CN111152858B - Wall climbing robot and wall body advancing method of wall climbing robot - Google Patents

Wall climbing robot and wall body advancing method of wall climbing robot Download PDF

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Publication number
CN111152858B
CN111152858B CN202010010525.9A CN202010010525A CN111152858B CN 111152858 B CN111152858 B CN 111152858B CN 202010010525 A CN202010010525 A CN 202010010525A CN 111152858 B CN111152858 B CN 111152858B
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CN
China
Prior art keywords
climbing
assembly
transverse
climbing assembly
robot
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CN202010010525.9A
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Chinese (zh)
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CN111152858A (en
Inventor
房欣欣
任龙
米野
闫善韵
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Guangdong Bozhilin Robot Co Ltd
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Guangdong Bozhilin Robot Co Ltd
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Priority to CN202010010525.9A priority Critical patent/CN111152858B/en
Publication of CN111152858A publication Critical patent/CN111152858A/en
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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

Abstract

The embodiment of the application provides a wall climbing robot, including first wall climbing subassembly, second wall climbing subassembly, hinge mechanisms, range unit and control module. The first wall climbing assembly comprises a first transverse wall climbing mechanism and a first longitudinal wall climbing mechanism. The second wall climbing assembly comprises a second transverse wall climbing mechanism and a second longitudinal wall climbing mechanism, and the hinge mechanism is connected between the first transverse wall climbing mechanism and the second transverse wall climbing mechanism; the distance measuring device is used for obtaining the distance between the wall-climbing robot and the internal and external corners, and the control module is electrically connected with the distance measuring device. First wall subassembly and the second of climbing is climbed the wall subassembly and is passed through hinge mechanisms and articulated, and hinge mechanisms rotates the relative rotation that realizes first wall subassembly and the second wall subassembly of climbing, and then when meetting negative and positive angle, when the distance apart from negative and positive angle satisfies predetermined interval, first wall subassembly and the second of climbing are climbed wall subassembly and are rotated relatively, and crisscross marching, and then cross negative and positive angle. The embodiment of the application also provides a wall body advancing method of the wall climbing robot.

Description

Wall climbing robot and wall body advancing method of wall climbing robot
Technical Field
The application relates to the technical field of robots, in particular to a wall-climbing robot and a wall body advancing method of the wall-climbing robot.
Background
With the development of science and technology, wall-climbing robots have been exposed in every day life and industrial production. The wall-climbing robot can be applied to cleaning the outer wall of a high-rise building, cleaning, derusting and spraying the outer wall of a large ship body, detecting a pipeline and the like. However, in the prior art, the wall-climbing robot usually only can walk on a planar wall, and when meeting the internal and external corners of the wall, the wall-climbing robot can meet obstacles and cannot advance. This greatly limits the application of the wall climbing robot.
Disclosure of Invention
The application aims to provide a wall-climbing robot and a wall body advancing method of the wall-climbing robot, so that the wall-climbing robot can climb over a concave corner and a convex corner on a wall body.
In a first aspect, an embodiment of the present application provides a wall climbing robot, which includes a first wall climbing assembly, a second wall climbing assembly, a hinge mechanism, a distance measuring device, and a control module. The first wall climbing assembly comprises a first transverse wall climbing mechanism and a first longitudinal wall climbing mechanism, and the first longitudinal wall climbing mechanism is arranged on the first transverse wall climbing mechanism in a sliding mode. The second wall climbing assembly comprises a second transverse wall climbing mechanism and a second longitudinal wall climbing mechanism, and the second longitudinal wall climbing mechanism is arranged on the second transverse wall climbing mechanism in a sliding mode. The hinge mechanism is connected between the first transverse wall climbing mechanism and the second transverse wall climbing mechanism; the distance measuring device is used for acquiring the distance between the wall-climbing robot and the internal corner and the external corner. The control module is electrically connected with the distance measuring device and used for controlling the hinge mechanism, the first wall climbing assembly and the second wall climbing assembly to execute preset actions.
In some embodiments, the hinge mechanism includes a mounting base plate, a rotating shaft and a driving motor, the first transverse wall-climbing mechanism is connected to the mounting base plate, the rotating shaft is arranged on the mounting base plate along the extending direction of the first longitudinal wall-climbing mechanism, the second transverse wall-climbing mechanism is connected to the rotating shaft, and the driving motor is used for driving the rotating shaft to rotate.
In some embodiments, the hinge mechanism further includes a connecting hinge base, a shaft coupler, and a thrust bearing, the thrust bearing is installed on the installation bottom plate, one end of the rotating shaft forms transmission with the driving motor through the shaft coupler, the other end of the rotating shaft is rotatably connected to the thrust bearing, the connecting hinge base is connected to the rotating shaft and connected to the second transverse wall climbing mechanism, and the connecting hinge base is located between the shaft coupler and the thrust bearing.
In some embodiments, the extending direction of the first transverse wall-climbing mechanism is perpendicular to the extending direction of the first longitudinal wall-climbing mechanism, and the extending direction of the second transverse wall-climbing mechanism is perpendicular to the extending direction of the second longitudinal wall-climbing mechanism.
In some embodiments, the first wall-climbing assembly and the second wall-climbing assembly each have a vacuum chuck.
In a second aspect, an embodiment of the present application further provides a wall traveling method for a wall climbing robot, which is applied to the wall climbing robot, where a wall includes a first wall and a second wall that are perpendicular to each other, and the method includes: acquiring the distance between the current wall-climbing robot and a second wall body; when the distance between the wall-climbing robot and the second wall body is a preset distance, controlling the second wall-climbing assembly to be separated from the first wall body; controlling the first wall climbing assembly to advance towards the second wall body and controlling the second wall climbing assembly to rotate relative to the first wall climbing assembly until the first wall climbing assembly reaches the second wall body; and controlling the second wall climbing component to adsorb the second wall body, and enabling the first wall climbing component to be separated from the first wall body.
In some embodiments, when a reentrant corner is formed between the first wall and the second wall, controlling the first wall climbing assembly to travel toward the second wall and controlling the second wall climbing assembly to rotate relative to the first wall climbing assembly until the first wall climbing assembly reaches the second wall comprises: controlling the second wall climbing assembly to rotate relative to the first wall climbing assembly to be vertical to the first wall climbing assembly; and controlling the first wall climbing assembly to move forwards until the second wall climbing assembly is attached to the second wall body and the first wall climbing assembly reaches the second wall body.
In some embodiments, controlling the second wall-climbing component to adsorb the second wall body, and after the first wall-climbing component is separated from the first wall body, the method further includes: controlling the second wall climbing assembly to advance until the distance between the second wall climbing assembly and the first cavity is larger than or equal to a preset distance; and rotating the first wall climbing assembly until the first wall climbing assembly is attached to the second wall surface and adsorbed on the second wall surface.
In some embodiments, when an external corner is formed between the first wall and the second wall, controlling the first wall-climbing assembly to travel toward the second wall and controlling the second wall-climbing assembly to rotate relative to the first wall-climbing assembly until the first wall-climbing assembly reaches the second wall comprises: controlling the first wall climbing assembly to advance until the second wall climbing assembly completely leaves the first wall body and the first wall climbing assembly reaches the second wall body; and controlling the second wall climbing assembly to rotate relative to the first wall climbing assembly until the second wall climbing assembly is attached to the second wall.
In some embodiments, controlling the second wall-climbing component to adsorb the second wall body, and after the first wall-climbing component is separated from the first wall body, the method further includes: rotating the first wall climbing assembly until the first wall climbing assembly is parallel to the second wall surface; and controlling the second wall climbing assembly to travel.
The application provides a wall climbing robot and wall climbing robot wall body method of marcing, through climbing wall subassembly and second independently and pass through the articulated connection of hinge mechanisms, the relative rotation of wall subassembly is climbed to first wall subassembly and second through hinge mechanisms's rotation realization, and then when meetting the negative and positive angle, acquire the distance apart from the negative and positive angle through range unit, when the distance satisfies predetermined interval, first wall subassembly and second climb wall subassembly can be through rotating to predetermined angle, crisscross marching, and then cross the negative and positive angle.
These and other aspects of the present application will be more readily apparent from the following description of the embodiments.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a wall-climbing robot provided in an embodiment of the present application at a first viewing angle;
fig. 2 is a schematic structural diagram of a first wall-climbing assembly of a wall-climbing robot according to an embodiment of the present disclosure;
fig. 3 is a schematic structural diagram of a wall-climbing robot provided in an embodiment of the present application at a second viewing angle;
fig. 4 is a schematic structural diagram of an articulation mechanism of a wall-climbing robot according to an embodiment of the present disclosure;
fig. 5 is a schematic view of a wall-climbing robot provided in an embodiment of the present application when the wall-climbing robot crosses an internal corner;
fig. 6 is a schematic view of a wall-climbing robot provided in an embodiment of the present application when the wall-climbing robot crosses an external corner;
fig. 7 is a schematic flowchart of a traveling method of a wall-climbing robot according to an embodiment of the present disclosure.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The outer wall surface of an outdoor large-scale high building is provided with one or more internal and external corners, wherein the internal corner refers to a concave wall corner, and the external corner refers to a convex wall corner. The existing wall-climbing robot can only advance on a plane wall surface, and when a concave-convex corner is encountered, the turning over of the concave-convex corner cannot be realized. Therefore, the inventor proposes a wall-climbing robot and a wall-climbing robot traveling method in the embodiments of the present application. Embodiments of the present application will be described in detail below with reference to the accompanying drawings.
Referring to fig. 1, the present embodiment provides a wall-climbing robot 10, which includes a first wall-climbing assembly 100, a second wall-climbing assembly 300, a hinge mechanism 200, a distance measuring device (not shown), and a control module (not shown). The first wall climbing assembly 100 and the second wall climbing assembly 300 are connected through the hinge mechanism 200, the distance measuring device is electrically connected with the control module to transmit data between the distance measuring device and the control module, and the control module can control the first wall climbing assembly 100 and the second wall climbing assembly 300 to execute a predetermined action.
It should be noted that the first wall-climbing assembly 100 and the second wall-climbing assembly 300 can operate independently from each other, that is: the first wall-climbing assembly 100 may perform movement in a plurality of different directions independently, while the second wall-climbing assembly 300 may perform movement in a plurality of different directions independently. That is, the wall climbing operation can be independently performed between the first wall climbing assembly 100 and the second wall climbing assembly 300.
Referring to fig. 1 and fig. 2, the first wall-climbing assembly 100 includes a first transverse wall-climbing mechanism 110 and a first longitudinal wall-climbing mechanism 120, and the first longitudinal wall-climbing mechanism 120 is slidably disposed on the first transverse wall-climbing mechanism 110. Wherein the first transverse wall-climbing mechanism 110 is used for realizing the longitudinal movement of the first wall-climbing assembly 100, and the first longitudinal wall-climbing mechanism 120 is used for realizing the transverse movement of the first wall-climbing assembly 100. As an embodiment, in this embodiment, the first transverse wall-climbing mechanism 110 and the first longitudinal wall-climbing mechanism 120 can slide relatively, and when the first transverse wall-climbing mechanism 110 is fixed to a wall during walking, the first longitudinal wall-climbing mechanism 120 can slide in the extending direction of the first transverse wall-climbing mechanism 110 to realize walking of the first longitudinal wall-climbing mechanism 120; when the first longitudinal wall-climbing mechanism 120 is fixed to a wall, the first transverse wall-climbing mechanism 110 can slide in the extending direction of the first longitudinal wall-climbing mechanism 120 to realize the walking of the first transverse wall-climbing mechanism 110.
Specifically, in the present embodiment, the relative sliding between the first transverse wall-climbing mechanism 110 and the first longitudinal wall-climbing mechanism 120 is realized by a screw pair driven by a motor. And the extending direction of the first transversal wall-climbing mechanism 110 and the extending direction of the first longitudinal wall-climbing mechanism 120 are substantially perpendicular to each other. This arrangement may enable movement of the first wall-climbing assembly 100 in any direction.
One or more vacuum chucks 400 are disposed on the first transverse wall-climbing mechanism 110 and the second longitudinal wall-climbing mechanism 320, the vacuum chucks 400 are used for being fixed by being attached to a wall body, and the vacuum chucks 400 are electrically connected with and controlled by a control module, wherein the structure of the vacuum chucks 400 can refer to the prior art. It can be understood that the vacuum chuck 400 disposed on the first transverse wall-climbing mechanism 110 and the vacuum chuck 400 disposed on the second longitudinal wall-climbing mechanism 320 can be independently controlled by the control module to perform the processes of sucking and releasing. As an example, referring to fig. 1, 4 vacuum suction cups 400 are respectively disposed on the first transverse wall-climbing mechanism 110 and the second longitudinal wall-climbing mechanism 320, and the 4 vacuum suction cups 400 are symmetrically disposed on both end portions of the first transverse wall-climbing mechanism 110 and both end portions of the first longitudinal wall-climbing mechanism 120 in pairs, so that the vacuum suction cups 400 do not interfere during the relative movement of the first transverse wall-climbing mechanism 110 with respect to the first longitudinal wall-climbing mechanism 120. In other embodiments, the vacuum chuck 400 may be replaced with a magnetic attraction device or the like.
Referring to fig. 3 and 4, the hinge mechanism 200 is connected between the first transversal wall-climbing mechanism 110 and the second transversal wall-climbing mechanism 310. In this embodiment, the hinge mechanism 200 includes a mounting base plate 210, a rotating shaft 220, and a driving motor 230, wherein the mounting base plate 210 is used for setting the rotating shaft 220 and the driving motor 230, the first horizontal wall climbing mechanism 110 is connected to the mounting base plate 210, the driving motor 230 is mounted on the mounting base plate 210, one end of the rotating shaft 220 is connected to the driving motor 230 through a coupling 240 to form a transmission, and in some embodiments, in order to increase a torque of the driving motor 230, a speed reducer 241 is further disposed between the driving motor 230 and the coupling 240, and the rotating speed of the rotating shaft 220 is reduced through the speed reducer 241 to increase the torque.
The rotating shaft 220 is rotatably mounted on the mounting base plate 210, an axial direction of the rotating shaft 220 is substantially parallel to an extending direction of the first longitudinal wall climbing mechanism 120, and the driving motor 230 is configured to drive the rotating shaft 220 to rotate according to a predetermined track. Specifically, in this embodiment, the hinge mechanism 200 further includes a connecting hinge seat 250 and a thrust bearing 260, the thrust bearing 260 is installed on the installation base plate 210 through an installation seat 261, one end of the rotating shaft 220 forms transmission with the driving motor 230 through a coupler 240, the other end is rotatably connected to the thrust bearing 260, the connecting hinge seat 250 is connected to the rotating shaft 220 and connected to the second transverse wall-climbing mechanism 310, and the connecting hinge seat 260 is located between the coupler 240 and the thrust bearing 260, the rotating shaft 220 and the connecting hinge seat 260 can be connected through key connection and the like, so that when the rotating shaft 220 rotates, the connecting hinge seat 260 synchronously rotates.
In this embodiment, the hinge mechanism 200 further includes a radial sleeve 270, and the radial sleeve 270 is mounted on the mounting base plate 210 and located between the thrust bearing 260 and the coupling 240. The spindle 270 is fixedly connected with the mounting base plate 210, the rotating shaft 220 passes through the spindle 270 and can rotate relative to the spindle 270, the connecting hinge base 250 is located between the spindle 270 and the thrust bearing 260, the thrust bearing 260 can provide axial support for the connecting hinge base 250, namely, axial support for the second wall-climbing assembly 300, and the spindle 270 can provide radial support for the connecting hinge base 250, namely, radial support for the second wall-climbing assembly 300. In order to prevent the connecting hinge seat 250 from sliding along the axial direction of the rotating shaft, a sleeve 222 may be further disposed on the rotating shaft 220, and the sleeve 222 is sleeved outside the rotating shaft 220 and tightly abuts against the connecting hinge seat 250.
As an embodiment, the angle of rotation of the second transversal wall-climbing mechanism 310 with respect to the first wall-climbing assembly 100 in this embodiment may be 80-330 °, which can accommodate most of the irregular surfaces, male and female angles, or curved surfaces.
Referring to fig. 1 and 3, the structure of the second wall-climbing assembly 300 is substantially the same as that of the first wall-climbing assembly 100, the second wall-climbing assembly 300 includes a second transverse wall-climbing mechanism 310 and a second longitudinal wall-climbing mechanism 320, and the second longitudinal wall-climbing mechanism 320 is slidably disposed on the second transverse wall-climbing mechanism 310. Wherein the second transverse wall-climbing mechanism 310 is used for realizing the longitudinal movement of the second wall-climbing assembly 300, and the second longitudinal wall-climbing mechanism 320 is used for realizing the transverse movement of the second wall-climbing assembly 300. The second transversal wall-climbing mechanism 310 is connected to the rotating shaft 220 and rotates relative to the first wall-climbing assembly 100 under the driving of the driving motor 230. As an embodiment, the second transversal wall-climbing mechanism 310 and the first transversal wall-climbing mechanism 110 may be located on the same line, which is advantageous in that the first longitudinal wall-climbing mechanism 120 and the second longitudinal wall-climbing mechanism 320 may move synchronously during the movement process, thereby facilitating the control.
As an embodiment, in this embodiment, the second transverse wall-climbing mechanism 310 and the second longitudinal wall-climbing mechanism 320 can slide relatively, and when the second transverse wall-climbing mechanism 310 is fixed to a wall during walking, the second longitudinal wall-climbing mechanism 320 can slide in the extending direction of the second transverse wall-climbing mechanism 310 to realize walking of the second longitudinal wall-climbing mechanism 320; when the second longitudinal wall-climbing mechanism 320 is fixed to the wall, the second transverse wall-climbing mechanism 310 can slide in the extending direction of the second longitudinal wall-climbing mechanism 320 to realize the walking of the second transverse wall-climbing mechanism 310.
Specifically, in the present embodiment, the relative sliding between the second transverse wall-climbing mechanism 310 and the second longitudinal wall-climbing mechanism 320 is realized by a screw pair driven by a motor. And the extending direction of the second transversal wall-climbing mechanism 310 and the extending direction of the second longitudinal wall-climbing mechanism 320 are approximately perpendicular to each other. This arrangement may enable movement of the second wall-climbing assembly 300 in any direction.
One or more vacuum chucks 400 are disposed on the second transverse wall-climbing mechanism 310 and the second longitudinal wall-climbing mechanism 320, the vacuum chucks 400 are used for being fixed by being adsorbed on a wall body, and the vacuum chucks 400 are electrically connected with and controlled by the control module. It can be understood that the vacuum suction cups 400 arranged on the second transverse wall-climbing mechanism 310 and the vacuum suction cups 400 arranged on the second longitudinal wall-climbing mechanism 320 can be independently controlled by the control module to realize the processes of suction and desorption. As an example, referring to fig. 2, 4 vacuum suction cups 400 are respectively disposed on the second transverse wall-climbing mechanism 310 and the second longitudinal wall-climbing mechanism 320, the 4 vacuum suction cups 400 are symmetrically disposed at two end portions of the second transverse wall-climbing mechanism 310 and at two end portions of the second longitudinal wall-climbing mechanism 320, and thus the arrangement is such that the vacuum suction cups 400 do not interfere during the relative movement of the second transverse wall-climbing mechanism 310 with respect to the second longitudinal wall-climbing mechanism 320. In other embodiments, the vacuum chuck 400 may be replaced with a magnetic attraction device or the like.
For ease of understanding, the following description is made with respect to the climbing process of the first wall-climbing assembly 100 and/or the second wall-climbing assembly 300, taking the first wall-climbing assembly 100 as an example: when climbing is needed, the first transverse wall climbing mechanism 110 adsorbs a wall, then the screw pair of the first longitudinal wall climbing mechanism 120 acts, the first longitudinal wall climbing mechanism 120 moves along the extending direction of the first transverse wall climbing mechanism 110 and adsorbs the wall, at this time, the first transverse wall climbing mechanism 110 is separated from adsorption and moves, and the operations are performed alternately, so that the first wall climbing assembly 100 moves. The second wall-climbing assembly 300 moves in the same manner as the first wall-climbing assembly 100, and is not described herein again.
The distance measuring device is used for acquiring the distance between the wall-climbing robot 10 and the internal corner and the external corner. The control module is electrically connected to the distance measuring device and is used for controlling the first wall-climbing assembly 100 and the second wall-climbing assembly 300 to perform a predetermined action. The distance measuring device can be a laser distance measuring device, and the distance is measured through laser. As an example, the distance measuring device may include a laser transmitter that transmits a laser beam and a laser receiver that receives the reflected laser beam, and the distance is determined by calculating a time difference between the transmitted laser beam and the received laser beam. As an embodiment, when the distance measuring module measures that the distance between the wall-climbing robot 10 and the internal and external corners is the preset distance, the control module may control the second wall-climbing assembly 300 to disengage from the suction of the wall body, and control the hinge mechanism 200 to rotate, so that the second wall-climbing assembly 300 rotates relative to the first wall-climbing assembly 100.
The embodiment also provides a wall traveling method of the wall-climbing robot 10, wherein the wall is a wall with internal and external corners, the wall includes a first wall 20 and a second wall 30, the first wall 20 and the second wall 30 are substantially perpendicular to each other or form any other angle, and the internal corner or the external corner is formed between the first wall 20 and the second wall 30. It should be understood that the first wall 20 and the second wall 30 are only used to distinguish two different walls, and do not refer to the positions of the first wall 20 and the second wall 30, where the first wall 20 is the wall where the wall-climbing robot 10 is currently located, and the second wall 30 is the wall connected to the first wall 20 and forming a negative and positive corner with the first wall 20.
The above method may comprise the steps of:
step S110: when the wall-climbing robot 10 travels on the first wall body 20, the distance between the current wall-climbing robot 10 and the second wall body 30 is acquired.
The obtaining of the distance between the wall-climbing robot 10 and the second wall 30 may be performed by a ranging module, and the distance between the wall-climbing robot 10 and the second wall 30 may be the distance between the foremost end of the wall-climbing robot 10 and the second wall 30. For example, as shown in fig. 5, the second wall-climbing component 300 is located at the front end of the wall-climbing robot 10, and the distance between the wall-climbing robot 10 and the second wall 30 may be referred to as the distance between the second wall-climbing component 300 and the second wall 30.
Step S120: when the distance between the wall-climbing robot 10 and the second wall 30 is a predetermined distance, the second wall-climbing assembly 300 is controlled to be disengaged from the first wall 20.
Wherein the predetermined interval may be set to be greater than or equal to the length of the second wall-climbing assembly 300, for example, so that the second wall-climbing assembly 300 has a sufficient rotation space. Wherein the length of the second wall-climbing assembly 300 may be the length of the second lateral wall-climbing mechanism 310. When the distance is the predetermined distance, the vacuum chuck 400 of the second wall climbing assembly 300 is controlled to be detached from the first wall body 20.
Step S130, the first wall climbing assembly 100 is controlled to advance towards the second wall 30 and the second wall climbing assembly 300 is controlled to rotate relative to the first wall climbing assembly 100 until the first wall climbing assembly 100 reaches the second wall 30.
At this time, the step S130 may be performed in different manners for the internal corner and the external corner.
For example, referring to fig. 5, when an internal corner is formed between the first wall 20 and the second wall 30, step S130 may be performed as follows: controlling the second wall-climbing assembly 300 to rotate relative to the first wall-climbing assembly 100 to be perpendicular to the first wall-climbing assembly 100; the first wall climbing assembly 100 is controlled to advance until the second wall climbing assembly 300 is attached to the second wall 30 and the first wall climbing assembly 100 reaches the second wall 30. That is, the second wall climbing component 300 is rotated first, and then the first wall climbing component 100 is advanced, so that the second wall climbing component 300 does not contact with the second wall 30 to form interference in the advancing process of the first wall climbing component 100, and when the first wall climbing component 100 reaches the second wall 30, the second wall climbing component 300 can be attached to the second wall 30 to realize adsorption.
Referring to fig. 6, when an external corner is formed between the first wall 20 and the second wall 30, step S130 may be performed as follows: controlling the first wall-climbing assembly 100 to advance until the second wall-climbing assembly 300 completely leaves the first wall body 20 and the first wall-climbing assembly 100 reaches the second wall body 30; the second wall-climbing assembly 300 is controlled to rotate relative to the first wall-climbing assembly 100 until the second wall-climbing assembly 300 is attached to the second wall 30. The first wall climbing assembly 100 is advanced until the first wall climbing assembly 100 reaches the second wall 30, and the second wall climbing assembly 300 can rotate toward the second wall 30.
Therefore, the sequence of rotating the second wall climbing assembly 300 and advancing the first wall climbing assembly 100 is different for the female and male corners in step S130. It is understood that when the second wall climbing assembly 300 is controlled to rotate relative to the first wall climbing assembly 100, the rotation direction is such that the second wall climbing assembly 300 rotates to be parallel to the second wall 30.
Step S140: the second wall-climbing assembly 300 is controlled to adsorb the second wall 30, and the first wall-climbing assembly 100 is separated from the first wall 20.
When the second wall-climbing component 300 adsorbs the second wall 30, the first wall-climbing component 100 is separated from the first wall 20, and the wall-climbing robot 10 can climb over the internal corner and the external corner.
In some embodiments, after step S140, the wall-climbing robot 10 may also be controlled to continue traveling. Specifically, when an internal corner is formed between the first wall 20 and the second wall 30, after step S140, the second wall-climbing component 300 may be controlled to move until the distance between the second wall-climbing component 300 and the first cavity is greater than or equal to the preset distance; rotate first wall subassembly 100 of climbing, laminate and adsorb in the second wall to first wall subassembly 100 of climbing and second wall. That is, in the reentrant corner, after the second wall climbing component 300 has advanced to have a predetermined distance for the first wall climbing component 100 to rotate, the first wall climbing component 100 is rotated to be level with the second wall climbing component 300.
When the external corner is formed between the first wall body 20 and the second wall body 30, after the step S140, the first wall climbing assembly 100 may be rotated until the first wall climbing assembly 100 is parallel to the second wall surface, and the second wall climbing assembly 300 is controlled to move. That is, in the external corner, the first wall climbing assembly 100 is rotated to be flush with the second wall climbing assembly 300, and then the second wall climbing assembly 300 is controlled to travel.
Finally, the first wall climbing assembly 100 and the second wall climbing assembly 300 both travel to the second wall 30.
For ease of understanding, the following description is made with respect to the method of the above-described wall-climbing robot for climbing over a continuous male and female corner:
referring to fig. 7, the wall climbing robot 10 is located on the wall 1, when the distance between the wall climbing robot 10 and the wall 2 is a predetermined distance, the second wall climbing component 300 rotates to be substantially perpendicular to the first wall climbing component 100, the first wall climbing component 100 continues to move, when the first wall climbing component 100 reaches the wall 2, the second wall climbing component 300 is adsorbed on the wall 2, the first wall climbing component 100 is separated from the adsorption with the wall 1, the second wall climbing component 300 moves, and when the distance between the wall climbing robot 10 and the wall 1 is the predetermined distance, the first wall climbing component 100 rotates to be level with the second wall climbing component 300 and adsorbs the wall 2. The wall climbing robot 10 continues to advance, when the distance between the wall climbing robot 10 and the wall 3 is detected to be the preset distance, the second wall climbing component 300 is separated from the adsorption of the wall 2, the first wall climbing component 100 advances, when the first wall climbing component 100 reaches the wall 3, the second wall climbing component 300 rotates towards the wall 3 and adsorbs the wall 3, at the moment, the first wall climbing component 100 rotates to be level with the second wall climbing component 300, the second wall climbing component 300 advances, and the first wall climbing component 100 completely sticks to and adsorbs the wall 3. By analogy, the wall-climbing robot 10 can complete the turning over of any internal and external corner or irregular surface.
The above description is only a preferred embodiment of the present application and is not intended to limit the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims (10)

1. A wall climbing robot, comprising:
the first wall climbing assembly comprises a first transverse wall climbing mechanism and a first longitudinal wall climbing mechanism, and the first longitudinal wall climbing mechanism is arranged on the first transverse wall climbing mechanism in a sliding manner;
the second wall climbing assembly comprises a second transverse wall climbing mechanism and a second longitudinal wall climbing mechanism, and the second longitudinal wall climbing mechanism is arranged on the second transverse wall climbing mechanism in a sliding manner;
the hinge mechanism is connected between the first transverse wall climbing mechanism and the second transverse wall climbing mechanism;
the distance measuring device is used for acquiring the distance between the wall-climbing robot and the internal corner and the external corner; and
control module, control module with range unit electric connection, and be used for climb the wall robot with when the interval of negative and positive angle is for predetermineeing the interval, control the second climb the wall subassembly and break away from the wall, and it is relative first climb the wall subassembly rotate to with first climb the wall subassembly perpendicularly, perhaps control first climb the wall subassembly and break away from the wall, and relative the second climb the wall subassembly rotate to with the second climbs the wall subassembly perpendicularly.
2. The wall-climbing robot as claimed in claim 1, wherein the hinge mechanism comprises a mounting plate, a rotating shaft and a driving motor, the first transverse wall-climbing mechanism is connected to the mounting plate, the rotating shaft is arranged on the mounting plate along the extending direction of the first longitudinal wall-climbing mechanism, the second transverse wall-climbing mechanism is connected to the rotating shaft, and the driving motor is used for driving the rotating shaft to rotate.
3. The wall-climbing robot as claimed in claim 2, wherein the hinge mechanism further comprises a connecting hinge base, a shaft coupler and a thrust bearing, the thrust bearing is mounted on the mounting base plate, one end of the rotating shaft forms transmission with the driving motor through the shaft coupler, the other end of the rotating shaft is rotatably connected to the thrust bearing, the connecting hinge base is connected to the rotating shaft and connected to a second transverse wall-climbing mechanism, and the connecting hinge base is located between the shaft coupler and the thrust bearing.
4. A wall-climbing robot as claimed in any one of claims 1 to 3, wherein the first transverse wall-climbing mechanism extends in a direction perpendicular to the first longitudinal wall-climbing mechanism, and the second transverse wall-climbing mechanism extends in a direction perpendicular to the second longitudinal wall-climbing mechanism.
5. A wall-climbing robot according to any one of claims 1-3, wherein the first wall-climbing assembly and the second wall-climbing assembly each have a vacuum chuck.
6. A wall-climbing robot wall body traveling method applied to the wall-climbing robot according to any one of claims 1 to 5, wherein the wall body includes a first wall body and a second wall body that are perpendicular to each other, the method comprising:
acquiring the distance between the current wall-climbing robot and the second wall body;
when the distance between the wall-climbing robot and the second wall body is a preset distance, controlling the second wall-climbing assembly to be separated from the first wall body;
controlling a first wall climbing assembly to advance towards the second wall body and controlling the second wall climbing assembly to rotate relative to the first wall climbing assembly until the first wall climbing assembly reaches the second wall body;
and controlling the second wall climbing assembly to adsorb the second wall body, wherein the first wall climbing assembly is separated from the first wall body.
7. The method of claim 6, wherein when a reentrant angle is formed between the first wall and the second wall, the controlling the first wall climbing assembly to travel toward the second wall and the second wall climbing assembly to rotate relative to the first wall climbing assembly until the first wall climbing assembly reaches the second wall comprises:
controlling a second wall climbing assembly to rotate relative to the first wall climbing assembly to be vertical to the first wall climbing assembly; and
and controlling the first wall climbing assembly to move forwards until the second wall climbing assembly is attached to the second wall body and the first wall climbing assembly reaches the second wall body.
8. The method of claim 7, wherein the controlling the second wall-climbing assembly to adsorb the second wall further comprises, after the first wall-climbing assembly is detached from the first wall:
controlling the second wall climbing assembly to move forward until the distance between the second wall climbing assembly and the first wall body is larger than or equal to a preset distance; and
and rotating the first wall climbing assembly until the first wall climbing assembly is attached to the second wall body and adsorbed on the second wall body.
9. The method of any of claims 6-8, wherein the controlling the first wall climbing assembly to travel toward the second wall and the second wall climbing assembly to rotate relative to the first wall climbing assembly when an external corner is formed between the first wall and the second wall comprises:
controlling the first wall climbing assembly to advance until the second wall climbing assembly completely leaves the first wall and the first wall climbing assembly reaches the second wall; and
and controlling the second wall climbing assembly to rotate relative to the first wall climbing assembly until the second wall climbing assembly is attached to the second wall.
10. The method of claim 9, wherein the controlling the second wall-climbing assembly to adsorb the second wall further comprises, after the first wall-climbing assembly is detached from the first wall:
rotating the first wall climbing assembly until the first wall climbing assembly is parallel to the second wall body; and
controlling the second wall climbing assembly to advance.
CN202010010525.9A 2020-01-06 2020-01-06 Wall climbing robot and wall body advancing method of wall climbing robot Active CN111152858B (en)

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