CN110789631A - Underwater adsorption type obstacle crossing robot and obstacle crossing method thereof - Google Patents
Underwater adsorption type obstacle crossing robot and obstacle crossing method thereof Download PDFInfo
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- CN110789631A CN110789631A CN201911172714.XA CN201911172714A CN110789631A CN 110789631 A CN110789631 A CN 110789631A CN 201911172714 A CN201911172714 A CN 201911172714A CN 110789631 A CN110789631 A CN 110789631A
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- 238000001179 sorption measurement Methods 0.000 title claims abstract description 64
- 238000000034 method Methods 0.000 title claims abstract description 12
- 241000252254 Catostomidae Species 0.000 claims abstract description 6
- 210000002683 foot Anatomy 0.000 claims description 95
- 230000000694 effects Effects 0.000 claims description 25
- 210000000544 articulatio talocruralis Anatomy 0.000 claims description 5
- 238000010521 absorption reaction Methods 0.000 claims 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 5
- 101150038956 cup-4 gene Proteins 0.000 description 4
- 230000007547 defect Effects 0.000 description 3
- 210000001503 joint Anatomy 0.000 description 2
- 241001465754 Metazoa Species 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000009189 diving Effects 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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- Engineering & Computer Science (AREA)
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- Combustion & Propulsion (AREA)
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Abstract
The invention relates to the technical field of engineering detection, and discloses an underwater adsorption type obstacle crossing robot which comprises a bearing platform, wherein four corners of the bearing platform are connected with wheel feet through rotary joint legs, suckers are arranged at the bottoms of the wheel feet, two driving wheels connected with a driving motor are arranged on the outer sides of the wheel feet, and a driven wheel is arranged on the inner sides of the wheel feet. The invention also discloses an obstacle crossing method of the underwater adsorption type obstacle crossing robot. The underwater adsorption type obstacle crossing robot and the obstacle crossing method thereof can climb along the surfaces of concrete structures with various gradients, can smoothly cross different types of obstacles, and have the advantages of large working depth, high efficiency and strong obstacle crossing capability.
Description
Technical Field
The invention relates to the technical field of engineering detection, in particular to an underwater adsorption type obstacle crossing robot and an obstacle crossing method thereof.
Background
The underwater part of the hydraulic building needs to be regularly checked and defect detected during the operation, the manual diving check depth is small, the efficiency is low, and the safety risk is high; the wheel type robot cannot detect a large gradient and a vertical wall surface, although the adsorption type robot can detect the vertical wall surface, the normal movement of the adsorption type robot can be seriously influenced by wall surface obstacles or defects, and great difficulty is brought to underwater concrete detection, so that the improvement of the moving mode of the underwater robot and the improvement of the obstacle crossing capability of the underwater robot have very important practical significance.
Disclosure of Invention
The invention aims to provide an underwater adsorption type obstacle crossing robot and an obstacle crossing method thereof, aiming at the defects of the technology, the robot can crawl along the surface of a concrete structure with different inclination angles (including negative angles), can smoothly cross different types of obstacles, and has the advantages of large working depth, high efficiency and strong obstacle crossing capability.
In order to achieve the purpose, the underwater adsorption type obstacle crossing robot comprises a bearing platform, wherein four corners of the bearing platform are connected with wheel feet through rotary joint legs, the bottoms of the wheel feet are provided with suckers, two driving wheels connected with a driving motor are arranged on the outer sides of the wheel feet, and a driven wheel is arranged on the inner side of the wheel feet.
Preferably, the rotary joint leg comprises a leg rotating joint arranged on the bearing platform, a leg lifting joint arranged above the leg rotating joint and connected with the leg rotating joint, a foot rotating joint connected with the leg lifting joint, and an ankle joint with one end connected below the foot rotating joint and the other end connected with the wheel foot.
Preferably, the suction cup is connected with a suction force sensor and a suction device.
An obstacle crossing method of the underwater adsorption type obstacle crossing robot comprises the following steps:
A) when the underwater adsorption type obstacle crossing robot runs, the underwater adsorption type obstacle crossing robot provides adsorption force to adsorb on the surface of a concrete structure through the suckers at the bottoms of the four wheel feet, and the underwater adsorption type obstacle crossing robot moves forwards under the power provided by the driving wheels on the wheel feet;
B) when an obstacle exists in front of the underwater adsorption type obstacle crossing robot, the adsorption effect of the left front wheel sole sucker is closed, the rotation of each joint in the left front rotary joint leg is controlled, the left front wheel foot spans the obstacle, the adsorption effect of the left front wheel sole sucker is recovered, and the left front wheel foot is adsorbed on the surface of the concrete structure;
C) closing the adsorption effect of the right front wheel sole sucker, controlling the rotation of each joint in the right front rotary joint leg to enable the right front wheel foot to cross obstacles, and recovering the adsorption effect of the right front wheel foot bottom sucker to enable the right front wheel foot and the left front wheel foot to be adsorbed on the surface of the concrete structure;
D) driving a driving wheel on the wheel foot to enable the underwater adsorption type obstacle crossing robot to move forward for a distance, and enabling the wheel foot at the rear to be close to the obstacle;
E) closing the adsorption effect of the left rear wheel sole sucker, controlling the rotation of each joint in the left rear rotary joint leg to enable the left rear wheel foot to cross obstacles, and recovering the adsorption effect of the left rear wheel foot bottom sucker to enable the left rear front wheel foot to be adsorbed on the surface of the concrete structure;
F) closing the adsorption effect of the right rear wheel foot bottom sucker, controlling the rotation of each joint in the right rear rotary joint leg to enable the right rear wheel foot to cross the obstacle, and recovering the adsorption effect of the right rear wheel foot bottom sucker to enable the right rear front wheel foot to be adsorbed on the surface of the concrete structure;
G) and after obstacle crossing is finished, driving wheels on the wheel feet are driven to enable the underwater adsorption type obstacle crossing robot to continue to advance.
Compared with the prior art, the invention has the following advantages:
1. due to the arrangement of the suckers at the bottoms of the wheel feet, the application range of the robot is widened, and the robot can crawl along the surfaces of concrete structures with different inclination angles (including negative angles);
2. through the arrangement of the rotary joint legs, the obstacle crossing capability of the wheel feet of the robot is improved, different types of obstacles can be smoothly crossed, the working depth is large, the efficiency is high, the obstacle crossing capability is strong, and the robot can be widely used for underwater detection of large and medium hydraulic buildings.
Drawings
FIG. 1 is a schematic structural diagram of an underwater adsorption type obstacle crossing robot of the present invention;
FIG. 2 is a schematic side view of an underwater adsorption type obstacle crossing robot according to the present invention;
fig. 3 is a bottom view of the wheel foot of fig. 1.
The components in the figures are numbered as follows:
the device comprises a bearing platform 1, a rotary joint leg 2, a wheel foot 3, a sucker 4, a driving wheel 5, a driven wheel 6, a rotary leg joint 7, a leg lifting joint 8, a foot rotating joint 9, an ankle joint 10 and an adsorption force sensor 11.
Detailed Description
The invention is described in further detail below with reference to the figures and the specific embodiments.
As shown in fig. 1, the underwater adsorption type obstacle crossing robot comprises a bearing platform 1, wherein four corners of the bearing platform 1 are connected with wheel feet 3 through rotary joint legs 2, a sucking disc 4 is arranged at the bottom of each wheel foot 3, two driving wheels 5 connected with a driving motor are arranged on the outer sides of the wheel feet 3, and a driven wheel 6 is arranged on the inner side of each wheel foot 3.
As shown in fig. 2, the rotary joint leg 2 includes a leg rotating joint 7 disposed on the bearing platform 1, a leg lifting joint 8 disposed above the leg rotating joint 7 and connected thereto, a foot rotating joint 9 connected to the leg lifting joint 8, and an ankle joint 10 having one end connected to a lower end of the foot rotating joint 9 and connected to the wheel foot 3, the wheel foot 3 can rotate around the leg rotating joint 7 on a plane where the bearing platform 1 is located through the leg rotating joint 7, the wheel foot 3 can be lifted and lowered through the leg lifting joint 8, the wheel foot 3 can rotate with the foot rotating joint 9 through the foot rotating joint 9, and the front end of the wheel foot 3 can be raised and lowered through the ankle joint 10, so as to adapt to structural surfaces with different slopes. The wheel feet 3 can easily cross obstacles by matching the joints on the rotary joint legs 2.
In this embodiment, the suction cup 4 is connected with the suction force sensor 11 and the suction device, the suction force sensor 11 can feed back the magnitude of the suction force in real time, the robot is ensured to stably adsorb the surface of the concrete structure, and the suction effect of the suction cup 4 is closed and recovered through the suction device.
When the obstacle crossing method is used, the obstacle crossing method comprises the following steps:
A) when the underwater adsorption type obstacle crossing robot runs, the underwater adsorption type obstacle crossing robot is adsorbed on the surface of a concrete structure by providing adsorption force through the suckers 4 at the bottoms of the four wheel feet 3, and moves forwards by providing power through the driving wheels 5 on the wheel feet 3;
B) when an obstacle exists in front of the underwater adsorption type obstacle crossing robot, the adsorption effect of the sucker 4 at the bottom of the left front wheel foot 3 is closed, the rotation of each joint in the left front rotary joint leg 2 is controlled, the left front wheel foot 3 crosses the obstacle, the adsorption effect of the sucker 4 at the bottom of the left front wheel foot 3 is recovered, and the left front wheel foot 3 is adsorbed on the surface of a concrete structure;
C) closing the adsorption effect of the sucker 4 at the bottom of the right front wheel foot 3, controlling the rotation of each joint in the right front rotary joint leg 2 to enable the right front wheel foot 3 to cross obstacles, and recovering the adsorption effect of the sucker 4 at the bottom of the right front wheel foot 3 to enable the right front wheel foot 3 to be adsorbed on the surface of the concrete structure;
D) the driving wheel 5 on the driving wheel foot 3 enables the underwater adsorption type obstacle crossing robot to move forward for a certain distance, so that the rear wheel foot 3 is close to the obstacle;
E) closing the adsorption effect of the sucker 4 at the bottom of the left rear wheel foot 3, controlling the rotation of each joint in the left rear rotary joint leg 2 to enable the left rear wheel foot 3 to cross obstacles, and recovering the adsorption effect of the sucker 4 at the bottom of the left rear wheel foot 3 to enable the left rear front wheel foot 3 to be adsorbed on the surface of the concrete structure;
F) closing the adsorption effect of the suction cup 4 at the bottom of the right rear wheel foot 3, controlling the rotation of each joint in the right rear rotary joint leg 2 to enable the right rear wheel foot 3 to cross the obstacle, and recovering the adsorption effect of the suction cup 4 at the bottom of the right rear wheel foot 3 to enable the right rear front wheel foot 3 to be adsorbed on the surface of the concrete structure;
G) after obstacle crossing is completed, the underwater adsorption type obstacle crossing robot continues to move forward by the driving wheel 5 on the driving wheel foot 3.
The invention relates to an underwater adsorption type obstacle crossing robot and an obstacle crossing method thereof, wherein when no obstacle exists, the robot is adsorbed on the surface of a concrete structure by utilizing the adsorption force provided by a sucker 4 at the bottom of a wheel foot 3, and moves forwards by utilizing the power provided by a driving wheel 5; when various obstacles are encountered, the robot is controlled to rotate the joint legs 2, the crossing capability of animals is simulated, various obstacles are crossed, the robot is suitable for structural planes with various gradients (including negative angles), the working depth is large, the efficiency is high, the obstacle crossing capability is strong, and the robot can be widely used for underwater detection of large and medium hydraulic buildings.
Claims (4)
1. The utility model provides an obstacle-surmounting robot of absorption formula under water, includes load-bearing platform (1), its characterized in that: the four corners of the bearing platform (1) are connected with wheel feet (3) through rotary joint legs (2), the bottom of the wheel feet (3) is provided with a sucker (4), the outer side of the wheel feet (3) is provided with two driving wheels (5) connected with a driving motor, and the inner side of the wheel feet (3) is provided with a driven wheel (6).
2. The underwater adsorption type obstacle crossing robot of claim 1, wherein: the rotary joint leg (2) comprises a leg rotating joint (7) arranged on the bearing platform (1), a leg lifting joint (8) arranged above the leg rotating joint (7) and connected with the leg rotating joint, a foot rotating joint (9) connected with the leg lifting joint (8), and an ankle joint (10) with one end connected with the wheel foot (3) and the other end connected with the lower part of the foot rotating joint (9).
3. The underwater adsorption type obstacle crossing robot of claim 2, wherein: the sucking disc (4) is connected with an adsorption force sensor (11) and a suction device.
4. An obstacle crossing method of an underwater adsorption type obstacle crossing robot as claimed in any one of claims 1 to 3, characterized in that: the method comprises the following steps:
A) when the underwater adsorption type obstacle crossing robot runs, the underwater adsorption type obstacle crossing robot is adsorbed on the surface of a concrete structure by providing adsorption force through the suckers (4) at the bottoms of the four wheel feet (3), and moves forwards by utilizing the power provided by the driving wheels (5) on the wheel feet (3);
B) when an obstacle exists in front of the underwater adsorption type obstacle crossing robot, the adsorption effect of a sucker (4) at the bottom of a left front wheel foot (3) is closed, the rotation of each joint in a left front rotary joint leg (2) is controlled, the left front wheel foot (3) crosses the obstacle, the adsorption effect of the sucker (4) at the bottom of the left front wheel foot (3) is recovered, and the left front wheel foot (3) is adsorbed on the surface of a concrete structure;
C) closing the adsorption effect of a sucker (4) at the bottom of the right front wheel foot (3), controlling the rotation of each joint in the right front rotary joint leg (2), enabling the right front wheel foot (3) to cross obstacles, recovering the adsorption effect of the sucker (4) at the bottom of the right front wheel foot (3), and enabling the right front wheel foot (3) and the left front wheel foot (3) to be adsorbed on the surface of a concrete structure;
D) driving wheels (5) on the wheel feet (3) to enable the underwater adsorption type obstacle crossing robot to move forward for a distance, so that the wheel feet (3) at the rear part are close to the obstacle;
E) closing the adsorption effect of a sucker (4) at the bottom of the left rear wheel foot (3), controlling the rotation of each joint in the left rear rotary joint leg (2), enabling the left rear wheel foot (3) to cross obstacles, recovering the adsorption effect of the sucker (4) at the bottom of the left rear wheel foot (3), and enabling the left rear front wheel foot (3) to be adsorbed on the surface of the concrete structure;
F) closing the adsorption effect of a bottom sucker (4) of the right rear wheel foot (3), controlling the rotation of each joint in the right rear rotary joint leg (2), enabling the right rear wheel foot (3) to cross obstacles, recovering the adsorption effect of the bottom sucker (4) of the right rear wheel foot (3), and enabling the right rear front wheel foot (3) to be adsorbed on the surface of the concrete structure;
G) and after obstacle crossing is finished, driving wheels (5) on the wheel feet (3) are driven to enable the underwater adsorption type obstacle crossing robot to continue to advance.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911172714.XA CN110789631A (en) | 2019-11-26 | 2019-11-26 | Underwater adsorption type obstacle crossing robot and obstacle crossing method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911172714.XA CN110789631A (en) | 2019-11-26 | 2019-11-26 | Underwater adsorption type obstacle crossing robot and obstacle crossing method thereof |
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| CN110789631A true CN110789631A (en) | 2020-02-14 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201911172714.XA Pending CN110789631A (en) | 2019-11-26 | 2019-11-26 | Underwater adsorption type obstacle crossing robot and obstacle crossing method thereof |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112603216A (en) * | 2021-01-14 | 2021-04-06 | 四川燕然归商贸有限公司 | Can hinder outer wall cleaning machine more |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201545089U (en) * | 2009-10-21 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Wall-climbing robot capable of striding cross walls |
| CN106043484A (en) * | 2016-06-15 | 2016-10-26 | 天津理工大学 | Obstacle-surmounting adsorption type wall-climbing robot on smooth surface |
| CN205952111U (en) * | 2016-06-01 | 2017-02-15 | 中科新松有限公司 | Wall climbing robot |
| CN107054590A (en) * | 2017-04-25 | 2017-08-18 | 重庆大学 | Vibrate absorption type four-footed climbing robot under water |
| CN211167162U (en) * | 2019-11-26 | 2020-08-04 | 长江勘测规划设计研究有限责任公司 | Underwater adsorption type obstacle crossing robot |
-
2019
- 2019-11-26 CN CN201911172714.XA patent/CN110789631A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201545089U (en) * | 2009-10-21 | 2010-08-11 | 昆山市工业技术研究院有限责任公司 | Wall-climbing robot capable of striding cross walls |
| CN205952111U (en) * | 2016-06-01 | 2017-02-15 | 中科新松有限公司 | Wall climbing robot |
| CN106043484A (en) * | 2016-06-15 | 2016-10-26 | 天津理工大学 | Obstacle-surmounting adsorption type wall-climbing robot on smooth surface |
| CN107054590A (en) * | 2017-04-25 | 2017-08-18 | 重庆大学 | Vibrate absorption type four-footed climbing robot under water |
| CN211167162U (en) * | 2019-11-26 | 2020-08-04 | 长江勘测规划设计研究有限责任公司 | Underwater adsorption type obstacle crossing robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112603216A (en) * | 2021-01-14 | 2021-04-06 | 四川燕然归商贸有限公司 | Can hinder outer wall cleaning machine more |
| CN112603216B (en) * | 2021-01-14 | 2021-11-19 | 神州在线(山东)科技有限公司 | Can hinder outer wall cleaning machine more |
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