CN108340982B - Wall-climbing robot guide rail sucker mechanism, system and control method - Google Patents
Wall-climbing robot guide rail sucker mechanism, system and control method Download PDFInfo
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- CN108340982B CN108340982B CN201810142492.6A CN201810142492A CN108340982B CN 108340982 B CN108340982 B CN 108340982B CN 201810142492 A CN201810142492 A CN 201810142492A CN 108340982 B CN108340982 B CN 108340982B
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- guide rail
- sucker
- feeding cylinder
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B24—GRINDING; POLISHING
- B24C—ABRASIVE OR RELATED BLASTING WITH PARTICULATE MATERIAL
- B24C3/00—Abrasive blasting machines or devices; Plants
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
- B25J11/0075—Manipulators for painting or coating
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Abstract
The invention relates to the field of wall-climbing robots, in particular to a wall-climbing robot guide rail sucker mechanism, a system and a control method. The invention provides a magnetic attraction type wall climbing robot, which aims to overcome the defects that the magnetic attraction type wall climbing robot can cause adverse effects on ship avionics equipment, has overlarge volume and weight and is not easy to control, and comprises: the device comprises a horizontal feeding cylinder, a horizontal guide rail sliding block mechanism, a mounting plate, a vertical feeding cylinder, a vertical guide rail sliding block mechanism, a cylindrical shell, a vacuum sucker mounting piece and a vacuum sucker; the first horizontal guide rail sliding block and the second horizontal guide rail sliding block are fixedly arranged on a truss of the wall-climbing robot, are slidably connected with the mounting plate and are arranged on two sides of the horizontal feeding cylinder in parallel; the second surface of mounting panel is provided with two sucking disc mechanisms that the structure is the same, and every sucking disc mechanism includes that first end fixes the tube-shape casing on the mounting panel second surface and the sucking disc of being connected with the second end of tube-shape casing. The invention is suitable for manufacturing the wall-climbing shot blasting robot.
Description
Technical Field
The invention relates to the field of wall-climbing robots, in particular to a wall-climbing robot guide rail sucker mechanism, a system and a control method.
Background
The wall-climbing shot blasting robot is a robot which is adsorbed on a working surface and then performs tasks such as paint spraying, cleaning and the like.
The wall-climbing robot in the prior art mainly comprises wall adsorption technologies such as magnetic adsorption, bionic adsorption and negative pressure adsorption. However, the robot in the prior art is often weak in load carrying capacity, and the types and the number of the loadable working equipment are limited, so that the application range is limited. On the other hand, because the ship is in an environment with high humidity for a long time, a robot is needed to perform work such as rust removal, paint spraying and the like on the ship body. The existing wall climbing robot often adopts the formula of magnetism to weight is too high, and is bulky, and the following problem can appear in rust cleaning, the paint spraying studio of direct application at the steamer hull:
1. the magnetic attraction type technology in the prior art can generate adverse effect on the ship avionic equipment;
2. the wall climbing robot in the prior art can not bear large load, and the adsorption force of the traditional wall climbing robot can not ensure the normal operation of shot blasting work due to the fact that the robot needs to bear large acting force when shot blasting work is carried out.
Therefore, there is a need for a new rail suction cup mechanism, system and method for a wall-climbing robot for painting and cleaning tasks of ships that solves the above-mentioned deficiencies of the prior art.
Disclosure of Invention
The invention aims to solve the defects that magnetic absorption type adsorption of the existing wall climbing robot can cause adverse effects on ship avionics equipment, and the existing wall climbing robot is too large in size and weight and is not easy to control.
According to a first aspect of the present invention, there is provided a wall-climbing robot guide rail suction cup mechanism comprising:
the device comprises a horizontal feeding cylinder, a horizontal guide rail sliding block mechanism, a mounting plate, a vertical feeding cylinder, a vertical guide rail sliding block mechanism, a cylindrical shell, a vacuum sucker mounting piece and a vacuum sucker; the horizontal feeding cylinder is fixedly arranged on the first surface of the mounting plate and used for providing acting force in the direction of the first guide rail sliding block; the first horizontal guide rail sliding block and the second horizontal guide rail sliding block are fixedly arranged on a truss of the wall-climbing robot, are slidably connected with the mounting plate and are arranged on two sides of the horizontal feeding cylinder in parallel; the horizontal feeding cylinder is used for driving the mounting plate and driving a component fixedly connected with the mounting plate to move along the direction of the horizontal guide rail by the mounting plate; two sucker mechanisms with the same structure are arranged on the second surface of the mounting plate, and each sucker mechanism comprises a cylindrical shell with a first end fixed on the second surface of the mounting plate and a sucker connected with the second end of the cylindrical shell; a vertical feeding cylinder is arranged in the inner cavity of the cylindrical shell and connected with the mounting plate; the sucker mounting piece is connected with the sucker; the vertical feeding cylinder is used for enabling the sucker mounting piece to drive the sucker to enable the sucker to be tightly attached to the surface contacted with the sucker through supplying air pressure; the vertical feed cylinder is also used to shorten the distance of the guide rail suction cup mechanism as a whole from the surface where the suction cups are in contact by supplying reverse air pressure.
According to a second aspect of the present invention, there is provided a wall-climbing robot rail suction cup system, comprising a truss and two wall-climbing robot rail suction cup mechanisms according to the first aspect of the present invention, wherein the first horizontal rail sliding block and the second horizontal rail sliding block of each wall-climbing robot rail suction cup mechanism are fixed on the truss.
According to a third aspect of the present invention, there is provided a control method for a wall-climbing robot rail suction cup mechanism according to the second aspect of the present invention, comprising:
step A: sending a first vertical cylinder control signal to enable a vertical feeding cylinder of the first guide rail sucker mechanism to supply air pressure to enable a sucker to be sucked to a working surface;
and B: the push rod of the first guide rail sucker mechanism freely moves towards the direction of the joint position sensor;
and C: when the push rod of the first guide rail sucker mechanism reaches the position of the cross-connection position sensor, a positive limit control signal of a second horizontal cylinder is sent out, so that the push rod of a vertical feeding cylinder in the second guide rail sucker mechanism moves to a positive limit position from the position of a negative limit sensor;
step D: when a push rod of a vertical feeding cylinder in the second guide rail sucker mechanism reaches the position of a positive limit sensor, a second vertical cylinder control signal is sent out, so that the vertical feeding cylinder of the second guide rail sucker mechanism supplies air pressure to enable a sucker to be sucked to a working surface;
step E: sending a first horizontal cylinder negative limit control signal and a second horizontal cylinder negative limit control signal to enable push rods of the first horizontal feeding cylinder and the second horizontal feeding cylinder to move towards the directions of respective negative limit sensors;
step F: sending a first sucking disc separation signal to enable a vertical feeding cylinder of the first guide rail sucking disc mechanism to provide sufficient reverse air pressure so as to separate the sucking disc from the working surface;
step G: when a push rod of the second horizontal feeding cylinder moves to the position of the cross joint position sensor, a positive limit signal of the first horizontal cylinder is sent out;
step H: when a push rod of a vertical feeding cylinder in the first guide rail sucker mechanism reaches the position of a positive limit sensor, a first vertical cylinder control signal is sent out, so that the vertical feeding cylinder of the first guide rail sucker mechanism supplies air pressure to enable a sucker to be sucked to a working surface;
step I: and sending a second sucker separation signal to enable the vertical feeding cylinder of the second guide rail sucker mechanism to provide sufficient reverse air pressure so as to separate the sucker from the working surface.
The invention has the beneficial effects that: 1. the adsorption mode of the wall-climbing robot is not a magnetic adsorption mode but a vacuum sucker negative pressure adsorption mode, so that the influence on the ship avionics equipment can be reduced; 2. the used materials are light, the weight of the main body can be controlled within 150kg, and the transportation and the operation are convenient; 3. when the vertical surface and the curved surface with the curvature radius not less than 3m of the surface of the ship body work normally, the ship body can work normally under the condition that the surface of the ship body protrudes by 8 mm; 4. the maximum pitch angle which can be borne in the working state is 10-21.13 degrees; 5. the air cylinder of one embodiment of the invention can apply enough force to the sucker, so that the wall climbing robot can perform the wall climbing action under the condition of ensuring the normal execution of the shot blasting task.
Drawings
FIG. 1 is a front sectional view of one embodiment of a wall-climbing robot guide rail suction cup mechanism of the present invention;
FIG. 2 is a top view of one embodiment of a wall-climbing robot guide rail suction cup mechanism of the present invention;
FIG. 3 is a side view of one embodiment of a wall-climbing robot guide rail suction cup mechanism of the present invention;
fig. 4 is a structural view of a rail suction cup system of a wall-climbing robot according to a fourth embodiment;
fig. 5 is a schematic flow chart of controlling the robot to climb the wall in the sixth embodiment;
FIG. 6 is a flowchart of a complete control process in accordance with a sixth embodiment;
FIG. 7 is a schematic view illustrating the rotation of a wall-climbing robot according to a seventh embodiment;
fig. 8 is a schematic view of a movement process of the wall-climbing robot in the seventh embodiment when receiving a steering command;
fig. 9 is a flowchart of a steering motion control of the wall climbing robot in the seventh embodiment.
Detailed Description
The first embodiment is as follows: the wall-climbing robot guide rail sucker mechanism of the embodiment includes a left mechanism and a right mechanism having the same structure, fig. 1 to 3 show the structure of an example of the left mechanism or the right mechanism, and both the left mechanism and the right mechanism include:
the device comprises a horizontal feeding cylinder 1, a horizontal guide rail sliding block mechanism 2, a mounting plate 3, a vertical feeding cylinder 4, a vertical guide rail sliding block mechanism 5, a cylindrical shell 6, a vacuum sucker mounting piece 7 and a vacuum sucker 8;
wherein, the horizontal feeding cylinder 1 is fixedly arranged on the first surface of the mounting plate 3 and is used for providing acting force in the direction 21 of the first guide rail slide block; the first horizontal guide rail sliding block 21 and the second horizontal guide rail sliding block 22 are fixedly arranged on a truss of the wall-climbing robot, and the first horizontal guide rail sliding block 21 and the second horizontal guide rail sliding block 22 are both connected with the mounting plate 3 in a sliding manner and are arranged on two sides of the horizontal feeding cylinder 1 in parallel; the horizontal feeding cylinder 1 is used for driving the mounting plate 3 and driving a component fixedly connected with the mounting plate 3 to move along the direction of a horizontal guide rail by the mounting plate 3; two sucker mechanisms with the same structure are arranged on the second surface of the mounting plate 3, and each sucker mechanism comprises a cylindrical shell 6 with a first end fixed on the second surface 3 of the mounting plate and a sucker 8 connected with the second end of the cylindrical shell 6; a vertical feeding cylinder 4 is arranged in the inner cavity of the cylindrical shell 6, and the vertical feeding cylinder 4 is connected with the mounting plate 3; the sucker mounting piece 7 is connected with a sucker 8; the vertical feeding cylinder 4 is used for enabling the sucker mounting piece 7 to drive the sucker 8 through supplying air pressure so that the sucker 8 is tightly attached to the surface contacted with the sucker 8; the vertical feed cylinder 4 also serves to shorten the distance of the guide rail suction cup mechanism as a whole from the surface where the suction cups are in contact by supplying reverse air pressure.
The wall-climbing robot rail suction cup mechanism of the present embodiment is a mechanism provided on a truss of the wall-climbing robot, and specifically, the horizontal rail slider mechanism 2 of the present embodiment is a main component connecting the rail suction cup mechanism and the robot. The horizontal rail slider mechanism 2 is provided on the mounting plate 3 and is slidable relative to the mounting plate 3. The remaining components of this embodiment remain stationary relative to the mounting plate 3 during movement of the robot, i.e. move with the movement of the mounting plate 3.
The push-and-pull of the push rod in the horizontal feeding cylinder 1 can realize the relative sliding of the mounting plate 3 and the horizontal guide rail sliding block mechanism 3, so that the mounting plate 3 can drive the components except the guide rail to move. The horizontal feeding cylinder can be provided with 3 sensors to identify the position reached by the push rod, the 3 positions can be the middle position, the deepest position and the position close to the inlet in the cylinder, and the motion state of the guide rail sucker mechanism can be represented by acquiring the position of the push rod in the cylinder.
The vertical feeding cylinder 4 mainly functions as: 1. providing force for extruding the sucker to enable the sucker to be tightly attached to the working surface; 2. providing a force in a direction opposite to the squeeze cup; the effect is that the sucker can be attached to the working surface, the distance between the mounting plate 3 and other components and the working surface can be ensured to be closer, and the force in the opposite direction cannot be too large, namely the sucker cannot be separated from the working surface. Since the mounting plate may also require a gear train mechanism, the wheels may not be able to contact the work surface after squeezing the suction cup, and so a reverse force is required to allow the wheels attached to the mounting plate 3 to reliably contact the work surface. In addition, when the sucker needs to be separated from the working surface, reverse air pressure is also needed, and the air pressure needs to be sufficiently large.
The vertical feed cylinder 4 provides a force to the suction cup through the suction cup mounting member 7. In order to ensure that the suction cup mounting member 7 can move sufficiently flexibly within the tubular housing 6, vertical guide slider mechanisms 5 may be provided on both sides of the suction cup mounting member, which ensures that the suction cup mounting member 7 moves along the guide.
It can be seen that the guide rail sucker mechanism of the wall-climbing robot of the embodiment is mainly realized: 1. when the sucker does not work, the function of moving along the direction of the guide rail is realized; 2. the function of making the sucker tightly attached to the working surface; 3. when the sucker is tightly attached to the working surface, the distance between the mounting plate 3 and the working surface is shortened.
The above functions are realized based on the control of the push rods inside the horizontal feed cylinder 1 and the vertical feed cylinder 4. That is, those skilled in the art can realize that the horizontal feeding cylinder 1 and the vertical feeding cylinder 4 can be controlled by a control circuit, a chip, and the like to realize the above functions in a specific application.
When the guide rail sucker mechanism of the present embodiment is applied to a wall climbing robot, it is conceivable that two identical mechanisms of the present embodiment should be alternately operated, and the mechanism of the present embodiment should be connected to a truss of the robot through the guide rail slider mechanism 2, so that the "sucker suction-moving along the guide rail-sucker suction … …" manner can be alternately performed through the two guide rail sucker mechanisms, and then the process of gradually moving the robot upward as a whole can be completed.
The second embodiment is as follows: the first difference between the present embodiment and the specific embodiment is: a set of vertical guide slider mechanisms 5 is provided between the inside of the cylindrical housing 6 and the suction cup mounting member 7, and the suction cup mounting member 7 can slide through the vertical guide slider mechanisms 7.
Other steps and parameters are the same as those in the first embodiment.
This has the advantage that the sliding of the suction cup mounting member 7 along the vertical guide slider mechanism 7 can be ensured.
Other steps and parameters are the same as those in the first or second embodiment.
The third concrete implementation mode: the present embodiment differs from the first or second embodiment in that: the horizontal feeding cylinder 1 is internally provided with three sensors which are used for identifying whether a cylinder push rod is positioned at a specific position, namely a positive limit sensor close to the innermost part of the horizontal feeding cylinder, a connection position sensor close to the middle part of the cylinder and a negative limit sensor close to an opening of the cylinder.
The positive limit sensor is used for detecting whether the push rod reaches the deepest part of the horizontal feeding cylinder, namely the state of pushing to the limit position; the cross position sensor is used for detecting whether the push rod is positioned in the middle of the cylinder or not; the negative limit sensor is used for detecting whether the push rod reaches the outermost part of the horizontal feeding cylinder, namely the state of being pulled back to the limit position. If the depth of the cylinder cavity is 20cm, a positive limit sensor can be arranged at 18cm, a cross position sensor can be arranged at 10cm, and a negative limit sensor can be arranged at 2 cm. The purpose of the sensor is to identify to which position the push rod has moved.
The sensor can be selected in various ways, for example, the laser emitting element and the photosensitive element can be used to realize the function of the sensor.
Other steps and parameters are the same as in one or both of the embodiments.
The fourth concrete implementation mode: the embodiment provides a wall-climbing robot guide rail sucker system, which comprises a truss 12 and two wall-climbing robot guide rail sucker mechanisms (namely a first guide rail sucker mechanism 100 and a second guide rail sucker mechanism 200) as described in any one of the first to the third embodiments, wherein a first horizontal guide rail sliding block 21 and a second horizontal guide rail sliding block 22 of each wall-climbing robot guide rail sucker mechanism are fixed on the truss 12. A rotating shaft 9 is also arranged on the second surface of the mounting plate 3 of the guide rail sucker mechanisms of the two wall-climbing robots; the truss 12 is provided with a driving wheel 10 and at least one driven wheel 11, the driving wheel 10 is driven to rotate before the guide rail sucker mechanism rotates, and the driving wheel 10 is also used for providing the initial speed of linear motion for the guide rail sucker mechanism; the rotating shaft 9 is used for driving the guide rail sucker mechanism to integrally rotate after the driving wheel 10 rotates; the driven wheel 11 is used for being passively rotated when the whole guide rail sucker mechanism rotates. The truss 12 is also provided with a shot-blasting mechanism 13.
This embodiment applies the guide rail suction cup mechanisms of the first to third embodiments to the wall-climbing robot, and the specific principle is as follows:
the horizontal guide rail 2 is fixed on a main truss 12 of the wall-climbing shot blasting robot, and the slide block is connected to the vertical cylinder mounting plate 3. The cylinder part of the horizontal feeding cylinder 1 is connected to the main truss 12 of the wall-climbing peening robot, and the push rod part of the cylinder is connected to the vertical cylinder mounting plate 3. The cylinder portion of the vertical feed cylinder 4 is connected to the vacuum cup mounting member 7, and the push rod portion of the vertical feed cylinder 4 is connected to the vacuum cup mounting member 7. The guide rail of the vertical guide rail sliding block mechanism 5 is installed on a vertical guide rail installation part 7, and the sliding block is connected on the vacuum chuck installation part 7. The vacuum chuck 8 is mounted on the vacuum chuck mounting member 7.
The structure is a core mechanism of the wall-climbing robot, and as shown in fig. 4, the continuous motion of the wall-climbing robot in a vacuum adsorption mode is realized by 'recycling and active and passive alternate control' of the guide rail sucker mechanisms 1 and 2. Each set of guide rail sucker structure consists of a circulating feeding mechanism, a sucker feeding mechanism and a vacuum sucker, the front two parts adopt a structural form of a cylinder and double guide rails, and the design purpose of the two vacuum suckers prevents the wall-climbing robot from separating from the ship body when one vacuum sucker fails. The circulating feeding mechanism realizes the reciprocating translational motion of the vacuum sucker, namely, the cylinder in the advancing direction of the robot is in an active mode, the reverse cylinder is in a passive mode, the two sets of circulating feeding mechanisms are alternately used to realize the continuous uninterrupted motion of the wall-climbing robot, the cylinder is provided with three position sensors, and the sensor at the central position is used as a marker bit of a cross-over hand of the two sets of guide rail sucker mechanisms. The sucker feeding cylinder has two working modes of feeding and pneumatic spring: 1) the feeding mode cylinder pushes the vacuum sucker to move, the sucker is reliably contacted with the surface of the ship body, the pressure of the cylinder is small, and the friction force of the double guide rails is mainly overcome. 2) After the vacuum chuck works, the chuck feeding cylinder reversely supplies large air pressure to play a role of a pneumatic spring, the gear train is ensured to be in surface contact with the ship body, the wall-climbing robot is reliably in surface contact with the ship body, and sufficient friction force is provided for the driving wheel.
The fifth concrete implementation mode: the fourth difference between this embodiment and the specific embodiment is that: and a spring limiting mechanism is arranged on the rotating shaft (9) and is used for enabling the guide rail sucker mechanism to reset to the default pose when the guide rail sucker mechanism rotates relative to the default pose.
Other steps and parameters are the same as those in the fourth embodiment.
The sixth specific implementation mode: the present embodiment provides a control method implemented based on the system of the fifth embodiment, as shown in fig. 5, in fig. 5
The robot arm comprises a suction cup, a guide rail suction cup mechanism 1, a guide rail suction cup mechanism 2, a push rod, a vertical feeding cylinder, a connecting sensor position, a vertical feeding cylinder, a guide rail suction cup mechanism 1, a guide rail suction cup mechanism 2, a push rod 1 and a push rod, wherein the suction cup is sucked to a working surface by the action of the vertical feeding cylinder, ○ shows that the suction cup is in a state of being separated from the working surface, the whole process in fig. 5 is a process of moving the whole robot upwards, the guide rail suction cup mechanism 1 and the guide rail suction cup mechanism 2 show two guide rail suction cup mechanisms in the system of the sixth embodiment, the robot climbs a wall upwards in an alternating motion mode, v1 shows the action direction of the push rod in the first horizontal.
As can be seen from fig. 5, the method of the present embodiment includes:
step A: and sending a first vertical cylinder control signal to enable a vertical feeding cylinder of the first guide rail sucker mechanism to supply air pressure to enable the sucker to be adsorbed to the working surface.
And B: the push rod of the first guide rail sucker mechanism can freely move towards the direction of the joint position sensor.
And C: when the push rod of the first guide rail sucker mechanism reaches the position of the cross-connection position sensor, a positive limit control signal of the second horizontal cylinder is sent out, so that the push rod of the vertical feeding cylinder in the second guide rail sucker mechanism moves to a positive limit position from the position of the negative limit sensor.
Step D: when a push rod of a vertical feeding cylinder in the second guide rail sucker mechanism reaches the position of a positive limiting sensor, a second vertical cylinder control signal is sent out, so that the vertical feeding cylinder of the second guide rail sucker mechanism supplies air pressure to enable a sucker to be adsorbed to a working surface.
Step E: and sending a negative limit control signal of the first horizontal cylinder and a negative limit control signal of the second horizontal cylinder to enable the push rods of the first horizontal feeding cylinder and the second horizontal feeding cylinder to move towards the directions of the respective negative limit sensors.
Step F: and sending a first sucking disc separation signal to enable the vertical feeding cylinder of the first guide rail sucking disc mechanism to provide sufficient reverse air pressure so as to separate the sucking disc from the working surface.
Step G: when the push rod of the second horizontal feeding cylinder moves to the position of the cross joint position sensor, a positive limit signal of the first horizontal cylinder is sent out.
Step H: when a push rod of a vertical feeding cylinder in the first guide rail sucker mechanism reaches the position of a positive limiting sensor, a first vertical cylinder control signal is sent out, so that the vertical feeding cylinder of the first guide rail sucker mechanism supplies air pressure to enable a sucker to be adsorbed to a working surface.
Step I: and sending a second sucker separation signal to enable the vertical feeding cylinder of the second guide rail sucker mechanism to provide sufficient reverse air pressure so as to separate the sucker from the working surface.
From the above analysis, the design concept of "cyclic use, active and passive alternative control" of the two sets of guide rail sucker structures is summarized, and the control flow is shown in fig. 6. Whether all indexes of the whole shot blasting wall climbing system are normal or not is considered in the control process, and the emergency stop function is started timely, so that the safety of the system is ensured.
It should be noted that, the steps a to I are a cyclic process, and in the specific implementation process, the step a is not necessarily an initial state, and in theory any state may become a state of starting a cycle, and any way of implementing the steps a to I completely should be considered within the protection scope of the present invention, and does not need to strictly follow the sequence illustrated in the present embodiment.
In addition, although the movement mode of the driving wheel is not given in the embodiment, the driving wheel always moves forward in the processes from step a to step I, and the driving wheel does not stop moving until the wall climbing robot reaches the target position and does not need to move any more. This process is illustrated in fig. 6. The driving wheel is fixed on the wall-climbing robot truss, so that the driving wheel can drive the wall-climbing robot truss to move when moving.
The seventh embodiment: the sixth embodiment is different from the sixth embodiment in that: before the second horizontal cylinder positive limit control signal is sent in the step C and before the first horizontal positive limit control signal is sent in the step G, the method may further include the steps of:
and when a steering movement instruction is received and the push rod reaches the position of the cross-connection position sensor, the guide rail sucker mechanism stops moving.
And sending a reverse air pressure control signal to enable the driving wheel to be in contact with the working surface.
When the steering command is a counterclockwise turning angle theta, the driving wheel rotates clockwise by 90 degrees to theta/2 degrees and then moves by 2 rho along the vertical right direction of the connecting line of the driving wheel and the rotating shaft of the first guide rail sucker structure1sin (theta/2) distance, then clockwise rotating the driving wheel by an angle of- (90-theta/2); where ρ is1The distance between a rotating shaft of the first guide rail sucker structure and the driving wheel is set;
when the steering command is a clockwise turning angle theta, the driving wheel rotates anticlockwise by 90 degrees-theta/2 degrees and then moves 2 rho along the vertical left direction of the connecting line of the driving wheel and the rotating shaft of the second guide rail sucker structure2sin (theta/2) distance, then counterclockwise rotating the driving wheel by an angle of- (90-theta/2); where ρ is2The distance between the rotating shaft of the first guide rail sucker structure and the driving wheel is adopted.
As shown in fig. 7, since the turning center of the robot mechanical structure design turning is not fixed and moves along with the guide rail sucker structure, the robot must stop linear motion during the steering action, so as to ensure accurate control of the steering angle and simplify the control method. In the linear control flow of the robot of the seventh embodiment, step C, G is defined as the steering position, where only one set of suction cups is active and the other set is ready. As shown in fig. 7, the robot is defined to rotate counterclockwise by the centre of gyration of the application rail suction cup structure 1, and to rotate clockwise by the centre of gyration of the application rail suction cup structure 2. Assuming that the robot rotates counterclockwise by an angle theta, the distance from the driving wheel to the rotation center is
ActiveThe wheel rotates clockwise by 90 degrees to theta/2 degrees, then moves linearly from the point A to the point B by the movement distance of 2 rhosin (theta/2), and finally the driving wheel rotates by- (90 degrees to theta/2) to be straightened, so that the robot can make preparations for linear movement.
The guide rail sucker structure designs two sets of independent rotating shaft systems for steering the wall-climbing robot, and the rotating shaft systems move on the guide rail and are used alternately. When the robot turns, the rotary shaft system is required to be fixed, so that the robot turns by adopting a mode of separating robot turning motion control from linear motion control and fixing a turning center. As shown in fig. 8, only step C or step G meets the robot steering condition, as follows.
(1) The robot receives a steering motion instruction in the linear motion process, and detects whether the circular feeding cylinder reaches a steering position, namely a 'hand-over' position.
(2) The guide rail sucker structure moves to the position of the 'hand-in-hand' to stop linear motion, starts a steering motion instruction and rotates by a fixed angle theta.
(3) After the steering movement is finished, the robot continues to move linearly for a designated distance l.
(4) And after the linear motion of the specified distance is finished, the robot turns to the angle of theta and then continues to perform linear motion.
From the above analysis, the robot steering motion control flow is shown in fig. 9.
According to mechanical design parameters, the distance from the positive limit of the circulating feeding cylinder to the position of the cross-over hand is 180mm, the single-step advancing distance of the robot is 180mm, 7 steps of turning linear motion are set to be completed, and the total moving distance is 7 multiplied by 180 multiplied by 1260 mm. After the robot steering action is finished, if the offset distance of the working area is 260mm of the shot blasting working width, theta is equal to asin (260/1260) and is approximately equal to 11.9 degrees. The analysis is combined with the system joint debugging to correct the values of theta and l, so that the continuity of the paint and rust removing effects of the working surface is achieved.
The present invention is capable of other embodiments and its several details are capable of modifications in various obvious respects, all without departing from the spirit and scope of the present invention.
Claims (2)
1. A control method of a wall-climbing robot guide rail sucker system comprises a truss (12) and two wall-climbing robot guide rail sucker mechanisms;
wall climbing robot guide rail sucking disc mechanism includes that the structure is identical left mechanism and right mechanism, and left mechanism or right mechanism specifically include:
the device comprises a horizontal feeding cylinder (1), a horizontal guide rail sliding block mechanism (2), a mounting plate (3), a vertical feeding cylinder (4), a vertical guide rail sliding block mechanism (5), a cylindrical shell (6), a vacuum sucker mounting piece (7) and a vacuum sucker (8);
wherein the horizontal feeding cylinder (1) is mounted on a first surface of the mounting plate (3); the first horizontal guide rail sliding block (21) and the second horizontal guide rail sliding block (22) are arranged on a truss of the wall-climbing robot, and the first horizontal guide rail sliding block (21) and the second horizontal guide rail sliding block (22) are both connected with the mounting plate (3) in a sliding manner and are arranged on two sides of the horizontal feeding cylinder (1) in parallel; the horizontal feeding cylinder (1) is used for enabling the mounting plate (3) to drive a component connected with the mounting plate (3) to move along the direction of the horizontal guide rail through the movement of the internal push rod; two sucker mechanisms with the same structure are arranged on the second surface of the mounting plate (3), and each sucker mechanism comprises a cylindrical shell (6) with a first end arranged on the second surface of the mounting plate (3) and a vacuum sucker (8) connected with a second end of the cylindrical shell (6); a vertical feeding cylinder (4) is arranged in the inner cavity of the cylindrical shell (6), and the vertical feeding cylinder (4) is connected with the mounting plate (3); the vacuum sucker mounting piece (7) is connected with the vacuum sucker (8); the vertical feeding cylinder (4) is used for enabling the vacuum sucker mounting piece (7) to drive the vacuum sucker (8) through supplying air pressure so that the vacuum sucker (8) is tightly attached to the surface contacted with the vacuum sucker (8); the vertical feeding cylinder (4) is also used for shortening the distance between the whole guide rail sucker mechanism and the surface contacted with the sucker by supplying reverse air pressure;
a group of vertical guide rail sliding block mechanisms (5) are arranged between the inside of the cylindrical shell (6) and the vacuum sucker mounting piece (7) and are used for enabling the vacuum sucker mounting piece (7) to slide through the vertical guide rail sliding block mechanisms (5);
three sensors for identifying whether a cylinder push rod is positioned at a specific position are arranged at preset positions in the horizontal feeding cylinder (1), wherein the three sensors are respectively a positive limit sensor close to the bottom of a cylinder body of the horizontal feeding cylinder, a junction position sensor close to the middle of the cylinder and a negative limit sensor close to an opening of the cylinder;
a first horizontal guide rail sliding block (21) and a second horizontal guide rail sliding block (22) of each wall-climbing robot guide rail sucker mechanism are arranged on the truss (12);
a rotating shaft (9) is also arranged on the second surface of the mounting plate (3) of the guide rail sucker mechanisms of the two wall-climbing robots; the truss (12) is provided with a driving wheel (10) and at least one driven wheel (11), the driving wheel (10) is driven to rotate before the guide rail sucker mechanism rotates, and the driving wheel is also used for providing the initial speed of linear motion for the guide rail sucker mechanism; the rotating shaft (9) is used for driving the guide rail sucker mechanism to integrally rotate after the driving wheel (10) rotates; the driven wheel (11) is used for passively rotating when the whole guide rail sucker mechanism rotates; the truss (12) is also provided with a shot blasting mechanism (13);
the rotating shaft (9) is provided with a spring limiting mechanism for enabling the guide rail sucker mechanism to reset to a default pose when a rotating angle is generated relative to the default pose; the control method of the wall-climbing robot guide rail sucker system is characterized by comprising the following steps:
step A: sending a first vertical cylinder control signal to enable a vertical feeding cylinder of the first guide rail sucker mechanism to supply air pressure to enable a sucker to be sucked to a working surface;
and B: the push rod of the first guide rail sucker mechanism can freely move towards the direction of the joint position sensor;
and C: when the push rod of the first guide rail sucker mechanism reaches the position of the cross-connection position sensor, a positive limit control signal of a second horizontal cylinder is sent out, so that the push rod of a vertical feeding cylinder in the second guide rail sucker mechanism moves from the position of a negative limit sensor to the position of a positive limit sensor;
step D: when a push rod of a vertical feeding cylinder in the second guide rail sucker mechanism reaches the position of a positive limit sensor, a second vertical cylinder control signal is sent out, so that the vertical feeding cylinder of the second guide rail sucker mechanism supplies air pressure to enable a sucker to be sucked to a working surface;
step E: sending a first horizontal cylinder negative limit control signal and a second horizontal cylinder negative limit control signal to enable a push rod of the first horizontal feeding cylinder and a push rod of the second horizontal feeding cylinder to move towards the directions of respective negative limit sensors;
step F: when a push rod of the first horizontal feeding cylinder reaches the position of the negative limit sensor, a first sucking disc separation signal is sent out, so that the vertical feeding cylinder of the first guide rail sucking disc mechanism provides sufficient reverse air pressure to separate the sucking disc from the working surface;
step G: when a push rod of the second horizontal feeding cylinder moves to the position of the cross joint position sensor, a positive limit control signal of the first horizontal cylinder is sent out;
step H: when a push rod of a vertical feeding cylinder in the first guide rail sucker mechanism reaches the position of a positive limit sensor, a first vertical cylinder control signal is sent out, so that the vertical feeding cylinder of the first guide rail sucker mechanism supplies air pressure to enable a sucker to be sucked to a working surface;
step I: and sending a second sucker separation signal to enable the vertical feeding cylinder of the second guide rail sucker mechanism to provide sufficient reverse air pressure so as to separate the sucker from the working surface.
2. The method for controlling the rail suction cup system of the wall-climbing robot according to claim 1, wherein before the second horizontal cylinder positive limit control signal is sent in the step C and before the first horizontal cylinder positive limit control signal is sent in the step G, the method further comprises the following steps:
when a steering movement instruction is received and the push rod reaches the position of the joint position sensor, the guide rail sucker mechanism stops moving;
sending a reverse air pressure control signal to enable the driving wheel to be in contact with the working surface;
when the steering command is a counterclockwise turning angle theta, the driving wheel rotates clockwise by 90 degrees to theta/2 degrees and then moves 2 rho in the vertical right direction along the connecting line of the driving wheel and the rotating shaft of the first guide rail sucker mechanism1sin (theta/2) distance, and,then the driving wheel rotates clockwise by an angle of- (90-theta/2); where ρ is1The distance between a rotating shaft of the first guide rail sucker mechanism and the driving wheel is set;
when the steering command is a clockwise turning angle theta, the driving wheel rotates anticlockwise by 90 degrees-theta/2 degrees and then moves 2 rho along the vertical left direction of the connecting line of the driving wheel and the rotating shaft of the second guide rail sucker mechanism2sin (theta/2) distance, then counterclockwise rotating the driving wheel by an angle of- (90-theta/2); where ρ is2The distance between the rotating shaft of the first guide rail sucker mechanism and the driving wheel is adopted.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810142492.6A CN108340982B (en) | 2018-02-11 | 2018-02-11 | Wall-climbing robot guide rail sucker mechanism, system and control method |
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| CN201810142492.6A CN108340982B (en) | 2018-02-11 | 2018-02-11 | Wall-climbing robot guide rail sucker mechanism, system and control method |
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| CN108340982B true CN108340982B (en) | 2020-08-14 |
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| CN111013882B (en) * | 2018-10-09 | 2022-04-05 | 上海交通大学 | Automatic truss type spraying system for ship body segmentation |
| CN109677498B (en) * | 2019-01-05 | 2020-10-20 | 蚌埠翰邦知识产权服务有限公司 | Steering device, locking structure and fixing method |
| CN110089972B (en) * | 2019-03-06 | 2023-05-30 | 上海逍森自动化科技有限公司 | Curtain wall cleaning robot with plane motion and control method thereof |
| CN110466637B (en) * | 2019-08-30 | 2020-06-12 | 燕山大学 | Single-shaft-driven four-foot all-directional climbing robot and control method thereof |
| CN113352192B (en) * | 2021-06-11 | 2022-07-29 | 中国建筑土木建设有限公司 | Template polisher and control method thereof |
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| TWI581844B (en) * | 2016-01-27 | 2017-05-11 | Genius Toy Taiwan Co Ltd | Climbing wall toys |
| CN106240667B (en) * | 2016-08-31 | 2019-01-22 | 厦门华蔚物联网科技有限公司 | A kind of wall robot with novel travelling mechanism |
| CN206125221U (en) * | 2016-09-19 | 2017-04-26 | 南京航空航天大学 | Curved surface articulated wall climbing robot |
| CN106240672B (en) * | 2016-09-25 | 2019-02-22 | 中房新雅建设有限公司 | A kind of roof drilling robot |
| CN108313237B (en) * | 2018-02-11 | 2019-08-23 | 哈尔滨工业大学 | A kind of sucked type climbs wall shot-peening robot control system and control method |
| CN108326753B (en) * | 2018-02-11 | 2019-11-05 | 哈尔滨工业大学 | One kind climbing wall type shot-peening robot |
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