CN112026950B - Wheel leg composite climbing robot - Google Patents
Wheel leg composite climbing robot Download PDFInfo
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- CN112026950B CN112026950B CN202010946951.3A CN202010946951A CN112026950B CN 112026950 B CN112026950 B CN 112026950B CN 202010946951 A CN202010946951 A CN 202010946951A CN 112026950 B CN112026950 B CN 112026950B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
Abstract
The invention relates to the technical field of robots, in particular to a wheel-leg compound climbing robot which comprises a swinging component, a wheel driving component and a magnetic adsorption component, wherein the wheel driving component comprises a base and a driving wheel rotationally connected with the base, the base is provided with a first transmission component for driving the driving wheel to lift, one ends of two groups of bases are respectively connected with two ends of the swinging component, the magnetic adsorption component is arranged at the other end of the base, the magnetic adsorption component comprises a rotatable first permanent magnet group and a fixedly arranged second permanent magnet group, and the first permanent magnet group is connected with the second transmission component for driving the first permanent magnet group to rotationally adjust the magnetic force. The invention can be switched between two modes of wheel drive and bipedal crawling, thereby ensuring high-efficiency planar crawling capability, higher obstacle-surmounting capability, wide action range, high action precision and agile and efficient action, being applicable to various working scenes, replacing manual work in various severe environments or high-altitude operation, saving a great amount of labor investment, and being safe and efficient.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wheel-leg compound climbing robot.
Background
In some specific environments, there are some work and tasks with severe working conditions and dangers, the work and tasks are very difficult to be completed by human beings, and schemes such as a work trolley, a quadruped robot and the like are proposed successively; in order to enable the working trolley and the quadruped robot to climb on a vertical plane, an adsorption device such as electromagnetic adsorption type, vacuum adsorption type and reverse thrust adsorption type by utilizing a rotor is additionally arranged on the working trolley and the quadruped robot, so that the crawler-type sucker adsorption climbing vehicle, the rotor-type climbing robot, the electromagnetic adsorption quadruped climbing robot and the like are derived. However, although the rotor climbing robot can work at a certain high altitude, the rotor climbing robot has the defects of high noise and low reliability, and factors such as high altitude wind power can influence the rotor climbing robot; although the crawler-type sucker adsorption climbing trolley can conduct more accurate movement route planning, the crawler-type sucker adsorption climbing trolley is poor in movement flexibility, slow in movement, low in efficiency, difficult to turn, poor in obstacle crossing capability and capable of working only on a large plane; the electromagnet adsorption four-foot climbing robot has certain obstacle crossing capability, but the structure of the electromagnet adsorption four-foot climbing robot and the electromagnetic adsorption structure are complex, the weight is large, the cost is high, and the whole robot can loose and fall due to the loss of magnetic force when power is off, so that loss and danger are caused.
Chinese patent CN111547152a discloses a multi-freedom climbing robot, including gyration subassembly, pendulum subassembly, magnetic adsorption subassembly, two sets of gyration subassembly is connected in pendulum subassembly's both ends, magnetic adsorption subassembly is connected with gyration subassembly, magnetic adsorption subassembly includes coaxial first radial magnet and the radial magnet of second that sets up, first radial magnet is connected with the drive assembly that drives first radial magnet rotation adjustment magnetic force size. The permanent magnet adsorption biped climbing robot has the advantages of strong obstacle crossing capability, good flexibility, safety and high efficiency, but has the defect of low efficiency by climbing on biped on a large plane.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides a wheel-leg composite climbing robot, combines wheel climbing and bipedal climbing, has planar climbing capability and better obstacle surmounting capability, can be applied to various working scenes, replaces manual work in various severe environments or high-altitude operation, and is safe and efficient.
In order to solve the technical problems, the invention adopts the following technical scheme:
the utility model provides a wheel leg compound climbing robot, including pendulum subassembly, wheel drive subassembly and magnetism adsorption component, the wheel drive subassembly includes base and drive wheel, the base mounting has the first drive assembly that is used for driving the drive wheel and goes up and down, the drive wheel is connected in the output of first drive assembly, two sets of the one end of base is connected in pendulum subassembly's both ends respectively, magnetism adsorption component install in the other end of base, magnetism adsorption component includes rotatable first permanent magnetism group and fixed second permanent magnetism group that sets up, first permanent magnetism group is connected with the second drive assembly that drives first permanent magnetism group and rotate adjustment magnetic force size.
The wheel-leg compound climbing robot disclosed by the invention combines wheel type climbing and bipedal climbing: when the feet climb, the first transmission assembly drives the driving wheel to lift up above the adsorption plane of the magnetic adsorption assembly, the swing assembly controls the body posture of the climbing robot, and the second transmission assembly drives the first permanent magnet group and the second permanent magnet group to relatively rotate to adjust the magnitude of external magnetic force, so that the feet climb of various paths is realized; when the wheel type climbing, the first transmission assembly drives the driving wheel to descend to be in contact with the climbing plane, the swinging assembly controls the body gesture of the climbing robot, and large-plane wheel type climbing can be achieved. The invention combines wheel climbing and bipedal climbing, can be switched between wheel driving mode or bipedal climbing mode, ensures high-efficiency plane climbing capability, also ensures higher obstacle surmounting capability, has wide action range, high action precision and quick and efficient action, can be applied to various working scenes, replaces manual work in various severe environments or high-altitude operation, saves a great amount of labor investment, and is safe and efficient.
Further, the swinging component comprises a first swinging motor, a second swinging motor, a first connecting rod and a mounting seat, wherein the first connecting rod, the mounting seat and the second swinging motor are two groups, one ends of the two groups of first connecting rods are respectively connected with two output ends of the first swinging motor, the other ends of the two groups of first connecting rods are respectively connected with the output ends of the two groups of second swinging motors, the second swinging motor is connected with the mounting seat, and the mounting seat is mounted on the base.
Further, the first transmission assembly comprises a first motor, a screw-nut assembly and a connecting rod assembly, the first motor is mounted on the base, the screw-nut assembly comprises a screw and a nut connected to the screw, the screw is driven by the first motor to rotate, the connecting rod assembly is connected with the nut, the connecting rod assembly comprises an output rod capable of linearly lifting and moving, and the driving wheel is connected with the output rod.
Further, the screw rod nut component and the connecting rod component are two groups, the output end of the first motor is provided with a first conical gear, the end parts of the two groups of screw rods are connected with second conical gears, and the two groups of second conical gears are meshed with the first conical gears in an orthogonal mode.
Further, the connecting rod assembly further comprises a second connecting rod, a third connecting rod and a fourth connecting rod, one end of the second connecting rod is hinged with the nut, the other end of the second connecting rod is hinged with one end of the third connecting rod, the other end of the third connecting rod is hinged with the base, one end of the fourth connecting rod is hinged with the base, the other end of the fourth connecting rod is hinged with one end of the output rod, the other end of the output rod is hinged with the other end of the second connecting rod and one end of the third connecting rod, and the output rod is kept perpendicular to the screw rod.
Further, one side of the output rod is connected with a wheel groove, the driving wheel is rotatably connected to two ends of the wheel groove, the driving wheel is connected with a driving motor, and the driving motor is installed in the wheel groove; the opposite side of output pole is connected with the mounting bracket, the mounting bracket rotates to be connected with from the driving wheel.
Further, the magnetic adsorption assembly comprises a first base, a second base and a rotating base, wherein the first base and the second base are connected, the rotating base is rotationally connected between the first base and the second base, the first permanent magnet group comprises a plurality of first permanent magnets which are uniformly distributed in a ring shape, the first permanent magnets are all arranged on the rotating base, the second permanent magnet group comprises a plurality of second permanent magnets which are uniformly distributed in a ring shape, the second permanent magnets are arranged on the second base, and the second transmission assembly is connected with the rotating base.
Further, the first permanent magnet and the second permanent magnet are sector radial magnets, the magnetic poles of the adjacent sector radial magnets are opposite, and steel frames are arranged on two sides of the sector radial magnets; the first permanent magnet group is positioned right above the second permanent magnet group, and the second base is provided with a plurality of slotted holes for installing the second permanent magnets.
Further, the second transmission assembly comprises a second motor and a first gear, the rotating base is the second gear, the second motor is arranged on the first base, the first gear is connected to the output end of the second motor, and the second gear is meshed with the first gear.
Further, the magnetic adsorption assembly further comprises a friction enhancing structure, wherein the friction enhancing structure comprises a first bracket, a second bracket, a spring and friction increasing rubber: the first support is arranged between the first base and the second base, a plurality of connecting columns are connected between the first base and the second base, the springs are sleeved on the peripheries of the connecting columns, and the springs are positioned between the first support and the first base; one side of the second support is arranged on the second base, and the friction increasing rubber is arranged on the other side of the second support.
Compared with the prior art, the invention has the beneficial effects that:
the wheel-leg composite climbing robot combines wheel climbing and bipedal climbing, can be switched between wheel driving and bipedal climbing modes, ensures high-efficiency planar climbing capability, also ensures higher obstacle surmounting capability, has wide action range, high action precision and agility and high efficiency, can be applied to various working scenes, replaces manual work or high-altitude operation in various severe environments, saves a great amount of labor investment, and is safe and efficient.
Drawings
FIG. 1 is a schematic structural view of a wheel-leg compound climbing robot of the invention;
FIG. 2 is a schematic diagram of a swing assembly;
FIG. 3 is a perspective view I of the wheel drive assembly;
FIG. 4 is an exploded view of the wheel drive assembly;
FIG. 5 is a schematic structural view of a wheel drive assembly;
FIG. 6 is a perspective view II of the wheel drive assembly;
FIG. 7 is a schematic illustration of a connecting rod assembly;
FIG. 8 is a schematic view of the driven wheel lifting principle;
FIG. 9 is a schematic structural view of a lead screw nut assembly;
FIG. 10 is an exploded view of the magnetic attraction assembly;
FIG. 11 is a schematic structural view of the first permanent magnet and the second permanent magnet;
FIG. 12 is a schematic diagram showing the distribution of the first permanent magnet and the second permanent magnet;
FIG. 13 is a schematic diagram of the operation of the bipedal climbing mode;
FIG. 14 is a schematic diagram of the operation of the wheel climbing mode;
in the accompanying drawings: 1-a swing assembly; 11-a first swing motor; 12-a second swing motor; 13-a first link; 14-a mounting base; 2-a wheel drive assembly; 21-a base; 22-driving wheels; 23-a first transmission assembly; 231-a first motor; 232-screw rod; 233-nut; 234-output lever; 235-a first bevel gear; 236-a second bevel gear; 237-a second link; 238-a third link; 239-fourth link; 24-wheel groove; 25-driving a motor; 26-mounting frame; 27-driven wheel; 28-sliding grooves; 29-a hinged frame; 3-a magnetic adsorption assembly; 31-a first permanent magnet group; 32-a second permanent magnet group; 33-a second transmission assembly; 331-a second motor; 332-a first gear; 34-a first base; 35-a second base; 36-rotating the base; 37-steel frame; 38-friction enhancing structure; 381-first rack; 382-a second scaffold; 383-a spring; 384-connecting columns; 385-friction increasing rubber.
Detailed Description
The invention is further described below in connection with the following detailed description. Wherein the drawings are for illustrative purposes only and are shown in schematic, non-physical, and not intended to be limiting of the present patent; for the purpose of better illustrating embodiments of the invention, certain elements of the drawings may be omitted, enlarged or reduced and do not represent the size of the actual product; it will be appreciated by those skilled in the art that certain well-known structures in the drawings and descriptions thereof may be omitted.
The same or similar reference numbers in the drawings of embodiments of the invention correspond to the same or similar components; in the description of the present invention, it should be understood that, if there is an azimuth or positional relationship indicated by terms such as "upper", "lower", "left", "right", etc., based on the azimuth or positional relationship shown in the drawings, it is only for convenience of describing the present invention and simplifying the description, but it is not indicated or implied that the apparatus or element referred to must have a specific azimuth, be constructed and operated in a specific azimuth, and thus terms describing the positional relationship in the drawings are merely illustrative and should not be construed as limitations of the present patent, and specific meanings of the terms described above may be understood by those skilled in the art according to specific circumstances.
Examples
Referring to fig. 1, an embodiment of a wheel-leg composite climbing robot of the invention includes a swing assembly 1, a wheel driving assembly 2 and a magnetic adsorption assembly 3, wherein the wheel driving assembly 2 includes a base 21 and a driving wheel 22, the base 21 is provided with a first transmission assembly 23 for driving the driving wheel 22 to lift, the driving wheel 22 is connected to an output end of the first transmission assembly 23, one ends of the two groups of bases 21 are respectively connected to two ends of the swing assembly 1, the magnetic adsorption assembly 3 is mounted at the other end of the base 21, the magnetic adsorption assembly 3 includes a rotatable first permanent magnet group 31 and a fixedly arranged second permanent magnet group 32, and the first permanent magnet group 31 is connected with a second transmission assembly 33 for driving the first permanent magnet group 31 to rotate and adjust the magnetic force.
When this embodiment was implemented, wheel climbing and bipedal climbing combined: when the feet climb, the first transmission component 23 drives the driving wheel 22 to be lifted above the adsorption plane of the magnetic adsorption component 3, the swing component 1 controls the body posture of the climbing robot, and the second transmission component 33 drives the first permanent magnet group 31 and the second permanent magnet group 32 to relatively rotate to adjust the external magnetic force, so that the feet climb of various paths is realized; when the wheel type climbing is carried out, the first transmission assembly 23 drives the driving wheel 22 to descend to be in contact with the climbing plane, the swing assembly 1 controls the body posture of the climbing robot, and large-plane wheel type climbing can be achieved.
In one embodiment, the swing assembly 1 includes a first swing motor 11, a second swing motor 12, a first connecting rod 13 and a mounting seat 14, where the first connecting rod 13, the mounting seat 14 and the second swing motor 12 are two groups, one end of the two groups of first connecting rods 13 is respectively connected to two output ends of the first swing motor 11, the other end of the two groups of first connecting rods 13 is respectively connected to the output ends of the two groups of second swing motors 12, the second swing motor 12 is connected to the mounting seat 14, and the mounting seat 14 is mounted on the base 21, as shown in fig. 2. The two groups of first connecting rods 13 adopt an asymmetric design, so that the first swing motor 11 can be prevented from interfering with each other when rotating at a large angle. During implementation, the first swing motor 11 works, two output ends of the first swing motor drive two groups of first connecting rods 13 to rotate to change the included angle between the two groups of first connecting rods 13, the second swing motor 12 works to change the included angle between the two groups of first connecting rods 13 and the climbing surface, the first swing motor 11 and the second swing motor 12 are matched with each other to change the gesture of the robot body, and the climbing robot is endowed with good climbing capacity and obstacle surmounting capacity, so that the climbing robot is applicable to various working scenes. In the present embodiment, the number of the first links 13 is not a limiting rule of the present invention, and the present invention may increase the number of the first links 13 and the swing motor according to the specific form of the climbing plane to change the body structure of the climbing robot.
In one embodiment, the first transmission assembly 23 includes a first motor 231, a screw-nut assembly and a link assembly, the first motor 231 is mounted on the base 21, the screw-nut assembly is located inside the base 21, the screw-nut assembly includes a screw 232 and a nut 233 connected to the screw 232, the first motor 231 drives the screw 232 to rotate, the link assembly is connected with the nut 233, and the link assembly includes an output rod 234 capable of moving linearly up and down, and the driving wheel 22 is connected with the output rod 234, as shown in fig. 3 to 6 and 9. In implementation, the first motor 231 works to drive the screw rod 232 to rotate, the screw rod 232 rotates to be converted into linear motion of the nut 233, the nut 233 drives the connecting rod assembly to move, and finally linear lifting motion is output to the output rod 234, and the output rod 234 drives the driving wheel 22 to lift, so that two modes of wheel drive crawling and bipedal crawling are switched, as shown in fig. 7.
In one embodiment, the two groups of screw-nut assemblies and the two groups of connecting rod assemblies are respectively arranged on each group of base 21, the first conical gear 235 is arranged at the output end of the first motor 231, one ends of the two groups of screw rods 232 are respectively connected with the second conical gears 236, the other ends of the two groups of screw rods 232 are rotatably connected with the base 21, and the two groups of second conical gears 236 are orthogonally meshed with the first conical gears 235. The two sets of screw-nut assemblies share a set of first motor 231 for driving, and for space saving, the axis of the first motor 231 is perpendicular to the axis of the screw 232, as shown in fig. 3 to 6. In practice, the first motor 231 operates, the first bevel gear 235 rotates along with the rotation, the second bevel gear 236 is meshed with the first bevel gear 235 in an orthogonal manner, the motion transmission direction is changed, the rotation of the second bevel gear 236 drives the screw rod 232 to rotate, the screw rod 232 is in threaded fit with the nut 233, and the rotation of the screw rod 232 is converted into the linear motion of the nut 233 and acts on the connecting rod assembly. In this embodiment, in order to improve the smoothness of the rotation of the screw 232, bearings are disposed at the connection between the screw 232 and the second bevel gear 236 and at the connection between the screw 232 and the base 21.
In one embodiment, the link assembly further includes a second link 237, a third link 238, and a fourth link 239, one end of the second link 237 is hinged to the nut 233, the other end of the second link 237 is hinged to one end of the third link 238, the other end of the third link 238 is hinged to the base 21, one end of the fourth link 239 is hinged to the base 21, the other end of the fourth link 239 is hinged to one end of the output rod 234, the other end of the output rod 234 is hinged to the other end of the second link 237 and one end of the third link 238, and the output rod 234 is kept perpendicular to the lead screw 232, as shown in fig. 3 to 6. Specifically, the nut 233 is fixedly connected with a mounting block, the second connecting rod 237 is of a Y-shaped structure, the third connecting rod 238 is of an H-shaped structure, one end of the Y-shaped structure is hinged with the mounting block and has two hinge points, the other end of the Y-shaped structure is hinged with one end of the H-shaped structure, and the other end of the H-shaped structure is hinged with the base 21 and is provided with two hinge points; the fourth link 239 is similar to the second link 237 in structure, and has three hinge points, two output links 234, two hinge points hinged to the base 21, one hinge point hinged to ends of the two output links 234, and three of the other ends of the two output links 234, the other end of the second link 237, and one end of the third link 238. Two sets of output rods 234 are located on either side of the linkage assembly so that the output rods 234 transmit linear lifting motion to the drive wheel 22. The joints can be hinged through pin shafts and fixed through clamping rings. In this embodiment, the dimensions of the second link 237, the third link 238, the fourth link 239, and the output link 234 can be designed to achieve that the movement direction of the output link 234 is always perpendicular to the lead screw 232 regardless of the movement of the second link 237, the third link 238, and the fourth link 239.
In one embodiment, one side of the output rod 234 is connected with a wheel groove 24, the driving wheel 22 is rotatably connected with two ends of the wheel groove 24, the driving wheel 22 is connected with a driving motor 25, and the driving motor 25 is installed in the wheel groove 24; the other side of the output rod 234 is connected to a mounting bracket 26, and the mounting bracket 26 is rotatably connected to a driven wheel 27, as shown in fig. 6. The output levers 234 are two sets, one set of output levers 234 transmitting motion to the drive wheel 22 and the other set of output levers 234 transmitting motion to the driven wheel 27, thereby driving the drive wheel 22 and driven wheel 27 in synchrony. Specifically: bearings can be arranged at the connection parts of the driving wheels 22 and the wheel grooves 24 to ensure that the driving motor 25 smoothly drives the driving wheels 22 to rotate; two ends of the wheel groove 24 are respectively connected with the same-side output rods 234 of the two groups of connecting rod assemblies, and the two groups of connecting rod assemblies synchronously act to drive the two groups of driving wheels 22 at two ends of the wheel groove 24 to synchronously lift; the driving motor 25 is installed in the wheel groove 24 so as to obtain an attractive appearance.
In another embodiment, the output rods 234 on the same side of the two groups of connecting rod assemblies are respectively provided with a chute 28, the mounting frame 26 is of a 7-shaped structure with long sides and short sides, the ends of the long sides are matched with the chute 28 through pin shafts, the joints of the short sides of the long sides are hinged with the hinged frame 29, the ends of the hinged frame 29 can be fixed on the upper part of the magnetic adsorption assembly 3, the driven wheels 27 are rotatably connected between the ends of the two groups of short sides, and when the output rods 234 are lifted, the mounting frame 26 rotates along the hinged shaft with the hinged frame 29, so that the driven wheels 27 are driven to approach or separate from the climbing surface, as shown in fig. 8.
In one embodiment, the magnetic adsorption assembly 3 includes a first base 34, a second base 35 and a rotating base 36, the first base 34 and the second base 35 are connected, the rotating base 36 is rotatably connected between the first base 34 and the second base 35, the first permanent magnet group 31 includes a plurality of first permanent magnets which are uniformly distributed in a ring shape, the first permanent magnets are all installed on the rotating base 36, the second permanent magnet group 32 includes a plurality of second permanent magnets which are uniformly distributed in a ring shape, the second permanent magnets are installed on the second base 35, and the second transmission assembly 33 is connected with the rotating base 36. Specifically, the rotating base 36 is rotatably connected to the first base 34 and the second base 35 through a rotation shaft, and the rotating base 36 is rotatable about the rotation shaft by the second transmission assembly 33, as shown in fig. 10. However, it should be noted that the first permanent magnet group 31 and the second permanent magnet group 32 are arranged one above the other in the present embodiment, and the properties of the first permanent magnet and the second permanent magnet must satisfy the requirement that the external magnetic force changes when the first permanent magnet group 31 is rotated.
In one embodiment, the first permanent magnet and the second permanent magnet are sector radial magnets, the magnetic poles of the adjacent sector radial magnets are opposite, and steel frames 37 are arranged on two sides of the sector radial magnets; the first permanent magnet group 31 is located right above the second permanent magnet group 32, and the second base 35 is provided with a plurality of slots for mounting the second permanent magnets, as shown in fig. 10 to 12. When the first permanent magnet and the second permanent magnet are homopolar overlapped, a magnetic loop is formed with the surface of the climbing object steel structure, and the magnetic adsorption assembly 3 shows strong magnetic attraction to the outside; when the first permanent magnet and the second permanent magnet are homopolar overlapped, the magnetic loop does not flow through the surface of the steel structure, and the magnetic adsorption assembly 3 is nearly non-magnetic to the outside. A plurality of slotted holes are formed in the second base 35, the magnetic adsorption assembly 3 is exposed, and adsorption between the magnetic adsorption assembly 3 and the climbing surface is facilitated.
In one embodiment, the second transmission assembly 33 includes a second motor 331 and a first gear 332, the rotating base 36 is a second gear, the second motor 331 is mounted on the first base 34, the first gear 332 is connected to an output end of the second motor 331, and the second gear is meshed with the first gear 332, as shown in fig. 10. The second motor 331 works to drive the first gear 332 to rotate, drive the rotating base 36 to rotate by taking the rotating shaft as an axis, drive the first permanent magnet group 31 to rotate, and adjust the magnitude of external magnetic force of the magnetic adsorption assembly 3.
In one embodiment, the magnetic adsorption assembly 3 further comprises a friction enhancing structure 38, the friction enhancing structure 38 comprising a first bracket 381, a second bracket 382, a spring 383, and a friction enhancing rubber 385: the first bracket 381 is installed between the first base 34 and the second base 35, a plurality of connecting columns 384 are connected between the first base 34 and the second base 35, the springs 383 are sleeved on the peripheries of the connecting columns 384, and the springs 383 are located between the first bracket 381 and the first base 34; one side of the second bracket 382 is mounted to the second base 35, and the friction increasing rubber 385 is mounted to the other side of the second bracket 382 as shown in fig. 10. The spring 383 is in a precompression state, so that the friction-increasing rubber 385 can be pushed to be extruded on the climbing surface, friction between the magnetic adsorption component 3 and the climbing surface is increased, and the movement stability of the climbing robot is improved.
In the embodiment, the wheel-leg compound climbing robot has two modes, namely a biped mode and a wheel-driving mode: in the biped mode, the first motor 231 drives the screw rod 232 to rotate, the screw rod is converted into the translation of the nut 233 through thread transmission, the connecting rod assembly is driven to work to drive the output rod 234 to ascend, the driving wheel and the driven wheel 27 synchronously ascend to the lower edges of the driving wheel and the driven wheel 27 and are higher than the lower surface of the magnetic adsorption assembly 3, the spring 383 is compressed under the action of suction force to generate pressure on a climbing surface, a friction-stable biped climbing mode is formed, the magnetic adsorption assembly 3 provides enough suction force to offset the gravity and the gravity moment of the robot, the robot takes one foot as a fulcrum, the magnetic adsorption assembly 3 of the other foot is placed in a loose state through controlling the second motor 331, the first swing motor 11 and the second swing motor 12 are controlled, the body gesture of the climbing robot is controlled, and crawling actions such as obstacle crossing, plane transition and the like are realized, as shown in fig. 13. In the wheel drive mode, in the biped mode, the first motor 231 drives the screw rod 232 to rotate, the screw rod is converted into the translational motion of the nut 233 through thread transmission, the connecting rod assembly is driven to work to drive the output rod 234 to descend, the driving wheel 27 and the driven wheel 27 synchronously descend to the lower edges of the driving wheel 27 and the driven wheel 27 to be lower than the lower surface of the magnetic adsorption assembly 3, the driving wheel 27 and the driven wheel 27 form a three-wheel supported wheel drive mode, the magnetic adsorption assembly 3 provides enough suction force to offset the gravity and the gravity moment of the robot, the driving motor 25 provides driving force to achieve wall crawling and differential steering of the climbing robot, and the wall climbing robot is shown in fig. 14.
In the specific content of the above embodiment, any combination of the technical features may be performed without contradiction, and for brevity of description, all possible combinations of the technical features are not described, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
It is to be understood that the above examples of the present invention are provided by way of illustration only and not by way of limitation of the embodiments of the present invention. Other variations or modifications of the above teachings will be apparent to those of ordinary skill in the art. It is not necessary here nor is it exhaustive of all embodiments. Any modification, equivalent replacement, improvement, etc. which come within the spirit and principles of the invention are desired to be protected by the following claims.
Claims (8)
1. The utility model provides a wheel leg compound climbing robot, its characterized in that includes swing subassembly (1), wheel drive subassembly (2) and magnetic adsorption subassembly (3), wheel drive subassembly (2) include base (21) and drive wheel (22), first drive assembly (23) that are used for driving drive wheel (22) to go up and down are installed to base (21), drive wheel (22) are connected in the output of first drive assembly (23), two sets of one end of base (21) are connected in both ends of swing subassembly (1) respectively, magnetic adsorption subassembly (3) install in the other end of base (21), magnetic adsorption subassembly (3) are including rotatable first permanent magnetism group (31) and fixed second permanent magnetism group (32) that set up, first permanent magnetism group (31) are connected with second drive assembly (33) that drive first permanent magnetism group (31) rotated the adjustment magnetic force size; the first transmission assembly (23) comprises a first motor (231), a screw-nut assembly and a connecting rod assembly, the first motor (231) is mounted on the base (21), the screw-nut assembly comprises a screw (232) and a nut (233) connected to the screw (232), the screw (232) is driven by the first motor (231) to rotate, the connecting rod assembly is connected with the nut (233), the connecting rod assembly comprises an output rod (234) capable of linearly lifting and moving, and the driving wheel (22) is connected with the output rod (234); the connecting rod assembly further comprises a second connecting rod (237), a third connecting rod (238) and a fourth connecting rod (239), one end of the second connecting rod (237) is hinged to the nut (233), the other end of the second connecting rod (237) is hinged to one end of the third connecting rod (238), the other end of the third connecting rod (238) is hinged to the base (21), one end of the fourth connecting rod (239) is hinged to the base (21), the other end of the fourth connecting rod (239) is hinged to one end of the output rod (234), the other end of the output rod (234) is hinged to the other end of the second connecting rod (237) and one end of the third connecting rod (238), and the output rod (234) is kept perpendicular to the screw rod (232).
2. The wheel-leg composite climbing robot according to claim 1, wherein the swing assembly (1) comprises a first swing motor (11), a second swing motor (12), a first connecting rod (13) and a mounting seat (14), the first connecting rod (13), the mounting seat (14) and the second swing motor (12) are two groups, one ends of the two groups of first connecting rods (13) are respectively connected to two output ends of the first swing motor (11), the other ends of the two groups of first connecting rods (13) are respectively connected to output ends of the two groups of second swing motors (12), the second swing motor (12) is connected with the mounting seat (14), and the mounting seat (14) is mounted on the base (21).
3. The wheel leg composite climbing robot according to claim 1, wherein the screw nut assembly and the connecting rod assembly are two groups, the output end of the first motor (231) is provided with a first conical gear (235), the end parts of the two groups of screw rods (232) are connected with second conical gears (236), and the two groups of second conical gears (236) are in orthogonal engagement with the first conical gear (235).
4. The wheel-leg composite climbing robot according to claim 1, wherein one side of the output rod (234) is connected with a wheel groove (24), the driving wheel (22) is rotatably connected to two ends of the wheel groove (24), the driving wheel (22) is connected with a driving motor (25), and the driving motor (25) is installed in the wheel groove (24); the other side of output pole (234) is connected with mounting bracket (26), mounting bracket (26) are connected with driven wheel (27) in rotation.
5. The wheel leg compound climbing robot according to any one of claims 1 to 4, wherein the magnetic adsorption assembly (3) comprises a first base (34), a second base (35) and a rotating base (36), the first base (34) and the second base (35) are connected, the rotating base (36) is rotationally connected between the first base (34) and the second base (35), the first permanent magnet group (31) comprises a plurality of first permanent magnets which are uniformly distributed in a ring shape, the first permanent magnets are all installed on the rotating base (36), the second permanent magnet group (32) comprises a plurality of second permanent magnets which are uniformly distributed in a ring shape, the second permanent magnets are installed on the second base (35), and the second transmission assembly (33) is connected with the rotating base (36).
6. The wheel leg compound climbing robot according to claim 5, wherein the first permanent magnet and the second permanent magnet are sector radial magnets, the magnetic poles of adjacent sector radial magnets are opposite, and steel frames (37) are arranged on two sides of the sector radial magnets; the first permanent magnet group (31) is located right above the second permanent magnet group (32), and the second base (35) is provided with a plurality of slotted holes for installing the second permanent magnets.
7. The wheel-leg compound climbing robot of claim 5, wherein the second transmission assembly (33) comprises a second motor (331) and a first gear (332), the rotating base (36) is a second gear, the second motor (331) is mounted on the first base (34), the first gear (332) is connected to an output end of the second motor (331), and the second gear is meshed with the first gear (332).
8. The wheel-leg compound climbing robot of claim 5, wherein the magnetic adsorption assembly (3) further comprises a friction enhancing structure (38), the friction enhancing structure (38) comprising a first bracket (381), a second bracket (382), a spring (383), and friction enhancing rubber (385): the first bracket (381) is arranged between the first base (34) and the second base (35), a plurality of connecting columns (384) are connected between the first base (34) and the second base (35), the springs (383) are sleeved on the peripheries of the connecting columns (384), and the springs (383) are positioned between the first bracket (381) and the first base (34); one side of the second bracket (382) is arranged on the second base (35), and the friction increasing rubber (385) is arranged on the other side of the second bracket (382).
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| CN113276975B (en) * | 2021-05-08 | 2022-07-12 | 广东工业大学 | Controllable permanent magnetism athey wheel of magnetic force and have its robot |
| CN113212582B (en) * | 2021-05-18 | 2022-06-03 | 广东工业大学 | Permanent magnet adsorption device |
| CN113525558B (en) * | 2021-07-31 | 2022-07-12 | 广东工业大学 | Wheeled robot and separable wheel-leg composite robot |
| CN114313048A (en) * | 2022-01-21 | 2022-04-12 | 北京史河科技有限公司 | Design method of magnet swinging device |
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