CN107651032A - A kind of more adaptation external corner climbing robots - Google Patents
A kind of more adaptation external corner climbing robots Download PDFInfo
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- CN107651032A CN107651032A CN201711064610.8A CN201711064610A CN107651032A CN 107651032 A CN107651032 A CN 107651032A CN 201711064610 A CN201711064610 A CN 201711064610A CN 107651032 A CN107651032 A CN 107651032A
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- external corner
- left socle
- wheel
- support
- right support
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- 230000009194 climbing Effects 0.000 title claims abstract description 22
- 230000006978 adaptation Effects 0.000 title claims description 7
- 235000004443 Ricinus communis Nutrition 0.000 claims description 19
- 240000000528 Ricinus communis Species 0.000 claims description 12
- 230000005484 gravity Effects 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 description 13
- 230000007246 mechanism Effects 0.000 description 10
- 230000002153 concerted effect Effects 0.000 description 8
- 238000000034 method Methods 0.000 description 8
- 230000000694 effects Effects 0.000 description 6
- 238000010586 diagram Methods 0.000 description 4
- 238000004140 cleaning Methods 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 238000010276 construction Methods 0.000 description 1
- 230000000630 rising effect Effects 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Robotics (AREA)
- Manipulator (AREA)
Abstract
The present invention relates to one kind to adapt to external corner climbing robot more, including support and at least one attaching structure being arranged on support and action structure, the attaching structure includes left socle I and right support I and the driving wheel being symmetricly set on left socle I and right support I, the wheel face of the driving wheel is tangent with metope and is driven by motor, and it is parallel with external corner crest line to go out axis；The action structure includes left socle II and right support II and the road wheel being arranged on left socle II and/or right support II, and the wheel face of the road wheel is tangent with metope and is driven by motor II, and it is vertical with external corner crest line to go out axis；The driving wheel and road wheel are universal wheel.The device can overcome the robot that gravity is moved in the external corner of house roof, can carry various kinds of sensors and camera, realize environment detecting or other utilizations.
Description
Technical field
The invention belongs to Climbing Robot field, is related to one kind and adapts to external corner climbing robot more.
Background technology
With the high speed development of each subject, the research of robot technology continues to bring out out with applying increasingly extensive and going deep into
Various multi-functional, high performance robots are engaged in the work of high intensity, excessive risk instead of the mankind.Service robot is machine in recent years
One frontier of device people research.The appearance of service robot mainly has two reasons：First, the rising of labor cost；It is another
Individual is that people want to break away from uninteresting dull work, such as cleaning, housework, is watched over the sick and construction.It is a kind of suitable
It is larger for the mobile-robot system of specific mode, environment and task process, activity space.It has now been developed a lot
Type of service robot, mainly it is engaged in the work such as maintenance, cleaning, maintenance, repairing, transport, security personnel, rescue.It is general to require service
Robot can provide service with high content of technology, safe and reliable, have use value to user, there is economic effect to operator
Benefit.
Mainly there are top planes, inner corner trim and external corner in the roof of modern architecture.External corner refers to metope and protrudes above the corner come, and such as builds
Build corner and the angle of door-window opening and metope of beyond the region of objective existence portion protrusion.Corresponding is inner corner trim, refers to fall on metope
Corner.Because traditional Climbing Robot is accomplished that the motion on vertical wall mostly, this to some special utilizations,
As the cleaning at the top of house has certain limitation.
The content of the invention
In view of this, it is an object of the invention to provide one kind to adapt to external corner climbing robot more, gravity can be overcome to exist
The robot that the external corner of house roof is moved, various kinds of sensors and camera can be carried, realize environment detecting or other fortune
With.
To reach above-mentioned purpose, the present invention provides following technical scheme：
It is much a kind of to adapt to external corner climbing robots, including support and at least one attaching structure for being arranged on support and
Action structure, the attaching structure include left socle I and right support I and the drive being symmetricly set on left socle I and right support I
Driving wheel, the left socle I and right support I are hinged with support, between angle be less than external corner, between left socle I and right support I
Provided with a prestretching power apparatus I, the wheel face of the driving wheel is tangent with metope and is driven by motor I, goes out axis and external corner crest line
It is parallel；The action structure includes left socle II and right support II and the action being arranged on left socle II and right support II
Wheel, the left socle II and right support II be hinged with support, between angle be less than external corner, on left socle II and right support II
Between be provided with a prestretching power apparatus II, the wheel face of the road wheel is tangent with metope and is driven by motor II, go out axis with sun
Angle crest line is vertical；The driving wheel and road wheel are universal wheel.
Further, the attaching structure is V-structure, and the support includes connecting shaft, and the connecting shaft is parallel to external corner
Crest line
It is arranged at the fulcrum of V-structure, left socle I and right support I are hinged with connecting shaft form the two of V-structure respectively
Side.
Further, the action structure is also V-structure, and left socle II and right support II are hinged with connecting shaft respectively to be formed
The both sides of V-structure, the road wheel are a pair, are symmetrically arranged on left socle II and right support II.
Further, the universal wheel includes movable castor and rigid castors, and the rigid castors connect motor, the activity
Castor is arranged in rigid castors, the rotary shaft of movable castor and rigid castors to go out axis vertical.
Further, prestretching power apparatus is tension spring.
The beneficial effects of the present invention are：
1. present invention driving output shaft line is parallel to each other with external corner crest line, the force of sliding friction perpendicular to external corner can be produced,
And this force of sliding friction can play pulling force effect for overcoming gravity and tension spring etc.；
2. executing mechanism and attachment mechanism are fixed on support both sides by the present invention using the V-structure of an included-angle-changeable
In plane, enable driving wheel and road wheel while contacted with metope, ensure the cooperation of Liang Ge mechanisms, realize robot good
Climbing performance；
3. driving wheel of the present invention and road wheel use universal wheel, the wheels of Liang Ge mechanisms can routing motion, realize machine
People moves horizontally along external corner；
4. the use of tension spring in the present invention, guarantee is provided in the attachment of metope for robot, in motion process
The effect for the angle for reconciling and balancing V-structure is served simultaneously；
5. the three-legged structure that the present invention uses, stabilization, simplify, the cooperation with tension spring, wheel, be suitable for all kinds of external corners
Horizontal climbing sports.
Brief description of the drawings
In order that the purpose of the present invention, technical scheme and beneficial effect are clearer, the present invention provides drawings described below and carried out
Explanation：
Fig. 1 is the robot overall structure diagram of the present invention；
Fig. 2 is the robot attachment mechanism front view of the present invention；
Fig. 3 is the robotic movement mechanism front view of the present invention；
Fig. 4 is the schematic diagram that the robot of present example one is attached on external corner one；
Fig. 5 is force analysis of the robot in external corner one of present example one；
Fig. 6 a, 6b, 6c be present example one robot external corner one motion process figure；
Fig. 7 is that the robot of present example two is attached to the schematic diagram of external corner two；
Fig. 8 is force analysis of the robot in external corner two of present example two；
Fig. 9 a, 9b, 9c be present example two robot external corner two motion process figure；
Figure 10 is the schematic diagram that the robot of present example three is attached to external corner three；
Figure 11 is force analysis of the robot of present example three in external corner three；
Figure 12 a, 12b, 12c be present example two robot external corner three motion process figure；
Wherein, 1- driving wheels, 2- motors, 3-V type structures, 4- connecting shafts, 5- tension springs, 6- road wheels, 7- motors, 8-
External corner metope.
Embodiment
Below in conjunction with accompanying drawing, the preferred embodiments of the present invention are described in detail.
Example one：
It is much a kind of to adapt to external corner climbing robots, including support and at least one attaching structure for being arranged on support and
Action structure, Fig. 2 are the robot attachment mechanism front view of the present invention, and the attaching structure is V-structure 3, including is symmetrically set
The left socle I and right support I put, the support include connecting shaft 4, and connecting shaft 4 is arranged on V-structure 3 parallel to external corner crest line
Fulcrum at, the left socle I and right support I are be hinged with connecting shaft 4, between angle be less than external corner, left socle I and right branch
A prestretching power apparatus I is provided between frame I, prestretching power apparatus is tension spring 5 herein, and outer end is equipped with driving wheel 1；The driving
The wheel face of wheel 1 is tangent with metope and is driven by motor 2, and it is parallel with external corner crest line to go out axis.
The action structure includes link and the road wheel 6 being arranged on link as shown in Figure 3, and link also uses
V-structure 3, including left socle II and right support II, the wheel face of the road wheel 6 is tangent with metope and is driven by motor 7, goes out
Axis is vertical with external corner crest line；The driving wheel 1 and road wheel 6 are universal wheel.
Reference picture 1, two secondary attachment mechanisms are located at the both sides of whole mechanism respectively, and centre is a secondary executing mechanism.Wherein drive
Driving wheel 1 and road wheel 6 use universal wheel.Universal wheel includes movable castor and rigid castors.Rigid castors do not have rotational structure,
Can not horizontally rotate vertically to rotate, and movable castor is perpendicular with rigid castors, can horizontal rolling.Both castors are general all
It is collocation, it is allowed to horizontal 360-degree rotates, and wheel face is tangent with metope, and to go out axis parallel with external corner crest line for driving wheel 1,
Road wheel 6 is mutually perpendicular to install with driving wheel 1, and road wheel 6 goes out axis perpendicular to external corner crest line.Driving wheel 1 is connected with motor 2,
Road wheel 6 is connected with motor 7, is fixed on V-structure, and connecting shaft 4 can be such that the angle of V-structure 3 flexibly changes, in this example
In, robot makees horizontal climbing sports on external corner 8, and two sides of the external corner 8 are respectively with the horizontal 45 degree and 135 degree, such as
Shown in Fig. 4.
Because entirety is a symmetrical structure, therefore force analysis is carried out for a driving wheel 1, as shown in Figure 5.Draw
Power spring 5 causes to the pulling force effect of wheel so that driving wheel 1 has perpendicular to the oblique of external corner vertical line in the stationary case
Upward stiction F2, providing power to driving wheel 1 by motor 2 makes driving wheel 1 and direction of pull reverse motions, so as to shape
Into the force of sliding friction F perpendicular with corner vertical line0。F0Direction and F2It is identical, therefore set it and make a concerted effort as F3.This is made a concerted effort can
The power F being decomposed into horizontal direction4Power F vertically upward5, F4So that the angle of V-structure 3 changes, when angle increases
When, horizontal pull F caused by tension spring 51Increase, works as F4More than F1When angle continue to increase, until F4Equal to F3When support frame
Keep current elastic stage, finally occur a force self-balanced phenomenon at this point for each driving wheel 1, i.e., horizontal direction to
Left power F1The right power F with horizontal direction4It is equal, horizontal resultant 0, on vertical direction, normal pressure FNRubbed caused by pinch roller
Force of sliding friction F of the power with driving wheel in motion0The power F of in the vertical direction5It is equal with the half G of dolly gross weight, so as to
It is 0 to make a concerted effort on vertical direction, and dolly may remain on wall without dropping.
Road wheel 6 is moved horizontally under the driving of motor in external corner, due to the universal wheel used, when the branch of robot
When support angle changes, road wheel 6 can also enter line slip toward both sides, similarly, when robot travels forward, driving wheel
1 can move horizontally in external corner 8, realize climbing sports of the robot on the external corner 8, and its motion process is as shown in Figure 6.
Example two：
Robot overall structure is identical with example one, as shown in Figure 1.In this example, robot makees level on external corner 8
Climbing sports, two sides of the external corner 8 are respectively with the horizontal 0 degree and 90 degree, as shown in Figure 7.
In fig. 8, such a application is subjected to force analysis.On the vertical plane, pulling force F of the tension spring 5 to wheel1It can divide
Solve in horizontal direction to the pressure F of metopeNWith the F on gravity direction6, FNMake driving wheel 1 have in the stationary case vertically to
On stiction F2, providing power to driving wheel 1 by motor 2 makes driving wheel 1 and direction of pull reverse motions, so as to be formed
Force of sliding friction F vertically upward0, itself and F2Make a concerted effort be F3, direction is vertically upward.When driving wheel 1 moves, the folder of support frame
Angle changes, F1Change cause F3And F6Change, work as F3Same F6When making a concerted effort equal of gravity G, vertical direction are made a concerted effort
For 0, finally a force self-balanced phenomenon occurs in driving wheel 1；In the horizontal plane, the pulling force F of tension spring 51It can be analyzed to water
Flat F to the left6’Pulling force F vertically upwardn, providing power to driving wheel 1 by motor 2 makes driving wheel 1 and direction of pull phase
Counter-movement, so as to form horizontal force of sliding friction F to the left0’, work as FnIt is equal with gravity G ', F0’With F6’It is horizontal and vertical when equal
Nogata to make a concerted effort be 0, in a poised state, dolly may remain on wall without dropping.
Road wheel 6 is moved horizontally under the driving of motor in the external corner 8, due to the universal wheel used, works as robot
Support frame angle when changing, road wheel 6 can also enter line slip toward both sides, similarly, when robot travels forward, drive
Driving wheel 1 can be moved horizontally along external corner 8, realize horizontal climbing sports of the robot on the external corner 8, its motion process is such as
Shown in Fig. 9.
Example three：
Robot overall structure is identical with example one, as shown in Figure 1.In this example, robot makees level on external corner 8
Climbing sports, for a line of external corner 8 in horizontal plane into the angle (upper corner face) for being less than 180 degree more than 90 degree, another side is more than 180
Corner face under angle of the degree less than 270 degree, as shown in Figure 10.
In fig. 11, we will apply in this and carry out force analysis.On upper corner face, gravity G and tension spring 5 are produced
Raw pulling force can be analyzed to vertically with the pressure of metope and along the downward component of metope, pressure resultant force FNThe sum downward along metope
Power is can F7。FNDriving wheel 1 is set to have stiction F vertically upward in the stationary case2, carried by motor 2 to driving wheel 1
Make driving wheel 1 and direction of pull reverse motions for power, so as to be formed along the upward force of sliding friction F of metope0, itself and F2Conjunction
Power is F3, direction is upward along metope.The angle of this support frame of making a concerted effort changes, and when angle increases, tension spring 5 produces
Horizontal pull F1Increase, works as F3Equal to F7When support frame keep current elastic stage, at this point for driving wheel 1 in upper metope
There is a force self-balanced phenomenon；In lower metope, gravity can be analyzed to along the oblique left power of metope and the F perpendicular to metope8, draw
The pulling force F of power spring1It is decomposed into the pulling force F perpendicular to metopenWith along the oblique right power F of metope6’,F2’So that support frame deforms,
So that the pulling force F of tension spring1Increase, FnEqual to F8, F2’Equal to F6’When, Whole power 0, dolly may remain in wall
On without dropping.
Road wheel 6 is moved horizontally under the driving of motor in the external corner 8, due to the universal wheel used, works as robot
Support frame angle when changing, road wheel 6 can also enter line slip toward both sides, similarly, when robot travels forward, drive
Driving wheel 1 can be moved horizontally along external corner 8, realize horizontal climbing sports of the robot on the external corner 8, its motion process is such as
Shown in Figure 12.
Finally illustrate, preferred embodiment above is merely illustrative of the technical solution of the present invention and unrestricted, although logical
Cross above preferred embodiment the present invention is described in detail, it is to be understood by those skilled in the art that can be
Various changes are made to it in form and in details, without departing from claims of the present invention limited range.
Claims (5)
- A kind of 1. more adaptation external corner climbing robots, it is characterised in that：Including support and it is arranged at least one attached on support Structure and action structure, the attaching structure includes left socle I and right support I and is symmetricly set on left socle I and the right side Driving wheel on support I, the left socle I and right support I are hinged with support, between angle be less than external corner, the He of left socle I A prestretching power apparatus I is provided between right support I, the wheel face of the driving wheel is tangent with metope and is driven by motor I, goes out axis It is parallel with external corner crest line；The action structure includes left socle II and right support II and is arranged on left socle II and right support II On road wheel, the left socle II and right support II be hinged with support, between angle be less than external corner, left socle II and the right side A prestretching power apparatus II is provided between on support II, the wheel face of the road wheel is tangent with metope and is driven by motor II, goes out Axis is vertical with external corner crest line；The driving wheel and road wheel are universal wheel.
- 2. more adaptation external corner climbing robots according to claim 1, it is characterised in that：The attaching structure is V-type knot Structure, the support include connecting shaft, and the connecting shaft is arranged at the fulcrum of V-structure parallel to external corner crest line, the He of left socle I Right support I is hinged the both sides for forming V-structure with connecting shaft respectively.
- 3. more adaptation external corner climbing robots according to claim 2, it is characterised in that：The action structure is also V-type Structure, left socle II and right support II are respectively a pair with the be hinged both sides for forming V-structure of connecting shaft, the road wheel, point It is not symmetricly set on left socle II and right support II.
- 4. more adaptation external corner climbing robots according to claim 1, it is characterised in that：The universal wheel includes movable leg Wheel and rigid castors, the rigid castors connect motor, and the movable castor is arranged in rigid castors, the rotation of movable castor Axle and rigid castors to go out axis vertical.
- 5. more adaptation external corner climbing robots according to claim any one of 1-4, it is characterised in that：The pretension dress Put I and prestretching power apparatus II be tension spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711064610.8A CN107651032B (en) | 2017-11-02 | 2017-11-02 | Multi-adaptation external corner climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711064610.8A CN107651032B (en) | 2017-11-02 | 2017-11-02 | Multi-adaptation external corner climbing robot |
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| Publication Number | Publication Date |
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| CN107651032A true CN107651032A (en) | 2018-02-02 |
| CN107651032B CN107651032B (en) | 2023-11-14 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711064610.8A Active CN107651032B (en) | 2017-11-02 | 2017-11-02 | Multi-adaptation external corner climbing robot |
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| Country | Link |
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| CN (1) | CN107651032B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438074A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism that chops at a tree of working at height |
| CN108438075A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism for the robot that chops at a tree |
| CN109778694A (en) * | 2019-03-19 | 2019-05-21 | 重庆大学 | Bridge cable tower structure on-line checking reparation climbing robot |
| CN110712211A (en) * | 2019-11-15 | 2020-01-21 | 橙色云设计有限公司 | Pole-climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108438074A (en) * | 2018-03-23 | 2018-08-24 | 广东电网有限责任公司清远供电局 | A kind of climbing mechanism that chops at a tree of working at height |
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| CN109778694A (en) * | 2019-03-19 | 2019-05-21 | 重庆大学 | Bridge cable tower structure on-line checking reparation climbing robot |
| CN110712211A (en) * | 2019-11-15 | 2020-01-21 | 橙色云设计有限公司 | Pole-climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107651032B (en) | 2023-11-14 |
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