CN111493732A - Gecko-like glass wiping robot and glass wiping method - Google Patents
Gecko-like glass wiping robot and glass wiping method Download PDFInfo
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- CN111493732A CN111493732A CN202010340372.4A CN202010340372A CN111493732A CN 111493732 A CN111493732 A CN 111493732A CN 202010340372 A CN202010340372 A CN 202010340372A CN 111493732 A CN111493732 A CN 111493732A
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Classifications
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L1/00—Cleaning windows
- A47L1/02—Power-driven machines or devices
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/38—Machines, specially adapted for cleaning walls, ceilings, roofs, or the like
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4036—Parts or details of the surface treating tools
- A47L11/4038—Disk shaped surface treating tools
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4061—Steering means; Means for avoiding obstacles; Details related to the place where the driver is accommodated
-
- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L11/00—Machines for cleaning floors, carpets, furniture, walls, or wall coverings
- A47L11/40—Parts or details of machines not provided for in groups A47L11/02 - A47L11/38, or not restricted to one of these groups, e.g. handles, arrangements of switches, skirts, buffers, levers
- A47L11/4063—Driving means; Transmission means therefor
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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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- E—FIXED CONSTRUCTIONS
- E04—BUILDING
- E04G—SCAFFOLDING; FORMS; SHUTTERING; BUILDING IMPLEMENTS OR AIDS, OR THEIR USE; HANDLING BUILDING MATERIALS ON THE SITE; REPAIRING, BREAKING-UP OR OTHER WORK ON EXISTING BUILDINGS
- E04G23/00—Working measures on existing buildings
- E04G23/002—Arrangements for cleaning building facades
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/04—Automatic control of the travelling movement; Automatic obstacle detection
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- A—HUMAN NECESSITIES
- A47—FURNITURE; DOMESTIC ARTICLES OR APPLIANCES; COFFEE MILLS; SPICE MILLS; SUCTION CLEANERS IN GENERAL
- A47L—DOMESTIC WASHING OR CLEANING; SUCTION CLEANERS IN GENERAL
- A47L2201/00—Robotic cleaning machines, i.e. with automatic control of the travelling movement or the cleaning operation
- A47L2201/06—Control of the cleaning action for autonomous devices; Automatic detection of the surface condition before, during or after cleaning
Abstract
The invention discloses a gecko-like glass wiping robot and a glass wiping method, wherein the gecko-like glass wiping robot comprises a trunk, a front working part and a rear working part, wherein the front working part and the rear working part are symmetrically arranged at two ends of the trunk; can replace human beings to finish the glass cleaning task under the high-altitude dangerous environment. The trunk adopts the elastic metal sheet, the structure is simple, the adsorption type bionic palm is adopted instead of the air pressure type bionic palm, so that the robot is lighter and more flexible, and the wiping mechanism is combined with the gecko-like robot, so that the robot can be applied to the glass cleaning task in the high-altitude dangerous environment.
Description
Technical Field
The invention belongs to the technical field of machinery, and particularly relates to a gecko-like glass wiping robot and a glass wiping method.
Background
The gecko-like robot is a novel wall-climbing robot designed and researched by scientists according to the motion mode of geckos. The gecko-like robot has a wide application range, and is widely applied to the industries of aerospace detection, ship detection, medical treatment, search and rescue, military, anti-terrorism and the like due to small volume, light weight and flexible action, so that various research technologies of the gecko-like robot are concerned internationally.
With the development of modern cities, a plurality of high-rise buildings appear, the lighting problem in the use process is considered at the beginning of the design of the buildings, when a single-storey house is designed to improve the lighting problem of users, designers think of increasing the number and the area of windows on the wall, and the buildings are also treated in the same way, except for increasing the space between the buildings, the number and the area of the windows are increased by the currently feasible method widely applied to the building industry. This is accompanied by the risk problem of glass cleaning operations in high-rise buildings. At present, the cost of cleaning glass by a home administration company is high, and the cleaning is finished by manual operation, so that the danger is extremely high. Therefore, a robot which can move and stay on a vertical wall surface like a gecko needs to be provided to realize the function of wiping the glass.
Disclosure of Invention
Aiming at the problems in the prior art, the invention aims to provide a gecko-like robot capable of being used for high-altitude operation and a glass wiping method, which can be used for replacing human beings to complete a glass cleaning task in a high-altitude dangerous environment. The robot has the core innovation point that the trunk of the robot adopts an elastic metal sheet, the structure is simple, an adsorption type bionic palm is adopted instead of an air pressure type bionic palm, so that the robot is lighter and more flexible, and a wiping mechanism is combined with the gecko-like robot, so that the robot can be applied to a glass cleaning task in a high-altitude dangerous environment.
In order to achieve the purpose, the gecko-like glass wiping robot comprises a trunk, a front working part and a rear working part, wherein the front working part and the rear working part are symmetrically arranged at two ends of the trunk; a first steering engine for driving the thigh root to rotate is installed on the front bent plate, a second steering engine for driving the thigh to rotate is installed on the thigh root, a third steering engine for driving the shank to rotate is installed on the thigh, and a fourth steering engine for driving the pull rope on the bionic palm to act is installed on the shank; the bionic palm comprises a palm part and a plurality of finger parts fixed on the palm part, an elastic sheet is inserted into each finger part, and the palm center of the bionic palm is provided with a micro-nano adhesion array.
Furthermore, the wiping structure comprises a disc-shaped part, a rotating shaft is fixed on the disc-shaped part, and a plurality of hooks for fixing the cleaning cloth are uniformly arranged on the edge of the upper end surface of the disc-shaped part; the cleaning cloth is arranged on the disc-shaped part through a hook.
Furthermore, the trunk is made of 65Mn material, and the thickness of the trunk is 0.2mm +/-0.1 mm.
Furthermore, a safety rope is fixed on the trunk.
Further, the one end that shank and bionical palm are connected sets up spring assembly, spring assembly includes the casing, the spring spindle, a spring, plug wire and spring jack, the casing is fixed on the shank, the spring spindle passes the casing, lower extreme and bionical palm fixed connection, the upper end stretches out the casing top, the plug wire passes spring spindle upper portion in order to prevent that spring spindle and shank break away from, the spring spindle lower part is located the casing department outward and is fixed with the spring jack, the last cover of spring spindle has compression spring, the casing is stretched out to the compression spring lower part, withstand by the spring jack when compression spring compresses.
Furthermore, the elastic piece is fixedly connected with the lower end of the pull rope at the position close to the top end, the upper end of the pull rope is fixed on a second steering engine connecting piece, and the second steering engine connecting piece is installed on a rotating shaft of a fourth steering engine.
Furthermore, a rotating shaft of the third steering engine is fixedly connected with a first steering engine connecting piece, and the first steering engine connecting piece is fixed with the shank through a fastening piece.
A glass wiping method based on the gecko-imitated glass wiping robot comprises the following steps:
step 1: adhering the robot to the glass;
step 2: starting the steering engines on the two shanks in the diagonal direction of the robot to enable the two bionic palms in the diagonal direction to leave the surface of the glass; the two shanks in this step are marked as a first shank and a second shank;
and step 3: when the step 2 is executed, starting a steering engine for controlling the first thigh root and the second thigh root, enabling the first thigh root and the second thigh root to rotate in the direction far away from the glass, and enabling the first bionic palm and the second bionic palm to leave the surface of the glass;
and 4, step 4: when the first thigh root and the second thigh root rotate, the steering engines on the first thigh root and the second thigh root are started to respectively drive the first thigh to rotate anticlockwise by 30-45 degrees, the second thigh to rotate clockwise, and the rotation angle of the second thigh is the same as that of the first thigh;
and 5: when the first thigh and the second thigh rotate, the steering engines on the first thigh and the second thigh are started to respectively drive the first shank to rotate clockwise, the second shank to rotate anticlockwise, the steering engines on the first shank and the second shank rotate to enable the pull rope to be loosened, and the front end of the bionic palm extends;
step 6: the first thigh root drives the first thigh to rotate towards the direction close to the glass, and the second thigh root drives the second thigh to rotate towards the direction close to the glass, so that the first bionic palm and the second bionic palm are adsorbed on the glass;
and 7: starting the steering engines on the third shank and the fourth shank to drive the pull rope to rotate, and enabling the third bionic front end and the fourth bionic front end to be desorbed through pulling of the pull rope;
and 8: when the steering engines of the third calf and the fourth calf are started, the steering engines driving the third thigh root and the fourth thigh root are started, so that the third thigh root drives the third thigh to rotate in the direction far away from the glass, and the fourth thigh root drives the fourth thigh to rotate in the direction far away from the glass, so that the third bionic palm and the fourth bionic palm are desorbed and leave the surface of the glass;
and step 9: when step 8 is executed, starting the steering engines on the third thigh root and the fourth thigh root to respectively drive the third thigh to rotate clockwise and the fourth thigh to rotate anticlockwise;
step 10: when the third thigh and the fourth thigh rotate, the steering engines on the third thigh and the fourth thigh are started to respectively drive the third shank to rotate anticlockwise and the fourth shank to rotate clockwise;
step 11: the third thigh root enables the third thigh to rotate towards the direction close to the glass, and the fourth thigh root enables the fourth thigh to rotate towards the direction close to the glass, so that the third bionic palm and the fourth bionic palm are adsorbed on the glass;
step 12: and (4) repeating the steps 1 to 11, wherein in the walking process of the robot, the wiping structure cleans the glass by rotating, and after the wiping structure on the upper half part is cleaned for the first time, the wiping structure on the lower half part is cleaned for the second time.
Furthermore, in step 3, the angle of rotation of the second thigh in the direction away from the glass is the same as that of the first thigh root; in step 8, the angle of rotation of the fourth thigh in the direction away from the glass is the same as the angle of rotation of the third thigh; in step 11, the angle of rotation of the third thigh in the direction approaching the glass is the same as the angle of rotation of the third thigh root in step 8, and the angle of rotation of the fourth thigh in the direction approaching the glass is the same as the angle of rotation of the fourth thigh root in step 8.
Compared with the prior art, the invention has at least the following beneficial technical effects:
aiming at the existing gecko-like robot product, the flexibility of the trunk part of the body of the robot is increased, the purpose is to realize the waist twisting action similar to that of a biological gecko in the movement process, and the trunk is specially designed into an elastic metal sheet, so that the degree of freedom of the robot is increased. The micro-nano adhesion array is adopted in the bionic palm part in consideration of the problems of volume and quality and cost of the robot. A detachable glass wiping mechanism is added in the gecko-like robot, so that the conversion from the industrial direction of the robot to a household intelligent electric appliance is realized. Meanwhile, a mechanical structure capable of assembling and disassembling the cleaning tool for cleaning the glass is added, and the characteristics of small volume and light weight are realized through reasonable design.
Furthermore, the main body of the wiping structure is a disc-shaped part, a rotating shaft is arranged in the middle of the disc-shaped part, hooks for sleeving and fixing cleaning cloth with an elastic opening are uniformly arranged on the edge of the upper end face of the disc-shaped part, and the hooks are cylindrical; the cleaning cloth is arranged on the disc-shaped part through a hook. This wiping mechanism simple structure, the rag on it can directly be dismantled and change, and laminating actual conditions cleans through the secondary and can make to wash and clean the effect better.
Furthermore, the trunk is made of 65Mn materials, the thickness of the trunk is 0.2mm +/-0.1 mm, and the weight of the robot body is reduced while the flexibility of the trunk of the robot is increased.
Furthermore, a safety rope is fixed at one end of the trunk to control the robot to ascend or descend so as to realize the adsorption and desorption of the bionic palm.
Furthermore, one end of the shank connected with the bionic palm is provided with a spring device, the spring device comprises a shell, a spring mandrel, a spring, a plug wire and a spring top disc, the shell is fixed on the shank, the spring mandrel penetrates through the shell, the lower end of the spring mandrel is fixedly connected with the bionic palm, the upper end of the spring mandrel extends out of the top of the shell, the plug wire penetrates through the upper portion of the spring mandrel to prevent the spring mandrel from being separated from the shank, the spring top disc is fixed at the position, outside the shell, of the lower portion of the spring mandrel, a compression spring is sleeved on the spring mandrel, the lower portion of the compression spring extends out of the shell and is. The compression spring on the spring mandrel plays a role in buffering and damping, and the spring top disc below the spring mandrel can prevent the compression spring from popping up.
Furthermore, the elastic piece is fixedly connected with the lower end of the pull rope at the position close to the top end, the upper end of the pull rope is fixed on a second steering engine connecting piece, and the second steering engine connecting piece is installed on a rotating shaft of a fourth steering engine. Adopt the crooked in order to reach the bionical palm desorption of part of fourth steering wheel rotation control stay cord traction elastic sheet to reduce because bionical palm adsorbs in the great rotating resistance that the glass surface produced by a large scale for the thigh root, make bionical palm change the desorption, when the rotation of fourth steering wheel makes the stay cord relax, the elastic sheet extends, increases bionical palm and glass surface's area of contact, makes bionical palm change adsorb.
A method based on glass cleaning ensures that a robot can be stuck on glass all the time by means of synchronous action of two leg structures in the diagonal direction and the way that the other pair of leg structures in the diagonal direction is attached to the glass, then the glass is cleaned by rotation of a cleaning structure, the upper half part of the glass is cleaned once and the lower half part of the glass is cleaned again at the same position, and the cleaning efficiency is high.
Furthermore, in step 3, the angle of rotation of the second thigh in the direction away from the glass is the same as that of the first thigh root; in step 8, the angle of rotation of the fourth thigh in the direction away from the glass is the same as the angle of rotation of the third thigh; in the step 11, the angle of rotation of the third thigh towards the direction close to the glass is the same as the angle of rotation of the third thigh root in the step 8, and the angle of rotation of the fourth thigh towards the direction close to the glass is the same as the angle of rotation of the fourth thigh root in the step 8, so that the robot can be guaranteed to walk along a straight line, and the region to be cleaned is further guaranteed not to be missed.
Because this robot belongs to foot formula robot, the motion is nimble, all has stronger adaptability to various topography, and hinders the ability fabulous, has very strong adaptability under non-structural environment, also accords with and follows the actual conditions that most of the living beings in nature simultaneously, when the robot meets glass junction portion, less salient position or depressed part, can not take place vibrations or collide with and cause the damage to glass like crawler-type or wheeled, and can easily cross.
Drawings
FIG. 1 is a front view of the mechanical structure of the robot of the present invention;
FIG. 2 is a left side view of the mechanical structure of the robot of the present invention;
FIG. 3 is a top view of the robotic mechanical structure of the present invention;
FIG. 4 is a three-dimensional schematic view of the robotic wiping mechanism of the present invention;
FIG. 5 is a left side view of the lower leg and the biomimetic palm of the robot of the present invention;
fig. 6 is a left side view of the rear working portion of the robot of the present invention.
1-bionic palm, 2-calf, 3-thigh, 4-thigh root, 5-motor fixed sleeve, 6-rotating disk, 7-trunk, 8-front bending plate, 9-first inner hexagonal socket head screw, 101-first steering gear, 102-second steering gear, 103-third steering gear, 104-fourth steering gear, 11-plug wire, 12-safety rope, 13-elastic sheet, 14-first cross recessed pan head screw, 15-spring top plate, 16-compression spring, 17-second cross recessed pan head screw, 18-cross recessed pan head screw, 19-third cross recessed pan head screw, 21-second inner hexagonal socket head screw, 22-table plate, 23-tail bending plate, 24-first steering gear, 25-spring mandrel, 26-a pull rope, 27-a motor, 28-a jackscrew, 31-a disc-shaped part, 32-a hook, 33-a rotating shaft, 34-a rotating shaft of a third steering engine, 35-a head part, 36-a tail part, 37-a shell, 38-a rotating shaft of a fourth steering engine, and 39-a second steering engine connecting piece; 40-palm, 41-finger.
Detailed Description
In order to make the objects and technical solutions of the present invention clearer and easier to understand. The present invention will be described in further detail with reference to the following drawings and examples, wherein the specific examples are provided for illustrative purposes only and are not intended to limit the present invention.
Referring to fig. 1, the gecko-like glass wiping robot comprises a head 35, a trunk 7 and a tail 36 which are sequentially connected, wherein a front working part and a rear working part which are identical in structure and size are installed at two ends of the trunk 7, the front working part and the rear working part are completely symmetrically arranged, the trunk 7 is made of light high-strength materials such as elastic metal sheets, the mass of the robot can be greatly reduced, and the robot is more flexible. Specifically, the trunk 7 is made of 65Mn metal sheet with a length of 102mm +/-0.5 mm, a width of 10mm +/-0.5 mm and a thickness of 0.2mm +/-0.1 mm.
The front working part consists of a wiping structure, a bionic palm 1 and two same leg structures symmetrically arranged on the wiping structure, and the two leg structures are arranged on the wiping structure through a front bent plate 8. The head part 35 is fixed on the front bent plate 8, the rear working part is composed of a wiping structure, a bionic palm 1 and two leg structures symmetrically arranged on the wiping structure, the two leg structures are arranged on the wiping structure through the tail bent plate 23, and the tail part 36 is fixed on the tail bent plate 23.
Referring to fig. 4, the wiping structure comprises a motor 27 and a rotating disc 6, the rotating disc 6 is mainly a disc-shaped part 31, a rotating shaft 33 is arranged in the middle of the disc-shaped part 31, 8 hooks 32 for sleeving and fixing cleaning cloth with an elastic opening are uniformly arranged on the edge of the upper end face of the disc-shaped part 31, and the hooks 32 are cylindrical; the cloth is attached to the disc shaped part 31 by means of hooks 32. The motor 27 is used to drive the disc shaped part 31 in rotation.
Referring to fig. 1, the gecko-like glass cleaning robot is controlled by a steering engine and matched with a safety rope 12 to control the robot to ascend or descend so as to realize the adsorption of a bionic palm.
The bionic palm 1 comprises a palm part and four finger parts fixed on the outer side of the palm part, an elastic sheet 13 is inserted into each finger part, the elastic sheet 13 is made of 65Mn, the size of the elastic sheet is 0.5mm × 2mm, × 22.5mm, a micro-nano adhesion array is fixed on the bionic palm 1 made of silica gel, and the micro-nano adhesion array is made of polyimide or silicon rubber.
Referring to fig. 1 and 2, the leg structure is a three-link structure, a front bending plate 8 and a thigh root 4, joints are respectively arranged between the thigh root 4 and the thigh 3, between the thigh 3 and the shank 2, and two parts at each joint are hinged through screws to realize the rotation of the leg. The thigh root 4 is mounted at a first end on the front bend plate 8, at a second end hinged to a first end of the thigh 3, and at a second end of the thigh 3 hinged to a first end of the calf 2. The rotation axes of the thigh root 4 and the front bending plate 8 are in the same plane with the thigh root 4, the rotation axes of the thigh root 4 and the thigh 3 are vertical to the thigh 3, and the rotation axes of the thigh 3 and the shank 2 are vertical to the shank 2. A first steering engine 101 for driving the thigh root 4 to rotate is arranged on the front bent plate 8, a second steering engine 102 for driving the thigh 3 to rotate is arranged on the thigh root 4, a third steering engine 103 for driving the shank 2 to rotate is arranged on the thigh 3, and a fourth steering engine 104 for driving the bionic palm stay rope 26 to move is arranged on the shank 2; the third cross-shaped groove pan head screw 19 fixedly connects the rotating shaft 34 of the third steering engine 103 on the thigh 3 with the first steering engine connecting piece 24, and the first steering engine connecting piece 24 is fixed with the shank 2 through the two cross-shaped groove countersunk head screws 18, so that the third steering engine 103 on the thigh 3 controls the shank 2 to rotate. The connection mode of the rotating shaft of the first steering engine 101 and the thigh root 4 and the connection mode of the rotating shaft of the second steering engine 102 and the thigh are the same as the connection mode of the rotating shaft 34 of the third steering engine and the shank 2. All the steering engines are respectively fixed on corresponding leg parts through four first cross-shaped pan head screws 14.
The rotation shaft 38 of the fourth steering engine is fixed with the second steering engine connecting piece 39 through the second cross-shaped groove pan head screw 17, when the steering engine rotation shaft 34 rotates, the second steering engine connecting piece 39 is driven to rotate, and the pull rope 26 terminal is fixed on the small hole in the second steering engine connecting piece 39, so that in the rotating process of the second steering engine connecting piece 39, the pull rope 26 can pull the elastic piece on the bionic palm 1 upwards to lift or loosen the part of the bionic palm 1, which is inserted with the elastic piece, and the pull rope 26 enables the elastic piece to be in a free state.
Referring to fig. 5 and 6, a spring device is designed at one end of the lower leg 2 connected with the bionic palm 1, the spring device comprises a shell 37, a spring mandrel 25, a spring 16, a plug wire 11 and a spring top disc 15, the shell 37 is fixed on the lower leg 2, the spring mandrel 25 penetrates through the shell 37, the lower end of the spring mandrel 25 is fixedly connected with the bionic palm 1, the upper end of the spring device extends out of the top of the shell 37, the plug wire 11 penetrates through a small hole in the upper portion of the spring mandrel 25 to prevent the spring mandrel from being separated from the lower leg 2, the length of the plug wire 11 is greater than the diameter of a through hole formed in the top of the shell 37 and used for penetrating through the spring mandrel 25, the spring top disc 15 is fixed at the position, outside the shell 37, the spring mandrel 25 is sleeved with the compression spring 16; the compression spring 16 on the spring mandrel 25 plays a role of buffering and damping, and the spring top disk 15 below the spring mandrel 25 can prevent the compression spring 16 from being ejected.
In fig. 6, a rotating shaft of a first steering engine 101 below the front bent plate 8 penetrates through the front bent plate 8, and the end of the rotating shaft of the first steering engine 101 is fixed with the thigh root 4 so as to drive the thigh root 4 to rotate through the rotating shaft of the steering engine. The front bent plate 8 comprises a horizontal part and a vertical part which are fixedly connected, the horizontal part of the front bent plate 8 is provided with a motor 27 through a motor fixing sleeve 5, a power output shaft of the motor is connected with a rotating shaft 33 of the wiping mechanism through a jackscrew 28, two ends of the trunk 7 are respectively fixed with a n-shaped plate 22, the n-shaped plate 22 is riveted with the horizontal part of the front bent plate 8 through four first inner hexagonal cylindrical head screws 9, the vertical part of the front bent plate 8 is fixedly provided with a steering engine 10, and the front bent plate 8 and the trunk 7 are fixedly connected together through a second inner hexagonal cylindrical head screw 21 and the n-shaped plate 22 of the front working part; the pull rope 26 keeps the elastic bionic palm to be unfolded constantly through the drawing action, one end of the pull rope 26 is arranged at the position, close to the top end, of the elastic sheet 13, and the other end of the pull rope 26 penetrates through the lower end of the small leg and is fixed on the steering engine connecting piece 24 of the small leg.
Preferably, the head is fixed with safety rope 12, and safety rope 12 can hold the robot when the robot accidentally drops, plays a role in safety, and also can play a role in quickly descending or quickly lifting the height.
The walking method of the robot comprises the following steps:
step 1: and adhering the robot to the vertical glass through the micro-nano adhesion array, and starting a power supply.
Step 2: the steering engines on the right front calf and the left rear calf of the robot are started, and the front ends of the right front bionic palm and the left rear bionic palm are detached by pulling the elastic pieces through the pull ropes.
And step 3: when the steering engines on the right front calf and the left rear calf of the robot are started, the steering engines controlling the right front thigh root and the left rear thigh root on the front bending plate 8 and the rear bending plate 23 are started, the right front thigh root enables the right front thigh to rotate 10-30 degrees in the direction far away from the glass, the left rear thigh root enables the left rear thigh to rotate in the direction far away from the glass, the angle of the left rear thigh root is the same as that of the right front thigh root, and the right front bionic palm and the left rear bionic palm are enabled to be desorbed to leave the surface of the glass.
And 4, step 4: when the thigh root rotates, the steering engines on the right front thigh root and the left back thigh root are started to respectively drive the right front thigh to rotate anticlockwise by 30-45 degrees, the left back thigh rotates clockwise, and the angle of the left back thigh is equal to the rotation angle of the right front thigh.
And 5: when the thigh root and the thigh rotate, the steering engines on the right front thigh and the left rear thigh are started to respectively drive the right front shank to rotate clockwise, the angle of the steering engines is equal to the rotation angle of the right front thigh in the step 3, the left rear shank rotates anticlockwise, and the angle of the steering engines is equal to the rotation angle of the right front thigh in the step 3.
Step 6: the steering engines on the right front lower leg and the left rear lower leg rotate to enable the pull rope to be loosened, and the front end of the bionic palm extends. The right front thigh root enables the right front thigh to rotate towards the direction close to the glass, the angle of the right front thigh root is equal to the angle of the right front thigh root in the step 3, the left back thigh root enables the left back thigh to rotate towards the direction close to the glass, the angle of the left back thigh root is equal to the angle of the right front thigh root in the step 3, and therefore the right front bionic palm and the left back bionic palm are adsorbed on the glass.
And 7: the steering engines on the left front crus and the right rear crus of the robot are started, and the front ends of the left front bionic palm and the right rear bionic palm are desorbed by pulling the elastic pieces through the pull ropes.
And 8: when the steering engines on the left front calf and the right rear calf of the robot are started, the steering engines on the left front thigh root and the right rear thigh root are controlled on the front bending plate 8 and the rear bending plate 23 to be started, the left front thigh root drives the left front thigh to rotate 10-30 degrees in the direction away from the glass, the right rear thigh root drives the right rear thigh to rotate in the direction away from the glass, the angle of the left front thigh root is the same as that of the left front thigh root, and the left front bionic palm and the right rear bionic palm are desorbed to leave the surface of the glass.
And step 9: when the left front thigh root and the right rear thigh root rotate, the steering engines on the left front thigh root and the right rear thigh root are started to respectively drive the left front thigh to rotate clockwise, the angle of the left front thigh is equal to the angle of the right front thigh in the step 3, the right rear thigh rotates anticlockwise, and the angle of the right rear thigh is equal to the angle of the right front thigh in the step 3.
Step 10: when the thigh root and the thigh rotate, the steering engines on the front left thigh and the rear right thigh are started to respectively drive the front left shank to rotate anticlockwise, the angle of the front left shank is equal to the angle of the front right thigh in the step 3, the rear right shank rotates in the same direction, and the angle of the rear right shank is equal to the angle of the front right thigh in the step 3.
Step 11: the left front thigh root enables the left front thigh to rotate towards the direction close to the glass, the angle of the left front thigh root is the same as the rotating angle of the left front thigh root in the step 8, the right rear thigh root enables the right rear thigh to rotate towards the direction close to the glass, the angle of the right rear thigh root is the same as the rotating angle of the left front thigh root in the step 8, and therefore the left front bionic palm and the right rear bionic palm are adsorbed on the glass.
Step 12: and (3) repeating the steps 1 to 9, wherein in the walking process of the robot, the two rotating disks 6 rotate continuously to achieve the cleaning effect, and after the wiping structure on the upper half part is cleaned for the first time, the wiping structure on the lower half part is cleaned for the second time.
The following describes the walking mode of the robot according to the present invention with different embodiments:
example 1
The upward walking process is as follows:
step 1: adhering a robot to the vertical glass;
step 2: the steering engines on the right front calf and the left rear calf of the robot are started, and the front ends of the right front bionic palm and the left rear bionic palm are detached by pulling the elastic pieces through the pull ropes.
And step 3: when the steering engines on the right front calf and the left rear calf of the robot are started, the steering engines controlling the right front thigh root and the left rear thigh root on the front bending plate and the rear bending plate are started, the right front thigh root enables the right front thigh to rotate 10-30 degrees in the direction away from the glass, the left rear thigh root enables the left rear thigh to rotate in the direction away from the glass, the angle of the left rear thigh root is the same as that of the right front thigh root, and the right front bionic palm and the left rear bionic palm are desorbed to leave the surface of the glass.
And 4, step 4: when the thigh root rotates, the steering engines on the right front thigh root and the left back thigh root are started to respectively drive the right front thigh to rotate 30 degrees anticlockwise and the left back thigh to rotate 30 degrees clockwise.
And 5: when the thigh root and the thigh rotate, the steering engines on the right front thigh and the left rear thigh are started to respectively drive the right front shank to rotate 30 degrees clockwise and the left rear shank to rotate 30 degrees counterclockwise.
Step 6: the steering engine on the shank rotates to loosen the pull rope, so that the front end of the bionic palm extends. The right front thigh root makes the right front thigh rotate 10 degrees in the direction close to the glass, the left back thigh root makes the left back thigh rotate 10 degrees in the direction close to the glass, and the right front bionic palm and the left back bionic palm are adsorbed on the glass.
And 7: the steering engines on the left front crus and the right rear crus of the robot are started, and the front ends of the left front bionic palm and the right rear bionic palm are desorbed by pulling the elastic pieces through the pull ropes.
And 8: when the steering engines on the right front calf and the left rear calf of the robot are started, the steering engines on the front bending plate and the rear bending plate control the left front thigh root and the right rear thigh root to start, the left front thigh root enables the left front thigh to rotate 10 degrees in the direction away from the glass, the right rear thigh root enables the right rear thigh to rotate 10 degrees in the direction away from the glass, and the left front bionic palm and the right rear bionic palm are desorbed to leave the surface of the glass.
And 8: when the thigh root rotates, the steering engines on the left front thigh root and the right rear thigh root are started to respectively drive the left front thigh to rotate 30 degrees clockwise and the right rear thigh to rotate 30 degrees counterclockwise.
And step 9: when the thigh root and the thigh rotate, the steering engines on the left front thigh and the right rear thigh are started to respectively drive the left front shank to rotate 30 degrees anticlockwise and the right rear shank to rotate 30 degrees clockwise.
Step 10: the steering engine on the shank rotates to loosen the pull rope, so that the front end of the bionic palm extends. The left front thigh root enables the left front thigh to rotate 10 degrees in the direction close to the glass, and the right rear thigh root enables the right rear thigh to rotate 10 degrees in the direction close to the glass, so that the left front bionic palm and the right rear bionic palm are adsorbed on the glass.
Thus, one-time upward walking is completed.
Example 2:
the downward walking process is as follows:
step 1: adhering a robot to the vertical glass;
step 2: the steering engines on the right front calf and the left rear calf of the robot are started, and the front ends of the right front bionic palm and the left rear bionic palm are detached by pulling the elastic pieces 13 through the pull ropes.
And step 3: when the steering wheel on the right front shank and the left back shank of the robot is started, the steering wheel controlling the right front shank root and the left back shank root on the front bent plate and the tail bent plate is started, the right front shank root enables the right front shank to rotate 30 degrees in the direction away from the glass, the left back shank root enables the left back shank to rotate in the direction away from the glass, the angle of the left back shank root is the same as that of the left front shank root, the left front bionic palm and the right back bionic palm are enabled to be desorbed, and the left front thigh root and the left back thigh root are enabled to be separated from the.
And 4, step 4: when the thigh root rotates, the steering engines on the right front thigh root and the left back thigh root are started to respectively drive the right front thigh to rotate 45 degrees anticlockwise and the left back thigh to rotate 45 degrees clockwise.
And 5: when the thigh root and the thigh rotate, the steering engines on the right front thigh and the left rear thigh are started to respectively drive the right front shank to rotate 45 degrees clockwise and the left rear shank to rotate 45 degrees counterclockwise.
Step 6: the steering engine on the shank rotates to loosen the pull rope, so that the front end of the bionic palm extends. The left front thigh root enables the left front thigh to rotate 30 degrees towards the direction close to the glass, the right rear thigh root enables the right rear thigh to rotate 30 degrees towards the direction close to the glass, and the left front bionic palm and the right rear bionic palm are adsorbed on the glass.
And 7: the steering engines on the right front calf and the left rear calf of the robot are started, and the front ends of the left front bionic palm and the right rear bionic palm are detached by pulling the elastic pieces through the pull ropes.
And 8: when the steering gears on the left front calf and the right rear calf of the robot are started, the steering gears controlling the right front thigh root and the left rear thigh root on the front bending plate and the rear bending plate are started, the right front thigh root enables the right front thigh to rotate 30 degrees in the direction away from the glass, the left rear thigh root enables the left rear thigh to rotate 30 degrees in the direction away from the glass, the right front bionic palm and the left rear bionic palm are made to desorb, and the left front bionic palm and the left rear bionic palm leave the surface of the glass.
And 8: when the thigh root rotates, the steering engines on the left front thigh root and the right rear thigh root are started to respectively drive the left front thigh to rotate 45 degrees clockwise and the right rear thigh to rotate 45 degrees counterclockwise.
And step 9: when the thigh root and the thigh rotate, the steering engines on the left front thigh and the right rear thigh are started to respectively drive the left front shank to rotate 45 degrees anticlockwise and the right rear shank to rotate 45 degrees clockwise.
Step 10: the steering engine on the shank rotates to loosen the pull rope, so that the front end of the bionic palm extends. The left front thigh root enables the left front thigh to rotate 30 degrees towards the direction close to the glass, the right rear thigh root enables the right rear thigh to rotate 30 degrees towards the direction close to the glass, and the left front bionic palm and the right rear bionic palm are adsorbed on the glass.
Thus, one-time upward walking is completed.
The above-mentioned contents are only for illustrating the technical idea of the present invention, and the protection scope of the present invention is not limited thereby, and any modification made on the basis of the technical idea of the present invention falls within the protection scope of the claims of the present invention.
Claims (9)
1. The gecko-like glass wiping robot is characterized by comprising a trunk (7), a front working part and a rear working part, wherein the front working part and the rear working part are symmetrically arranged at two ends of the trunk (7), the front working part and the rear working part are identical in structure, the front working part comprises a front bent plate (8), a wiping structure, a bionic palm (1) and two leg structures symmetrically arranged on the wiping structure, and the wiping structure and the two leg structures are both arranged on the front bent plate (8);
a first steering engine (101) for driving a thigh root (4) to rotate is mounted on the front bent plate (8), a second steering engine (102) for driving a thigh (3) to rotate is mounted on the thigh root (4), a third steering engine (103) for driving a shank (2) to rotate is mounted on the thigh (3), and a fourth steering engine (104) for driving a bionic palm pull rope (26) to move is mounted on the shank (2);
bionic palm (1) include palm portion (40) and fix a plurality of finger portions (41) on palm portion (40), and an flexure strip (13) has been inserted in every finger portion (41), and bionic palm (1) palm center is provided with micro-nano adhesion array.
2. The gecko-like glass wiping robot according to claim 1, wherein the wiping structure comprises a disc-shaped part (31), a rotating shaft (33) is fixed on the disc-shaped part (31), and a plurality of hooks (32) for fixing rags are uniformly arranged on the edge of the upper end face of the disc-shaped part (31); the rag is arranged on the disc-shaped part (31) through a hook (32).
3. The gecko-like glass wiping robot according to claim 1, wherein the trunk (7) is made of 65Mn material, and the thickness of the trunk (7) is 0.2mm +/-0.1 mm.
4. The gecko-like glass wiping robot according to claim 1, characterized in that a safety rope (12) is fixed on the trunk (7).
5. The gecko-like glass wiping robot according to claim 1, wherein a spring device is arranged at one end of the shank (2) connected with the bionic palm (1), the spring device comprises a shell (37), a spring mandrel (25), a spring (16), a plug wire (11) and a spring top disc (15), casing (37) are fixed on shank (2), casing (37) are passed in spring spindle (25), lower extreme and bionical palm (1) fixed connection, casing (37) top is stretched out to the upper end, plug wire (11) pass spring spindle (25) upper portion in order to prevent that spring spindle and shank (2) break away from, spring spindle (25) lower part is located casing (37) outer department and is fixed with spring jack-disk (15), the cover has compression spring (16) on spring spindle (25), casing (37) are stretched out to compression spring (16) lower part, withstand by spring jack-disk (15) when compression spring (16) compression.
6. The gecko-like glass wiping robot according to claim 1, wherein the elastic piece (13) is fixedly connected with the lower end of the pull rope (26) at a position close to the top end, the upper end of the pull rope (26) is fixed on a second steering engine connecting piece (39), and the second steering engine connecting piece (39) is installed on a rotating shaft (38) of a fourth steering engine.
7. The gecko-like glass wiping robot according to claim 1, wherein a rotating shaft (34) of the third steering engine is fixedly connected with the first steering engine connecting piece (24), and the first steering engine connecting piece (24) is fixed with the lower leg (2) through a fastener.
8. The gecko-imitated glass wiping robot based on the method as claimed in claim 1, characterized by comprising the following steps:
step 1: adhering the robot to the glass;
step 2: starting the steering engines on the two shanks in the diagonal direction of the robot to enable the two bionic palms (1) in the diagonal direction to leave the surface of the glass; the two shanks in this step are marked as a first shank and a second shank;
and step 3: when the step 2 is executed, starting a steering engine for controlling the first thigh root and the second thigh root, enabling the first thigh root and the second thigh root to rotate in the direction far away from the glass, and enabling the first bionic palm and the second bionic palm to leave the surface of the glass;
and 4, step 4: when the first thigh root and the second thigh root rotate, the steering engines on the first thigh root and the second thigh root are started to respectively drive the first thigh to rotate anticlockwise by 30-45 degrees, the second thigh to rotate clockwise, and the rotation angle of the second thigh is the same as that of the first thigh;
and 5: when the first thigh and the second thigh rotate, the steering engines on the first thigh and the second thigh are started to respectively drive the first shank to rotate clockwise, the second shank to rotate anticlockwise, the steering engines on the first shank and the second shank rotate to enable the pull rope (26) to be loosened, and the front end of the bionic palm (1) extends;
step 6: the first thigh root drives the first thigh to rotate towards the direction close to the glass, and the second thigh root drives the second thigh to rotate towards the direction close to the glass, so that the first bionic palm and the second bionic palm are adsorbed on the glass;
and 7: starting the steering engines on the third shank and the fourth shank to drive the pull rope (26) to rotate, and enabling the third bionic front end and the fourth bionic front end to be desorbed by pulling the pull rope (26);
and 8: when the steering engines of the third calf and the fourth calf are started, the steering engines driving the third thigh root and the fourth thigh root are started, so that the third thigh root drives the third thigh to rotate in the direction far away from the glass, and the fourth thigh root drives the fourth thigh to rotate in the direction far away from the glass, so that the third bionic palm and the fourth bionic palm are desorbed and leave the surface of the glass;
and step 9: when step 8 is executed, starting the steering engines on the third thigh root and the fourth thigh root to respectively drive the third thigh to rotate clockwise and the fourth thigh to rotate anticlockwise;
step 10: when the third thigh and the fourth thigh rotate, the steering engines on the third thigh and the fourth thigh are started to respectively drive the third shank to rotate anticlockwise and the fourth shank to rotate clockwise;
step 11: the third thigh root enables the third thigh to rotate towards the direction close to the glass, and the fourth thigh root enables the fourth thigh to rotate towards the direction close to the glass, so that the third bionic palm and the fourth bionic palm are adsorbed on the glass;
step 12: and (4) repeating the steps 1 to 11, wherein in the walking process of the robot, the wiping structure cleans the glass by rotating, and after the wiping structure on the upper half part is cleaned for the first time, the wiping structure on the lower half part is cleaned for the second time.
9. The glass wiping method by using the gecko-like glass wiping robot as claimed in claim 8, wherein in the step 3, the angle of rotation of the second thigh in the direction away from the glass is the same as that of the first thigh root; in step 8, the angle of rotation of the fourth thigh in the direction away from the glass is the same as the angle of rotation of the third thigh; in step 11, the angle of rotation of the third thigh in the direction approaching the glass is the same as the angle of rotation of the third thigh root in step 8, and the angle of rotation of the fourth thigh in the direction approaching the glass is the same as the angle of rotation of the fourth thigh root in step 8.
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| CN202010340372.4A CN111493732A (en) | 2020-04-26 | 2020-04-26 | Gecko-like glass wiping robot and glass wiping method |
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