left arm a to step a step upwards；Then, right arm b also then steps a step upwards, is taking a step
While postbrachium c drive device 21 drive the motion of joint 23 to allow postbrachium c to be stretched so that adapting table 1 climbs one section upwards
Distance, then postbrachium c shrink an advanced in years step upwards, this process make it that robot creeps a step upwards.Creeped to the right on metope
When, left arm a, which shrinks, causes left arm a to step a step to the right, and then postbrachium c takes a step to the right a step；Then, right arm c steps to the right one
Step, left arm a is stretched while taking a step so that adapting table 1 moves right a segment distance, and then left arm a shrinks and stepped to the right
Go out a step, this process make it that robot creeps to the right a step.
Claims (2)
- A kind of 1. Climbing Robot, it is characterised in that：Including adapting table（1）, climbing arm（2）, induction installation（3）, controller（4） And battery（5）；Climb arm（2）There are three, respectively left arm（a）, right arm（b）And postbrachium（c）, three climbing arms（2）Position respectively In adapting table（1）Left side, right side and rear side；Every climbing arm（2）Possess three degree of freedom, three joints（23）So that climbing Arm（2）It is divided into four sections, climbs arm（2）Provided with drive device（21）, drive device（21）By driving joint（23）Motion causes Climb arm（2）Carry out multi-angle stretching, extension；Arm is climbed at every（2）End be additionally provided with adsorbent equipment（22）；Induction installation（3）On With camera and position indicator；Controller（4）With drive device（21）, adsorbent equipment（22）And induction installation（3）It is connected, controls Device processed（4）Pass through induction installation（3）The environment of surrounding can be identified and to drive device（21）And adsorbent equipment（22）Controlled System；Battery（5）For drive device（21）, adsorbent equipment（22）And induction installation（3）Power supply.
- A kind of 2. Climbing Robot according to claim 1, it is characterised in that：Adsorbent equipment（22）By the way of suction Absorption is on metope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710781953.XA CN107512322A (en) | 2017-09-02 | 2017-09-02 | A kind of Climbing Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710781953.XA CN107512322A (en) | 2017-09-02 | 2017-09-02 | A kind of Climbing Robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107512322A true CN107512322A (en) | 2017-12-26 |
Family
ID=60724873
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710781953.XA Withdrawn CN107512322A (en) | 2017-09-02 | 2017-09-02 | A kind of Climbing Robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107512322A (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203974995U (en) * | 2014-06-10 | 2014-12-03 | 上海工程技术大学 | A kind of pneumatic six sufficient wall climbing robots |
| CN104527834A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Tripod robot |
| CN204736943U (en) * | 2015-04-17 | 2015-11-04 | 湖北工业大学 | Climb wall robot of climbing over walls |
| CN205131419U (en) * | 2015-07-28 | 2016-04-06 | 长春理工大学 | Multi -functional five sufficient climbing of topography full robots |
| CN106275122A (en) * | 2016-08-29 | 2017-01-04 | 辽宁工程技术大学 | A kind of sucked type Climbing Robot |
-
2017
- 2017-09-02 CN CN201710781953.XA patent/CN107512322A/en not_active Withdrawn
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN203974995U (en) * | 2014-06-10 | 2014-12-03 | 上海工程技术大学 | A kind of pneumatic six sufficient wall climbing robots |
| CN104527834A (en) * | 2014-12-26 | 2015-04-22 | 浙江工业大学 | Tripod robot |
| CN204736943U (en) * | 2015-04-17 | 2015-11-04 | 湖北工业大学 | Climb wall robot of climbing over walls |
| CN205131419U (en) * | 2015-07-28 | 2016-04-06 | 长春理工大学 | Multi -functional five sufficient climbing of topography full robots |
| CN106275122A (en) * | 2016-08-29 | 2017-01-04 | 辽宁工程技术大学 | A kind of sucked type Climbing Robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WW01 | Invention patent application withdrawn after publication |
Application publication date: 20171226 |
|
| WW01 | Invention patent application withdrawn after publication |