CN109533075A - Biped climbing robot - Google Patents
Biped climbing robot Download PDFInfo
- Publication number
- CN109533075A CN109533075A CN201811472773.4A CN201811472773A CN109533075A CN 109533075 A CN109533075 A CN 109533075A CN 201811472773 A CN201811472773 A CN 201811472773A CN 109533075 A CN109533075 A CN 109533075A
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- fixed
- connection
- rotation
- plate
- climbing robot
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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
- 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
- B62D57/032—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 with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
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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
Abstract
The invention belongs to robotic technology fields, more particularly to including a kind of biped climbing robot, two absorbent modules, several connection frames and several first joint assemblies；Each connection frame sequentially arranges that two absorbent modules are connect with the connection frame being located at head and the tail respectively, and the both ends of the first joint assembly are rotatablely connected with two adjacent connection frames respectively；The axis of rotation of the rotation connection of a connection frame and the first joint assembly in two adjacent connection frames is R1, the axis of rotation of the rotation connection of another connection frame and the first joint assembly in two adjacent connection frames is R2, and axis of rotation R1 is vertical with axis of rotation R2.Biped climbing robot of the invention, two adjacent connection frames can bob and weave respectively around the first joint assembly, progress barrier can be moved freely in three-dimensional space across operation operation, so that biped climbing robot adaptability with higher and flexibility to realize entire biped climbing robot.
Description
Technical field
The invention belongs to robotic technology field more particularly to a kind of biped climbing robots.
Background technique
The research of wall surface Work robot at home and abroad has development, mainly there is frame-type biped climbing robot, wheeled
The multiple structural forms such as biped climbing robot, crawler type biped climbing robot or walk type biped climbing robot.It is existing
Biped climbing robot during traveling, the connection frame on biped climbing robot is merely able to turn in a plane
It is dynamic, cause biped climbing robot to be merely able to be walked in a plane, and then lead to the obstacle detouring energy of biped climbing robot
Power is insufficient, cannot achieve the walking of cross facet, and walking flexibility is poor.
Summary of the invention
The purpose of the present invention is to provide a kind of biped climbing robots, it is intended to solve biped in the prior art and climb wall machine
Device people obstacle climbing ability is insufficient and the technical problem of walking flexibility difference.
To achieve the above object, the technical solution adopted by the present invention is that: a kind of biped climbing robot, including two absorption
Component, several connection frames and several first joint assemblies；Each connection frame sequentially arranges that two absorbent modules are divided
Not be located at head and the tail at the connection frame connect, the both ends of first joint assembly respectively with two adjacent connections
Frame rotation connection；The rotation connection of a connection frame and first joint assembly in two adjacent connection frames
Axis of rotation be R1, another described connection frame and first joint assembly in two adjacent connection frames turn
The axis of rotation of dynamic connection is R2, and the axis of rotation R1 is vertical with the axis of rotation R2.
Further, first joint assembly includes fixed frame, the first actuator and the second actuator, and described first drives
Moving part and second actuator are both secured on the fixed frame, and the output shaft of first actuator and described second drives
The output shaft of moving part is vertically arranged, two adjacent connection frames respectively with the output shaft of first actuator and described
The output shaft of two actuators is fixedly connected.
Further, the fixed frame includes intermediate plate, the first fixed plate, the second fixed plate, third fixed plate and the 4th
Fixed plate；First fixed plate, second fixed plate, the third fixed plate and the 4th fixed plate are successively solid respectively
Due on four peripheral walls of the intermediate plate and being vertically arranged with the intermediate plate, first fixed plate and the third are solid
Fixed board is oppositely arranged and is located at the same side of the intermediate plate, second fixed plate and the 4th fixed plate be oppositely arranged and
Positioned at the same side of the intermediate plate, first fixed plate and the third fixed plate and second fixed plate with it is described
The opposite sides that 4th fixed plate is respectively facing the intermediate plate extends, and first actuator is fixed on first fixed plate
Between the third fixed plate, second actuator is fixed between second fixed plate and the 4th fixed plate.
Further, the connection frame includes the first company of the opposite end for connecting frame and being respectively arranged on the connection frame
Fishplate bar and the second connecting plate, first connecting plate include and the first linkage section of the connection frame connection and two first fixations
Section, two first fixed sections connect with the both ends of first linkage section respectively and are extended towards the same side；Described
Two connecting plates include the second linkage section and two the second fixed sections with the connection frame connection, two second fixed sections point
It does not connect with the both ends of second linkage section and is extended towards the same side；Described first adjacent with first connecting plate
Joint assembly protrudes between two first fixed sections, and is rotatablely connected with the first fixed section described at least one；With it is described
Adjacent first joint assembly of second connecting plate protrudes between two first fixed sections, and with described at least one
The rotation connection of two fixed sections.
Further, it is used to enhance the fastener of the connection frame intensity in the connection frame equipped with several.
Further, second joint component, the second joint are additionally provided between the absorbent module and the connection frame
The both ends of component are rotatablely connected with the absorbent module and the connection frame respectively；The connection frame and the second joint component
Rotation connection axis of rotation be R3, the absorbent module and the axis of rotation of the rotation connection of the second joint component are
R4, the axis of rotation R3 are vertical with the axis of rotation R4.
Further, the absorbent module further includes third connecting plate and several adsorption pieces, the third connecting plate packet
Two third fixed sections and third linkage section are included, two third fixed sections are connect with the both ends of the third linkage section respectively
And it is extended towards the same side；Each adsorption piece is both secured on the third linkage section；The second joint component protrudes into
It is rotatablely connected between two third fixed sections and with third fixed section described at least one.
Further, two absorbent modules also include mounting plate, and the third linkage section is fixed on the installation
On the one side of plate, the adsorption piece is fixed on the another side of the mounting plate.
Further, each adsorption piece is sucked type electromagnet.
Further, the biped climbing robot further includes control device, and first joint assembly, described second are closed
Component and the absorbent module is saved to be electrically connected with the control device.
Beneficial effects of the present invention: biped climbing robot of the invention, when walking, two absorbent modules alternately move
It is dynamic, to drive entire two biped climbing robots mobile, such as in specific walking, an absorbent module is adsorbed on metope
Upper to support entire biped climbing robot and keep stable, another absorbent module is mobile, and two such absorbent module is alternately
It is mobile, to realize the walking of biped climbing robot；And during walking, since two adjacent connection frames are distinguished
The axis of rotation R2 of the axis of rotation R1 sum rotated around the both ends of the first joint assembly is mutually perpendicular in space, then adjacent
The first joint assembly between two connection frames 20 can be swung up and down around axis of rotation R1, and another connection frame can be with wraparound
Shaft axis R2 swings, then the absorbent module being connected on connection frame can move up and down, to realize
Entire biped climbing robot can free adsorbing be mobile in three-dimensional space, improves the obstacle detouring of biped climbing robot
Ability and flexibility.Biped climbing robot of the invention, structure is simple, has higher adaptability, flexibility, and can be three
It ties up and carries out barrier in solid space across operation operation.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the structural schematic diagram at a visual angle of biped climbing robot provided in an embodiment of the present invention.
Fig. 2 is the structural schematic diagram at another visual angle of biped climbing robot provided in an embodiment of the present invention.
Fig. 3 is the structural schematic diagram of the first joint assembly of biped climbing robot provided in an embodiment of the present invention.
Fig. 4 is the structural schematic diagram of the connection frame of biped climbing robot provided in an embodiment of the present invention.
Wherein, each appended drawing reference in figure:
10-absorbent module 11-third, 12-adsorption pieces of connecting plate
13-20-connection frame of mounting plate, 21-connection frames
22-the first connecting plate 24-fastener of the 23-the second connecting plate
30-the first the 32-the first actuator of 31-fixed frame of joint assembly
33-the second actuator 40-second joint, 51-fixinig plate of component
61-ring flange 71-screw, 111-third fixed sections
112-third linkage section 113-third, 211-hollow via-holes of rotation slot
221-the first fixed section the 223-the first rotation slot of the 222-the first linkage section
231-the second fixed section the 223-the second rotation slot of the 222-the second linkage section
311-intermediate plate the 313-the second fixed plates of the 312-the first fixed plate
314-315-the four 2211-first through hole of fixed plate of third fixed plate
2212-the second through-hole 2311-third through-hole, 2312-fourth hole.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment that Fig. 1~4 is described is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
In the description of the present invention, it is to be understood that, term " length ", " width ", "upper", "lower", "front", "rear",
The orientation or positional relationship of the instructions such as "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside" is based on attached drawing institute
The orientation or positional relationship shown, is merely for convenience of description of the present invention and simplification of the description, rather than the dress of indication or suggestion meaning
It sets or element must have a particular orientation, be constructed and operated in a specific orientation, therefore should not be understood as to limit of the invention
System.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include one or more of the features.In the description of the present invention, the meaning of " plurality " is two or more,
Unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements.It for the ordinary skill in the art, can be according to specific feelings
Condition understands the concrete meaning of above-mentioned term in the present invention.
As shown in figures 1-4, a kind of biped climbing robot provided in an embodiment of the present invention, including two absorbent modules 10,
Several connection frames 20 and several first joint assemblies 30, each connection frame 20 sequentially arrange, two absorbent modules
10 respectively be located at head and the tail at the connection frame 20 connect, the both ends of first joint assembly 30 respectively with adjacent two
The connection frame 20 is rotatablely connected；A connection frame 20 and first joint in the connection frame 20 of adjacent two
The axis of rotation of the rotation connection of component 30 is R1, another described connection frame 20 in the connection frame 20 of adjacent two with
The axis of rotation of the rotation connection of first joint assembly 30 hangs down for R2, the axis of rotation R1 and the axis of rotation R2
Directly.
Specifically, the biped climbing robot of the embodiment of the present invention, when walking, two absorbent modules 10 alternately move
It is dynamic, to drive entire two biped climbing robots mobile, such as in specific walking, an absorbent module 10 is adsorbed on wall
Entire biped climbing robot is supported on face and keeps stable, another absorbent module 10 is mobile, two such absorbent module 10
It alternately moves, to realize the walking of biped climbing robot；And during walking, due to two adjacent connections
Frame 20 is mutually perpendicular in space rotating around the axis of rotation R2 of the axis of rotation R1 sum of the both ends rotation of the first joint assembly 30,
The first joint assembly 30 between two so adjacent connection frames 20 can be swung up and down around axis of rotation R1, and another connects
Connecing frame 20 can swing around axis of rotation R2, then the absorbent module 10 being connected on connection frame 20 can be left up and down
Right movement, to realize, entire biped climbing robot can free adsorbing be mobile in three-dimensional space, improves double
The obstacle climbing ability of sufficient climbing robot and flexibility.The biped climbing robot of the embodiment of the present invention, structure is simple, there have to be higher
Adaptability, flexibility, and barrier can be carried out in three-dimensional space across operation operation.
Further, the quantity of connection frame 20 is more, and the motion track of absorbent module 10 is also just increasingly complex, entire double
The obstacle climbing ability of sufficient climbing robot is also stronger, and flexibility is also better.
Preferably, the quantity of connection frame 20 is three, and there are three the biped climbing robot one side energy of connection frame 20 for tool
Enough realize three-dimensional space in walking, on the other hand compared to the biped climbing robot of two connection frames 20 its with the domain of walk
The advantages that big and small in size, with the structure of the biped climbing robot of four or more connection frames 20 it is more simple and walking more
Reliable and stable advantage.
In the present embodiment, as shown in Figures 1 to 3, first joint assembly 30 includes fixed frame 31,32 and of the first actuator
Second actuator 33, first actuator 32 and second actuator 33 are both secured on the fixed frame 31, and described
The output shaft of the output shaft of first actuator 32 and second actuator 33 is vertically arranged.Which achieves two adjacent companies
The axis of rotation R1 and axis of rotation R2 for connecing frame 20 are mutually perpendicular in space.
The connection frame 20 of adjacent two respectively with the output shaft of first actuator 32 and second actuator
33 output shaft is fixedly connected.
Specifically, fixed frame 31 provides installation base body, the first actuator 32 and the second actuator 33 for defeated for actuator
Power and two adjacent connection frames 20 are driven to rotate by power out, to drive absorbent module 10 mobile, so that whole
A biped climbing robot is walked in three-dimensional space.
Further, the rotational power between two adjacent connection frames 20 is respectively by the first actuator 32 and the second driving
Part 33 provides, and the rotation of two adjacent connection frames 20 is independent of each other, so that the rotation of two adjacent connection frames 20 is more clever
Living, the walking of entire biped climbing robot is also more flexible, improves the obstacle climbing ability of entire biped climbing robot.
Further, the first actuator 32 and the second actuator 33 all can be motor, motor provides rotational power, structure
It is simple and reliable and at low cost.
Preferably, motor can be stepper motor.
In the present embodiment, as shown in Figures 1 to 3, the fixed frame 31 includes intermediate plate 311, the first fixed plate 312, second
Fixed plate 313, third fixed plate 314 and the 4th fixed plate 315；First fixed plate 312, second fixed plate 313, institute
It states third fixed plate 314 and the 4th fixed plate 315 is successively individually fixed on four peripheral walls of the intermediate plate 311 and
It is vertically arranged with the intermediate plate 311, first fixed plate 312 is oppositely arranged with the third fixed plate 314 and is located at institute
The same side of intermediate plate 311 is stated, second fixed plate 313 is oppositely arranged with the 4th fixed plate 315 and is located in described
Between plate 311 the same side, first fixed plate 312 and the third fixed plate 314 and second mounting plate 13 and institute
The opposite sides extension that the 4th fixed plate 315 is respectively facing the intermediate plate 311 is stated, first actuator 32 is fixed on described
Between first fixed plate 312 and the third fixed plate 314, second actuator 33 is fixed on second fixed plate 313
Between the 4th fixed plate 315.
Specifically, fixed frame 31 is by intermediate plate 311, the first fixed plate 312, the second fixed plate 313, third fixed plate 314
It is formed with the 4th mutually splicing fixation of fixed plate 315, so that the structure of fixed frame 31 is more simple and quality is small, so that entire double
The structure of sufficient climbing robot is more simple and quality is small, more flexible, the scope of application of entire biped climbing robot walking
It is just wider；Meanwhile the first fixed plate 312, the second fixed plate are fixed using the relative position of four peripheral walls of intermediate plate 311
313, third fixed plate 314 and the 4th fixed plate 315, so that the first fixed plate 312 and third fixed plate 314 are oppositely arranged institute
The first mounting groove formed is formed by the second mounting groove phase with the second fixed plate 313 and being oppositely arranged for the 4th fixed plate 315
To being vertically arranged, when the first actuator 32 and the second actuator 33 are separately mounted in the first mounting groove and the second mounting groove,
Realize being vertically arranged for the output shaft of two actuators, it is simple and reliable for structure.
Further, the first fixed plate 312 and third fixed plate 314 are respectively positioned on the same side of intermediate plate 311, and second is fixed
Plate 313 and third fixed plate 314 are respectively positioned on the other side that intermediate plate 311 is oppositely arranged, and adjacent connection frame 20 is located at solid
Determine the opposite end of frame 31, two adjacent connection frames 20 in the course of rotation, are less prone to and interfere or mutually touch
The case where hitting, the walking of entire biped climbing robot are more stable reliable.
Further, the pedestal of two motors is separately fixed in the first fixed plate 312 and the second fixed plate 313, and two
The output shaft of a motor is each passed through the first fixed plate 312 and the second fixed plate 313 and is connected with two adjacent support frames.
In the present embodiment, as shown in figs. 2 to 4, the connection frame 20 is including connection frame 21 and is respectively arranged on the connection
The first connecting plate 22 and the second connecting plate 23 of the opposite end of frame 21；First connecting plate 22 includes and the connection frame 21
The first linkage section 222 and two the first fixed sections 221 of connection, two first fixed sections 221 connect with described first respectively
It connects the both ends connection of section 222 and is extended towards the same side；First joint assembly adjacent with first connecting plate 22
30 protrude between two first fixed sections 221 and are rotatablely connected with the first fixed section 221 described at least one；Described second
Connecting plate 23 include with it is described connection frame 21 connect the second linkage section 222 and two the second fixed sections 231, two described second
Fixed section 231 connect with the both ends of second linkage section 222 respectively and is extended towards the same side；With second connecting plate
23 adjacent first joint assemblies 30 protrude between two first fixed sections 221 and consolidate with described at least one second
Determine the rotation connection of section 231.
Specifically, the first connecting plate 22 and the second connecting plate 23 are connected by connecting frame 21, on the first connecting plate 22
Two the first fixed sections 221 and the first linkage section 222 form a U-typed structure, two the first fixed sections 221 and first connect
It connects section 222 and is installed on first round first rotation slot 223, the first joint assembly 30 being connected with the first connecting plate 22 is formed
It is rotated in rotation slot 223 and in the first rotation slot 223, the first rotation slot 223 can be to the to be connected with the first connecting plate 22
Guiding is played the role of in the rotation of one joint assembly 30, it is ensured that the first joint assembly 30 rotation being connected with the first connecting plate 22
Stability and reliability；Two the second fixed sections 231 and the second linkage section 222 on second connecting plate 23 form a U-typed
Structure, two the second fixed sections 231 and the second linkage section 222 are round second rotation slot 223 is formed, with the second connecting plate 23
The first connected joint assembly 30 is installed in the second rotation slot 223 and rotates in the second rotation slot 223, the second rotation slot
223 can play the role of guiding to the rotation for the first joint assembly 30 being connected with the second connecting plate 23, it is ensured that connect with second
The stability and reliability of connected the first joint assembly 30 rotation of fishplate bar 23.
Further, first through hole 2211 is offered on first fixed section 221, the first actuator 32 is located at first turn
In dynamic slot 223, and the output shaft of the first actuator 32 protrudes into first through hole 2211 and fixes company with the first fixed section 221 is changed
It connects, the second through-hole 2212, axis and the first through hole 2211 of the second through-hole 2212 is offered on another first fixed section 221
Axis is overlapped, and screw 71 is mutually fixedly connected after passing through the second through-hole 2212 and fixed frame 31 with the pedestal of the first actuator 32, and
Screw 71 can be rotated in the second through-hole 2212, by opening the rotation of the first actuator 32, so that the first actuator 32
Frame 20 can be drivingly connected to rotate relative to the first joint assembly 30, meanwhile, two the first fixed sections 221 drive with first
Part 32 is connected, so that the connection between the first connecting plate 22 and the first joint assembly 30 is more reliable, the first connecting plate 22 and the
Rotation between one joint assembly 30 is also more stable.
Further, third through-hole 2311 is offered on second fixed section 231, the second actuator 33 is located at second turn
In dynamic slot 223 and the output shaft of the second actuator 33 is protruded into first through hole 2211 and is fixedly connected with second fixed section 231,
Fourth hole 2312, the axis of fourth hole 2312 and the axis of third through-hole 2311 are offered on another second fixed section 231
Line is overlapped, and screw 71 is mutually fixedly connected after passing through fourth hole 2312 and fixed frame 31 with the pedestal of the second actuator 33, and spiral shell
Silk 71 in fourth hole 2312 in can rotate, by opening the rotation of the second actuator 33, to realize connection frame 20 and the
The relative rotation of one joint assembly 30, meanwhile, two the second fixed sections 231 are connected with the second actuator 33, so that first connects
Connection between fishplate bar 22 and the first joint assembly 30 is more reliable, turns between the first connecting plate 22 and the first joint assembly 30
It is dynamic also more stable.
Further, it is also threadedly coupled on the screw 71 between the first fixed section 221 and the first actuator 32 for connecting
There is a fixinig plate 51, the head of fixinig plate 51 and screw 71 is clamped in respectively on the opposite sides face of the first fixed section 221, and first is solid
Determine section 221 and the position of fixed frame 31 and the first actuator 32 is relatively fixed, and the first fixed section 221 exists with fixed frame 31
Certain gap, so that being rotated between the first joint assembly 30 and the first connecting plate 22 more reliable smooth.
Further, it is also threadedly coupled on the screw 71 between the second fixed section 231 and the second actuator 33 for connecting
There is a fixinig plate 51, the head of fixinig plate 51 and screw 71 is clamped in respectively on the opposite sides face of the second fixed section 231, and second is solid
Determine section 231 and the position of fixed frame 31 and the second actuator 33 is relatively fixed, and the second fixed section 231 exists with fixed frame 31
Certain gap, so that being rotated between the first joint assembly 30 and the second connecting plate 23 more reliable smooth.
Further, the output shaft of the first actuator 32 is fixedly connected by ring flange 61 with the first fixed section 221, is increased
The bonding strength of first actuator 32 and the first connecting plate 22, meanwhile, between the first joint assembly 30 and the first connecting plate 22
It rotates more stable reliable.
Further, the output shaft of the second actuator 33 is fixedly connected also by ring flange 61 with 231 phase of the second fixed section,
The bonding strength of the second actuator 33 and the second connecting plate 23 is increased, meanwhile, the first joint assembly 30 and the second connecting plate 23
Between rotate it is more stable reliable.
Further, the axis of first through hole 2211 is H1, and the axis of axis third through-hole 2311 is H2, axis H1 and axis
Line H2 is vertical；First connecting plate 22 can be rotated around axis H1, and the first joint assembly 30 being connected with the second connecting plate 23 can
It is rotated around axis H2, since axis H1 and axis H2 are mutually perpendicular to, 30 phase of the first joint assembly that is connected with the second connecting plate 23
The first joint assembly 30 being connected with the first connecting plate 22 is realized and is bobbed and woven, this is than axis H1 and axis H2 phase
The structure of parallel connection frame 20 designs, and the walking of entire biped climbing robot is more flexible.
In the present embodiment, as shown in figs. 2 to 4, several are equipped in the connection frame 21 for enhancing the connection frame 21
The fastener 24 of intensity.The inside of the connection frame 21 is equipped with hollow via-hole 211, divides on opposite two wall surfaces of hollow via-hole 211
Do not offer several first fastener holes and several second fastener holes, each fastener 24 respectively from the first fastener hole penetrate again from
Corresponding second fastener hole is pierced by and is fixed on connection frame 21.
Specifically, the inside for connecting frame 21 offers hollow via-hole 211, can efficiently reduce the quality of connection frame 21,
And then reduce the quality of entire biped climbing robot, increase the flexibility of entire biped climbing robot, and can be effectively
Reduce the cost of entire biped climbing robot；It is equipped with several fasteners 24 on connection frame 21 and is fixed on connection frame 21
On, fastener 24 can increase the intensity of entire connection frame 21, improve connection 21 service life of frame, and improve entire biped and climb
The bearing capacity of wall robot.
Further, the middle part of hollow via-hole 211 is generally arranged in using fastener 24, this wears mode can be effectively
Increase the intensity of connection frame 21, and structure is simple in such a way that fastener 24 is worn, it is at low cost.
Further, fastener 24 is the components such as screw, bolt or screw 71.
In the present embodiment, as shown in Fig. 1~2, the second pass is additionally provided between the absorbent module 10 and the connection frame 20
Component 40 is saved, the both ends of the second joint component 40 are rotatablely connected with the absorbent module 10 and the connection frame 20 respectively；
The connection frame 20 and the axis of rotation of the rotation connection of the second joint component 40 are R3, the absorbent module 10 with it is described
The axis of rotation of the rotation connection of second joint component 40 is R4, and the axis of rotation R3 is vertical with the axis of rotation R4.
Specifically, it is attached between absorbent module 10 and connection frame 20 by second joint component 40, second joint group
Part 40 can be that R3 swings up and down relative to connection frame 20 around axis of rotation, and absorbent module 10 can be R4 around axis of rotation
It swings relative to second joint component 40, i.e., absorbent module 10 can carry out pendulum up and down with respect to connection frame 20
Dynamic, so that the position that absorbent module 10 adsorbs wall surface is more flexible, two absorbent modules 10 can be adsorbed on different put down
On face, so that entire biped climbing robot has face face span ability, i.e., entire biped climbing robot can be in wall surface
Corner is walked, and need to only adjust rotation absorbent module 10, the walking more flexibility and reliability of entire biped climbing robot.
Further, the first joint assembly 30 and the structure having the same of second joint component 40, to improve entire biped
The versatility of the components of climbing robot.
In the present embodiment, as shown in Fig. 1~2, the absorbent module 10 further includes third connecting plate 11 and several absorption
Part 12, the third connecting plate 11 include two third fixed sections 111 and third linkage section 112, two third fixed sections
111 connect with the both ends of the third linkage section 112 respectively and are extended towards the same side；Each adsorption piece 12 is both secured to
On the third linkage section 112；The second joint component 40 protrudes between two third fixed sections 111 and at least one
A third fixed section 111 is rotatablely connected.
Specifically, two third fixed sections 111 on third connecting plate 11 and third linkage section 112 form a U-typed
Structure, two third fixed sections 111 and third linkage section 112 are round one third rotation slot 113 of formation, second joint component 40
It is installed in third rotation slot 113 and is rotated in third rotation slot 113, third rotation slot 113 can be to second joint component
Guiding is played the role of in 40 rotation, it is ensured that the stability and reliability of the relative rotation of absorbent module 10.
Further, two third fixed sections 111 also pass through the components such as ring flange 61, fixinig plate 51 and screw 71 respectively
It is connected to realize the mutual rotation between absorbent module 10 and second joint component 40 with the motor on second joint component 40,
To improve the flexibility of entire biped climbing robot walking.
In the present embodiment, as shown in Fig. 1~2, two absorbent modules 10 also include mounting plate, the third connection
Section 112 is fixed on the one side of the mounting plate, and the adsorption piece 12 is fixed on the another side of the mounting plate.
Specifically, mounting plate is for installing adsorption piece 12, installation of the setting of mounting plate equivalent to increase adsorption piece 12
Area, can be realized the installation of multiple adsorption pieces 12, and adsorption piece 12 is more uniformly spread, it is ensured that absorbent module 10 can be steady
It is fixed to be reliably adsorbed on wall surface.
Further, the quantity of adsorption piece 12 is three, and three adsorption pieces 12 are arranged in triangle, is had according to triangle steady
Qualitative good advantage, then biped climbing robot can be firmly adsorbed on wall surface, it is ensured that biped climbing robot row
The stability walked.
In the present embodiment, each adsorption piece 12 is sucked type electromagnet.
Specifically, sucked type electromagnet can be adsorbed on the straight line between curved surface irony wall surface and curved surface irony wall surface
Junction, such as right angle framework, gap, frame position breach the existing biped climbing robot using negative-pressure adsorption only
The limitation that can be moved in big plane, further, the biped climbing robot of the embodiment of the present invention can be in different positions
It uses up and down, enhances the use scope of biped climbing robot.
In the present embodiment, the biped climbing robot further includes control device (not shown), first joint assembly
30, the second joint component 40 and the absorbent module 10 are electrically connected with the control device.
Specifically, control device is used to control the walking of biped climbing robot, controls the first joint by control device
The rotation of the motor of the rotation and second joint component 40 of the motor of component 30 drives absorbent module 10 to control connection frame
It is moved, it is ensured that walking stability, flexibility and the reliability of biped climbing robot.It is controlled and is adsorbed by control device
The energization and power-off of the sucked type electromagnet of component 10 are adsorbed on wall surface or divide with wall surface to control sucked type electromagnet
From to realize the walking of biped climbing robot.
Further, control device is connected to the motor, by controlling the rotation of motor, connection frame 20, the first joint assembly
30, the second pass component, the rotation of absorbent module 10 are more accurate, and the walking of biped climbing robot is also more stable accurate.
Further, it control device control absorbent module 10 and the absorption of wall surface and separates, the row of biped climbing robot
Walk more simple and flexible.
Further, when control device is powered to sucked type electromagnet, sucked type electromagnet generates magnetic-adsorption in wall
On face；When control device is powered off to sucked type electromagnet, sucked type electromagnet does not have magnetic force to separate with wall surface, so that absorption
Component 10 and the absorption of wall surface and isolated operation are more simple.
Further, the biped climbing robot of the embodiment of the present invention being capable of the conversion of face face, leaping over obstacles and any angle
The exceedingly difficult movements such as rotation；And the biped climbing robot of the embodiment of the present invention also has that structure is simple, low manufacture cost, it can be wide
The operations such as general cleaning, coating, detection under the operating conditions such as pipeline, storage tank.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Made any modifications, equivalent replacements, and improvements etc., should all be included in the protection scope of the present invention within mind and principle.
Claims (10)
1. a kind of biped climbing robot, it is characterised in that: including two absorbent modules, several connection frames and several first
Joint assembly；
Each connection frame sequentially arranges that two absorbent modules are connect with the connection frame being located at head and the tail respectively, institute
The both ends for stating the first joint assembly are rotatablely connected with two adjacent connection frames respectively；
The revolution of the rotation connection of a connection frame and first joint assembly in two adjacent connection frames
Axis is R1, the rotation connection of another described connection frame in two adjacent connection frames and first joint assembly
Axis of rotation be R2, the axis of rotation R1 is vertical with the axis of rotation R2.
2. biped climbing robot according to claim 1, it is characterised in that: first joint assembly includes fixing
Frame, the first actuator and the second actuator, first actuator and second actuator are both secured on the fixed frame,
And the output shaft of the output shaft of first actuator and second actuator is vertically arranged, two adjacent connection frames
It is fixedly connected respectively with the output shaft of the output shaft of first actuator and second actuator.
3. biped climbing robot according to claim 2, it is characterised in that: the fixed frame includes intermediate plate, first
Fixed plate, the second fixed plate, third fixed plate and the 4th fixed plate；
First fixed plate, second fixed plate, the third fixed plate and the 4th fixed plate are successively fixed respectively
In on four peripheral walls of the intermediate plate and being vertically arranged with the intermediate plate, first fixed plate is fixed with the third
Plate is oppositely arranged and is located at the same side of the intermediate plate, and second fixed plate and the 4th fixed plate are oppositely arranged and position
In the same side of the intermediate plate, first fixed plate and the third fixed plate and second fixed plate and described the
Four fixed plates be respectively facing the intermediate plate opposite sides extend, first actuator be fixed on first fixed plate with
Between the third fixed plate, second actuator is fixed between second fixed plate and the 4th fixed plate.
4. described in any item biped climbing robots according to claim 1~3, it is characterised in that: the connection frame includes connecting
It connects frame and is respectively arranged on the first connecting plate and the second connecting plate of the opposite end of the connection frame, the first connecting plate packet
Include the first linkage section and two the first fixed sections with the connection frame connection, two first fixed sections are respectively with described the
The both ends of one linkage section connect and are extended towards the same side；
Second connecting plate includes the second linkage section and two the second fixed sections with the connection frame connection, and two described the
Two fixed sections connect with the both ends of second linkage section respectively and are extended towards the same side；
First joint assembly adjacent with first connecting plate protrudes between two first fixed sections, and at least
One the first fixed section rotation connection；
First joint assembly adjacent with second connecting plate protrudes between two first fixed sections, and at least
One the second fixed section rotation connection.
5. biped climbing robot according to claim 4, it is characterised in that: be used in the connection frame equipped with several
Enhance the fastener of the connection frame intensity.
6. described in any item biped climbing robots according to claim 1~3, it is characterised in that: the absorbent module and institute
State and be additionally provided with second joint component between connection frame, the both ends of the second joint component respectively with the absorbent module and described
Connection frame rotation connection；
The axis of rotation of the rotation connection of the connection frame and the second joint component is R3, the absorbent module and described the
The axis of rotation of the rotation connection of two joint assemblies is R4, and the axis of rotation R3 is vertical with the axis of rotation R4.
7. biped climbing robot according to claim 6, it is characterised in that: the absorbent module further includes third connection
Plate and several adsorption pieces, the third connecting plate include two third fixed sections and third linkage section, and two thirds are solid
Determine section to connect with the both ends of the third linkage section and be extended towards the same side respectively；Each adsorption piece is both secured to described
On third linkage section；The second joint component protrudes between two third fixed sections and solid with third described at least one
Determine section rotation connection.
8. biped climbing robot according to claim 7, it is characterised in that: two absorbent modules also include peace
Loading board, the third linkage section are fixed on the one side of the mounting plate, and the adsorption piece is fixed on the another of the mounting plate
On one side.
9. biped climbing robot according to claim 6, it is characterised in that: each adsorption piece is sucked type electromagnetism
Iron.
10. biped climbing robot according to claim 6, it is characterised in that: the biped climbing robot further includes
Control device, first joint assembly, the second joint component and the absorbent module are electrical with the control device
Connection.
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| CN201811472773.4A CN109533075B (en) | 2018-12-04 | 2018-12-04 | Biped wall climbing robot |
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| CN201811472773.4A CN109533075B (en) | 2018-12-04 | 2018-12-04 | Biped wall climbing robot |
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| CN109533075B CN109533075B (en) | 2023-10-03 |
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| CN109533075B (en) | 2023-10-03 |
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