CN111805539A - Flexible supporting leg wall surface operation platform based on machine vision - Google Patents
Flexible supporting leg wall surface operation platform based on machine vision Download PDFInfo
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- CN111805539A CN111805539A CN202010614640.7A CN202010614640A CN111805539A CN 111805539 A CN111805539 A CN 111805539A CN 202010614640 A CN202010614640 A CN 202010614640A CN 111805539 A CN111805539 A CN 111805539A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1694—Programme controls characterised by use of sensors other than normal servo-feedback from position, speed or acceleration sensors, perception control, multi-sensor controlled systems, sensor fusion
- B25J9/1697—Vision controlled systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/04—Endless track vehicles with tracks and alternative ground wheels, e.g. changeable from endless track vehicle into wheeled vehicle and vice versa
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
The invention relates to a flexible supporting leg wall surface operation platform based on machine vision, which comprises a machine body, wherein a mechanical arm and a camera are arranged on an upper cover of the machine body; two sides of the machine body are symmetrically provided with 2 groups of wheel legs; the wheel leg driving motor drives the wheel hub to further drive the wheel legs to rotate, and the operation platform is driven to walk on the wall surface; the wheel legs comprise at least 3 supporting legs, one end of each supporting leg is fixed on the hub in a centralized mode, the hub is fixed on a motor shaft of the wheel leg driving motor, the other end of each supporting leg is provided with a vacuum chuck, the supporting legs are arranged in a radial mode and rotate around the motor shaft as a center, and the vacuum chucks are alternately sucked on the wall surface in the rotating process; the invention sets wheel legs on the machine body, the wheel legs are provided with vacuum chucks, and the friction force between the chucks and the wall surface causes the operation platform to be attached to the wall surface. Two cameras are mounted on the upper cover, binocular vision is formed, the obstacle crossing is conducted through visual guidance, the obstacle crossing path is planned in real time according to the shape of the obstacle, and the device is wide in applicability, flexible, convenient and good in stability.
Description
Technical Field
The invention relates to the technical field of wall surface operation robots, in particular to a flexible supporting leg wall surface operation platform based on machine vision.
Background
With the rapid development of Chinese economy, wall surface operation of other high-rise structures such as skyscrapers, large-scale chimneys, wind driven generator towers, large-scale ships and the like needs a large amount of manpower and material resources, and the operation risk is huge.
The existing wall surface operation robot is of a magnetic adsorption type, and has the defects that the robot is limited to walking ferromagnetic wall surfaces, and in addition, a walking mechanism of the robot needs to generate magnetism, so that a large amount of electric energy is consumed. The fixed track type is also adopted, and has the limitations of high construction cost, fixed running path of the operation platform and poor flexibility; the vacuum adsorption crawler walking type has the limitation that the operation platform is required to be close to the wall surface, the operation is still carried out on the smooth and flat wall surface, and the application of the vacuum adsorption crawler walking type to the non-flat wall surface or the wall surface with obstacles is limited due to the poor obstacle crossing capability.
Disclosure of Invention
The flexible supporting leg wall surface operation platform based on machine vision can overcome the technical defects.
In order to achieve the purpose, the invention adopts the following technical scheme:
a flexible leg wall surface operation platform based on machine vision comprises a machine body, wherein the machine body comprises a cavity and an upper cover, a manipulator and a camera are arranged on the upper cover, a control module is arranged in the cavity, and the manipulator and the camera are respectively in communication connection with the control module;
the wheel legs are respectively arranged on one group of opposite side surfaces of the machine body, and two wheel legs are symmetrically arranged on each side surface;
the wheel legs comprise at least N supporting legs, N is a natural number which is more than or equal to 3, one end of each supporting leg is centrally fixed on the wheel hub, the wheel hub is fixed on the machine body, the other end of each supporting leg is provided with a vacuum chuck, the N supporting legs are arranged in a radial shape and rotate around the transmission shaft as a center, and the vacuum chucks are alternately sucked on the wall surface one by one in the rotating process;
the wheel leg driving motor is arranged on the machine body, drives the wheel hub to drive the wheel legs to rotate, and drives the operation platform to walk on the wall surface;
the wheel leg driving motor is in communication connection with the control module.
Further, a negative pressure fan motor and negative pressure fan blades are arranged in the machine body;
the negative pressure fan motor is arranged on the upper cover, and the shaft hole of the negative pressure fan blade is in small interference fit with the motor shaft of the negative pressure fan and is fixed by a jackscrew;
the bottom, namely the belly, of the machine body is provided with an air inlet, and the upper cover is provided with an air outlet;
the negative pressure fan motor drives the negative pressure fan blade to rotate, air at the position, close to the belly, of the operation platform is sucked through the air inlet and blown out of the air outlet, and therefore relative negative pressure is formed when the operation platform is close to the belly, namely certain air pressure acts on the upper cover, and due to the reverse thrust effect of the air, the wall surface increases the running stability of the operation platform.
Furthermore, the supporting leg comprises a first cylinder body, a first cylinder piston rod is arranged in the first cylinder body, one end of the first cylinder body is communicated with the hub in a sealing mode, and the other end of the first cylinder body is communicated with the vacuum chuck;
the air bag is a sealed space formed by the hub and the cavity inside the first cylinder body, and the hub is provided with an air bag one-way valve;
the second cylinder body is arranged outside the supporting leg, a second cylinder piston rod and guide pipe is arranged inside the second cylinder body, and the second cylinder piston rod and guide pipe is communicated with the vacuum chuck;
the second cylinder body is hermetically communicated with the vacuum pump through the suction cup vacuum degree control valve and a pipeline, and the vacuum pump is arranged in the machine body;
compressed gas is pressed into the air bag through the air bag one-way valve, and the compressed gas pushes a first air cylinder piston rod to move outwards;
the wheel leg is at the walking in-process, and vacuum chuck and wall contact's in-process, vacuum chuck's atress constantly changes, and vacuum chuck's atress transmits for first cylinder piston rod, and then transmits for compressed gas, does the adaptability adjustment to the length of landing leg.
Further, the vacuum degree control valve of the sucker comprises a switch valve component and an electromagnetic coil, wherein the switch valve component comprises a fixed iron, a return spring, a valve core and a valve seat which are sequentially arranged from top to bottom; the valve core is moving iron;
the second cylinder body is fixed on the hub, and the switch valve assembly and the electromagnetic coil are connected to the hub in a pressing mode;
the electromagnetic coil is electrified, a magnetic field is generated around the coil, the valve core and the fixed iron attract each other, the valve core moves upwards, the valve port of the switch valve is opened, the vacuum degree in the vacuum sucker is improved, and the adsorption force in the vacuum sucker is increased;
when the coil is powered off, the magnetic field disappears, the valve core is pushed by the return spring, the valve port of the switch valve is closed, and because a certain gap is always reserved between the vacuum chuck and the wall surface, the vacuum degree in the vacuum chuck is reduced, the adsorption force is reduced, the separation of the chuck and the wall surface is facilitated, and the load of the wheel leg driving motor is reduced.
Further, the air bag one-way valve comprises a second valve seat, and the second valve seat is fixed on the hub;
an air inlet is arranged on the second valve seat, and a pushing steel ball is sequentially arranged opposite to the air inlet to compress a second return spring; the bottom end of the second return spring is also fixed on the hub; the air inlet is communicated with an internal air bag of the hub;
when compressed gas enters from the gas inlet, the steel ball is pushed to compress the second return spring to move inwards, and after inflation is finished, the second return spring pushes the steel ball to cling to the second valve seat.
Further, a first sealing ring is arranged between the hub and the machine body;
a second sealing ring is arranged between the first air cylinder body and the first air cylinder piston rod;
a third sealing ring is arranged between the second cylinder body and the second cylinder piston rod and guide pipe;
a fourth sealing ring is arranged between the hub and the first cylinder body;
and a fifth sealing ring is arranged between the hub and the vacuum control valve of the sucker.
Furthermore, the vacuum chuck is fixed on the first cylinder piston rod through a pin shaft.
Furthermore, the wheel leg driving motor is fixed on the machine body through inner hexagon screws, and the wheel hub is fixed on a wheel leg driving motor shaft through the inner hexagon screws and is pushed to the machine body.
Further, the air bag is an air spring.
According to the technical scheme, the flexible supporting leg wall surface operation platform based on the machine vision is characterized in that the machine body is provided with two wheel legs which are arranged in a bilateral symmetry mode, the wheel legs are provided with the vacuum suckers, the suckers are provided with relative vacuum by the vacuum pump, the back surfaces of the suckers bear air pressure, and the operation platform is attached to the wall surface through friction force between the suckers and the wall surface. Two cameras are mounted on the upper cover, binocular vision is formed, the obstacle crossing is conducted through visual guidance, the obstacle crossing path is planned in real time according to the shape of the obstacle, and the device is wide in applicability, flexible, convenient and good in stability.
Specifically, the invention has the following beneficial effects:
1. in the mechanism, the air spring type flexible supporting legs are adopted, so that the impact on the wall surface and the vibration of the wall surface are reduced, and the walking stability is enhanced;
2. the adsorption mode combining vacuum adsorption and negative pressure adsorption is adopted, so that the anti-overturning performance of the operation platform is enhanced;
3. and (4) guiding the obstacle crossing by adopting machine vision, and planning an obstacle crossing path in real time according to the shape of the obstacle.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a longitudinal cross-sectional view of the present invention;
FIG. 3 is a wall climbing view of the present invention;
FIG. 4 is a transverse cross-sectional view of the present invention;
FIG. 5 is a schematic diagram of the vacuum control valve of the suction cup of the present invention;
FIG. 6 is a schematic view of the construction of the bladder check valve of the present invention;
fig. 7 is a crawler traveling wall climbing view of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, but not all, embodiments of the present invention.
As shown in fig. 1 to 7, the flexible leg wall surface work platform based on machine vision according to the embodiment includes a machine body 8, the machine body 8 includes a cavity and an upper cover 2, a manipulator 1 and a camera 3 are disposed on the upper cover 2, a control module is disposed in the cavity, and the manipulator 1 and the camera 3 are respectively in communication connection with the control module;
the wheel legs 4 are respectively arranged on one set of opposite side surfaces of the machine body 8, and two wheel legs 4 are symmetrically arranged on each side surface;
the device also comprises a wheel leg driving motor 9, wherein the wheel leg driving motor 9 is arranged on the machine body 8, drives the wheel hub 401 to further drive the wheel legs 4 to rotate, and drives the operation platform to walk on the wall surface;
the wheel legs 4 comprise at least N support legs, wherein N is a natural number greater than or equal to 3, the number of the support legs is 3 in the embodiment, one end of each support leg is centrally fixed on the wheel hub 401, the wheel hub 401 is fixed on the machine body 8, the other end of each support leg is provided with a vacuum chuck 407, the N support legs are arranged in a radial shape and rotate around a motor transmission shaft, and the vacuum chucks 407 alternately suck on the wall surface in the rotating process;
the wheel leg driving motor 9 is in communication connection with the control module.
The above can be understood as that the working platform is attached to the wall surface by the friction between the suction cup and the wall surface, by providing the vacuum suction cup on the wheel leg 4, the suction cup being provided with a relative vacuum by the vacuum pump, the back of the suction cup bearing the air pressure. Two cameras are installed on the upper cover to form binocular vision, the obstacle crossing is guided by the vision, and the obstacle crossing path is planned in real time according to the shape of the obstacle.
The following is a detailed description:
wheel leg driving motor 9 is installed on organism 8 through hexagon socket nut, and 9 drive wheel legs rotate, and the operation platform walks on the wall. In order to increase the walking stability and reduce the possibility of overturning, the negative pressure fan motor 5 is arranged on the upper cover, the inner hexagon nut is fixedly connected, and the shaft hole of the negative pressure fan blade 12 is in small interference fit with the shaft of the negative pressure fan motor 5 and is fixed by a jackscrew. 5 the drive 12 rotates, the air that the work platform is close to the belly (that is to say the space between its belly and the wall) is inhaled through the inlet 11, is blown out by the air outlet 21, like this, the work platform is close to the belly and will have formed relative negative pressure, has acted on certain air pressure on 2 just being equivalent to, because the backstepping effect of air, the wall has increased its stability of traveling.
In addition, if the operation platform only works on the wall surface without obstacles, the wheel legs can be detached, and the operation platform only runs by the crawler belt 13, so that the weight of the equipment can be reduced, the movement is convenient, and the operation efficiency is improved.
The support leg comprises a first air cylinder body 403, a first air cylinder piston rod 405 is arranged in the first air cylinder body 403, one end of the first air cylinder body 403 is in sealed communication with the wheel hub 401, and the other end of the first air cylinder body 403 is communicated with a vacuum chuck 407;
a sealed space formed by the hub 401 and the cavity inside the first cylinder body 403 is an air bag, and an air bag one-way valve 402 is arranged on the hub 401;
the device also comprises a second air cylinder body 409 arranged outside the supporting leg, a second air cylinder piston rod and guide pipe 411 is arranged inside the second air cylinder body 409, and the second air cylinder piston rod and guide pipe 411 is communicated with the vacuum chuck 407;
the vacuum pump device further comprises a vacuum pump 16 and a suction cup vacuum degree control valve 408, a second cylinder body 409 is hermetically communicated with the vacuum pump 16 through the suction cup vacuum degree control valve 408 and a pipeline 15, and the vacuum pump 16 is arranged in the machine body 8;
compressed gas is pressed into the air bag through the air bag one-way valve 402, and the compressed gas pushes the first air cylinder piston rod 405 to move outwards;
a first sealing ring 17 is arranged between the hub 401 and the machine body 8;
namely, a sealed space, namely an air bag, is formed between the inner space of the wheel hub 401 and the first cylinder body 403 and before the second sealing ring 404, the air bag is a compression spring in the embodiment, and a fourth sealing ring 412 is installed between the wheel hub 401 and the first cylinder body 403 and is fixed by a hexagon socket head cap screw; a second sealing ring 404 is arranged between the first cylinder body 403 and the first cylinder piston rod 405; compressed gas is pressed into the air bag from 402, the compressed gas pushes the first air cylinder piston rod 405 to move outwards, and the vacuum suction cup 407 is connected with 405 through a pin 406. The wheel leg is at the walking in-process, vacuum chuck 407 and wall contact's in-process, and the atress of sucking disc constantly changes, and the atress of sucking disc transmits for first cylinder piston rod 405 through the round pin axle, and first cylinder piston rod 405 transmits for compressed gas, because gaseous compressibility can do the adaptability adjustment to the length of landing leg, and compressed gas can absorb simultaneously because vibration and noise that the atress inequality brought can increase the stability that the operation platform went.
An air path is formed among the suction cup vacuum degree control valve 408, the second cylinder body 409, the second cylinder piston rod and guide pipe 411, the hub 401, the plug 14 and the pipeline 15, and the vacuum pump 16 forms relative vacuum at the position of the vacuum suction cup 407 through the air path. A third sealing ring 410 is arranged between the second cylinder body 409 and the second cylinder piston rod and guide pipe 411, and a fifth sealing ring 4082 is arranged between the third sealing ring 401 and the suction cup vacuum degree control valve 408.
The plug 14 belongs to a fabrication hole, that is, the corresponding hole is an internal hole, and since the hole can only be drilled from the outside, the position which does not need to be drilled is also drilled, and the plug is used for plugging when the position needs to be plugged.
The suction cup vacuum degree control valve 408 comprises a fixed iron 4081, a return spring 4083, a valve core 4084, a valve seat 4085 and an electromagnetic coil 4086 which are sequentially arranged from top to bottom; the valve core 4084 is moving iron;
the fixed iron 4081, the return spring 4083, the valve core (double acting iron) 4084, and the valve seat 4085 constitute a switch valve assembly, and the second cylinder block 409 is connected to the hub 401 by a screw, and the switch valve assembly and the electromagnetic coil 4086 are pressed against the hub 401. The electromagnetic coil is electrified, a magnetic field is generated around the coil, the valve core (doubling as moving iron) 4084 and the fixed iron 4081 are mutually attracted, the valve core (doubling as moving iron) 4084 moves upwards, the valve port of the switch valve is opened, the vacuum degree in the sucker is improved, and the adsorption force of the sucker is increased. When the coil is powered off, the magnetic field disappears, the valve core is pushed by the return spring, the valve port of the switch valve is closed, and because a certain clearance is inevitably formed between the sucker and the wall surface, the vacuum degree in the sucker is reduced, the adsorption force is reduced, the separation of the sucker and the wall surface is facilitated, and the load of the wheel leg driving motor 9 is reduced.
The wheel leg driving motor 9 is fixed on the machine body 8 through an inner hexagon screw, the wheel hub 401 is fixed on the shaft of the wheel leg driving motor 9 through the inner hexagon screw, meanwhile, the wheel hub 401 is pushed to the machine body 8, and a first sealing ring 17 is arranged between the wheel hub 401 and the machine body 8.
The airbag one-way valve 402 comprises a second valve seat 4021, and the second valve seat 4021 is fixed on the hub 401;
an air inlet is formed in the second valve seat 4021, and a pushing steel ball 4022 is sequentially arranged opposite to the air inlet to compress a second return spring 4023; the bottom end of the second return spring 4023 is also fixed on the hub 401; the air inlet is communicated with an internal air bag of the hub 401; when compressed gas enters from the port A, the steel ball 4022 is pushed to compress the second return spring 4023 to move rightward, and after inflation is finished, the second return spring 4023 pushes the steel ball 4022 to cling to the second valve seat 4021.
In conclusion, the flexible leg wall surface operation platform based on machine vision can be started from a flat bottom, automatically climbs upwards when moving to a wall, when a sucker contacts the wall, a vacuum pump starts to work, vacuum is generated in the sucker, and the sucker is adsorbed on the wall, so that the operation platform can continuously climb upwards, the sucker alternately works, and after the platform reaches a designated position, a manipulator can start to work to replace manual work to carry out high-altitude operation.
The invention has the following main characteristics:
(1) the walking can be vertically carried out on the wall surface;
(2) similar to the design of a starting slip ring, the hub can also be sealed in the rotating process; there is not direct the connection between wheel hub and the organism, wheel hub is the connection through the motor shaft, indirect and organism connection (motor and organism pass through hexagon socket head cap screw fixed), there is small clearance usually between motor shaft and the motor casing, in order to guarantee the leakproofness of vacuum pipeline, set up sealing washer 17 between organism and wheel hub, it is sealed for the movive seal to seal between organism and the wheel hub, consequently can guarantee wheel hub when the pivoted, the vacuum pipeline is sealed to the vacuum that can ensure the sucking disc is controllable.
(3) The pipeline structure connected with the sucker is telescopic;
(4) the vacuum degree of a single sucker is controllable, namely, the sucker vacuum degree control valve is arranged, so that energy can be saved.
The above examples are only intended to illustrate the technical solution of the present invention, but not to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. The utility model provides a flexible landing leg wall work platform based on machine vision, includes organism (8), and organism (8) include cavity and upper cover (2), its characterized in that:
the upper cover (2) is provided with a mechanical arm (1) and a camera (3), a control module is arranged in the cavity, and the mechanical arm (1) and the camera (3) are respectively in communication connection with the control module;
the wheel legs (4) are respectively arranged on one group of opposite side surfaces of the machine body (8), and two wheel legs (4) are symmetrically arranged on each side surface;
the wheel leg driving device is characterized by further comprising a wheel leg driving motor (9), wherein the wheel leg driving motor (9) is installed on the machine body (8), drives the wheel hub (401) to further drive the wheel legs (4) to rotate, and drives the operation platform to walk on the wall surface;
the wheel legs (4) comprise at least N supporting legs, N is a natural number which is more than or equal to 3, one end of each supporting leg is fixed on the wheel hub (401) in a centralized mode, the wheel hub (401) is fixed on a transmission shaft of the wheel leg driving motor (9), the other end of each supporting leg is provided with a vacuum chuck (407), the N supporting legs are arranged in a radial mode and rotate around the transmission shaft as a center, and the vacuum chucks (407) are alternately sucked on the wall surface in the rotating process;
the wheel leg driving motor (9) is in communication connection with the control module.
2. The machine-vision-based flexible leg wall work platform of claim 1, wherein:
a negative pressure fan motor (5) and negative pressure fan blades (12) are arranged in the machine body (8);
the negative pressure fan motor (5) is arranged on the upper cover (2), and the shaft hole of the negative pressure fan blade (12) is in small interference fit with the shaft of the negative pressure fan motor (5) and is fixed by a jackscrew;
the bottom, namely the belly, of the machine body (8) is provided with an air inlet (11), and the upper cover (2) is provided with an air outlet (21);
the negative pressure fan motor (5) drives the negative pressure fan blades (12) to rotate, air at the position, close to the belly, of the operation platform is sucked through the air inlet (11) and blown out through the air outlet (21), therefore, relative negative pressure is formed when the operation platform is close to the belly, certain air pressure acts on the upper cover (2), and due to the reverse thrust effect of the air, the wall surface increases the running stability of the operation platform.
3. The machine-vision-based flexible leg wall work platform of claim 2, wherein:
the supporting leg comprises a first air cylinder body (403), a first air cylinder piston rod (405) is arranged in the first air cylinder body (403), one end of the first air cylinder body (403) is in sealed communication with the wheel hub (401), and the other end of the first air cylinder body is communicated with a vacuum sucker (407);
a sealed space formed by the hub (401) and a cavity inside the first cylinder body (403) is an air bag, and an air bag one-way valve (402) is arranged on the hub (401);
the device also comprises a second air cylinder body (409) arranged outside the supporting leg, a second air cylinder piston rod and guide pipe (411) is arranged inside the second air cylinder body (409), and the second air cylinder piston rod and guide pipe (411) is communicated with the vacuum chuck (407);
the vacuum pump is characterized by further comprising a vacuum pump (16) and a sucker vacuum degree control valve (408), wherein the second cylinder body (409) is hermetically communicated with the vacuum pump (16) through the sucker vacuum degree control valve (408) and a pipeline (15), and the vacuum pump (16) is arranged in the machine body (8);
compressed gas is pressed into the air bag through an air bag one-way valve (402), and the compressed gas pushes a first air cylinder piston rod (405) to move outwards;
in the walking process of the wheel leg, in the process that the vacuum sucker (407) is in contact with the wall surface, the stress of the vacuum sucker (407) is constantly changed, the stress of the vacuum sucker (407) is transmitted to the first cylinder piston rod (405) and then transmitted to compressed gas, and the length of the support leg is adaptively adjusted.
4. The machine-vision-based flexible leg wall work platform of claim 3, wherein:
the vacuum degree control valve (408) of the sucker comprises a switch valve component which is provided with a fixed iron (4081), a return spring (4083), a valve core (4084) and a valve seat (4085) from top to bottom in sequence, and further comprises an electromagnetic coil (4086); the valve core (4084) is moving iron;
the second cylinder body (409) is fixed on the hub (401), and the switch valve assembly and the electromagnetic coil (4086) are pressed on the hub (401);
the electromagnetic coil is electrified, a magnetic field is generated around the electromagnetic coil, the valve core (4084) and the fixed iron (4081) are mutually attracted, the valve core (4084) moves upwards, the valve port of the switch valve is opened, the vacuum degree in the vacuum sucker (407) is improved, and the adsorption force in the vacuum sucker (407) is increased;
when the coil is powered off, the magnetic field disappears, the valve core (4084) is pushed by the return spring, the valve port of the switch valve is closed, and as a certain gap is always reserved between the vacuum chuck (407) and the wall surface, the vacuum degree in the vacuum chuck (407) is reduced, the adsorption force is reduced, the separation of the chuck and the wall surface is facilitated, and the load of the wheel leg driving motor (9) is reduced.
5. The machine-vision-based flexible leg wall work platform of claim 3, wherein:
the airbag one-way valve (402) comprises a second valve seat (4021), and the second valve seat (4021) is fixed on the hub (401);
an air inlet is formed in the second valve seat (4021), and a pushing steel ball (4022) is sequentially arranged opposite to the air inlet to compress a second return spring (4023); the bottom end of the second return spring (4023) is also fixed on the hub (401); the air inlet is communicated with an internal air bag of the hub (401);
when compressed gas enters from the gas inlet, the steel ball (4022) is pushed to compress the second return spring (4023) to move inwards, and after inflation is finished, the second return spring (4023) pushes the steel ball (4022) to cling to the second valve seat (4021).
6. The machine-vision-based flexible leg wall work platform of claim 3, wherein:
a first sealing ring (17) is arranged between the hub (401) and the machine body (8);
a second sealing ring (404) is arranged between the first cylinder body (403) and the first cylinder piston rod (405);
a third sealing ring (410) is arranged between the second cylinder body (409) and the second cylinder piston rod and guide pipe (411);
a fourth sealing ring (412) is arranged between the hub (401) and the first cylinder body (403);
and a fifth sealing ring (4082) is arranged between the hub (401) and the vacuum degree control valve (408) of the suction cup.
7. The machine-vision-based flexible leg wall work platform of claim 3, wherein:
the vacuum chuck (407) is fixed on the first cylinder piston rod (405) by a pin shaft (406).
8. The machine-vision-based flexible leg wall work platform of claim 1, wherein:
the wheel leg driving motor (9) is fixed on the machine body (8) through an inner hexagon screw, and the wheel hub (401) is fixed on the shaft of the wheel leg driving motor (9) through the inner hexagon screw and pushes the wheel hub (401) to the machine body (8) at the same time.
9. The machine-vision-based flexible leg wall work platform of claim 1, wherein:
also comprises a crawler belt (13) for replacing the wheel legs (4).
10. The machine-vision-based flexible leg wall work platform of claim 3, wherein: the air bag is an air spring.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010614640.7A CN111805539A (en) | 2020-06-30 | 2020-06-30 | Flexible supporting leg wall surface operation platform based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010614640.7A CN111805539A (en) | 2020-06-30 | 2020-06-30 | Flexible supporting leg wall surface operation platform based on machine vision |
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| Publication Number | Publication Date |
|---|---|
| CN111805539A true CN111805539A (en) | 2020-10-23 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010614640.7A Withdrawn CN111805539A (en) | 2020-06-30 | 2020-06-30 | Flexible supporting leg wall surface operation platform based on machine vision |
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| CN (1) | CN111805539A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112476163A (en) * | 2020-11-04 | 2021-03-12 | 中材科技(萍乡)风电叶片有限公司 | Grinding machine for wind power blades |
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2020
- 2020-06-30 CN CN202010614640.7A patent/CN111805539A/en not_active Withdrawn
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112476163A (en) * | 2020-11-04 | 2021-03-12 | 中材科技(萍乡)风电叶片有限公司 | Grinding machine for wind power blades |
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Application publication date: 20201023 |