CN110745194A - Wall climbing robot and series robot group thereof - Google Patents
Wall climbing robot and series robot group thereof Download PDFInfo
- Publication number
- CN110745194A CN110745194A CN201911226354.7A CN201911226354A CN110745194A CN 110745194 A CN110745194 A CN 110745194A CN 201911226354 A CN201911226354 A CN 201911226354A CN 110745194 A CN110745194 A CN 110745194A
- Authority
- CN
- China
- Prior art keywords
- foot
- robot
- air pump
- worm
- shell
- 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.)
- Granted
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 47
- 241000252254 Catostomidae Species 0.000 claims description 11
- 238000001179 sorption measurement Methods 0.000 claims description 7
- 238000004891 communication Methods 0.000 claims description 5
- 238000000926 separation method Methods 0.000 claims description 5
- 230000007547 defect Effects 0.000 abstract description 2
- 230000005540 biological transmission Effects 0.000 description 14
- 238000004140 cleaning Methods 0.000 description 8
- 238000010586 diagram Methods 0.000 description 7
- 238000000034 method Methods 0.000 description 7
- 239000011521 glass Substances 0.000 description 5
- 238000013461 design Methods 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000001514 detection method Methods 0.000 description 2
- 238000009826 distribution Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000007789 sealing Methods 0.000 description 2
- 238000009423 ventilation Methods 0.000 description 2
- 239000003463 adsorbent Substances 0.000 description 1
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000009435 building construction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000035945 sensitivity Effects 0.000 description 1
- 230000008054 signal transmission Effects 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/032—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members with alternately or sequentially lifted supporting base and legs; with alternately or sequentially lifted feet or skid
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wall climbing robot and a serial robot group thereof, belonging to the field of robots. The wall climbing robot comprises a walking unit and a turning unit, wherein the turning unit is hinged to one side of the walking unit and is used for driving the walking unit to turn; the walking unit comprises a shell, a plurality of robot feet are hinged to the circumferential side wall of the shell, and a walking worm for driving the robot feet to walk is arranged in the shell; the end part of the robot foot is hinged with a joint foot, and a foot worm for driving the joint foot to walk is arranged in the robot foot; the bottom of the joint foot is provided with a foot sucker, and an air pump for controlling the foot sucker to suck and release is arranged in the foot sucker. The wall-climbing robot overcomes the defect that the wall-climbing robot in the prior art is still inconvenient to use, is convenient to use, enables people to be far away from high-altitude dangerous work, and is relatively small in size, small in occupied space, relatively wide in application range, safe and high in stability.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wall-climbing robot and a serial robot group thereof.
Background
With the continuous promotion of the urbanization process of the society, the high-rise building is pulled out, so that a large amount of land resources are saved for the high-rise building, the urban construction is accelerated, and the development of the society is promoted; along with the rapid increase of the number of high-rise buildings, the problems of great difficulty in maintenance and cleaning are increasingly highlighted.
A wall climbing robot is a device for realizing high-altitude operation. In view of the current research conditions at home and abroad, the robots are mainly divided into two types. The cleaning robot is attracted to the high-altitude wall surface by means of magnetic attraction materials, generally has strong attraction force, can realize attraction movement on the high-altitude wall surface through magnetic tracks, wheels, suckers or foot type structures, and completes designated operation, but the cleaning robot can only work on the high-altitude wall surface made of specific materials, so that the application range is greatly limited.
The other type is an overhead wall rail type, the overhead wall rail is usually installed on an outer wall overhead wall during building construction, when the outer overhead operation is carried out, the robot is dragged to move up and down along an overhead wall guide rail through a cantilever crane device fixed on the roof to complete the work, however, the rail installed on the outer wall overhead wall limits the structure of the high building, greatly influences the appearance of the whole building, and simultaneously limits the application range of the robot.
At present, the cleaning and the detection of the outer wall of a high-rise building are generally finished manually, and people climb on the outer wall of the urban high-rise building to perform wall detection and cleaning work under the traction of a protection rope, so that the danger is high, the labor intensity is high, and the working efficiency is low. How to effectively utilize the robot to realize the high-altitude effect is always pursued in the industry.
Through retrieval, a great number of patents have been published on the research of the wall climbing robot, such as the Chinese patent application number: 2016105417388, filing date: in 2016, 7, 11 days, the invention and creation name is: the utility model provides a be used for abluent wall climbing robot of glass curtain wall, this application discloses a be used for abluent wall climbing robot of glass curtain wall, including the robot housing, the top of robot housing is equipped with the fixed column, one side of fixed column is equipped with the sliding tray, and slidable mounting has the sliding block in the sliding tray, one side that the fixed column was kept away from to the sliding block is equipped with the removal post, the one end that the sliding block was kept away from to the removal post is equipped with belt cleaning device, and the bottom of removing the post is connected with the output shaft of first telescoping device, first telescoping device is located the top of robot housing, one side that the removal post was kept away from to the fixed column is equipped with rotates the seat, it is located the top of robot housing to rotate the seat, and the. This application can be automatic climb the wall to wash glass curtain wall, make people keep away from danger, work efficiency is high, but the device volume ratio is bigger and heavier, hardly all works on the wall that the condition is not good, in case fall down from the high altitude in addition, damages very easily, still has certain optimization space.
Disclosure of Invention
1. Technical problem to be solved by the invention
The invention aims to overcome the defect that a wall climbing robot in the prior art is still inconvenient to use, and provides a wall climbing robot and a serial robot group thereof, wherein the wall climbing robot is convenient to use, so that people are far away from high-altitude dangerous work, the volume of the wall climbing robot is relatively small, the occupied space is small, the application range is relatively wide, the safety and the stability are high, and the wall climbing robot is suitable for popularization and application; and the wall climbing robot of this application can a plurality of directness establish ties and form the robot group to can adapt to the high altitude work under the different condition, and increase load capacity.
2. Technical scheme
In order to achieve the purpose, the technical scheme provided by the invention is as follows:
the invention relates to a wall climbing robot, which comprises a walking unit and a turning unit, wherein the turning unit is hinged to one side of the walking unit and used for driving the walking unit to turn; the walking unit comprises a shell, a plurality of robot feet are hinged on the circumferential side wall of the shell at intervals, and a walking worm for driving the robot feet to rotate and walk relative to the shell is arranged in the shell; the end part of the robot foot is hinged with a joint foot, and a foot worm for driving the joint foot to rotate and walk relative to the robot foot is arranged in the robot foot; the bottom of the joint foot is provided with a foot sucker.
Furthermore, the end part of the robot foot opposite to the walking worm is provided with meshing teeth matched with the walking worm, and the walking worm is driven by a motor to rotate and synchronously drives the robot foot to move; the end part of the joint foot opposite to the foot worm is provided with meshing teeth matched with the foot worm, and the foot worm is driven by the motor to rotate and synchronously drive the joint foot to move.
Furthermore, the turning unit comprises a steering arm and a rotating seat which are distributed up and down, and one side of the steering arm is hinged with the side surface of the shell; a support column is arranged on the rotating seat, a lifting worm is arranged in the steering arm, the side surface of the support column is correspondingly provided with meshing teeth matched with the lifting worm, the lifting worm drives the support column to lift up and down, the bottom of the rotating seat is connected with a support base in a rotating fit mode through a slewing bearing, and a turning sucker is arranged below the support base; and a power motor connected with the bottom of the rotating seat is arranged in the supporting base and used for driving the rotating seat to rotate.
Furthermore, a joint plate is arranged on the side surface of the shell opposite to the steering arm, a mounting plate is correspondingly arranged on the side surface of the steering arm, the mounting plate is connected with the joint plate, and the mounting plate is connected with the steering arm in a rotating fit mode through a bearing.
Furthermore, a telescopic unit is arranged between the mounting plate and the joint plate, one end of the telescopic unit is connected with the joint plate, the other end of the telescopic unit is connected with the mounting plate, and the telescopic unit is used for driving the distance between the shell and the steering arm to change.
Furthermore, the foot suckers are controlled to adsorb and separate by the control air pump, a control air pump valve is arranged on a control main pipe of the control air pump, and the control main pipe is respectively communicated with each foot sucker through a plurality of connecting branch pipes; each connecting branch pipe is provided with a branch pipe valve; the control main pipe is also provided with a compensation air circuit unit, the compensation air circuit unit comprises a compensation air pump, the compensation air pump is communicated with the control main pipe through a pipeline, and a control valve is arranged on the pipeline of the compensation air pump.
Furthermore, an air pump for controlling the adsorption and the separation of the foot suckers is arranged in each joint foot, an outer air pipe communicated with air is arranged on the air pump in each foot sucker, and an air pipe valve is arranged on the outer air pipe; the air compensation device also comprises a compensation air path unit, wherein the compensation air path unit comprises a compensation air pump, compensation pipes which are respectively communicated with the outer vent pipes are arranged on the compensation air pump, and a compensation valve is arranged on each compensation pipe; the compensation air pump is also provided with an exhaust pipe, and the exhaust pipe is provided with an exhaust valve.
Furthermore, a plurality of series holes are formed in the side surface of the shell and are used for splicing and connecting the plurality of shells in series; the side surface of the shell is also provided with a plurality of air chamber holes at intervals, the air chamber holes are communicated with the foot suckers through communicating air pipes, and air chamber plugs are arranged on the air chamber holes.
According to the series robot group, the wall climbing robot is adopted, the shells are sequentially connected in series and share one turning unit.
Furthermore, the shells are connected through series holes by bolts, and the foot suckers at the same positions corresponding to the shells are communicated through air chamber holes.
3. Advantageous effects
Compared with the prior art, the technical scheme provided by the invention has the following beneficial effects:
(1) according to the wall climbing robot, the walking unit is completed by matching the robot feet and the joint feet together, the walking process is more flexible, the worm is adopted for walking transmission control, the transmission ratio is large, the transmission is stable, the wall climbing robot has a self-locking function, and the wall climbing robot is safe and high in stability.
(2) The wall climbing robot comprises the walking unit and the turning unit, and the turning unit can enable the robot to turn and cross obstacles on the high-altitude wall as a whole, so that the robot can automatically realize continuous work back and forth, and the use convenience is effectively improved.
(3) The wall climbing robot is small and compact in overall structural design, all the transmissions are arranged in the structure, the shell is cylindrical, and the wall climbing robot is not easy to damage when falling from high altitude in time and is beneficial to reducing the use cost.
(4) According to the wall climbing robot, the high-definition camera is arranged on the wall climbing robot in a matched mode, so that the wall climbing robot can carry a cleaning tool to clean an overhead wall, can observe the overhead wall or glass through the camera, prevents dangerous accidents from happening, and can achieve different functions through installing different objects.
(5) According to the wall climbing robot, the pressure sensor is arranged in the foot sucker and serves as a negative pressure switch, so that firm adsorption can be guaranteed.
(6) According to the series robot group, the plurality of shells can be randomly connected in series through the series holes formed in the shells, the arrangement of the main bodies with different lengths can be conveniently selected according to different working environments, the high-altitude work under different environments can be adapted, the obstacle crossing is facilitated, and the load capacity is obviously improved.
(7) According to the serial robot group, the shells which are sequentially connected in series are communicated with each other through the communicating air pipes to achieve the communication of the air chamber holes, and the adsorption states of a plurality of groups of foot suckers can be controlled by sharing one air pump, so that the using number of internal air pumps can be saved, the using cost can be reduced, the serial robot group can also be externally connected with the air pump, and the loading capacity can be improved.
Drawings
Fig. 1 is a schematic structural diagram of a wall climbing robot according to the present invention;
fig. 2 is a schematic side view structure of a wall climbing robot according to the present invention;
fig. 3 is a schematic side view structure diagram of a wall climbing robot according to the present invention;
FIG. 4 is a schematic front view of the structure of FIG. 1;
FIG. 5 is a schematic right-view structural diagram of the present invention from the perspective of FIG. 1;
FIG. 6 is a schematic view of the extreme motion state of the joint foot of the present invention;
FIG. 7 is a schematic view showing the state of the robot foot at the extreme operating positions in accordance with the present invention;
FIG. 8 is a schematic distribution diagram of the compensation air circuit units according to the present invention;
FIG. 9 is another schematic diagram of the distribution of the compensation air path units in the present invention;
FIG. 10 is a schematic view of the walking state of the robot according to the present invention;
fig. 11 is a schematic structural diagram of a tandem robot group according to the present invention.
The reference numerals in the schematic drawings illustrate:
100. a housing; 101. a joint plate; 102. a connecting end; 103. the air pipe is communicated; 104. holes are connected in series; 105. a gas cell plug;
110. a robot foot; 111. a walking worm; 120. a joint foot; 121. a foot suction cup;
200. a steering arm; 201. a camera head bracket; 202. a camera; 203. mounting a plate; 210. a rotating seat; 211. a support pillar; 212. a lifting worm; 220. a slewing bearing; 230. a support base; 231. a turning sucker;
300. a compensation air pump; 301. an exhaust pipe; 302. a compensating tube; 303. a compensation valve; 304. an air pipe valve; 305. an outer breather pipe; 310. a control valve; 320. connecting branch pipes; 321. a branch valve; 400. controlling the air pump; 401. controlling the air pump valve; 402. a control manifold.
Detailed Description
For a further understanding of the invention, reference should be made to the following detailed description taken in conjunction with the accompanying drawings.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of description and simplicity of description, but do not indicate or imply that the device or element being referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The present invention will be further described with reference to the following examples.
Example 1
As shown in fig. 1 to 8, the wall climbing robot of the present embodiment includes a walking unit for performing walking movement of the robot, and a turning unit connected to the walking unit and hinged at one side thereof for performing turning of the walking unit. The walking unit comprises a shell 100, a plurality of robot feet 110 are hinged on the circumferential side wall of the shell 100 at intervals, and a walking worm 111 for driving the robot feet 110 to rotate and walk relative to the shell 100 is arranged in the shell 100; the end part of the robot foot 110 is hinged with a joint foot 120, and a foot worm for driving the joint foot 120 to rotate and walk relative to the robot foot 110 is arranged in the robot foot 110; the foot suction cups 121 are arranged at the bottoms of the joint feet 120, the air pumps for controlling the foot suction cups 121 to suck and release are arranged in the joint feet 120, and the foot suction cups 121 can adsorb or separate from the climbing wall surface through air inlet and outlet.
As shown in fig. 5, in the present embodiment, the end of the robot foot 110 opposite to the walking worm 111 is provided with a semi-circular arc-shaped meshing tooth matched with the walking worm 111, and the walking worm 111 is driven by the motor to rotate and synchronously drive the robot foot 110 to move; specifically, a power servo motor and a bearing seat are respectively arranged at two ends of the walking worm 111, the power servo motor is connected with the walking worm 111 and used for driving the walking worm 111 to rotate, the robot foot 110 is driven by the walking worm 111 through gear meshing transmission, so that the robot foot 110 can rotationally walk relative to the shell 100, reciprocating walking of the robot foot 110 can be controlled through forward and reverse rotation of the motor, the robot foot 110 can be hinged with the shell 100 through a pin shaft, and a space for the robot foot 110 to rotate is formed in the shell 100; similarly, a foot worm and a motor for driving the foot worm to rotate are arranged in the robot foot 110, the end part of the joint foot 120 opposite to the foot worm is provided with a semi-circular arc-shaped meshing tooth matched with the foot worm, the foot worm is driven by the motor to rotate and synchronously drives the joint foot 120 to move, and the reciprocating walking of the joint foot 120 can be controlled through the positive and negative rotation of the motor; the joint foot 120 and the robot foot 110 may also be hinged by a pin. The embodiment realizes the sensitivity of the walking process of the robot through the arrangement of the joint feet 120 and the robot feet 110.
The turning unit comprises a steering arm 200 and a rotating seat 210 which are distributed up and down, wherein one side of the steering arm 200 is hinged with the side surface of the shell 100; specifically, the side of the housing 100 opposite to the steering arm 200 is provided with a joint plate 101, the side of the steering arm 200 is correspondingly provided with a mounting plate 203, the mounting plate 203 is connected with the joint plate 101, and the mounting plate 203 and the steering arm 200 are connected in a rotating fit manner through a bearing. A supporting column 211 is arranged on the rotating seat 210, a lifting worm 212 and a motor for driving the lifting worm 212 to rotate are arranged in the steering arm 200, specifically, the upper end of the lifting worm 212 is connected with a coupler through a transmission key, the coupler is connected with the motor through the transmission key, and the motor is used for driving the lifting worm 212; the lower end of the lifting worm 212 may be connected to the steering arm 200 through a worm bearing. The side of the supporting column 211 is correspondingly provided with meshing teeth matched with the lifting worm 212, and the lifting worm 212 is driven by a motor to rotate, namely synchronously drives the supporting column 211 to lift up and down. The supporting column 211 is contacted with the inner wall of the steering arm 200 through the matching of the anti-friction pulleys and the sliding rails, which is helpful for reducing the friction between the supporting column 211 and the steering arm 200 when the supporting column 211 goes up and down. The bottom of the rotating base 210 is connected with a supporting base 230 through a slewing bearing 220 in a rotating matching manner, and a turning suction cup 231 is arranged below the supporting base 230; and a power motor connected with the bottom of the rotary base 210 is arranged in the supporting base 230, and the power motor is used for driving the rotary base 210 to rotate. The rotary base 210 can rotate relative to the supporting base 230, and an air pump for controlling the tightening and loosening is also arranged in the turning suction cup 231. Specifically, the slewing bearing 220 may be a bidirectional thrust ball bearing, a rotating shaft of the power motor penetrates through the slewing bearing 220 and is connected with the rotating seat 210 through a transmission key, and forward and reverse rotation of the power motor can control the rotating seat 210 to further control forward and reverse rotation of the whole shell 100, so that the robot turns. When turning is needed, the lifting worm 212 is started to drive the supporting column 211 to move downwards, namely the supporting base 230 is driven to move downwards integrally until the turning suction disc 231 is attached to the wall surface, at the moment, the air pump in the turning suction disc 231 sucks air to firmly adsorb the turning suction disc 231 on the wall surface, at the moment, the foot suction discs 121 on the shell 100 can be separated from the wall surface, the supporting base 230 continues to move downwards until the whole shell 100 of the robot is supported, then the motor in the supporting base 230 is started to drive the rotating base 210 to rotate and rotate, namely, the whole shell 100 is driven to rotate and rotate, after the rotation is carried out to a proper direction, the lifting worm 212 rotates reversely, so that the joint feet 120 move downwards to contact with the wall surface, the foot suction discs 121 on the shell 100 are controlled to be adsorbed on the wall surface again, then. The flexible steering of the robot can be realized through the turning unit, the flexible adjustment is convenient during actual use, and the robot is suitable for various working environments.
Be provided with camera support 201 and camera 202 on the steering arm 200 in this embodiment, camera 202 accessible support pin is connected with camera support 201, and camera support 201 accessible screw is connected with steering arm 200, and camera 202 can adopt bluetooth camera, can be connected with cell-phone or computer terminal. The camera 202 is used for collecting aloft work information, observing the conditions of high building walls or high-altitude glass wall surfaces and avoiding dangerous events, and a spraying or cleaning device can be mounted on the robot to paint or clean the high-altitude wall surfaces, so that the robot is far away from dangerous operation and has high working efficiency. Different devices can be installed according to needs, so that the robot can realize different functions.
In this embodiment, four joint feet 120, which are A, B, C, D joint feet 120, are uniformly distributed around the shell 100; an integrated PLC circuit board is further arranged in the shell 100 and used for controlling information such as the rotation and walking of each joint foot 120, the rotation and walking of the robot foot 110, the lifting of the support column 211, the tight suction or separation of each sucker air pump and the like, and the automatic intelligent control of the wall climbing of the robot is realized. Signals on the PLC circuit board can be connected with an external handheld terminal in a signal line or wireless transmission mode, and the setting, signal transmission control and the like of the PLC circuit board belong to the existing conventional mature technology in the industry, and are not described again.
As shown in fig. 10, in the actual operation of the wall climbing robot of this embodiment, as shown in the state of fig. a, the foot suction cup 121 at the lower end of the a joint foot 120 is in the negative pressure state, and as the robot body rotates to enter the state B, the foot suction cup 121 at the lower end of the a joint foot 120 is still in the negative pressure state, the foot suction cup 121 at the lower end of the B joint foot 120 contacts the wall surface and is pumped by the internal air pump, so that the wall surface is gradually sucked, the foot suction cup 121 at the lower end of the a joint foot 120 starts to gradually separate from the wall surface, until the state c is reached, the foot suction cup 121 at the lower end of the a joint foot 120 completely separates from the wall surface, the foot suction cup 121 at the lower end of the B joint foot 120 is. And forward and backward processes of the joint foot 120 can be realized through the forward and backward rotation control of the motor. In this embodiment, the inside of the foot suction cup 121 is further provided with a pressure sensor as a negative pressure switch, so that firm adsorption can be ensured.
The wall climbing robot of the embodiment can turn on the high-altitude wall through the turning unit, so that the back-and-forth continuous work is automatically realized, and the walking unit and the turning unit can be respectively controlled; the overall structure is small and compact in design, each transmission is arranged in the structure, and the shell 100 is cylindrical, so that the transmission is not easy to damage when falling from high altitude in time, and the use cost is reduced; the worm is used for transmission control, the transmission ratio is large, the transmission is stable, the self-locking function is realized, and the safety and the stability in use are high.
Example 2
The basic structure of the wall climbing robot of this embodiment is the same as that of the above embodiment, and further, in this embodiment, a telescopic unit is disposed between the mounting plate 203 and the joint plate 101, one end of the telescopic unit is connected to the joint plate 101, and the other end of the telescopic unit is connected to the mounting plate 203, and the telescopic unit is used for driving the distance between the housing 100 and the steering arm 200 to change. Specifically, this flexible unit can adopt cylinder or other flexible control power in the trade, and cylinder one end sets up on mounting panel 203, and its telescopic link links to each other with joint plate 101, can realize the distance regulation and control between walking unit and the turning unit through flexible unit control to be convenient for the robot to cross different obstacles etc. use nimble more convenient.
Example 3
The wall climbing robot of this embodiment has the same basic structure as the above embodiment, and further includes a compensation air path unit in this embodiment, as shown in fig. 8, each joint foot 120 is provided with an air pump for controlling the adsorption and separation of the foot suction cup 121, the air pump is provided with an outer air tube 305 communicated with air, and the outer air tube 305 is provided with an air tube valve 304; the compensation air path unit comprises a compensation air pump 300, compensation pipes 302 respectively communicated with each outer vent pipe 305 are arranged on the compensation air pump 300, and a compensation valve 303 is arranged on each compensation pipe 302; the compensation air pump 300 is further provided with an exhaust pipe 301, and the exhaust pipe 301 is provided with an exhaust valve. As shown in fig. 8, there are four joint feet 120 and four external ventilation tubes 305, and the compensation air pump 300 is provided with four branch tubes respectively communicated with the corresponding external ventilation tubes 305.
The compensation air path unit arranged in the embodiment can effectively ensure the use safety, when the air pump in a certain joint foot 120 fails, the compensation air pump 300 can be used as an emergency air pump, when in specific use, when the air pump in a certain joint foot 120 fails, the foot suction cup 121 cannot adsorb a wall surface and cannot continue to walk and retreat, at the moment, the air pipe valve 304 on the outer air pipe 305 is closed, the compensation valve 303 on the compensation pipe 302 communicated with the outer air pipe 305 is opened, the air suction tight suction control of the foot suction cup 121 can be realized through the compensation air pump 300, and thus the normal adsorbent separation operation of the foot suction cup 121 is met; when the air pump in each foot suction cup 121 is in normal use, the compensation air pump 300 is used as a standby air pump, and the compensation valves 303 on each compensation pipe 302 are respectively closed.
Example 4
The basic structure of the wall climbing robot of this embodiment is the same as that of the above embodiment, and further, as shown in fig. 9, in this embodiment, a plurality of foot suction cups 121 share one air pump, specifically, the plurality of foot suction cups 121 are controlled to be adsorbed and separated by a control air pump 400, a control manifold 402 of the control air pump 400 is provided with a control air pump valve 401, and the control manifold 402 is respectively communicated with each foot suction cup 121 through a plurality of connecting branch pipes 320; each connecting branched pipe 320 is provided with a branched pipe valve 321; the control manifold 402 is further provided with a compensation air path unit, the compensation air path unit comprises a compensation air pump 300, the compensation air pump 300 is communicated with the control manifold 402 through a pipeline, and the pipeline of the compensation air pump 300 is provided with a control valve 310. In the embodiment, the control air pump 400 is used for controlling air suction and inflation of the foot suction cup 121, the compensation air pump 300 is used as a standby air pump, the control valve 310 is closed in a normal use state, the compensation air pump 300 does not work, and the control air pump valve 401 and the branch pipe valve 321 are opened to work; when the control air pump 400 has an unexpected fault, the control air pump valve 401 is closed, the control valve 310 is opened, and the compensation air pump 300 starts to work and keeps normal use. The embodiment further reduces the using number of pneumatic elements, lightens the weight of the robot and reduces the manufacturing cost.
Example 5
The basic structure of the wall climbing robot of this embodiment is the same as that of the above embodiment, and further, in this embodiment, a plurality of serial holes 104 are formed in the side surface of the housing 100, and the serial holes 104 are used for splicing and connecting the plurality of housings 100 in series; if the concrete method is adopted, the bolts can be used for connecting in series; a plurality of air chamber holes are further formed in the side surface of the housing 100 at intervals, the air chamber holes are communicated with the foot suction pads 121 through the communication air pipes 103, and air chamber plugs 105 are arranged on the air chamber holes. When the shell 100 of a single robot is normally and independently used, each air chamber hole is sealed by the air chamber plug 105, the serial holes 104 and the air chamber holes are used when the shells 100 of a plurality of robots are connected in series, and the robot of the embodiment can be spliced and used in a plurality of serial ways through the structural design, so that the obstacle crossing capability of the robot is enhanced, and the load capacity of the robot can be obviously improved.
As shown in fig. 11, in the series robot group according to the present embodiment, that is, the wall climbing robot according to the above embodiment is adopted, a plurality of housings 100 are connected in series in sequence and share one turning unit. The plurality of shells 100 are connected through the series holes 104 by bolts, and the foot suckers 121 corresponding to the same position of the plurality of shells 100 are communicated through the air chamber holes, so that the air pump in one foot sucker 121 can be shared. Specifically, fig. 11 is a schematic diagram of three shells 100 connected in series, where one side of the first shell 100 is still configured with a turning unit, the rest shells are connected in series only by using the shells 100, and the three shells 100 share one turning unit to control the whole turning process, and the specific process is the same as the above embodiment and is not described again here. The housings 100 connected in series in this order are communicated with each other through a communication gas pipe 103 to form a gas chamber hole. As shown in fig. 5, specifically, air chamber holes are correspondingly formed in the side wall of the casing 100 according to the number and positions of the foot suckers 121, each air chamber hole is communicated with the corresponding foot sucker 121 through a communication air pipe 103, the casings 100 are arranged in series relatively, the wall surfaces are attached, the air chamber holes in the corresponding positions are also attached relatively, a circle of sealing ring can be arranged on the periphery of each air chamber hole in a matched manner, so that the sealing performance is ensured during attachment, the foot suckers 121 in the corresponding positions of the two adjacent casings 100 are communicated through the attachment of the air chamber holes, the adsorption states of the multiple groups of foot suckers 121 can be controlled by one common air pump, and the air chamber holes in the outermost end surface can be sealed by the air chamber plugs 105. Therefore, the number of the air pumps used in the device can be saved, the use cost is reduced, the air pumps can be connected externally, the load capacity is improved, the size of the obstacle needing to be crossed can be judged according to the working environment in practical application, the number of the shells 100 connected in series can be correspondingly set, and the device can be turned to the place through the matching of the turning units when the device runs into the obstacle.
The present invention and its embodiments have been described above schematically, without limitation, and what is shown in the drawings is only one of the embodiments of the present invention, and the actual structure is not limited thereto. Therefore, if the person skilled in the art receives the teaching, without departing from the spirit of the invention, the person skilled in the art shall not inventively design the similar structural modes and embodiments to the technical solution, but shall fall within the scope of the invention.
Claims (10)
1. The utility model provides a wall climbing robot which characterized in that: the turning unit is hinged to one side of the walking unit and used for driving the walking unit to turn; the walking unit comprises a shell (100), a plurality of robot feet (110) are hinged on the circumferential side wall of the shell (100) at intervals, and a walking worm (111) for driving the robot feet (110) to rotate and walk relative to the shell (100) is arranged in the shell (100); the end part of the robot foot (110) is hinged with a joint foot (120), and a foot worm for driving the joint foot (120) to rotate and walk relative to the robot foot (110) is arranged in the robot foot (110); the bottom of the joint foot (120) is provided with a foot sucker (121).
2. A wall climbing robot as claimed in claim 1, wherein: the end part of the robot foot (110) opposite to the walking worm (111) is provided with meshing teeth matched with the walking worm (111), and the walking worm (111) is driven by a motor to rotate and synchronously drives the robot foot (110) to move; the end part of the joint foot (120) opposite to the foot worm is provided with meshing teeth matched with the foot worm, and the foot worm is driven by a motor to rotate and synchronously drive the joint foot (120) to move.
3. A wall climbing robot as claimed in claim 1, wherein: the turning unit comprises a steering arm (200) and a rotating seat (210) which are distributed up and down, wherein one side of the steering arm (200) is hinged with the side surface of the shell (100); a supporting column (211) is arranged on the rotating seat (210), a lifting worm (212) is arranged in the steering arm (200), the side surface of the supporting column (211) is correspondingly provided with meshing teeth matched with the lifting worm (212), the lifting worm (212) drives the supporting column (211) to lift up and down, the bottom of the rotating seat (210) is connected with a supporting base (230) in a rotating matching way through a slewing bearing (220), and a turning sucker (231) is arranged below the supporting base (230); and a power motor connected with the bottom of the rotating seat (210) is arranged in the supporting base (230), and the power motor is used for driving the rotating seat (210) to rotate.
4. A wall climbing robot as claimed in claim 3, wherein: the side surface of the shell (100) opposite to the steering arm (200) is provided with a joint plate (101), the side surface of the steering arm (200) is correspondingly provided with a mounting plate (203), the mounting plate (203) is connected with the joint plate (101), and the mounting plate (203) is connected with the steering arm (200) in a rotating fit manner through a bearing.
5. A wall climbing robot as claimed in claim 4, wherein: a telescopic unit is arranged between the mounting plate (203) and the joint plate (101), one end of the telescopic unit is connected with the joint plate (101), the other end of the telescopic unit is connected with the mounting plate (203), and the telescopic unit is used for driving the distance between the shell (100) and the steering arm (200) to change.
6. A wall climbing robot as claimed in claim 1, wherein: the foot suckers (121) are controlled to be adsorbed and separated by a control air pump (400), a control air pump valve (401) is arranged on a control main pipe (402) of the control air pump (400), and the control main pipe (402) is respectively communicated with each foot sucker (121) through a plurality of connecting branch pipes (320); each connecting branch pipe (320) is provided with a branch pipe valve (321); the control manifold (402) is also provided with a compensation air circuit unit, the compensation air circuit unit comprises a compensation air pump (300), the compensation air pump (300) is communicated with the control manifold (402) through a pipeline, and the pipeline of the compensation air pump (300) is provided with a control valve (310).
7. A wall climbing robot as claimed in claim 1, wherein: an air pump used for controlling the adsorption and the separation of the foot suction cups (121) is arranged in each joint foot (120), an outer air pipe (305) communicated with air is arranged on the air pump in each foot suction cup (121), and an air pipe valve (304) is arranged on the outer air pipe (305); the air pump comprises an air pump (300), compensation pipes (302) respectively communicated with each outer vent pipe (305) are arranged on the air pump (300), and a compensation valve (303) is arranged on each compensation pipe (302); an exhaust pipe (301) is further arranged on the compensation air pump (300), and an exhaust valve is arranged on the exhaust pipe (301).
8. A wall climbing robot as claimed in claim 1, wherein: the side surface of the shell (100) is provided with a plurality of series holes (104), and the series holes (104) are used for splicing and connecting the plurality of shells (100) in series; a plurality of air chamber holes are further arranged on the side surface of the shell (100) at intervals, the air chamber holes are communicated with the foot suction disc (121) through a communication air pipe (103), and an air chamber plug (105) is arranged on the air chamber holes.
9. A tandem robot assembly, comprising: with the wall-climbing robot as claimed in any one of claims 1 to 8, a plurality of housings (100) are connected in series in sequence and share one turning unit.
10. A tandem robot assembly according to claim 9, wherein: the shells (100) are connected through the series holes (104) by bolts, and the foot suction cups (121) corresponding to the same position of the shells (100) are communicated through the air chamber holes.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911226354.7A CN110745194B (en) | 2019-12-04 | 2019-12-04 | Wall climbing robot and serial robot group thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911226354.7A CN110745194B (en) | 2019-12-04 | 2019-12-04 | Wall climbing robot and serial robot group thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN110745194A true CN110745194A (en) | 2020-02-04 |
| CN110745194B CN110745194B (en) | 2024-05-24 |
Family
ID=69285593
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911226354.7A Active CN110745194B (en) | 2019-12-04 | 2019-12-04 | Wall climbing robot and serial robot group thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN110745194B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112617692A (en) * | 2020-12-15 | 2021-04-09 | 中建铁路投资建设集团有限公司 | Glass stands wall surface cleaning robot outward |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0407745A2 (en) * | 1989-06-14 | 1991-01-16 | O.N.O. Co., Ltd. | Vacuum held crawler |
| KR20070064891A (en) * | 2005-12-19 | 2007-06-22 | 재단법인서울대학교산학협력재단 | Mechanical valve system and robot apparatus that can climb on the vertical wall |
| CN100999236A (en) * | 2006-12-31 | 2007-07-18 | 中国科学院西安光学精密机械研究所 | Arch and wriggle creeping mechanism |
| CN104925159A (en) * | 2015-07-05 | 2015-09-23 | 北京工业大学 | Reconnaissance type obstacle-surmounting machine snake |
| CN106364588A (en) * | 2016-10-26 | 2017-02-01 | 哈尔滨工程大学 | Peristaltic pipeline walking robot |
| CN106889957A (en) * | 2015-12-17 | 2017-06-27 | 湖北工业大学 | One kind climbs wall sweeping robot |
| CN107614365A (en) * | 2015-02-01 | 2018-01-19 | 詹尼斯机器人技术有限公司 | Mobile platform |
| US20200206905A1 (en) * | 2017-08-01 | 2020-07-02 | Fangyuan HAN | Parallel-Series Connection Walking Robot and Construction Method Thereof |
-
2019
- 2019-12-04 CN CN201911226354.7A patent/CN110745194B/en active Active
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0407745A2 (en) * | 1989-06-14 | 1991-01-16 | O.N.O. Co., Ltd. | Vacuum held crawler |
| KR20070064891A (en) * | 2005-12-19 | 2007-06-22 | 재단법인서울대학교산학협력재단 | Mechanical valve system and robot apparatus that can climb on the vertical wall |
| CN100999236A (en) * | 2006-12-31 | 2007-07-18 | 中国科学院西安光学精密机械研究所 | Arch and wriggle creeping mechanism |
| CN107614365A (en) * | 2015-02-01 | 2018-01-19 | 詹尼斯机器人技术有限公司 | Mobile platform |
| CN104925159A (en) * | 2015-07-05 | 2015-09-23 | 北京工业大学 | Reconnaissance type obstacle-surmounting machine snake |
| CN106889957A (en) * | 2015-12-17 | 2017-06-27 | 湖北工业大学 | One kind climbs wall sweeping robot |
| CN106364588A (en) * | 2016-10-26 | 2017-02-01 | 哈尔滨工程大学 | Peristaltic pipeline walking robot |
| US20200206905A1 (en) * | 2017-08-01 | 2020-07-02 | Fangyuan HAN | Parallel-Series Connection Walking Robot and Construction Method Thereof |
Non-Patent Citations (1)
| Title |
|---|
| 王;倪沙沙;唐茸琦;: "一种新型气动多足爬壁机器人运动结构设计", 科协论坛(下半月), no. 09, 25 September 2012 (2012-09-25) * |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112617692A (en) * | 2020-12-15 | 2021-04-09 | 中建铁路投资建设集团有限公司 | Glass stands wall surface cleaning robot outward |
Also Published As
| Publication number | Publication date |
|---|---|
| CN110745194B (en) | 2024-05-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP7161168B2 (en) | Automatic wall cleaning mechanism and wall suction device | |
| CN109744930B (en) | Many sucking discs formula high altitude glass curtain wall cleaning robot | |
| CN205094341U (en) | Wall clean robot is climbed to vacuum adsorption formula track | |
| CN107985432B (en) | A kind of climbing robot | |
| CN101898357A (en) | Modularized bionic wall climbing robot | |
| CN108160633A (en) | Based on monolithic processor controlled soot pipeline automatic ash removing device | |
| CN106510563B (en) | High-altitude cleaning robot | |
| CN110745194A (en) | Wall climbing robot and series robot group thereof | |
| CN112606919A (en) | Six-foot crawler type parallel hydraulic building curtain plate installation robot | |
| CN107997702B (en) | High-altitude cleaning robot with artificial-like operation mode | |
| CN204641937U (en) | A kind of gas pipe line intelligent inspection robot | |
| CN105619375B (en) | A kind of multifunctional rescue robot and its application method | |
| CN114275065B (en) | High-reliability adsorption type climbing robot and control method thereof | |
| CN114379666A (en) | Multi-foot adsorption detection robot with mechanical arm | |
| CN211609579U (en) | But wall climbing robot is with serial-type casing device | |
| CN211001609U (en) | Wall climbing robot and series robot group thereof | |
| CN112092937A (en) | Robot walking device for cleaning building curtain wall | |
| CN111561143B (en) | Scaffold mounting device for building engineering based on big data | |
| CN108143363B (en) | Cleaning method of high-altitude cleaning robot with humanoid working industry mode | |
| CN210971341U (en) | Turning unit for wall climbing robot | |
| CN216923671U (en) | Crawler for pipeline robot detection | |
| CN216070252U (en) | Wall-climbing type concrete structure apparent mass detection robot | |
| CN111890341B (en) | Robot similar to snake-shaped crawling | |
| CN210233104U (en) | Inverted double-arm robot | |
| CN114179112A (en) | Building detection hexapod robot |
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 | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |