CN109176468B - Sliding rail guiding sucker telescopic worm-imitating wall-climbing robot device - Google Patents
Sliding rail guiding sucker telescopic worm-imitating wall-climbing robot device Download PDFInfo
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- CN109176468B CN109176468B CN201811057424.6A CN201811057424A CN109176468B CN 109176468 B CN109176468 B CN 109176468B CN 201811057424 A CN201811057424 A CN 201811057424A CN 109176468 B CN109176468 B CN 109176468B
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- 230000009194 climbing Effects 0.000 claims abstract description 16
- 238000001179 sorption measurement Methods 0.000 claims description 96
- 210000002435 tendon Anatomy 0.000 claims description 17
- 230000000712 assembly Effects 0.000 claims description 6
- 238000000429 assembly Methods 0.000 claims description 6
- 238000004804 winding Methods 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 abstract description 7
- 238000005265 energy consumption Methods 0.000 abstract description 5
- 230000009471 action Effects 0.000 abstract description 4
- 239000006185 dispersion Substances 0.000 abstract description 3
- 101100441413 Caenorhabditis elegans cup-15 gene Proteins 0.000 description 11
- 238000004904 shortening Methods 0.000 description 6
- 230000000087 stabilizing effect Effects 0.000 description 4
- 230000008901 benefit Effects 0.000 description 3
- 230000007547 defect Effects 0.000 description 3
- 238000003795 desorption Methods 0.000 description 3
- 230000005389 magnetism Effects 0.000 description 3
- 239000002184 metal Substances 0.000 description 3
- 239000007769 metal material Substances 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 229910052755 nonmetal Inorganic materials 0.000 description 3
- 230000009193 crawling Effects 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000000737 periodic effect Effects 0.000 description 1
- 230000000704 physical effect Effects 0.000 description 1
- 239000011345 viscous material Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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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- Mechanical Engineering (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
Slide rail direction sucking disc is flexible imitative worm wall climbing robot device belongs to the wall climbing robot field, including a plurality of absorption units, a plurality of flexible link assembly, guide shaft, slider, electronic air pump, solenoid valve and controller etc.. The device realizes the wall climbing function of the worm-like robot. The device can be avoided going up absorption and removal perpendicularly, adopts the polycell structure to make action only need remove a unit at every turn, not only with the wall absorption area of contact big, the climbing is stable, reliable moreover, the quality dispersion to each unit, the bearing capacity is strong, scalability is good, with low costs, easy control, the energy consumption is low, the time of endurance is long, is applicable to in the robot as the wall operation.
Description
Technical Field
The invention belongs to the field of wall-climbing robots, and particularly relates to a structural design of a sliding rail guide sucker telescopic worm-imitating wall-climbing robot device.
Background
In recent years, a number of mobile robots, such as a multi-legged mobile robot, an underwater robot, and the like, have been produced, and more work is performed by a robot apparatus. In reality, most of the existing robots stay on the ground to work, and still have the work that needs to be accomplished a lot on the vertical wall, but be difficult to arrange the existing robot in the short time and go to accomplish, most work still need operating personnel to take the scaffold frame or tie safety rope and climb to the eminence, is running a high risk operation. Therefore, in order to solve the problem of difficult wall mounting faced by the existing robot equipment, researchers and engineers of robots at home and abroad have started to develop wall-climbing robots. Through many years of exploration, a batch of wall-climbing robots with different forms and principles are born. However, the wall-climbing robot technology is still not mature enough, and the performance is difficult to meet the requirements of large-scale popularization and application.
The existing wall-climbing robot mainly has three types:
1) wheel type wall-climbing robot with centrifugal fan
The adsorption principle of the existing wheel type wall-climbing robot is that a high-power turbine generates large adsorption force and thrust to the wall surface. Thanks to the driving mode of the wheel type structure, the robot has higher crawling speed on the wall surface, but due to the limitation of the principle of the turbine, the robot has high energy consumption, very serious noise and insufficient load-carrying capacity, and can only carry light-weight equipment.
2) Crawler-type climbing robot
The climbing robot of current crawler-type generally uses the magnetism track, can climb metal wall, pass through the corner perpendicularly, has great use value under some special occasions. However, because the magnetism of the magnetic crawler is not easy to control, the adsorption capacity, the running speed and the like of the robot are seriously influenced by the physical properties of the wall surface, and the robot can not be applied to the metal wall surface and the non-metal material which are not adsorbed by the magnet.
3) Foot type wall-climbing robot
The existing foot type wall climbing robot mainly adopts a viscous material array or a sucker structure with a microscopic special surface structure to finish adsorption, and a multi-joint four-foot or six-foot structure similar to a horizontal ground climbing robot is mostly adopted. Benefit from the structure of many feet, its trafficability characteristic of reply complex environment is better, but because the foot degree of freedom is more, and the structure is complicated, and the control degree of difficulty on perpendicular wall is higher, and weight is great, and the organism still will bear very big moment of torsion, is difficult to satisfy the needs of carrying the heavy object climbing wall.
At present, wall climbing robot with guide rail slider structure and sucking disc adsorption structure is developed:
1) an existing magnetism is inhaled formula and is climbed wall robot (chinese patent CN108127656A), a slip table includes a slider, a slider is used for installing the operation device, be equipped with running gear on the slip table. The device has a guide rail and slide block structure, has higher stability and can keep linear motion under external load; the defects are as follows: the robot has the disadvantages that only one guide rail is arranged, the torsion deformation is easy to occur under the external load, the application range of the electromagnet adsorption structure is small, and the robot can not be applied to metal material walls and non-metal materials which are not adsorbed by the magnets.
2) A two-legged wall-climbing robot (chinese patent CN108127656A) includes a support device, a robot body, and a connecting cable connecting the robot body and the support device. The robot has the advantages that the robot adopts a sucker adsorption structure, and can be suitable for smooth non-metal or metal wall surfaces such as glass and the like; the two-foot type structure is adopted, so that the striding type walking can be realized by imitating human beings, and the obstacle crossing capability is strong. The method has the defects of more system freedom degrees, large control difficulty, poor rigidity and difficulty in keeping linear motion when external load is large.
Scientific research institutions of various countries in the world conduct a lot of leading-edge research on the research of climbing robots, but still have a lot of more troublesome problems including insufficient load, high requirements on wall properties, poor steering performance and the like.
Disclosure of Invention
The invention aims to overcome the defects of the existing wall-climbing robot and provides a sliding rail guide sucker telescopic worm-imitating wall-climbing robot device. The device imitates the worm motion principle, can adsorb and remove on perpendicular wall, crawl stably, reliably, and the bearing capacity is strong, and scalability is good, and is with low costs, easy control, and the energy consumption is low, and the time of endurance is long.
The technical scheme of the invention is as follows:
the invention relates to a sliding rail guide sucker telescopic worm-imitating wall-climbing robot device, which is characterized in that: the adsorption device comprises a first adsorption unit, a second adsorption unit, a third adsorption unit, a first telescopic connecting rod assembly, a second telescopic connecting rod assembly, a first guide shaft, a second guide shaft, a first left slide block, a first right slide block, a second left slide block, a second right slide block, a third left slide block, a third right slide block, an electric air pump, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve, a first relay, a second relay, a third relay and a controller; the first adsorption unit, the second adsorption unit and the third adsorption unit are all adsorption units with the same structure; the adsorption unit comprises a framework, a speed reducing motor, a tendon rope, a spring piece, a limiting block, a bobbin, a fixed pulley shaft, a movable pulley shaft, a sucker support and at least one sucker; in the adsorption unit, the speed reducing motor is fixedly arranged on the framework, the winding reel is fixedly sleeved on an output shaft of the speed reducing motor, the fixed pulley is sleeved on a fixed pulley shaft, the fixed pulley shaft is sleeved in the framework, the movable pulley is sleeved on a movable pulley shaft, and the movable pulley shaft is sleeved on the sucker support; one end of the tendon rope is fixed on the bobbin and wound through the bobbin, the tendon rope is wound through the fixed pulley and the movable pulley, and the other end of the tendon rope is fixedly connected with the framework; the sucker support is embedded in the framework in a sliding manner, and the sliding direction of the sucker support in the framework is vertical to the working surface; one end of each sucker is fixedly connected with the sucker bracket, and the other end of each sucker is contacted with or separated from the working surface; the two ends of the spring part are respectively connected with the framework and the sucker bracket, and the spring part adopts a pressure spring; the limiting block is fixedly connected with the framework, and the sucker support is contacted with or separated from the limiting block; the outer edge of the sucker is elastic; the air path inlet of the sucker in the first adsorption unit is communicated with a first electromagnetic valve, the air path inlet of the sucker in the second adsorption unit is communicated with a second electromagnetic valve, the air path inlet of the sucker in the third adsorption unit is communicated with a third electromagnetic valve, and the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve are respectively communicated with an electric air pump; the first telescopic connecting rod assembly and the second telescopic connecting rod assembly are telescopic connecting rod assemblies with the same structure, and each telescopic connecting rod assembly comprises a first steering engine, a second steering engine, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first shaft, a second shaft, a third shaft, a turntable and a turntable shaft; the first steering engine and the second steering engine are the same steering engine and are respectively and fixedly installed on a turntable, the turntable is sleeved on a turntable shaft, the turntable shaft in the first telescopic connecting rod assembly is sleeved in a framework of the second adsorption unit, and the turntable shaft in the second telescopic connecting rod assembly is sleeved in a framework of the third adsorption unit; one end of the first connecting rod is fixedly sleeved on an output shaft of the first steering engine, the other end of the first connecting rod is movably sleeved on the first shaft, one end of the second connecting rod is movably sleeved on the first shaft, and the other end of the second connecting rod is movably sleeved on the second shaft; a second shaft in the first telescopic connecting rod assembly is movably sleeved on a framework of the first adsorption unit, and a second shaft in the second telescopic connecting rod assembly is movably sleeved on a framework of the second adsorption unit; one end of the third connecting rod is fixedly sleeved on an output shaft of the second steering engine, the other end of the third connecting rod is movably sleeved on the third shaft, one end of the fourth connecting rod is movably sleeved on the third shaft, and the other end of the fourth connecting rod is movably sleeved on the second shaft; the central points of the output shafts of the first steering engine, the first shaft, the second shaft, the third shaft and the second steering engine are respectively A, B, C, D, E; the length of the line segment AB is equal to that of the line segment DE, and the length of the line segment BC is equal to that of the line segment CD; the first left slide block and the first right slide block are fixedly connected with a framework of the first adsorption unit respectively, the second left slide block and the second right slide block are fixedly connected with a framework of the second adsorption unit respectively, the third left slide block and the third right slide block are fixedly connected with a framework of the third adsorption unit respectively, and the first left slide block, the second left slide block and the third left slide block are respectively sleeved on the first guide shaft in a sliding manner; the first right sliding block, the second right sliding block and the third right sliding block are respectively sleeved on the second guide shaft in a sliding manner; the first relay is connected with the first electromagnetic valve, the second relay is connected with the second electromagnetic valve, and the third relay is connected with the third electromagnetic valve; the controller comprises a steering engine output end, a speed reducing motor output end, a first relay output end, a second relay output end and a third relay output end; the first relay, the second relay, the third relay, the steering engines in the adsorption units and the speed reduction motors in the telescopic connecting rod assemblies are respectively connected with the corresponding output ends of the controller; the central line of the sucker, the first shaft, the second shaft, the third shaft, the output shaft of the first steering engine and the output shaft of the second steering engine are parallel to each other; the sliding direction of the sucker support in the framework is parallel to the first axis; the sliding directions of the first left sliding block, the second left sliding block and the third left sliding block on the first guide shaft are consistent with the sliding directions of the first right sliding block, the second right sliding block and the third right sliding block on the second guide shaft, and the sliding direction of the first left sliding block on the first guide shaft is parallel to the working surface; the controller is fixedly installed on the framework of the first adsorption unit or the second adsorption unit.
Compared with the prior art, the invention has the following advantages and prominent effects:
the device comprehensively realizes the wall climbing function of the worm-like motion robot by utilizing the motor, the telescopic connecting rod assembly, the electric air pump, the electromagnetic valve, the tendon rope, the sucking disc, the spring piece and the like. The device can be avoided going up absorption and removal perpendicularly, adopts the polycell structure to make action only need remove a unit at every turn, not only with the wall absorption area of contact big, the climbing is stable, reliable moreover, the quality dispersion to each unit, the bearing capacity is strong, scalability is good, with low costs, easy control, the energy consumption is low, the time of endurance is long, is applicable to in the robot as the wall operation.
Drawings
Fig. 1 is a perspective external view of an embodiment of the sliding rail guide suction cup telescopic worm-imitating wall-climbing robot device designed by the invention.
Fig. 2 is a side elevational view of the embodiment of fig. 1.
Fig. 3 is a perspective view of the embodiment of fig. 1 (not shown in part).
Fig. 4 is a top view of the embodiment of fig. 1 (not shown in part).
Fig. 5 is a bottom view of the embodiment shown in fig. 1.
Fig. 6 is a side view of the embodiment of fig. 1 (not shown with some parts).
Fig. 7 to 8 are schematic views showing the lowering and raising processes of the suction cup holder according to the embodiment shown in fig. 1 (a-a partial sectional view of fig. 4).
Fig. 9 to 11 are schematic views (sectional view B-B of fig. 6) illustrating an operation state of the pantograph linkage mechanism of the embodiment of fig. 1.
Fig. 12 to 15 are schematic views of the respective working states of one movement cycle of the embodiment shown in fig. 1.
Fig. 16-19 are side views of the embodiment of fig. 1 during a change of state.
In fig. 1 to 19:
1-a first adsorption unit, 2-a second adsorption unit, 3-a third adsorption unit, 4-a framework,
5-a speed reducing motor, 6-a tendon rope, 7-a spring piece, 8-a limiting block,
9-bobbin, 10-fixed pulley, 11-fixed pulley shaft, 12-movable pulley,
13-movable pulley shaft, 14-sucker bracket, 15-sucker, 16-first steering engine,
17-a second steering engine, 18-a first connecting rod, 19-a second connecting rod, 20-a third connecting rod,
21-a fourth link, 22-a first axis, 23-a second axis, 24-a third axis,
25-turntable, 26-turntable shaft, 27-first guide shaft, 28-second guide shaft,
29-a first left slide, 30-a first right slide, 31-a second left slide, 32-a second right slide,
33-a third left slide block, 34-a third right slide block, 35-an electric air pump, 36-a first electromagnetic valve,
37-second solenoid valve, 38-third solenoid valve, 39-first relay, 40-second relay,
41-a third relay, 42-a controller, 43-a power supply voltage stabilizing module, 44-a first shell,
45-second shell, 46-third shell, 90-work surface.
Detailed Description
The details of the structure and the operation principle of the present invention are further described in detail below with reference to the accompanying drawings and embodiments.
An embodiment of the sliding rail guide sucker telescopic worm-imitating wall-climbing robot device designed by the invention is shown in fig. 1 to 6, and comprises a first adsorption unit 1, a second adsorption unit 2, a third adsorption unit 3, a first telescopic connecting rod assembly, a second telescopic connecting rod assembly, a first guide shaft 27, a second guide shaft 28, a first left slider 29, a first right slider 30, a second left slider 31, a second right slider 32, a third left slider 33, a third right slider 34, an electric air pump 35, a first electromagnetic valve 36, a second electromagnetic valve 37, a third electromagnetic valve 38, a first relay 39, a second relay 40, a third relay 41 and a controller 42; the first adsorption unit 1, the second adsorption unit 2 and the third adsorption unit 3 are all adsorption units with the same structure; the adsorption unit comprises a framework 4, a speed reducing motor 5, a tendon rope 6, a spring piece 7, a limiting block 8, a bobbin 9, a fixed pulley 10, a fixed pulley shaft 11, a movable pulley 12, a movable pulley shaft 13, a sucker support 14 and at least one sucker 15; in the adsorption unit, the speed reducing motor 5 is fixedly arranged on a framework 4, the bobbin 9 is fixedly sleeved on an output shaft of the speed reducing motor 5, the fixed pulley 10 is sleeved on a fixed pulley shaft 11, the fixed pulley shaft 11 is sleeved in the framework 4, the movable pulley 12 is sleeved on a movable pulley shaft 13, and the movable pulley shaft sleeve 13 is arranged on a sucker support 14; one end of the tendon rope 6 is fixed on the bobbin 9 and wound through the bobbin 9, the tendon rope 7 is wound through the fixed pulley 10 and the movable pulley 12, and the other end of the tendon rope 7 is fixedly connected with the framework 4; the sucker support 14 is slidably embedded in the framework 4, and the sliding direction of the sucker support 14 in the framework 4 is perpendicular to the working surface 90 (the working surface is a wall surface on which the embodiment climbs, as shown in fig. 16); one end of each sucking disc 15 is fixedly connected with the sucking disc bracket 14, and the other end of each sucking disc 15 is contacted with or separated from the working surface; the two ends of the spring element 7 are respectively connected with the framework 4 and the sucker support 14, and the spring element 7 adopts a pressure spring; the limiting block 8 is fixedly connected with the framework 4, and the sucker support 14 is contacted with or separated from the limiting block 8; the outer edge of the suction cup 15 is elastic; the air path inlet of the sucker 15 in the first adsorption unit 1 is communicated with a first electromagnetic valve 36, the air path inlet of the sucker 15 in the second adsorption unit 2 is communicated with a second electromagnetic valve 37, the air path inlet of the sucker 15 in the third adsorption unit 3 is communicated with a third electromagnetic valve 38, and the first electromagnetic valve 36, the second electromagnetic valve 37 and the third electromagnetic valve 38 are respectively communicated with an electric air pump 35; the first telescopic connecting rod assembly and the second telescopic connecting rod assembly are telescopic connecting rod assemblies with the same structure, and each telescopic connecting rod assembly comprises a first steering engine 16, a second steering engine 17, a first connecting rod 18, a second connecting rod 19, a third connecting rod 20, a fourth connecting rod 21, a first shaft 22, a second shaft 23, a third shaft 24, a turntable 25 and a turntable shaft 26; the first steering engine 16 and the second steering engine 17 are the same steering engine and are respectively and fixedly installed on a turntable 25, the turntable 25 is sleeved on a turntable shaft 26, the turntable shaft 26 in the first telescopic connecting rod assembly is sleeved in the framework 4 of the second adsorption unit 2, and the turntable shaft 26 in the second telescopic connecting rod assembly is sleeved in the framework 4 of the third adsorption unit 3; one end of the first connecting rod 18 is fixedly sleeved on an output shaft of the first steering engine 16, the other end of the first connecting rod 18 is movably sleeved on the first shaft 22, one end of the second connecting rod 19 is movably sleeved on the first shaft 22, and the other end of the second connecting rod is movably sleeved on the second shaft 23; a second shaft 23 in the first telescopic connecting rod assembly is movably sleeved on the framework 4 of the first adsorption unit 1, and a second shaft 23 in the second telescopic connecting rod assembly is movably sleeved on the framework 4 of the second adsorption unit 2; one end of the third connecting rod 20 is fixedly sleeved on an output shaft of the second steering engine 17, the other end of the third connecting rod 20 is movably sleeved on a third shaft 24, one end of the fourth connecting rod 21 is movably sleeved on the third shaft 24, and the other end of the fourth connecting rod 21 is movably sleeved on a second shaft 23; the central points of the output shafts of the first steering engine 16, the first shaft 22, the second shaft 23, the third shaft 24 and the second steering engine are respectively A, B, C, D, E; the length of the line segment AB is equal to that of the line segment DE, and the length of the line segment BC is equal to that of the line segment CD; the first left slide block 29 and the first right slide block 30 are respectively fixedly connected with the framework 4 of the first adsorption unit 1, the second left slide block 31 and the second right slide block 32 are respectively fixedly connected with the framework 4 of the second adsorption unit 2, the third left slide block 33 and the third right slide block 34 are respectively fixedly connected with the framework 4 of the third adsorption unit 3, and the first left slide block 29, the second left slide block 31 and the third left slide block 33 are respectively sleeved on the first guide shaft 27 in a sliding manner; the first right slide block 30, the second right slide block 32 and the third right slide block 34 are respectively sleeved on the second guide shaft 28 in a sliding manner; the first relay 39 is connected with the first solenoid valve 36, the second relay 40 is connected with the second solenoid valve 37, and the third relay 41 is connected with the third solenoid valve 38; the controller 42 comprises a steering engine output end, a speed reducing motor output end, a first relay output end, a second relay output end and a third relay output end; the first relay, the second relay, the third relay, the steering engines in the adsorption units and the speed reduction motors in the telescopic connecting rod assemblies are respectively connected with the corresponding output ends of the controller; the central line of the sucker, the first shaft 22, the second shaft 23, the third shaft 24, the output shaft of the first steering engine 16 and the output shaft of the second steering engine 17 are parallel to each other; the sliding direction of the sucker support 14 in the framework 4 is parallel to the first shaft 22; the sliding directions of the first left slider 29, the second left slider 31 and the third left slider 33 on the first guide shaft 27 are consistent with the sliding directions of the first right slider 30, the second right slider 32 and the third right slider 34 on the second guide shaft 28, and the sliding direction of the first left slider 29 on the first guide shaft 27 is parallel to the working surface; the controller 42 is fixedly installed on the framework of the first adsorption unit 1 or the second adsorption unit 2.
The present embodiment further includes a power supply voltage stabilizing module 43, the power supply voltage stabilizing module 43 is fixedly installed on the framework of the first adsorption unit 1 or the second adsorption unit 2, and the power supply voltage stabilizing module stably supplies power to other power utilization parts of the present embodiment.
In this embodiment, besides the above-mentioned labeled elements, a plurality of plastic catheters, a plurality of wires, and a battery are used, which are common elements and are not described in detail.
The working principle of this embodiment is described below with reference to fig. 7 to 19:
the various phases of motion shown implementing one periodic motion are shown in fig. 16-19.
The specific working principle of this embodiment is described as follows (assuming that the initial state is shown in fig. 16, taking the first section of the fuselage as an example):
a) in the adsorption unit, the controller 42 controls the relay to be switched on, the electromagnetic valve controls the suction cup 15 to be switched on with the negative pressure end of the electric air pump, the suction cup 15 is disconnected with the atmosphere, negative pressure is generated in the suction cup 15, and the suction cup 15 is stably adsorbed with the working surface. This movement is defined as adsorption movement, and a state in which the adsorption movement is completed is referred to as an adsorption state.
b) In the adsorption unit, the controller 42 controls the relay to be switched off, the electromagnetic valve controls the suction cup 15 to be switched off from the negative pressure end of the electric air pump 35, the suction cup 15 is switched on with the atmosphere, the negative pressure in the suction cup 15 disappears, and the suction cup 15 is separated from the work. This motion is defined as a disengagement motion, and the state in which the disengagement motion is completed is referred to as a disengagement state. The adsorbed state and the desorbed state do not coexist.
c) In the adsorption unit, the speed reducing motor 5 is electrified to rotate clockwise, the bobbin 9 sleeved with the output shaft of the speed reducing motor 5 rotates clockwise, the tendon rope 6 is tensioned to drive the movable pulley 12 to move upwards vertical to the working face, the movable pulley shaft 13 is sleeved in the sucker support 14, the sucker support 14 is separated from the limiting block 8 and overcomes the elastic resistance of the spring piece 7 to move upwards vertical to the working face (as shown in figure 7) until the sucker support 14 is stopped when contacting with the lower end of the framework 4. The suction cup 15 is fixedly connected with the suction cup support 14 and also moves upwards perpendicular to the working surface and is separated from the working surface. This motion is defined as a lifting motion, and a state in which the lifting motion is completed is referred to as a lifted state.
d) In the adsorption unit, the speed reducing motor 5 is electrified to rotate anticlockwise, the winding reel 9 sleeved with the output shaft of the speed reducing motor 5 rotates anticlockwise, the tendon rope 6 is loosened, and under the action of elastic thrust of the spring piece 7, the suction cup support 14 moves downwards (as shown in figure 8) vertically to the working surface until the suction cup support 14 is contacted with the limiting block 8. The suction cup 15 is fixedly connected with the suction cup support 14, and also moves downwards perpendicular to the working surface and finally clings to the working surface. The motion is defined as a drop motion, a state in which the drop motion is completed is called a drop state, and the lift state and the drop state do not coexist.
e) In the telescopic connecting rod assembly, an output shaft of the first steering engine 16 rotates clockwise to drive the first connecting rod 18 to rotate clockwise around the output shaft of the first steering engine 16 and drive the second connecting rod 19 to rotate anticlockwise around the second shaft 23; the output shaft of the second steering engine 17 rotates anticlockwise to drive the third connecting rod 20 to rotate anticlockwise around the output shaft of the second steering engine and drive the fourth connecting rod 21 to rotate clockwise around the second shaft 23; the rotation angles of the output shafts of the first steering engine 16 and the second steering engine 17 are the same, the included angle between the second connecting rod 19 and the fourth connecting rod 21 is reduced, the second shaft 23 is pushed to move away from the turntable, and the moving direction is parallel to the first guide shaft 27 and the second guide shaft 28 (as shown in fig. 9). This motion is defined as an elongation motion, and a state in which the elongation motion is completed is referred to as an elongation state.
f) In the telescopic connecting rod assembly, an output shaft of the first steering engine 16 rotates anticlockwise to drive the first connecting rod 18 to rotate anticlockwise around the output shaft of the first steering engine 16 and drive the second connecting rod 19 to rotate clockwise around the second shaft 23; the output shaft of the second steering engine 17 rotates clockwise to drive the third connecting rod 20 to rotate clockwise around the output shaft of the second steering engine 17 and drive the fourth connecting rod 21 to rotate anticlockwise around the second shaft 23; the rotation angles of the output shafts of the first steering engine 16 and the second steering engine 17 are the same, the included angle between the second connecting rod 19 and the fourth connecting rod 21 is increased, the second shaft 23 is pushed to move close to the turntable, and the moving direction is parallel to the first guide shaft 27 and the second guide shaft 28 (as shown in fig. 10). The motion is defined as a shortening motion, and a state in which the shortening motion is completed is referred to as a shortening state, and the shortening state and the extension state do not coexist.
g) In particular, in the telescopic link assembly, when the output shaft angles of the first steering engine 16 and the second steering engine 17 are different, the rotating disc 25 rotates around the rotating disc shaft 26, so that the moving direction of the second shaft 23 far away from or close to the rotating disc is still parallel to the first guide shaft 27 and the second guide shaft 28 (as shown in fig. 11), and no mechanical interference phenomenon occurs.
h) The crawling motion cycle of the illustrated embodiment is divided into four motion states (shown in fig. 12, 13, 14, 15, respectively). If the initial state of the illustrated embodiment is as shown in fig. 12, the first suction unit 1, the second suction unit 2, and the third suction unit 3 are all in the lowering state and the suction state, the first telescopic link assembly is in the extending state, and the second telescopic link assembly is in the shortening state (see fig. 16). The following specific motion process is as follows:
the second adsorption unit 2 performs a desorption movement and then performs a lifting movement (see fig. 17).
The first telescopic link assembly performs a shortening movement while the second telescopic link assembly performs an extending movement (see fig. 18).
The second adsorption unit 2 performs a dropping motion and then performs an adsorption motion (see fig. 17), reaching a motion state shown in fig. 13.
The first adsorption unit 1 performs a desorption movement and then performs a lifting movement.
The first telescopic link assembly performs an extension movement.
The first adsorption unit 1 performs a dropping motion and then performs an adsorption motion, reaching a motion state shown in fig. 14.
The third adsorption unit 3 performs a desorption movement and then performs a lifting movement.
The second telescopic link assembly performs an extension movement.
The third adsorption unit 3 performs a lowering movement and then performs an adsorption movement to reach a movement state shown in fig. 15, the state shown in fig. 15 is the same as the initial state shown in fig. 12 except that the position relative to the working surface is different, one movement cycle is completed, and the rest movement cycles are the same, and therefore, the description is omitted.
The device comprehensively realizes the wall climbing function of the worm-like motion robot by utilizing the motor, the telescopic connecting rod assembly, the electric air pump, the electromagnetic valve, the tendon rope, the sucking disc, the spring piece and the like. The device can be avoided going up absorption and removal perpendicularly, adopts the polycell structure to make action only need remove a unit at every turn, not only with the wall absorption area of contact big, the climbing is stable, reliable moreover, the quality dispersion to each unit, the bearing capacity is strong, scalability is good, with low costs, easy control, the energy consumption is low, the time of endurance is long, is applicable to in the robot as the wall operation.
Claims (1)
1. The utility model provides a flexible imitative worm of slide rail direction sucking disc wall climbing robot device which characterized in that: the adsorption device comprises a first adsorption unit, a second adsorption unit, a third adsorption unit, a first telescopic connecting rod assembly, a second telescopic connecting rod assembly, a first guide shaft, a second guide shaft, a first left slide block, a first right slide block, a second left slide block, a second right slide block, a third left slide block, a third right slide block, an electric air pump, a first electromagnetic valve, a second electromagnetic valve, a third electromagnetic valve, a first relay, a second relay, a third relay and a controller; the first adsorption unit, the second adsorption unit and the third adsorption unit are all adsorption units with the same structure; the adsorption unit comprises a framework, a speed reducing motor, a tendon rope, a spring piece, a limiting block, a bobbin, a fixed pulley shaft, a movable pulley shaft, a sucker support and at least one sucker; in the adsorption unit, the speed reducing motor is fixedly arranged on the framework, the winding reel is fixedly sleeved on an output shaft of the speed reducing motor, the fixed pulley is sleeved on a fixed pulley shaft, the fixed pulley shaft is sleeved in the framework, the movable pulley is sleeved on a movable pulley shaft, and the movable pulley shaft is sleeved on the sucker support; one end of the tendon rope is fixed on the bobbin and wound through the bobbin, the tendon rope is wound through the fixed pulley and the movable pulley, and the other end of the tendon rope is fixedly connected with the framework; the sucker support is embedded in the framework in a sliding manner, and the sliding direction of the sucker support in the framework is vertical to the working surface; one end of each sucker is fixedly connected with the sucker bracket, and the other end of each sucker is contacted with or separated from the working surface; the two ends of the spring part are respectively connected with the framework and the sucker bracket, and the spring part adopts a pressure spring; the limiting block is fixedly connected with the framework, and the sucker support is contacted with or separated from the limiting block; the outer edge of the sucker is elastic; the air path inlet of the sucker in the first adsorption unit is communicated with a first electromagnetic valve, the air path inlet of the sucker in the second adsorption unit is communicated with a second electromagnetic valve, the air path inlet of the sucker in the third adsorption unit is communicated with a third electromagnetic valve, and the first electromagnetic valve, the second electromagnetic valve and the third electromagnetic valve are respectively communicated with an electric air pump; the first telescopic connecting rod assembly and the second telescopic connecting rod assembly are telescopic connecting rod assemblies with the same structure, and each telescopic connecting rod assembly comprises a first steering engine, a second steering engine, a first connecting rod, a second connecting rod, a third connecting rod, a fourth connecting rod, a first shaft, a second shaft, a third shaft, a turntable and a turntable shaft; the first steering engine and the second steering engine are the same steering engine and are respectively and fixedly installed on a turntable, the turntable is sleeved on a turntable shaft, the turntable shaft in the first telescopic connecting rod assembly is sleeved in a framework of the second adsorption unit, and the turntable shaft in the second telescopic connecting rod assembly is sleeved in a framework of the third adsorption unit; one end of the first connecting rod is fixedly sleeved on an output shaft of the first steering engine, the other end of the first connecting rod is movably sleeved on the first shaft, one end of the second connecting rod is movably sleeved on the first shaft, and the other end of the second connecting rod is movably sleeved on the second shaft; a second shaft in the first telescopic connecting rod assembly is movably sleeved on a framework of the first adsorption unit, and a second shaft in the second telescopic connecting rod assembly is movably sleeved on a framework of the second adsorption unit; one end of the third connecting rod is fixedly sleeved on an output shaft of the second steering engine, the other end of the third connecting rod is movably sleeved on the third shaft, one end of the fourth connecting rod is movably sleeved on the third shaft, and the other end of the fourth connecting rod is movably sleeved on the second shaft; the central points of the output shafts of the first steering engine, the first shaft, the second shaft, the third shaft and the second steering engine are respectively A, B, C, D, E; the length of the line segment AB is equal to that of the line segment DE, and the length of the line segment BC is equal to that of the line segment CD; the first left slide block and the first right slide block are fixedly connected with a framework of the first adsorption unit respectively, the second left slide block and the second right slide block are fixedly connected with a framework of the second adsorption unit respectively, the third left slide block and the third right slide block are fixedly connected with a framework of the third adsorption unit respectively, and the first left slide block, the second left slide block and the third left slide block are respectively sleeved on the first guide shaft in a sliding manner; the first right sliding block, the second right sliding block and the third right sliding block are respectively sleeved on the second guide shaft in a sliding manner; the first relay is connected with the first electromagnetic valve, the second relay is connected with the second electromagnetic valve, and the third relay is connected with the third electromagnetic valve; the controller comprises a steering engine output end, a speed reducing motor output end, a first relay output end, a second relay output end and a third relay output end; the first relay, the second relay, the third relay, the speed reducing motors in the adsorption units and the steering engines in the telescopic connecting rod assemblies are respectively connected with the corresponding output ends of the controller; the central line of the sucker, the first shaft, the second shaft, the third shaft, the output shaft of the first steering engine and the output shaft of the second steering engine are parallel to each other; the sliding direction of the sucker support in the framework is parallel to the first axis; the sliding directions of the first left sliding block, the second left sliding block and the third left sliding block on the first guide shaft are consistent with the sliding directions of the first right sliding block, the second right sliding block and the third right sliding block on the second guide shaft, and the sliding direction of the first left sliding block on the first guide shaft is parallel to the working surface; the controller is fixedly installed on the framework of the first adsorption unit or the second adsorption unit.
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| CN201811057424.6A CN109176468B (en) | 2018-09-11 | 2018-09-11 | Sliding rail guiding sucker telescopic worm-imitating wall-climbing robot device |
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| CN201811057424.6A CN109176468B (en) | 2018-09-11 | 2018-09-11 | Sliding rail guiding sucker telescopic worm-imitating wall-climbing robot device |
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| CN109176468B true CN109176468B (en) | 2021-08-13 |
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| CN110450134B (en) * | 2019-07-02 | 2021-01-08 | 清华大学 | Rope-controlled steering worm-imitating crawling robot device |
| CN112793681B (en) * | 2021-01-13 | 2022-11-15 | 李进 | Crawling method based on robot |
| CN112958874B (en) * | 2021-03-19 | 2023-09-08 | 南京航空航天大学 | Arc additive remanufacturing device and method for recyclable rocket box structure |
| CN114856424A (en) * | 2022-06-01 | 2022-08-05 | 张家口市清水河河务管理处(张家口市级防汛物资储备库、张家口市清水河水利风景区管理办公室) | Drilling equipment for water conservancy and hydropower construction |
| CN115092284B (en) * | 2022-06-29 | 2023-10-03 | 中国民航大学 | Miniature adsorption robot |
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