CN110696938A - Wall-climbing robot - Google Patents
Wall-climbing robot Download PDFInfo
- Publication number
- CN110696938A CN110696938A CN201910925636.XA CN201910925636A CN110696938A CN 110696938 A CN110696938 A CN 110696938A CN 201910925636 A CN201910925636 A CN 201910925636A CN 110696938 A CN110696938 A CN 110696938A
- Authority
- CN
- China
- Prior art keywords
- climbing robot
- steering engine
- wall
- wall climbing
- foot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Images
Classifications
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
- Toys (AREA)
Abstract
The invention discloses a wall-climbing robot, comprising: the foot adsorption component is arranged on the first body, and the foot adsorption component is also arranged on the second body; the connecting assembly comprises a connecting body, one side of the connecting body is connected with the first body in a sliding mode in the direction A, and the other side of the connecting body is connected with the second body in a sliding mode in the direction B; the driving assembly comprises an A-direction steering engine and a B-direction steering engine, the A-direction steering engine is arranged on the first body, and the A-direction steering engine is in driving connection with the connecting body to drive the connecting body to slide along the first body in the A direction; the B direction steering engine is installed on the connector, and the B direction steering engine is connected with the drive of second body and drives the second body to slide with the connector in the B direction. The first body and the second body are in sliding connection in two different directions of the A direction and the B direction through the connecting body, the structure is simple, and movement in the two directions is realized; the magnetic force is used for adsorption, and the magnetic force is strong when the magnetic force is applied to climb on the wall surface with magnetic conductivity.
Description
Technical Field
The invention relates to the field of robots, in particular to a wall-climbing robot.
Background
The wall-climbing robot has great application value and academic research significance in various fields such as equipment detection, wall surface cleaning and the like. However, the existing wall-climbing robot is mostly suitable for planes, and cannot be suitable for cambered surfaces with large curvature.
The front wall-climbing robot is mainly divided into a foot type robot, a wheel type robot and a crawler type robot. The wheel type wall climbing robot has the advantages of high moving speed and flexible rotating direction, but the adsorption capacity is relatively weak, and the requirement on the wall surface is high. The crawler-type wall climbing robot has strong adsorption force, large wall surface contact surface, low requirement on the wall surface and high adaptability, but the rotation direction is not flexible, and the volume and the weight are large. The foot type wall climbing robot is between the two, the rotating direction is flexible, the adsorption force is moderate, the requirement on the wall surface is low, the foot type wall climbing robot is suitable for the cambered surface with large curvature, the control is complex, and the moving speed is low. The wall climbing robot in the prior art has the problem of complex structure.
Disclosure of Invention
The technical problem to be solved by the invention is as follows: the utility model provides a wall climbing robot, this wall climbing robot structure is comparatively simple, uses the adsorption affinity on the wall of magnetic conductivity simultaneously strong.
The solution of the invention for solving the technical problem is as follows:
a wall climbing robot, comprising:
the first body is provided with a foot adsorption component, and the foot adsorption component is configured to be adsorbed with the wall surface or separated from the wall surface through magnetic force;
the second body is also provided with a foot adsorption component;
the connecting assembly comprises a connecting body, one side of the connecting body is connected with the first body in a sliding mode in the direction A, and the other side of the connecting body is connected with the second body in a sliding mode in the direction B;
the driving assembly comprises an A-direction steering engine and a B-direction steering engine, the A-direction steering engine is mounted on the first body, and the A-direction steering engine is in driving connection with the connecting body to drive the connecting body to slide along the first body in the A direction; the B-direction steering engine is installed on the connecting body and is in driving connection with the second body to drive the second body to slide with the connecting body in the B direction.
The directions A and B refer to two different directions.
The invention has the beneficial effects that: the first body and the second body are in sliding connection in two different directions of the A direction and the B direction through the connecting body, the structure is simple, and movement in the two directions is realized; the magnetic force is used for adsorption, and the magnetic force is strong when the magnetic force is applied to climb on the wall surface with magnetic conductivity.
As a further improvement of the above technical solution, a B-direction chute is formed in the second body in a penetrating manner, a sliding arm is arranged at the lower side of the connecting body, the sliding arm slides along the B-direction chute, and a first limiting plate is connected to the lower portion of the sliding arm in the extending direction below the B-direction chute; the upside of connector is equipped with A direction spout, the downside of first body is equipped with the slider, the slider is followed A direction spout slides, the lower part of slider is stretched the below of direction A direction spout and is connected with the second limiting plate. From this, first body and second body have realized through connector, spout, first limiting plate, slider and second limiting plate that first body and second body realize sliding connection in two different directions of A direction and B direction.
As a further improvement of the technical scheme, a B-direction rack is arranged on the upper side of the second body, and the output end of the B-direction steering engine is in transmission connection with the B-direction rack through a gear; the upper side of the connecting body is provided with an A-direction rack, and the A-direction steering engine is in transmission connection with the A-direction rack through a gear.
As a further improvement of the technical scheme, the foot adsorption component comprises a motor arranged on the first body/the second body, a swinging part in driving connection with the motor and an electromagnetic chuck in connection with the swinging part. From this, the motor drives electromagnet through the goods of furniture for display rather than for use and rotates and leave or press close to the wall, realizes climbing the wall. The specific implementation mode is that the foot adsorption component on the first body is adsorbed on the wall surface, when the foot adsorption component on the second body moves, the foot adsorption component on the second body leaves the wall surface, the second body moves along the direction A and/or the direction B relative to the first body, and then the foot adsorption component on the second body adsorbs the wall surface to reciprocate.
As a further improvement of the technical scheme, the foot adsorption component further comprises a first tension spring and a second tension spring, the upper side of the sucker is connected with a connecting frame, the connecting frame is hinged to the swing part, two ends of the first tension spring are respectively connected with the front side of the connecting frame and the front side of the swing part, and two ends of the second tension spring are respectively connected with the rear side of the connecting frame and the rear side of the swing part. The setting of first extension spring and second extension spring realizes that link and goods of furniture for display rather than for use are articulated to when this wall climbing machine runs into the position of unevenness on the wall, electromagnet adaptation wall rotates and rather than the laminating, and adsorption efficiency is strong.
As a further improvement of the technical scheme, the B-direction rack is an arc-shaped rack. Set up the arc rack, can adapt to the arc wall, move on the arc wall, the adsorption affinity between foot adsorption component and the arc wall is better.
As a further improvement of the above technical solution, the wall-climbing robot further includes a sensor, the sensor is installed on the first body/the second body, and the sensor is configured to detect a distance between the wall-climbing robot and the obstacle. Therefore, the wall-climbing robot can judge whether the obstacle blocks the walking route or not through the sensor. The wall climbing robot can adjust a walking route according to a signal fed back by the sensor.
As a further improvement of the above technical solution, the sensor includes an infrared sensor and an ultrasonic sensor.
As a further improvement of the above technical solution, the first body is provided with two foot adsorbing components arranged diagonally, and the second body is provided with two foot adsorbing components arranged diagonally. Therefore, when the wall climbing robot moves, the foot adsorption component on the first body or the second body supports the wall climbing robot diagonally under the condition that the foot adsorption component on the second body or the first body is away from the wall surface, the torque formed by gravity during unilateral supporting can be reduced, and the burden on the motor is reduced.
Drawings
In order to more clearly illustrate the technical solution in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a first perspective view of an embodiment;
FIG. 2 is a second perspective view of the embodiment;
fig. 3 is a perspective view of the connector.
In the drawings:
100-a first body; 110-a mounting frame; a 120-A direction steering engine; a steering engine in the direction of 130-B;
200-a second body; 210-B direction rack; a 220-B direction chute;
310-an electromagnetic chuck; 311-a connecting frame; 320-ornament; 330-a first tension spring; 340-a second tension spring;
400-a linker; 410-a sliding arm; a 420-A direction chute; a 430-A direction rack; 440-a first limiting plate; 450-second limiting plate.
Detailed Description
The conception, the specific structure, and the technical effects produced by the present invention will be clearly and completely described below in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the features, and the effects of the present invention. It is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments, and those skilled in the art can obtain other embodiments without inventive effort based on the embodiments of the present invention, and all embodiments are within the protection scope of the present invention. In addition, all the connections or connection relationships mentioned herein are not directly connected to each other, but rather, the connection configurations may be better combined by adding or subtracting connection accessories according to the specific implementation. The technical characteristics of the invention can be combined interactively on the premise of not conflicting with each other.
The embodiments are described in detail below with reference to fig. 1-3.
Embodiments are as follows, a wall climbing robot, comprising:
a first body 100 on which a foot adsorption component configured to be adsorbed to or separated from a wall surface by a magnetic force is provided;
a second body 200 on which a foot adsorption component is also provided;
a connecting assembly including a connecting body 400, one side of the connecting body 400 being slidably connected to the first body 100 in the direction a, and the other side of the connecting body 400 being slidably connected to the second body 200 in the direction B;
the driving assembly comprises an A-direction steering engine 120 and a B-direction steering engine 130, the A-direction steering engine 120 is installed on the first body 100, and the A-direction steering engine 120 is in driving connection with the connecting body 400 to drive the connecting body 400 to slide along the first body 100 in the A direction; the B-direction steering engine 130 is installed on the connecting body 400, and the B-direction steering engine 130 is in driving connection with the second body 200 to drive the second body 200 to slide on the connecting body 400 in the B direction.
The a direction and the B direction refer to two different directions. Specifically, the a direction refers to the left-right direction and the B direction refers to the front-rear direction in the present embodiment.
The first body 100 and the second body 200 are connected in a sliding manner in two different directions, namely the direction A and the direction B, through the connecting body 400, the structure is simple, and the movement in the two directions is realized; the magnetic force is used for adsorption, and the magnetic force is strong when the magnetic force is applied to climb on the wall surface with magnetic conductivity.
Specifically, two foot absorption components are diagonally arranged on the first torso 100, and two foot absorption components are diagonally arranged on the second torso 200.
The connecting assembly comprises a connecting body 400, a B-direction sliding groove 220 is formed in the second body 200 in a penetrating mode, a sliding arm 410 is arranged on the lower side of the connecting body 400, the sliding arm 410 slides along the B-direction sliding groove 220, and a first limiting plate 440 is connected to the lower portion of the sliding arm 410, extends to the position below the B-direction sliding groove 220; the upper side of the connecting body 400 is provided with an a-direction sliding groove 420, the lower side of the first body 100 is provided with a sliding block, the sliding block slides along the a-direction sliding groove 420, and the lower part of the sliding block extends to the lower part of the a-direction sliding groove 420 and is connected with a second limiting plate 450. Therefore, the first body 100 and the second body 200 realize the sliding connection between the first body 100 and the second body 200 in two different directions, namely the direction a and the direction B, through the connecting body 400, the sliding groove, the first limit plate 440, the sliding block and the second limit plate 450.
A B-direction rack 210 is arranged on the upper side of the second body 200, and the output end of the B-direction steering engine 130 is in transmission connection with the B-direction rack 210 through a gear; the upper side of the connecting body 400 is provided with an A-direction rack 430, and the A-direction steering gear 120 is in transmission connection with the A-direction rack 430 through a gear.
The foot absorption member includes a motor installed on the first body 100/the second body 200, a swing member 320 drivingly connected to the motor, and a suction cup 310 connected to the swing member 320. Therefore, the motor drives the electromagnetic chuck 310 to rotate away from or close to the wall surface through the swing part 320, so that wall climbing is realized.
The foot absorbing assembly further comprises a first tension spring 330 and a second tension spring 340, wherein the upper side of the suction cup is connected with the connecting frame 311, the connecting frame 311 is hinged with the swing part 320, two ends of the first tension spring 330 are respectively connected with the front side of the connecting frame 311 and the front side of the swing part 320, and two ends of the second tension spring 340 are respectively connected with the rear side of the connecting frame 311 and the rear side of the swing part 320. The arrangement of the first tension spring 330 and the second tension spring 340 realizes that the connecting frame 311 is hinged to the swing part 320, so that when the wall climbing machine encounters an uneven position on the wall surface, the electromagnetic chuck 310 is adaptive to the rotation of the wall surface and attached to the wall surface, and the adsorption capacity is strong.
The B-direction rack 210 is an arc-shaped rack. Set up the arc rack, can adapt to the arc wall, move on the arc wall, the adsorption affinity between foot adsorption component and the arc wall is better.
The mounting frame 110 is installed at an upper side of the first body 100.
A battery is arranged between the two A-direction steering engines 120 and supplies power to the A-direction steering engine 120, the B-direction steering engine 130 and each electromagnetic suction cup 310.
The crawling robot further comprises a controller, and the controller is electrically connected with the A-direction steering engine 120, the B-direction steering engine 130 and each electromagnetic chuck 310.
The working principle of the crawling robot is as follows: the moving mode in the A direction, the moving mode in the B direction and the bypassing mode are included according to the moving requirement.
Executing the moving instruction in the direction A in the moving mode in the direction A, wherein in the initial state, the electromagnetic chucks 310 on the first body 100 and the second body 200 are both adsorbed on the magnetic conductive wall surface, the controller cuts off the power of the electromagnetic chucks 310 on the first body 100, and the power-cut chucks leave the wall surface through the rotation of the motor, then the steering engine 120 in the direction A drives the first body 100 to slide along the direction A relative to the second body 200, the suction cup which is powered off is attached to the wall surface again when the motor rotates reversely, the suction cup is powered on the electromagnetic suction cup 310, then the second body 200 is the electromagnetic chuck 310, the electromagnetic chuck 310 is powered off, the motor rotates to enable the powered-off chuck to leave the wall surface, the A-direction steering engine 120 drives the first body 100 to slide along the A direction relative to the second body 200, the powered-off chuck is attached to the wall surface again when the motor rotates in the reverse direction, and the action of the powered-on chuck on the electromagnetic chuck 310 is achieved, so that a gait cycle in the A direction is completed.
The B-direction moving instruction is executed in the B-direction moving mode, and the B-direction moving instruction is different from the A-direction moving instruction only in that: the a-direction steering gear 120 drives the first body 100 to slide in the a direction relative to the second body 200, and the B-direction steering gear 130 drives the first body 100 to slide in the B direction relative to the second body 200. Thereby completing a gait cycle in the B direction.
In the bypassing mode, the sensor acquires the distance and the position of an obstacle, and the controller executes the A-direction movement instruction and the B-direction movement instruction according to the acquired distance and position of the obstacle and a preset route so as to bypass the obstacle.
The wall climbing robot further comprises a sensor, and the sensor comprises an infrared sensor and an ultrasonic sensor. The ultrasonic sensor and the infrared sensor are installed at the mounting frame 110 and face the left side of the wall-climbing robot, and the sensors are configured to detect the distance between the wall-climbing robot and the obstacle. Ultrasonic sensor compares with infrared sensor, and ultrasonic sensor detection distance is longer, and infrared distance sensor detection distance is nearer to ultrasonic sensor and infrared sensor working medium are different, do not have the interference between each other when both cooperate to use.
In the present embodiment, since the ultrasonic sensor and the infrared sensor both face the left side of the wall-climbing robot, the left side of the wall-climbing robot is taken as the forward direction for this purpose. The wall climbing robot advances by executing the a-direction movement command.
When the ultrasonic sensor and the infrared sensor do not detect the obstacle, the wall-climbing robot can freely walk.
When the ultrasonic sensor detects an obstacle and the infrared sensor does not detect the obstacle, it is shown that the obstacle exists in the advancing direction of the wall-climbing robot, but the obstacle has a certain distance from the wall-climbing robot, at the moment, the wall-climbing robot can avoid the obstacle through oblique walking, specifically, the wall-climbing robot executes a detour mode and executes a direction A moving instruction and a direction B moving instruction simultaneously, and the wall-climbing robot walks obliquely relative to the obstacle to avoid the obstacle.
When the ultrasonic sensor and the infrared sensor detect the obstacle, the obstacle is close to the wall-climbing robot, the wall-climbing robot cannot move forward continuously, the wall-climbing robot needs to move transversely to avoid the obstacle and then moves forward, specifically, the wall-climbing robot executes a B-direction moving instruction and moves transversely to avoid the obstacle, and the wall-climbing robot executes an A-direction moving instruction to move forward continuously until the infrared sensor cannot detect the obstacle.
While the preferred embodiments of the present invention have been described in detail, it will be understood by those skilled in the art that the invention is not limited to the details of the embodiments, but is capable of various changes and modifications without departing from the spirit and scope of the invention as defined in the appended claims.
Claims (9)
1. A wall climbing robot, its characterized in that: the method comprises the following steps:
the first body is provided with a foot adsorption component, and the foot adsorption component is configured to be adsorbed with the wall surface or separated from the wall surface through magnetic force;
the second body is also provided with a foot adsorption component;
the connecting assembly comprises a connecting body, one side of the connecting body is connected with the first body in a sliding mode in the direction A, and the other side of the connecting body is connected with the second body in a sliding mode in the direction B;
the driving assembly comprises an A-direction steering engine and a B-direction steering engine, the A-direction steering engine is mounted on the first body, and the A-direction steering engine is in driving connection with the connecting body to drive the connecting body to slide along the first body in the A direction; the B-direction steering engine is installed on the connecting body and is in driving connection with the second body to drive the second body to slide with the connecting body in the B direction.
2. A wall climbing robot as claimed in claim 1, wherein: a B-direction sliding groove is formed in the second body in a penetrating mode, a sliding arm is arranged on the lower side of the connecting body and slides along the B-direction sliding groove, and a first limiting plate is connected to the lower portion, extending towards the lower portion of the B-direction sliding groove, of the sliding arm; the upside of connector is equipped with A direction spout, the downside of first body is equipped with the slider, the slider is followed A direction spout slides, the lower part of slider is stretched the below of direction A direction spout and is connected with the second limiting plate.
3. A wall climbing robot as claimed in claim 2, wherein: a B-direction rack is arranged on the upper side of the second body, and the output end of the B-direction steering engine is in transmission connection with the B-direction rack through a gear; the upper side of the connecting body is provided with an A-direction rack, and the A-direction steering engine is in transmission connection with the A-direction rack through a gear.
4. A wall climbing robot as claimed in claim 1, wherein: the foot adsorption component comprises a motor, a swing part and an electromagnetic chuck, wherein the motor is installed on the first body/the second body, the swing part is connected with the motor in a driving mode, and the electromagnetic chuck is connected with the swing part.
5. A wall climbing robot as claimed in claim 4, wherein: the foot adsorbs the subassembly still includes first extension spring and second extension spring, the upside of sucking disc is connected with the link, the link with the goods of furniture for display rather than for use is articulated, the both ends of first extension spring are connected with the front side of link and the front side of goods of furniture for display rather than for use respectively, the both ends of second extension spring are connected with the rear side of link and the rear side of goods of furniture for display rather than for use respectively.
6. A wall climbing robot as claimed in claim 1, wherein: the B-direction rack is an arc rack.
7. A wall climbing robot as claimed in claim 1, wherein: the wall climbing robot further comprises a sensor, wherein the sensor is installed on the first body/the second body and configured to detect the distance between the wall climbing robot and an obstacle.
8. A wall climbing robot as claimed in claim 7, wherein: the sensor comprises an infrared sensor and an ultrasonic sensor.
9. A wall climbing robot as claimed in claim 1, wherein: the foot adsorption device comprises a first body and a second body, wherein the first body is provided with two foot adsorption components in a diagonal arrangement mode, and the second body is provided with two foot adsorption components in a diagonal arrangement mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910925636.XA CN110696938A (en) | 2019-09-27 | 2019-09-27 | Wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910925636.XA CN110696938A (en) | 2019-09-27 | 2019-09-27 | Wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110696938A true CN110696938A (en) | 2020-01-17 |
Family
ID=69196841
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910925636.XA Pending CN110696938A (en) | 2019-09-27 | 2019-09-27 | Wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110696938A (en) |
-
2019
- 2019-09-27 CN CN201910925636.XA patent/CN110696938A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN203793467U (en) | Wall-climbing robot based on the magnetic base principle | |
| CN110962955B (en) | Few-driving-wheel leg type composite robot for planet detection | |
| JP4721461B2 (en) | Link type double truck device for traveling | |
| CN206914469U (en) | With multivariant climbing robot | |
| CN103241303A (en) | Wheel leg type mobile robot with flexible trunk | |
| CN210101819U (en) | Four-footed robot based on five-bar linkage | |
| CN110450869B (en) | Self-adaptive underactuated tracked robot | |
| CN106976491A (en) | A kind of lightweight magnetic roller adsorption type wall climbing robot | |
| CN105799806A (en) | Three-dimensional human-simulating walking device and control method thereof | |
| CN103723207A (en) | Biped adsorption type wall-climbing robot | |
| CN202203599U (en) | Adaptive pipeline trolley | |
| CN110632926A (en) | Dolly for picking up spherical objects | |
| CN210822519U (en) | Wall-climbing robot | |
| CN110696938A (en) | Wall-climbing robot | |
| CN112936215B (en) | Obstacle avoidance robot for industrial production based on artificial intelligence and use method thereof | |
| CN213473334U (en) | Emergency rescue unmanned vehicle | |
| CN111824286A (en) | Variable-foot mobile robot | |
| CN203158114U (en) | Intelligent obstacle crossing robot based on Bluetooth control | |
| CN210101820U (en) | Leg mechanism of four-legged robot | |
| CN207015471U (en) | A kind of lightweight magnetic roller adsorption type wall climbing robot | |
| CN209757305U (en) | Crawler-type stair climbing robot | |
| CN212099123U (en) | Full-automatic spherical robot | |
| CN108238126A (en) | A kind of Lun Zu omnidirectional movings robot | |
| CN113212083A (en) | Wheeled mobile robot with wheels and feet capable of being folded and unfolded | |
| CN210100007U (en) | Four-legged robot snatchs mechanism |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |