CN110341826A - Climbing robot and its longitudinal movement control method, lateral movement control method - Google Patents
Climbing robot and its longitudinal movement control method, lateral movement control method Download PDFInfo
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- CN110341826A CN110341826A CN201910605532.0A CN201910605532A CN110341826A CN 110341826 A CN110341826 A CN 110341826A CN 201910605532 A CN201910605532 A CN 201910605532A CN 110341826 A CN110341826 A CN 110341826A
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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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Abstract
The invention discloses a kind of climbing robot and its longitudinal movement control methods, lateral movement control method, climbing robot includes pedestal, arm of creeping, adsorption piece and camera, arm of creeping is at least four, wherein four arms of creeping are respectively arranged on four edges of pedestal, adsorption piece is correspondingly arranged with arm of creeping, adsorption piece is set to and creeps on arm, and adsorption piece is equipped with pressure sensor, and camera is set on pedestal.Above-mentioned climbing robot, camera detects provision for sealing inside, using creeping, creeping for arm is moved, since arm of creeping is equipped with adsorption piece, it can be used for the inner wall of adsorption plant, and whether the pressure sensor on adsorption piece can close to the absorption of inner wall by the pressure understanding adsorption piece between detection adsorption piece and inner wall, it is convenient to adjust in time, prevent climbing robot by being detached from inner wall, travelling performance of the climbing robot inside equipment is improved, and then is improved to the detection effect inside provision for sealing.
Description
Technical field
The present invention relates to repair apparatus technical fields, more particularly to a kind of climbing robot and its longitudinal movement controlling party
Method, lateral movement control method.
Background technique
Gas-insulated metal enclosed switchgear (GIS) is one of major electrical equipment of substation, and equipment is enclosed in metal and connects
In the shell on ground, the internal SF6 insulating gas filled with certain pressure.It is widely used in the field of high-voltage and ultra-high, gas is exhausted
It is whole by breaker, disconnecting switch, earthing switch mutual inductor, arrester, bus, connector and outlet inside edge metal enclosed switch
The composition such as end, internal structure and its complexity, and full-closed structure is used, it is not easy to detect situation in operation.
Summary of the invention
Based on this, the invention reside in overcoming the deficiencies of existing technologies, providing one kind can be moved inside GIS device, to setting
The standby good climbing robot of internal detection effect and its longitudinal movement control method, lateral movement control method.
Its technical solution is as follows:
A kind of climbing robot, comprising:
Pedestal；
It creeps arm, the arm of creeping is at least four, wherein arm of creeping described in four is respectively arranged on four of the pedestal
Edge；
Adsorption piece, the adsorption piece are correspondingly arranged with the arm of creeping, and the adsorption piece is creeped on arm set on described, described
Adsorption piece is equipped with pressure sensor；And
Camera, the camera are set on the pedestal.
Above-mentioned climbing robot, camera detect provision for sealing inside, and using creeping, creeping for arm is moved
It is dynamic, since arm of creeping is equipped with adsorption piece, it can be used for the inner wall of adsorption plant, enable above-mentioned climbing robot in enclosure space
Interior movement, and can carry out the movement such as climbing in moving process, and the pressure sensor on adsorption piece can be by detecting adsorption piece
Whether the pressure understanding adsorption piece between inner wall is close to the absorption of inner wall, convenient to adjust in time, prevents wall-climbing device
People improves travelling performance of the climbing robot inside equipment, and then improve to provision for sealing inside by being detached from inner wall
Detection effect.
The adsorption piece includes absorption sole in one of the embodiments, and the absorption sole passes through ball joint bearing
It creeps on arm described in being installed on, face of the absorption sole far from the arm of creeping is arcwall face.
The arm of creeping includes first structure part, the second structural member, the first actuator and the in one of the embodiments,
Two actuators, the first structure part and the pedestal are hinged, and second structural member and the first structure part are hinged, described
Adsorption piece is set on second structural member, and first actuator turns for controlling the relatively described pedestal of the first structure part
Dynamic angle, second actuator is for controlling the angle that second structural member is rotated relative to the first structure part.
The arm of creeping further includes third actuator and third structural member in one of the embodiments, and the third is driven
Moving part is set on the pedestal, and the third actuator is for driving the third structural member to rotate and controlling the third structure
The angle of part rotation, first actuator are set on the third structural member, the first structure part and the third structure
Part can be rotated, and the output shaft of the third actuator and the output shaft of first actuator are vertically arranged.
The quantity of the arm of creeping is four in one of the embodiments, and arm of creeping described in four is respectively first to climb
Arm, second climb arm, third climbs arm and the 4th climbs arm, described first climbs arm, described second climbs the front end that arm is located at the pedestal, institute
It states third to climb arm, the described 4th climb the rear end that arm is located at the pedestal, described first climbs the output shaft of the third actuator of arm, institute
The output shaft for stating the third actuator that second climbs arm is arranged in parallel, and the third climbs the output shaft, described of the third actuator of arm
4th output shaft for climbing the third actuator of arm is arranged in parallel.
Above-mentioned climbing robot further includes controller in one of the embodiments, the controller respectively with the pressure
Force snesor, first actuator, second actuator and third actuator are electrically connected.
In one of the embodiments, the pedestal include the first side plate, the second side plate, top plate and bottom plate, the top plate,
The bottom plate is set between first side plate, second side plate, and the top plate, bottom plate interval setting, described
Third actuator is set between the top plate, the bottom plate.
Above-mentioned climbing robot further includes reinforcer in one of the embodiments, and the reinforcer includes the first connection
Portion and second connecting portion, one end of the first connecting portion are connect with the pedestal, the other end of the first connecting portion and institute
Second connecting portion connection is stated, the second connecting portion and the pedestal interval are arranged, and the third structural member is set to the pedestal
Between the second connecting portion, side and the second connecting portion of the third structural member are rotatably connected, the third
The output axis connection of the other side of structural member and the third actuator.
A kind of longitudinal movement control method of such as above-mentioned climbing robot, climbs wall machine using as described in any one of the above embodiments
Device people, arm of creeping described in the two of them positioned at the pedestal diagonal position are the first crawler component, and it is diagonal to be located at the pedestal
Arm of creeping described in other two of position be the second crawler component, the longitudinal movement control method of the climbing robot include with
Lower step:
The adsorption piece of first crawler component adsorbs inner wall；
The adsorption piece of second crawler component is detached from inner wall, and second crawler component is moved forward or rearward；
The adsorption piece of second crawler component adsorbs inner wall；
The adsorption piece of first crawler component is detached from inner wall, and first crawler component is moved forward or rearward.
The lateral movement control method of above-mentioned climbing robot is adsorbed or mobile by the arm of creeping using diagonal position,
In moving process, since the first crawler component or the second crawler component that are located at diagonal position are adsorbable on inner wall, then may be used
It prevents climbing robot to be detached from inner wall in moving process, improves the locomotivity of climbing robot, enable climbing robot
Enough reach each region in provision for sealing, and then climbing robot can be promoted to the detection effect inside equipment.
A kind of lateral movement control method such as above-mentioned climbing robot, using such as above-mentioned climbing robot, described the
One climbs arm, the third climbs the left or right side that arm is located at the pedestal, described second climb arm, the described 4th climb arm be located at it is described
It is L1, institute that the other side of pedestal, the described first adsorption piece climbed on arm and the third, which climb the distance between adsorption piece on arm,
The distance between adsorption piece that adsorption piece that second climbs on arm is climbed with the described 4th on arm is stated as L2, L1=L2, it is described to climb wall machine
The lateral movement control method of device people the following steps are included:
Described first adsorption piece climbed on arm is detached from inner wall, the direction movement of arm is climbed to separate described second and is adsorbed again
In on inner wall；
The adsorption piece that the third is climbed on arm is detached from inner wall, the direction movement of arm is climbed to the separate described 4th and is adsorbed again
In on inner wall, the described first adsorption piece climbed on arm climbs the distance between adsorption piece on arm with described second as L1；
Start described first climb arm, described second climb arm, the third climbs arm and the described 4th climbs the first driving on arm
Part and the second actuator keep the pedestal mobile to the direction for climbing arm close to described first；
Described second adsorption piece climbed on arm is detached from inner wall, the direction movement of arm is climbed to close described first and is adsorbed again
In on inner wall；
Described 4th adsorption piece climbed on arm is detached from inner wall, the direction movement of arm is climbed to the separate third and is adsorbed again
In on inner wall, the described second adsorption piece climbed on arm climbs the distance between adsorption piece on arm with the described 4th as L2.
The lateral movement control method of above-mentioned climbing robot, due to during lateral movement, the weight of climbing robot
Heart variation is different from longitudinal movement, and climbing robot is easier not cause tightly to fall off due to absorption at this time, is being displaced sideways
In the process, an only mobile arm of creeping every time, and at least three arms of creeping is kept to be adsorbed on inner wall, then it can guarantee wall-climbing device
People is not easily to fall off on the move, improves the locomotivity of robot, and then climbing robot is enable to carry out equipment inside
Sufficiently detection, the effect of detection are good.
Detailed description of the invention
Fig. 1 is the oblique view of climbing robot described in the embodiment of the present invention；
Fig. 2 is the enlarged diagram in Fig. 1 at A；
Fig. 3 is the top view of climbing robot described in the embodiment of the present invention；
Fig. 4 is the longitudinal movement schematic diagram of climbing robot described in the embodiment of the present invention；
Fig. 5 is the lateral movement schematic diagram of climbing robot described in the embodiment of the present invention.
Description of symbols:
100, pedestal, the 110, first side plate, the 120, second side plate, 130, top plate, 140, bottom plate, 200, arm of creeping, 201,
First climbs arm, and 202, second climbs arm, 203, third climb arm, the 204, the 4th climbs arm, 210, first structure part, 211, first points of structures
Part, 212, second points of components, the 220, second structural member, the 230, first actuator, the 240, second actuator, 250, third driving
Part, 260, third structural member, 300, adsorption piece, 310, absorption sole, 400, camera, 500, reinforcer, the 510, first connection
Portion, 511, resigning mouthful, 520, second connecting portion, 600, auxiliary flabellum, the 11, first crawler component, the 12, second crawler component.
Specific embodiment
To facilitate the understanding of the present invention, a more comprehensive description of the invention is given in the following sections with reference to the relevant attached drawings.In attached drawing
Give better embodiment of the invention.But the invention can be realized in many different forms, however it is not limited to herein
Described embodiment.On the contrary, the purpose of providing these embodiments is that making to understand more the disclosure
Add thorough and comprehensive.
It should be noted that it can directly on the other element when element is referred to as " being fixed on " another element
Or there may also be elements placed in the middle.When an element is considered as " connection " another element, it, which can be, is directly connected to
To another element or it may be simultaneously present centering elements.Term as used herein " vertical ", " horizontal ", " left side ",
" right side " and similar statement for illustrative purposes only, are not meant to be the only embodiment.
Unless otherwise defined, all technical and scientific terms used herein and belong to technical field of the invention
The normally understood meaning of technical staff is identical.Term as used herein in the specification of the present invention is intended merely to description tool
The purpose of the embodiment of body, it is not intended that in the limitation present invention.Term as used herein "and/or" includes one or more
Any and all combinations of relevant listed item.
Heretofore described " first ", " second " do not represent specific quantity and sequence, are only used for the differentiation of title.
As shown in Figures 1 and 2, an embodiment discloses a kind of climbing robot, including pedestal 100, arm 200 of creeping, suction
Attachment 300 and camera 400, arm 200 of creeping is at least four, wherein four arms 200 of creeping are respectively arranged on four of pedestal 100
Edge, adsorption piece 300 are correspondingly arranged with arm 200 of creeping, and adsorption piece 300 is set to and creeps on arm 200, and adsorption piece 300 is equipped with
Pressure sensor, camera 400 are set on pedestal 100.
Above-mentioned climbing robot, camera 400 detect provision for sealing inside, using creeping for arm 200 of creeping
It is moved, since arm 200 of creeping is equipped with adsorption piece 300, can be used for the inner wall of adsorption plant, enable above-mentioned climbing robot
It is enough to move in the enclosed space, and can carry out the movement such as climbing in moving process, and the pressure sensor on adsorption piece 300 can
It is whether close to the absorption of inner wall by the pressure understanding adsorption piece 300 between detection adsorption piece 300 and inner wall, it is convenient to do in time
It adjusts out, prevents climbing robot by being detached from inner wall, improve climbing robot in the travelling performance of equipment inner wall, Jin Erti
It is high to the detection effect inside provision for sealing.
Optionally, above-mentioned climbing robot further includes Wireless Transmitter, and Wireless Transmitter and camera 400 are electrically connected,
The image transmitting that Wireless Transmitter can photograph camera 400 is to the external world.Wherein, Wireless Transmitter can be the nothings such as bluetooth, wifi
Line transmission module.Or image transmitting that the mode of wire transmission photographed camera 400 can also be used extremely in above-mentioned climbing robot
It is extraneous.
In one of the embodiments, as shown in Figures 1 and 2, adsorption piece 300 includes absorption sole 310, adsorbs sole
310 are installed on by ball joint bearing and creep on arm 200, and face of the absorption sole 310 far from arm 200 of creeping is arcwall face.At this time
The angle between adsorption piece 300 and arm 200 of creeping is adjusted in ball joint bearing, contacts absorption sole 310 with equipment inner wall
When absorption sole 310 close to the face of equipment inner wall can more abutted equipment inner wall, adsorb tighter, while it is remote to adsorb sole 310
Face from arm 200 of creeping is the face for contacting with equipment inner wall, and certain deformation can also occur for arcwall face, can preferably with
Equipment inner wall fitting, further increases adsorption effect.
Specifically, absorption sole 310 is sheathed in the induction end of pressure sensor, and pressure sensor wears above-mentioned ball-joint
Bearing, and the end face of the induction end of pressure sensor is arranged with absorption sole 310 close to the side of equipment inner wall is concordant.Exist at this time
When adsorbing 310 adsorption plant inner wall of sole, pressure sensor can be obtained by the air pressure between absorption sole 310 and equipment inner wall
Sense data, judge adsorb sole 310 whether adsorption plant inner wall.
Optionally, absorption sole 310 is vacuum chuck.Vacuum chuck is easy to use, at low cost, and adsorption effect is preferable.
In one of the embodiments, as shown in Figures 1 and 2, arm 200 of creeping includes first structure part 210, the second structure
Part 220, the first actuator 230 and the second actuator 240, first structure part 210 and pedestal 100 are hinged, the second structural member 220 with
First structure part 210 is hinged, and adsorption piece 300 is set on the second structural member 220, and the first actuator 230 is for controlling first structure
The angle of 210 opposite base 100 of part rotation, the second actuator 240 is for controlling the opposite first structure part of the second structural member 220
The angle of 210 rotations.By the first actuator 230 and the second actuator 240, first structure part 210 and the second structure can control
Angle between part 220, between first structure part 210 and pedestal 100, the arm 200 that makes to creep realize the movement effects creeped.
Optionally, the first actuator 230, the second actuator 240 can be cylinder, electrode or steering engine etc..Specifically, it first drives
Moving part 230, the second actuator 240 are steering engine, steering engine it is small in size, torque is big, in the base for keeping climbing robot mobility
, it can be achieved that the miniaturization of above-mentioned climbing robot on plinth.
Optionally, in the initial state, the angle between first structure part 210 and the second structural member 220 is 90 °, at this time
Each adsorption piece 300 creeped on arm 200 is close to the adsorption effect of inner wall, is conducive to keep the steady of above-mentioned climbing robot
It is fixed.
In one of the embodiments, as shown in Figures 1 and 2, arm 200 of creeping further includes third actuator 250 and third
Structural member 260, third actuator 250 are set on pedestal 100, and third actuator 250 is for driving the rotation of third structural member 260 simultaneously
Control third structural member 260 rotate angle, the first actuator 230 be set to third structural member 260 on, first structure part 210 with
Third structural member 260 can be rotated, and the output shaft of third actuator 250 and the output shaft of the first actuator 230 are vertically arranged.It is above-mentioned
In structure, third actuator 250 can drive adsorption piece 300 to rotate along a steering, and the first actuator 230 can drive adsorption piece
300 turn to rotation along another, since the output shaft of third actuator 250 is vertical with the output shaft of the first actuator 230, and the
One structural member 210 can be relatively rotated with the second structural member 220, thus the movement of adsorption piece 300 have three degree of freedom, it can be achieved that
The movement put and stretched is lifted, facilitates above-mentioned climbing robot mobile by the way of creeping.
In one of the embodiments, as shown in figure 3, the quantity for arm 200 of creeping is four, arm 200 of creeping described in four
Respectively first climb arm 201, second climb arm 202, third climbs arm 203 and the 4th climbs arm 204, first climbs arm 201, second climbs arm
202 are located at the front end of pedestal 100, and third climbs arm the 203, the 4th and climbs the rear end that arm 204 is located at pedestal 100, and first climbs the of arm 201
The output shaft of three actuators 250, the second third actuator 250 for climbing arm 202 output shaft be arranged in parallel, third climbs arm 203
The output shaft of third actuator 250, the 4th third actuator 250 for climbing arm 204 output shaft be arranged in parallel.At this time due to first
The output shaft for the third actuator 250 that the output shaft for the third actuator 250 climbed on arm 201, second climb on arm 202 is set in parallel
It sets, then first climbs arm 201 and climb arm 202 with second and can be rotated along identical or opposite direction, climb arm 201 and second and climb arm when first
202 when moving in opposite direction, and first climbs arm 201, second climbs between arm 202 that there are angles, can be with the arc in provision for sealing
Shape or corner matching, guarantee adsorption piece 300 can be adsorbed on equipment inner wall, similarly third climb arm the 203, the 4th climb wall can also
It rotates in opposite direction, makes that third climbs arm 203, the 4th adsorption piece 300 climbed on arm 204 is preferably adsorbed in equipment inner wall
On, guarantee the stabilization of climbing robot.
Above-mentioned climbing robot further includes controller in one of the embodiments, controller respectively with pressure sensor,
First actuator 230, the second actuator 240 and third actuator 250 are electrically connected.Controller can be used for collecting each climb at this time
The pressure that pressure sensor on row arm 200 is sensed, to judge whether each adsorption piece 300 is adsorbed on equipment inner wall,
It can control the rotational angle of each actuator simultaneously.
Optionally, at least there are two being adsorbed on equipment inner wall in four arms 200 of creeping, if there are three controller senses
Or the pressure that is sensed of the pressure sensor on three or more adsorption pieces 300 less than a preset value when, controller can control
One of them driving of the actuator on arm 200 of creeping, makes adsorption piece 300 press to equipment inner wall and adsorbs again tightly.Specifically, above-mentioned
" preset value " be adsorption piece 300 can adsorption plant inner wall when, the minimum value for the pressure that pressure sensor is sensed.When pressure passes
When the pressure that sensor is sensed is less than preset value, then adsorption piece 300 can not adsorption plant inner wall, it is therefore desirable to by adsorption piece 300
Equipment inner wall is pressed to, to keep adsorption capacity.
Optionally, Wireless Transmitter and controller are electrically connected, and Wireless Transmitter is for receiving instruction or output camera
The image of 400 shootings.
Optionally, above-mentioned climbing robot further includes remote control device, and Wireless Transmitter and controller can be integrated into single-chip microcontroller,
Remote control device and Wireless Transmitter communicate to connect, and can pass through the working as in remote control device real-time detection climbing robot of camera 400
Preceding working condition.
In one of the embodiments, as shown in Figures 1 and 2, pedestal 100 include the first side plate 110, the second side plate 120,
Top plate 130 and bottom plate 140, top plate 130, bottom plate 140 are set between the first side plate 110, the second side plate 120, and top plate 130,
The setting of the interval of bottom plate 140, third actuator 250 are set between top plate 130, bottom plate 140.The more reasonable structure of pedestal 100 at this time,
Third actuator 250 can play protection and fixed function between top plate 130, bottom plate 140 to third actuator 250, guarantee
The normal work of third actuator 250, while the structure of pedestal 100 is simple, facilitate maintenance and maintenance.
Specifically, the both ends of top plate 130 and bottom plate 140 are bent, and bend part for respectively with the first side plate
110, the second side plate 120 connects.It can guarantee the integrally-built stability of pedestal 100 at this time.
Optionally, camera 400 is set on reinforcer 500, can be shot to the environment in climbing robot anterior approach.
In one of the embodiments, as shown in Figures 1 and 2, above-mentioned climbing robot further includes reinforcer 500, is reinforced
Part 500 includes first connecting portion 510 and second connecting portion 520, and one end of first connecting portion 510 is connect with pedestal 100, and first connects
The other end of socket part 510 is connect with second connecting portion 520, and second connecting portion 520 and the interval of pedestal 100 are arranged, third structural member
260 are set between pedestal 100 and second connecting portion 520, and side and the second connecting portion 520 of third structural member 260 rotatably connect
It connects, the other side of third structural member 260 and the output axis connection of third actuator 250.At this time for carrying the first actuator 230
Third structural member 260 being auxiliarily fixed by reinforcer 500, can keep stable when being driven by third actuator 250, improve
Integrally-built stability ensure that reliability when first actuator 230 and third actuator 250 carry out power output.
Optionally, as shown in Figures 1 and 2, first connecting portion 510 is equipped with resigning mouthful 511.Resigning mouthful 511 can prevent
Location conflicts occur with reinforcer 500 when three structural members 260 rotate.
Optionally, as shown in Figures 1 and 2, first structure part 210 includes first point of component 211 and second point of component 212,
First point of component 211 and second point of component 212 are U-shaped structure, the bottom phase of first point of component 211 and second point of component 212
Even, the output axis connection of one end of first point of component 211 and the second actuator 240, the other end and third of first point of component 211
The bottom of structural member 260 is rotatably connected, and third actuator 250 is set in the groove that second point of component 212 surrounds, and is located at third
The output shaft of 250 side of actuator wears one end of second point of component 212, the other side of third actuator 250 and second point of structure
The other end of part 212 connects, and third structural member 260 is also U-shaped structure, one end of third structural member 260 and third actuator 250
Output axis connection, the other end of third structural member 260 is rotatably connected with second point of component 212, and overall structure is more steady at this time
Fixed, simultaneously because each structural member is sheet metal component, overall weight is lighter, can reduce power required for absorption, therefore can reduce
Requirement to adsorption piece 300, and then reduce the cost of above-mentioned climbing robot.In addition, can guarantee third actuator 250 at this time
Output shaft is vertical with the output shaft of the first actuator 230, can simplify the control of the motion track to adsorption piece 300, specifically,
Each structural member is Al-alloy parts.For each structural member as sheet metal component, intensity is big at this time, light-weight.
Optionally, above-mentioned climbing robot further includes obliquity sensor, and obliquity sensor is set on pedestal 100, and inclination angle passes
Sensor and controller are electrically connected, when obliquity sensor senses the inclination angle of pedestal 100 greater than 90 °, at least two adsorption pieces
Pressure measured by pressure sensor on 300 is greater than preset value.Above-mentioned climbing robot can be understood by obliquity sensor
Whole posture, if while pedestal 100 inclination angle it is excessive, need guarantee at least there are two adsorption piece 300 keep adsorbed state, prevent
Above-mentioned climbing robot is fallen off.
Optionally, above-mentioned climbing robot further includes auxiliary flabellum 600 and the 5th actuator, and auxiliary flabellum 600 can be rotated
On top plate 130, for driving auxiliary flabellum 600 to rotate, the 5th actuator and controller are electrically connected the 5th actuator.This
When can be rotated by flabellum, the pressure towards equipment inner wall is provided, so that above-mentioned climbing robot is integrally pressed to equipment inner wall, favorably
In preventing climbing robot from falling off in moving process.
Optionally, above-mentioned climbing robot further includes distance-sensor, and distance-sensor is set to bottom plate 140 far from top plate
On 130 side, distance-sensor is used to incude the spacing between bottom plate 140 and equipment inner wall.If above-mentioned climbing robot is inhaled
When investing on equipment inner wall, the distance that distance-sensor is sensed should have a determining range, if distance-sensor is felt
The distance of survey is greater than above range, then illustrates that by falling off on equipment inner wall, rescue measure is can be used in above-mentioned climbing robot at this time.
As shown in Figures 3 and 4, an embodiment discloses a kind of longitudinal movement control method of climbing robot, is located at base
The two of them of 100 diagonal positions of seat creep arm 200 for the first crawler component 11, positioned at other the two of 100 diagonal position of pedestal
A arm 200 of creeping is the second crawler component 12, the longitudinal movement control method of climbing robot the following steps are included:
The adsorption piece 300 of first crawler component 11 adsorbs inner wall；
The adsorption piece 300 of second crawler component 12 is detached from inner wall, and the second crawler component 12 is moved forward or rearward；
The adsorption piece 300 of second crawler component 12 adsorbs inner wall；
The adsorption piece 300 of first crawler component 11 is detached from inner wall, and the first crawler component 11 is moved forward or rearward.
The longitudinal movement control method of above-mentioned climbing robot passes through the creep absorption of arm 200 or the shifting using diagonal position
It is dynamic, in moving process, since the first crawler component 11 or the second crawler component 12 that are located at diagonal position are adsorbable in inner wall
On, then climbing robot can be prevented to be detached from inner wall in moving process, improve the locomotivity of climbing robot, make to climb wall machine
Device people can reach each region in provision for sealing, and then can promote climbing robot to the detection effect inside equipment.
Specifically, the circle in Fig. 4 filled with black indicates that adsorption piece 300 is in adsorbed state, is not filled by the circle of black
Circle indicates that adsorption piece 300 leaves equipment inner wall, and the direction a in Fig. 4 is " longitudinal direction ".
As depicted in figs. 3 and 5, an embodiment discloses a kind of lateral movement control method of climbing robot, and first climbs
Arm 201, third climb the left or right side that arm 203 is located at pedestal 100, and second, which climbs arm the 202, the 4th, climbs arm 204 and be located at pedestal 100
The other side, it is L1 that the first adsorption piece 300 climbed on arm 201 and third, which climb the distance between adsorption piece 300 on arm 203, second
The adsorption piece 300 climbed on arm 202 and the 4th climbs the distance between adsorption piece 300 on arm 204 as L2, L1=L2, wall-climbing device
The lateral movement control method of people the following steps are included:
First adsorption piece 300 climbed on arm 201 is detached from inner wall, the direction movement of arm 202 is climbed to separate second and is inhaled again
It invests on inner wall；
The adsorption piece 300 that third is climbed on arm 203 is detached from inner wall, the direction movement of arm 204 is climbed to the separate 4th and is inhaled again
It invests on inner wall, the first adsorption piece 300 climbed on arm 201 and second climbs the distance between adsorption piece 300 on arm 202 as L1；
Starting first climb arm 201, second climb arm 202, third climbs arm 203 and the 4th climbs the first actuator 230 on arm 204
And second actuator 240, keep pedestal 100 mobile to the direction for climbing arm 201 close to first；
Second adsorption piece 300 climbed on arm 202 is detached from inner wall, the direction movement of arm 201 is climbed to close first and is inhaled again
It invests on inner wall；
4th adsorption piece 300 climbed on arm 204 is detached from inner wall, the direction movement of arm 203 is climbed to separate third and is inhaled again
It invests on inner wall, the second adsorption piece 300 climbed on arm 202 and the 4th climbs the distance between adsorption piece 300 on arm 204 as L2.
The lateral movement control method of above-mentioned climbing robot, due to during lateral movement, the weight of climbing robot
Heart variation is different from longitudinal movement, and climbing robot is easier not cause tightly to fall off due to absorption at this time, is being displaced sideways
In the process, an only mobile arm 200 of creeping every time, and at least three arms 200 of creeping is kept to be adsorbed on inner wall, then it can guarantee and climb
Wall robot is not easily to fall off on the move, improves the locomotivity of robot, and then enables climbing robot in equipment
Portion is sufficiently detected, and the effect of detection is good.
Specifically, the circle in Fig. 5 filled with black indicates that adsorption piece 300 is in adsorbed state, is not filled by the circle of black
Circle indicates that adsorption piece 300 leaves equipment inner wall, and the direction b in Fig. 5 is " lateral ", specifically, when equipment inner wall is plane
When, lateral is laterally；When equipment inner wall is cambered surface or curved surface, lateral is circumferential.
Each technical characteristic of embodiment described above can be combined arbitrarily, for simplicity of description, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, all should be considered as described in this specification.
The embodiments described above only express several embodiments of the present invention, and the description thereof is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that coming for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to protection of the invention
Range.Therefore, the scope of protection of the patent of the invention shall be subject to the appended claims.
Claims (10)
1. a kind of climbing robot characterized by comprising
Pedestal；
It creeps arm, the arm of creeping is at least four, wherein arm of creeping described in four is respectively arranged on four corners of the pedestal
Place；
Adsorption piece, the adsorption piece are correspondingly arranged with the arm of creeping, and the adsorption piece is creeped on arm set on described, the absorption
Part is equipped with pressure sensor；And
Camera, the camera are set on the pedestal.
2. climbing robot according to claim 1, which is characterized in that the adsorption piece includes absorption sole, the suction
Attached sole by ball joint bearing be installed on it is described creep on arm, face of the absorption sole far from the arm of creeping is arc
Face.
3. climbing robot according to claim 1, which is characterized in that the arm of creeping includes first structure part, second
Structural member, the first actuator and the second actuator, the first structure part and the pedestal are hinged, second structural member and institute
It is hinged to state first structure part, the adsorption piece is set on second structural member, and first actuator is for controlling described the
The angle that one structural member is rotated relative to the pedestal, second actuator is for controlling second structural member relatively described the
The angle of one structural member rotation, the rotor shaft direction of the first structure part and second structural member are arranged in parallel.
4. climbing robot according to claim 3, which is characterized in that the arm of creeping further includes third actuator and
Three structural members, the third actuator are set on the pedestal, and the third actuator is for driving the third structural member to turn
The angle of the third structural member rotation is moved and controls, first actuator is set on the third structural member, and described first
Structural member and the third structural member can be rotated, and the output shaft of the output shaft of the third actuator and first actuator hangs down
Straight setting.
5. climbing robot according to claim 4, which is characterized in that the quantity of the arm of creeping is four, four institutes
State arm of creeping be respectively first climb arm, second climb arm, third climbs arm and the 4th climbs arm, described first climbs arm, described second climbs arm
Positioned at the front end of the pedestal, the third climbs arm, the described 4th climbs the rear end that arm is located at the pedestal, and described first climbs arm
The output shaft of third actuator, the described second third actuator for climbing arm output shaft be arranged in parallel, the third climbs the of arm
The output shaft of three actuators, the described 4th third actuator for climbing arm output shaft be arranged in parallel.
6. climbing robot according to claim 4, which is characterized in that further include controller, the controller respectively with
The pressure sensor, first actuator, second actuator and third actuator are electrically connected.
7. climbing robot according to claim 4, which is characterized in that the pedestal include the first side plate, the second side plate,
Top plate and bottom plate, the top plate, the bottom plate are set between first side plate, second side plate, and the top plate, institute
The setting of bottom plate interval is stated, the third actuator is set between the top plate, the bottom plate.
8. climbing robot according to claim 7, which is characterized in that further include reinforcer, the reinforcer includes the
One interconnecting piece and second connecting portion, one end of the first connecting portion are connect with the pedestal, the first connecting portion it is another
End is connect with the second connecting portion, and the second connecting portion and the pedestal interval are arranged, and the third structural member is set to institute
It states between pedestal and the second connecting portion, side and the second connecting portion of the third structural member are rotatably connected, institute
State the other side of third structural member and the output axis connection of the third actuator.
9. a kind of longitudinal movement control method of climbing robot, which is characterized in that using as described in claim any one of 1-8
Climbing robot, arm of creeping described in the two of them positioned at the pedestal diagonal position is the first crawler component, is located at described
Arm of creeping described in other two of pedestal diagonal position is the second crawler component, the longitudinal movement controlling party of the climbing robot
Method the following steps are included:
The adsorption piece of first crawler component adsorbs inner wall；
The adsorption piece of second crawler component is detached from inner wall, and second crawler component is moved forward or rearward；
The adsorption piece of second crawler component adsorbs inner wall；
The adsorption piece of first crawler component is detached from inner wall, and first crawler component is moved forward or rearward.
10. a kind of lateral movement control method of climbing robot, which is characterized in that climb wall using as claimed in claim 5
Robot, described first climbs arm, the third climbs the left or right side that arm is located at the pedestal, and described second climbs arm, described
Four climb the other side that arm is located at the pedestal, and described first climbs the adsorption piece on arm and the third is climbed between the adsorption piece on arm
Distance be L1, the described second adsorption piece climbed on arm climbs the distance between adsorption piece on arm with the described 4th as L2, L1=
L2, the lateral movement control method of the climbing robot the following steps are included:
In described first adsorption piece climbed on arm is detached from inner wall, the direction movement of arm is climbed to separate described second and is adsorbed in again
On wall；
In the adsorption piece that the third is climbed on arm is detached from inner wall, the direction movement of arm is climbed to the separate described 4th and is adsorbed in again
On wall, the described first adsorption piece climbed on arm climbs the distance between adsorption piece on arm with described second as L1；
Start described first climb arm, described second climb arm, the third climbs arm and the described 4th climb the first actuator on arm and
Second actuator keeps the pedestal mobile to the direction for climbing arm close to described first；
In described second adsorption piece climbed on arm is detached from inner wall, the direction movement of arm is climbed to close described first and is adsorbed in again
On wall；
In described 4th adsorption piece climbed on arm is detached from inner wall, the direction movement of arm is climbed to the separate third and is adsorbed in again
On wall, the described second adsorption piece climbed on arm climbs the distance between adsorption piece on arm with the described 4th as L2.
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| CN110341826B (en) | 2021-08-10 |
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