CN111976857A - A self-rotating two-body wall-climbing robot - Google Patents

A self-rotating two-body wall-climbing robot Download PDF

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CN111976857A
CN111976857A CN202010862637.7A CN202010862637A CN111976857A CN 111976857 A CN111976857 A CN 111976857A CN 202010862637 A CN202010862637 A CN 202010862637A CN 111976857 A CN111976857 A CN 111976857A
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robot
self
circular
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wall
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CN111976857B (en
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刘晓光
蒋晓明
曹立超
张�浩
周勇
余凡
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Guangdong Institute of Intelligent Manufacturing
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces

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Abstract

本发明提供了一种自旋转双体爬壁机器人,属于机器人技术领域。本双体爬壁机器人需要在壁面之间过渡时,机器人一先从墙壁上脱开吸附,通过俯仰舵机带动前机器人一转动一定角度使机器人一抬起,机器人二继续吸附在墙面上并向前移动,直至机器人二靠近过渡墙壁的边缘,通过俯仰舵机带动前机器人一贴近过渡后的墙壁,启动机器人一,使机器人一吸附在过渡后的墙壁上;然后,机器人二与墙壁脱开吸附,通过俯仰舵机带动前机器人二转动一定角度使机器人二抬起,机器人一继续移动,当机器人二完全处于过渡墙壁后,俯仰舵机反向转动复位,壁面过渡过程完成。通过翻转连接机构实现在不同墙壁的过渡,使本机器人适应性更强,大大提高了作业效率。

Figure 202010862637

The invention provides a self-rotating double-body wall-climbing robot, which belongs to the technical field of robots. When this two-body wall-climbing robot needs to transition between walls, the first robot is released from the wall, and the front robot is driven by the pitch servo to rotate a certain angle to lift the robot, and the second robot continues to be adsorbed on the wall. Move forward until the robot 2 is close to the edge of the transition wall, drive the front robot 1 to get close to the transition wall through the pitch servo, start the robot 1, and make the robot 1 adsorb on the transition wall; then, the robot 2 is disengaged from the wall Adsorption, the pitch servo drives the front robot 2 to rotate at a certain angle to lift the robot 2, and the robot 1 continues to move. When the robot 2 is completely in the transition wall, the pitch servo rotates in the opposite direction to reset, and the wall transition process is completed. The transition between different walls is realized by flipping the connecting mechanism, which makes the robot more adaptable and greatly improves the working efficiency.

Figure 202010862637

Description

一种自旋转双体爬壁机器人A self-rotating two-body wall-climbing robot

技术领域technical field

本发明属于机器人技术领域,涉及一种自旋转双体爬壁机器人。The invention belongs to the technical field of robots, and relates to a self-rotating double-body wall-climbing robot.

背景技术Background technique

爬壁机器人把地面移动技术和吸附技术有机结合起来,可以携带专门的工具,代替人类在距地面有一定高度的建筑、工业设施等竖直壁面上工作,可广泛应用于工业、救援、侦查、壁面清洁等领域。爬壁机器人的出现可以使人类避免从事危险的高空陡壁作业,改善了操作人员的工作环境,降低了操作的危险性,大大提高了工作效率。The wall-climbing robot organically combines ground movement technology and adsorption technology, and can carry special tools to replace human beings to work on vertical walls such as buildings and industrial facilities with a certain height from the ground. It can be widely used in industry, rescue, investigation, Wall cleaning, etc. The emergence of wall-climbing robots can make humans avoid dangerous high-altitude and steep-wall operations, improve the working environment of operators, reduce the risk of operation, and greatly improve work efficiency.

传统的爬壁机器人大多体积大、重量大、爬行速度慢。随着机器人技术的发展和对爬壁机器人认识的深入,爬壁机器人开始朝着小型化,轻型化,无缆化方向发展,但是大多是单体机器人,只能在平整壁面上运动,而且不具有越障碍、越沟槽的能力,大大限制了机器人的使用范围。Most of the traditional wall-climbing robots are large in size, heavy in weight and slow in crawling speed. With the development of robot technology and the deepening of understanding of wall-climbing robots, wall-climbing robots have begun to develop in the direction of miniaturization, light weight and cable-free, but most of them are single robots, which can only move on flat walls, and do not It has the ability to get more obstacles and more grooves, which greatly limits the scope of use of robots.

申请号为201010217822.7的中国专利公开了一种模块化的仿生爬壁机器人,采用负压真空吸附形式,由关节模块和真空吸附模块组成,具有一定的越障能力,但移动缓慢,真空吸附对壁面光洁度要求较高,当墙壁上有破损或沟槽时,吸附功能将无法使用,无法在不平整及砖墙上使用,使用范围受到限制。The Chinese Patent Application No. 201010217822.7 discloses a modular bionic wall-climbing robot, which adopts the form of negative pressure vacuum adsorption and consists of a joint module and a vacuum adsorption module. The requirements for finish are high. When there are damages or grooves on the wall, the adsorption function will not work, and it cannot be used on uneven and brick walls, and the scope of use is limited.

总之,目前存在的多数爬壁机器人只能在单一墙面上作业,对不同材质壁面的适应性差,跨越墙壁上障碍能力较弱。In a word, most existing wall-climbing robots can only work on a single wall, have poor adaptability to different material walls, and have weak ability to cross obstacles on the wall.

发明内容SUMMARY OF THE INVENTION

本发明针对现有技术存在的上述问题,提供一种自旋转双体爬壁机器人,本发明所要解决的技术问题是:如何实现在不同壁面之间的转换。Aiming at the above problems existing in the prior art, the present invention provides a self-rotating double-body wall-climbing robot. The technical problem to be solved by the present invention is: how to realize the conversion between different walls.

本发明的目的可通过下列技术方案来实现:The object of the present invention can be realized through the following technical solutions:

一种自旋转双体爬壁机器人,包括机器人一、机器人二和翻转连接机构,所述翻转连接机构包括俯仰舵机、俯仰减速器、前连接扣和后连接扣,所述前连接扣的一端固定连接于机器人一的底盘,前连接扣的另一端设置有铰接部,所述后连接扣的一端固定连接于机器人二的底盘,后连接扣的另一端设置有卡扣,所述铰接部铰接于卡扣内,所述俯仰舵机固定连接于后连接扣上,俯仰舵机的输出轴与俯仰减速器相连接,所述俯仰减速器的输出端与铰接部相连接。A self-rotating double-body wall-climbing robot includes a robot 1, a robot 2 and a flip connection mechanism, the flip connection mechanism includes a pitch steering gear, a pitch reducer, a front connection buckle and a rear connection buckle, one end of the front connection buckle It is fixedly connected to the chassis of robot 1, the other end of the front connection buckle is provided with a hinge part, one end of the rear connection buckle is fixedly connected to the chassis of robot 2, and the other end of the rear connection buckle is provided with a buckle, and the hinge part is hinged In the buckle, the pitch steering gear is fixedly connected to the rear connection buckle, the output shaft of the pitch steering gear is connected with the pitch reducer, and the output end of the pitch reducer is connected with the hinge part.

其工作原理是:本双体爬壁机器人需要壁面过渡时,机器人一先从墙壁上脱开吸附,通过俯仰舵机带动前机器人一转动一定角度使机器人一抬起,机器人二继续吸附在墙面上并向前移动,直至机器人二靠近过渡墙壁的边缘,通过俯仰舵机带动前机器人一贴近过渡后的墙壁,启动机器人一,使机器人一吸附在过渡后的墙壁上;然后,机器人二与墙壁脱开吸附,通过俯仰舵机带动前机器人二转动一定角度使机器人二抬起,机器人一继续移动,当机器人二完全处于过渡墙壁后,俯仰舵机反向转动复位,壁面过渡过程完成。本双体爬壁机器人通过翻转连接机构实现在不同墙壁的过渡,使本机器人适应性更强,并且大大提高了本机器人的作业效率。Its working principle is: when the two-body wall-climbing robot needs to transition from the wall, the first robot is released from the wall, and the front robot is driven by the pitch servo to rotate a certain angle to lift the robot, and the second robot continues to be adsorbed on the wall. Move up and move forward until robot 2 is close to the edge of the transition wall, drive the front robot 1 to get close to the transition wall through the pitch servo, start robot 1, and make robot 1 adsorb on the transition wall; then, robot 2 and the wall Release the adsorption, drive the front robot 2 to rotate a certain angle through the pitch servo to lift the robot 2, and the robot 1 continues to move. When the robot 2 is completely in the transition wall, the pitch servo rotates in the opposite direction to reset, and the wall transition process is completed. The double-body wall-climbing robot realizes the transition between different walls by flipping the connecting mechanism, which makes the robot more adaptable and greatly improves the working efficiency of the robot.

在上述的一种自旋转双体爬壁机器人中,所述机器人一和机器人二均为自旋转机器人,所述自旋转机器人包括底盘、圆形转盘、风机组件、驱动组件和电源模块;In the above-mentioned self-rotating two-body wall-climbing robot, the first robot and the second robot are both self-rotating robots, and the self-rotating robot includes a chassis, a circular turntable, a fan assembly, a drive assembly and a power supply module;

所述底盘内设置有承台,所述承台上设置有若干第一半圆槽;所述圆形转盘设置有承接部,所述承接部的下侧面设置有若干与第一半圆槽一一对应的第二半圆槽,所述圆形转盘通过承接部搭接于承台上,且第一半圆槽与第二半圆槽配合形成一圆形腔,所述圆形腔内设置有滚动钢珠,所述滚动钢珠可在圆形腔内滚动;A bearing platform is arranged in the chassis, and a plurality of first semicircular grooves are arranged on the bearing platform; the circular turntable is provided with a receiving portion, and the lower side of the receiving portion is provided with a number of first half-circular grooves corresponding to each other one-to-one. the second semicircular groove, the circular turntable is overlapped on the bearing platform through the receiving part, and the first semicircular groove and the second semicircular groove cooperate to form a circular cavity, and rolling steel balls are arranged in the circular cavity, so The rolling steel ball can roll in the circular cavity;

所述风机组件包括无刷电机、离心风扇和导流罩,所述导流罩固定于圆形转盘上,所述无刷电机安装于导流罩内,无刷电机的输出轴连接有离心风扇,所述圆形转盘的底部设置有风口,所述风口与导流罩相对应,所述圆形转盘内设置有负压腔,所述负压腔与导流罩相连通;The fan assembly includes a brushless motor, a centrifugal fan and a shroud, the shroud is fixed on the circular turntable, the brushless motor is installed in the shroud, and the output shaft of the brushless motor is connected with a centrifugal fan , the bottom of the circular turntable is provided with a tuyere, the tuyere corresponds to the shroud, a negative pressure cavity is arranged in the circular turntable, and the negative pressure cavity is communicated with the shroud;

所述驱动组件为两组,两组驱动组件分别位于导流罩的两侧,驱动组件包括驱动电机、减速器、主动带轮、从动带轮和同步履带,所述驱动电机安装于圆形转盘上,驱动电机的输出轴连接有减速器,所述减速器的输出轴连接主动带轮,所述从动带轮活动连接于圆形转盘上,所述主动带轮和从动带轮通过同步履带传动连接;The drive assemblies are divided into two groups. The two groups of drive assemblies are located on both sides of the shroud respectively. The drive assemblies include a drive motor, a reducer, a driving pulley, a driven pulley and a synchronous track. The drive motor is installed in a circular shape. On the turntable, the output shaft of the drive motor is connected with a reducer, the output shaft of the reducer is connected with a driving pulley, the driven pulley is movably connected to the circular turntable, and the driving pulley and the driven pulley pass through Synchronous crawler drive connection;

所述电源模块安装于圆形转盘上,电源模块用于提供电源,电源模块与驱动电机、无刷电机以及俯仰舵机电性连接。The power module is installed on the circular turntable, the power module is used for providing power, and the power module is electrically connected with the driving motor, the brushless motor and the pitching servo.

在上述的一种自旋转双体爬壁机器人中,所述自旋转机器人还包括圆珠轨道定环,所述承接部的上侧面设置有若干第三半圆槽,所述圆珠轨道定环的下侧面设置有若干与第三半圆槽一一对应的第四半圆槽,所述圆珠轨道定环搭接于圆形转盘的承接部上,且第三半圆槽和第四半圆槽配合形成一圆形腔,所述圆形腔内设置有滚动钢珠,所述滚动钢珠可位于圆形腔内滚动,所述圆珠轨道定环固定连接于底盘上。In the above-mentioned self-rotating two-body wall-climbing robot, the self-rotating robot further includes a ball orbital fixed ring, a plurality of third semicircular grooves are provided on the upper side of the receiving portion, and the ball orbital fixed ring is provided with a plurality of third semicircular grooves. The lower side is provided with a plurality of fourth semicircular grooves corresponding to the third semicircular grooves one-to-one, the ball track fixed ring is overlapped on the receiving part of the circular turntable, and the third semicircular groove and the fourth semicircular groove cooperate to form a A circular cavity, a rolling steel ball is arranged in the circular cavity, the rolling steel ball can roll in the circular cavity, and the fixed ring of the ball track is fixedly connected to the chassis.

在上述的一种自旋转双体爬壁机器人中,所述圆珠轨道定环的侧边设置有若干限位螺孔,圆珠轨道定环通过螺钉穿过限位螺孔固定于底盘上。In the above-mentioned self-rotating double-body wall-climbing robot, a plurality of limit screw holes are provided on the side of the ball track fixing ring, and the ball track fixing ring is fixed on the chassis by screws passing through the limit screw holes.

在上述的一种自旋转双体爬壁机器人中,所述自旋转机器人还包括降噪装置,所述降噪装置位于导流罩的上方,降噪装置固定连接于圆形转盘上。In the above-mentioned self-rotating two-body wall-climbing robot, the self-rotating robot further includes a noise reduction device, the noise reduction device is located above the air shroud, and the noise reduction device is fixedly connected to the circular turntable.

在上述的一种自旋转双体爬壁机器人中,所述自旋转机器人还包括风机调速板,所述风机调速板用于控制无刷电机的转速,风机调速板安装于圆形转盘上,风机调速板与电源模块电性连接。In the above-mentioned self-rotating double-body wall-climbing robot, the self-rotating robot further includes a fan speed control board, which is used to control the rotational speed of the brushless motor, and the fan speed control board is installed on the circular turntable , the fan speed control board is electrically connected to the power module.

在上述的一种自旋转双体爬壁机器人中,所述导流罩和圆形转盘之间设置有密封环。In the above-mentioned self-rotating double-body wall-climbing robot, a sealing ring is provided between the air shroud and the circular turntable.

在上述的一种自旋转双体爬壁机器人中,所述底盘下表面边缘处设置有弹性密封垫,所述弹性密封垫内填充有海绵。In the above-mentioned self-rotating double-body wall-climbing robot, an elastic sealing gasket is provided at the edge of the lower surface of the chassis, and the elastic sealing gasket is filled with sponge.

在上述的一种自旋转双体爬壁机器人中,所述机器人一包括主控模块,所述主控模块安装于降噪装置的上方,主控模块用于控制机器人一和机器人二的转动方向、转动角度以及移动距离,主控模块与电源模块电性连接。In the above-mentioned self-rotating double-body wall-climbing robot, the first robot includes a main control module, the main control module is installed above the noise reduction device, and the main control module is used to control the rotation directions of the first robot and the second robot. , rotation angle and moving distance, the main control module is electrically connected with the power module.

在上述的一种自旋转双体爬壁机器人中,所述机器人一和机器人二均设置有航空插座,航空插座用于机器人一和机器人二的数据连接传输。In the above-mentioned self-rotating two-body wall-climbing robot, the first robot and the second robot are provided with an aviation socket, and the aviation socket is used for data connection and transmission between the first robot and the second robot.

与现有技术相比,本发明的优点如下:Compared with the prior art, the advantages of the present invention are as follows:

1、本自旋转双体爬壁机器人通过翻转连接机构实现在不同墙壁的过渡,使本机器人适应性更强,并且大大提高了本机器人的作业效率。。1. The self-rotating double-body wall-climbing robot realizes the transition between different walls by flipping the connecting mechanism, which makes the robot more adaptable and greatly improves the operation efficiency of the robot. .

2、本自旋转双体爬壁机器人可以根据操作者的指令进行360°自由旋转,从而改变机器人的运动方向,使机器人运动更加灵活,更容易避障。2. The self-rotating two-body wall-climbing robot can freely rotate 360° according to the operator's instructions, thereby changing the movement direction of the robot, making the robot more flexible and easier to avoid obstacles.

3、本自旋转双体爬壁机器人通过统一主控模块控制,更智能化。3. The self-rotating two-body wall-climbing robot is controlled by a unified main control module, making it more intelligent.

附图说明Description of drawings

图1是本自旋转双体爬壁机器人的结构示意图;Fig. 1 is the structure schematic diagram of this self-rotating double-body wall-climbing robot;

图2是自旋转机器人的结构示意图;Fig. 2 is the structural representation of self-rotating robot;

图3是自旋转机器人另一视角的结构示意图;Fig. 3 is the structural schematic diagram of another perspective of the self-rotating robot;

图4是自旋转机器人的剖面示图。4 is a cross-sectional view of a self-rotating robot.

图中,1、机器人一;2、机器人二;3、翻转连接机构;4、俯仰舵机;5、俯仰减速器;6、前连接扣;7、后连接扣;8、铰接部;9、卡扣;10、底盘;11、圆形转盘;12、风机组件;13、驱动组件;14、电源模块;15、承台;16、承接部;17、滚动钢珠;18、导流罩;19、风口;20、负压腔;21、驱动电机;22、减速器;23、主动带轮;24、从动带轮;25、同步履带;26、圆珠轨道定环;27、限位螺孔;28、降噪装置;29、风机调速板;30、密封环;31、弹性密封垫;32、主控模块;33、航空插座。In the figure, 1. Robot 1; 2. Robot 2; 3. Flip connection mechanism; 4. Pitch steering gear; 5. Pitch reducer; 6. Front connection buckle; 7. Rear connection buckle; 8. Hinged part; 9. Buckle; 10, chassis; 11, round turntable; 12, fan assembly; 13, drive assembly; 14, power module; 15, bearing platform; 16, receiving part; 17, rolling steel ball; 18, shroud; 19 , tuyere; 20, negative pressure chamber; 21, drive motor; 22, reducer; 23, driving pulley; 24, driven pulley; 25, synchronous track; 26, ball track fixed ring; 27, limit screw hole; 28, noise reduction device; 29, fan speed control board; 30, sealing ring; 31, elastic gasket; 32, main control module; 33, aviation socket.

具体实施方式Detailed ways

以下是本发明的具体实施例,并结合附图对本发明的技术方案作进一步的描述,但本发明并不限于这些实施例。The following are specific embodiments of the present invention, and the technical solutions of the present invention will be further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.

如图1所示,本自旋转双体爬壁机器人,包括机器人一1、机器人二2和翻转连接机构3,翻转连接机构3包括俯仰舵机4、俯仰减速器5、前连接扣6和后连接扣7,前连接扣6的一端固定连接于机器人一1的底盘10,前连接扣6的另一端设置有铰接部8,后连接扣7的一端固定连接于机器人二2的底盘10,后连接扣7的另一端设置有卡扣9,铰接部8铰接于卡扣9内,俯仰舵机4固定连接于后连接扣7上,俯仰舵机4的输出轴与俯仰减速器5相连接,俯仰减速器5的输出端与铰接部8相连接。作为一种优选实施例,俯仰舵机4通过螺钉固定连接于后连接扣7上。As shown in Figure 1, the self-rotating double-body wall-climbing robot includes a robot 1, a robot 2, and a flip connection mechanism 3. The flip connection mechanism 3 includes a pitch steering gear 4, a pitch reducer 5, a front connection buckle 6 and a rear The connecting buckle 7, one end of the front connecting buckle 6 is fixedly connected to the chassis 10 of the robot one 1, the other end of the front connecting buckle 6 is provided with a hinge 8, and one end of the rear connecting buckle 7 is fixedly connected to the chassis 10 of the robot two 2. The other end of the connection buckle 7 is provided with a buckle 9, the hinge part 8 is hinged in the buckle 9, the pitch steering gear 4 is fixedly connected to the rear connection buckle 7, and the output shaft of the pitch steering gear 4 is connected with the pitch reducer 5, The output end of the pitch reducer 5 is connected to the hinge part 8 . As a preferred embodiment, the pitch steering gear 4 is fixedly connected to the rear connection buckle 7 through screws.

本双体爬壁机器人需要在壁面之间过渡时,机器人一1先从墙壁上脱开吸附,通过俯仰舵机4带动前机器人一1转动一定角度使机器人一1抬起,机器人二2继续吸附在墙面上并向前移动,直至机器人二2靠近过渡墙壁的边缘,通过俯仰舵机4带动前机器人一1贴近过渡后的墙壁,启动机器人一1,使机器人一1吸附在过渡后的墙壁上;然后,机器人二2与墙壁脱开吸附,通过俯仰舵机4带动前机器人二2转动一定角度使机器人二2抬起,机器人一1继续移动,当机器人二2完全处于过渡墙壁后,俯仰舵机4反向转动复位,壁面过渡过程完成。本机器人通过翻转连接机构3实现在不同墙壁之间的过渡,使本机器人适应性更强,并且大大提高了本机器人的作业效率。When the dual-body wall-climbing robot needs to transition between the walls, the robot one 1 first removes the adsorption from the wall, and drives the front robot one 1 to rotate at a certain angle through the pitch servo 4 to lift the robot one 1, and the robot two 2 continues to adsorb Move forward on the wall until the robot 2 is close to the edge of the transition wall, drive the front robot 1 to get close to the wall after the transition through the pitch servo 4, start the robot 1, and make the robot 1 adsorb on the wall after the transition Then, the robot two 2 is desorbed from the wall, and the front robot two 2 is driven by the pitch steering gear 4 to rotate a certain angle to lift the robot two 2, and the robot one 1 continues to move. When the robot two 2 is completely in the transition wall, the pitch The steering gear 4 is reversely rotated and reset, and the wall transition process is completed. The robot realizes the transition between different walls by flipping the connecting mechanism 3, which makes the robot more adaptable and greatly improves the working efficiency of the robot.

如图2-4所示,本实施例中,机器人一1和机器人二2均为自旋转机器人,自旋转机器人包括底盘10、圆形转盘11、风机组件12、驱动组件13和电源模块14;As shown in FIGS. 2-4 , in this embodiment, robot one 1 and robot two 2 are both self-rotating robots, and the self-rotating robots include a chassis 10 , a circular turntable 11 , a fan assembly 12 , a drive assembly 13 and a power supply module 14 ;

底盘10内设置有承台15,承台15上设置有若干第一半圆槽;圆形转盘11设置有承接部16,承接部16的下侧面设置有若干与第一半圆槽一一对应的第二半圆槽,圆形转盘11通过承接部16搭接于承台15上,承接部16与承台15间隙连接,且第一半圆槽与第二半圆槽配合形成一圆形腔,圆形腔内设置有滚动钢珠17,滚动钢珠17可位于圆形腔内滚动;作为一种优选实施例,第一半圆槽与第二半圆槽的直径均为3mm,且数量均为18个,且均匀设置;该结构中,第一半圆槽与第二半圆槽配合形成一圆形腔,圆形腔内设置有滚动钢珠17,滚动钢珠17可在圆形腔滚动,圆形转盘11在驱动力的作用下通过滚动钢珠17在内部360°任意转动,从而改变自旋转机器人的运动方向,使其运动更加灵活;A bearing platform 15 is arranged in the chassis 10, and a plurality of first semicircular grooves are arranged on the bearing platform 15; Two semicircular grooves, the circular turntable 11 is lapped on the supporting platform 15 through the receiving portion 16, the receiving portion 16 is connected with the supporting platform 15 by a gap, and the first semicircular groove cooperates with the second semicircular groove to form a circular cavity, the circular cavity There are rolling steel balls 17 inside, and the rolling steel balls 17 can be rolled in the circular cavity; as a preferred embodiment, the diameter of the first semicircular groove and the second semicircular groove are both 3mm, and the number is 18, and they are evenly arranged ; In this structure, the first semicircular groove cooperates with the second semicircular groove to form a circular cavity, the circular cavity is provided with rolling steel balls 17, the rolling steel balls 17 can roll in the circular cavity, and the circular turntable 11 acts as a driving force The rolling steel ball 17 can be rotated 360° in the interior, thereby changing the movement direction of the self-rotating robot and making its movement more flexible;

风机组件12包括无刷电机、离心风扇和导流罩18,导流罩18固定于圆形转盘11上,导流罩18和圆形转盘11之间设置有密封环30,无刷电机安装于导流罩18内,无刷电机的输出轴连接有离心风扇,圆形转盘11的底部设置有风口19,风口19与导流罩18相对应,圆形转盘11内设置有负压腔20,负压腔20与导流罩18相连通;该结构中,启动无刷电机,带动离心风扇高速转动,抽取导流罩18内的空气,从而形成一个负压,使得自旋转机器人牢牢吸附在墙壁上;The fan assembly 12 includes a brushless motor, a centrifugal fan and a shroud 18. The shroud 18 is fixed on the circular turntable 11, and a sealing ring 30 is arranged between the shroud 18 and the circular turntable 11. The brushless motor is mounted on the circular turntable 11. Inside the shroud 18, the output shaft of the brushless motor is connected with a centrifugal fan, the bottom of the circular turntable 11 is provided with a tuyere 19, the tuyere 19 corresponds to the shroud 18, and the circular turntable 11 is provided with a negative pressure cavity 20, The negative pressure chamber 20 is communicated with the shroud 18; in this structure, the brushless motor is started to drive the centrifugal fan to rotate at a high speed, and the air in the shroud 18 is extracted to form a negative pressure, so that the self-rotating robot is firmly adsorbed on the shroud 18. on the wall;

驱动组件13为两组,两组驱动组件13分别位于导流罩18的两侧,驱动组件13包括驱动电机21、减速器22、主动带轮23、从动带轮24和同步履带25,驱动电机21安装于圆形转盘11上,驱动电机21的输出轴连接有减速器22,减速器22的输出轴连接主动带轮23,从动带轮24活动连接于圆形转盘11上,主动带轮23和从动带轮24通过同步履带25传动连接;该结构中,通过驱动电机21带动主动带轮23和从动带轮24转动,从而使得自旋转机器人在墙壁上移动;The drive assemblies 13 are divided into two groups. The two groups of drive assemblies 13 are located on both sides of the shroud 18 respectively. The drive assemblies 13 include a drive motor 21, a reducer 22, a driving pulley 23, a driven pulley 24 and a synchronous track 25. The motor 21 is installed on the circular turntable 11, the output shaft of the driving motor 21 is connected with a reducer 22, the output shaft of the reducer 22 is connected with the driving pulley 23, the driven pulley 24 is movably connected on the circular turntable 11, and the driving belt The wheel 23 and the driven pulley 24 are connected by transmission through the synchronous crawler 25; in this structure, the driving motor 21 drives the driving pulley 23 and the driven pulley 24 to rotate, thereby making the self-rotating robot move on the wall;

电源模块14安装于圆形转盘11上,电源模块14用于提供电源,电源模块14与驱动电机21、无刷电机以及俯仰舵机4电性连接。作为一种优选实施例,电源模块14,总容量至少5600mAh,续航1h以上。The power module 14 is installed on the circular turntable 11 , and the power module 14 is used for providing power. The power module 14 is electrically connected with the driving motor 21 , the brushless motor and the pitch steering gear 4 . As a preferred embodiment, the power module 14 has a total capacity of at least 5600mAh and a battery life of more than 1 hour.

如图4所示,本实施例中,自旋转机器人还包括圆珠轨道定环26,承接部16的上侧面设置有若干第三半圆槽,圆珠轨道定环26的下侧面设置有若干与第三半圆槽一一对应的第四半圆槽,圆珠轨道定环26搭接于圆形转盘11的承接部16上,圆珠轨道定环26与圆形转盘11的承接部16间隙连接,且第三半圆槽和第四半圆槽配合形成一圆形腔,圆形腔内设置有滚动钢珠17,滚动钢珠17可位于圆形腔滚动,圆珠轨道定环26固定连接于底盘10上。作为一种优选实施例,第三半圆槽与第四半圆槽的直径均为3mm,数量均为18个,且均匀设置。该结构中,通过圆珠轨道定环26可以限制圆形转盘11上下移动。As shown in FIG. 4 , in this embodiment, the self-rotating robot further includes a ball track fixed ring 26 , a plurality of third semicircular grooves are arranged on the upper side of the receiving portion 16 , and a plurality of third semicircular grooves are arranged on the lower side of the ball track fixed ring 26 . The third semicircular grooves correspond to the fourth semicircular grooves one-to-one, the ball track fixed ring 26 is overlapped on the receiving portion 16 of the circular turntable 11, and the ball track fixed ring 26 is connected with the receiving portion 16 of the circular turntable 11 through a gap. The third semicircular groove and the fourth semicircular groove cooperate to form a circular cavity. The rolling steel ball 17 is arranged in the circular cavity. The rolling steel ball 17 can roll in the circular cavity. The ball track ring 26 is fixedly connected to the chassis 10 . As a preferred embodiment, the diameters of the third semicircular groove and the fourth semicircular groove are both 3 mm and 18 in number, and they are evenly arranged. In this structure, the circular turntable 11 can be restricted from moving up and down by the ball track fixed ring 26 .

如图4所示,本实施例中,圆珠轨道定环26的侧边设置有若干限位螺孔27,圆珠轨道定环26通过螺钉穿过限位螺孔27固定于底盘10上。作为一种优选实施例,螺孔的数量为4个。As shown in FIG. 4 , in this embodiment, a number of limiting screw holes 27 are provided on the side of the ball track fixing ring 26 , and the ball track fixing ring 26 is fixed to the chassis 10 by screws passing through the limiting screw holes 27 . As a preferred embodiment, the number of screw holes is four.

如图2所示,本实施例中,自旋转机器人还包括降噪装置28,降噪装置28位于导流罩18的上方,降噪装置28固定连接于圆形转盘11上,降噪装置28用于减少离心风扇转动时产生的噪音。作为一种优选实施例,降噪装置28为一个消音罩,降噪装置28与导流罩18之间设置有密封环30,降噪装置28通过螺柱与圆形转盘11螺纹连接固定。As shown in FIG. 2 , in this embodiment, the self-rotating robot further includes a noise reduction device 28 . The noise reduction device 28 is located above the shroud 18 , and the noise reduction device 28 is fixedly connected to the circular turntable 11 . The noise reduction device 28 Used to reduce the noise generated when the centrifugal fan rotates. As a preferred embodiment, the noise reduction device 28 is a muffler cover, a sealing ring 30 is provided between the noise reduction device 28 and the air guide cover 18 , and the noise reduction device 28 is screwed and fixed to the circular turntable 11 through studs.

如图2所示,本实施例中,自旋转机器人还包括风机调速板29,风机调速板29用于控制无刷电机的转速,风机调速板29安装于圆形转盘11上,风机调速板29与电源模块14电性连接。As shown in FIG. 2 , in this embodiment, the self-rotating robot further includes a fan speed control board 29 , which is used to control the speed of the brushless motor. The fan speed control board 29 is installed on the circular turntable 11 . The speed control board 29 is electrically connected to the power module 14 .

如图3所示,本实施例中,底盘10下表面边缘处设置有弹性密封垫31,弹性密封垫31内填充有海绵。该结构中底盘10下表面边缘处设置有弹性密封垫31,弹性密封垫31内填充有海绵能够使得自旋转机器人很好吸附在墙面上并且不损伤墙面。As shown in FIG. 3 , in this embodiment, an elastic sealing gasket 31 is provided at the edge of the lower surface of the chassis 10 , and the elastic sealing gasket 31 is filled with sponge. In this structure, an elastic sealing gasket 31 is provided at the edge of the lower surface of the chassis 10 , and the elastic sealing gasket 31 is filled with sponge, so that the self-rotating robot can be well adsorbed on the wall without damaging the wall.

如图2所示,本实施例中,机器人一1包括主控模块32,主控模块32安装于降噪装置28的上方,主控模块32用于控制机器人一1和机器人二2的转动方向、转动角度以及移动距离,主控模块32与电源模块14电性连接。该结构中,通过同一块主控模块32控制,从而使机器人一1和机器人二2每次都按同一个方向,转动相同的角度,行走移动相同的距离,并且通过主控模块32可以实现无线远程控制,采用无线传输的控制模式,摆脱了电缆的束缚,更加灵活便捷,手机移动端实时控制,控制界面简单,新手也能轻易操作。As shown in FIG. 2 , in this embodiment, the robot one 1 includes a main control module 32 , which is installed above the noise reduction device 28 , and the main control module 32 is used to control the rotation directions of the robot one 1 and the robot two 2 , rotation angle and moving distance, the main control module 32 is electrically connected with the power module 14 . In this structure, through the control of the same main control module 32, the robot one 1 and the robot two 2 rotate in the same direction, rotate the same angle, and move the same distance each time, and the main control module 32 can realize wireless Remote control, using wireless transmission control mode, gets rid of the shackles of cables, more flexible and convenient, real-time control of mobile phone mobile terminal, simple control interface, novices can easily operate.

如图1所示,本实施例中,机器人一1和机器人二2均设置有航空插座33,航空插座33用于机器人一1和机器人二2的数据连接传输。机器人一1和机器人二2所有的数据通信,通过两个航空插座33连接来完成连接。As shown in FIG. 1 , in this embodiment, the first robot 1 and the second robot 2 are both provided with an aviation socket 33 , and the aviation socket 33 is used for data connection and transmission between the first robot 1 and the second robot 2 . All data communication between robot one 1 and robot two 2 is completed through the connection of two aviation sockets 33 .

本自旋转双体爬壁机器人在墙壁上向前运动时,如若前方遇较大障碍物时,可以通过改变机器人运动方向进行避障,工作时,自旋转双体爬壁机器人由于负压作用机器人紧紧贴在壁面,当主控模块32接收当转动指令时,例如向右转动90°,这时机器人一1和机器人二2圆形转盘11就会在驱动组件13的作用下同时向右转动90°,此时本自旋转双体爬壁机器人就可以整体向右运动,当运动一段距离后,主控模块32接收向左转动90指令,机器人一1和机器人二2圆形转盘11就会在驱动机构的作用下同时向左转动90°,此时本自旋转双体爬壁机器人就可以整体向前运动,避开障碍物前行,根据实际情况同时转动机器人一1和机器人二2的圆形转盘11来改变运动方向,控制本自旋转双体爬壁机器人前行,从而使本自旋转双体爬壁机器人运动更加的灵活。When the self-rotating double-body wall-climbing robot moves forward on the wall, if it encounters a large obstacle in front of it, it can avoid the obstacle by changing the moving direction of the robot. During work, the self-rotating double-body wall-climbing robot is due to the negative pressure acting on the robot. Closely attached to the wall, when the main control module 32 receives the rotation command, for example, rotates 90° to the right, then the circular turntables 11 of the robot one 1 and the robot two 2 will move to the right at the same time under the action of the driving component 13. Rotate 90°, at this time, the self-rotating double-body wall-climbing robot can move to the right as a whole. After moving for a certain distance, the main control module 32 receives the instruction to rotate 90 degrees to the left, and the robot one 1 and the robot two 2 circular turntable 11 will rotate 90° to the left at the same time under the action of the driving mechanism. At this time, the self-rotating double-body wall-climbing robot can move forward as a whole, avoid obstacles, and rotate robots 1 and 1 at the same time according to the actual situation. The circular turntable 11 of the robot 2 2 changes the movement direction and controls the self-rotating double-body wall-climbing robot to move forward, so that the self-rotating double-body wall-climbing robot can move more flexibly.

本文中所描述的具体实施例仅仅是对本发明精神作举例说明。本发明所属技术领域的技术人员可以对所描述的具体实施例做各种各样的修改或补充或采用类似的方式替代,但并不会偏离本发明的精神或者超越所附权利要求书所定义的范围。The specific embodiments described herein are merely illustrative of the spirit of the invention. Those skilled in the art to which the present invention pertains can make various modifications or additions to the described specific embodiments or substitute in similar manners, but will not deviate from the spirit of the present invention or go beyond the definitions of the appended claims range.

Claims (10)

1. A self-rotating double-body wall-climbing robot is characterized by comprising a first robot (1), a second robot (2) and a turnover connecting mechanism (3), wherein the turnover connecting mechanism (3) comprises a pitching steering engine (4), a pitching speed reducer (5), a front connecting buckle (6) and a rear connecting buckle (7), one end of the front connecting buckle (6) is fixedly connected to a chassis (10) of the first robot (1), the other end of the front connecting buckle (6) is provided with a hinged part (8), one end of the rear connecting buckle (7) is fixedly connected to the chassis (10) of the second robot (2), the other end of the rear connecting buckle (7) is provided with a buckle (9), the hinged part (8) is hinged in the buckle (9), the pitching steering engine (4) is fixedly connected to the rear connecting buckle (7), and an output shaft of the pitching steering engine (4) is connected with the pitching speed reducer (5), the output end of the pitching speed reducer (5) is connected with the hinge part (8).
2. A self-rotating twin-body wall-climbing robot according to claim 1, wherein the first robot (1) and the second robot (2) are both self-rotating robots, and the self-rotating robots comprise a chassis (10), a circular turntable (11), a fan assembly (12), a driving assembly (13) and a power supply module (14);
a bearing platform (15) is arranged in the chassis (10), and a plurality of first semicircular grooves are formed in the bearing platform (15); the circular turntable (11) is provided with a bearing part (16), a plurality of second semicircular grooves which are in one-to-one correspondence with the first semicircular grooves are arranged on the lower side surface of the bearing part (16), the circular turntable (11) is lapped on the bearing platform (15) through the bearing part (16), the first semicircular grooves and the second semicircular grooves are matched to form a circular cavity, rolling steel balls (17) are arranged in the circular cavity, and the rolling steel balls (17) can roll in the circular cavity;
the fan assembly (12) comprises a brushless motor, a centrifugal fan and a flow guide cover (18), the flow guide cover (18) is fixed on a circular turntable (11), the brushless motor is installed in the flow guide cover (18), an output shaft of the brushless motor is connected with the centrifugal fan, an air port (19) is formed in the bottom of the circular turntable (11), the air port (19) corresponds to the flow guide cover (18), a negative pressure cavity (20) is formed in the circular turntable (11), and the negative pressure cavity (20) is communicated with the flow guide cover (18);
the air guide sleeve is characterized in that the number of the driving assemblies (13) is two, the two groups of driving assemblies (13) are respectively positioned on two sides of the air guide sleeve (18), each driving assembly (13) comprises a driving motor (21), a speed reducer (22), a driving belt wheel (23), a driven belt wheel (24) and a synchronous crawler (25), the driving motor (21) is installed on the circular turntable (11), an output shaft of the driving motor (21) is connected with the speed reducer (22), an output shaft of the speed reducer (22) is connected with the driving belt wheel (23), the driven belt wheel (24) is movably connected to the circular turntable (11), and the driving belt wheel (23) and the driven belt wheel (24) are in transmission connection through the synchronous crawler (25);
the power module (14) is installed on the circular turntable (11), the power module (14) is used for providing power, and the power module (14) is electrically connected with the driving motor (21), the brushless motor and the pitching steering engine (4).
3. A self-rotating twin-body wall-climbing robot according to claim 2, further comprising a ball track fixing ring (26), wherein the upper side of the receiving portion (16) is provided with a plurality of third semi-circular grooves, the lower side of the ball track fixing ring (26) is provided with a plurality of fourth semi-circular grooves corresponding to the third semi-circular grooves one by one, the ball track fixing ring (26) is lapped on the receiving portion (16) of the circular turntable (11), and the third semi-circular grooves and the fourth semi-circular grooves cooperate to form a circular cavity, the circular cavity is provided with rolling steel balls (17), the rolling steel balls (17) can roll in the circular cavity, and the ball track fixing ring (26) is fixedly connected to the chassis (10).
4. A self-rotating double-body wall-climbing robot according to claim 3, characterized in that the side of the ball track fixing ring (26) is provided with a plurality of limit screw holes (27), and the ball track fixing ring (26) is fixed on the chassis (10) by screws passing through the limit screw holes (27).
5. A self-rotating twin-hull wall-climbing robot according to claim 2, characterised in that it further comprises noise-reducing means (28), said noise-reducing means (28) being located above the air guide housing (18), the noise-reducing means (28) being fixedly connected to the circular turntable (11).
6. A self-rotating double-body wall-climbing robot according to claim 2, wherein the self-rotating robot further comprises a fan speed regulation board (29), the fan speed regulation board (29) is used for controlling the rotation speed of the brushless motor, the fan speed regulation board (29) is installed on the circular turntable (11), and the fan speed regulation board (29) is electrically connected with the power module (14).
7. A self-rotating twin-bodied wall-climbing robot according to claim 2, characterised in that a sealing ring (30) is arranged between the spinner (18) and the circular turntable (11).
8. A self-rotating double-body wall-climbing robot according to claim 1, characterized in that an elastic sealing gasket (31) is arranged at the edge of the lower surface of the chassis (10), and the elastic sealing gasket (31) is filled with sponge.
9. A self-rotating double-body wall-climbing robot according to claim 5, wherein the first robot (1) comprises a main control module (32), the main control module (32) is installed above the noise reduction device (28), the main control module (32) is used for controlling the rotating direction, the rotating angle and the moving distance of the first robot (1) and the second robot (2), and the main control module (32) is electrically connected with the power supply module (14).
10. A self-rotating twin-body wall-climbing robot according to any of claims 1-9, wherein the first robot (1) and the second robot (2) are each provided with an aviation socket (33), and the aviation socket (33) is used for data connection transmission of the first robot (1) and the second robot (2).
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