CN111824284A - Wall climbing monitoring robot - Google Patents
Wall climbing monitoring robot Download PDFInfo
- Publication number
- CN111824284A CN111824284A CN202010836412.4A CN202010836412A CN111824284A CN 111824284 A CN111824284 A CN 111824284A CN 202010836412 A CN202010836412 A CN 202010836412A CN 111824284 A CN111824284 A CN 111824284A
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- China
- Prior art keywords
- air pump
- connecting plate
- shell
- silicone tube
- fixed
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000009194 climbing Effects 0.000 title claims abstract description 24
- 238000012544 monitoring process Methods 0.000 title claims abstract description 19
- 229920001296 polysiloxane Polymers 0.000 claims abstract description 50
- 230000007246 mechanism Effects 0.000 claims abstract description 31
- 238000005452 bending Methods 0.000 claims abstract description 30
- 241000252254 Catostomidae Species 0.000 claims description 11
- 238000000605 extraction Methods 0.000 claims description 4
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 230000008859 change Effects 0.000 abstract description 8
- 230000033001 locomotion Effects 0.000 abstract description 4
- 239000007789 gas Substances 0.000 description 14
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 3
- 239000000741 silica gel Substances 0.000 description 3
- 229910002027 silica gel Inorganic materials 0.000 description 3
- 230000009347 mechanical transmission Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000000926 separation method Methods 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0042—Arrangements for holding or mounting articles, not otherwise provided for characterised by mounting means
- B60R2011/008—Adjustable or movable supports
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a wall climbing monitoring robot which comprises a telescopic camera, a first connecting plate, a second connecting plate, a first shell, a second shell, a first air pump set, a second air pump set, a control plate, a bending mechanism and a sucker. Meanwhile, the flexible movement in any direction can be realized, the orientation of the telescopic camera can be adjusted in real time by changing the inflation and air exhaust work of each silicone tube, and the device enables the length change of the silicone tube to be more controllable when the bending mechanism works and enables the diameter of the silicone tube to be kept unchanged when the volume of the internal gas of the silicone tube is changed by arranging the corrugated tube.
Description
Technical Field
The invention relates to a wall-climbing monitoring robot.
Background
Traditional wall climbing supervisory-controlled robot generally adopts complicated mechanical transmission to make the assigned position that the robot can remove on the wall to monitor the operation, but owing to need a lot of motor control, mechanical transmission structure is complicated, leads to traditional wall climbing supervisory-controlled robot to control the degree of difficulty height, heavy, bulky problem, makes traditional wall climbing supervisory-controlled robot have certain danger and climb the ascending limitation of wall side, and the linkage process is more complicated, difficult operation.
Disclosure of Invention
The invention aims to provide a wall climbing monitoring robot, which solves the problems of complex structure, heavy weight, large volume and high control difficulty of the wall climbing monitoring robot in the prior art.
The wall climbing monitoring robot comprises a telescopic camera, a first connecting plate, a second connecting plate, a first shell, a second shell, a first air pump set, a second air pump set, a control plate, a bending mechanism and suckers, wherein the first shell is fixed on the first connecting plate, the first air pump set is fixed inside the first shell, the second shell is fixed on the second connecting plate, the second air pump set is fixed inside the second shell, the first connecting plate and the second connecting plate are connected through the bending mechanism, the bending mechanism comprises a plurality of silica gel tubes, two ends of each silica gel tube are respectively fixedly connected with the first connecting plate and the second connecting plate, the suckers are fixed on the first shell and the second shell, a plurality of air pumps of the first air pump set are provided, each silica gel tube is respectively communicated with each air pump of the first air pump set through a pipeline, and two air pumps of the second air pump set are provided, two the air pump of air pump group two respectively with both ends the sucking disc passes through the pipeline intercommunication, crooked mechanism is through every the silicone tube is aerifyd and is extracted air work and change crooked direction of crooked mechanism, the sucking disc passes through every work realization of every air pump of air pump group is every the absorption of sucking disc and the work that breaks away from.
Preferably, bending mechanism still includes gasket and corrugated tube, and is a plurality of the silicone tube winds the center of connecting plate one evenly sets up, three is no less than to the quantity of silicone tube, the corrugated tube cup joints to be fixed the surface of silicone tube, the gasket is followed the silicone tube axial is arranged a plurality ofly, the gasket cup joints to be fixed every the surface of corrugated tube.
Preferably, the silicone tube with the link of the air pump of air pump group one is provided with the control valve, the silicone tube intercommunication the interface of air pump group one air pump be inflation inlet or extraction opening by the control valve control changes, the sucking disc with the air pump link of air pump group two is provided with the control valve.
Preferably, the sucking disc includes rubber cover and foraminiferous dish, the foraminiferous dish is fixed respectively casing one with on the casing two, the rubber cover is fixed on the foraminiferous dish, a plurality of gas pockets have been seted up on the foraminiferous dish, the gas pocket with air pump group two-way pipeline intercommunication, the centre of foraminiferous dish seted up with scalable camera complex recess.
Preferably, the gasket is provided with a pipeline hole matched with the air hole and a pipeline connected with the air pump set II
Preferably, the first connecting plate and the second connecting plate are both provided with connecting holes matched with the bending mechanism, and the first connecting plate and the second connecting plate are both provided with central pipeline holes matched with the suckers.
Preferably, the control panel is fixed on the first casing, and the control panel controls the operation of the control valve.
The invention has the advantages that: the wall climbing monitoring robot can realize flexible work of moving in any direction, the orientation of the telescopic camera can be adjusted by changing the inflation and air extraction work of each silicone tube in real time, the device enables the length change of the silicone tubes to be more controllable when the bending mechanism works through the arrangement of the corrugated tubes, simultaneously enables the diameters of the silicone tubes to be kept unchanged when the internal gas volume changes, enables the gas volume in the silicone tubes to only change when the length changes, and can fix the relative position between each section of the corrugated tubes through the arrangement of the gasket, thereby being capable of controlling the advancing route of the wall climbing monitoring robot on the wall more stably, more accurately and more flexibly, and the device can accurately and respectively control the gas volume in the pipeline of the sucker and the bending mechanism through the arrangement of the gas pump group I and the gas pump group II so as to enable the device to accurately stop at the designated position on the wall, the telescopic camera can accurately point to the area to be monitored, so that the telescopic camera can work more reliably.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a front view of the present invention;
FIG. 3 is a schematic top view of the present invention;
FIG. 4 is a schematic cross-sectional view of the present invention;
fig. 5 is a schematic structural view of the bending structure of the present invention in operation.
The labels in the figures are: 1. the device comprises a first connecting plate, a second connecting plate, a third connecting plate, a fourth connecting plate, a fifth connecting plate, a sixth connecting plate, a fifth connecting plate, a sixth connecting.
Detailed Description
The following detailed description of the embodiments of the present invention will be given in order to provide those skilled in the art with a more complete, accurate and thorough understanding of the inventive concept and technical solutions of the present invention.
As shown in fig. 1-5, the invention provides a wall climbing monitoring robot, which comprises a telescopic camera 7, a first connecting plate 1, a second connecting plate 2, a first shell 3, a second shell 4, a first air pump set 5, a second air pump set 6, a control panel 10, a bending mechanism and suckers, wherein the first shell 3 is fixed on the first connecting plate 1, the first air pump set 5 is fixed inside the first shell 3, the second shell 4 is fixed on the second connecting plate 2, the second air pump set 6 is fixed inside the second shell 4, the first connecting plate 1 is connected with the second connecting plate 2 through the bending mechanism, the bending mechanism comprises a plurality of silicone tubes 81, two ends of the silicone tubes 81 are respectively and fixedly connected with the first connecting plate 1 and the second connecting plate 2, the suckers are fixed on the first shell 3 and the second shell 4, a plurality of air pumps are arranged in the first air pump set 5, each silicone tube 81 is respectively communicated with each air pump in the first air pump, the number of the air pumps of the air pump group II 6 is two, the air pumps of the two air pump groups II 6 are respectively communicated with the suckers at two ends through pipelines, the bending mechanism is inflated and air is pumped through each silicone tube 81 to change the bending direction of the bending mechanism, and the suckers realize the adsorption and separation work of each sucker through the work of each air pump of the air pump group II 6.
The bending mechanism further comprises a gasket 82 and a corrugated pipe 83, the silicone tubes 81 are evenly arranged around the center of the first connecting plate 1, the number of the silicone tubes 81 is not less than three, the corrugated pipe 83 is fixedly sleeved on the surface of the silicone tube 81, the gaskets 82 are axially distributed along the silicone tube 81, and the gaskets 82 are fixedly sleeved on the surface of each corrugated pipe 83.
The connecting end of the silicone tube 81 and the air pump of the first air pump set 5 is provided with a control valve, the interface of the silicone tube 81 communicated with the air pump of the first air pump set 5 is changed by the control of an inflation port or an air exhaust port, and the connecting end of the sucker and the air pump of the second air pump set 6 is provided with a control valve.
The sucking disc includes rubber cover 91 and foraminiferous dish 92, and foraminiferous dish 92 is fixed respectively on casing one 3 and casing two 4, and rubber cover 91 is fixed on foraminiferous dish 92, has seted up a plurality of gas pockets on the foraminiferous dish 92, and the gas pocket passes through the pipeline intercommunication with air pump group two 6, and the recess with scalable camera 7 complex is seted up to the centre of foraminiferous dish 92.
The gasket 82 is provided with a pipeline hole matched with a pipeline with an air hole connected with the air pump unit II 6
Connecting holes matched with the bending mechanisms are formed in the connecting plate I1 and the connecting plate II 2, and central pipeline holes matched with the suckers are formed in the connecting plate I1 and the connecting plate II 2.
The control plate 10 is fixed on the first shell 3, and the control plate 10 controls the operation of the control valve.
When the wall climbing monitoring robot needs to move vertically upwards, firstly, a sucker at one end is adsorbed on the wall, the sucker at the other end is released from negative pressure and is changed into a free state, at the moment, the shape of the bending mechanism is changed by controlling the inflation and air extraction work of each silicone tube 81, the silicone tube 81 at one side, close to the wall, of the bending part is inflated, the silicone tube 81 at the other side is exhausted, the free end of the bending mechanism is turned over upwards, the air pump in the air pump group II 6 is opened, so that the sucker at the free end is adsorbed on the wall, the upward climbing work of the wall climbing monitoring robot is completed, because the silicone tubes 81 are arranged around the center, when the wall climbing monitoring robot needs to move towards the left side, only when the volumes of gases in all the silicone tubes 81 are the same, the silicone tube 81 at the left side is exhausted and the silicone tube 81 at the right side is inflated, the wall climbing monitoring robot can realize the translation motion in the vertical direction and the horizontal direction through the working mode, realize the flexible movement in any direction through the combination of the motion in two directions, ensure that the lower sucker is absorbed at the appointed position of the wall under the form conversion of the bending mechanism, then repeat the previous steps until the device moves to the appointed position, relieve the negative pressure of the sucker at one side, change the form of the bending mechanism by controlling the inflation and air exhaust work of each silicone tube 81, if the monitoring angle is horizontal, inflate all the silicone tubes 81 to the state capable of keeping the longest length of the corrugated tube 83, if the monitoring angle is inclined towards one side of the ground, can exhaust the air from the silicone tube 81 at the side close to the ground, exhaust a small amount of air from other silicone tubes 81, ensure that the orientation angle of the telescopic camera 7 is inclined towards one side of the ground, the angle of the telescopic camera 7 towards the ground can be controlled by controlling the volume of the pumped gas, at the moment, the telescopic camera 7 is stretched out of the perforated disc 92 to start monitoring work, the orientation of the telescopic camera 7 can be adjusted by changing the inflation and air pumping work of each silicone tube 81 in real time, the device enables the length change of the silicone tubes 81 to be more controllable when a bending mechanism works through the arrangement of the corrugated tubes 83, simultaneously enables the diameters of the silicone tubes 81 to be kept unchanged when the internal gas volume is changed, enables only the length change to occur when the gas volume in the silicone tubes 81 is changed, and can fix the relative position between each section of the corrugated tubes 83 through the arrangement of the gaskets 82, so the advancing route of the wall climbing monitoring robot on the wall can be controlled more stably, accurately and flexibly, the device can also control the advancing route of the air pump group I5 and the air pump group II 6, the device can accurately and respectively control the volumes of gas in the pipelines of the sucker and the bending mechanism, so that the device can accurately stop at a specified position on a wall, the telescopic camera 7 can accurately point to an area to be monitored, and the device can work more reliably.
The invention is described above with reference to the accompanying drawings, it is obvious that the specific implementation of the invention is not limited by the above-mentioned manner, and it is within the scope of the invention to adopt various insubstantial modifications of the inventive concept and solution of the invention, or to apply the inventive concept and solution directly to other applications without modification.
Claims (7)
1. The utility model provides a wall climbing supervisory-controlled robot, includes scalable camera (7), its characterized in that: the air pump comprises a first connecting plate (1), a second connecting plate (2), a first shell (3), a second shell (4), a first air pump set (5), a second air pump set (6), a control panel (10), a bending mechanism and suckers, wherein the first shell (3) is fixed on the first connecting plate (1), the first air pump set (5) is fixed inside the first shell (3), the second shell (4) is fixed on the second connecting plate (2), the second air pump set (6) is fixed inside the second shell (4), the first connecting plate (1) is connected with the second connecting plate (2) through the bending mechanism, the bending mechanism comprises a plurality of silicone tubes (81), two ends of the silicone tubes (81) are fixedly connected with the first connecting plate (1) and the second connecting plate (2) respectively, and the suckers are fixed on the first shell (3) and the second shell (4), the air pump of air pump group (5) has a plurality ofly, every silicone tube (81) respectively with every air pump of air pump group (5) passes through the pipeline intercommunication, the air pump of air pump group two (6) has two, two the air pump of air pump group two (6) respectively with both ends the sucking disc passes through the pipeline intercommunication, crooked mechanism is through every silicone tube (81) aerify and air exhaust work changes crooked direction of crooked mechanism, the sucking disc passes through every work realization every of every air pump of air pump group two (6) the absorption of sucking disc and the work that breaks away from.
2. A wall climbing supervisory-controlled robot as claimed in claim 1, wherein: bending mechanism still includes gasket (82) and corrugated tube (83), and is a plurality of silicone tube (81) winds the center of connecting plate (1) evenly sets up, three is no less than in the quantity of silicone tube (81), corrugated tube (83) cup joint to be fixed the surface of silicone tube (81), gasket (82) are followed silicone tube (81) axial is arranged a plurality ofly, gasket (82) cup joint to be fixed every the surface of corrugated tube (83).
3. A wall climbing supervisory-controlled robot as claimed in claim 1, wherein: silicone tube (81) with the link of the air pump of air pump group (5) is provided with the control valve, silicone tube (81) intercommunication the interface of air pump group (5) is for inflation inlet or extraction opening by the control valve control changes, the sucking disc with the air pump link of air pump group two (6) is provided with the control valve.
4. A wall climbing supervisory-controlled robot as claimed in claim 2, wherein: the sucking disc comprises a rubber cover (91) and a perforated disc (92), the perforated disc (92) is fixed on the first shell (3) and the second shell (4) respectively, the rubber cover (91) is fixed on the perforated disc (92), a plurality of air holes are formed in the perforated disc (92), the air holes are communicated with the second air pump set (6) through pipelines, and a groove matched with the telescopic camera (7) is formed in the middle of the perforated disc (92).
5. The wall-climbing monitoring robot as claimed in claim 4, wherein: and the gasket (82) is provided with a pipeline hole matched with the pipeline connected with the air hole and the second air pump set (6).
6. A wall climbing supervisory-controlled robot as claimed in claim 1, wherein: the first connecting plate (1) and the second connecting plate (2) are provided with connecting holes matched with the bending mechanism, and the first connecting plate (1) and the second connecting plate (2) are provided with central pipeline holes matched with the suckers.
7. A wall climbing supervisory-controlled robot as claimed in claim 1, wherein: the control panel (10) is fixed on the first shell (3), and the control panel (10) controls the operation of the control valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010836412.4A CN111824284A (en) | 2020-08-19 | 2020-08-19 | Wall climbing monitoring robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010836412.4A CN111824284A (en) | 2020-08-19 | 2020-08-19 | Wall climbing monitoring robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111824284A true CN111824284A (en) | 2020-10-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010836412.4A Pending CN111824284A (en) | 2020-08-19 | 2020-08-19 | Wall climbing monitoring robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN111824284A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660261A (en) * | 2020-12-16 | 2021-04-16 | 广州大学 | Modularized cooperative inner soft skeleton wall climbing robot and movement method thereof |
| CN114043469A (en) * | 2021-12-13 | 2022-02-15 | 杭州电子科技大学 | Free telescopic bending mechanical arm, wall crawling robot and crawling method thereof |
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|---|---|---|---|---|
| WO2001017731A1 (en) * | 1999-09-09 | 2001-03-15 | Heriot-Watt University | Fluid operated actuator for robots |
| EP2335884A1 (en) * | 2009-12-15 | 2011-06-22 | FESTO AG & Co. KG | Fluid-operated manipulator |
| CN106239561A (en) * | 2016-08-22 | 2016-12-21 | 上海交通大学 | Gas control gasbag-type software mechanical arm |
| CN108284886A (en) * | 2017-12-21 | 2018-07-17 | 江苏大学 | A kind of Double-sucker Climbing Robot walked using the mode of crossing |
| US20190054640A1 (en) * | 2017-08-15 | 2019-02-21 | Avigilon Corporation | Camera on movable arm |
| CN110216712A (en) * | 2019-06-20 | 2019-09-10 | 广东工业大学 | A kind of imitative looper software climbing robot of pneumatic suction formula |
| CN110435783A (en) * | 2019-07-16 | 2019-11-12 | 广东工业大学 | A kind of imitative leech software climbing robot |
| CN212709725U (en) * | 2020-08-19 | 2021-03-16 | 南京工业职业技术学院 | Wall climbing monitoring robot |
-
2020
- 2020-08-19 CN CN202010836412.4A patent/CN111824284A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2001017731A1 (en) * | 1999-09-09 | 2001-03-15 | Heriot-Watt University | Fluid operated actuator for robots |
| EP2335884A1 (en) * | 2009-12-15 | 2011-06-22 | FESTO AG & Co. KG | Fluid-operated manipulator |
| CN106239561A (en) * | 2016-08-22 | 2016-12-21 | 上海交通大学 | Gas control gasbag-type software mechanical arm |
| US20190054640A1 (en) * | 2017-08-15 | 2019-02-21 | Avigilon Corporation | Camera on movable arm |
| CN108284886A (en) * | 2017-12-21 | 2018-07-17 | 江苏大学 | A kind of Double-sucker Climbing Robot walked using the mode of crossing |
| CN110216712A (en) * | 2019-06-20 | 2019-09-10 | 广东工业大学 | A kind of imitative looper software climbing robot of pneumatic suction formula |
| CN110435783A (en) * | 2019-07-16 | 2019-11-12 | 广东工业大学 | A kind of imitative leech software climbing robot |
| CN212709725U (en) * | 2020-08-19 | 2021-03-16 | 南京工业职业技术学院 | Wall climbing monitoring robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112660261A (en) * | 2020-12-16 | 2021-04-16 | 广州大学 | Modularized cooperative inner soft skeleton wall climbing robot and movement method thereof |
| CN112660261B (en) * | 2020-12-16 | 2023-02-24 | 广州大学 | Modularized cooperative inner soft skeleton wall climbing robot and movement method thereof |
| CN114043469A (en) * | 2021-12-13 | 2022-02-15 | 杭州电子科技大学 | Free telescopic bending mechanical arm, wall crawling robot and crawling method thereof |
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| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20201027 |
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| RJ01 | Rejection of invention patent application after publication |