CN111895219A

CN111895219A - Wall-climbing robot

Info

Publication number: CN111895219A
Application number: CN202010810585.9A
Authority: CN
Inventors: 林李波; 程思敏; 陈韦宇; 曾文斐; 蔡蒂
Original assignee: Guangzhou Power Supply Bureau of Guangdong Power Grid Co Ltd
Current assignee: Guangzhou Power Supply Bureau of Guangdong Power Grid Co Ltd
Priority date: 2020-08-11
Filing date: 2020-08-11
Publication date: 2020-11-06

Abstract

The application discloses wall climbing robot includes: the robot comprises a robot main body, a duct fan and a control device; the rear end of the bottom of the robot main body is provided with a driving wheel and a first driving motor, and the front end of the robot main body is provided with a driven wheel; an output shaft of the first driving motor is in synchronous rotating connection with the driving wheel; the wheel surfaces of the driving wheel and the driven wheel are sequentially coated with a damping material layer and a bionic adhesion material layer from inside to outside; the middle part of the robot main body is also provided with a fan installation cavity which penetrates through the robot main body from top to bottom; the ducted fan is arranged in the fan installation cavity; the control device is installed in the robot main body and is respectively and electrically connected with the ducted fan and the first driving motor. The technical problems of high requirement on the wall surface and limitation of the use environment can be solved.

Description

Wall-climbing robot

Technical Field

The application relates to the technical field of robots, in particular to a wall-climbing robot.

Background

With the continuous development of science and technology, more and more operations, especially operations with safety risks, are replaced by robots to be completed, the speed and the efficiency of completing the operations are guaranteed, and meanwhile, the safety of operators is also guaranteed. The wall climbing robot is one of robots, and is widely applied to detection operation environments with wall climbing requirements, such as the wall climbing of a pipeline to complete survey operation. The existing wall climbing robot has high requirements on the wall surface, needs the wall surface to be relatively flat or have magnetism, and has a limited use environment.

Disclosure of Invention

In view of this, the present application aims to provide a wall-climbing robot, which can solve the technical problems of high requirements on wall surfaces and limited use environments.

To achieve the above technical object, the present application provides a wall-climbing robot, including: the robot comprises a robot main body, a duct fan and a control device;

the rear end of the bottom of the robot main body is provided with a driving wheel and a first driving motor, and the front end of the robot main body is provided with a driven wheel;

the output shaft of the first driving motor is in synchronous rotating connection with the driving wheel;

the wheel surfaces of the driving wheel and the driven wheel are sequentially coated with a damping material layer and a bionic adhesion material layer from inside to outside;

the middle part of the robot main body is also provided with a fan installation cavity which penetrates through the robot main body from top to bottom;

the ducted fan is arranged in the fan installation cavity;

the control device is installed in the robot main body and is respectively electrically connected with the ducted fan and the first driving motor.

Further, the robot main body comprises a chassis and a casing;

the shell is detachably covered on the top of the chassis;

the driving wheel and the driven wheel are rotationally connected with the chassis;

the first driving motor is arranged at the bottom of the chassis;

the control device is arranged between the shell and the chassis.

Furthermore, the number of the driving wheels and the number of the first driving motors are two;

the two driving wheels are symmetrically arranged on two sides of the rear end of the chassis;

the two first driving motors are respectively connected with the driving wheels in a one-to-one correspondence mode.

Further, the driven wheel is specifically one;

a notch for avoiding the driven wheel is arranged in the middle of the front end of the chassis, and a shaft lever is arranged at the front end of the chassis;

the driven wheel is rotatably sleeved on the rod section position corresponding to the notch on the shaft lever.

Further, the ducted fan comprises a ducted fan, a second driving motor and a motor fixing seat;

the output shaft of the second driving motor and the ducted fan rotate synchronously and are stacked on the ducted fan from bottom to top through the motor fixing seat;

and the motor fixing seat is provided with a plurality of ventilation cavities communicated with the ducted fan.

Further, the second driving motor is specifically a brushless dc motor.

Further, the control device comprises a main control board, a first driving motor driving board, a ducted fan driving board and a battery;

the first driving motor driving board, the ducted fan driving board and the battery supply are integrally installed on the main control board and are respectively electrically connected with the main control board.

Further, the shock absorption material layer is specifically a sponge material layer.

Further, the bionic adhesion material layer is a gecko-proof sole seta material layer.

Further, a vision sensor is also included;

the vision sensor is mounted on the front end portion of the robot main body and electrically connected to the control device.

According to the technical scheme, the damping material layer and the bionic adhesion material layer are sequentially coated on the wheel surfaces of the driving wheel and the driven wheel from inside to outside, the driving wheel and the driven wheel can generate tangential adhesion force and friction force resisting gravity when contacting the wall surface by utilizing the bionic adhesion material layer, the damping material layer on the inner layer can improve the anti-vibration performance of the robot, meanwhile, enough deformation capacity of the bionic adhesion material layer can be provided, the bionic adhesion material layer can be more fully adhered and contacted with the wall surface, and the pressing adhesion force generated by the ducted fan is matched to ensure that the robot can adapt to crawling of various wall surface conditions, so that the technical problems that the requirement on the wall surface is high and the use environment is limited are solved.

Drawings

In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without inventive exercise.

Fig. 1 is a first axis schematic view of a wall-climbing robot provided in the present application;

FIG. 2 is a second axis schematic view of a wall climbing robot provided herein;

in the figure: 1. a robot main body; 11. a chassis; 12. a housing; 21. a driving wheel; 22. a driven wheel; 23. a first drive motor; 24. a shaft lever; 31. a layer of shock absorbing material; 32. a bionic adhesion material layer; 4. a ducted fan; 41. a ducted fan; 42. a second drive motor; 43. a motor fixing seat; 5. a control device; 6. a vision sensor.

Detailed Description

The technical solutions of the embodiments of the present application will be described clearly and completely with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all, of the embodiments of the present application. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without any creative effort belong to the protection scope of the embodiments in the present application.

In the description of the embodiments of the present application, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience in describing the embodiments of the present application and simplifying the description, but do not indicate or imply that the referred devices or elements must have specific orientations, be configured in specific orientations, and operate, and thus, should not be construed as limiting the embodiments of the present application. Furthermore, the terms "first," "second," and "third" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.

In the description of the embodiments of the present application, it should be noted that the terms "mounted," "connected," and "connected" are used broadly and are defined as, for example, a fixed connection, an exchangeable connection, an integrated connection, a mechanical connection, an electrical connection, a direct connection, an indirect connection through an intermediate medium, and a communication between two elements, unless otherwise explicitly stated or limited. Specific meanings of the above terms in the embodiments of the present application can be understood in specific cases by those of ordinary skill in the art.

The embodiment of the application discloses wall climbing robot.

Referring to fig. 1, an embodiment of a wall-climbing robot provided in an embodiment of the present application includes:

a robot main body 1, a ducted fan 4, and a control device 5; the rear end of the bottom of the robot main body 1 is provided with a driving wheel 21 and a first driving motor 23, and the front end is provided with a driven wheel 22; the output shaft of the first driving motor 23 is synchronously and rotatably connected with the driving wheel 21; the wheel surfaces of the driving wheel 21 and the driven wheel 22 are sequentially coated with a damping material layer 31 and a bionic adhesion material layer 32 from inside to outside; the middle part of the robot main body 1 is also provided with a fan installation cavity which penetrates through the robot main body from top to bottom; the ducted fan 4 is arranged in the fan installation cavity; the control device 5 is attached to the robot main body 1, and is electrically connected to the ducted fan 4 and the first drive motor 23, respectively.

Specifically, the ducted fan 4 is disposed in the middle of the robot body 1, and the driving pulley 21 and the driven pulley 22 are disposed at the front end and the rear end of the robot body 1, respectively, so that the overall structure is compact. This application has damping material layer 31 and bionical material layer 32 that adheres through coating in proper order from inside to outside on the wheel face of action wheel 21 and follow driving wheel 22, utilize bionical material layer 32 that adheres to can make action wheel 21 and follow driving wheel 22 produce the tangential adhesion power and the frictional force that resists gravity when contacting the wall, and the damping material layer 31 of inlayer improves the robot shock resistance simultaneously, can provide the sufficient deformability of bionical material layer 32 that adheres, make bionical material layer 32 can be more abundant take place to adhere the contact with the wall, the pressure that collocation duct fan 4 produced again adheres the effort, guarantee that the robot can adapt to the crawling of multiple wall condition, it is higher to the wall requirement to solve, service environment is more limited technical problem. Taking the pipeline walking as an example, the robot can generate tangential adhesion force and friction force resisting gravity when contacting the inner wall of the target pipeline under the assistance of the ducted fan 4, the robot can climb from the 0-degree position of the pipeline to the 180-degree position, the wall climbing operation can be stably carried out, and the material of the wall surface is not limited.

In this application, in order to further improve the robot and hug closely wall ground ability, can also increase and set up extra duct fan 4, for example extend a plurality of linking arms around 1 circumference evenly distributed of robot body on the perisporium of robot body 1, set up duct fan 4 at the tip of each linking arm to produce better effort, make the better adherent walking of robot. The connecting arm can be controlled by the steering engine to realize multi-dimensional adjustment, and particularly, when the ducted fan walks on the wall of the duct, the distance between the ducted fan 4 and the wall of the duct can be adjusted by adjusting the connecting arm; for example, when the robot vertically climbs a wall, the duct fan 4 connected to the connecting arm can be adjusted to be close to the opposite wall of the climbing wall, so that the wind blown out by the duct fan 4 directly acts on the opposite wall, a larger reaction force is generated, and further the larger reaction force is applied to the robot, and the stability of the robot climbing the wall is improved. In addition, an air duct can be added at the outlet position of the ducted fan 4 on the connecting arm, so that the blown air can be gathered and concentrated, a better reaction force can be generated when the wind acts on the opposite vertical wall surface, and the wind power generation device is not limited in particular.

The above is a first embodiment of the wall-climbing robot provided in the embodiments of the present application, and the following is a second embodiment of the wall-climbing robot provided in the embodiments of the present application, please refer to fig. 1 to 2 specifically.

A wall climbing robot, comprising: a robot main body 1, a ducted fan 4, and a control device 5; the rear end of the bottom of the robot main body 1 is provided with a driving wheel 21 and a first driving motor 23, and the front end is provided with a driven wheel 22; the output shaft of the first driving motor 23 is synchronously and rotatably connected with the driving wheel 21; the wheel surfaces of the driving wheel 21 and the driven wheel 22 are sequentially coated with a damping material layer 31 and a bionic adhesion material layer 32 from inside to outside; the middle part of the robot main body 1 is also provided with a fan installation cavity which penetrates through the robot main body from top to bottom; the ducted fan 4 is arranged in the fan installation cavity; the control device 5 is attached to the robot main body 1, and is electrically connected to the ducted fan 4 and the first drive motor 23, respectively.

Further, as shown in fig. 1 and 2, the robot main body 1 may include a chassis 11 and a housing 12; the shell 12 is detachably covered on the top of the chassis 11; the driving wheel 21 and the driven wheel 22 are rotationally connected with the chassis 11; the first driving motor 23 is arranged at the bottom of the chassis 11; the control device 5 is installed between the casing 12 and the chassis 11. Those skilled in the art can make appropriate changes based on the above without limitation.

Further, the number of the driving wheel 21 and the number of the first driving motor 23 may be two; the two driving wheels 21 are symmetrically arranged at the two sides of the rear end of the chassis 11; the two first driving motors 23 are respectively connected with the driving wheels 21 in a one-to-one correspondence manner. The driven wheel 22 is specifically one; a notch for avoiding the driven wheel 22 is arranged in the middle of the front end of the chassis 11, and the front end of the chassis 11 is provided with a shaft lever 24; the driven wheel 22 is rotatably sleeved on the shaft rod 24 at a rod section position corresponding to the notch. Of course, the number of the driving wheels 21 may be one, the number of the driven wheels 22 is two, or the number of the driving wheels 21 is more than two, and the number of the corresponding driven wheels 22 is more than two, and the specific combination mode is not limited, and it is enough that the robot can stably walk. In the case of a single driven wheel 22, it is possible to provide a recess to accommodate the driven wheel 22 to be mounted at a central position at the bottom front end of the robot main body 1. The first driving motor 23 may be a conventional speed reduction motor, and may be installed in a motor groove at the bottom of the chassis 11 during installation, and fastened by a fastening member such as a bolt, or fastened by glue, and is not limited specifically. The first driving motor 23 and the driving wheel 21 can be in direct transmission connection, or can be in transmission connection through transmission components such as gear belts, and the direct transmission connection condition is that the output shaft of the first driving motor 23 and a hole matched with the output shaft of the first driving motor 23 on the driving shaft can be both in a D shape, so that synchronous rotation connection is realized, and the limitation is not particularly made.

Further, the ducted fan 4 includes a ducted fan 41, a second driving motor 42, and a motor fixing base 43; an output shaft of the second driving motor 42 rotates synchronously with the ducted fan 41, and is stacked on the ducted fan 41 from bottom to top through a motor fixing seat 43; the motor fixing base 43 is provided with a plurality of ventilation cavities communicated with the ducted fans 41. When the ducted fan 41 is installed, the outer wall of the ducted fan 41 may be fixedly connected with the inner wall of the fan installation cavity through corresponding fasteners. The second driving motor 42 may be mounted on the top of the ducted fan 41 through a motor fixing seat 43, and the second driving motor 42 may be a brushless dc motor. The ducted fan 4 in this embodiment may also be a fan that is conventionally applied to a wall-climbing robot, and is not particularly limited.

In this application, for the convenient distance between regulation duct fan 4 and the wall, can be with duct fan 4 design for cooperating with fan installation cavity along vertical direction sliding connection. For example, the outer side wall of the ducted fan 41 is symmetrically provided with racks which are vertically arranged, the inner wall of the fan installation cavity is provided with a gear which extends out and is meshed with the racks, the robot body 1 is internally provided with a third driving motor which is used for driving the gear, and then the third driving motor drives the ducted fan 41 to lift and adjust through meshing transmission between the gear and the racks, so that a person skilled in the art can make appropriate changes on the basis of the third driving motor, and the ducted fan 41 is not limited.

Further, the control device 5 comprises a main control board, a first driving motor driving board, a ducted fan driving board and a power supply battery; the first driving motor driving board, the ducted fan driving board and the power supply battery are integrally installed on the main control board and are respectively electrically connected with the main control board. The main control board is provided with a voltage stabilizing circuit, and stability of circuit control is improved. The battery can be a conventional lithium battery, and is not particularly limited and used for providing the robot running power. The first driving motor driving board, the ducted fan driving board and the power supply battery are integrally installed on the main control board, so that the installation space is saved, and the weight of the robot is reduced. Those skilled in the art can make appropriate changes based on the above without limitation. The main control board may further be provided with a wireless data transmission module for transmitting data, a bluetooth module, and the like, for receiving a terminal control instruction, which is not limited specifically.

Further, the damping material layer 31 may be a sponge material layer, the bionic adhesion material layer 32 may be a gecko sole seta material layer, the gecko sole seta material may be a polymer composite material imitating gecko sole seta, has a dry adhesion property equivalent to that of gecko soles, and may generate tangential and normal adhesion forces when contacting with a wall surface, and the sponge material layer and the gecko sole seta material layer may be fixed by glue such as double faced adhesive tape, or other fixing methods. Those skilled in the art can make appropriate changes based on the above without limitation.

Further, a vision sensor 6 is also included; the vision sensor 6 is attached to the distal end portion of the robot main body 1 and electrically connected to the control device 5. The carried vision sensor 6 can be used for real-time image acquisition so as to meet the requirements of surveying and the like. The collected image information can be recorded by the control device 5 and sent to a computer or a mobile phone by a related wireless data transmitting module, which is not limited specifically.

The robot wall climbing process of this application can be as follows for example to wall climbing in the pipeline is taken as an example:

in the process that the robot actually crawls on the inner wall surface of the pipeline, the robot generates thrust through the ducted fan 4 and simultaneously under the synergistic action of the bionic adhesion material layer 32 and the shock absorption material layer 31; the robot can have enough pressure and friction to overcome the gravity to complete circular motion in the inner wall of the pipeline. After the robot is started, the wireless transmission module in the control device 5 can transmit the image data collected by the vision sensor 6 to a computer or a mobile phone or other terminals in real time through the wireless data transmitting module. Meanwhile, the main control board in the control device 5 can receive an instruction sent by a mobile terminal APP such as a mobile phone through modules such as a bluetooth module, and the like, and control the rotation speed and the forward and reverse rotation of the two first driving motors 23 through the first motor driving board, and also control the rotation speed of the ducted fan 41 through the ducted fan driving board to achieve the purpose of controlling the generated pressure; therefore, the remote control robot can finish the actions of advancing, retreating and steering.

While the wall climbing robot provided by the present application has been described in detail, for a person skilled in the art, according to the idea of the embodiments of the present application, there are variations in the specific implementation and application scope, and in summary, the content of the present description should not be construed as a limitation to the present application.

Claims

1. A wall climbing robot, comprising: the robot comprises a robot main body, a duct fan and a control device;

the ducted fan is arranged in the fan installation cavity;

2. A wall-climbing robot as claimed in claim 1, wherein the robot main body comprises a chassis and a casing;

the shell is detachably covered on the top of the chassis;

the first driving motor is arranged at the bottom of the chassis;

the control device is arranged between the shell and the chassis.

3. The wall-climbing robot as claimed in claim 2, wherein there are two driving wheels and two first driving motors;

4. A wall climbing robot as claimed in claim 3, wherein the driven wheel is embodied as one;

5. The wall-climbing robot as claimed in claim 1, wherein the ducted blower includes a ducted fan, a second driving motor, and a motor holder;

6. A wall-climbing robot as claimed in claim 5, characterized in that the second driving motor is a brushless DC motor.

7. The wall climbing robot as claimed in claim 1, wherein the control device includes a main control board, a first driving motor driving board, a ducted fan driving board and a power supply battery;

8. A wall-climbing robot as claimed in claim 1, wherein the shock-absorbing material layer is a sponge material layer.

9. The wall-climbing robot as claimed in claim 1, wherein the bionic adhesion material layer is a gecko-proof sole seta material layer.

10. A wall-climbing robot as recited in claim 1, further comprising a vision sensor;