CN110606141B - Composite parallel four-foot wall climbing mechanism - Google Patents
Composite parallel four-foot wall climbing mechanism Download PDFInfo
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- CN110606141B CN110606141B CN201910980136.6A CN201910980136A CN110606141B CN 110606141 B CN110606141 B CN 110606141B CN 201910980136 A CN201910980136 A CN 201910980136A CN 110606141 B CN110606141 B CN 110606141B
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- 230000009194 climbing Effects 0.000 title claims abstract description 141
- 230000007246 mechanism Effects 0.000 title claims abstract description 63
- 239000002131 composite material Substances 0.000 title claims abstract description 26
- 230000000712 assembly Effects 0.000 claims abstract description 29
- 238000000429 assembly Methods 0.000 claims abstract description 29
- 230000033001 locomotion Effects 0.000 claims abstract description 29
- 230000000737 periodic effect Effects 0.000 claims abstract description 9
- 230000008859 change Effects 0.000 claims abstract description 6
- 230000005540 biological transmission Effects 0.000 claims description 56
- 238000009434 installation Methods 0.000 claims description 14
- 230000007704 transition Effects 0.000 claims description 9
- 230000009193 crawling Effects 0.000 abstract description 9
- 230000001360 synchronised effect Effects 0.000 abstract description 5
- 238000001179 sorption measurement Methods 0.000 description 27
- 238000000034 method Methods 0.000 description 7
- 230000008569 process Effects 0.000 description 7
- 230000003139 buffering effect Effects 0.000 description 5
- 230000006835 compression Effects 0.000 description 5
- 238000007906 compression Methods 0.000 description 5
- 230000005021 gait Effects 0.000 description 4
- 230000009286 beneficial effect Effects 0.000 description 3
- 238000010586 diagram Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 230000002411 adverse Effects 0.000 description 2
- 239000000956 alloy Substances 0.000 description 2
- 230000008602 contraction Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000007547 defect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000011835 investigation Methods 0.000 description 2
- 238000005507 spraying Methods 0.000 description 2
- 230000000087 stabilizing effect Effects 0.000 description 2
- 238000013519 translation Methods 0.000 description 2
- 241000252254 Catostomidae Species 0.000 description 1
- 230000001174 ascending effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 150000001875 compounds Chemical class 0.000 description 1
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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
A composite parallel four-foot wall climbing mechanism comprises a main wall climbing device and an auxiliary wall climbing device; the main wall climbing device comprises: an upper plate of the machine body; the four telescopic foot assemblies are connected to the two sides of the upper plate of the machine body in a sliding manner; the main driving assembly drives the four telescopic foot assemblies to synchronously perform periodic telescopic movement; the auxiliary wall climbing device comprises: four auxiliary foot components which are connected with the bottom of the upper plate of the machine body in a sliding way; and the auxiliary driving assembly drives the four auxiliary foot assemblies to periodically reciprocate relative to the main wall climbing mechanism and change the rotation angle formed between the auxiliary wall climbing device and the main wall climbing device to carry out steering movement. The composite parallel four-foot wall climbing mechanism has certain obstacle surmounting capability, does not need to obviously increase the size of feet and the volume and weight of the wall climbing mechanism, and expands the application range of the wall climbing mechanism; the telescopic foot assembly can realize synchronous telescopic operation and has crawling and steering functions.
Description
Technical Field
The invention belongs to the technical field of special robots, and particularly relates to a composite parallel four-foot wall climbing mechanism.
Background
The wall climbing robot is a special bionic robot which can carry various operation tools to realize specific functions on various wall surfaces and is widely used for dangerous or special occasions such as glass curtain wall cleaning, glass wiping, large tank thickness measurement and flaw detection, spraying, high-altitude investigation and the like. The wall climbing robot not only can improve the high-altitude operation efficiency, but also can replace manual operation, and reduces the potential safety hazard of staff in dangerous environments.
The adsorption technology is a technology for preventing the wall climbing robot from sliding off and tipping over, common adsorption modes include a reverse thrust type, a magnetic adsorption type, a vacuum adsorption type and the like, and most foot type wall climbing robots adopt an adsorption mode of externally connecting a negative pressure source, but the obvious defect of adopting the adsorption mode is that: (1) The wall climbing robot realizes wall climbing walking through the alternate movement of foot, and robot foot end is negative pressure sucking disc device, when partial foot leaves the wall, the instantaneous adsorption force of wall to the wall of wall climbing robot will reduce, will directly influence the load ability and the operating stability of robot like this, causes the adverse consequence such as landing, the tipping of wall climbing robot even, exists very big potential safety hazard. (2) The obstacle surmounting capability of the wall climbing robot is greatly affected by the restriction of the structural size of the foot, the robot needs to increase the size of the foot if the robot needs to flexibly surmount higher obstacles, so that the volume and the weight of the robot are increased, the adsorption crawling capability and the gesture stability of the wall climbing robot are affected by the increase of the height of the wall climbing robot, and the application range of the wall climbing robot is greatly limited by the defects.
Therefore, a composite parallel four-foot wall climbing mechanism is expected to be beneficial to stabilizing the adsorption capacity of a wall surface, overcomes the hidden trouble of unstable adsorption capacity when a traditional foot-type wall climbing robot walks and moves, can maintain enough obstacle surmounting capacity under the condition of not remarkably increasing the structural size of feet, and greatly improves the application range of the wall climbing robot.
Disclosure of Invention
The invention aims to provide a composite parallel four-foot wall climbing mechanism which can be beneficial to stabilizing the adsorption capacity of a wall surface, overcomes the hidden trouble of unstable adsorption capacity when a traditional foot wall climbing robot walks and moves, can maintain enough obstacle surmounting capacity under the condition of not remarkably increasing the structural size of feet, and greatly improves the application range of the wall climbing robot.
In order to achieve the above purpose, the invention provides a composite parallel four-foot wall climbing mechanism, which comprises a main wall climbing device and an auxiliary wall climbing device;
the main wall climbing device comprises:
An upper plate of the machine body;
The four telescopic foot assemblies are connected to the two sides of the upper plate of the machine body in a sliding manner;
The main driving assembly drives the four telescopic foot assemblies to synchronously perform periodic telescopic movement;
the auxiliary wall climbing device comprises:
four auxiliary foot components which are connected to the bottom of the upper plate of the machine body in a sliding way;
And the auxiliary driving assembly drives the four auxiliary foot assemblies to do periodic reciprocating motion relative to the main wall climbing mechanism and change the rotation angle formed between the auxiliary wall climbing device and the main wall climbing device to do steering motion.
Preferably, the main drive assembly comprises:
The pair of main transmission shafts are arranged at the top of the upper plate of the machine body through a main shaft bracket;
A pair of main transmission gears, each of which is fixedly connected to the middle part of one main transmission shaft;
The main driving motor is arranged at the top of the upper plate of the machine body and is positioned between a pair of main transmission shafts;
The shaft gear is fixedly connected to the output shaft of the main drive motor and is meshed with one main transmission gear;
The transition gear is respectively connected with the other main transmission gear and the shaft gear in a meshed mode, and the main driver can drive the pair of main transmission gears to rotate at the same time, so that the pair of main transmission shafts are driven to rotate.
Preferably, each of the telescoping foot assemblies comprises:
The cranks of the two telescopic foot assemblies positioned on one side of the upper plate of the machine body are respectively fixedly connected to two ends of one main transmission shaft;
One end of the connecting rod is rotatably connected to the crank;
The top of the guide rod is connected with the other end of the connecting rod;
The first sucking disc subassembly, first sucking disc subassembly connect in the bottom of guide bar.
Preferably, the device further comprises a pair of lower fuselage plates, wherein the lower fuselage plates are fixedly connected to two ends of the bottom of the upper fuselage plate and are spliced with the upper fuselage plate to form an installation space.
Preferably, the auxiliary driving assembly includes:
the sliding block is provided with a threaded through hole;
The screw rod is in threaded connection with the threaded through hole, and two ends of the screw rod are respectively and rotatably connected in the installation space;
And an output shaft of the screw motor is in driving connection with one end of the screw.
Preferably, the auxiliary driving assembly further comprises a pair of guide rods, two ends of the guide rods are fixedly connected to the installation space, the guide rods are arranged on two sides of the screw rod in parallel, a pair of guide rod through holes are formed in the sliding block, and the guide rods are connected to the guide rod through holes in a sliding mode.
Preferably, the device further comprises an auxiliary foot support, wherein the auxiliary foot support is arranged at the bottom of the sliding block, and the four auxiliary foot components are fixedly connected to the bottom of the auxiliary foot support.
Preferably, the auxiliary drive assembly further comprises:
One end of the steering shaft is fixedly connected with the sliding block, and the other end of the steering shaft is rotationally connected with the auxiliary foot support through a thrust bearing;
the steering motor is arranged at the bottom of the auxiliary foot support, and an output shaft of the steering motor penetrates through the auxiliary foot support to a position between the auxiliary foot support and the sliding block;
The steering motor gear is fixedly connected to an output shaft of the steering motor;
the steering gear is fixedly connected with the steering shaft and is meshed with the steering motor gear.
Preferably, each of the auxiliary foot assemblies comprises:
The top end of the connecting rod is fixedly connected to the auxiliary foot support;
the second sucking disc subassembly, the second sucking disc subassembly connect in the bottom of connecting rod.
Preferably, the first suction cup assembly and the second suction cup assembly each comprise:
a suction cup bracket;
The vacuum chuck is connected to the bottom of the chuck support, and is communicated with external vacuum generating equipment through a pipeline.
The invention relates to a composite parallel four-foot wall climbing mechanism, which has the beneficial effects that: the telescopic foot assembly can be telescopic, so that the wall climbing mechanism has certain obstacle surmounting capability, the size of feet and the volume and weight of the wall climbing mechanism are not required to be obviously increased, and the application range of the wall climbing mechanism is enlarged; the telescopic foot assembly can realize synchronous telescopic operation through the control of the main driving assembly; the auxiliary wall climbing device can realize parallel movement relative to the main wall climbing mechanism and realize a crawling function; the steering function is realized by changing the relative rotation angle formed by the main wall climbing device and the auxiliary wall climbing device.
Additional features and advantages of the invention will be set forth in the detailed description which follows.
Drawings
The foregoing and other objects, features and advantages of the invention will be apparent from the following more particular descriptions of exemplary embodiments of the invention as illustrated in the accompanying drawings wherein like reference numbers generally represent like parts throughout the exemplary embodiments of the invention.
FIG. 1 illustrates a schematic structural view of a composite parallel four-foot wall climbing mechanism in accordance with an exemplary embodiment of the present invention;
FIG. 2 illustrates a schematic diagram of a primary wall climbing device in a composite parallel four-foot wall climbing mechanism in accordance with an exemplary embodiment of the present invention;
FIG. 3 illustrates a schematic diagram of the primary drive assembly in a compound parallel four-foot wall climbing mechanism in accordance with an exemplary embodiment of the present invention;
FIG. 4 illustrates a schematic structural view of a telescoping foot assembly in a composite parallel four-foot wall climbing mechanism according to an exemplary embodiment of the present invention;
FIG. 5 illustrates a schematic diagram of the structure of an auxiliary wall climbing device in a composite parallel quadruped wall climbing mechanism according to an exemplary embodiment of the invention;
FIG. 6 illustrates a front view of an auxiliary wall climbing device in a composite parallel four-foot wall climbing mechanism according to an exemplary embodiment of the invention;
FIG. 7 illustrates an enlarged partial schematic view of an auxiliary wall climbing device in a composite parallel four-foot wall climbing mechanism according to an exemplary embodiment of the invention;
FIG. 8a is a schematic view showing an initial position state of the composite parallel four-foot wall climbing mechanism according to an exemplary embodiment of the present invention when climbing a wall, wherein FIG. 8b, FIG. 8c and FIG. 8d are schematic views showing a position state in which the telescopic foot assembly keeps adsorbing and the auxiliary foot assembly keeps ascending in translation, and FIG. 8e, FIG. 8f and FIG. 8g are schematic views showing a position state in which the auxiliary foot assembly keeps adsorbing and the telescopic foot assembly ascends in translation;
reference numerals illustrate:
The device comprises a main wall climbing device, an auxiliary wall climbing device, a machine body upper plate, a 4 telescopic foot component, a 5 auxiliary foot component, a 6 main transmission shaft, a 7 main shaft support, a 8 main transmission gear, a 9 main driving motor, a 10 shaft gear, a 11 transition gear, a 12 crank, a 13 connecting rod, a 14 guide rod, a 15 first sucker component, a 16 machine body lower plate, a 17 sliding block, a 18 screw rod, a 19 screw rod motor, a 20 guide rod, a 21 auxiliary foot support, a 22 steering shaft, a 23 thrust bearing, a 24 steering motor, a 25 steering motor gear, a 26 steering gear, a 27 connecting rod, a 28 sucker support, a 29 vacuum sucker, a 30 connecting seat, a 31 guide hole, a 32 upper plate, a 33 lower plate, a 34 fixing tube, a 35 sliding rod and a 36 compression spring.
Detailed Description
Preferred embodiments of the present invention will be described in more detail below. While the preferred embodiments of the present invention are described below, it should be understood that the present invention may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the invention to those skilled in the art.
In order to solve the problems in the prior art, the invention provides a composite parallel four-foot wall climbing mechanism, which comprises a main wall climbing device and an auxiliary wall climbing device;
The main wall climbing device comprises:
An upper plate of the machine body;
The four telescopic foot assemblies are connected to the two sides of the upper plate of the machine body in a sliding manner;
the main driving assembly drives the four telescopic foot assemblies to synchronously perform periodic telescopic movement;
The auxiliary wall climbing device comprises:
four auxiliary foot components which are connected with the bottom of the upper plate of the machine body in a sliding way;
And the auxiliary driving assembly drives the four auxiliary foot assemblies to periodically reciprocate relative to the main wall climbing mechanism and change the rotation angle formed between the auxiliary wall climbing device and the main wall climbing device to carry out steering movement.
The composite parallel four-foot wall climbing mechanism has the advantages that the telescopic foot assembly can be telescopic, so that the wall climbing mechanism has certain obstacle surmounting capacity, the size of feet and the volume and the weight of the wall climbing mechanism are not required to be obviously increased, and the application range of the wall climbing mechanism is enlarged; the telescopic foot assembly can realize synchronous telescopic operation through the control of the main driving assembly; the auxiliary wall climbing device can realize parallel movement relative to the main wall climbing mechanism and realize a crawling function; the steering function is realized by changing the relative rotation angle formed by the main wall climbing device and the auxiliary wall climbing device.
Preferably, the main driving assembly includes:
The main transmission shafts are arranged at the top of the upper plate of the machine body through a main shaft bracket, and one end of each main transmission shaft is connected with a telescopic foot assembly;
a pair of main transmission gears, each of which is fixedly connected to the middle part of one main transmission shaft;
The main driving motor is arranged at the top of the upper plate of the machine body and is positioned between the pair of main transmission shafts;
The shaft gear is fixedly connected with an output shaft of the main drive motor and is meshed with one main transmission gear;
The transition gear is respectively connected with the other main transmission gear and the shaft gear in a meshed mode, and the main driving motor can drive the pair of main transmission gears to rotate at the same time, so that the pair of main transmission shafts are driven to rotate.
The main transmission shafts are arranged in parallel with the length direction of the upper plate of the machine body, the main shaft brackets are arranged at two ends of each main transmission shaft, and the main transmission shafts are rotationally connected with the main shaft brackets through bearings; the main transmission gear is arranged in the middle of the main transmission shaft, so that the torque born by the telescopic foot assemblies at the two ends of the main transmission shaft is uniform; the main driving motor works to drive the shaft gear to rotate, and the transition gear and the pair of main transmission gears which are in meshed connection with the shaft gear start to rotate simultaneously, namely, the pair of main transmission shafts are synchronously driven to rotate through one motor, so that the four telescopic foot assemblies realize synchronous telescopic motion.
Preferably, each telescoping foot assembly comprises:
The cranks of the two telescopic foot assemblies positioned on one side of the upper plate of the machine body are respectively and fixedly connected to two ends of a main transmission shaft;
one end of the connecting rod is rotationally connected to the crank;
the top of the guide rod is fixedly connected with the other end of the connecting rod;
the first sucking disc subassembly, first sucking disc subassembly is connected in the bottom of guide bar.
Preferably, four connecting seats are arranged on two sides of the upper plate of the machine body, a guide hole is arranged on each connecting seat, a guide rod of each telescopic foot component is connected in one guide hole in a sliding way, the guide rod is perpendicular to the upper plate of the machine body, a crank, a connecting rod and the guide rod form a crank sliding block mechanism, and the crank can rotate along with the rotation of the main transmission shaft so as to pull the connecting rod to periodically swing, thereby driving the guide rod to periodically reciprocate up and down along the connecting seats; when the guide rod extends downwards to enable the first sucker assembly to be in contact with the surface of the object to be climbed, the first sucker assembly can be adsorbed on the surface of the object to be climbed.
When the guide rod moves upwards under the drive of the connecting rod, the upward movement of the guide rod enables the first sucker component to be separated from the surface of the object to be climbed; when the guide rod moves downwards under the drive of the connecting rod, the guide rod pushes the first sucker assembly to make contact with the surface of the object to be climbed.
Preferably, the device further comprises a pair of lower fuselage plates which are fixedly connected to two ends of the bottom of the upper fuselage plate and spliced with the upper fuselage plate to form an installation space.
Preferably, the upper plate and the lower plate of the machine body are made of aluminum alloy materials, so that the overall weight of the mechanism is reduced; three pairs of arc grooves are formed in the two ends of the upper machine body plate and the lower machine body plate, and after the upper machine body plate is fixedly connected with the lower machine body plate, the arc grooves are spliced into three pairs of connecting holes, namely, installation space.
Preferably, the auxiliary drive assembly comprises:
the sliding block is provided with a threaded through hole;
the screw rod is in threaded connection with the threaded through hole, and two ends of the screw rod are respectively and rotatably connected in the installation space, namely a pair of connecting holes;
and an output shaft of the screw motor is connected with one end of the screw through a coupling in a driving way.
The screw rod is in threaded connection with the sliding block, and when the screw rod rotates under the drive of the screw rod motor, the sliding block can do reciprocating translational motion along the axial direction of the screw rod. The screw rod is rotationally connected with the connecting hole through a bearing.
Preferably, the auxiliary driving assembly further comprises a pair of guide rods, two ends of the pair of guide rods are fixedly connected to the installation space, the pair of guide rods are arranged on two sides of the screw rod in parallel, a pair of guide rod through holes are formed in the sliding block, and the pair of guide rods are connected to the pair of guide rod through holes in a sliding mode. Two ends of the guide rod are respectively connected to the other two pairs of connecting holes, the guide rod is arranged on two sides of the screw rod, so that the guide rod is convenient to guide with the movement of the sliding block, and the sliding block is prevented from overturning.
Preferably, the device further comprises an auxiliary foot support, wherein the auxiliary foot support is arranged at the bottom of the sliding block, and the four auxiliary foot components are fixedly connected to the bottom of the auxiliary foot support.
Preferably, the auxiliary drive assembly further comprises:
One end of the steering shaft is fixedly connected with the sliding block, and the other end of the steering shaft is rotationally connected with the auxiliary foot support through the thrust bearing;
The steering motor is arranged at the bottom of the auxiliary foot support, and an output shaft of the steering motor penetrates through the auxiliary foot support to a position between the auxiliary foot support and the sliding block;
The steering motor gear is fixedly connected to an output shaft of the steering motor;
The steering gear is fixedly connected to the steering shaft and is meshed with the steering motor gear.
The steering motor drives the steering motor gear to rotate, drives the steering gear to rotate, and drives the rotating shaft to rotate so as to realize the rotation of the sliding block, so that a rotation angle is formed between the auxiliary wall climbing device and the main wall climbing device, and the steering function is realized.
Preferably, each auxiliary foot assembly comprises:
The top end of the connecting rod is fixedly connected with the auxiliary foot support;
The second sucking disc subassembly, second sucking disc subassembly is connected in the bottom of connecting rod.
Preferably, the first suction cup assembly and the second suction cup assembly each comprise:
a suction cup bracket;
the vacuum chuck is connected to the bottom of the chuck support, and is communicated with external vacuum generating equipment through a pipeline.
Preferably, the sucking disc support includes upper plate and hypoplastron, and the bottom fixed connection of upper plate and connecting rod, vacuum chuck are connected on the hypoplastron, are equipped with a plurality of telescopic struts between upper plate and the hypoplastron, and telescopic struts includes fixed pipe and slide bar, and slide bar sliding connection is in fixed pipe, and is equipped with the compression spring that provides the buffering between slide bar top and the fixed pipe, and the top of fixed pipe is connected in the upper plate, and compression spring is established to the bottom of slide bar in the hypoplastron to the cover on the slide bar for provide the buffering. The sucking disc support is used for providing a pipeline communication space of the vacuum sucking disc, and the vacuum sucking disc is adsorbed so as to provide a certain buffering effect.
The vacuum chuck is the existing product, and is communicated with vacuum generating equipment, such as a vacuum generator, through a pipeline, and the specific structure is not repeated. Negative air pressure is generated in the vacuum sucker by sucking through the vacuum generating equipment, so that the surface of the object to be climbed is firmly sucked; the negative air pressure is changed into zero air pressure or positive air pressure by filling air into the vacuum chuck, so that the vacuum chuck is separated from the surface of the object to be climbed.
The working principle of the composite parallel four-foot wall climbing mechanism for wall climbing is as follows:
the vacuum suckers of the telescopic foot component and the auxiliary foot component adsorb or separate the surface of the object to be climbed, namely the wall surface, through external vacuum generating equipment;
the main driving motor drives the telescopic foot component to perform telescopic and up-and-down reciprocating motion through the crank block mechanism;
The lead screw motor drives the lead screw to rotate, so that the sliding block can reciprocate along the guide rail, the main driving motor drives the telescopic foot assembly to stretch to separate the auxiliary foot assembly from the wall surface, the sliding block drives the auxiliary foot assembly to translate, when the auxiliary foot assembly translates to a preset distance, the main driving motor drives the telescopic foot assembly to retract to enable the auxiliary foot assembly to contact and adsorb the wall surface, the main driving motor continues to drive the telescopic foot assembly to retract to separate the telescopic foot assembly from the wall surface, at the moment, the lead screw motor drives the lead screw to rotate, the sliding block keeps unchanged in position, and the lead screw translates relative to the sliding block, so that the main wall climbing device is driven to translate, and the parallel movement of the wall climbing mechanism is realized;
When the wall climbing mechanism needs to turn, when the telescopic foot assembly is separated from the wall surface and the auxiliary foot assembly is adsorbed on the wall surface, the steering motor drives the steering motor gear to rotate to drive the steering gear and the steering shaft to rotate, so that the sliding block drives the suspended main wall climbing device to rotate, and the telescopic foot assembly is driven to be adsorbed on the wall surface after the main wall climbing device and the auxiliary wall climbing device form relative rotation angles, so that the steering function is realized.
The gait process of climbing the wall by using the composite parallel four-foot wall climbing mechanism provided by the invention is as follows:
1. When the wall climbing mechanism is positioned at the initial position, the vacuum chucks of the telescopic foot assembly and the auxiliary foot assembly are adsorbed on the wall surface, positive gas is introduced into the vacuum chuck of the auxiliary foot assembly to enable the adsorption force of the vacuum chuck of the auxiliary foot to the wall surface to disappear, and meanwhile, the guide rod of the telescopic foot assembly is controlled to extend to enable the auxiliary foot assembly to be lifted up and separated from the wall surface;
2. the telescopic foot component is kept in an adsorption state on the wall surface, and a sliding block in the auxiliary wall climbing device and the auxiliary foot component are controlled to move in parallel and rise to a certain distance under the drive of the screw motor;
3. When the telescopic foot component continues to keep the adsorption state on the wall surface, the telescopic foot component is controlled to retract until the auxiliary foot component contacts and adsorbs the wall surface;
4. The auxiliary foot component is kept in an adsorption state on the wall surface, positive gas is introduced into the vacuum chuck of the telescopic foot component to enable the adsorption force of the telescopic foot component on the wall surface to disappear, and the telescopic foot component is controlled to retract to be separated from the wall surface;
5. When the auxiliary foot component continues to keep the adsorption state on the wall surface, controlling a screw motor in the auxiliary wall climbing device to rotate, and at the moment, driving the main wall climbing device to move up to a certain distance in parallel by the screw due to the fixed position of the auxiliary foot component;
6. The auxiliary foot component is kept in an adsorption state on the wall surface, and the expansion foot component is controlled to be stretched, so that the vacuum sucker of the expansion foot component is contacted with the wall surface and adsorbed to reach the same posture as the initial position, and the position of the wall climbing mechanism is moved upwards by a certain distance.
Through the gait process circulation, the continuous upward crawling working process of the wall climbing mechanism is realized, and conversely, the downward crawling working cycle can be realized. Different equipment can be installed on the upper plate of the machine body of the wall climbing mechanism to realize different functions, such as glass wiping equipment, spraying equipment, high-altitude investigation equipment and the like, so that manual operation can be replaced, and the potential safety hazard of staff is reduced. The wall climbing mechanism ensures the stability of adsorption force in the wall climbing process, prevents the wall climbing mechanism from having adverse consequences such as sliding and tipping, and greatly eliminates potential safety hazards; the expansion and contraction of the telescopic foot assembly does not need to obviously increase the size of feet and the volume and weight of the wall climbing mechanism under the condition of ensuring that the wall climbing mechanism has certain obstacle surmounting capability, so that the application range of the wall climbing mechanism is greatly expanded; the four telescopic foot components are synchronously driven and controlled by a single motor, and flexible expansion or contraction of the telescopic foot components is realized by adopting a crank block mechanism; the auxiliary foot adopts a screw-nut transmission mode to realize parallel movement relative to the main wall climbing device and realize the crawling function.
Example 1
As shown in fig. 1 to 8g, the invention provides a composite parallel four-foot wall climbing mechanism, which comprises a main wall climbing device 1 and an auxiliary wall climbing device 2;
The main wall climbing device 1 includes:
an upper plate 3 of the machine body;
The four telescopic foot assemblies 4 are connected to the two sides of the upper plate 3 of the machine body in a sliding manner;
The main driving assembly drives the four telescopic foot assemblies 4 to synchronously perform periodic telescopic movement;
The auxiliary wall climbing device 2 includes:
Four auxiliary foot components 5, the four auxiliary foot components 5 are connected with the bottom of the upper plate 3 of the machine body in a sliding way;
The auxiliary driving assembly drives the four auxiliary foot assemblies 5 to do periodic reciprocating motion relative to the main wall climbing mechanism and change the rotation angle formed between the auxiliary wall climbing device 2 and the main wall climbing device 1 to do steering motion.
In this embodiment, the main driving assembly includes:
The pair of main transmission shafts 6 are arranged at the top of the upper plate 3 of the machine body through a main shaft bracket 7, and one end of each main transmission shaft 6 is connected with one telescopic foot assembly 4;
a pair of main drive gears 8, each main drive gear 8 being fixedly connected to the middle portion of one main drive shaft 6;
The main driving motor 9, the main driving motor 9 is arranged on the top of the upper plate 3 of the machine body and is positioned between the pair of main transmission shafts 6;
the shaft gear 10, the shaft gear 10 is fixedly connected to the output shaft of the main drive motor 9, and is meshed with a main transmission gear 8;
The transition gear 11, the transition gear 11 is connected with another main transmission gear 8 and the shaft gear 10 in a meshing way respectively, and the main driving motor 9 can drive a pair of main transmission gears 8 to rotate at the same time, so as to drive a pair of main transmission shafts 6 to rotate.
The main transmission shafts 6 are arranged parallel to the length direction of the upper plate 3 of the machine body, the main shaft brackets 7 are arranged at two ends of each main transmission shaft 6, and the main transmission shafts 6 are rotatably connected with the main shaft brackets 7 through bearings; the main transmission gear 8 is arranged in the middle of the main transmission shaft 6, so that the torque born by the telescopic foot assemblies 4 at the two ends of the main transmission shaft 6 is uniform; the main driving motor 9 works to drive the shaft gear 10 to rotate, and the transition gear 11 and the pair of main transmission gears 8 which are in meshed connection with the shaft gear 10 start to rotate simultaneously, namely, one motor synchronously drives the pair of main transmission shafts 6 to rotate, so that the four telescopic foot assemblies 4 realize synchronous telescopic motion.
In this embodiment, each telescoping foot assembly 4 comprises:
The cranks 12, the cranks 12 of the two telescopic foot assemblies 4 positioned on one side of the upper plate 3 of the machine body are respectively fixedly connected with two ends of one main transmission shaft 6;
A connecting rod 13, one end of the connecting rod 13 is rotatably connected to the crank 12;
The top of the guide rod 14 is fixedly connected with the other end of the connecting rod 13;
the first sucking disc assembly 15. The first sucking disc assembly 15 is connected to the bottom of the guide rod 14.
Four connecting seats 30 are arranged on two sides of the upper plate 3 of the machine body, a guide hole 31 is formed in each connecting seat 30, the guide rod 14 of each telescopic foot assembly 4 is connected in one guide hole 31 in a sliding mode, the guide rod 14 is perpendicular to the upper plate 3 of the machine body, a crank 12, a connecting rod 13 and the guide rod 14 form a crank slider mechanism, the crank 12 can rotate along with the rotation of the main transmission shaft 6, and the connecting rod 13 is pulled to swing periodically, so that the guide rod 14 is driven to do periodic up-down reciprocating motion along the connecting seats; when the guide rod 14 is extended downwards to enable the first sucker assembly 15 to be contacted with the surface of the object to be climbed, the first sucker assembly 15 can be adsorbed on the surface of the object to be climbed.
When the guide rod 14 moves upwards under the drive of the connecting rod 13, the upward movement of the guide rod 14 enables the first sucker assembly 15 to be separated from the surface of the object to be climbed; when the guide rod 14 moves downwards under the drive of the connecting rod 13, the guide rod 14 pushes the first sucker assembly 15 to be in contact with the surface of the object to be climbed.
In this embodiment, the device further comprises a pair of lower fuselage panels 16, wherein the lower fuselage panels 16 are fixedly connected to two ends of the bottom of the upper fuselage panel 3, and are spliced with the upper fuselage panel 3 to form an installation space.
The upper fuselage plate 3 and the lower fuselage plate 16 are both made of aluminum alloy materials; three pairs of arc grooves are formed in two ends of the upper machine body plate 3 and the lower machine body plate 16, and after the upper machine body plate 3 is fixedly connected with the lower machine body plate 16, the arc grooves are spliced into three pairs of connecting holes, namely, installation spaces.
The auxiliary drive assembly includes:
The sliding block 17 is provided with a threaded through hole;
the screw rod 18 is in threaded connection with the threaded through hole, and two ends of the screw rod 18 are respectively and rotatably connected in the installation space, namely a pair of connecting holes;
And a screw motor 19, wherein an output shaft of the screw motor 19 is in driving connection with one end of the screw 18 through a coupling.
The screw 18 is screwed with the slider 17, and when the screw 18 is driven to rotate by the screw motor 19, the slider 17 can perform reciprocating translational motion along the axial direction of the screw 18. The screw 18 is rotatably connected with the connecting hole through a bearing.
The auxiliary driving assembly further comprises a pair of guide rods 20, two ends of the pair of guide rods 20 are fixedly connected to the installation space, the pair of guide rods 20 are arranged on two sides of the screw rod 18 in parallel, a pair of guide rod through holes are formed in the sliding block 17, and the pair of guide rods 20 are connected to the pair of guide rod through holes in a sliding mode. Two ends of the guide rod 20 are respectively connected to the other two pairs of connecting holes.
In this embodiment, the foot support device further comprises an auxiliary foot support 21, the auxiliary foot support 21 is arranged at the bottom of the sliding block 17, and the four auxiliary foot assemblies 5 are fixedly connected to the bottom of the auxiliary foot support 21.
The auxiliary drive assembly further includes:
The steering shaft 22, one end of the steering shaft 22 is fixedly connected to the sliding block 17, and the other end of the steering shaft 22 is rotatably connected to the auxiliary foot support 21 through the thrust bearing 23;
The steering motor 24, the steering motor 24 locates the bottom of the auxiliary foot support 21, the output shaft of the steering motor 24 passes the auxiliary foot support 21 to between auxiliary foot support 21 and slide block 17;
a steering motor gear 25, the steering motor gear 25 being fixedly connected to an output shaft of the steering motor 24;
the steering gear 26, the steering gear 26 is fixedly connected to the steering shaft 22, and is engaged with the steering motor gear 25.
The steering motor 24 drives the steering motor gear 25 to rotate, drives the steering gear 26 to rotate, and drives the rotating shaft to rotate, so that the sliding block 17 rotates, a rotating angle is formed between the auxiliary wall climbing device 2 and the main wall climbing device 1, and the steering function is realized.
Each auxiliary foot assembly 5 comprises:
the top end of the connecting rod 27 is fixedly connected to the auxiliary foot support 21;
And a second suction cup assembly connected to the bottom of the connecting rod 27.
The first suction cup assembly 15 and the second suction cup assembly each comprise:
A suction cup holder 28;
The vacuum chuck 29, the vacuum chuck 29 is connected to the bottom of the chuck support 28, and the vacuum chuck 29 is communicated with external vacuum generating equipment through a pipeline.
The sucker support 28 comprises an upper plate 32 and a lower plate 33, the upper plate 32 is fixedly connected with the bottom of the connecting rod 27, the vacuum sucker 29 is connected to the lower plate 33, a plurality of telescopic struts are arranged between the upper plate 32 and the lower plate 33, each telescopic strut comprises a fixed pipe 34 and a sliding rod 35, the sliding rods 35 are slidably connected to the fixed pipes 34, compression springs 36 for buffering are arranged between the tops of the sliding rods 35 and the fixed pipes 34, the tops of the fixed pipes 34 are connected to the upper plate 32, the bottoms of the sliding rods 35 are connected to the lower plate 33, and the sliding rods are sleeved with the compression springs 36 for buffering.
The vacuum generating equipment sucks to generate negative air pressure in the vacuum sucker 29 so as to firmly suck the surface of the object to be climbed; the vacuum chuck 29 is disengaged from the surface of the object to be climbed by charging air into the vacuum chuck 29 to change the negative air pressure to zero air pressure or positive air pressure.
The working principle of the composite parallel four-foot wall climbing mechanism for wall climbing is as follows:
the vacuum sucking discs 29 of the telescopic foot assembly 4 and the auxiliary foot assembly 5 adsorb or separate the surface of the object to be climbed, namely the wall surface, through external vacuum generating equipment;
The main driving motor 9 drives the telescopic foot assembly 4 to perform telescopic and up-and-down reciprocating motion through a crank block mechanism;
The lead screw motor 19 drives the lead screw 18 to rotate, so that the sliding block 17 can reciprocate along the guide rail, the main driving motor 9 drives the telescopic foot assembly 4 to extend to separate the auxiliary foot assembly 5 from the wall surface, the sliding block 17 drives the auxiliary foot assembly 5 to translate, when the auxiliary foot assembly 5 translates to a preset distance, the main driving motor 9 drives the telescopic foot assembly 4 to retract to enable the auxiliary foot assembly 5 to contact and adsorb the wall surface, the main driving motor 9 continues to drive the telescopic foot assembly 4 to retract to separate the telescopic foot assembly 4 from the wall surface, at the moment, the lead screw motor 19 drives the lead screw 18 to rotate, the sliding block 17 keeps unchanged in position, and the lead screw 18 translates relative to the sliding block 17, so that the main climbing device 1 is driven to translate, and the parallel movement of the climbing mechanism is realized;
When the wall climbing mechanism needs to turn, when the telescopic foot assembly 4 is separated from the wall surface and the auxiliary foot assembly 5 is adsorbed on the wall surface, the steering motor 24 drives the steering motor gear 25 to rotate and drives the steering gear 26 and the steering shaft 22 to rotate, so that the sliding block 17 drives the suspended main wall climbing device 1 to rotate, and after the main wall climbing device 1 and the auxiliary wall climbing device 2 form a relative rotation angle, the telescopic foot assembly 4 is driven to be adsorbed on the wall surface, and the steering function is realized.
The gait process of climbing the wall by using the composite parallel four-foot wall climbing mechanism provided by the invention is as follows:
1. When the wall climbing mechanism is positioned at the initial position, as shown in fig. 8a, the vacuum chucks 29 of the telescopic foot assembly 4 and the auxiliary foot assembly 5 are adsorbed on the wall surface, positive gas is introduced into the vacuum chucks 29 of the auxiliary foot assembly 5 to enable the adsorption force of the vacuum chucks 29 of the auxiliary foot to the wall surface to be eliminated, and meanwhile, the guide rod 14 of the telescopic foot assembly 4 is controlled to extend to enable the auxiliary foot assembly 5 to be lifted and separated from the wall surface, as shown in fig. 8b;
2. The telescopic foot component 4 is kept in an adsorption state on the wall surface, and the sliding block 17 and the auxiliary foot component 5 in the auxiliary wall climbing device 2 are controlled to move and rise to a certain distance in parallel under the drive of the lead screw motor 19, as shown in fig. 8c;
3. when the telescopic foot assembly 4 continues to keep the adsorption state to the wall surface, the telescopic foot assembly 4 is controlled to retract until the auxiliary foot assembly 5 contacts and adsorbs the wall surface, as shown in fig. 8d;
4. The auxiliary foot component 5 is kept in an adsorption state to the wall surface, positive air pressure gas is introduced into the vacuum sucker 29 of the telescopic foot component 4 to enable the adsorption force to be avoided by the telescopic foot component 4 to disappear, and the telescopic foot component 4 is controlled to retract to be separated from the wall surface, as shown in fig. 8e;
5. When the auxiliary foot assembly 5 continues to keep the adsorption state to the wall surface, controlling the screw motor 19 in the auxiliary wall climbing device 2 to rotate, and at the moment, because the position of the auxiliary foot assembly 5 is fixed, the screw 18 drives the main wall climbing device 1 to move up to a certain distance in parallel, as shown in fig. 8f;
6. The auxiliary foot assembly 5 is kept in an adsorption state to the wall surface, meanwhile, the telescopic foot assembly 4 is controlled to stretch, the vacuum sucker 29 of the telescopic foot assembly 4 is contacted with the wall surface and adsorbed, the same posture as the initial position is achieved, but the position of the wall climbing mechanism is moved upwards by a certain distance, as shown in fig. 8g.
Through the gait process circulation, the continuous upward crawling working process of the wall climbing mechanism is realized, and conversely, the downward crawling working cycle can be realized.
The foregoing description of embodiments of the invention has been presented for purposes of illustration and description, and is not intended to be exhaustive or limited to the embodiments disclosed. Many modifications and variations will be apparent to those of ordinary skill in the art without departing from the scope and spirit of the various embodiments described.
Claims (3)
1. The composite parallel four-foot wall climbing mechanism is characterized by comprising a main wall climbing device (1) and an auxiliary wall climbing device (2);
The main wall climbing device (1) comprises:
an upper plate (3) of the body;
the pair of lower fuselage plates (16), the lower fuselage plates (16) are fixedly connected to two ends of the bottom of the upper fuselage plate (3), and are spliced with the upper fuselage plate (3) to form an installation space;
the four telescopic foot assemblies (4) are connected to the two sides of the upper plate (3) of the machine body in a sliding manner;
the main driving assembly drives the four telescopic foot assemblies (4) to synchronously perform periodic telescopic movement;
the auxiliary wall climbing device (2) comprises:
four auxiliary foot assemblies (5), wherein the four auxiliary foot assemblies (5) are connected to the bottom of the upper plate (3) of the machine body in a sliding manner;
The auxiliary driving assembly drives the four auxiliary foot assemblies (5) to do periodic reciprocating motion relative to the main wall climbing device (1) and change the rotation angle formed between the auxiliary wall climbing device and the main wall climbing device to do steering motion;
the main drive assembly includes:
a pair of main transmission shafts (6), wherein the pair of main transmission shafts (6) are arranged at the top of the upper plate (3) of the machine body through a main shaft bracket (7);
A pair of main transmission gears (8), wherein each main transmission gear (8) is fixedly connected to the middle part of one main transmission shaft (6);
The main driving motor (9) is arranged at the top of the upper machine body plate (3) and is positioned between the pair of main transmission shafts (6);
The shaft gear (10) is fixedly connected to the output shaft of the main driving motor (9) and is meshed with one main transmission gear (8);
the transition gear (11), the said transition gear (11) is connected to another said main drive gear (8) and said shaft gear (10) separately in a meshed manner, the said main drive motor (9) can drive the said pair of main drive gears (8) to rotate at the same time, thus drive a pair of main drive shafts (6) to rotate;
Each telescopic foot assembly (4) comprises:
The crank (12) is positioned on one side of the upper plate (3) of the machine body, and the crank (12) of the two telescopic foot assemblies (4) are respectively and fixedly connected to two ends of one main transmission shaft (6);
a connecting rod (13), wherein one end of the connecting rod (13) is rotatably connected to the crank (12);
the top of the guide rod (14) is connected with the other end of the connecting rod (13);
The first sucking disc component (15) is connected to the bottom of the guide rod (14);
The auxiliary drive assembly includes:
the sliding block (17), the threaded through hole is arranged on the sliding block (17);
The screw rod (18) is in threaded connection with the threaded through hole, and two ends of the screw rod (18) are respectively and rotatably connected in the installation space;
A screw motor (19), wherein an output shaft of the screw motor (19) is in driving connection with one end of the screw (18);
the auxiliary driving assembly further comprises a pair of guide rods (20), two ends of the guide rods are fixedly connected to the installation space, the guide rods are arranged on two sides of the screw rod (18) in parallel, a pair of guide rod through holes are formed in the sliding block (17), and the guide rods are connected to the guide rod through holes in a sliding mode;
the auxiliary foot support (21), the auxiliary foot support (21) is arranged at the bottom of the sliding block (17), and the four auxiliary foot components (5) are fixedly connected to the bottom of the auxiliary foot support (21);
the steering shaft (22), one end of the steering shaft (22) is fixedly connected to the sliding block (17), and the other end of the steering shaft (22) is rotatably connected to the auxiliary foot support (21) through a thrust bearing (23);
a steering motor (24), wherein the steering motor (24) is arranged at the bottom of the auxiliary foot support (21), and an output shaft of the steering motor (24) passes through the auxiliary foot support (21) to a position between the auxiliary foot support (21) and the sliding block (17);
a steering motor gear (25), the steering motor gear (25) being fixedly connected to an output shaft of the steering motor (24);
and the steering gear (26) is fixedly connected to the steering shaft (22), and is meshed with the steering motor gear (25).
2. The composite parallel four-foot wall climbing mechanism according to claim 1, wherein each of the auxiliary foot assemblies (5) comprises:
the top end of the connecting rod (27) is fixedly connected with the auxiliary foot support (21);
and the second sucker assembly is connected to the bottom of the connecting rod (27).
3. The composite parallel quadruped wall climbing mechanism of claim 2, wherein the first suction cup assembly (15) and the second suction cup assembly each comprise:
A suction cup holder (28);
The vacuum chuck (29), vacuum chuck (29) connect in the bottom of sucking disc support (28), just vacuum chuck (29) and outside vacuum generating equipment pass through the pipeline intercommunication.
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| CN111232075B (en) * | 2020-01-16 | 2020-09-25 | 哈尔滨学院 | Liftable formula omnidirectional robot |
| CN112224297B (en) * | 2020-10-15 | 2021-11-05 | 哈尔滨工程大学 | Hull magnetic adsorption type wall-climbing robot |
| CN112369978A (en) * | 2020-10-21 | 2021-02-19 | 山东华宇工学院 | Glass curtain wall belt cleaning device |
| CN112482549B (en) * | 2020-11-26 | 2022-01-25 | 松源环境建设有限公司 | Self-adaptation municipal sewage sludge mixing machine |
| CN112483769B (en) * | 2020-11-27 | 2022-06-14 | 国网山东省电力公司建设公司 | Inside device of visiting of GIS pipeline |
| CN113147941B (en) * | 2021-04-12 | 2022-07-08 | 南通大学 | Wall climbing machine capable of flexibly steering and use method |
| CN113814996B (en) * | 2021-10-18 | 2022-12-02 | 长沙师范学院 | Intelligent robot |
| CN114014219B (en) * | 2021-11-09 | 2023-02-21 | 湖南机电职业技术学院 | Automatic loading and unloading conveyor |
| CN115682978B (en) * | 2022-12-06 | 2023-05-16 | 北京路桥瑞通科技发展有限公司 | Deflection measuring device for bridge engineering |
| CN117990861B (en) * | 2024-02-06 | 2024-09-27 | 山东省路桥集团有限公司 | Accurate assembled short T roof beam quality detection device |
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| CN104015832A (en) * | 2014-06-17 | 2014-09-03 | 东南大学 | Pneumatic wall-climbing robot |
| CN207755226U (en) * | 2017-07-11 | 2018-08-24 | 四川乐成电气科技有限公司 | A kind of high building cleaning climbing robot |
| KR102073828B1 (en) * | 2018-02-13 | 2020-02-05 | 영남대학교 산학협력단 | Climbing robot and climbing method using it |
| CN109229227B (en) * | 2018-11-09 | 2019-10-01 | 燕山大学 | Climbing robot |
| CN209290548U (en) * | 2018-11-28 | 2019-08-23 | 广西科技大学 | A kind of rectangular coordinate system climbing robot |
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