CN111976857B - Self-rotating double-body wall climbing robot - Google Patents
Self-rotating double-body wall climbing robot Download PDFInfo
- Publication number
- CN111976857B CN111976857B CN202010862637.7A CN202010862637A CN111976857B CN 111976857 B CN111976857 B CN 111976857B CN 202010862637 A CN202010862637 A CN 202010862637A CN 111976857 B CN111976857 B CN 111976857B
- Authority
- CN
- China
- Prior art keywords
- robot
- self
- body wall
- wall
- wall climbing
- Prior art date
- 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.)
- Active
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 47
- 230000007246 mechanism Effects 0.000 claims abstract description 12
- 230000009467 reduction Effects 0.000 claims description 18
- 239000003638 chemical reducing agent Substances 0.000 claims description 17
- 229910000831 Steel Inorganic materials 0.000 claims description 16
- 238000005096 rolling process Methods 0.000 claims description 16
- 239000010959 steel Substances 0.000 claims description 16
- 238000007789 sealing Methods 0.000 claims description 13
- 230000001105 regulatory effect Effects 0.000 claims description 8
- 230000005540 biological transmission Effects 0.000 claims description 7
- 230000001360 synchronised effect Effects 0.000 claims description 7
- 230000001276 controlling effect Effects 0.000 claims description 6
- 230000000712 assembly Effects 0.000 claims description 4
- 238000000429 assembly Methods 0.000 claims description 4
- 230000007704 transition Effects 0.000 abstract description 19
- 238000001179 sorption measurement Methods 0.000 abstract description 8
- 238000000034 method Methods 0.000 abstract description 3
- 230000008569 process Effects 0.000 abstract description 3
- 230000009471 action Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 230000007306 turnover Effects 0.000 description 3
- 238000013459 approach Methods 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 241000282414 Homo sapiens Species 0.000 description 1
- 238000007792 addition Methods 0.000 description 1
- 239000011449 brick Substances 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000003749 cleanliness Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000011835 investigation Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000011664 nicotinic acid Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a self-rotating double-body wall climbing robot, and belongs to the technical field of robots. When the double-body wall climbing robot needs to be transited between wall surfaces, the first robot is firstly separated from the wall and adsorbed, the pitching steering engine drives the front robot to rotate a certain angle to enable the first robot to lift, the second robot continues to be adsorbed on the wall surface and moves forwards until the second robot is close to the edge of the transitional wall, the pitching steering engine drives the front robot to be close to the wall after the transition, and the first robot is started to enable the first robot to be adsorbed on the wall after the transition; then, the second robot is separated from the wall for adsorption, the second robot is driven to rotate by a certain angle through the pitching steering engine, so that the second robot is lifted, the first robot continues to move, and when the second robot is completely positioned on the transition wall, the pitching steering engine reversely rotates and resets, so that the wall transition process is completed. The transition between different walls is realized through the overturning connecting mechanism, so that the robot has stronger adaptability and the working efficiency is greatly improved.
Description
Technical Field
The invention belongs to the technical field of robots, and relates to a self-rotating double-body wall climbing robot.
Background
The wall climbing robot organically combines the ground moving technology and the adsorption technology, can carry special tools to replace human beings to work on vertical walls of buildings, industrial facilities and the like with a certain height from the ground, and can be widely applied to the fields of industry, rescue, investigation, wall cleaning and the like. The wall climbing robot can prevent people from working dangerous high-altitude steep wall operation, improve the working environment of operators, reduce the operation risk and greatly improve the working efficiency.
Most of traditional wall climbing robots are large in size, heavy in weight and low in crawling speed. Along with the development of robot technology and the deep understanding of wall climbing robots, the wall climbing robots start to develop towards miniaturization, light weight and cabling-free directions, but most of the wall climbing robots are single robots which can only move on a flat wall surface, do not have the capability of crossing obstacles and grooves, and greatly limit the application range of the robots.
The China patent with application number 201010217822.7 discloses a modularized bionic wall climbing robot which adopts a negative pressure vacuum adsorption mode, consists of a joint module and a vacuum adsorption module, has certain obstacle crossing capacity, but moves slowly, has higher requirements on the light cleanliness of the wall surface by vacuum adsorption, and can not be used when the wall is broken or grooved, and can not be used on uneven and brick walls, so that the application range is limited.
In a word, most existing wall climbing robots can only work on a single wall surface, have poor adaptability to wall surfaces made of different materials, and have weak capability of crossing obstacles on the wall.
Disclosure of Invention
The invention aims at the problems existing in the prior art, and provides a self-rotating double-body wall climbing robot, which aims at solving the technical problems that: how to achieve a transition between different walls.
The aim of the invention can be achieved by the following technical scheme:
the utility model provides a self-rotating double-body wall climbing robot, includes first robot, second robot and upset coupling mechanism, upset coupling mechanism includes pitch steering wheel, pitch reduction gear, preceding connector link and back connector link, the one end fixed connection of preceding connector link is in first chassis of robot, and the other end of preceding connector link is provided with articulated portion, the one end fixed connection of back connector link is in second chassis of robot, and the other end of back connector link is provided with the buckle, articulated portion articulates in the buckle, pitch steering wheel fixed connection is on the back connector link, and pitch steering wheel's output shaft is connected with pitch reduction gear, pitch reduction gear's output is connected with articulated portion.
The working principle is as follows: when the double-body wall climbing robot needs wall surface transition, the first robot is firstly separated from the wall and adsorbed, the pitching steering engine drives the front robot to rotate a certain angle to enable the first robot to lift, the second robot continues to be adsorbed on the wall surface and moves forwards until the second robot is close to the edge of the transition wall, the pitching steering engine drives the front robot to be close to the wall after transition, and the first robot is started to enable the first robot to be adsorbed on the wall after transition; then, the second robot is separated from the wall for adsorption, the second robot is driven to rotate by a certain angle through the pitching steering engine, so that the second robot is lifted, the first robot continues to move, and when the second robot is completely positioned on the transition wall, the pitching steering engine reversely rotates and resets, so that the wall transition process is completed. The double-body wall climbing robot realizes transition on different walls through the overturning connecting mechanism, so that the robot has stronger adaptability, and the working efficiency of the robot is greatly improved.
In the self-rotating double-body wall climbing robot, the first robot and the second robot are self-rotating robots, and the self-rotating robots comprise a chassis, a circular turntable, a fan assembly, a driving assembly and a power module;
a bearing platform is arranged in the chassis, and a plurality of first semicircular grooves are formed in the bearing platform; the round turntable is provided with a bearing part, the lower side surface of the bearing part is provided with a plurality of second semicircular grooves which are in one-to-one correspondence with the first semicircular grooves, the round turntable is lapped on the bearing platform through the bearing part, the first semicircular grooves and the second semicircular grooves are matched to form a round cavity, rolling steel balls are arranged in the round cavity, and the rolling steel balls can roll in the round cavity;
the fan assembly comprises a brushless motor, a centrifugal fan and a guide cover, wherein the guide cover is fixed on a circular turntable, the brushless motor is installed in the guide cover, an output shaft of the brushless motor is connected with the centrifugal fan, an air port is arranged at the bottom of the circular turntable, the air port corresponds to the guide cover, a negative pressure cavity is arranged in the circular turntable, and the negative pressure cavity is communicated with the guide cover;
the driving assemblies are respectively positioned at two sides of the air guide sleeve, each driving assembly comprises a driving motor, a speed reducer, a driving belt wheel, a driven belt wheel and a synchronous crawler belt, each driving motor is arranged on the round turntable, an output shaft of each driving motor is connected with the corresponding speed reducer, each driven belt wheel is movably connected to the round turntable, and the driving belt wheel and the corresponding driven belt wheel are in transmission connection through the corresponding synchronous crawler belt;
the power module is arranged on the circular turntable and is used for providing power, and the power module is electrically connected with the driving motor, the brushless motor and the pitching steering engine.
In the self-rotating double-body wall climbing robot, the self-rotating robot further comprises a ball track fixed ring, a plurality of third semicircular grooves are formed in the upper side face of the bearing part, a plurality of fourth semicircular grooves corresponding to the third semicircular grooves one by one are formed in the lower side face of the ball track fixed ring, the ball track fixed ring is lapped on the bearing part of the circular turntable, the third semicircular grooves and the fourth semicircular grooves are matched to form a circular cavity, rolling steel balls are arranged in the circular cavity, the rolling steel balls can roll in the circular cavity, and the ball track fixed ring is fixedly connected to the chassis.
In the self-rotating double-body wall climbing robot, a plurality of limiting screw holes are formed in the side edges of the ball track fixing rings, and the ball track fixing rings penetrate through the limiting screw holes through screws to be fixed on the chassis.
In the self-rotating double-body wall climbing robot, the self-rotating robot further comprises a noise reduction device, wherein the noise reduction device is located above the air guide sleeve and is fixedly connected to the circular turntable.
In the self-rotating double-body wall climbing robot, the self-rotating robot further comprises a fan speed regulating plate, the fan speed regulating plate is used for controlling the rotating speed of the brushless motor, the fan speed regulating plate is arranged on the circular turntable, and the fan speed regulating plate is electrically connected with the power supply module.
In the self-rotating double-body wall climbing robot, a sealing ring is arranged between the air guide sleeve and the circular turntable.
In the self-rotating double-body wall climbing robot, an elastic sealing gasket is arranged at the edge of the lower surface of the chassis, and sponge is filled in the elastic sealing gasket.
In the above-mentioned self-rotating double-body wall climbing robot, the first robot comprises a main control module, the main control module is arranged above the noise reduction device and is used for controlling the rotation direction, the rotation angle and the movement distance of the first robot and the second robot, and the main control module is electrically connected with the power supply module.
In the self-rotating double-body wall climbing robot, the first robot and the second robot are both provided with aviation sockets, and the aviation sockets are used for data connection transmission of the first robot and the second robot.
Compared with the prior art, the invention has the following advantages:
1. the self-rotating double-body wall climbing robot achieves transition on different walls through the overturning connecting mechanism, so that the robot is higher in adaptability, and the operation efficiency of the robot is greatly improved.
2. The self-rotating double-body wall climbing robot can freely rotate 360 degrees according to the instruction of an operator, so that the movement direction of the robot is changed, the robot moves more flexibly, and obstacle avoidance is easier.
3. The self-rotating double-body wall climbing robot is controlled by the unified main control module, so that the robot is more intelligent.
Drawings
FIG. 1 is a schematic structural view of the self-rotating double-body wall climbing robot;
FIG. 2 is a schematic view of a structure of a self-rotating robot;
FIG. 3 is a schematic view of a self-rotating robot from another perspective;
fig. 4 is a cross-sectional view of the self-rotating robot.
In the figure, 1, a robot I; 2. a second robot; 3. a turnover connecting mechanism; 4. pitching steering engine; 5. pitch decelerator; 6. a front connecting buckle; 7. a rear connecting buckle; 8. a hinge part; 9. a buckle; 10. a chassis; 11. a circular turntable; 12. a fan assembly; 13. a drive assembly; 14. a power module; 15. bearing platform; 16. a receiving part; 17. rolling the steel balls; 18. a guide cover; 19. an air port; 20. a negative pressure chamber; 21. a driving motor; 22. a speed reducer; 23. a driving pulley; 24. a driven pulley; 25. a synchronous crawler; 26. a ball track ring; 27. limiting screw holes; 28. a noise reduction device; 29. a fan speed regulation plate; 30. a seal ring; 31. an elastic sealing gasket; 32. a main control module; 33. aviation socket.
Detailed Description
The following are specific embodiments of the present invention, and the technical solutions of the present invention are further described with reference to the accompanying drawings, but the present invention is not limited to these embodiments.
As shown in fig. 1, the self-rotating double-body wall climbing robot comprises 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 hinge 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 hinge part 8 is hinged in the buckle 9, the pitching steering engine 4 is fixedly connected to the rear connecting buckle 7, an output shaft of the pitching steering engine 4 is connected with the pitching speed reducer 5, and an output end of the pitching speed reducer 5 is connected with the hinge part 8. As a preferred embodiment, the pitch steering engine 4 is fixedly connected to the rear connecting buckle 7 by a screw.
When the double-body wall climbing robot needs to be transited between wall surfaces, the robot I firstly releases adsorption from the wall, the pitching steering engine 4 drives the front robot I to rotate a certain angle to enable the robot I to lift, the robot II continues to be adsorbed on the wall surface and moves forwards until the robot II approaches the edge of the transitional wall, the pitching steering engine 4 drives the front robot I to approach the wall after the transition, and the robot I is started to enable the robot I to be adsorbed on the wall after the transition; then, the robot II 2 is separated from the wall for adsorption, the pitching steering engine 4 drives the front robot II 2 to rotate a certain angle to enable the robot II 2 to be lifted, the robot I1 continues to move, and when the robot II 2 is completely positioned on the transition wall, the pitching steering engine 4 reversely rotates for resetting, so that the wall transition process is completed. The robot realizes transition between different walls through the overturning connecting mechanism 3, so that the robot has stronger adaptability, and the working efficiency of the robot is greatly improved.
As shown in fig. 2 to 4, in this embodiment, the first robot 1 and the second robot 2 are both self-rotating robots, and each self-rotating robot includes a chassis 10, a circular turntable 11, a fan assembly 12, a driving assembly 13, and a power 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 round turntable 11 is provided with a bearing part 16, the lower side surface of the bearing part 16 is provided with a plurality of second semicircular grooves which are in one-to-one correspondence with the first semicircular grooves, the round turntable 11 is lapped on the bearing platform 15 through the bearing part 16, the bearing part 16 is in clearance connection with the bearing platform 15, the first semicircular grooves and the second semicircular grooves are matched to form a round cavity, rolling steel balls 17 are arranged in the round cavity, and the rolling steel balls 17 can roll in the round cavity; as a preferred embodiment, the diameters of the first semicircular groove and the second semicircular groove are 3mm, and the number of the first semicircular groove and the second semicircular groove is 18 and the first semicircular groove and the second semicircular groove are uniformly arranged; in the structure, the first semicircular groove and the second semicircular groove are matched to form a circular cavity, rolling steel balls 17 are arranged in the circular cavity, the rolling steel balls 17 can roll in the circular cavity, and the circular turntable 11 can rotate at random at 360 degrees inside through the rolling steel balls 17 under the action of driving force, so that the movement direction of the self-rotating robot is changed, and the movement is more flexible;
the fan assembly 12 comprises a brushless motor, a centrifugal fan and a guide cover 18, the guide cover 18 is fixed on the circular turntable 11, a sealing ring 30 is arranged between the guide cover 18 and the circular turntable 11, the brushless motor is installed in the guide cover 18, an output shaft of the brushless motor is connected with the centrifugal fan, an air port 19 is arranged at the bottom of the circular turntable 11, the air port 19 corresponds to the guide cover 18, a negative pressure cavity 20 is arranged in the circular turntable 11, and the negative pressure cavity 20 is communicated with the guide cover 18; in the structure, the brushless motor is started to drive the centrifugal fan to rotate at a high speed, and air in the air guide sleeve 18 is extracted, so that negative pressure is formed, and the self-rotating robot is firmly adsorbed on a wall;
the two groups of driving assemblies 13 are respectively positioned at two sides of the air guide sleeve 18, the driving assemblies 13 comprise a driving motor 21, a speed reducer 22, a driving belt pulley 23, a driven belt pulley 24 and a synchronous crawler belt 25, the driving motor 21 is arranged on the circular turntable 11, the output shaft of the driving motor 21 is connected with the speed reducer 22, the output shaft of the speed reducer 22 is connected with the driving belt pulley 23, the driven belt pulley 24 is movably connected on the circular turntable 11, and the driving belt pulley 23 and the driven belt pulley 24 are in transmission connection through the synchronous crawler belt 25; in the structure, the driving belt pulley 23 and the driven belt pulley 24 are driven to rotate by the driving motor 21, so that the self-rotating robot moves on a wall;
the power module 14 is mounted 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 pitch steering engine 4. As a preferred embodiment, the power module 14 has a total capacity of at least 5600mAh and a duration of 1h or more.
As shown in fig. 4, in this embodiment, the self-rotating robot further includes a ball track ring 26, a plurality of third semicircular grooves are disposed on the upper side of the receiving portion 16, a plurality of fourth semicircular grooves corresponding to the third semicircular grooves one by one are disposed on the lower side of the ball track ring 26, the ball track ring 26 is lapped on the receiving portion 16 of the circular turntable 11, the ball track ring 26 is in gap connection with the receiving portion 16 of the circular turntable 11, the third semicircular grooves and the fourth semicircular grooves cooperate to form a circular cavity, rolling steel balls 17 are disposed in the circular cavity, the rolling steel balls 17 can roll in the circular cavity, and 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 3mm, the number of the third semicircular groove and the fourth semicircular groove is 18, and the third semicircular groove and the fourth semicircular groove are uniformly arranged. In this structure, the round turntable 11 can be restricted from moving up and down by the ball track ring 26.
As shown in fig. 4, in this embodiment, a plurality 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 on the chassis 10 by passing through the limiting screw holes 27 through screws. As a preferred embodiment, the number of screw holes is 4.
As shown in fig. 2, in this embodiment, the self-rotating robot further includes a noise reducer 28, the noise reducer 28 is located above the air guide sleeve 18, the noise reducer 28 is fixedly connected to the circular turntable 11, and the noise reducer 28 is used for reducing noise generated when the centrifugal fan rotates. As a preferred embodiment, the noise reduction device 28 is a noise reduction cover, a sealing ring 30 is arranged between the noise reduction device 28 and the air guide cover 18, and the noise reduction device 28 is fixedly connected with the circular turntable 11 through a screw bolt in a threaded manner.
As shown in fig. 2, in this embodiment, the self-rotating robot further includes a fan speed adjusting plate 29, the fan speed adjusting plate 29 is used for controlling the rotation speed of the brushless motor, the fan speed adjusting plate 29 is mounted on the circular turntable 11, and the fan speed adjusting plate 29 is electrically connected with the power module 14.
As shown in fig. 3, in this embodiment, an elastic sealing pad 31 is provided at the edge of the lower surface of the chassis 10, and the elastic sealing pad 31 is filled with a sponge. In the structure, the edge of the lower surface of the chassis 10 is provided with the elastic sealing gasket 31, and the elastic sealing gasket 31 is filled with sponge so that the self-rotating robot can be well adsorbed on the wall surface and does not damage the wall surface.
As shown in fig. 2, in the embodiment, the first robot 1 includes a main control module 32, the main control module 32 is installed above the noise reducer 28, the main control module 32 is used for controlling the rotation direction, the rotation angle and the movement distance of the first robot 1 and the second robot 2, and the main control module 32 is electrically connected with the power module 14. In this structure, through same main control module 32 control to make robot one 1 and robot two 2 all according to same direction at every turn, rotate the same angle, walk and remove the same distance, and can realize wireless remote control through main control module 32, adopt wireless transmission's control mode, get rid of the constraint of cable, more nimble convenient, mobile terminal real-time control of cell-phone, control interface is simple, and the novice also can operate easily.
As shown in fig. 1, in the present embodiment, each of the first robot 1 and the second robot 2 is provided with an aviation socket 33, and the aviation socket 33 is used for data connection transmission between the first robot 1 and the second robot 2. All data communication of the first robot 1 and the second robot 2 is completed by connecting the two aviation sockets 33.
When the self-rotating double-body wall climbing robot moves forwards on a wall, if the front part encounters a large obstacle, the robot can avoid the obstacle by changing the moving direction of the robot, during operation, the self-rotating double-body wall climbing robot can move forwards integrally due to the negative pressure effect, when the main control module 32 receives a rotating instruction, for example, the robot one 1 and the robot two 2 rotate 90 degrees rightwards under the action of the driving component 13, the robot one and the robot two 2 rotate 90 degrees rightwards simultaneously, at the moment, the self-rotating double-body wall climbing robot can move rightwards integrally, after a certain distance, the main control module 32 receives the leftwards rotating 90 degrees instruction, the robot one and the robot two 2 rotate leftwards simultaneously under the action of the driving mechanism, at the moment, the self-rotating double-body wall climbing robot can move forwards integrally to avoid the obstacle, and the self-rotating double-body wall climbing robot is controlled to move forwards according to the actual condition, so that the self-rotating double-body wall climbing robot moves more flexibly.
The specific embodiments described herein are offered by way of example only to illustrate the spirit of the invention. Those skilled in the art may make various modifications or additions to the described embodiments or substitutions thereof without departing from the spirit of the invention or exceeding the scope of the invention as defined in the accompanying claims.
Claims (9)
1. The utility model provides a self-rotating double-body wall climbing robot which is characterized in that, including robot one (1), robot two (2) and tilting connection mechanism (3), tilting connection mechanism (3) are including every single move steering wheel (4), every single move reduction gear (5), preceding connector link (6) and back connector link (7), the one end fixed connection of preceding connector link (6) is in chassis (10) of robot one (1), and the other end of preceding connector link (6) is provided with articulated portion (8), the one end fixed connection of back connector link (7) is in chassis (10) of robot two (2), and the other end of back connector link (7) is provided with buckle (9), articulated portion (8) are articulated in buckle (9), every single move steering wheel (4) fixed connection is on back connector link (7), and the output shaft of every single move steering wheel (4) is connected with every single move reduction gear (5), the output of every single move reduction gear (5) is connected with articulated portion (8);
the robot I (1) and the robot II (2) are self-rotating robots, and the self-rotating robots comprise a chassis (10), a round turntable (11), a fan assembly (12), a driving assembly (13) and a power 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 round turntable (11) is provided with a bearing part (16), the lower side surface of the bearing part (16) is provided with a plurality of second semicircular grooves which are in one-to-one correspondence with the first semicircular grooves, the round 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 round cavity, rolling steel balls (17) are arranged in the round cavity, and the rolling steel balls (17) can roll in the round cavity;
the fan assembly (12) comprises a brushless motor, a centrifugal fan and a guide cover (18), wherein the guide cover (18) is fixed on a circular turntable (11), the brushless motor is installed in the 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 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 guide cover (18);
the driving assembly (13) is two groups, the two groups of driving assemblies (13) are respectively positioned on two sides of the air guide sleeve (18), the 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 belt (25), the driving motor (21) is arranged 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 onto the circular turntable (11), and the driving belt wheel (23) and the driven belt wheel (24) are in transmission connection through the synchronous crawler belt (25);
the power module (14) is arranged 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).
2. The self-rotating double-body wall climbing robot according to claim 1, further comprising a ball track fixed ring (26), wherein a plurality of third semicircular grooves are formed in the upper side surface of the bearing part (16), a plurality of fourth semicircular grooves corresponding to the third semicircular grooves one by one are formed in the lower side surface of the ball track fixed ring (26), the ball track fixed ring (26) is lapped on the bearing part (16) of the circular turntable (11), the third semicircular grooves and the fourth 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, and the ball track fixed ring (26) is fixedly connected to the chassis (10).
3. The self-rotating double-body wall climbing robot according to claim 2, wherein a plurality of limiting screw holes (27) are formed in the side edge of the ball track fixing ring (26), and the ball track fixing ring (26) is fixed to the chassis (10) through the limiting screw holes (27) by screws.
4. The self-rotating double-body wall climbing robot according to claim 1, further comprising a noise reduction device (28), wherein the noise reduction device (28) is located above the air guide sleeve (18), and the noise reduction device (28) is fixedly connected to the circular turntable (11).
5. The self-rotating double-body wall climbing robot according to claim 1, further comprising a fan speed regulating plate (29), wherein the fan speed regulating plate (29) is used for controlling the rotating speed of the brushless motor, the fan speed regulating plate (29) is mounted on the circular turntable (11), and the fan speed regulating plate (29) is electrically connected with the power module (14).
6. A self-rotating double-body wall climbing robot according to claim 1, characterized in that a sealing ring (30) is arranged between the pod (18) and the circular turntable (11).
7. The self-rotating double-body wall climbing robot according to claim 1, wherein an elastic sealing gasket (31) is arranged at the edge of the lower surface of the chassis (10), and sponge is filled in the elastic sealing gasket (31).
8. The self-rotating double-body wall climbing robot according to claim 4, 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 rotation direction, the rotation angle and the movement 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).
9. A self-rotating double-body wall climbing robot according to any of claims 1-8, characterized in that the first robot (1) and the second robot (2) are each provided with an aerial socket (33), the aerial socket (33) being used for data connection transmission of the first robot (1) and the second robot (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010862637.7A CN111976857B (en) | 2020-08-25 | 2020-08-25 | Self-rotating double-body wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010862637.7A CN111976857B (en) | 2020-08-25 | 2020-08-25 | Self-rotating double-body wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111976857A CN111976857A (en) | 2020-11-24 |
| CN111976857B true CN111976857B (en) | 2024-01-30 |
Family
ID=73444210
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010862637.7A Active CN111976857B (en) | 2020-08-25 | 2020-08-25 | Self-rotating double-body wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111976857B (en) |
Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008120252A (en) * | 2006-11-13 | 2008-05-29 | Kansai Electric Power Co Inc:The | Crawler type sucking/traveling robot |
| CN201176192Y (en) * | 2008-02-22 | 2009-01-07 | 北京航空航天大学 | Articular-jointed small-sized two-body negative-pressure wall climbing robot |
| CN201756146U (en) * | 2010-07-02 | 2011-03-09 | 华南理工大学 | Modularized bionic wall-climbing robot |
| CN203391891U (en) * | 2013-08-05 | 2014-01-15 | 华北电力大学 | Wall-climbing device for automatically switching wall surfaces |
| CN104015829A (en) * | 2014-06-10 | 2014-09-03 | 西北工业大学 | Two negative pressure adsorption type feet of wall-climbing robot |
| CN205034206U (en) * | 2015-10-25 | 2016-02-17 | 龚雷锋 | Novel but combination formula corner wall climbing robot |
| CN106741274A (en) * | 2017-02-16 | 2017-05-31 | 耿逸芃 | The sucker type wall climbing robot and its moving method of adjustable stride |
| CN106945739A (en) * | 2017-02-13 | 2017-07-14 | 上海大学 | A kind of barrier-crossing wall-climbing robot with wall translation function |
| CN206856828U (en) * | 2017-06-11 | 2018-01-09 | 江苏省特种设备安全监督检验研究院 | Biped climbing robot |
| JP2018118733A (en) * | 2018-03-22 | 2018-08-02 | 三菱電機株式会社 | Caterpillar track running device of robot for inspecting power generator and moving body of robot for inspecting power generator |
| CN109850027A (en) * | 2019-02-28 | 2019-06-07 | 重庆邮电大学 | A kind of bionical biped climbing robot based on magnetosensitive rubber pasting material |
| CN110860983A (en) * | 2019-12-09 | 2020-03-06 | 中国电子科技集团公司第二十八研究所 | Three-dimensional space wall-climbing grinding and polishing robot and grinding energy efficiency control method |
| CN212580020U (en) * | 2020-08-25 | 2021-02-23 | 广东省智能制造研究所 | Self-rotating double-body wall-climbing robot |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130186699A1 (en) * | 2012-01-23 | 2013-07-25 | Sri International | High voltage converters for electrostatic applications |
-
2020
- 2020-08-25 CN CN202010862637.7A patent/CN111976857B/en active Active
Patent Citations (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2008120252A (en) * | 2006-11-13 | 2008-05-29 | Kansai Electric Power Co Inc:The | Crawler type sucking/traveling robot |
| CN201176192Y (en) * | 2008-02-22 | 2009-01-07 | 北京航空航天大学 | Articular-jointed small-sized two-body negative-pressure wall climbing robot |
| CN201756146U (en) * | 2010-07-02 | 2011-03-09 | 华南理工大学 | Modularized bionic wall-climbing robot |
| CN203391891U (en) * | 2013-08-05 | 2014-01-15 | 华北电力大学 | Wall-climbing device for automatically switching wall surfaces |
| CN104015829A (en) * | 2014-06-10 | 2014-09-03 | 西北工业大学 | Two negative pressure adsorption type feet of wall-climbing robot |
| CN205034206U (en) * | 2015-10-25 | 2016-02-17 | 龚雷锋 | Novel but combination formula corner wall climbing robot |
| CN106945739A (en) * | 2017-02-13 | 2017-07-14 | 上海大学 | A kind of barrier-crossing wall-climbing robot with wall translation function |
| CN106741274A (en) * | 2017-02-16 | 2017-05-31 | 耿逸芃 | The sucker type wall climbing robot and its moving method of adjustable stride |
| CN206856828U (en) * | 2017-06-11 | 2018-01-09 | 江苏省特种设备安全监督检验研究院 | Biped climbing robot |
| JP2018118733A (en) * | 2018-03-22 | 2018-08-02 | 三菱電機株式会社 | Caterpillar track running device of robot for inspecting power generator and moving body of robot for inspecting power generator |
| CN109850027A (en) * | 2019-02-28 | 2019-06-07 | 重庆邮电大学 | A kind of bionical biped climbing robot based on magnetosensitive rubber pasting material |
| CN110860983A (en) * | 2019-12-09 | 2020-03-06 | 中国电子科技集团公司第二十八研究所 | Three-dimensional space wall-climbing grinding and polishing robot and grinding energy efficiency control method |
| CN212580020U (en) * | 2020-08-25 | 2021-02-23 | 广东省智能制造研究所 | Self-rotating double-body wall-climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111976857A (en) | 2020-11-24 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106945739B (en) | A kind of barrier-crossing wall-climbing robot with wall surface conversion function | |
| WO2021121006A1 (en) | Polishing device and polishing robot | |
| CN102849140B (en) | Multi-moving-mode bionic moving robot | |
| CN210734339U (en) | Wall-climbing robot | |
| CN112373594A (en) | Wheel-leg hybrid drive type mining metamorphic robot | |
| CN110757478A (en) | Sucking disc formula snakelike curtain robot of crawling | |
| CN212074255U (en) | Chassis and mobile robot | |
| CN211104019U (en) | Sucking disc formula snakelike curtain robot of crawling | |
| CN212580020U (en) | Self-rotating double-body wall-climbing robot | |
| CN111976857B (en) | Self-rotating double-body wall climbing robot | |
| CN111959630A (en) | Modularized bionic wall-climbing robot | |
| CN112476477B (en) | Rope-driven three-degree-of-freedom offset joint | |
| CN206155608U (en) | It adds compound machine people of articulated arm to climb wall | |
| CN211308772U (en) | Self-adaptive under-actuated tracked robot | |
| CN209095546U (en) | A kind of omni-directional moving mechanism having obstacle crossing function and robot system | |
| CN201566714U (en) | Caterpillar obstacle-surmounting mechanism | |
| CN116552668A (en) | Variant mobile robot with multiple pose switching | |
| CN114013524B (en) | Wheel-track-leg combined type mobile robot | |
| CN213228927U (en) | Modularized bionic wall-climbing robot | |
| CN210680974U (en) | Wall-climbing robot | |
| CN210408252U (en) | Wheeled belt cleaning device that can be used to smooth surface | |
| CN113682390A (en) | Wheel-driven multi-degree-of-freedom orthogonal joint chain type robot | |
| CN210391357U (en) | Stair climbing robot with flexible action | |
| CN114074723A (en) | Wheel-track type mobile robot based on Mecanum wheels | |
| CN215618050U (en) | Wheeled robot shock attenuation chassis |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |