CN107972755A - Container climbing robot - Google Patents
Container climbing robot Download PDFInfo
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- CN107972755A CN107972755A CN201711454912.6A CN201711454912A CN107972755A CN 107972755 A CN107972755 A CN 107972755A CN 201711454912 A CN201711454912 A CN 201711454912A CN 107972755 A CN107972755 A CN 107972755A
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- shield arm
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- climbing robot
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- 230000009194 climbing Effects 0.000 title claims abstract description 59
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 238000000034 method Methods 0.000 claims description 9
- 229910000831 Steel Inorganic materials 0.000 claims description 6
- 230000033001 locomotion Effects 0.000 claims description 6
- 230000008569 process Effects 0.000 claims description 6
- 239000010959 steel Substances 0.000 claims description 6
- 244000061408 Eugenia caryophyllata Species 0.000 claims description 2
- 235000016639 Syzygium aromaticum Nutrition 0.000 claims description 2
- 238000001179 sorption measurement Methods 0.000 abstract description 11
- 239000003795 chemical substances by application Substances 0.000 description 57
- 238000010521 absorption reaction Methods 0.000 description 14
- 230000006870 function Effects 0.000 description 9
- 238000007689 inspection Methods 0.000 description 5
- 230000005389 magnetism Effects 0.000 description 5
- 239000000463 material Substances 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 238000010276 construction Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000000203 mixture Substances 0.000 description 3
- 238000004806 packaging method and process Methods 0.000 description 3
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000005260 corrosion Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 239000003292 glue Substances 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 229910052742 iron Inorganic materials 0.000 description 1
- 230000003137 locomotive effect Effects 0.000 description 1
- 230000003014 reinforcing effect Effects 0.000 description 1
- 230000003068 static effect Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
- 238000012795 verification Methods 0.000 description 1
- 238000012800 visualization Methods 0.000 description 1
Classifications
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention discloses a kind of climbing robot, including：Main body；Return pulley, the return pulley can be pivotally connected to the main body；Active big shield arm, one end of the active big shield arm can be pivotally connected to the main body, and the other end of the active big shield arm is provided with leading end；It is characterized in that：The at one end that can be pivotally connected to the main body of the active big shield arm is provided with driving mechanism, enable the active big shield arm to be switched to certain angle relative to the main body and be maintained at the angle, the leading end of the active big shield arm is directed toward predetermined direction.The magnetic adsorption wall climbing walking of wheel type mobile is realized, the wall of delivery of container can be ascended.
Description
Technical field
The present invention relates to a kind of inspection of containers robot, belong to field of safety check.The robot is used in customs's container
Kinds of goods being checked and detecting.
Background technology
When customs checks container class cargo at shipping clearance scene, still based on dependence manually, particularly
When cargo is more in case, the human and material resources consuming for moving cargo is huge.
Customs inspection climbing robot is the special purpose robot developed based on customs inspection business needs.Robot passes through hair
Wave its compact flexibly, anti-corrosion gas defence, adapt to the mechanical properties such as a variety of environment, realize and be not readily accomplished or more difficult completion in people
Examination work under small space, adverse circumstances；By playing the system features such as its intelligent, visualization, realize remote control,
The auxiliary such as instant analysis law enforcement function.
Climbing robot (wall climbing robot) be can climb and fulfil assignment in perpendicular walls it is automatic
Change robot.Climbing robot is also known as wall-surface mobile robot, because vertical walls operation exceeds the limit of people, therefore in state
Limit operation robot is also known as outside.Climbing robot must possess absorption and move two basic functions, and common absorption side
Formula has two kinds of negative-pressure adsorption and permanent magnetic suck.Wherein negative pressure mode can be adsorbed on wall by producing negative pressure in sucker,
From the limitation of wall surface material；Magnetic suck mode then has permanent magnet and electromagnet two ways, is only applicable to absorption magnetic conductivity wall
Face.
The most important feature of climbing robot is that robot can overcome gravity, in certain gradient, vertically
Or there is static and mobile ability on the wall to stand upside down.Climbing robot suction type mainly includes magnetic suck, bears at present
Pressure absorption, propeller push, glue adsorbs etc..Container and van-type container car major part involved by customs supervision are magnetic conduction face
Material (such as corrugation color steel) makes, and negative-pressure adsorption can not provide enough suction, and such case is adapted to magnetic adsorption wall climbing machine
Device people applies, and magnetic suck mode can produce very big adsorption capacity, from the limitation in wall convex-concave or crack.Therefore magnetic adsorption wall climbing
Robot is adapted to customs's container interior examination.Container interior often has corrugated design, and is possible to that cross reinforcing is housed,
Robot needs have certain obstacle climbing ability.The mode of robot examination is to be put into from container access opening top, and with straight line path
Footpath enters container interior, returns again to inlet afterwards to the end, by the video of container interior or image information with wireless in operational process
The mode of transmission feeds back to control box and is provided with customs officer's examination.
Current such robot can only work in a plane, must manually be grasped if changing to the work of another face
Carry out changing face.
Climbing robot is by locomotive function point mainly sucked type, wheel type and crawler type.Sucked type can cross over very little
Obstacle, but translational speed is slow.Wheel type translational speed is fast, control is flexible, but maintains certain adsorption capacity more difficult.Crawler type pair
Wall is adaptable, and the area that lands is big, but is not easy to turn.And the obstacle crossing ability of these three move modes is all very weak, it is impossible to
Adapt to the operation of creeping at wall and top inside and outside container.
Need to be based on robot chassis actuation techniques, merge magnetic suck method, there is provided special robot architecture, so as to
Adapt to the operations such as the corner turning of corrugated structure and inner wall of inner wall of container.
The examination of customs container is mainly solved in the case of case is not drawn, to the checking of the article in various TEU (Twenty-foot Equivalent Unit)s,
Verification.Have the function of container roof, side wall creep and the conversion between different walls is creeped.
The content of the invention
The present invention is main in order to realize that the inner wall to different containers adsorbs examination, and light-weight, convertible in view of body
Wall such as is creeped at the factor.
The present invention mainly includes：The sliding structural chassis of difference containing permanent magnetic wheels, the front and rear structure for turning to big shield arm：
The present invention includes herein below：
1st, there are two wheel constructions and combines the lightweight climbing robot structure of turnover big shield arm configuration composition.
2nd, have the function of that convertible wall is creeped.
Have the function of to climb from top surface sideways.Specific method is：
When robot advances in top surface, and excessively to arrive side wall, preceding big shield arm has according to robot apart from side
Distance rotate guiding function.When the robot slowly close wall to be changed, big shield arm stretches upwards.Guided robot is to side
Move in face.
When robot advances in side, and excessively to arrive top surface wall, preceding big shield arm has according to robot apart from side
Distance rotate guiding function.When the robot slowly close wall to be changed, big shield arm stretches upwards.Guided robot is to side
Move in face.
The climbing robot structure of the present invention has the lightweight knot that two wheel constructions combine turnover big shield arm configuration composition
Structure；The climbing robot of the present invention has the function of creeping for convertible wall.
It is an object of the invention to the drawbacks described above for the prior art, the present invention proposes a kind of magnetically adsorbed wall-climbing machine
People, it is intended to solve the technical problem of customs inspection compartment climbing robot in the prior art.
To achieve the above object, the present invention provides following technical solution：
A kind of climbing robot, including：
Main body；
Return pulley, the return pulley can be pivotally connected to the main body；
Active big shield arm, one end of the active big shield arm can be pivotally connected to the main body, and the active big shield arm
The other end be provided with leading end；
It is characterized in that：
The at one end that can be pivotally connected to the main body of the active big shield arm is provided with driving mechanism so that described
Active big shield arm can be switched to certain angle relative to the main body and be maintained at the angle, by drawing for the active big shield arm
Lead end and be directed toward predetermined direction.
The climbing robot by the rotation of return pulley and driving mechanism drive active strip arm to be pivoted realize from
One wall moves to another wall.
One wall and another described wall are two intersecting angled planes.The certain angle can
Think 5 degree to 179 degree.The climbing robot is particularly suitable for moving between angle is the wall between 50 degree to 130 degree.
The return pulley of the climbing robot can be pivotally connected to the main body by the sliding structural chassis of difference.
The return pulley for stating climbing robot is magnet pulley, is embedded with what is be angularly distributed on the periphery of the return pulley
Magnet steel.
The return pulley for stating climbing robot is Double-wheel structure.
The climbing robot further includes driven big shield arm, and the driven big shield arm is respectively arranged at described with the active big shield arm
The opposite sides of main body, one end of the driven big shield arm can be pivotally connected to the main body, and the driven big shield arm
The other end is provided with contact jaw.
The quantity of the active big shield arm is two, and described two active strip arms are arranged on the opposite sides of the main body.
The leading end of the active big shield arm has circular cross-section.
The leading end of the active big shield arm includes guide wheel, and the guide wheel is magnet pulley, in the circumference of the magnet pulley
The permanent magnet being angularly distributed is embedded with face.
The leading end of the active big shield arm includes guide wheel, and the guide wheel is magnet pulley, and the magnet pulley is Electromagnetic wheel.
In motion process of the robot in each wall, the leading end of the active big shield arm is adsorbed on wall all the time.
In robot after a wall is completely transferred to another wall, the leading end of the active big shield arm is from wall
Upper disengaging.
Beneficial effects of the present invention：The magnetic adsorption wall climbing walking of wheel type mobile is realized, delivery of container can be ascended
Wall, reaches the roof of container from side wall or the side wall of container is reached from roof.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, drawings in the following description are only some implementations of the present invention
Example, for those of ordinary skill in the art, without creative efforts, can also obtain according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the structure diagram of container climbing robot according to embodiments of the present invention；
Fig. 2,3,4A and 4B are the signals that container climbing robot according to embodiments of the present invention turns to side wall from roof
Figure；With
Fig. 5,6A, 6B, 7A and 7B are that container climbing robot according to embodiments of the present invention turns to roof from side wall
Schematic diagram.
Embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, all other embodiment that those of ordinary skill in the art are obtained, belongs to what the present invention protected
Scope.
Fig. 1 is the structure diagram of container climbing robot according to embodiments of the present invention.As shown in fig. 1, wall is climbed
Robot adsorbs on 3 surface of container roof with standing upside down vertically.Climbing robot includes main body 1, return pulley 2 and big shield arm.
According to one embodiment, container climbing robot according to embodiments of the present invention is two wheel constructions and combination can be turned over
The lightweight climbing robot structure of the big shield arm configuration composition turned.Specifically, the container climbing robot of the embodiment of the present invention
Including wall-climbing device human agent 1, such as communication antenna, image antenna and shooting can be installed on wall-climbing device human agent 1
First-class inspection control device.The bottom of wall-climbing device human agent 1 is provided with return pulley 2, is provided with two in this embodiment
A return pulley 2, but a return pulley 2 is provided with another embodiment, as needed, the bottom of other quantity can also be set
Wheel.
According to embodiments of the present invention, return pulley 2 is magnet pulley, it includes the driving wheel being connected with driving motor output shaft,
The magnet steel being angularly distributed is embedded with the periphery of driving wheel.Magnet pulley can be permanent magnetic wheels or Electromagnetic wheel.
In the case that magnet pulley is Electromagnetic wheel, may be controlled by being powered and powering off the magnet pulley whether have magnetism, with collection
Vanning adsorption disengages absorption.
Connected between wall-climbing device human agent 1 and return pulley 2 by the sliding structural chassis of difference.Poor Slipped Clove Hitch structure is also referred to as slippage structure
Or two wheel guide robot type of drive.If two wheels are driven with speed in the same direction, robot will be along linear rows
Into.If two wheels are rotated with identical speed in the opposite direction, robot will be rotated around the central point of axis.It is no
Then, depending on rotating speed and its direction, pivot may fall appointing on the line limited by two contact points of tire
It is where square.When robot advances on straight line, pivot is away from robot infinity.Since the direction of robot depends on two
The speed of rotation of a driving wheel and direction, so this tittle accurately should be sensed and controlled.Differential steering robot is similar
The differential gear used in automobile, the rotating speed of two wheels can be different, but unlike differential gear transmission system, it is poor
Fast steering will make two wheels all be powered.Differential wheeled robot is widely used in robot technology, because their movement
It is easy to program, and can controls well.
Differential drive is a two wheel drive systems, and each wheel has independent actuator.Linear motion is to pass through
Driving wheel is rotated in the same direction with identical speed to realize.Rotate in place be by with identical speed opposite
Direction rotates what driving wheel was completed.Arbitrary movement can be realized by the angular speed and/or direction of dynamic modification driving wheel
Path.However, in fact, by motion path being embodied as rectilinear translation and rotating alternate sequence reduces complexity on the spot
Property.Make differential driving robot may be highly difficult to move along a straight line.Since driving wheel is independent, if they are not with complete
Identical speed rotates, and robot will turn to side.Due to the fine difference of motor, differential friction and car in transmission system
The differential friction of wheel ground connection interface so that it is a challenge that driving motor is rotated with identical speed.To ensure that robot exists
Straight-line travelling, it may be necessary to often adjust motor speed.This may need software and assembler language programming based on interruption.There is standard
True wheel position information is also very important.
Return pulley 2 is pivotably connected to wall-climbing device human agent 1, and return pulley 2 drives wall-climbing device human agent 1 in container
Walk on inner wall.As shown in Figure 1, return pulley 2 is adsorbed on the roof of container by magnet pulley, wall-climbing device human agent 1 is big
Cause vertically to stand upside down perpendicular to the top wall surface of container so that the camera installed on wall-climbing device human agent 1 can be with
Check the cargo in container.
Big shield arm is additionally provided with wall-climbing device human agent 1.According to embodiments of the present invention, as shown in Figure 1, in wall-climbing device
Two big shield arms are provided with human agent 1, are active big shield arm and driven big shield arm respectively.But in another embodiment, can be only
It is provided with an active big shield arm.As needed, the big shield arm of other quantity can also be set.
As shown in Figure 1, active big shield arm and driven big shield arm are symmetrically disposed on the left and right sides of wall-climbing device human agent 1.
Active big shield arm includes the leading end 7 of active big shield arm, the armed lever 8 of active big shield arm, the hub switch side 9 of active big shield arm.Actively
The hub switch side 9 of big shield arm can be pivotally arranged on wall-climbing device human agent 1.The pivot of the hub switch side 9 of active big shield arm being capable of band
The leading end 7 of active big shield arm and the armed lever 8 of active big shield arm of dynamic active big shield arm are pivoted relative to wall-climbing device human agent 1.Actively
The leading end 7 of big shield arm is arranged on the at one end opposite with the hub switch side 9 of active big shield arm of the armed lever 8 of active big shield arm.According to this hair
Bright embodiment, as shown in Figure 1, the leading end 7 of active big shield arm has circular contact face, which is magnetic, can be forever
It is magnetic or electromagnetically.
According to embodiments of the present invention, the leading end 7 of active big shield arm can be guide wheel, as needed, can also use it
The leading end of his shape, such as flat sliding block, or the leading end of ten hexagons.
Driven big shield arm includes the contact jaw 4 of driven big shield arm, the armed lever 5 of driven big shield arm, the hub switch side 6 of driven big shield arm.It is driven
The hub switch side 6 of big shield arm can be pivotally arranged on wall-climbing device human agent 1.The pivot of the hub switch side 6 of driven big shield arm allow from
The contact jaw 4 of dynamic big shield arm and the armed lever 5 of driven big shield arm are pivoted relative to wall-climbing device human agent 1, the hub switch side 6 of driven big shield arm
Translation can also drive contact jaw 4 and armed lever 5 to move.The contact jaw 4 of driven big shield arm be arranged on the armed lever 5 of driven big shield arm with from
Move the opposite at one end in the hub switch side 6 of big shield arm.According to embodiments of the present invention, as shown in Figure 1, the contact jaw 4 of driven big shield arm has
Circular contact face, the contact surface are magnetic, can be permanent magnetisms or electromagnetically.
According to embodiments of the present invention, the contact jaw 4 of driven big shield arm can be that guide wheel is as needed, can also use other
The contact jaw of shape.
According to embodiments of the present invention, active big shield arm and driven big shield arm difference lies in, active big shield arm has driving mechanism, and
Driven big shield arm does not have driving mechanism.The hub switch side 9 of driving mechanism driving active big shield arm rotates, to drive active big shield arm to move,
So that when wall-climbing device human agent 1 is advanced to from container roof 3 close to container side wall 10, the leading end of active big shield arm
7 guide wall-climbing device human agent 1 to container side wall 10 from container roof 3.
According to another embodiment, two actives can be respectively set on the left and right sides of wall-climbing device human agent 1
Big shield arm, and it is not provided with driven big shield arm so that climbing robot can be drawn in the both direction of left and right by active big shield arm
Lead.
With reference to Fig. 2,3,4A and 4B describes container climbing robot according to embodiments of the present invention in detail and is turned to from roof
The process of side wall.
As shown in Fig. 2, the return pulley 2 of wall-climbing device human agent 1 by magnetic absorption on container roof 3, wall-climbing device
Human agent 1 is approximately perpendicular to the handstand of container roof 3 and sets.It is arranged on the active big shield arm on the right side of wall-climbing device human agent 1
Hub switch side 9 drives the armed lever 8 of active big shield arm and the leading end 7 of active big shield arm towards container side wall by driving motor to rotate
10 rotate.As shown in Fig. 2, the leading end 7 of active big shield arm passes through on magnetic absorption to container side wall 10.At this time, wall-climbing device
Human agent 1 advances towards container side wall 10 together, and direct of travel is as shown by arrow A, does not put on the left side of wall-climbing device human agent 1
The hub switch side 6 of the driven big shield arm of side drives the armed lever 5 of driven big shield arm and the contact jaw 4 of driven big shield arm to followed by climbing robot master
Body 1 is advanced towards container side wall 10 together.The contact jaw 4 of driven big shield arm also have magnetism, the contact jaw 4 of driven big shield arm thus
Absorption is on container roof 3.
As shown in figure 3, the bottom contact point of the return pulley 2 of wall-climbing device human agent 1 by magnetic absorption in container roof 3
On, the sidepiece contact point of the return pulley 2 of wall-climbing device human agent 1 by magnetic absorption on container side wall 10, climbing robot
Main body 1 is approximately perpendicular to the handstand of container roof 3 and sets.The leading end 7 of active big shield arm guides wall-climbing device human agent 1 in packaging
Advance on case side wall 10.As shown in figure 3, at this time, it is arranged on the hub switch side 6 of the driven big shield arm in the left side of wall-climbing device human agent 1
The armed lever 5 of driven big shield arm and the contact jaw 4 of driven big shield arm is driven to followed by wall-climbing device human agent 1 together towards container side wall
10 advance, and direct of travel is as shown by arrow A.The contact jaw 4 of driven big shield arm is still adsorbed on container roof 3.
As shown in Figure 4 A, the return pulley 2 of wall-climbing device human agent 1 climbs wall machine by magnetic absorption on container side wall 10
Device human agent 1 is approximately perpendicular to container side wall 10 and sets, and is arranged on the camera on wall-climbing device human agent 1 still towards collection
The direction of cargo in vanning so that the camera installed on wall-climbing device human agent 1 can check the cargo in container.
The hub switch side 9 of the active big shield arm on the right side of wall-climbing device human agent 1 is arranged on by driving motor to rotate, drives active big shield arm
The leading end 7 of armed lever 8 and active big shield arm is rotated towards container bottom wall.As shown in Figure 4 A, the leading end 7 of active big shield arm is directed toward collection
Vanning bottom wall.At this time, the hub switch side 6 for being arranged on the driven big shield arm in the left side of wall-climbing device human agent 1 drives the arm of driven big shield arm
The contact jaw 4 of bar 5 and driven big shield arm followed by wall-climbing device human agent 1 and advance together towards container bottom wall, and direct of travel is such as
Shown in arrow R.The contact jaw 4 of driven big shield arm also has magnetism, the contact jaw 4 of driven big shield arm thus adsorb in container side wall 10
On.As shown in Figure 4 A, the leading end 7 of active big shield arm departs from side wall 10, it is possible to reduce wall-climbing device human agent 1 is on side wall 10
The resistance of advance.
As shown in Figure 4 B, there is provided another embodiment of side wall 10 is climbed to from roof 3, it is with Fig. 4 A differences：When from
After roof 3 climbs to side wall 10, the leading end 7 of the active strip arm of the robot in Fig. 4 B is adsorbed always on side wall 10, and
The leading end 7 of active strip arm in embodiment in Fig. 4 A is disengaged with side wall 10.The leading end 7 of active strip arm is adsorbed in side always
The article in container can be bumped against due to the disengaging with side wall 10 to avoid active strip arm on wall 10.
Container climbing robot according to embodiments of the present invention is described in detail from side wall with reference to Fig. 5,6A, 6B, 7A and 7B
Turn to the process of roof.
In this embodiment, active big shield arm is arranged on the left side of wall-climbing device human agent 1, and driven big shield arm is arranged on and climbs
On the right side of wall robot body 1.
As shown in figure 5, the return pulley 2 of wall-climbing device human agent 1 by magnetic absorption on container side wall 10, wall-climbing device
Human agent 1 is approximately perpendicular to container side wall 10 and sets, and is arranged on the camera on wall-climbing device human agent 1 still towards packaging
The direction of cargo in case so that the camera installed on wall-climbing device human agent 1 can check the cargo in container.It is main
The leading end 7 of dynamic big shield arm guides wall-climbing device human agent 1 to advance on container roof 3.As shown in figure 5, at this time, it is arranged on and climbs
The hub switch side 6 of the driven big shield arm on the right side of wall robot body 1 drives the armed lever 5 of driven big shield arm and the contact jaw 4 of driven big shield arm
It followed by wall-climbing device human agent 1 to advance towards container roof 3 together, direct of travel is as shown by arrow A.Driven big shield arm connects
Contravention 4 is still adsorbed on container side wall 10.
As shown in Figure 6A, the return pulley 2 of wall-climbing device human agent 1 by magnetic absorption on container roof 3, wall-climbing device
Human agent 1 is approximately perpendicular to container roof 3 and sets, and is arranged on the camera on wall-climbing device human agent 1 still towards packaging
The direction of cargo in case so that the camera installed on wall-climbing device human agent 1 can check the cargo in container.If
Put in the hub switch side 9 of the active big shield arm in the left side of wall-climbing device human agent 1 by driving motor to rotate, drive the arm of active big shield arm
The leading end 7 of bar 8 and active big shield arm rotates.As shown in Figure 6A, at this time, it is arranged on the driven of the right side of wall-climbing device human agent 1
The hub switch side 6 of big shield arm drives the armed lever 5 of driven big shield arm and the contact jaw 4 of driven big shield arm to followed by wall-climbing device human agent 1 together
Towards left lateral into direct of travel is as shown by arrow A, and the active big shield arm in the left side of wall-climbing device human agent 1 on container roof 3
Leading end 7 can depart from from roof 3.The contact jaw 4 of driven big shield arm is adsorbed between container roof 3 and container side wall 10
Angular position at.The embodiment departed from according to the leading end 7 of active big shield arm from roof 3, it is possible to reduce climbing robot master
The resistance that body 1 advances on roof 3.
As shown in Figure 6B, there is provided another embodiment of roof 3 is climbed to from side wall 10：When from side wall 10 climb to roof 3 with
Afterwards, the leading end 7 of the active strip arm of robot as shown in Figure 6B adsorbs on roof 3 always, and implementation as shown in Figure 6A
Example is that active strip arm leading end 7 is disengaged with roof 3.For in the case of on roof 3, the leading end 7 of active strip arm adsorbs always
On roof 3 article in container can be bumped against due to being separated from roof 3 to avoid the leading end 7 of active strip arm.
Furthermore it is also possible to strengthen adsorption capacity of the robot to roof, prevent robot from falling down from roof.
As shown in Figure 7 A, the return pulley 2 of wall-climbing device human agent 1 by magnetic absorption on container roof 3, wall-climbing device
Human agent 1 is approximately perpendicular to the handstand of container roof 3 and sets.It is arranged on the active big shield arm in the left side of wall-climbing device human agent 1
Hub switch side 9 drives the armed lever 8 of active big shield arm and the leading end 7 of active big shield arm towards a left side for container by driving motor to rotate
The side wall of side rotates, and the side wall 10 shown in the side wall and attached drawing in the left side of container is set on the contrary.As shown in Figure 7 A, actively
The leading end 7 of big shield arm is directed toward the direction of container left side wall.At this time, it is arranged on the driven big shield on the right side of wall-climbing device human agent 1
The hub switch side 6 of arm drives the armed lever 5 of driven big shield arm and the contact jaw 4 of driven big shield arm to followed by the court together of wall-climbing device human agent 1
Advance to container left side wall, direct of travel is as shown by arrow A.The contact jaw 4 of driven big shield arm also has magnetism, driven big shield arm
Contact jaw 4 is thus adsorbed on container roof 3.As shown in Figure 7 A, the leading end 7 of active big shield arm departs from from roof 3, can subtract
The resistance that few wall-climbing device human agent 1 advances on roof 3.
As shown in Figure 7 B, there is provided another embodiment of roof 3 is climbed to from side wall 10：When from side wall 10 climb to roof 3 with
Afterwards, the leading end 7 of the active strip arm of robot as shown in Figure 7 B adsorbs on roof 3 always, and reality as shown in Figure 7 A
The leading end 7 for applying the active strip arm of example is disengaged with roof 3.For in the case of on roof 3, the leading end 7 of active strip arm is always
Adsorbing can bump against in container on roof 3 to avoid the leading end 7 of active strip arm due to departing from roof 3 so as to drop down
Article.Furthermore it is also possible to strengthen adsorption capacity of the robot to roof, prevent robot from falling down from roof.
According to one embodiment of present invention, ultrasound and laser range sensor are set in main body left and right sides, can be surveyed
Away from realizing automatic obstacle avoiding.
Magnet pulley includes the driving wheel being connected with driving motor output shaft, and isogonism is embedded with the periphery of driving wheel
Spend the magnet steel of distribution.
Main body 1 is equipped with communication antenna and image antenna, is remotely controlled using 2.4G radio frequency signals, can be by robot
The data at end pass remote control end back.
Magnet pulley is bonded with inner wall of container surface, and the magnet steel that material is permanent magnet is evenly distributed with each magnet pulley,
And then it can ensure that robot adsorbs the container iron inner wall surface in out-of-flatness well in the process of walking.
Main body is equipped with camera, records the image information of each position, and the three road images that camera obtains can lead to
Cross G radiofrequency signals and transfer back to remote controler end, assist Customs Officer to check, examination.
Robot body uses firm material, can resist general level and scratch, collides, falls, not influence system job.
The foregoing is only a preferred embodiment of the present invention, is not intended to limit the scope of the present invention, it is all
All any modification, equivalent and improvement made within the spirit and principles in the present invention etc., should be included in the protection of the present invention
Within the scope of.
Claims (13)
1. a kind of climbing robot, including：
Main body；
Return pulley, the return pulley can be pivotally connected to the main body；
Active big shield arm, one end of the active big shield arm can be pivotally connected to the main body, and the active big shield arm is another
One end is provided with leading end；
It is characterized in that：
The at one end that can be pivotally connected to the main body of the active big shield arm is provided with driving mechanism so that the active
Big shield arm can be switched to certain angle relative to the main body and be maintained at the angle, by the leading end of the active big shield arm
It is directed toward predetermined direction.
2. climbing robot according to claim 1, it is characterised in that：The climbing robot by the rotation of return pulley with
And driving mechanism driving active strip arm is pivoted and moves to another wall to realize from a wall.
3. climbing robot according to claim 2, it is characterised in that：One wall and another described wall are
Two intersecting angled planes.
4. climbing robot according to claim 1, it is characterised in that：The return pulley of the climbing robot passes through poor Slipped Clove Hitch
Structure chassis can be pivotally connected to the main body.
5. climbing robot according to claim 1, it is characterised in that：The return pulley for stating climbing robot is magnetic
Take turns, the magnet steel being angularly distributed is embedded with the periphery of the return pulley.
6. climbing robot according to claim 1, it is characterised in that：The return pulley for stating climbing robot is two-wheel knot
Structure.
7. climbing robot according to claim 1, it is characterised in that：The climbing robot further includes driven big shield arm,
The driven big shield arm is respectively arranged at the opposite sides of the main body with the active big shield arm, and one end of the driven big shield arm can
The main body is pivotally connected to, and the other end of the driven big shield arm is provided with contact jaw.
8. climbing robot according to claim 1, it is characterised in that：The quantity of the active big shield arm is two, described
Two active strip arms are arranged on the opposite sides of the main body.
9. climbing robot according to claim 1, it is characterised in that：The leading end of the active big shield arm has circular cut
Face.
10. climbing robot according to claim 1, it is characterised in that：The leading end of the active big shield arm includes guiding
Wheel, the guide wheel is magnet pulley, and the permanent magnet being angularly distributed is embedded with the periphery of the magnet pulley.
11. climbing robot according to claim 1, it is characterised in that：The leading end of the active big shield arm includes guiding
Wheel, the guide wheel is magnet pulley, and the magnet pulley is Electromagnetic wheel.
12. climbing robot according to claim 1, it is characterised in that：Robot each wall motion process
In, the leading end of the active big shield arm is adsorbed on wall all the time.
13. climbing robot according to claim 1, it is characterised in that：It is completely transferred in robot from a wall
After another wall, the leading end of the active big shield arm departs from from wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711454912.6A CN107972755A (en) | 2017-12-27 | 2017-12-27 | Container climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711454912.6A CN107972755A (en) | 2017-12-27 | 2017-12-27 | Container climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107972755A true CN107972755A (en) | 2018-05-01 |
Family
ID=62008024
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201711454912.6A Pending CN107972755A (en) | 2017-12-27 | 2017-12-27 | Container climbing robot |
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| CN (1) | CN107972755A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109911048A (en) * | 2019-03-19 | 2019-06-21 | 武聚凤 | Climbing robot and control method |
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