CN110077482A - It is a kind of can corner overturning four-footed absorption type climbing robot - Google Patents
It is a kind of can corner overturning four-footed absorption type climbing robot Download PDFInfo
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- CN110077482A CN110077482A CN201910337090.6A CN201910337090A CN110077482A CN 110077482 A CN110077482 A CN 110077482A CN 201910337090 A CN201910337090 A CN 201910337090A CN 110077482 A CN110077482 A CN 110077482A
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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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- G—PHYSICS
- G08—SIGNALLING
- G08C—TRANSMISSION SYSTEMS FOR MEASURED VALUES, CONTROL OR SIMILAR SIGNALS
- G08C17/00—Arrangements for transmitting signals characterised by the use of a wireless electrical link
- G08C17/02—Arrangements for transmitting signals characterised by the use of a wireless electrical link using a radio link
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Abstract
The present invention relates to belonging to Climbing Robot technical field, it is a kind of can corner overturning four-footed absorption type climbing robot, including hardware components, pneumatic suction part, remote control part.Hardware components include main structure and moving structure, main structure includes four U-shaped parts 3 of the top cover 1 of the whole hexagonal plate with the through-hole for retaining element, the chassis 2 of the whole hexagonal plate with the through-hole for retaining element, right angle configuration, is connected between top cover 1 and chassis 2 by U-shaped part 3.The beneficial effects of the present invention are: cheap, this Climbing Robot is cheap, and a variety of instructions may be implemented.
Description
Technical field
It is a kind of can corner overturning four-footed absorption type climbing robot, belong to Climbing Robot technical field.Being can be
It advances in two intersecting planes, integrates the robot of the multiple functions such as exploration, transport, wall detection.
Background technique
Robot is one of grand strategy support of 21 century, in danger such as disaster assistance, celestial body detecting, nuclear power station detections
And the place that the mankind can not reach has played great function.Compared to traditional wheeled, caterpillar type robot, legged type robot tool
There is the features such as flexibility of height, mobility, ground is adaptable, obstacle climbing ability is prominent, has obtained the wide of domestic and foreign scholars
General concern.Especially small medium-sized legged type robot research and manufacture obtained unprecedented development in recent years.
Climbing Robot is one kind of quadruped robot.It is that mobile technology and adsorption technology have been effectively combined
Come, the top and the special mankind such as some toxic, harmful, high temperature for being mainly used in vertical wall surface and skyscraper can not
The environment of work carries out mobile operation.
Existing Climbing Robot is mostly air-cylinder type transverse and longitudinal way moving robot, and such robot disadvantage is not clever enough
It is living, it is only capable of being moved on a metope.And the Climbing Robot of upper and lower wall can be carried out, the mostly double-deck even multiple field machine
Device people, structure is not compact enough, is unable to complete carrying task.
It is compared to for other Climbing Robots, the present invention has unique traveling mode --- class four-bar linkage
It is alternately driven, simple and stable.Furthermore of the invention small in size, compact-sized, action is flexible.The design of convertible upper wall can allow machine
Device people flexibly advances between multiple metopes.
Summary of the invention
The invention solves concrete technical problems be mobile problem of the Climbing Robot between two non-vertical planes, with
And Climbing Robot cannot achieve more multi-functional function problem since self space is limited.Can corner overturning four-footed absorption
The purpose of formula climbing robot development is: making high a strong flexibility, stability, collection carrying, image transmitting, wall detection
In the Climbing Robot of one.
The technical scheme adopted by the invention is that: it is a kind of can corner overturning four-footed absorption type climbing robot, including it is hard
Part part, pneumatic suction part, remote control part.
Hardware components include main structure and moving structure, and main structure includes whole hexagonal with for constant zero
The top cover 1 of the plate of the through-hole of part, the chassis 2 of the whole hexagonal plate with the through-hole for retaining element, at right angle
A kind of part in U-typed of the U-shaped part 3(of four of structure, upper and lower two parallel plane play connection function, and vertical with two planes is flat
Face plays a supportive role), it is connected between top cover 1 and chassis 2 by U-shaped part 3, each U-shaped part 3 passes through screw thread with top cover 1, chassis 2
Connection forms stable main structure, and the effect of main structure is closed interior components, and provides suitably for inner body
Installation site；Moving structure is the Leg portion of robot, and robot leg part is made of four foots, every foot respectively by
First steering engine 4, the first steering engine box 5, the first steering wheel 6, the second steering engine 7, the second steering engine box 8, the second steering wheel 9, the fixed lid 10 of sucker,
Sucker 11, fitting 12(fitting generally stepped shaft structure, top is sleeve, realizes the function of revolute pair, and lower section is screw thread knot
Structure is closely connect with sucker) composition, the first steering engine 4, which is connected through a screw thread, to be fixed in the first steering engine box 5, and the first steering engine 4 is stretched
The blind hole of shaft and the first steering wheel 6 interference fit, the first steering wheel 6 are connected through a screw thread with U-shaped part 3, the projecting shaft of the second steering engine 7
It is interference fitted with the blind hole of the second steering wheel 9, the second steering wheel 9 is connected through a screw thread with the first steering engine box 5.Second steering engine 7 passes through spiral shell
Line is fastened in the second steering engine box 8, and fitting 12 and sucker 11 are connected through a screw thread to form vacuum chuck, the fixed lid 10 of sucker
It is connected through a screw thread with the second steering engine box 8, the internal cavity formed after the fixed lid 10 of sucker is connect with the second steering engine box 8, fitting
12 is mutually chimeric with cavity, to be allowed to form revolute pair, effect is can not only to have guaranteed that sucker fixation was not fallen, but also can guarantee just
Often rotation.
Pneumatic suction part is made of battery holder 13, battery 14, driving plate 15 and two pneumatic structures, and battery 14 is pacified
Battery pack is formed in battery holder 13, effect is powered to driving plate 15, STM32 single-chip microcontroller 23 is installed in driving plate 15,
STM32 single-chip microcontroller 23 controls the on-off of vacuum air pump 16, and each pneumatic structure includes vacuum air pump 16, the first battery valve 18, the
One solenoid valve fixing piece 19, second solenoid valve 20, second solenoid valve fixing piece 21, three-way connection 22 and several tracheaes, wherein
Vacuum air pump 16 is connect by tracheae with three-way connection 22, and three-way connection 22 passes through tracheae and the first solenoid valve 18, the second electromagnetism
Valve 20 connects, and the first solenoid valve 18 is connected by tracheae with the gas outlet of fitting 12, and vacuum air pump 16 passes through air pump fixing piece 17
It is threaded on chassis 2, the first solenoid valve 18 is threaded on chassis 2 by the first solenoid valve fixing piece 19, the second electricity
Magnet valve 20 is threaded on chassis 2 by second solenoid valve fixing piece 21, and vacuum air pump 16 is placed among chassis 2, and the one or three
It connects mouth 22 to be placed on the air intake of vacuum air pump 16, the first solenoid valve 18 is fixed on the inside of U-shaped part 3, and driving plate 15 is fixed
In the left side of vacuum air pump 16, battery holder 13 is fixed on the right side of vacuum air pump 16.
Remote control part is connect by STM32 single-chip microcontroller 23, camera 24, transmitter 25, handset receiver 26(Bluetooth signal
Receive), third steering engine 28, bluetooth module 29 form, all instructions include video display interface 30 show advancement commands 33, after
Move back instruction 34, left shift instruction 31, right shift instruction 36, upper wall instruction 32, lower wall instruction 35, small parameter perturbations instruction 37, each instruction
Comprising oneself, respectively unique action group, the effect of bluetooth module 29 are the progress data between mobile phone and STM32 single-chip microcontroller 23
The operation of transmission and instruction, STM32 single-chip microcontroller 23 is connect with bluetooth module 29, and bluetooth module 29 and mobile phone are connected by bluetooth
It connects, handset receiver 26, camera 24, transmitter 25 are used for image transmitting, and handset receiver 26 is connected with handset port, will
Third steering engine 28 is connected with camera 24, is mounted on top cover 1, and effect is the visual field that 360 ° are provided for robot, uses debugging
The corresponding action group of the good each instruction of software debugging, downloads in STM32 single-chip microcontroller 23, by the program of interruption, each finger
It enables to send by serial ports RXD/TXD to the module and instruct, bluetooth module can be sent by I/O port to STM32 single-chip microcontroller 23
Instruction, STM32 single-chip microcontroller 23 then can control hardware configuration by I/O port, thereby executing corresponding action group is respectively instructed.
Gait in traveling process is advanced in the plane class four-bar mechanism kind of drive, utilizes the adjustable dynamic side of walking around of each steering engine
To characteristic, class four-bar mechanism is not necessarily limited to the bar elongate member of four-bar mechanism, utilizes the traveling gait of double class four-bar mechanisms, machine
Device people can flexibly move between metope；
Four articles of legs are respectively designated as the first leg, the second leg, third leg, the 4th leg, and the first bar and third bar respectively represent the first leg
With third leg, the second bar represents the distance between the first U-shaped part and the U-shaped part of third, and the 4th bar is the first leg and third leg two
The distance between sucker, the 5th bar and the 7th bar respectively represent the second leg and the 4th leg, and the 6th bar represents the second U-shaped part and the 4th
The distance between U-shaped part, the 8th bar is the distance between the second leg and the 4th two suckers of leg, and when static, direction of advance is advised
It is set to positive direction, thus original state when reaching advance；
Forward motion is subdivided into following three movements, and one: the second leg of movement, the 4th leg unclamp, and the first leg, third leg are fixed, the
Four bars are fixed, and the first bar rotates counterclockwise, and third bar rotates clockwise, and it is mobile to drive the second bar, and then make entire fuselage
Forward, movement two: on the basis of acting one, the second leg, the 4th leg are fixed, and the first leg, third leg unclamp, and the 8th bar is fixed not
Dynamic, the 5th bar is clockwise, and the 7th bar rotates counterclockwise, and it is mobile to drive the 6th bar, so that fuselage is made to move forward again, movement three: the
One bar, the second bar, third bar, the 4th bar return to original state, and at the same time, the first leg and third leg return to original state,
The second leg and the 4th leg return to original state when first leg and third leg repeat above procedure, this can be made by repeating above procedure
Robot advances；
Direction of retreat is defined as positive direction by backward movement, and four legs are perpendicular horizontally arranged in positive direction, that is, after can reach
Leg rotation direction is tuned into opposite direction compared to forward motion by the original state for moving back direction；
Movement is moved to left, direction will be moved to left and be defined as positive direction, four legs are perpendicular horizontally arranged in positive direction, that is, it can reach a left side
The original state in direction is moved to right, one: the first leg of movement, third leg unclamp, and the second leg, the 4th leg are fixed, and the 8th bar is fixed,
7th bar rotates counterclockwise, and the 5th bar rotates clockwise, and it is mobile to drive the 6th bar, and then entire fuselage is made to move forward, movement two:
On the basis of movement one, the first leg, third leg are fixed, and the second leg, the 4th leg unclamp, and the 4th bar is fixed, the first bar up time
Needle, third bar rotate counterclockwise, and drive the second bar mobile, so that fuselage be made to move forward again, three: the five bars of movement, the 6th bar, the
Seven bars, the 8th bar return to original state；
Move to right movement: leg rotation direction is tuned into opposite direction i.e. compared to movement is moved to left by the original state for keeping left and right to move
It can.
The beneficial effects of the present invention are: cheap, this Climbing Robot is cheap, and a variety of instructions may be implemented.Entirely
Portion's cost Control is in 500-600 member or so.Functional, light weight is small in size, and nearly four kilograms of robot can still be held
Weigh the object of 15 kilogram weights.By the design of symmetrical structure, element is hidden in robot interior, machine can be greatly enhanced
The functionality of people.Stability is strong, simplifies the freedom degree of leg, reduces the risk of Z axis movement, enhances the stabilization of robot
Property.Flexibility is good, and the design of convertible upper wall is so that robot flexibly advances between multiple metopes.By laterally and longitudinally
Alternating movement can reach any position of metope.Can by the overturning of steering engine, realize robot two intersecting planes it
Between movement.
Detailed description of the invention
Fig. 1 is the structural schematic diagram of one leg in the present invention；
Fig. 2 is top cover of the present invention and inside chassis structural schematic diagram；
Fig. 3 is remote control part structural schematic diagram of the present invention；
Fig. 4 is cell phone application display interface of the invention；
Fig. 5 is leg connection schematic diagram of the invention；
Fig. 6 is vacuum air pump structural schematic diagram of the invention；
Fig. 7 is the fixed schematic diagram of solenoid valve of the invention；
Fig. 8 is overall structure diagram of the invention；
Wherein, 1, top cover, 2, chassis, 3, U-shaped part, the 4-the first steering engine, the 5, first steering engine box, the 6, first steering wheel, the 7, second rudder
Machine, the 8, second steering engine box, the 9, second steering wheel, 10, the fixed lid of sucker, 11, sucker, 12, fitting, 13, battery holder, 14, battery,
15, driving plate, 16, vacuum air pump, 17, air pump fixing piece, the 18, first solenoid valve, 20, second solenoid valve, 22, three-way connection,
23, STM32 single-chip microcontroller, 24, camera, 25, transmitter, 26, handset receiver, 28, third steering engine, 29, bluetooth module, 30,
Video display interface, 31, left shift instruction, 32, the instruction of upper wall, 33, advancement commands, 34, retrogressing instruction, 35, the instruction of lower wall, 36,
Right shift instruction, 37, small parameter perturbations instruction.
Specific embodiment
Embodiment one:
The flexible formula Climbing Robot of novel four bar of class traveling is broadly divided into hardware components, pneumatic suction part and remote control portion
Point.
1, hardware components are mainly made of main structure and moving structure.Main structure is integrally in mainly six sides by top cover 1(
Shape, surface are distributed several through-holes for retaining element), chassis 2(overall structure is similar to top cover 1, and surface distribution is several to be used for
The through-hole of retaining element), a kind of U-shaped part in U-typed of part 3(, upper and lower two parallel plane plays connection function, hangs down with two planes
Straight plane plays a supportive role) composition, it is connected between top cover 1 and chassis 2 by type part 3.U-shaped part 3 passes through with top cover 1, chassis 2
Threaded connection forms stable main structure, and the effect of main structure is closed interior components, and provides conjunction for inner body
Suitable installation site.Moving structure is the Leg portion of robot, and robot leg part is made of four foots, every foot point
Not by the first steering engine 4, the first steering engine box 5, the first steering wheel 6, the second steering engine 7, the second steering engine box 8, the second steering wheel 9, sucker is fixed
Lid 10, sucker 11, fitting 12(fitting generally stepped shaft structure, top is sleeve, realizes the function of revolute pair, and lower section is spiral shell
Line structure is closely connect with sucker) composition.First steering engine 4, which is connected through a screw thread, to be fixed in the first steering engine box 5, the first steering engine 4
Projecting shaft (output revolving shaft) and the blind hole of the first steering wheel 6 be interference fitted, the first steering wheel 6 is connected through a screw thread with U-shaped part 3.The
The blind hole of the projecting shaft of two steering engines 7 and the second steering wheel 9 interference fit, the second steering wheel 9 are connected through a screw thread with the first steering engine box 5.
Second steering engine 7, which is connected through a screw thread, to be fixed in the second steering engine box 8, and fitting 12 and sucker 11 are connected through a screw thread to form vacuum suction
Disk, the fixed lid 10 of sucker are connected through a screw thread with the second steering engine box 8, fitting 12 and cavity (the fixed lid 10 of sucker and the second steering engine
The internal cavity formed after connecting of box 8) mutually it is fitted into, to be allowed to form revolute pair, effect is can both to have guaranteed that sucker can be consolidated
It is fixed not fall, but can guarantee can be with normal rotation.
2, pneumatic suction part is made of battery holder 13, battery 14, driving plate 15 and two pneumatic structures.Battery holder
13 form battery pack with battery 14, and effect is powered to driving plate 15, and driving plate 15(is used to drive the circuit board of vacuum air pump)
Control vacuum air pump 16(by motor rotation constantly generate vacuum state device) on-off.Each pneumatic structure includes " true
Air pump 16, the first battery valve 18(can be by connecting the opening of the ventilation of two tracheaes or state of dying whether there is or not electric signal control
Close), the first solenoid valve fixing piece 19(be used to Motionless electromagnetic valve part), second solenoid valve 20, second solenoid valve fixing piece 21,
Three-way connection 22 and several tracheaes ".Wherein, vacuum air pump 16 is connect by tracheae with three-way connection 22, three-way connection 22 leads to
It crosses tracheae to connect with the first solenoid valve 18, second solenoid valve 20, the first solenoid valve 18 passes through the gas outlet phase of tracheae and fitting 12
Even.Vacuum air pump 16 is threaded on chassis 2 by air pump fixing piece 17.First solenoid valve 18 is solid by the first solenoid valve
Determine part 19 to be threaded on chassis 2.Second solenoid valve 20 is threaded on chassis 2 by second solenoid valve fixing piece 21.
3, remote control part is by STM32 single-chip microcontroller 23, camera 24, transmitter 25, handset receiver 26, third steering engine
28, bluetooth module 29 forms.All instructions includes instructing a 34, left side in the advancement commands 33 of the display of video display interface 30, retrogressing
Shifting instruction 31, right shift instruction 36, upper wall instruction 32, lower wall instruction 35, small parameter perturbations instruction 37, it is each to instruct comprising oneself respectively
Unique action group.The effect of bluetooth module 29 is that the transmission and instruction of data are carried out between mobile phone and STM32 single-chip microcontroller 23
Operation, STM32 single-chip microcontroller 23 is connect with bluetooth module 29, bluetooth module 29 and mobile phone pass through bluetooth connection.Mobile phone receives
Device 26, camera 24, transmitter 25 are used for image transmitting.Handset receiver 26 is connected with the USB interface of mobile phone, by third rudder
Machine 28 is connected with camera 24, and is fixed on top cover 1, and effect is the visual field that 360 ° are provided for robot.
The corresponding action group of each instruction has been debugged using debugging software, has been downloaded in STM32 single-chip microcontroller 23, in
Disconnected program, each instruction can by serial ports (RXD/TXD) to the module send instruct, bluetooth module can by I/O port to
STM32 single-chip microcontroller 23 sends instruction, and STM32 single-chip microcontroller 23 then can control hardware configuration by I/O port, thereby executing respective instruction
Corresponding action group；
The function of the present embodiment 1 is
I, transportation function, the robot can load biggish weight, can be used in particular circumstances such as scene of fire, field ring
The transport goods such as border, to avoid the injures and deaths of personnel.
II, function is explored.Camera is carried, collocation video passback module carries out image transmitting, can carry out in tera incognita
It explores.
III, wall detection function can be used for the unmanned detection of high-rise structures or buildings at high risk, it might even be possible to carry it
He carries out Precision measurement by detection device.
Four bar of class alternately travels the design of gait
Class four-bar mechanism by four can the rigid member of positive and negative rotation formed with low secondary hinge.The name of class four-bar mechanism is distinguished
For l1、l2、l3、l4.Wherein: regarding the distance between vacuum suction sucker as l4, the bar where cornerwise steering engine is made respectively
For with l1And l3,Using the diagonal line length of robot body as l2.Utilize the rotation of the rotation control rod of steering engine.Due to four bar of class
The stability of mechanism kinematic, climbing robot are climbed wall ability and can further be promoted.
The design of convertible upper wall
Cleverly utilize steering engine rotation, using the instruction in cell phone application can make Climbing Robot two intersection metopes it
Between moved.
The design of symmetrical structure distribution
Using the gap between top cover, floor, U-shaped part, the pneumatic part of Climbing Robot can be hidden in remote control part
Robot interior, to not influence the realization of Climbing Robot function.
Embodiment two:
Can corner overturning four-footed absorption type climbing robot added transport device on the basis of embodiment one, cooperate
Symmetrical structure and camera, the transmitter and receiver of designed, designed.So that robot has exploration and transportation function.
Substantially increase practicability.
Embodiment three:
Can corner overturning four-footed absorption type climbing robot increase ultrasonic sensor, photoelectricity on the basis of scheme two
Sensor.Cooperate cell phone application interface, increases the instruction of its parameter return value.Can allow robot present position have one more
Add intuitive feedback information.Greatly enhance the safety of robot.
Claims (2)
1. one kind can corner overturning four-footed absorption type climbing robot, it is characterised in that: including hardware components, pneumatic suction portion
Point, remote control part；
Hardware components include main structure and moving structure, and main structure includes whole hexagonal with for retaining element
The top cover 1 of the plate of through-hole, the chassis 2 of the whole hexagonal plate with the through-hole for retaining element, right angle configuration
Four U-shaped parts 3, connected between top cover 1 and chassis 2 by U-shaped part 3, each U-shaped part 3 passes through screw thread company with top cover 1, chassis 2
It connects to form stable main structure, the effect of main structure is closed interior components, and provides suitable peace for inner body
Holding position；Moving structure is the Leg portion of robot, and robot leg part is made of four foots, and every foot is respectively by
One steering engine 4, the first steering engine box 5, the first steering wheel 6, the second steering engine 7, the second steering engine box 8, the second steering wheel 9, the fixed lid 10 of sucker are inhaled
Disk 11, fitting 12 form, the first steering engine 4, which is connected through a screw thread, to be fixed in the first steering engine box 5, the projecting shaft of the first steering engine 4 with
The blind hole of first steering wheel 6 is interference fitted, and the first steering wheel 6 is connected through a screw thread with U-shaped part 3, the projecting shaft and second of the second steering engine 7
The blind hole of steering wheel 9 is interference fitted, and the second steering wheel 9 is connected through a screw thread with the first steering engine box 5, and the second steering engine 7 is connected through a screw thread
It is fixed in the second steering engine box 8, fitting 12 and sucker 11 are connected through a screw thread to form vacuum chuck, the fixed lid 10 and second of sucker
Steering engine box 8 is connected through a screw thread, the internal cavity formed, fitting 12 and sky after the fixed lid 10 of sucker is connect with the second steering engine box 8
Chamber is mutually fitted into, to be allowed to form revolute pair, effect is can not only to have guaranteed that sucker fixation was not fallen, but also can guarantee normally to turn
It is dynamic；
Pneumatic suction part is made of battery holder 13, battery 14, driving plate 15 and two pneumatic structures, and battery 14 is mounted on
Battery pack is formed in battery holder 13, effect is powered to driving plate 15, is equipped with STM32 single-chip microcontroller 23, STM32 in driving plate 15
Single-chip microcontroller 23 controls the on-off of vacuum air pump 16, and each pneumatic structure includes vacuum air pump 16, the first battery valve 18, the first electromagnetism
Valve fixing piece 19, second solenoid valve 20, second solenoid valve fixing piece 21, three-way connection 22 and several tracheaes, wherein vacuum gas
Pump 16 is connect by tracheae with three-way connection 22, and three-way connection 22 is connected by tracheae and the first solenoid valve 18, second solenoid valve 20
It connects, the first solenoid valve 18 is connected by tracheae with the gas outlet of fitting 12, and vacuum air pump 16 is connected by 17 screw thread of air pump fixing piece
It connects on chassis 2, the first solenoid valve 18 is threaded on chassis 2 by the first solenoid valve fixing piece 19, second solenoid valve 20
It is threaded on chassis 2 by second solenoid valve fixing piece 21, vacuum air pump 16 is placed among chassis 2, the first three-way interface
22 are placed on the air intake of vacuum air pump 16, and the first solenoid valve 18 is fixed on the inside of U-shaped part 3, and driving plate 15 is fixed on vacuum
The left side of air pump 16, battery holder 13 are fixed on the right side of vacuum air pump 16；
Remote control part is by STM32 single-chip microcontroller 23, camera 24, transmitter 25, handset receiver 26, third steering engine 28, indigo plant
Tooth module 29 forms, and all instructions includes instructing 34, left shift instruction in the advancement commands 33 of the display of video display interface 30, retrogressing
31, right shift instruction 36, upper wall instruction 32, lower wall instruction 35, small parameter perturbations instruction 37, each instruction are respectively unique comprising oneself
Action group, the effect of bluetooth module 29 are that the operation of transmission and the instruction of data is carried out between mobile phone and STM32 single-chip microcontroller 23,
STM32 single-chip microcontroller 23 is connect with bluetooth module 29, by bluetooth connection, handset receiver 26 is taken the photograph for bluetooth module 29 and mobile phone
Picture head 24, transmitter 25 are used for image transmitting, handset receiver 26 are connected with handset port, by third steering engine 28 and camera
24 are connected, and are mounted on top cover 1, effect is the visual field that 360 ° are provided for robot, has debugged each instruction using debugging software
Corresponding action group downloads in STM32 single-chip microcontroller 23, and by the program of interruption, each instruction can pass through serial ports RXD/
TXD sends to the module and instructs, and bluetooth module can be sent to STM32 single-chip microcontroller 23 by I/O port and be instructed, STM32 single-chip microcontroller 23
Then hardware configuration can be controlled by I/O port, thereby executing corresponding action group is respectively instructed.
2. one kind according to claim 1 can corner overturning four-footed absorption type climbing robot, it is characterised in that: advance
Gait in the process is advanced in the plane class four-bar mechanism kind of drive, utilizes the adjustable characteristic for turning rotation direction of each steering engine, class
Four-bar mechanism is not necessarily limited to the bar elongate member of four-bar mechanism, and using the traveling gait of double class four-bar mechanisms, robot can be
It is flexibly moved between metope；
Four articles of legs are respectively designated as the first leg, the second leg, third leg, the 4th leg, and the first bar and third bar respectively represent the first leg
With third leg, the second bar represents the distance between the first U-shaped part and the U-shaped part of third, and the 4th bar is the first leg and third leg two
The distance between sucker, the 5th bar and the 7th bar respectively represent the second leg and the 4th leg, and the 6th bar represents the second U-shaped part and the 4th
The distance between U-shaped part, the 8th bar is the distance between the second leg and the 4th two suckers of leg, and when static, direction of advance is advised
It is set to positive direction, thus original state when reaching advance；
Forward motion is subdivided into following three movements, and one: the second leg of movement, the 4th leg unclamp, and the first leg, third leg are fixed, the
Four bars are fixed, and the first bar rotates counterclockwise, and third bar rotates clockwise, and it is mobile to drive the second bar, and then make entire fuselage
Forward, movement two: on the basis of acting one, the second leg, the 4th leg are fixed, and the first leg, third leg unclamp, and the 8th bar is fixed not
Dynamic, the 5th bar is clockwise, and the 7th bar rotates counterclockwise, and it is mobile to drive the 6th bar, so that fuselage is made to move forward again, movement three: the
One bar, the second bar, third bar, the 4th bar return to original state, and at the same time, the first leg and third leg return to original state,
The second leg and the 4th leg return to original state when first leg and third leg repeat above procedure, this can be made by repeating above procedure
Robot advances；
Direction of retreat is defined as positive direction by backward movement, and four legs are perpendicular horizontally arranged in positive direction, that is, after can reach
Leg rotation direction is tuned into opposite direction compared to forward motion by the original state for moving back direction；
Movement is moved to left, direction will be moved to left and be defined as positive direction, four legs are perpendicular horizontally arranged in positive direction, that is, it can reach a left side
The original state in direction is moved to right, one: the first leg of movement, third leg unclamp, and the second leg, the 4th leg are fixed, and the 8th bar is fixed,
7th bar rotates counterclockwise, and the 5th bar rotates clockwise, and it is mobile to drive the 6th bar, and then entire fuselage is made to move forward, movement two:
On the basis of movement one, the first leg, third leg are fixed, and the second leg, the 4th leg unclamp, and the 4th bar is fixed, the first bar up time
Needle, third bar rotate counterclockwise, and drive the second bar mobile, so that fuselage be made to move forward again, three: the five bars of movement, the 6th bar, the
Seven bars, the 8th bar return to original state；
Move to right movement: leg rotation direction is tuned into opposite direction i.e. compared to movement is moved to left by the original state for keeping left and right to move
It can.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910337090.6A CN110077482A (en) | 2019-04-25 | 2019-04-25 | It is a kind of can corner overturning four-footed absorption type climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910337090.6A CN110077482A (en) | 2019-04-25 | 2019-04-25 | It is a kind of can corner overturning four-footed absorption type climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112918583A (en) * | 2021-03-05 | 2021-06-08 | 华南理工大学 | Pipeline inner wall four-foot wall-climbing robot and kinematics analysis method thereof |
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| CN203439166U (en) * | 2013-07-08 | 2014-02-19 | 西安理工大学 | Electrical control device for wall-climbing robot |
| CN103991487A (en) * | 2014-04-27 | 2014-08-20 | 湘潭大学 | Full-pneumatic vacuum absorption type wall-climbing robot |
| CN206598905U (en) * | 2017-04-05 | 2017-10-31 | 北华航天工业学院 | Four-footed sucked type automatic travelling device |
| CN208264371U (en) * | 2018-05-10 | 2018-12-21 | 中国石油大学(华东) | A kind of bionical exploration robot |
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| CN203439166U (en) * | 2013-07-08 | 2014-02-19 | 西安理工大学 | Electrical control device for wall-climbing robot |
| CN103991487A (en) * | 2014-04-27 | 2014-08-20 | 湘潭大学 | Full-pneumatic vacuum absorption type wall-climbing robot |
| CN206598905U (en) * | 2017-04-05 | 2017-10-31 | 北华航天工业学院 | Four-footed sucked type automatic travelling device |
| CN208264371U (en) * | 2018-05-10 | 2018-12-21 | 中国石油大学(华东) | A kind of bionical exploration robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112918583A (en) * | 2021-03-05 | 2021-06-08 | 华南理工大学 | Pipeline inner wall four-foot wall-climbing robot and kinematics analysis method thereof |
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Application publication date: 20190802 |