CN112977664B - Multistage series extensible dry adhesion wheel foot wall-climbing robot and movement method thereof - Google Patents
Multistage series extensible dry adhesion wheel foot wall-climbing robot and movement method thereof Download PDFInfo
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- CN112977664B CN112977664B CN202110225545.2A CN202110225545A CN112977664B CN 112977664 B CN112977664 B CN 112977664B CN 202110225545 A CN202110225545 A CN 202110225545A CN 112977664 B CN112977664 B CN 112977664B
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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 a multistage series extensible dry adhesion wheel foot wall-climbing robot and a motion method thereof, and belongs to the technical field of robot application. The robot comprises N wheel type wall climbing units which are connected in series through magnetic connecting springs (B). The wheel type wall climbing unit comprises a bottom plate (1), a camera cloud platform arranged at the front part of the bottom plate (1), wheel type mechanisms respectively arranged at the left side and the right side of the middle part of the bottom plate (1), and bull-eye wheel mechanisms respectively arranged at the left side and the right side of the rear part of the bottom plate (1). The invention can adapt to the ground, inclined plane or even ceiling surface, and realizes the functions of stable adhesion, ground wall transition, turning and the like when the wheel feet of the robot act on the wall surface.
Description
Technical Field
The invention belongs to the technical field of robot application, and particularly relates to a multi-stage series extensible dry adhesion wheel foot wall-climbing robot and a motion method thereof.
Technical Field
The robot is a high-tech product combining traditional mechanics and modern electronic technology and fusing multiple disciplines, and is a machine device which can be controlled by human beings according to artificial intelligence technology and pre-programming and can automatically execute work. The rapid development of the robot technology impacts the traditional industry to a certain extent, promotes the development of the technology, is closely linked with the social life of human beings, and becomes an important standard for measuring the national technological innovation and the high-end manufacturing industry level.
The wall climbing robot is an important branch of a mobile robot, is also called a wall mobile robot, and can climb on a vertical wall and complete work. Wall-climbing robots can be mainly classified into the following types according to different structures: foot-type wall-climbing robots, crawler-type wall-climbing robots, and wheel-type wall-climbing robots. The foot type wall climbing robot has stronger obstacle crossing capability and better environmental adaptability, but has relatively complex structure, slow speed and difficult control; the crawler-type wall climbing robot has the advantages of simple structure, easy control, strong load capacity, difficult turning, high energy consumption and poor wall surface adaptability; the wheel type wall-climbing robot has high movement speed and good stability.
Research on the wheel-type wall-climbing robot is carried out by more scientific research institutions at home and abroad, and a wheel-type wall-climbing robot Mini-Whegs is developed at the American Kaiser University (Case Western Reserve University). The robot is a wheel-type driving robot, each wheel is provided with four supports for being attached with an MSAMS (multiple-formed adhesive microstructure) adhesion material, adsorption and desorption movement is realized by rotation of a wheel-type structure, internal angle transition from a horizontal plane to a vertical plane and from the vertical plane to a negative surface is realized, and adhesion movement can be stabilized on an inverted smooth surface. (K.A. Daltoroo, A.D. Horchler, S. Gorb, R.E. Ritzmann and R.D. Quinn, "A small wall-walking robot with component, adaptive feed," 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, Edmonton, Alta., 2005, pp. 3648-) -3653). However, since the contact area between the wall-climbing instantaneous adhesion material and the wall surface is small, the self weight of the robot needs to be greatly reduced, and the robot can bear a small load. The University of Carniki Mellon (CMU) developed a mini robot named Waalbot. The robot is a wheel-type mobile robot, a group of three trundles are driven by two motors respectively, three disc-shaped foot pads are arranged on each wheel, dry adhesive materials are arranged on the foot pads, and a quick turning function and wall surface transition at any angle can be realized. (Murphy M P, Sitti M. Waalbot: An agile small-scale wall-simulation not using device additives [ J ]. IEEE/ASME transformations on mechanics, 2007, 12(3): 330-. But because the discoid callus on the sole structure of this robot, lead to the robot desorption motion comparatively difficult. The disconey research center and the zurich federal institute of technology jointly developed a wheeled robot, VertiGo, with a lightweight carbon fiber frame, two independent inclined propellers, and four 3D printed wheels. When the ground moves, the rear pillar is vertical to the ground, and sufficient horizontal pushing force is provided to bring the machine into various terrains. When the wall surface moves, the front propeller pushes and inclines upwards to push the front end of the robot upwards, and the rear strut continuously pushes the rear end forwards. (Arigisoni M, Simpson R, Fuhrer S, et al. vitamins configured for visualizing surfaces transformations: U.S. Patent 10,464,620[ P ]. 2019-11-5.). But the propeller is adopted to provide adhesion, so that the noise is high and the stability is poor. So far, the wheel type wall-climbing robot has limited functions of stable adhesion/desorption, ground wall transition, rapid turning and the like, and a multi-stage series extensible dry adhesion wheel foot wall-climbing robot and a motion method thereof are not reported and are not researched.
Disclosure of Invention
The invention aims to simulate the mechanism of dry adhesion and wheel type structure motion of insects, adapt to the ground, inclined plane or even ceiling surface, realize the functions of stable adhesion, ground wall transition, turning and the like when the wheel feet of a robot act on the wall surface, and provide a multistage series extensible dry adhesion wheel foot wall-climbing robot and a motion method thereof.
The invention aims to provide a multistage series extensible dry adhesion wheel foot wall-climbing robot, which is characterized in that: the device comprises N wheel-type wall climbing units, wherein the front and rear adjacent wheel-type wall climbing units are connected in series through magnetic connecting springs;
the wheel type wall climbing unit comprises a bottom plate, a camera head cloud platform arranged in the front of the bottom plate, wheel type mechanisms respectively arranged on the left side and the right side of the middle part of the bottom plate, and bull's-eye wheel mechanisms respectively arranged on the left side and the right side of the rear part of the bottom plate;
the wheel type mechanism consists of a steering engine connecting piece, a steering engine steering wheel and wheel feet; wherein the steering engine is fixed on one side of the bottom plate through a steering engine connecting piece; the wheel feet are fixedly connected with the steering engine through a steering engine rudder disc; the wheel foot consists of an outer wheel and an inner wheel;
the outer wheel consists of an outer wheel hub and large adhesive blades which are uniformly distributed in the circumferential direction of the outer wheel hub; the large adhesion blade consists of a bent large-area elastic PVC sheet and a dry adhesion material sheet, the bent large-area elastic PVC sheet consists of a connecting part and a dry adhesion material mounting part, and the two parts form an included angle of 110 plus 130 degrees; the connecting part of the bent large-area elastic PVC sheet is arranged in the outer wheel, and the mounting position between the connecting part and the outer wheel is called as a mounting surface; the dry adhesion material sheet is arranged at the dry adhesion material mounting part of the bent large-area elastic PVC sheet, and the root part of the dry adhesion material mounting part is distributed on the circumference of the outer wheel hub; in the initial state, the dry adhesive material sheet of the large adhesive blade forms an included angle of 50-70 degrees with the diameter direction of the outer wheel hub, and is uniformly distributed on the circumference of the outer wheel, and the diameter direction of the outer wheel hub is parallel to the diameter direction of the mounting surface;
the inner wheel consists of an inner wheel hub and small adhesive blades uniformly distributed in the circumferential direction of the inner wheel hub; the small adhesion blade consists of a bent small-area elastic PVC sheet and a dry adhesion material sheet, the bent small-area elastic PVC sheet consists of a connecting part and a dry adhesion material mounting part, and the two parts form an included angle of 110 degrees and 130 degrees; the connecting part of the bent small-area elastic PVC sheet is arranged in the inner wheel, and the mounting position between the connecting part and the inner wheel is called as a mounting surface; the dry adhesion material sheet is arranged on a dry adhesion material mounting part of the bent small-area elastic PVC sheet, and the root part of the dry adhesion material mounting part is distributed on the circumference of the inner wheel hub; in an initial state, the dry adhesive material of the small adhesive blade forms an included angle of 50-70 degrees with the diameter direction of an inner wheel hub, and is uniformly distributed on the circumference of the inner wheel, wherein the diameter direction of the inner wheel hub is parallel to the diameter direction of the mounting surface;
the outer wheel hub and the inner wheel hub are fixedly connected, so that the large adhesion blades and the small adhesion blades which are fixedly connected to the outer wheel hub are uniformly distributed in a staggered manner; the diameter of the outer wheel hub is equal to that of the inner wheel hub; the diameters of the outer edges of the large adhesion blades are equal to the diameters of the outer edges of the small adhesion blades;
the bull-eye wheel mechanism consists of a bull-eye wheel base and a bull-eye wheel universal ball below the bull-eye wheel base;
the camera holder consists of a camera, a holder bracket and a holder base; the camera is arranged on the bottom plate through the holder bracket and the holder base;
the magnetic connecting spring consists of a spring and a magnet in sequence; the magnets are respectively connected with the bottom plates of the corresponding wheel type wall climbing units in an electromagnetic mode.
The movement method of the multistage series extensible dry adhesion wheel foot wall-climbing robot is characterized by comprising the following steps of:
first, for stable climbing movements in inclined, vertical and inverted isoplanars: the steering engine drives the wheel feet to do circular motion, so that large adhesion blades and large adhesion blades arranged on the wheel feet are in periodic contact, adhesion and desorption with the wall surface, and the wall climbing function is realized;
the periodicity is that the large adhesive blades and the small adhesive blades on the single wheel foot are distributed in a staggered manner, and the small adhesive blades on the inner wheel start to adhere when the large adhesive blades on the outer wheel start to desorb, or vice versa;
analysis of the sticking/detaching process of a single large sticking leaf or a single small sticking leaf: the wheel foot moves circularly to drive the adhesion blade arranged on the wheel foot to move, so that the adhesion blade has certain inertia, when the adhesion blade starts to contact the wall surface, the movement inertia throws the adhesion blade to the wall surface, and certain pre-pressure is provided, so that the adhesion blade is initially adhered to the wall surface; the wheel feet move forwards along with the further circular motion of the wheel feet, and due to the support of the bull-eye wheel mechanism at the rear part of the chassis, the wheel foot base body presses the adhesive blades, so that the adhesive blades are deformed and attached to the circumferential surface of the wheel foot base, and secondary pressure is provided, so that the adhesive blades can be better adhered; the wheel foot continues circular motion, the next adhered blade starts to be adhered, and the adhered blade enters a desorption stage, the secondary pressure of the wheel foot base body on the adhered blade is gradually reduced, the adhered blade is gradually restored, and elastic force is generated to provide a part of desorption force; with the continuous advance of the wheel foot, the root of the adhesion blade is dragged by the wheel foot base body, so that the adhesion material is desorbed from one side of the wall surface, and one desorption movement is completed;
the overall direction is changed through the differential speed of wheel-type mechanisms on the left side and the right side corresponding to wheel feet, and the motion is transmitted to the other wheel-type wall-climbing unit through the bending of a magnetic connecting spring, so that the wall-climbing robot is integrally bent, the turning motion is realized, and the motion direction of the robot is changed;
second, for the case of movement of the floor transition: the machine body of the wheel type wall climbing unit in front moves upwards along the wall surface, and the bull-eye wheel mechanism is tightly contacted with the wall surface in the process to provide supporting force; the front wheel type wall climbing unit carries out adhesion/desorption movement on the ground, continuously moves forwards, gradually transits from the ground to the wall surface, the magnetic connecting spring is bent, and the rear wheel type wall climbing unit is pulled to realize transition; secondly, the front wheel-type wall climbing unit carries out transition movement laterally along the wall surface, in the process, the wheel foot on one side of the wheel-type wall climbing unit is firstly in close contact with the wall surface to provide adhesion, then the wheel foot on the other side of the wheel-type wall climbing unit is in contact with and adheres to the wall surface, and the bull-eye wheel mechanism is in close contact with the wall surface to provide supporting force; the front wheel type wall climbing unit continuously moves forward and gradually transits from the ground to the wall surface, the magnetic connecting spring is twisted, and the rear wheel type wall climbing unit is pulled to realize the ground wall transition;
thirdly, for the movement condition that the wheel-type wall climbing unit fails to adhere and falls off: if the upper wheel-type wall climbing unit fails to adhere and falls off in the climbing process of the wall climbing robot, and the lower wheel-type wall climbing unit is positioned at the rear part and is subjected to the force transmitted by the magnetic connecting spring to continuously move forward along with the force, so that the upper wheel-type wall climbing unit which falls off can contact the wall surface again to realize new adhesion;
fourth, motion of 270 ° transition from wall to horizontal: before the transitional movement is critical, the wheel-type wall climbing units are adhered to the wall surface, the lower wheel-type wall climbing unit is pushed upwards to compress the magnetic connecting spring, and the upper wheel-type wall climbing unit is lifted to assist the adhesion to the horizontal plane; after the wheel type wall climbing unit is successfully transited, the wheel type wall climbing unit is pushed forwards to stretch the magnetic connecting spring, and the wheel type wall climbing unit which does not complete transition movement is pulled to help the wheel type wall climbing unit to complete transition.
The wall climbing method of the multistage series extensible dry adhesion wheel foot wall climbing robot is characterized by further comprising the following steps of:
fifth, motion situation of the whole motion and the dispersed operation: the wheel-type wall climbing units are connected into a whole through magnetic connecting springs, so that the movement process is more orderly and efficient;
when the robot reaches a target position for decentralized operation, the electromagnetic connecting interfaces at the front parts of the wheel type wall climbing units are powered off, the magnetism disappears, and the robot is decentralized into a plurality of wheel type wall climbing units;
the periphery of each wheel type wall climbing unit is monitored and cooperatively operated through the control of a camera holder and a group, and corresponding tasks are completed through an end effector carried by the units.
Compared with the prior art, the invention has the following advantages:
1. the wall-climbing robot is simple in structure, clear in movement principle and convenient to move, can adapt to different wall surfaces, and provides mechanism movement guarantee for efficient and stable movement.
2. The dry adhesive material in the invention can make the wall climbing robot move smoothly on the surfaces with different inclinations (such as inversion).
3. The invention adopts a wheel foot mode, so that the wall-climbing robot can easily realize the functions of wall transition, rapid turning and the like.
4. The double-row structure of the inner wheel and the outer wheel of the wheel foot ensures that the adhesive blades arranged on the wheel foot are distributed in a staggered manner, the instantaneous contact area of dry adhesive materials is increased, the adhesive-desorption conversion is stable, and the motion reliability of the robot is enhanced.
5. The front end and the rear end of the wheel type wall climbing unit are reserved with the connecting interfaces, so that the overall movement and the dispersed operation of the robot are realized, and the working range and the functional diversity of the robot are greatly improved.
6. The wheel type wall climbing units in the invention are cooperatively operated by lifting, traction and the like, so that the robot realizes 270-degree transitional movement from the wall surface to the horizontal plane.
7. The invention has the advantages of ingenious structure, small volume, light weight, convenient processing, economy and feasibility, and can provide a solution for a ground, wall and other plane mobile platform in a natural environment.
Drawings
Figure 1 is a perspective view of a multi-stage tandem expandable dry adhesion wheel foot wall-climbing robot (N = 2) according to the present invention;
figure 2 is an exploded view of a multi-stage tandem expandable dry stick wheel foot wall-climbing robot (N = 2) according to the present invention;
figure 3 is an exploded view of a single wheel wall-climbing unit of a multi-stage tandem expandable dry adhesion wheel foot wall-climbing robot in accordance with the present invention;
figure 4 is an exploded view of the wheel foot of a multi-stage tandem expandable dry stick wheel foot wall climbing robot of the present invention;
figure 5 is an exploded view of the magnetic linkage springs of a multi-stage tandem extensible dry stick wheel foot wall climbing robot of the present invention;
FIG. 6 shows the turning motion state of the multi-stage series extensible dry-adhesion wheel-foot wall-climbing robot and the motion method thereof during the wall-climbing process;
FIG. 7 is a first motion scenario of a ground wall transition of a multi-stage tandem extensible dry adhesion wheel-foot wall-climbing robot and its method of motion according to the present invention;
FIG. 8 is a second motion scenario of a ground wall transition of a multi-stage tandem extensible dry adhesion wheel-foot wall-climbing robot and method of motion thereof according to the present invention;
fig. 9 shows the movement of the multi-stage tandem extensible dry adhesion wheel-foot wall-climbing robot and the movement method thereof, in which the wheel-type wall-climbing units fail to adhere and fall off;
figure 10 is a perspective view of a multi-stage tandem expandable dry adhesion wheel foot wall-climbing robot (N = 6) in accordance with the present invention;
figure 11 is a perspective view of a first discrete operation of a multi-stage tandem expandable dry adhesion wheel foot wall-climbing robot (N = 6) in accordance with the present invention;
figure 12 is a perspective view of a second discrete operation of a multi-stage tandem expandable dry adhesion wheel foot wall-climbing robot (N = 6) in accordance with the present invention;
figure 13 is a movement of a multi-stage series extensible dry adhesive wheel foot wall-climbing robot (N = 2) from a wall to a horizontal plane for a 270 ° transition according to the present invention;
figure 14 is a movement of a multi-stage series extensible dry adhesive wheel foot wall-climbing robot (N = 6) from a wall to a horizontal plane for a 270 ° transition according to the present invention;
number designation in FIGS. 1-14: A. a front wheel type wall climbing unit; B. a magnetic coupling spring; C. a rear wheel type wall climbing unit; D. a left wheel foot; E. a right wheel foot; 1. a chassis; 2. a steering engine; 3. a steering engine connecting piece; 4. a steering engine steering wheel; 5. a bull's eye wheel base; 6. a bull-eye wheel universal ball; 7-1, a camera; 7-2, a holder bracket; 7-3, a holder base; 8. a large adhesive blade; 8-1, dry adhering the material sheet; 8-2, bending large-area elastic PVC sheets; 9. an outer wheel; 10. a small adhesive blade; 11. an inner wheel; 12. a first magnet; 13. a spring; 14. a second magnet.
Detailed Description
The invention is described in further detail below with reference to the following figures and specific examples:
with reference to fig. 1-14, the invention aims to provide a multi-stage series extensible dry adhesion wheel foot wall-climbing robot and a motion method thereof.
As shown in fig. 2, the present invention provides a multi-stage series extensible dry-adhesion wheel foot wall-climbing robot, which is characterized in that: comprises a front wall climbing unit A, a magnetic connecting spring B and a rear wall climbing unit C; the front wall climbing unit A and the rear wall climbing unit C are in magnetic adsorption connection through a magnetic connecting spring B, and the A, C symmetry line is superposed with the B axis; the magnetic connecting spring B is composed of a first magnet 12, a spring 13 and a second magnet 14, as shown in fig. 5, the first magnet 12 and the second magnet 14 are respectively installed at two ends of the spring 13; connecting interfaces are reserved at the front end and the rear end of a bottom plate 1 of the wheel type wall climbing unit, the existence of magnetic force is controlled by an electromagnet, the connection and disconnection between the units are realized, and the robot is conveniently expanded at the later stage, namely N groups of wheel type wall climbing units (N =1, 2 and 3.); in the robot shown in fig. 2, N = 2.
As shown in fig. 3, the present invention provides a wheel type wall-climbing unit of a multistage series extensible dry adhesion wheel foot wall-climbing robot, which is characterized in that: the device comprises a bottom plate 1, a steering engine 2, a steering engine connecting piece 3, a steering engine steering wheel 4, a bull's-eye wheel base 5, a bull's-eye wheel universal ball 6, a camera 7-1, a holder bracket 7-2, a holder base 7-3, a left wheel foot D and a right wheel foot E; the steering engine 2 is fixedly connected with the bottom plate 1 through a steering engine connecting piece 3; the steering engine 2 is fixedly connected with a left wheel foot D and a right wheel foot E through a steering engine steering wheel 4; the bull-eye wheel universal ball 6 is arranged in the bull-eye wheel base 5, and a threaded shaft of the bull-eye wheel base 5 penetrates through a through hole in the bottom plate 1 and is connected with the bottom plate 1 through a bolt; the camera 7-1 is arranged on the holder support 7-2, then the support provided with the camera is arranged on the holder base 7-3, and the holder base 7-3 is connected with the bottom plate 1 through bolts.
As shown in fig. 4, the present invention provides a wheel foot for realizing wall climbing based on dry adhesive material, which is characterized in that: comprises a large adhesive blade 8, an outer wheel 9, a small adhesive blade 10 and an inner wheel 11. The composition and installation of the adhesive blade is explained in detail by taking a large adhesive blade 8: the large adhesion blade 8 consists of a dry adhesion material sheet 8-1 and a bent large-area elastic PVC sheet 8-2; the bent large-area elastic PVC sheet 8-2 consists of a connecting part and a dry adhesive material mounting part, and the two parts form an included angle of 110 DEG and 130 DEG; the connecting part of the bent large-area elastic PVC sheet 8-2 is arranged in the outer wheel 9, the dry adhesion material sheet 8-1 is arranged at the dry adhesion material mounting part of the bent large-area elastic PVC sheet 8-2, and the root part of the dry adhesion material mounting part is distributed on the circumference of the hub of the outer wheel 9; in the initial state, an included angle of 50-70 degrees is formed between a dry adhesive material sheet 8-1 of the large adhesive blade 8 and the diameter direction of the hub of the outer wheel 9 and is uniformly distributed on the circumference of the outer wheel 9;
the hub of the outer wheel 9 is fixedly connected with the hub of the inner wheel 11, so that the large adhesive blades 8 and the small adhesive blades 10 which are fixedly connected with the hub are uniformly and alternately distributed; the diameter of the hub of the outer wheel 9 is equal to that of the hub of the inner wheel 11; the outer edge of the large adhesive blade 8 and the outer edge of the small adhesive blade 10 have the same diameter.
The invention aims to provide a multistage series extensible dry adhesion wheel foot wall-climbing robot and a motion method thereof, and the robot is characterized by comprising the following processes:
first, for stable climbing movements in inclined, vertical and inverted isoplanars: the steering engine 2 drives the wheel foot D and the wheel foot E to do circular motion, so that large adhesion blades 8 and small adhesion blades 10 arranged on the wheel foot periodically contact with, adhere to and desorb from the wall surface to realize the wall climbing function;
the periodicity is that the large adhesive blades 8 and the small adhesive blades 10 on the single wheel foot are distributed in a staggered way, and the small adhesive blades 10 on the inner wheel 11 start to adhere when the large adhesive blades 8 on the outer wheel 9 start to desorb, and vice versa;
analysis of the sticking/detaching process of a single large adhesive blade 8 or a single small adhesive blade 10: the wheel foot moves circularly to drive the adhesion blade arranged on the wheel foot to move, so that the adhesion blade has certain inertia, when the adhesion blade starts to contact the wall surface, the movement inertia throws the adhesion blade to the wall surface, and certain pre-pressure is provided, so that the adhesion blade is initially adhered to the wall surface; the wheel feet move forward along with the further circular motion of the wheel feet, and due to the support of the bull-eye wheel mechanism at the rear part of the chassis 1, the wheel foot base body presses the adhesive blades, so that the adhesive blades are deformed and attached to the circumferential surface of the wheel foot base body, and secondary pressure is provided, so that the adhesive blades can be better adhered; the wheel foot continues circular motion, the next adhered blade starts to be adhered, and the adhered blade enters a desorption stage, the secondary pressure of the wheel foot base body on the adhered blade is gradually reduced, the adhered blade is gradually restored, and elastic force is generated to provide a part of desorption force; with the continuous advance of the wheel foot, the root of the adhesion blade is dragged by the wheel foot base body, so that the adhesion material is desorbed from one side of the wall surface, and one desorption movement is completed;
as shown in fig. 6, the front wheel type wall-climbing unit a can change the overall direction through the differential speed of the left wheel foot D and the right wheel foot E, and transmit the motion to the rear wheel type wall-climbing unit C through the bending of the magnetic connecting spring B, so that the whole wall-climbing robot is in a bending shape, the turning motion is realized, and the motion direction of the robot is changed.
In the second type, as shown in fig. 7 and 8, for the motion situation of the ground wall transition: the machine body of the wheel type wall climbing unit A in front moves upwards along the wall surface, and the bull-eye wheel mechanism is in close contact with the wall surface in the process to provide supporting force; the front wheel type wall climbing unit A carries out adhesion/desorption movement on the ground, continuously moves forwards, gradually transits from the ground to the wall surface, the magnetic connecting spring B is bent, and the rear wheel type wall climbing unit C is pulled to realize transition; secondly, the front wheel-type wall climbing unit A carries out transition movement laterally along the wall surface, in the process, wheel feet on one side of the wheel-type wall climbing unit are firstly in close contact with the wall surface to provide adhesion, then wheel feet on the other side of the wheel-type wall climbing unit are in contact with and adhere to the wall surface, and the bull-eye wheel mechanism is in close contact with the wall surface to provide supporting force; the front wheel type wall climbing unit A continuously moves forward and gradually transits from the ground to the wall surface, the magnetic connecting spring B twists, and the rear wheel type wall climbing unit C is pulled to realize the ground wall transition;
third, as shown in fig. 9, for the movement situation that the wheel-type wall climbing unit fails to adhere and falls off: if the upper wheel-type wall climbing unit A fails to adhere and falls off in the climbing process of the wall climbing robot, and the lower wheel-type wall climbing unit C is positioned at the rear part and is subjected to the force transmitted by the magnetic connecting spring B, the lower wheel-type wall climbing unit C continuously moves forward along with the force, so that the upper wheel-type wall climbing unit A which falls off can contact the wall surface again, and new adhesion is realized;
fourth, as shown in fig. 13 and 14, the movement of the wall surface to the horizontal plane is in a transition of 270 °: before the transitional movement is critical, the wheel-type wall climbing units are adhered to the wall surface, the lower wheel-type wall climbing unit C is pushed upwards to compress the magnetic connecting spring B, and the upper wheel-type wall climbing unit A is lifted to be adhered to the horizontal plane; after the wheel type wall climbing unit A is successfully transited, the wheel type wall climbing unit A is pushed forwards to stretch the magnetic connecting spring B, and the wheel type wall climbing unit C which does not complete transition movement is pulled to help the transition completion.
Fifth, as shown in fig. 10, 11, and 12, the motion conditions of the overall motion and the distributed operation are: the wheel-type wall climbing units are connected into a whole through magnetic connecting springs, so that the movement process is more orderly and efficient;
when the robot reaches a target position for decentralized operation, the electromagnetic connecting interfaces at the front parts of the wheel type wall climbing units are powered off, the magnetism disappears, and the robot is decentralized into a plurality of wheel type wall climbing units;
the periphery of each wheel type wall climbing unit is monitored and cooperatively operated through the control of a camera holder and a group, and corresponding tasks are completed through an end effector carried by the units.
Claims (3)
1. The utility model provides a sufficient wall climbing robot of adhesion wheel is done to multistage series connection extensible which characterized in that:
the device comprises N wheel-type wall climbing units, wherein the front and rear adjacent wheel-type wall climbing units are connected in series through a magnetic connecting spring (B);
the wheel type wall climbing unit comprises a bottom plate (1), a camera cloud platform arranged at the front part of the bottom plate (1), wheel type mechanisms respectively arranged at the left side and the right side of the middle part of the bottom plate (1), and bull-eye wheel mechanisms respectively arranged at the left side and the right side of the rear part of the bottom plate (1);
the wheel type mechanism consists of a steering engine connecting piece (3), a steering engine (2), a steering engine steering wheel (4) and wheel feet (D); the steering engine (2) is fixed on one side of the bottom plate (1) through a steering engine connecting piece (3); the wheel feet (D) are fixedly connected with the steering engine (2) through a steering engine rudder disc (4);
the wheel foot (D) consists of an outer wheel (9) and an inner wheel (11);
the outer wheel (9) consists of an outer wheel hub and M large adhesive blades (8) uniformly arranged on the circumference of the outer wheel hub; the large adhesion blade consists of a bent large-area elastic PVC sheet and a dry adhesion material sheet, wherein the bent large-area elastic PVC sheet consists of a connecting part and a dry adhesion material mounting part, and the two parts form an included angle of 110 plus 130 degrees; the connecting part of the bent large-area elastic PVC sheet is arranged in the outer wheel, and the mounting position between the connecting part and the outer wheel is called as a mounting surface; the dry adhesion material sheet is arranged at the dry adhesion material mounting part of the bent large-area elastic PVC sheet, and the root part of the dry adhesion material mounting part is distributed on the circumference of the outer wheel hub; in the initial state, the dry adhesive material sheet of the large adhesive blade forms an included angle of 50-70 degrees with the diameter direction of the outer wheel hub, and is uniformly distributed on the circumference of the outer wheel, and the diameter direction of the outer wheel hub is parallel to the diameter direction of the mounting surface;
the inner wheel (11) consists of an inner wheel hub and M small adhesive blades (10) uniformly distributed on the circumference of the inner wheel hub; the small adhesion blade consists of a bent small-area elastic PVC sheet and a dry adhesion material sheet, the bent small-area elastic PVC sheet consists of a connecting part and a dry adhesion material mounting part, and the two parts form an included angle of 110 degrees and 130 degrees; the connecting part of the bent small-area elastic PVC sheet is arranged in the inner wheel, and the mounting position between the connecting part and the inner wheel is called as a mounting surface; the dry adhesion material sheet is arranged on a dry adhesion material mounting part of the bent small-area elastic PVC sheet, and the root part of the dry adhesion material mounting part is distributed on the circumference of the inner wheel hub; in an initial state, the dry adhesive material of the small adhesive blade forms an included angle of 50-70 degrees with the diameter direction of an inner wheel hub, and is uniformly distributed on the circumference of the inner wheel, wherein the diameter direction of the inner wheel hub is parallel to the diameter direction of the mounting surface;
the outer wheel hub and the inner wheel hub are fixedly connected, so that the large adhesion blades and the small adhesion blades which are fixedly connected to the outer wheel hub are uniformly distributed in a staggered manner; the diameter of the outer wheel hub is equal to that of the inner wheel hub; the diameters of the outer edges of the large adhesive blades are equal to the diameters of the outer edges of the small adhesive blades;
the bull-eye wheel mechanism consists of a bull-eye wheel base (5) and a bull-eye wheel universal ball (6) below the bull-eye wheel base;
the camera tripod head (7) consists of a camera (7-1), a tripod head bracket (7-2) and a tripod head base (7-3); the camera (7-1) is arranged on the bottom plate (1) through the holder bracket (7-2) and the holder base (7-3);
the magnetic connecting spring (B) consists of a first magnet (12), a spring (13) and a second magnet (14) in sequence; the first magnet (12) and the second magnet (14) are respectively connected with the bottom plate of the corresponding wheel type wall climbing unit in an electromagnetic mode.
2. The wall climbing method of the multistage series extensible dry adhesion wheel foot wall climbing robot according to claim 1, characterized by comprising the following processes:
first, for stable climbing movements in inclined, vertical and inverted isoplanars: the steering engine drives the wheel feet to do circular motion, so that large adhesion blades and small adhesion blades arranged on the wheel feet are in periodic contact with, adhere to and desorb from the wall surface, and the wall climbing function is realized;
the periodicity is that the large adhesive blades and the small adhesive blades on the single wheel foot are distributed in a staggered manner, and the small adhesive blades on the inner wheel start to adhere when the large adhesive blades on the outer wheel start to desorb, or vice versa;
analysis of the sticking/detaching process of a single large sticking leaf or a single small sticking leaf: the wheel foot moves circularly to drive the adhesion blade arranged on the wheel foot to move, so that the adhesion blade has certain inertia, when the adhesion blade starts to contact the wall surface, the movement inertia throws the adhesion blade to the wall surface, and certain pre-pressure is provided, so that the adhesion blade is initially adhered to the wall surface; the wheel feet move forward along with further circular motion of the wheel feet, and due to the support of the bull-eye wheel mechanism at the rear part of the chassis, the wheel foot base body presses the adhesive blades, so that the adhesive blades are deformed and attached to the circumferential surface of the wheel foot base body, and secondary pressure is provided, so that the adhesive blades can be better adhered; the wheel foot continues circular motion, the next adhered blade starts to be adhered, and the adhered blade enters a desorption stage, the secondary pressure of the wheel foot base body on the adhered blade is gradually reduced, the adhered blade is gradually restored, and elastic force is generated to provide a part of desorption force; with the continuous advance of the wheel foot, the root of the adhesion blade is dragged by the wheel foot base body, so that the adhesion material is desorbed from one side of the wall surface, and one desorption movement is completed;
the overall direction is changed through the differential speed of wheel-type mechanisms on the left side and the right side corresponding to wheel feet, and the motion is transmitted to the other wheel-type wall-climbing unit through the bending of a magnetic connecting spring, so that the wall-climbing robot is integrally bent, the turning motion is realized, and the motion direction of the robot is changed;
second, for the case of movement of the floor transition: the machine body of the wheel type wall climbing unit in front moves upwards along the wall surface, and the bull-eye wheel mechanism is tightly contacted with the wall surface in the process to provide supporting force; the front wheel type wall climbing unit carries out adhesion/desorption movement on the ground, continuously moves forwards, gradually transits from the ground to the wall surface, the magnetic connecting spring is bent, and the rear wheel type wall climbing unit is pulled to realize transition; secondly, the front wheel-type wall climbing unit carries out transition movement laterally along the wall surface, in the process, the wheel foot on one side of the wheel-type wall climbing unit is firstly in close contact with the wall surface to provide adhesion, then the wheel foot on the other side of the wheel-type wall climbing unit is in contact with and adheres to the wall surface, and the bull-eye wheel mechanism is in close contact with the wall surface to provide supporting force; the front wheel type wall climbing unit continuously moves forward and gradually transits from the ground to the wall surface, the magnetic connecting spring is twisted, and the rear wheel type wall climbing unit is pulled to realize the ground wall transition;
thirdly, for the movement condition that the wheel-type wall climbing unit fails to adhere and falls off: if the upper wheel-type wall climbing unit fails to adhere and falls off in the climbing process of the wall climbing robot, and the lower wheel-type wall climbing unit is positioned at the rear part and is subjected to the force transmitted by the magnetic connecting spring to continuously move forward along with the force, so that the upper wheel-type wall climbing unit which falls off can contact the wall surface again to realize new adhesion;
fourth, motion of 270 ° transition from wall to horizontal: before the transitional movement is critical, the wheel-type wall climbing units are adhered to the wall surface, the lower wheel-type wall climbing unit is pushed upwards to compress the magnetic connecting spring, and the upper wheel-type wall climbing unit is lifted to assist the adhesion to the horizontal plane; after the wheel type wall climbing unit is successfully transited, the wheel type wall climbing unit is pushed forwards to stretch the magnetic connecting spring, and the wheel type wall climbing unit which does not complete transition movement is pulled to help the wheel type wall climbing unit to complete transition.
3. The wall climbing method of the multistage series extensible dry adhesion wheel foot wall climbing robot according to claim 2, characterized by further comprising the following processes:
fifth, motion situation of the whole motion and the dispersed operation: the wheel-type wall climbing units are connected into a whole through magnetic connecting springs, so that the movement process is more orderly and efficient;
when the robot reaches a target position for decentralized operation, the electromagnetic connecting interfaces at the front parts of the wheel type wall climbing units are powered off, the magnetism disappears, and the robot is decentralized into a plurality of wheel type wall climbing units;
the periphery of each wheel type wall climbing unit is monitored and cooperatively operated through the control of a camera holder and a group, and corresponding tasks are completed through an end effector carried by the units.
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| CN102476664A (en) * | 2010-11-22 | 2012-05-30 | 中国科学院沈阳自动化研究所 | Wheel foot type wall climbing robot mechanism |
| US8978807B2 (en) * | 2011-09-09 | 2015-03-17 | California Institute Of Technology | Terrain traversing device having a wheel with microhooks |
| CN103523110B (en) * | 2013-10-25 | 2015-08-19 | 天津大学 | One kind is wheeled climbs wall barrier-surpassing robot |
| CN204605990U (en) * | 2015-01-16 | 2015-09-02 | 中国计量学院 | Magnetic force variable duct boosting climbing robot |
| CN107867344A (en) * | 2017-08-25 | 2018-04-03 | 中国计量大学 | A kind of permanent magnetic suck climbing robot of achievable right angle wall transition |
| CN109018051A (en) * | 2018-07-09 | 2018-12-18 | 南京航空航天大学 | Circle wheel climbing robot based on pasting material |
| CN111746679A (en) * | 2020-07-01 | 2020-10-09 | 南京农业大学 | Wheel type omnidirectional claw wall-climbing robot and movement method thereof |
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