CN108725618B - A kind of multiple degrees of freedom barrier-crossing wall-climbing robot - Google Patents
A kind of multiple degrees of freedom barrier-crossing wall-climbing robot Download PDFInfo
- Publication number
- CN108725618B CN108725618B CN201810784463.XA CN201810784463A CN108725618B CN 108725618 B CN108725618 B CN 108725618B CN 201810784463 A CN201810784463 A CN 201810784463A CN 108725618 B CN108725618 B CN 108725618B
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- CN
- China
- Prior art keywords
- oscillating cylinder
- crawler belt
- connecting plate
- fixedly connected
- freedom
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
Abstract
The present invention discloses a kind of multiple degrees of freedom barrier-crossing wall-climbing robot, is successively adsorbed on wall and is moved with the sucker on worm and gear driving wheel, the rotation of drive crawler belt, crawler belt, has the function of the movement of multiple directions while also having to climb wall obstacle detouring.The multiple degrees of freedom barrier-crossing wall-climbing robot is mainly made of crawler belt Pneumatic suction cup, oscillating cylinder, worm screw, worm gear, driving wheel, crawler belt, fixed plate, connecting shaft, follower, connecting plate, laterally and longitudinally effective switching of motor pattern guarantees without the aloof from politics and material pursuits work in dead angle.The present invention is driven with oscillating cylinder, has the characteristics that compact-sized, multiple degrees of freedom free switching, explosion-proof performance are good, can be used for the cleaning and other high altitude operation of high-altitude wall, glass.
Description
Technical field
The invention belongs to robotic technology fields, and in particular to a kind of multiple degrees of freedom barrier-crossing wall-climbing robot.
Background technique
With the quickening of urbanization process, urban population is more and more, and various high-altitude buildings are also more and more, for high-altitude
Worker-Spider-Man is scrubbed than relatively hazardous in the surface high-altitude of building, careless slightly in work process to be easy to appear accident, same to hour hands
To the cleaning on roof currently without the robot of this respect.Chinese patent 201611211754.7 proposes a kind of high building emergency fire extinguishing
Trolley, but what is moved is limited in scope, while not having obstacle crossing function.
Summary of the invention
The purpose of the present invention is being directed to above-mentioned existing technological deficiency, a kind of multiple degrees of freedom obstacle detouring wall-climbing device is provided
People, the present invention have many advantages, such as compact-sized, and multiple degrees of freedom, explosion-proof performance are good.
To achieve the goals above, the technical solution adopted by the present invention is that: a kind of multiple degrees of freedom barrier-crossing wall-climbing robot, it
Include:
A kind of multiple degrees of freedom barrier-crossing wall-climbing robot, which is characterized in that the machine artificially passes sequentially through intermediate connecting part
The N number of trolley to link together, N >=2；
The trolley includes one Pneumatic suction cup of crawler belt, oscillating cylinder one, worm screw, worm gear, driving wheel one, crawler belt one, consolidates
Fixed board one, connecting shaft, driving wheel two, follower one, upper fixing plates, fixed plate two, crawler belt two, follower two, two gas of crawler belt
Dynamic sucker；
The trolley be inside and outside symmetrical structure, the upper surface of described fixed plate it is inside and outside respectively with fixed plate one, fixed plate
Two are fixedly connected, and the oscillating cylinder one is fixed on one end in the upper surface of described fixed plate, the oscillating cylinder one
Rotation axis is fixedly connected with the worm screw, and the worm and wheel is meshed, and the worm gear is fixed on the rotating shaft, institute
The rotation axis stated inwardly, is outward each passed through fixed plate one, fixed plate two is fixedly connected with driving wheel one, driving wheel two, described
Driving wheel one, driving wheel two drive the rotation of the follower one, follower two by crawler belt one, crawler belt two respectively, described
Follower one, follower two be rotatably connected respectively with the fixed plate one, fixed plate two, the crawler belt one pneumatically inhale
Disk, two Pneumatic suction cup of crawler belt are respectively fixedly connected with the outer surface in the crawler belt one and the outer surface of crawler belt two；
The intermediate connecting part is also symmetrical structure comprising connecting plate one, connecting plate two, connects oscillating cylinder two
Fishplate bar three, oscillating cylinder three, oscillating cylinder four, connecting plate four, oscillating cylinder five, connecting plate five, the oscillating cylinder three
Cylinder body, oscillating cylinder four cylinder body be respectively fixedly connected at the both ends of the connecting plate three, and the rotation axis of oscillating cylinder three
It is fixedly connected with one end of connecting plate two, the rotation axis of oscillating cylinder four is fixedly connected with one end of connecting plate four；The company
The other end of fishplate bar two is fixedly connected with the rotation axis of the oscillating cylinder two, and the cylinder body of the oscillating cylinder two is fixedly connected
In one end of connecting plate one, the other end of the connecting plate four is fixedly connected with the rotation axis of the oscillating cylinder five, swings
The cylinder body of cylinder five is fixedly connected on one end of connecting plate five；The other end of the connecting plate one and the other end of connecting plate five
It is respectively fixedly connected in the upper surface of two adjacent trolleies fixed plate.
Further, oscillating cylinder one, oscillating cylinder two, oscillating cylinder three, oscillating cylinder four, oscillating cylinder five can electricity consumptions
Machine replacement.
Further, worm screw, worm-drive can be replaced with gear drive.
Further, the fixed plate one, upper fixing plates, two material of fixed plate are carbon fiber board, are to mitigate
System weight.
Further, the worm material is aluminium alloy, worm gear material is plastics.
Further, the connection shaft material is aluminium alloy.
Further, the driving wheel one, driving wheel two, follower one, two material of follower are plastics.
The beneficial effects of the present invention are:
1. the present invention is combined using worm and gear, lesser dynamical element has the advantages that the biggish power of output；
2. the present invention is combined using trolley with intermediate connecting part, it is more that multiple degrees of freedom barrier-crossing wall-climbing robot may be implemented
The switching of kind motor pattern is realized 360 degree of cleanings and obstacle detouring without dead angle to skyscraper surface and roof, while can be taken
Band manipulator completes other tasks.
Detailed description of the invention
Fig. 1 is multiple degrees of freedom barrier-crossing wall-climbing robot overall mechanical design figure；
Fig. 2 is the single trolley mechanical construction drawing of multiple degrees of freedom barrier-crossing wall-climbing robot；
Fig. 3 is trolley intermediate connecting part mechanical construction drawing；
In figure: trolley 1, intermediate connecting part 2, trolley 23, one Pneumatic suction cup 4 of crawler belt, oscillating cylinder 1, worm screw 6,
Worm gear 7, driving wheel 1, crawler belt 1, fixed plate 1, connecting shaft 11, driving wheel 2 12, follower 1, upper fixing plates
14, fixed plate 2 15, crawler belt 2 16, follower 2 17, two Pneumatic suction cup 18 of crawler belt, connecting plate 1, oscillating cylinder 2 20, company
Fishplate bar 2 21, connecting plate 3 22, oscillating cylinder 3 23, oscillating cylinder 4 24, connecting plate 4 25, oscillating cylinder 5 26, connecting plate
5 27.
Specific embodiment
Below according to attached drawing and preferred embodiment the present invention is described in detail, the objects and effects of the present invention will become brighter
White, below in conjunction with drawings and examples, the present invention will be described in further detail.It should be appreciated that described herein specific
Embodiment is only used to explain the present invention, is not intended to limit the present invention.
As shown in Figure 1-3, a kind of multiple degrees of freedom barrier-crossing wall-climbing robot, which is characterized in that the machine artificially passes sequentially through
N number of trolley that intermediate connecting part links together, N >=2；
Trolley includes one Pneumatic suction cup 4 of crawler belt, oscillating cylinder 1, worm screw 6, worm gear 7, driving wheel 1, crawler belt 1, consolidates
It is fixed board 1, connecting shaft 11, driving wheel 2 12, follower 1, upper fixing plates 14, fixed plate 2 15, crawler belt 2 16, passive
Take turns 2 17, crawler belt, two Pneumatic suction cup 18；
Trolley is inside and outside symmetrical structure, and upper fixing plates 14 are inside and outside fixed with fixed plate 1, fixed plate 2 15 respectively
Connection, oscillating cylinder 1 are fixed on one end in the upper surface of described fixed plate 14, the rotation axis of oscillating cylinder 1 and described
Worm screw 6 is fixedly connected, and worm screw 6 is meshed with worm gear 7, and worm gear 7 is fixed in rotation axis 11, and rotation axis 11 is distinguished inwardly, outward
Driving wheel 1, driving wheel 2 12,2 12 points of driving wheel 1, driving wheel are fixedly connected with across fixed plate 1, fixed plate 2 15
Not Tong Guo crawler belt 1, crawler belt 2 16 drive follower 1, follower 2 17 rotation, 2 17 points of follower 1, follower
It is not rotatably connected with fixed plate 1, fixed plate 2 15, one Pneumatic suction cup 4 of crawler belt, two Pneumatic suction cup 18 of crawler belt are fixed respectively
It is connected to the outer surface of crawler belt 1 and the outer surface of crawler belt 2 16.
The driving method of trolley 1 is as follows: oscillating cylinder 1 is successively driven actively by worm screw 6, worm gear 7, connecting shaft 11
It takes turns one 8, driving wheel 2 12 actively to rotate, follower 1, follower 2 17 servo-actuated, drive crawler belts 1,2 16 turns of crawler belt
It is dynamic, it is further driven to one Pneumatic suction cup 4 of crawler belt, two Pneumatic suction cup 18 of crawler belt is adsorbed on wall in turn.
Intermediate connecting part is also symmetrical structure comprising connecting plate 1, connecting plate 2 21, connects oscillating cylinder 2 20
Fishplate bar 3 22, oscillating cylinder 3 23, oscillating cylinder 4 24, connecting plate 4 25, oscillating cylinder 5 26, connecting plate 5 27, it is described
The cylinder body of oscillating cylinder 3 23, the cylinder body of oscillating cylinder 4 24 are respectively fixedly connected at the both ends of the connecting plate 3 22, and
The rotation axis of oscillating cylinder 3 23 is fixedly connected with one end of connecting plate 2 21, the rotation axis and connecting plate four of oscillating cylinder 4 24
25 one end is fixedly connected；The other end of connecting plate 2 21 is fixedly connected with the rotation axis of the oscillating cylinder 2 20, swings gas
The cylinder body of cylinder 2 20 is fixedly connected on one end of connecting plate 1, and the other end of connecting plate 4 25 is fixedly connected with oscillating cylinder 5 26
Rotation axis, the cylinder body of oscillating cylinder 5 26 is fixedly connected on one end of connecting plate 5 27；The other end of connecting plate 1 and company
The other end of fishplate bar 5 27 is respectively fixedly connected in the upper surface of two adjacent trolleies fixed plate 14.
Oscillating cylinder 1, oscillating cylinder 2 20, oscillating cylinder 3 23, oscillating cylinder 4 24, oscillating cylinder 5 26 can electricity consumptions
Machine replacement.Worm screw 6, the transmission of worm gear 7 can be replaced with gear drive.
In order to mitigate system weight, fixed plate 1, upper fixing plates 14,2 15 material of fixed plate are carbon fiber board, snail
6 material of bar is aluminium alloy, 7 material of worm gear is plastics, and 11 material of connecting shaft is aluminium alloy.Driving wheel 1, driving wheel 2 12,
Follower 1,2 17 material of follower are plastics.
In the present embodiment by taking two trolleies as an example, a kind of multiple degrees of freedom barrier-crossing wall-climbing robot carries out multiple degrees of freedom and obstacle detouring
When the course of work it is as follows:
In the initial stage, trolley 1, trolley 23 are put by 2 lateral connection of intermediate connecting part and movement by control
Take offence cylinder 2 20, oscillating cylinder 5 26 drives connecting plate 1, connecting plate 5 27 to rotate respectively, is further driven to trolley 1, small
Vehicle 23,90 degree of rotation realize trolley 1, trolley 23 to realize by transverse movement mode to the switching of longitudinal movement mode
Longitudinal parallel connection and movement.When needing to carry out obstacle detouring, trolley 23 is adsorbed on wall and travels forward, trolley 1
One Pneumatic suction cup 4 of crawler belt, two Pneumatic suction cup 18 of crawler belt stop working and do not have adsorption function, oscillating cylinder 3 23 rotate, pendulum
Take offence cylinder 3 23 rotation axis successively drive connecting plate 2 21, oscillating cylinder 2 20, connecting plate 1, upper fixing plates 14 and
Trolley 1 rotates, and trolley 1 turns to desired location, and one Pneumatic suction cup 4 of crawler belt, two Pneumatic suction cup 18 of crawler belt work on suction
It is attached on wall.One Pneumatic suction cup of crawler belt, two Pneumatic suction cup of crawler belt of trolley 23 stop working and do not have adsorption function, swing
Cylinder 4 24 drives the upper surface of connecting plate 4 25, oscillating cylinder 5 26, connecting plate 5 27, trolley 23 fixed plate, 23 turns of trolley
Dynamic, trolley 23 realizes that obstacle detouring, one Pneumatic suction cup of crawler belt, two Pneumatic suction cup of crawler belt of trolley 23 work on.In obstacle detouring process
In, the linear motion and swing of trolley 1 and trolley 23 need effective coordination.
The present invention, by controlling each oscillating cylinder, realize multiple degrees of freedom barrier-crossing wall-climbing robot operating mode switching and
TRAJECTORY CONTROL, may be implemented the movement of obstacle detouring and multiple freedom degrees, and accurate TRAJECTORY CONTROL may be implemented, and the present invention possesses
The incomparable advantage of other barrier-crossing wall-climbing robots.
It will appreciated by the skilled person that being not used to limit the foregoing is merely the preferred embodiment of invention
System invention, although invention is described in detail referring to previous examples, for those skilled in the art, still
It can modify to the technical solution of aforementioned each case history or equivalent replacement of some of the technical features.It is all
Within the spirit and principle of invention, modification, equivalent replacement for being made etc. be should be included within the protection scope of invention.
Claims (7)
1. a kind of multiple degrees of freedom barrier-crossing wall-climbing robot, which is characterized in that the machine artificially passes sequentially through intermediate connecting part company
The N number of trolley being connected together, N >=2；
The trolley includes one Pneumatic suction cup of crawler belt (4), oscillating cylinder one (5), worm screw (6), worm gear (7), driving wheel one
(8), crawler belt one (9), fixed plate one (10), connecting shaft (11), driving wheel two (12), follower one (13), upper fixing plates
(14), fixed plate two (15), crawler belt two (16), follower two (17), two Pneumatic suction cup of crawler belt (18)；
The trolley is inside and outside symmetrical structure, the upper surface of described fixed plate (14) it is inside and outside respectively with fixed plate one (10), solid
Fixed board two (15) is fixedly connected, and the oscillating cylinder one (5) is fixed on one end in the upper surface of described fixed plate (14), described
The rotation axis of oscillating cylinder one (5) be fixedly connected with the worm screw (6), the worm screw (6) is meshed with worm gear (7),
The worm gear (7) is fixed on connecting shaft (11), and the connecting shaft (11) is inside, is each passed through fixed plate one outward
(10), fixed plate two (15) is fixedly connected with driving wheel one (8), driving wheel two (12), the driving wheel one (8), driving wheel two
(12) rotation of the follower one (13), follower two (17), institute are driven by crawler belt one (9), crawler belt two (16) respectively
Follower one (13), the follower two (17) stated are rotatably connected with the fixed plate one (10), fixed plate two (15) respectively,
One Pneumatic suction cup of crawler belt (4), two Pneumatic suction cup of crawler belt (18) are respectively fixedly connected with the appearance in the crawler belt one (9)
The outer surface in face and crawler belt two (16)；
The intermediate connecting part is also symmetrical structure comprising connecting plate one (19), oscillating cylinder two (20), connecting plate two
(21), connecting plate three (22), oscillating cylinder three (23), oscillating cylinder four (24), connecting plate four (25), oscillating cylinder five (26),
Connecting plate five (27), the cylinder body of the oscillating cylinder three (23), the cylinder body of oscillating cylinder four (24) are respectively fixedly connected in institute
The both ends for the connecting plate three (22) stated, and the rotation axis of oscillating cylinder three (23) is fixedly connected with one end of connecting plate two (21),
The rotation axis of oscillating cylinder four (24) is fixedly connected with one end of connecting plate four (25)；The other end of the connecting plate two (21)
It is fixedly connected with the rotation axis of the oscillating cylinder two (20), the cylinder body of the oscillating cylinder two (20) is fixedly connected on connection
One end of plate one (19), the other end of the connecting plate four (25) are fixedly connected with the rotation of the oscillating cylinder five (26)
Axis, the cylinder body of oscillating cylinder five (26) are fixedly connected on one end of connecting plate five (27)；The connecting plate one (19) it is another
The other end of end and connecting plate five (27) is respectively fixedly connected in the upper surface of two adjacent trolleies fixed plate (14).
2. multiple degrees of freedom barrier-crossing wall-climbing robot according to claim 1, which is characterized in that oscillating cylinder one (5) is swung
Cylinder two (20), oscillating cylinder three (23), oscillating cylinder four (24), the replacement of oscillating cylinder five (26) useable electric moter.
3. multiple degrees of freedom barrier-crossing wall-climbing robot according to claim 1, which is characterized in that worm screw (6), worm gear (7) pass
It is dynamic to be replaced with gear drive.
4. multiple degrees of freedom barrier-crossing wall-climbing robot according to claim 1, which is characterized in that the fixed plate one
(10), upper fixing plates (14), fixed plate two (15) material are carbon fiber board, to mitigate system weight.
5. multiple degrees of freedom barrier-crossing wall-climbing robot according to claim 1, which is characterized in that described worm screw (6) material
It is plastics for aluminium alloy, worm gear (7) material.
6. multiple degrees of freedom barrier-crossing wall-climbing robot according to claim 1, which is characterized in that described connecting shaft (11) material
Material is aluminium alloy.
7. multiple degrees of freedom barrier-crossing wall-climbing robot according to claim 1, which is characterized in that the driving wheel one (8),
Driving wheel two (12), follower one (13), follower two (17) material are plastics.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810784463.XA CN108725618B (en) | 2018-07-17 | 2018-07-17 | A kind of multiple degrees of freedom barrier-crossing wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810784463.XA CN108725618B (en) | 2018-07-17 | 2018-07-17 | A kind of multiple degrees of freedom barrier-crossing wall-climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN108725618A CN108725618A (en) | 2018-11-02 |
| CN108725618B true CN108725618B (en) | 2019-05-03 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810784463.XA Expired - Fee Related CN108725618B (en) | 2018-07-17 | 2018-07-17 | A kind of multiple degrees of freedom barrier-crossing wall-climbing robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112429103A (en) * | 2020-12-10 | 2021-03-02 | 北方工业大学 | Compound passive climbing of absorbent crawler-type constructs |
| CN113757485A (en) * | 2021-09-01 | 2021-12-07 | 西安石油大学 | Bionic snake robot for long-distance oil and gas pipeline inspection |
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| JPH09315353A (en) * | 1996-06-03 | 1997-12-09 | Kubota Corp | Crawler travel device for working vehicle |
| US7270357B1 (en) * | 2006-03-16 | 2007-09-18 | Lih Yann Industrial Co., Ltd. | Distance and orientation adjustable suction device |
| CN101804639A (en) * | 2009-02-16 | 2010-08-18 | 西北工业大学 | Motion adsorption unit of wall-climbing robot |
| CN201823203U (en) * | 2010-08-14 | 2011-05-11 | 任曲波 | Fire-fighting robot without need of charging, fuel and external power supply |
| JP2013055897A (en) * | 2011-09-07 | 2013-03-28 | Kubota Corp | Posture controlling device for combine harvester |
| CN204688252U (en) * | 2015-04-27 | 2015-10-07 | 长春理工大学 | All direction multifunctional climbing robot |
| CN205438537U (en) * | 2015-12-30 | 2016-08-10 | 苏州澳昆智能机器人技术有限公司 | Displacement flexible robot clamping apparatus |
| CN106143667A (en) * | 2016-08-11 | 2016-11-23 | 上海大学 | A kind of hinge-type metal wall work climbing robot |
| CN205835320U (en) * | 2016-07-12 | 2016-12-28 | 上海沃迪自动化装备股份有限公司 | A kind of plastic casing gripper equipment |
| CN207607563U (en) * | 2017-11-20 | 2018-07-13 | 河北工业大学 | It is a kind of can obstacle detouring multi-functional climbing robot |
-
2018
- 2018-07-17 CN CN201810784463.XA patent/CN108725618B/en not_active Expired - Fee Related
Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH09315353A (en) * | 1996-06-03 | 1997-12-09 | Kubota Corp | Crawler travel device for working vehicle |
| US7270357B1 (en) * | 2006-03-16 | 2007-09-18 | Lih Yann Industrial Co., Ltd. | Distance and orientation adjustable suction device |
| CN101804639A (en) * | 2009-02-16 | 2010-08-18 | 西北工业大学 | Motion adsorption unit of wall-climbing robot |
| CN201823203U (en) * | 2010-08-14 | 2011-05-11 | 任曲波 | Fire-fighting robot without need of charging, fuel and external power supply |
| JP2013055897A (en) * | 2011-09-07 | 2013-03-28 | Kubota Corp | Posture controlling device for combine harvester |
| CN204688252U (en) * | 2015-04-27 | 2015-10-07 | 长春理工大学 | All direction multifunctional climbing robot |
| CN205438537U (en) * | 2015-12-30 | 2016-08-10 | 苏州澳昆智能机器人技术有限公司 | Displacement flexible robot clamping apparatus |
| CN205835320U (en) * | 2016-07-12 | 2016-12-28 | 上海沃迪自动化装备股份有限公司 | A kind of plastic casing gripper equipment |
| CN106143667A (en) * | 2016-08-11 | 2016-11-23 | 上海大学 | A kind of hinge-type metal wall work climbing robot |
| CN207607563U (en) * | 2017-11-20 | 2018-07-13 | 河北工业大学 | It is a kind of can obstacle detouring multi-functional climbing robot |
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| Publication number | Publication date |
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| CN108725618A (en) | 2018-11-02 |
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