CN108177703A - It is a kind of can obstacle detouring climbing robot and its obstacle-detouring method - Google Patents
It is a kind of can obstacle detouring climbing robot and its obstacle-detouring method Download PDFInfo
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- CN108177703A CN108177703A CN201810138585.1A CN201810138585A CN108177703A CN 108177703 A CN108177703 A CN 108177703A CN 201810138585 A CN201810138585 A CN 201810138585A CN 108177703 A CN108177703 A CN 108177703A
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- 230000009194 climbing Effects 0.000 title claims abstract description 126
- 238000000034 method Methods 0.000 title claims abstract description 18
- 230000007246 mechanism Effects 0.000 claims abstract description 208
- 239000000725 suspension Substances 0.000 claims abstract description 50
- 238000010521 absorption reaction Methods 0.000 claims description 11
- 238000001179 sorption measurement Methods 0.000 claims description 10
- 238000005086 pumping Methods 0.000 claims description 5
- 239000013013 elastic material Substances 0.000 claims description 3
- 230000000630 rising effect Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 7
- 241000252254 Catostomidae Species 0.000 description 4
- 239000011521 glass Substances 0.000 description 4
- 239000000463 material Substances 0.000 description 4
- 238000001514 detection method Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000003137 locomotive effect Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 241000592274 Polypodium vulgare Species 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000009659 non-destructive testing Methods 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
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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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Abstract
The invention discloses it is a kind of can obstacle detouring climbing robot and its obstacle-detouring method, including：This body support frame, adsorbing mechanism, vertical movement mechanism, suspension fork mechanism and traveling wheel；The quantity of adsorbing mechanism is at least two groups, and the quantity of vertical movement mechanism is corresponding with the quantity of adsorbing mechanism, and each adsorbing mechanism is connected by corresponding vertical movement mechanism with this body support frame；Several traveling wheels are connected by suspension fork mechanism with this body support frame, by traveling wheel can realize it is described can obstacle detouring climbing robot movement；This body support frame can support it is described can obstacle detouring climbing robot vertical movement mechanism and suspension fork mechanism.The present invention can the climbing robot of obstacle detouring can freely walk on vertical or inclined wall, there is stronger obstacle climbing ability, there is preferable harmony and stationarity, there is stronger load capacity, can be applicable to multiple fields.The obstacle-detouring method of the present invention can make climbing robot steadily surmount obstacles.
Description
Technical field
The invention belongs to climbing robot field, more particularly to it is a kind of can obstacle detouring climbing robot and its obstacle-detouring method.
Background technology
Climbing robot is the robot for referring to carry out operation in the environment such as vertical walls, it makees as the high-altitude limit
A kind of automated machine device of industry, very big benefit is brought to the mankind and industrial expansion, is mainly used for：
1. detection：Detection work is carried out to large-sized objects such as bridge, nuclear power station, pipeline, solar power plant, large-scale canisters
Make；
2. detection：Non-destructive testing to wind-power electricity generation, chemical industry etc.；
3. building：Reparation and maintenance of building etc.；
4. cleaning：The cleaning of high building glass curtain wall, large-scale wall surface, furred ceiling etc.；
5. transport：The transport of interior of building, such as fire department carry out rescue work using robotic delivery relief goods and materials
Make.
The research of climbing robot mainly has the following aspects now：
1. permanent magnetism crawler-type wall climbing robot, using being inlaid with permanent magnetic suck crawler belt as mobile mechanism, but this machine
Device people can only carry out operation in magnetic wall surface, and job area limitation is larger；
2. vacuum cap type climbing robot realizes the suction of robot in a manner that negative-pressure adsorption, sucker work alternatively
It is attached and mobile, but this robot may be only available for smooth wall surface, no obstacle crossing function；
3. cord-traction type climbing robot, robot body realizes machine without locomotive function by rope matching track
The movement of people, but this robot needs draft gear and track, increases manufacture difficulty and cost significantly, while it applies model
It encloses and is also limited to similar to place the working environments such as track such as high building；
4. Multi-legged Wall-climbing Robots, using Tui Zu formulas mobile mechanism, sufficient end is the radial type vacuum cup with shirt rim, is led to
The alternation movement of polypody is crossed, but this robot stabilization difference controls complexity simultaneously.
It is carried out in conclusion the walking mechanism of existing industry climbing robot is mostly the wheeled of magnetic suck, crawler type or wheel
Formula, common problem are：Do not have obstacle detouring locomotive function or obstacle detouring locomotivity be poor, the posture in Working motion and
Sports coordination is poor, it is impossible to meet the continuous robust motion of complicated track and Gesture；In addition, its load is relatively low, no
Have high load work capacity, it is not extensive so as to cause current climbing robot application range.
Invention content
The purpose of the present invention is to provide it is a kind of can obstacle detouring climbing robot and its obstacle-detouring method, to solve above-mentioned presence
The technical issues of.The present invention can the climbing robot of obstacle detouring can freely walk on vertical or inclined wall, have stronger
Obstacle climbing ability has preferable harmony and stationarity, has stronger load capacity, can be applicable to multiple fields.The present invention
Obstacle-detouring method climbing robot can be made steadily to surmount obstacles.
In order to achieve the above objectives, the present invention uses following technical scheme：
It is a kind of can obstacle detouring climbing robot, including：This body support frame, adsorbing mechanism, vertical movement mechanism, suspension fork mechanism and
Traveling wheel；The quantity of adsorbing mechanism is at least two groups, and the quantity of vertical movement mechanism is corresponding with the quantity of adsorbing mechanism, each
Adsorbing mechanism is connected by corresponding vertical movement mechanism with this body support frame, can be by described in by each adsorbing mechanism
Can obstacle detouring climbing robot adsorb on wall surface, by vertical movement mechanism can drive connection adsorbing mechanism lean near and far
From wall surface, adsorbing mechanism can replace by it is described can obstacle detouring climbing robot adsorb on wall surface；Several traveling wheels pass through
Suspension fork mechanism is connected with this body support frame, by traveling wheel can realize it is described can obstacle detouring climbing robot movement；Ontology
Stent can support it is described can obstacle detouring climbing robot vertical movement mechanism and suspension fork mechanism.
Further, adsorbing mechanism includes sucker stand and Pneumatic suction cup；Several Pneumatic suction cups are uniformly mounted on sucker branch
On frame.
Further, 14 Pneumatic suction cups are installed, Pneumatic suction cup is by elastic material on the sucker stand of each adsorbing mechanism
Material is made, and Pneumatic suction cup can be fitted closely with wall surface；Pneumatic suction cup is connected by pipeline with vaccum-pumping equipment.
Further, vertical movement mechanism includes cylinder；Cylinder is vertically installed between this body support frame and adsorbing mechanism, gas
The cylinder barrel end of cylinder is connect with this body support frame, and the piston end of cylinder is connected with adsorbing mechanism, and flexible by piston can be realized
Adsorbing mechanism relative to wall surface vertical movement.
Further, each suspension fork mechanism includes damper, wheel hub column and several transverse arms；The both ends difference of damper
It is connected with this body support frame and transverse arm；The both ends of each transverse arm are connected respectively with this body support frame and wheel hub column, wheel hub column
On traveling wheel is installed.
Further, the quantity of transverse arm is two, including Top Crossbeam and lower cross arm；The both ends of damper respectively with ontology branch
Frame is connected with the Top Crossbeam of suspension fork mechanism；One end of Top Crossbeam and lower cross arm is connected by axis pin and ear mount with this body support frame
It connects, the other end is connected by bulb bearing with wheel hub column, and wheel hub column is connected by axletree with traveling wheel, upper horizontal stroke
Arm and lower cross arm cooperation damper disclosure satisfy that it is described can obstacle detouring climbing robot obstacle detouring when traveling wheel bounce.
Further, bearing is installed, axletree is with bearing inner race by way of key between axletree and wheel hub column
Connection.
Further, traveling wheel includes wheel hub, wheel hub motor and tire；Wheel hub is connected by axletree with suspension fork mechanism
It connects, wheel hub motor and tire is installed on wheel hub, traveling wheel can be driven to rotate by wheel hub motor, energy is rotated by traveling wheel
It is enough drive described in can obstacle detouring climbing robot it is mobile and turn to.
It is a kind of can obstacle detouring climbing robot obstacle-detouring method, based on it is above-mentioned it is any can obstacle detouring climbing robot,
Specific steps include：
Step 1, the adsorbing mechanism far from obstacle works, by it is described can the climbing robot of obstacle detouring be adsorbed on wall surface；
Step 2, it is stopped close to the adsorbing mechanism of obstacle, adsorption capacity is no longer provided, by being connected with the adsorbing mechanism
The vertical movement mechanism connect lifts the adsorbing mechanism, lifts height and disclosure satisfy that adsorbing mechanism surmounts obstacles；
Step 3, drive traveling wheel, by traveling wheel drive described in can obstacle detouring climbing robot move, make what is be raised
Adsorbing mechanism surmounts obstacles；
Step 4, the vertical movement mechanism work being connected with the adsorbing mechanism being raised, drives the adsorbing mechanism being raised
It falls until being contacted with wall surface；
Step 5, the adsorbing mechanism that contacts with wall surface is fallen to described in step 4 to start to work, can will described in can obstacle detouring
Climbing robot be adsorbed on wall surface；
Step 6, drive traveling wheel, described in drive can obstacle detouring climbing robot movement, until next adsorbing mechanism is close
Obstacle；
Step 7, step 1 is repeated to 6, until all adsorbing mechanisms surmount obstacles.
It is a kind of can obstacle detouring climbing robot obstacle-detouring method, climbing robot include adsorbing mechanism, vertical movement mechanism,
This body support frame, suspension fork mechanism and traveling wheel, adsorbing mechanism connection vertical movement mechanism, vertical movement mechanism connect this body support frame,
This body support frame connects suspension fork mechanism, suspension fork mechanism connection traveling wheel；
The quantity of adsorbing mechanism is two groups, and every group of adsorbing mechanism includes 14 Pneumatic suction cups and 1 sucker stand, pneumatic to inhale
Disk is mounted on sucker stand, and Pneumatic suction cup is connected with vaccum-pumping equipment, can make described to climb wall by adsorbing mechanism
Robot is adsorbed on wall surface；
The quantity of vertical movement mechanism is corresponding identical with adsorbing mechanism, and every group of vertical movement mechanism includes one group of cylinder, gas
Cylinder includes 1 vertical cylinder piston and 1 vertical cylinder cylinder barrel, can promote adsorbing mechanism by vertical movement mechanism, make suction
Random structure surmounts obstacles；
This body support frame can support vertical movement mechanism and suspension fork mechanism；
The quantity of suspension fork mechanism is two groups, and every group of suspension fork mechanism includes 4 suspension transverse arm lifting lugs, 2 damper lifting lugs, 1
A lower cross arm, 1 Top Crossbeam, 4,1 dampers, 1 wheel hub column and 2 groups of bulb bearings；
The quantity of traveling wheel is two groups, respectively setting and the both sides of this body support frame, every group of traveling wheel include 1 tire, 1
Wheel hub, 1 wheel hub motor and 1 axletree can drive the climbing robot to move, by controlling wheel hub by traveling wheel
The rotating speed of motor can realize the steering of the climbing robot；
The specific steps of the obstacle-detouring method of climbing robot include：
Step 1,14 Pneumatic suction cups work of rear end adsorbing mechanism, starts vacuum equipment suction, makes in Pneumatic suction cup
Negative pressure is generated, rear end adsorbing mechanism sucks the climbing robot on wall surface；
Step 2,14 Pneumatic suction cups of front end adsorbing mechanism are stopped, and are inflated into Pneumatic suction cup, make Pneumatic suction cup
It is interior that zero air pressure or slightly positive air pressure are become by negative pressure so that front end adsorbing mechanism is detached from wall surface；
Step 3, the vertical cylinder work of front end vertical movement mechanism, piston, which is retracted, drives front end pneumatic suction mechanism to rise
To the height of obstacle can be passed through；
Step 4, wheel hub motor works, and drives the climbing robot movement until front end adsorbing mechanism all passes through barrier
Hinder, suspension fork mechanism works when passing through obstacle, and suspension fork mechanism disclosure satisfy that bounce when traveling wheel surmounts obstacles；
Step 5, the vertical cylinder work being connect with front end adsorbing mechanism, the piston of vertical cylinder are stretched out until front end is adsorbed
The Pneumatic suction cup lower surface contact wall surface of mechanism；
Step 6,14 Pneumatic suction cups work of front end adsorbing mechanism, starts vacuum equipment suction, makes to produce in Pneumatic suction cup
Raw negative pressure makes it be sucked with wall surface；
Step 7,14 Pneumatic suction cups of rear end adsorbing mechanism are stopped, and are inflated into Pneumatic suction cup, make Pneumatic suction cup
It is interior that zero air pressure or slightly positive air pressure are become by negative pressure, rear end adsorbing mechanism is made to be detached from wall surface；
Step 8, the vertical cylinder work being connect with rear end adsorbing mechanism, vertical piston, which is retracted, drives rear end adsorbing mechanism
Pneumatic suction cup rises to can be by the height of obstacle；
Step 9, wheel hub motor works, and drives the climbing robot movement until entire climbing robot passes through obstacle；
Step 10, the vertical cylinder work being connect with rear end adsorbing mechanism, vertical piston are stretched out until Pneumatic suction cup following table
Face contacts wall surface；
Step 11,14 Pneumatic suction cups work of rear end adsorbing mechanism, starts vacuum equipment suction, makes to produce in Pneumatic suction cup
Raw negative pressure makes it be sucked with wall surface；
Wherein, it is first front end close to one end of obstacle along the direction of climbing robot movement, it is rear close to one end of obstacle
For rear end.
Compared with prior art, the present invention has the following advantages：
The present invention can obstacle detouring climbing robot, this body support frame be used as support frame, have stronger load capacity, inhale
Random structure alternately lifts under the drive of vertical movement mechanism, and the adsorbing mechanism not lifted provides adsorption capacity, by climbing robot
On wall surface, the adsorbing mechanism lifted surmounts obstacles while wheel belt of walking moves entire climbing robot movement for absorption.Pass through
Vertical movement mechanism can make adsorbing mechanism have the larger rising space, and climbing robot is made to have stronger obstacle climbing ability.
There is preferable harmony by the entire climbing robot of the alternation of adsorbing mechanism.In obstacle detouring, suspension fork mechanism energy
Enough meet moving up and down for traveling wheel, make entire climbing robot that there is preferable stationarity, stability and pose.The present invention's
Climbing robot application is flexible, has a wide range of applications space.The present invention can replace manually carrying out corresponding operation, safety
Property, reliability, economic and practical and application prospect are preferable.
Further, in order to realize that barrier-surpassing robot is moved again on the basis of absorption is on wall surface, every group of absorption
Several Pneumatic suction cups are evenly arranged in mechanism, each Pneumatic suction cup works independently, and ensure that the steady of adsorbing mechanism work
Qualitative and safety.
Further, 14 Pneumatic suction cups have been evenly arranged on each adsorbing mechanism, if climbing robot need to be accessible
Smooth wall surface move up it is dynamic, then Pneumatic suction cup all work climbing robot is made integrally to adsorb on wall surface, pass through traveling wheel
The overall movement of climbing robot is realized in rotation；If wherein there is fortuitous event in some or two suckers, as absorption position is
The intersection of two blocks of glass, sucker lose adsorption capacity because cannot form effective vacuum space due to, other suckers still can be normal
Work does not interfere with entire robot normal work.If climbing robot work wall surface will appear a certain number of obstacle protrusions
Or recess, adsorbing mechanism are worked alternatively so that climbing robot surmounts obstacles.Pneumatic suction cup is formed with being conducive to gas by elastic material
Dynamic sucker and wall surface fit closely.The air pressure in Pneumatic suction cup can be changed by vaccum-pumping equipment.
Further, the cylinder barrel end of cylinder is connect with this body support frame, and the piston end of cylinder is connected with adsorbing mechanism.Driving
During cylinder, by extending and retracting for piston, it can realize that adsorbing mechanism is adjacent to and is detached from wall surface, it also can be according to the height of obstacle
Degree adjusts the height that adsorbing mechanism lifts, and helps quickly through obstacle, also to further improve the obstacle detouring energy of climbing robot
Power.
Further, the bounce of traveling wheel, further enhances climbing robot when can adapt to obstacle detouring by suspension fork mechanism
Stationarity and stability in obstacle detouring.
Further, double wishbone suspension can further improve the obstacle climbing ability of robot.Double wishbone suspension can be by adjusting
Transverse arm length, transverse arm Plane Angle, upper lower cross arm mutual distance and relative position and angle adjust out different tire fortune
Dynamic trajectory parameters.
Further, by the steering of the wheel hub motor rotating speed and the achievable climbing robot of steering that control two traveling wheels
And forward-reverse, operation is flexible, can expand the application range of climbing robot.
The obstacle-detouring method of the present invention is suitable for the invention the obstacle detouring of climbing robot, can steadily, quickly pass over barrier
Hinder and do not influence the normal work of robot.
Description of the drawings
Fig. 1 be the present invention it is a kind of can obstacle detouring climbing robot dimensional structure diagram；
Fig. 2 be the present invention it is a kind of can obstacle detouring climbing robot positive structure diagram；
Fig. 3 is the overlooking the structure diagram of Fig. 2；
Fig. 4 is the left view structural representation of Fig. 2；
Fig. 5 be the present invention it is a kind of can obstacle detouring climbing robot obstacle-detouring method flow chart；Wherein, (a) is in Fig. 5
Climbing robot encounters the schematic diagram of obstacle, and (b) adsorbs the front end suction on wall surface for climbing robot rear end adsorbing mechanism in Fig. 5
Random structure lifts the schematic diagram to surmount obstacles, and (c) is after front end adsorbing mechanism has passed over obstacle and adsorbs on wall surface in Fig. 5
End adsorbing mechanism lifts the schematic diagram that will extend over obstacle, and (d) is the schematic diagram that climbing robot integrally surmounts obstacles in Fig. 5.
In Fig. 1 to Fig. 5,1 adsorbing mechanism；1-1 Pneumatic suction cups；1-2 sucker stands；2 vertical movement mechanisms；2-1 pistons；2-
2 cylinder barrels；3 body support frames；4 suspension fork mechanisms；4-1 transverse arm lifting lugs；4-2 lower cross arms；4-3 Top Crossbeams；4-4 dampers；4-5 wheel hubs are stood
Column；4-6 bulb bearings；5 traveling wheels；5-1 tires；5-2 wheel hubs；5-3 wheel hub motors；5-4 axletrees；6 raised obstacles.
Specific embodiment
The present invention is described in further details in the following with reference to the drawings and specific embodiments, wherein, the explanation about orientation
Illustrate the Figure of description with reference to the present invention with description.
Referring to figs. 1 to Fig. 4, it is of the invention it is a kind of can obstacle detouring climbing robot, hang down including two groups of 1, two group of adsorbing mechanisms
Straight 2, two groups of motion, 4, two groups of suspension fork mechanism traveling wheel 5 and 1 this body support frame 3, adsorbing mechanism 1 connect vertical movement mechanism
2, vertical movement mechanism 2 connects this body support frame 3, this body support frame 3 connects suspension fork mechanism 4, and suspension fork mechanism 4 connects traveling wheel 5.Ontology
Stent 3 is responsible for support vertical movement mechanism 2 and suspension fork mechanism 4.Two groups of adsorbing mechanisms 1 are separately positioned on 3 bottom of this body support frame
Upper and lower ends, two groups of traveling wheels 5 are separately positioned on the left and right sides of this body support frame 3.
Every group of adsorbing mechanism 1 includes 14 Pneumatic suction cup 1-1 and 1 sucker stand 1-2, can make entire climbing robot
Absorption is on wall surface；Ensure that 28 Pneumatic suction cup 1-1 materials have certain elasticity, when plane wall surface moves up dynamic, ensureing it
Bottom is in same plane；When wall surface has recess or protrusion, ensure that its lower end can be fitted closely with wall surface.
Every group of vertical movement mechanism 2 includes 1 group relative to this body support frame 3 and the vertically disposed cylinders of sucker stand 1-2, energy
Adsorbing mechanism 1 is enough promoted to surmount obstacles.Vertical cylinder piston 2-1 is fixed by bolt and Pneumatic suction cup 1-1 stents, vertical gas
Cylinder cylinder barrel 2-2 is fixed by bolt and this body support frame 3.
Every group of suspension fork mechanism 4 includes Top Crossbeam 4-3, lower cross arm 4-2, damper 4-4 and wheel hub column 4-5, Top Crossbeam 4-3
It is connected with lower cross arm 4-2 by bulb bearing 4-6 with wheel hub column 4-5, Top Crossbeam 4-3 and lower cross arm 4-2 pass through horizontal stroke
Arm lifting lug 4-1 is connect with this body support frame 3, and damper 4-4 both ends pass through damper 4-4 lifting lugs and this machine support and Top Crossbeam respectively
4-3 connections.Double wishbone suspension can meet the obstacle climbing ability of robot to greatest extent, and entire robot can be made to surmount obstacles.
Every group of traveling wheel 5 includes wheel hub 5-2, wheel hub motor 5-3 and tire 5-1, can make entire robot movement and
It turns to.Suspension fork mechanism 4 is connect by bolt with this body support frame 3, and traveling wheel 5 is connect by key with suspension fork mechanism 4.Axletree 5-4
It is fastened with wheel hub column 4-5 bearing inner races by key.
For the climbing robot of the present invention on accessible smooth wall surface, the Pneumatic suction cup 1-1 of two groups of adsorbing mechanisms 1 is whole
Work, climbing robot is integrally adsorbed on wall surface, is moved on wall surface by the rotation and steering of traveling wheel 5；When encountering
During obstacle, by the alternation of two groups of cylinders by climbing robot ontological adsorption theory on wall surface, while pass through the drive of traveling wheel 5
It is dynamic to smoothly pass obstacle.By controlling two wheel hub motor 5-3 rotating speeds of traveling wheel 5 and turning for the achievable climbing robot of steering
To and forward-reverse, operation is flexible, expands application range.
Current wall surface is mostly perpendicular to the ground or has certain gradient, and surface is made of smooth glass or wall, is made
Climbing robot can be moved freely vertically or on the wall surface with gradient, it is usually required mainly for solution is exactly Gravity Problem.This hair
It is bright to be adsorbed climbing robot on wall surface using adsorbing mechanism 1, and climbing robot entirety is completed in the rotation for passing through traveling wheel 5
Movement, while obstacle detouring is completed by the cooperation of suspension fork mechanism 4 and vertical movement mechanism 2, moving process is steady and mobile speed
It spends adjustable.Compared with working at this stage with widest artificial treatment wall surface, the device of the invention can replace manually completely
The work of high intensity and high risk, safety, reliability and its economic and practical are more preferable.
Mobile work fact, adsorbing mechanism are carried out again in order to realize climbing robot on the basis of absorption is on wall surface
1 uses the layout of upper and lower two groups each 14 Pneumatic suction cup 1-1, if climbing robot need to move on smooth wall surface, 28
All work makes robot integrally adsorb on wall surface to Pneumatic suction cup 1-1, and robot entirety is realized by the rotation of traveling wheel 5
It is mobile, while the steering of the velocity interpolation robot entirety by controlling two wheel hub motor 5-3.If wherein some or two
There is fortuitous event in sucker, and such as intersection of the absorption position for two blocks of glass, sucker is lost because cannot form effective vacuum space due to
Adsorption capacity is gone, other suckers can still work normally, and not interfere with entire robot normal work.The wall surface if robot works
It is raised or sunken to will appear a certain number of obstacles, two groups of Pneumatic suction cup 1-1 are worked alternatively so that robot surmounts obstacles.
In order to improve the avoidance ability of climbing robot, adsorbing mechanism 1 can be promoted foot by the cylinder in vertical movement mechanism 2
Enough height, suspension fork mechanism 4 can be such that traveling wheel 5 moves up and down in a certain range.
The present invention makes climbing robot and wall adsorption using Pneumatic suction cup 1-1, several Pneumatic suction cup 1-1 be evenly distributed and
It works respectively, compared with the single sucking disc climbing robot, structure of the present invention is more stablized and considerably increases safety, if a certain suction
Disk loses adsorption capacity, other suckers meet the requirement to work on enough；Using double wishbone suspension so that climbing robot can have
Stronger obstacle climbing ability has wide application range, and crawler-type wall climbing robot can only be moved up in accessible wall surface
Dynamic, limitation is big；Compared with air-cylinder type climbing robot, movement speed of the present invention is fast, turns to simply, and can move backward,
Working efficiency is high；Compared with cord-traction type robot and trapped orbit formula automatic rinser device people, the present invention does not need to draw
Device and track, greatly reduce manufacture difficulty and cost；Compared with multi-sucker crawler type vacuum suction climbing robot, this hair
It is bright simple in structure and greatly reduce weight, it improves overall stability and more saves material and the energy.
Moving method of the climbing robot on accessible smooth wall surface：
Specifically, when climbing robot is upward/lower mobile, following 2 steps are needed：(1) two group totally 28 Pneumatic suction cup 1-1 are simultaneously
Work starts vacuum equipment suction, makes generation negative pressure in sucker that it be made to be sucked with wall surface；(2) wheel hub motor 5-3 works, band
Mobile robot ontology is upward/lower to be moved.
Specifically, climbing robot to the left/when moving right, need following 3 steps：(1) two group totally 28 Pneumatic suction cup 1-1 are simultaneously
Work starts vacuum equipment suction, makes generation negative pressure in sucker that it be made to be sucked with wall surface；(2) by controlling two wheel hub electricity
The relative velocity of machine 5-3 completes 90 degree of steerings；(3) robot body to the left/move right.
With reference to figure 5, obstacle-detouring method of the climbing robot on having the wall surface of obstacle, the left side of attached drawing is front end in Fig. 5, right
Side is rear end, below for being moved to the left obstacle detouring：
Specifically include following steps：(1) the Pneumatic suction cup 1-1 work of rear end 14, starts vacuum equipment suction, makes in sucker
Generating negative pressure makes it be sucked with wall surface；(2) the Pneumatic suction cup 1-1 of front end 14 is stopped, and smoothly inflates into vacuum cup
It is interior, make to become zero air pressure or slightly positive air pressure by negative pressure in vacuum cup so that sucker is detached from wall surface；(3) front end is vertical
Cylinder operation, piston 2-1 retractions drive front end Pneumatic suction cup 1-1 to rise to can be by the height of obstacle；(4) wheel hub motor 5-3
Work, band mobile robot are moved forward until preceding terminal sucker group is all by obstacle, suspension work when passing through obstacle；(5) front end
Vertical cylinder works, and piston 2-1 is stretched out until Pneumatic suction cup 1-1 lower surfaces contact wall surface；(6) the Pneumatic suction cup 1-1 of front end 14
Work starts vacuum equipment suction, makes generation negative pressure in sucker that it be made to be sucked with wall surface；(7) the Pneumatic suction cup 1-1 of rear end 14
It is stopped, smoothly inflates into vacuum cup, make to become zero air pressure or slightly positive air pressure by negative pressure in vacuum cup,
So that sucker is detached from wall surface；(8) rear end vertical cylinder works, and piston 2-1, which retracts, drives rear end Pneumatic suction cup 1-1 to rise to and can lead to
Cross the height of obstacle；(9) wheel hub motor 5-3 works, and band mobile robot is moved forward until entire robot passes through obstacle；(10)
Rear end vertical cylinder work, piston 2-1 are stretched out until Pneumatic suction cup 1-1 lower surfaces contact wall surface；(11) rear end 14 is pneumatic inhales
Disk 1-1 works, and starts vacuum equipment suction, makes generation negative pressure in sucker that it be made to be sucked with wall surface.It is acted by above 11 step,
It may be such that climbing robot smoothly surmounts obstacles；(12) wheel hub motor 5-3 work, drive the climbing robot movement until
The climbing robot encounters next obstacle；(13) step (1) to (12) is repeated.Wall-climbing device can be realized by above-mentioned steps
The steady fast obstacle of people.
Claims (10)
1. it is a kind of can obstacle detouring climbing robot, which is characterized in that including：This body support frame (3), adsorbing mechanism (1), vertical movement
Mechanism (2), suspension fork mechanism (4) and traveling wheel (5)；
The quantity of adsorbing mechanism (1) is at least two groups, and the quantity of vertical movement mechanism (2) is opposite with the quantity of adsorbing mechanism (1)
Should, each adsorbing mechanism (1) is connected by corresponding vertical movement mechanism (2) with this body support frame (3), passes through each absorption
Mechanism (1) can by it is described can obstacle detouring climbing robot adsorb on wall surface, can be driven by vertical movement mechanism (2)
The adsorbing mechanism (1) of connection close to and far from wall surface, adsorbing mechanism (1) can replace by it is described can the climbing robot of obstacle detouring inhale
It is attached on wall surface；
Several traveling wheels (5) are connected by suspension fork mechanism (4) with this body support frame (3), and institute can be realized by traveling wheel (5)
State can obstacle detouring climbing robot movement；
This body support frame (3) can support it is described can the vertical movement mechanism (2) of climbing robot of obstacle detouring and suspension fork mechanism (4).
2. it is according to claim 1 it is a kind of can obstacle detouring climbing robot, which is characterized in that adsorbing mechanism (1) include inhale
Disc carrier (1-2) and Pneumatic suction cup (1-1)；Several Pneumatic suction cups (1-1) are uniformly mounted on sucker stand (1-2).
3. it is according to claim 2 it is a kind of can obstacle detouring climbing robot, which is characterized in that each adsorbing mechanism (1)
14 Pneumatic suction cups (1-1) are installed, Pneumatic suction cup (1-1) is made of elastic material, Pneumatic suction cup on sucker stand (1-2)
(1-1) can be fitted closely with wall surface；Pneumatic suction cup (1-1) is connected by pipeline with vaccum-pumping equipment.
4. it is according to claim 1 it is a kind of can obstacle detouring climbing robot, which is characterized in that vertical movement mechanism (2) wrap
Include cylinder；Cylinder is vertically installed between this body support frame (3) and adsorbing mechanism (1), cylinder barrel (2-2) end and this body support frame of cylinder
(3) it connects, piston (2-1) end of cylinder is connected with adsorbing mechanism (1), and flexible by piston (2-1) can realize absorption
Mechanism (1) relative to wall surface vertical movement.
5. it is according to claim 1 it is a kind of can obstacle detouring climbing robot, which is characterized in that each suspension fork mechanism (4) is equal
Including damper (4-4), wheel hub column (4-5) and several transverse arms；The both ends of damper (4-4) respectively with this body support frame (3) and
Transverse arm is connected；The both ends of each transverse arm are connected respectively with this body support frame (3) and wheel hub column (4-5), wheel hub column (4-5)
On traveling wheel (5) is installed.
6. it is according to claim 5 it is a kind of can obstacle detouring climbing robot, which is characterized in that the quantity of transverse arm be two,
Including Top Crossbeam (4-3) and lower cross arm (4-2)；The both ends of damper (4-4) respectively with this body support frame (3) and suspension fork mechanism (4)
Top Crossbeam (4-3) be connected；One end of Top Crossbeam (4-3) and lower cross arm (4-2) passes through axis pin and ear mount and this body support frame
(3) it is connected, the other end is connected by bulb bearing (4-6) with wheel hub column (4-5), and wheel hub column (4-5) passes through vehicle
Wheel shaft (5-4) is connected with traveling wheel (5), and Top Crossbeam (4-3) and lower cross arm (4-2) cooperation damper (4-4) disclosure satisfy that institute
State can obstacle detouring climbing robot obstacle detouring when traveling wheel (5) bounce.
7. it is according to claim 6 it is a kind of can obstacle detouring climbing robot, which is characterized in that axletree (5-4) and wheel hub
Bearing is installed, axletree (5-4) is connect with bearing inner race by way of key between column (4-5).
8. it is according to claim 1 it is a kind of can obstacle detouring climbing robot, which is characterized in that traveling wheel (5) is including wheel hub
(5-2), wheel hub motor (5-3) and tire (5-1)；Wheel hub (5-2) is connected by axletree (5-4) with suspension fork mechanism (4), wheel
Wheel hub motor (5-3) and tire (5-1) on hub (5-2) are installed, traveling wheel (5) can be driven to turn by wheel hub motor (5-3)
It is dynamic, by traveling wheel (5) rotation can drive it is described can obstacle detouring climbing robot it is mobile and turn to.
9. it is a kind of can obstacle detouring climbing robot obstacle-detouring method, which is characterized in that based on any one of claim 1 to 8 institute
State it is a kind of can obstacle detouring climbing robot, specific steps include：
Step 1, the adsorbing mechanism (1) far from obstacle works, by it is described can the climbing robot of obstacle detouring be adsorbed on wall surface；
Step 2, be stopped close to the adsorbing mechanism (1) of obstacle, adsorption capacity be no longer provided, by with adsorbing mechanism (1) phase
The vertical movement mechanism (2) of connection lifts the adsorbing mechanism (1), lifts height and disclosure satisfy that adsorbing mechanism (1) surmounts obstacles；
Step 3, driving traveling wheel (5), by traveling wheel (5) drive described in can obstacle detouring climbing robot move, make to be raised
Adsorbing mechanism (1) surmount obstacles；
Step 4, vertical movement mechanism (2) work being connected with the adsorbing mechanism (1) being raised, drives the adsorption machine being raised
Structure (1) falls until being contacted with wall surface；
Step 5, the adsorbing mechanism (1) that contacts with wall surface is fallen to described in step 4 start to work, by it is described can obstacle detouring climb wall
Robot is adsorbed on wall surface；
Step 6, driving traveling wheel (5), described in drive can obstacle detouring climbing robot movement, until next adsorbing mechanism (1) leans on
Nearly obstacle；
Step 7, step 1 is repeated to 6, until all adsorbing mechanisms (1) surmount obstacles.
10. it is a kind of can obstacle detouring climbing robot obstacle-detouring method, which is characterized in that climbing robot include adsorbing mechanism (1),
Vertical movement mechanism (2), this body support frame (3), suspension fork mechanism (4) and traveling wheel (5), adsorbing mechanism (1) connection vertical movement machine
Structure (2), vertical movement mechanism (2) connect this body support frame (3), this body support frame (3) connection suspension fork mechanism (4), suspension fork mechanism (4) is even
Connect traveling wheel (5)；
The quantity of adsorbing mechanism (1) is two groups, and every group of adsorbing mechanism (1) includes 14 Pneumatic suction cups (1-1) and 1 sucker stand
(1-2), Pneumatic suction cup (1-1) are mounted on sucker stand (1-2), and Pneumatic suction cup (1-1) is connected with vaccum-pumping equipment,
The climbing robot absorption can be made on wall surface by adsorbing mechanism (1)；
The quantity of vertical movement mechanism (2) is identical with adsorbing mechanism (1) correspondence, and every group of vertical movement mechanism (2) includes one group of gas
Cylinder, cylinder include the piston (2-1) of 1 vertical cylinder and the cylinder barrel (2-2) of 1 vertical cylinder, pass through vertical movement mechanism (2)
Adsorbing mechanism (1) can be promoted, adsorbing mechanism (1) is made to surmount obstacles；
This body support frame (3) can support vertical movement mechanism (2) and suspension fork mechanism (4)；
The quantity of suspension fork mechanism (4) is two groups, and every group of suspension fork mechanism (4) includes 4 suspension transverse arm lifting lugs (4-1), 2 dampers
(4-4) lifting lug, 1 lower cross arm (4-2), 1 Top Crossbeam (4-3), 1 damper (4-4), 1 wheel hub column (4-5) and 2 groups
Bulb bearing (4-6)；
The quantity of traveling wheel (5) is two groups, respectively setting and the both sides of this body support frame (3), and every group of traveling wheel (5) includes 1 wheel
Tire (5-1), 1 wheel hub (5-2), 1 wheel hub motor (5-3) and 1 axletree (5-4), institute can be driven by traveling wheel (5)
Climbing robot movement is stated, the steering of the climbing robot can be realized by the rotating speed for controlling wheel hub motor (5-3)；
The specific steps of the obstacle-detouring method of climbing robot include：
Step 1,14 Pneumatic suction cups (1-1) work of rear end adsorbing mechanism (1), starts vacuum equipment suction, makes Pneumatic suction cup
Negative pressure is generated in (1-1), rear end adsorbing mechanism (1) sucks the climbing robot on wall surface；
Step 2,14 Pneumatic suction cups (1-1) of front end adsorbing mechanism (1) are stopped, and inflate, make to Pneumatic suction cup (1-1) is interior
Zero air pressure or slightly positive air pressure are become by negative pressure in Pneumatic suction cup (1-1) so that front end adsorbing mechanism (1) is detached from wall surface；
Step 3, the vertical cylinder work of front end vertical movement mechanism (2), piston (2-1), which is retracted, drives front end pneumatic suction mechanism
(1) rising to can be by the height of obstacle；
Step 4, wheel hub motor (5-3) works, and the climbing robot movement is driven all to pass through until front end adsorbing mechanism (1)
Obstacle, suspension fork mechanism (4) works when passing through obstacle, and suspension fork mechanism (4) disclosure satisfy that bounce when traveling wheel (5) surmounts obstacles；
Step 5, the vertical cylinder work being connect with front end adsorbing mechanism (1), the piston (2-1) of vertical cylinder are stretched out until front end
Pneumatic suction cup (1-1) lower surface contact wall surface of adsorbing mechanism (1)；
Step 6,14 Pneumatic suction cups (1-1) work of front end adsorbing mechanism (1), starts vacuum equipment suction, makes Pneumatic suction cup
Negative pressure is generated in (1-1) makes it be sucked with wall surface；
Step 7,14 Pneumatic suction cups (1-1) of rear end adsorbing mechanism (1) are stopped, and inflate, make to Pneumatic suction cup (1-1) is interior
Zero air pressure or slightly positive air pressure are become by negative pressure in Pneumatic suction cup (1-1), rear end adsorbing mechanism (1) is made to be detached from wall surface；
Step 8, the vertical cylinder work being connect with rear end adsorbing mechanism (1), vertical piston (2-1), which is retracted, drives rear end absorption
The Pneumatic suction cup (1-1) of mechanism (1) rises to can be by the height of obstacle；
Step 9, wheel hub motor (5-3) works, and drives the climbing robot movement until entire climbing robot passes through obstacle；
Step 10, the vertical cylinder work of remaining rear end adsorbing mechanism (1) connection, vertical piston (2-1) are stretched out until Pneumatic suction cup
(1-1) lower surface contacts wall surface；
Step 11,14 Pneumatic suction cups (1-1) work of rear end adsorbing mechanism (1), starts vacuum equipment suction, makes Pneumatic suction cup
Negative pressure is generated in (1-1) makes it be sucked with wall surface；
Wherein, it is first front end close to one end of obstacle, after rear one end close to obstacle is along the direction of climbing robot movement
End.
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| CN201810138585.1A CN108177703A (en) | 2018-02-10 | 2018-02-10 | It is a kind of can obstacle detouring climbing robot and its obstacle-detouring method |
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| CN109291783A (en) * | 2018-08-30 | 2019-02-01 | 宁波史河机器人科技有限公司 | A kind of climbing robot |
| CN109909971A (en) * | 2019-04-17 | 2019-06-21 | 华电电力科学研究院有限公司 | Obstacle crossing type water-cooling wall detects robot |
| CN109911050A (en) * | 2019-04-17 | 2019-06-21 | 郑宏远 | One kind is from climbing robot omnidirectional barrier getting over mechanism and obstacle-detouring method |
| CN111015634A (en) * | 2019-12-31 | 2020-04-17 | 北京博清科技有限公司 | Obstacle crossing mechanism and wall climbing robot |
| CN112114586A (en) * | 2020-08-31 | 2020-12-22 | 苏州康鸿智能装备股份有限公司 | Follow-up walking control method of adsorption type walking device |
| CN113353169A (en) * | 2021-06-18 | 2021-09-07 | 西安理工大学 | Wheel type negative pressure adsorption type wall climbing robot capable of crossing obstacle and obstacle crossing method thereof |
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| CN114056448A (en) * | 2021-12-27 | 2022-02-18 | 武汉科技大学 | Auxiliary obstacle crossing robot and working method thereof |
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Application publication date: 20180619 |