CN113320614A - Removable adsorption material mechanism and wall climbing robot who founds thereof - Google Patents
Removable adsorption material mechanism and wall climbing robot who founds thereof Download PDFInfo
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- CN113320614A CN113320614A CN202110762697.6A CN202110762697A CN113320614A CN 113320614 A CN113320614 A CN 113320614A CN 202110762697 A CN202110762697 A CN 202110762697A CN 113320614 A CN113320614 A CN 113320614A
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- 239000000463 material Substances 0.000 title claims abstract description 137
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 69
- 230000009194 climbing Effects 0.000 title claims abstract description 21
- 230000001360 synchronised effect Effects 0.000 claims description 10
- 239000003463 adsorbent Substances 0.000 claims description 8
- 230000008093 supporting effect Effects 0.000 claims description 7
- 238000003754 machining Methods 0.000 claims description 3
- 238000010521 absorption reaction Methods 0.000 claims description 2
- 238000009434 installation Methods 0.000 claims description 2
- 238000000034 method Methods 0.000 abstract description 6
- 239000004677 Nylon Substances 0.000 description 5
- 239000003292 glue Substances 0.000 description 5
- 229920001778 nylon Polymers 0.000 description 5
- 230000000712 assembly Effects 0.000 description 2
- 238000000429 assembly Methods 0.000 description 2
- 229920002943 EPDM rubber Polymers 0.000 description 1
- 239000004809 Teflon Substances 0.000 description 1
- 229920006362 Teflon® Polymers 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000010422 painting Methods 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 238000007789 sealing Methods 0.000 description 1
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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 discloses a mechanism with replaceable adsorption materials and a wall-climbing robot constructed by the same, and belongs to the field of special robots. The adsorption material replaceable mechanism is provided with the rotating body part and the push-pull adsorption material part, the push-pull movement of the rotating body part can drive the adsorption material in the push-pull adsorption material part to move up and down, and the rotating body part and the push-pull adsorption material part act together and are coordinated with each other in the whole process, so that the adsorption material is separated from/adsorbed on the wall surface, and a platform is provided for the change of the adsorption material of the wall climbing robot; and furthermore, the replaceable adsorbing material mechanism is combined with the chassis moving mechanism and the mechanical arm mechanism to construct a reasonable wall-climbing robot.
Description
Technical Field
The invention relates to a mechanism with replaceable adsorption materials and a wall-climbing robot constructed by the same, and belongs to the field of special robots.
Background
In recent years, more and more high-rise buildings are built, and more high-rise problems are brought along, such as high-rise pipeline repairing, high-rise glass wiping, high-rise outer wall repairing and painting and the like, the operations have strict requirements on the load of the wall climbing robot, the requirements meet the requirements, the safety performance of the wall climbing robot is greatly influenced, the higher the load is, the higher the danger coefficient is, and the low efficiency is.
With present wall climbing robot, if adopt single vacuum adsorption material, if the leakproofness of adsorption material and wall is better, wall climbing robot is stronger to the adsorption affinity of wall this moment, but has also influenced wall climbing robot's removal speed, if the leakproofness of adsorption material and wall is relatively poor, wall climbing robot is weaker to the adsorption affinity of wall this moment, the removal speed can compare the wall climbing robot of preceding material and accelerate, but the load of wall climbing robot this moment is also lighter, in case the load is greater than wall climbing robot's adsorption affinity, will drop and cause the incident.
Disclosure of Invention
The invention provides a mechanism capable of replacing an adsorbing material, which can provide a moving platform for the adsorbing material; the wall-climbing robot is provided, and a wall-climbing platform with a replaceable adsorbing material mechanism is built.
The technical scheme of the invention is as follows: a replaceable adsorbing material mechanism comprises a fixed plate 53, a rotating body part and a push-pull adsorbing material part; the fixed plate 53 is used for mounting the rotating body part, and the pushing and pulling movement of the rotating body part drives the adsorbing material in the pushing and pulling adsorbing material part to move up and down.
The rotating body part drives the connecting plate I41 to move by pushing and pulling the electromagnet push-pull motor 40, and further drives the T-shaped workpiece 45 connected with the connecting plate I41 to move, so that the sliding block II 43 is driven to slide on the sliding rail II 44, the sliding block II 43 drives the connecting plate II 42 to move, so that the rotating of the group of arc plates 39 is driven, the rotating of the arc plates 39 can cause the rotating of the annular plate 38, so that the synchronous motion of all the arc plates 39 is driven, the push-pull motion of the electromagnet push-pull motor 40 is converted into the rotating of the arc plates 39 and the annular plate 38, and the T-shaped workpiece 45 is driven to push and pull by the rotating of the arc plates 39;
the push-pull adsorbing material part drives the connecting plate III 46 to move in a push-pull mode through the push-pull movement of the T-shaped workpiece 45, meanwhile, the connecting plate IV 47 receives a pushing force of the connecting plate III 46 and rotates around the connecting plate III 46, the other end of the connecting plate IV 47 gives an upward/downward pushing force to the adsorbing material II fixing piece 50 through rotation, meanwhile, the adsorbing material II fixing piece 50 moves upward/downward along the guide groove on the guide groove workpiece 51, and therefore the upward/downward movement of the adsorbing material II 48 on the adsorbing material fixing plate 49 is achieved.
The rotating body part comprises a circuit main board 2, a stepping motor driver 23, a ring-shaped board 38, an arc-shaped board 39, an electromagnet push-pull motor 40, a connecting board I41, a connecting board II 42, a sliding block II 43, a sliding rail II 44, a T-shaped workpiece 45 and a fixing board 53; wherein, the fixed plate 53 is fixedly connected with the bottom of the bottom plate 1, the electromagnet push-pull motor 40 is fixedly connected with the fixed plate 53, the annular plate 38 is in pin connection with one end of a plurality of groups of uniformly distributed arc-shaped plates 39, the other end of the plurality of groups of arc-shaped plates 39 is in pin connection with the corresponding connecting plate II 42, each group of sliding rails II 44 is fixedly connected with the fixed plate 53, the sliding block II 43 is arranged on the sliding rail II 44 and can move along the sliding rail II 44, the sliding block II 43 is fixedly connected with the connecting plate II 42 and the T-shaped workpiece 45 arranged thereon, one end of the group of T-shaped workpieces 45 facing the annular plate 38 is in pin connection with one end of the connecting plate I41, the other end of the connecting plate I41 connected with the T-shaped workpiece 45 is in pin connection with the push-pull rod of the electromagnet push-pull motor 40, the circuit main board 2 is connected with two groups of input serial ports of the stepping motor driver 23 through two groups of serial ports.
The push-pull adsorption material part comprises a connecting plate III 46, a connecting plate IV 47, an adsorption material II 48, an adsorption material fixing plate 49, an adsorption material II fixing piece 50 and a guide groove machining piece 51; one end of the connecting plate III 46 is fixedly connected with one end, far away from the rotating body, of the circular plate 38 of the T-shaped workpiece 45, one end of the connecting plate IV 47 is in pin connection with the other end of the connecting plate III 46, the adsorbing material II 48 is bonded on the bottom surface of the adsorbing material fixing plate 49, the top surface of the adsorbing material fixing plate 49 is fixedly connected with one end of the adsorbing material II fixing piece 50, the adsorbing material II fixing piece 50 is in pin connection with the connecting plate IV 47, the other end of the adsorbing material II fixing piece 50 penetrates through a bolt hole in the adsorbing material II fixing piece 50 and a guide groove of the guide groove machined piece 51 through a bolt, the guide groove machined piece 51 is connected with the adsorbing material II fixing piece 50, and the top side end of the guide groove machined piece 51 is directly and fixedly connected with the vacuum cavity 15 in the vacuum adsorbing portion.
A wall-climbing robot comprises a replaceable adsorption material mechanism, a chassis moving mechanism and a mechanical arm mechanism;
the chassis moving mechanism comprises a bottom plate 1, a battery 5, a moving part and a vacuum adsorption part; the bottom plate 1 is used for mounting a moving part and a vacuum adsorption part, the battery 5 is used for providing a power supply, the moving part is used for providing driving force for moving back and forth, and the vacuum adsorption part is used for adsorbing a wall surface;
the mechanical arm mechanism comprises a rotating base part, a rotating arm I, a mechanical arm I30 and a rotating arm II; the rotary base part is used for installing a rotating arm I, the rotating arm I is connected with a rotating arm II through a mechanical arm I30, and operation is performed through an execution component at the tail end of the rotating arm II.
The moving part comprises two groups of direct current motors 3, a direct current motor driver 4, a synchronous belt 6, a large belt wheel 7, a small belt wheel 8, a small belt wheel mounting seat 9, a sliding block I10, a sliding rail I11, a direct current motor driver fixing plate 52, a large belt wheel mounting seat 54 and a supporting device; fixing a circuit main board 2, two direct current motors 3 and two slide rails I11 in a rotating body part on a bottom board 1, fixedly installing two direct current motor drivers 4 on a direct current motor driver fixing plate 52, fixedly installing the direct current motor driver fixing plate 52 on the circuit main board 2, directly connecting the positive and negative poles corresponding to the circuit main board 2 and two groups of motor drivers 4 with the positive and negative poles of a battery 5, connecting the positive and negative poles of two groups of direct current motors 3 with output serial ports corresponding to the two groups of motor drivers 4, and connecting the circuit main board 2 with four groups of input serial ports corresponding to the two groups of motor drivers 4 through four serial ports; big band pulley mount pad 54 is fixed with the installation of bottom plate 1 upper portion, big band pulley 7 carries out the pin junction with big band pulley mount pad 54, big band pulley 7 carries out the key-type connection with DC motor 3's output shaft simultaneously, slider I10 is installed and can be followed slide rail I11 motion on slide rail I11, slider I10 and the little band pulley mount pad 9 fixed connection who installs above that, little band pulley 8 carries out the pin junction with little band pulley mount pad 9, overlap hold-in range 6 on big band pulley 7, little band pulley 8, the strutting arrangement of bottom plate 1 lower part.
The vacuum adsorption part mainly comprises a micro vacuum pump 14, a vacuum cavity 15, an adsorption material I16 and a spring assembly; the spring assembly is installed between the bottom plate 1 and the inner side of a top plate of a vacuum cavity 15, the bottom of the spring assembly is fixedly installed on the bottom plate 1, the vacuum cavity 15 is of a cavity structure with an opening at the bottom, the inner side of the top plate of the vacuum cavity 15 covering the bottom plate 1 is fixedly installed with the top of the spring assembly, an adsorbing material I16 is bonded with the opening end at the bottom of the vacuum cavity 15, the micro vacuum pump 14 is fixedly connected with the top of the vacuum cavity 15, the micro vacuum pump 14 is provided with an air inlet hole and an air outlet hole, the vacuum cavity 15 is provided with an air suction hole, the air suction hole of the vacuum cavity 15 is connected with the air inlet hole on the micro vacuum pump 14 through an air pipe, and the vacuum cavity 15 is pumped and sent through the micro vacuum pump 14.
The rotating base part comprises a stepping motor 20, a flange shaft I21 and a thrust ball bearing 22; the stepping motor 20 and the vacuum cavity 15 are fixedly installed, the stepping motor 20 directly connects an output shaft to one end of a flange shaft I21 in an inserting mode, a thrust ball bearing 22 is sleeved on the flange shaft I21, the flange shaft I21 penetrates through a group of thrust ball bearings 22, then penetrates through a top plate of the vacuum cavity 15 in the vacuum adsorption part, then penetrates through another group of thrust ball bearings 22, and finally is fixed through a locking nut, the positive and negative poles corresponding to the stepping motor 20 are directly connected with an output serial port of a stepping motor driver 23 in the rotator part, and the positive and negative poles of the stepping motor driver 23 are connected with the battery 5.
The rotating arm I comprises a small direct current motor I24, a flange bearing 25, a small direct current motor base 26, a small direct current motor driver I27, a small direct current motor driver mounting base 28 and a flange shaft II 29; wherein, one side of a small direct current motor base 26 is fixedly connected with a flange shaft I21 at the rotating bottom part, a small direct current motor I24 is fixedly connected with the other side of the small direct current motor base 26, one side of the small direct current motor base 26 fixed with the flange shaft I21 is mutually vertical to one side of the small direct current motor base 26 fixed with the small direct current motor I24, a flange shaft II 29 penetrates through the small direct current motor base 26 to be matched and connected with an output shaft of the small direct current motor I24 at the tail end, one end of a mechanical arm I30 is fixedly connected with the flange shaft II 29, the front and back matching parts of the flange shaft II 29 and the small direct current motor base 26 are all inserted with a flange bearing 25, a small direct current motor driver I27 is directly fixed on the small direct current motor driver mounting base 28, the small direct current motor driver mounting base 28 is directly and fixedly connected with a bottom plate 1, the positive and negative poles corresponding to the small direct current motor I24 are directly connected with two output serial ports of the small direct current motor driver I27, the positive and negative poles of the small direct current motor driver I27 are directly connected with the positive and negative poles of the battery 5, and the circuit main board 2 in the rotator part is connected with the input serial port of the small direct current motor driver I27 through two serial ports.
The rotating arm II comprises a small direct current motor II 31, a flange shaft III 32, a base plate 33, a mechanical arm II 34, a pneumatic clamping hand 35, a small direct current motor driver II 36 and an electromagnetic valve 37; wherein one side of the other end of the mechanical arm I30 is fixed with a small direct current motor II 31, the other side of the other end of the mechanical arm I30 is fixedly connected with a backing plate 33, two ends of the inside of the backing plate 33 are respectively penetrated with a group of flange bearings 25, a flange shaft III 32 penetrates through two groups of flange bearings 25 to be directly fixedly connected with an output shaft of the small direct current motor II 31, one end of the mechanical arm II 34 is fixedly installed with the flange shaft III 32, the other end of the mechanical arm II 34 is fixed with a pneumatic clamp 35, an electromagnetic valve 37 is fixed on a vacuum cavity 15 in a vacuum adsorption part, a small direct current motor driver II 36 is fixedly connected with a small direct current motor driver mounting seat 28 in a rotating arm I, the positive and negative poles corresponding to the small direct current motor II 31 are directly connected with an output port of the small direct current motor driver II 36, the positive and negative poles of the small direct current motor driver II 36 are directly connected with the positive The pneumatic clamping hand 35 is provided with an electromagnetic valve 37, an air inlet and an air outlet of the pneumatic clamping hand 35 are connected with an air inlet and an air outlet which correspond to the upper surface of the electromagnetic valve 37 through an air pipe, a main air suction port of the electromagnetic valve 37 is connected with an air suction port of the micro vacuum pump 14 through an air pipe, and meanwhile, two serial ports on the electromagnetic valve 37 are connected and controlled through two serial ports on the circuit main board 2 in the rotating body part.
The invention has the beneficial effects that: the adsorption material replaceable mechanism is provided with the rotating body part and the push-pull adsorption material part, the push-pull movement of the rotating body part can drive the adsorption material in the push-pull adsorption material part to move up and down, and the rotating body part and the push-pull adsorption material part act together and are coordinated with each other in the whole process, so that the adsorption material is separated from/adsorbed on the wall surface, and a platform is provided for the change of the adsorption material of the wall climbing robot; still further can construct reasonable wall climbing robot, specific with removable adsorption material mechanism combination chassis moving mechanism, arm mechanism again: the vacuum chamber part is combined with the moving part, the vacuum adsorption is used for providing adsorption for the movement and the operation of the robot and ensuring that the robot does not fall off in the movement and operation processes, the micro vacuum pump is used for pumping gas, the complexity caused by pipeline arrangement is avoided, the problem of robot operation height limitation caused by the length of a gas pipe is also avoided, and the safety of the robot is further improved by adopting a specific adsorption material and a vacuum chamber, so that the robot can autonomously move and turn on the wall; when the load of the wall climbing robot is increased, the replaceable adsorbing material mechanism can be further matched, so that the adsorbing materials can be replaced from one type to multiple types, the adaptability of the wall climbing robot to the environment is improved, and the mechanism arm mechanism can work stably.
Drawings
FIG. 1 is a schematic perspective view of the present invention;
FIG. 2 is a schematic view of the chassis moving mechanism of the present invention with the timing belt removed from one side;
FIG. 3 is a schematic view of the support device of the present invention;
FIG. 4 is a schematic view of a spring assembly of the present invention;
FIG. 5 is a first schematic view of the robotic arm mechanism of the present invention;
FIG. 6 is a second schematic view of the robotic arm mechanism of the present invention;
FIG. 7 is a partial cross-sectional view of a robotic arm assembly of the present invention;
FIG. 8 is a first schematic view of a replaceable adsorbent material mechanism of the present invention;
FIG. 9 is a second schematic view of a replaceable adsorbent material mechanism of the present invention;
FIG. 10 is a bottom schematic view of the replaceable adsorbent material mechanism of the present invention;
FIG. 11 is a partial schematic view of a replaceable adsorbent material mechanism of the present invention;
the reference numbers in the figures are: 1-bottom plate, 2-circuit main plate, -direct current motor, 4-direct current motor driver, 5-battery, 6-synchronous belt, 7-large belt wheel, 8-small belt wheel, 9-small belt wheel mounting seat, 10-sliding block I, 11-sliding rail I, 12-linear bearing, 13-linear bearing seat, 14-micro vacuum pump, 15-vacuum cavity, 16-adsorbing material I, 17-guide rod, 18-flange linear bearing, 19-spring, 20-stepping motor, 21-flange shaft I, 22-thrust ball bearing, 23-stepping motor driver, 24-small direct current motor I, 25-flange bearing, 26-small direct current motor seat, 27-small direct current motor driver I, 28-small direct current motor driver mounting seat, 29-flange shaft II, 30-mechanical arm I, 31-small direct current motor II, 32-flange shaft III, 33-base plate, 34-mechanical arm II, 35-pneumatic gripper, 36-small direct current motor driver II, 37-electromagnetic valve, 38-annular plate, 39-arc plate, 40-electromagnet push-pull motor, 41-connecting plate I, 42-connecting plate II, 43-sliding block II, 44-sliding rail II, 45-T type machined part, 46-connecting plate III, 47-connecting plate IV, 48-adsorbing material II, 49-adsorbing material fixing plate, 50-adsorbing material II fixing part, 51-guide groove machined part, 52-direct current motor fixing plate, 53-fixing plate and 54-large belt wheel mounting seat.
Detailed Description
Example 1: as shown in fig. 1 to 11, a replaceable adsorbing material mechanism includes a fixed plate 53, a rotating body part, a push-pull adsorbing material part; the fixed plate 53 is used for mounting the rotating body part, and the pushing and pulling movement of the rotating body part drives the adsorbing material in the pushing and pulling adsorbing material part to move up and down.
Further, the rotating body part can be arranged to drive the arc-shaped plate 39 to rotate by pushing and pulling the electromagnet push-pull motor 40, and the T-shaped workpiece 45 can be pushed and pulled by the rotation of the arc-shaped plate 39; the push-pull movement of the connecting plate III 46 in the push-pull adsorption material part is driven by the push-pull movement of the T-shaped workpiece 45, the rotation of the connecting plate IV 47 is driven by the push-pull movement of the connecting plate III 46, the adsorption material II fixing piece 50 is driven to move up and down along the guide groove by the rotation of the connecting plate IV 47, and the up-and-down movement of the adsorption material II 48 is further realized.
Furthermore, the rotating body part can be arranged to drive the connecting plate I41 to move by pushing and pulling the electromagnet push-pull motor 40, so as to drive the T-shaped workpiece 45 connected with the connecting plate I41 to move, thereby driving the sliding block II 43 to slide on the sliding rail II 44, driving the connecting plate II 42 to move by sliding the sliding block II 43, thereby driving the group of arc-shaped plates 39 to rotate, and the rotation of the arc-shaped plates 39 can cause the rotation of the annular plate 38, thereby driving the synchronous motion of all the arc-shaped plates 39, thereby realizing that the push-pull motion of the electromagnet push-pull motor 40 is converted into the rotation of the arc-shaped plates 39 and the annular plate 38, and driving the push-pull motion of the T-shaped workpiece 45 by the rotation of the arc-shaped plates 39;
the push-pull adsorbing material part drives the connecting plate III 46 to move in a push-pull mode through the push-pull movement of the T-shaped workpiece 45, meanwhile, the connecting plate IV 47 receives a pushing force of the connecting plate III 46 and rotates around the connecting plate III 46, the other end of the connecting plate IV 47 gives an upward/downward pushing force to the adsorbing material II fixing piece 50 through rotation, meanwhile, the adsorbing material II fixing piece 50 moves upward/downward along the guide groove on the guide groove workpiece 51, and therefore the upward/downward movement of the adsorbing material II 48 on the adsorbing material fixing plate 49 is achieved.
Further, the rotating body part can be arranged to include a circuit main board 2, a stepping motor driver 23, a ring-shaped board 38, an arc-shaped board 39, an electromagnet push-pull motor 40, a connecting board i 41, a connecting board ii 42, a sliding block ii 43, a sliding rail ii 44, a T-shaped workpiece 45 and a fixing board 53; wherein, the fixed plate 53 is cross-shaped and is provided with bolt holes, the fixed plate is fixedly connected with the corresponding mounting holes at the bottom of the bottom plate 1 by bolts, the electromagnet push-pull motor 40 is provided with four groups of mounting holes at the bottom and is directly fixedly connected with the fixed plate 53 by four groups of bolts matching nylon columns, the annular plate 38 is provided with four groups of bolt holes for pin connection with one end of four groups of evenly distributed arc plates 39, the other end of the four groups of arc plates 39 is in pin connection with the corresponding connecting plate II 42, four groups of slide rails II 44 are provided with bolt holes, each group of slide rails II 44 is fixedly connected with the fixed plate 53 by two groups of bolts, four groups of sliding blocks II 43 are arranged on the slide rails II 44 and can move along the slide rails II 44, the T-shaped workpiece 45 is provided with four groups of bolt holes, the sliding blocks II 43 are fixedly connected with the connecting plate II 42 and the T-shaped workpiece 45 arranged thereon, one end of the T-shaped workpiece 45 facing the annular plate 38 is provided with one group of bolt holes, the other end of the connecting plate I41 connected with the T-shaped workpiece 45 is in pin connection with a push-pull rod of an electromagnet push-pull motor 40 through a group of bolts, the electromagnet push-pull motor 40 and a stepping motor 20 of the mechanical arm mechanism rotating base portion share one stepping motor driver 23, the positive electrode and the negative electrode corresponding to the electromagnet push-pull motor 40 are directly connected with one group of output serial ports of the stepping motor driver 23, and the circuit main board 2 is connected with two groups of input serial ports of the stepping motor driver 23 through two groups of serial ports and used for driving the electromagnet push-pull motor 40 to control speed and position.
Furthermore, the push-pull adsorbing material part comprises a connecting plate III 46, a connecting plate IV 47, an adsorbing material II 48, an adsorbing material fixing plate 49, an adsorbing material II fixing piece 50 and a guide groove machining piece 51; wherein, the rotating body part finally drives the T-shaped workpiece 45 to perform the push-pull motion through the push-pull motion of a group of electromagnet push-pull motors 40, one end of a connecting plate III 46 is provided with two groups of bolt holes and fixedly connected with one end of the T-shaped workpiece 45, which is far away from the ring-shaped plate 38, one end of a connecting plate IV 47 is in pin connection with the other end of the connecting plate III 46 through a group of bolts, an adsorbing material II 48 is directly bonded on the bottom surface of an adsorbing material fixing plate 49 through glue after being cut, the top surface of the adsorbing material fixing plate 49 is fixedly connected with two bolt holes at one end of an adsorbing material II fixing part 50 through two groups of bolts, the right end of the upper part at the bottom end of the adsorbing material II fixing part 50 is provided with a group of bolt holes and is in pin connection with the connecting plate IV 47, the other end of the adsorbing material II fixing part 50 is provided with two groups of vertical bolt holes, and the two groups of bolts pass through the two groups of bolt holes and the guide grooves of the guide groove workpiece 51, and connecting the guide groove workpiece 51 with an adsorbing material II fixing part 50, wherein the side end of the top of the guide groove workpiece 51 is provided with two groups of bolt holes which are directly and fixedly connected with the vacuum cavity 15 in the vacuum adsorption part. Four groups of II 48 adsorbing materials are driven by the rotating body part and move downwards simultaneously until the adsorbing materials are attached to the wall surface, when the adsorbing materials II 48 are not needed, the four groups of II 48 adsorbing materials are directly driven to move upwards by the withdrawing of the electromagnet push-pull motor 40 until the four groups of II 48 adsorbing materials are separated from the wall surface, and the adsorbing material replacement can be realized integrally.
A wall-climbing robot comprises a replaceable adsorption material mechanism, a chassis moving mechanism and a mechanical arm mechanism; the chassis moving mechanism comprises a bottom plate 1, a battery 5, a moving part and a vacuum adsorption part; the bottom plate 1 is used for mounting a moving part and a vacuum adsorption part, the battery 5 is used for providing a power supply, the moving part is used for providing driving force for moving back and forth, and the vacuum adsorption part is used for adsorbing a wall surface; the battery 5 can be directly attached to the top of the vacuum cavity 15 through a magic tape, so that the battery 5 is convenient to replace; the mechanical arm mechanism comprises a rotating base part, a rotating arm I, a mechanical arm I30 and a rotating arm II; the rotary base part is used for installing a rotating arm I, the rotating arm I is connected with a rotating arm II through a mechanical arm I30, and operation is performed through an execution component at the tail end of the rotating arm II.
Further, the moving part can be arranged to comprise two groups of direct current motors 3, direct current motor drivers 4, synchronous belts 6, a large belt wheel 7, a small belt wheel 8, a small belt wheel mounting seat 9, a sliding block I10, a sliding rail I11, a direct current motor driver fixing plate 52, a large belt wheel mounting seat 54 and a supporting device; fixing a circuit main board 2, two direct current motors 3 and two slide rails I11 in a rotating body part on a bottom board 1, fixedly installing two direct current motor drivers 4 on a direct current motor driver fixing plate 52, fixedly installing the direct current motor driver fixing plate 52 on the circuit main board 2, directly connecting the positive and negative poles corresponding to the circuit main board 2 and two groups of motor drivers 4 with the positive and negative poles of a battery 5, connecting the positive and negative poles of two groups of direct current motors 3 with output serial ports corresponding to the two groups of motor drivers 4, and connecting the circuit main board 2 with four groups of input serial ports corresponding to the two groups of motor drivers 4 through four serial ports to respectively drive the two direct current motors 3 to control the speed and the steering; four groups of bolt holes are formed in the large belt wheel mounting seat 54 and are fixedly mounted on the base plate 1 through four groups of bolts, the large belt wheel 7 is in pin connection with the large belt wheel mounting seat 54, meanwhile, the large belt wheel 7 is in key connection with an output shaft of the direct current motor 3, the sliding block I10 is mounted on the sliding rail I11 and can move along the sliding rail I11 (namely, when the sliding block moves to a proper position, a screw can be fixed on the sliding rail to limit the movement of the sliding block, limiting is achieved, the sliding block is mounted on the sliding rail to facilitate synchronous belt mounting), the sliding block I10 is fixedly connected with the small belt wheel mounting seat 9 mounted on the sliding rail, the small belt wheel 8 is in pin connection with the small belt wheel mounting seat 9, and the synchronous belt 6 is sleeved on the large belt wheel 7, the small belt wheel 8 and the supporting device.
Further, the small belt wheel mounting seat 9 can be arranged to adopt a U-shaped structure, and two free ends on the opening side of the U-shaped structure are connected with the small belt wheel 8 through pins. The large belt wheel mounting seat can be 54 designed in an L shape, the opposite side motor is supported and mounted on the bottom plate 1 through a nylon column, the small belt wheel is connected through the U-shaped structure mounting seat, the whole design is convenient to mount, and meanwhile, the driving force for running of the synchronizing wheel can be effectively provided while the manufacturing cost is saved.
Further, the supporting device can be mainly composed of a linear bearing 12 and a linear bearing seat 13; wherein, the linear bearing seat 13 arranged at the bottom of the bottom plate 1 is directly fixedly connected with the bottom plate 1, the linear bearing 12 is in pin connection with the linear bearing seat 13, and the two linear bearings 12 are used for supporting a synchronous belt 6.
Further, the vacuum adsorption part mainly comprises a micro vacuum pump 14, a vacuum cavity 15, an adsorption material I16 and a spring assembly; wherein four groups of spring assemblies are installed between the bottom plate 1 and the inner side of a top plate of a vacuum cavity 15, the bottom of the spring assembly is fixedly installed on the bottom plate 1, the vacuum cavity 15 is of a cavity structure with an opening at the bottom, the inner side of the top plate of the vacuum cavity 15 covered on the bottom plate 1 is fixedly installed with the tops of the four groups of spring assemblies, an adsorbing material I16 is bonded with the bottom opening end of the vacuum cavity 15, the micro vacuum pump 14 is provided with four groups of bolt holes and is fixedly connected with the top of the vacuum cavity 15, the micro vacuum pump 14 is provided with an air inlet hole and an air outlet hole, the vacuum cavity 15 is provided with an air suction hole, the air suction hole of the vacuum cavity 15 is connected with the air inlet hole on the micro vacuum pump 14 through an air pipe, and the air suction and delivery are carried out on the vacuum cavity 15 through the micro vacuum pump 14.
Furthermore, the spring assembly can be mainly composed of a guide rod 17, a flange linear bearing 18 and a spring 19, wherein one end of the guide rod 17 is inserted into an inner hole of the flange linear bearing 18, the spring 19 is sleeved between the other end of the guide rod 17 and a base of the flange linear bearing 18, a threaded hole is formed in the other end of the guide rod 17 and fixedly connected with the vacuum cavity 15 in the vacuum absorption part through a bolt, and a threaded hole is formed in the base of the flange linear bearing 18 and fixedly connected with the bottom plate 1 through a bolt. Spring unit passes through bolted connection with bottom plate 1 and vacuum cavity 15 respectively for give 1 perpendicular wall power inwards of bottom plate when vacuum cavity 15 adsorbs the wall, guarantee hold-in range 6 and the laminating of wall, the robot utilizes the drive power of hold-in range 6 and wall contact to overcome the frictional force that adsorbing material I16 and wall in close contact with produced and removes, realizes climbing the wall.
Further, the rotating base part can be arranged to comprise a stepping motor 20, a flange shaft I21 and a thrust ball bearing 22; a group of thrust ball bearings 22 are directly sleeved on a flange shaft I21, the flange shaft I21 penetrates through a group of thrust ball bearings 22 and then penetrates through a top plate of a vacuum cavity 15 in a vacuum adsorption part, then penetrates through another group of thrust ball bearings 22, the bottom of the flange shaft I21 is provided with threads and is finally fixed through a locking nut, four groups of threaded holes are formed in a stepping motor 20, a D-shaped groove matched with an output shaft of the stepping motor 20 is formed in the flange shaft I21, the output shaft of the stepping motor 20 is directly inserted into the flange shaft I21, four groups of corresponding bolt holes in the upper surface of the vacuum cavity 15 are fixedly installed through a hexagonal nylon column on the stepping motor 20 through bolts, four groups of bolt holes are formed in a stepping motor driver 23 in a rotator part and are directly installed and fixed with a base plate 1 through the four groups of bolts, and the positive and negative poles corresponding to the stepping motor 20 are directly connected with an output serial port of the stepping motor driver 23, the positive and negative poles of the stepping motor driver 23 are connected with the battery 5, and the circuit main board 2 in the rotator part is connected with two input serial ports of the stepping motor driver 23 through two serial ports to drive the stepping motor 20 to control the speed and the steering.
Furthermore, the rotating arm I can be arranged to comprise a small direct current motor I24, a flange bearing 25, a small direct current motor base 26, a small direct current motor driver I27, a small direct current motor driver mounting base 28 and a flange shaft II 29; wherein, four groups of bolt through holes are arranged at the bottom of the small DC motor base 26, the four groups of bolts pass through the small DC motor base 26 to be fixedly connected with a flange shaft I21 at the rotating bottom part, the small DC motor I24 is fixedly connected with three motor bolt holes on the small DC motor base 26 through three groups of bolts matched with hexagonal nylon columns, a flange shaft II 29 passes through the small DC motor base 26 to be matched and connected with an output shaft of the small DC motor I24 at the tail end, one end of a mechanical arm I30 is provided with four bolt holes to be fixedly connected with the four bolt holes on the flange shaft II 29, the front and back matching parts of the flange shaft II 29 and the small DC motor base 26 are inserted with a flange bearing 25 to ensure the free rotation of the flange shaft II 29, four groups of mounting holes are arranged on the small DC motor driver I27 and directly fixed on the small DC motor driver mounting base 28, and the bottom of the small DC motor driver mounting base 28 is provided with four bolt holes, the rotating arm I can rotate based on the rotating base part when the speed and the steering of the small direct current motor I24 are controlled by connecting the circuit main board 2 in the rotating body part with the input serial port of the small direct current motor driver I27 through two serial ports.
Further, the rotating arm II can be arranged to comprise a small direct current motor II 31, a flange shaft III 32, a base plate 33, a mechanical arm II 34, a pneumatic clamping hand 35, a small direct current motor driver II 36 and an electromagnetic valve 37; wherein the other end of the mechanical arm I30 is provided with 3 groups of small direct current motor holes, the small direct current motor II 31 is fixed by 3 groups of bolts matched with a hexagonal nylon column, the other end of the mechanical arm I30 is also provided with four groups of bolt holes which are fixedly connected with a backing plate 33 by four groups of bolts, two ends inside the backing plate 33 are respectively penetrated with a group of flange bearings 25, a D-shaped groove is formed inside a flange shaft III 32, the flange shaft III 32 is penetrated through two groups of flange bearings 25 and is directly and fixedly connected with an output shaft of the small direct current motor II 31, one end of the mechanical arm II 34 is provided with four groups of bolt holes corresponding to the flange shaft III 32 and is fixedly arranged by four groups of bolts, the other end of the mechanical arm II 34 is provided with four groups of bolt holes corresponding to a pneumatic clamping hand 35, an electromagnetic valve 37 is directly fixed on a vacuum cavity 15 in a vacuum adsorption part by magic tapes, a small direct current motor driver II 36 is provided, the corresponding positive and negative poles of the small direct current motor II 31 are directly connected with the output port of the small direct current motor driver II 36, the positive and negative poles of the small direct current motor driver II 36 are directly connected with the positive and negative poles of the battery 5, the circuit main board 2 in the rotator part is connected with two groups of input ports of the small direct current motor driver II 36 through two groups of output serial ports for driving the small direct current motor II 31 to control the speed and the steering, the rotating arm II can rotate around the rotating arm I, the pneumatic gripper 35 is provided with an electromagnetic valve 37, an air inlet and an air outlet of the pneumatic gripper 35 are connected with an air inlet and an air outlet corresponding to the upper part of the electromagnetic valve 37 through air pipes, a total air suction port of the electromagnetic valve 37 is connected with an air suction port of the micro vacuum pump 14 through air pipes, and two serial ports on the electromagnetic valve 37 are connected and controlled through two serial ports on the circuit main board 2 in the rotator part, the micro vacuum pump 14 pumps air into the pneumatic gripper 35, and the circuit board 2 controls the gas channel switch of the electromagnetic valve 37 to control the gripping action of the pneumatic gripper 35.
Further, the adsorbing material i 16 may be made of teflon, and may be bonded to the outer edge of the opening end of the vacuum chamber 15 by glue/nanometer glue, etc.
Further, the adsorbing material ii 48 may be made of EPDM, and may be bonded to the adsorbing material fixing plate 49 by glue/nano glue.
The invention is used for climbing walls: the large belt wheel 7 is driven to move by driving force provided by the motor 3, the large belt wheel 7 is used as a driving wheel to drive the small belt wheel 8 and the linear bearing 12 to rotate together with the walking belt 6 (the linear bearing 12 is fixedly installed on the linear bearing seat 13 and can provide a supporting effect for the synchronous belt), a friction force contacting with the wall surface is generated in the moving process and is used as the driving force, meanwhile, the vacuum cavity 15 is tightly adsorbed to the wall, a friction force opposite to the moving process is generated in the moving process, and the robot overcomes the friction force generated by the tight contact between the vacuum cavity 15 and the wall by using the driving force of the synchronous belt 6 contacting with the wall to move, so that the wall climbing is realized; meanwhile, the two direct current motors 3 can be controlled to be at different speeds through the circuit main board 2, when one motor does not rotate and the other motor rotates, the turning of the motors can be realized through the differential speed of the two motors, and the robot can autonomously move on the wall to steer.
The invention is used for replacing the adsorption material to increase the robot load when the robot works: when the wall climbing robot needs to work, the robot moves to a proper position and stops moving, the electromagnet push-pull motor 40 is pushed out to drive the connecting plate I41 and the T-shaped workpieces 45 to move, so as to drive the sliding block II 43 to slide on the sliding rail II 44, the sliding block II 43 drives the connecting plate II 42 to move, so as to drive the group of arc plates 39 to rotate, the rotation of the arc plates 39 can cause the ring-shaped plate 38 to rotate, so as to drive the four groups of arc plates 39 to synchronously move, so that the push-pull movement of the electromagnet push-pull motor 40 is converted into the rotation of the four groups of arc plates 39 and the ring-shaped plate 38, the push-pull movement of the four groups of rotating body parts with included angles of 90 degrees is realized, the push-pull movement of the connecting plate III 46 is driven by the push-pull movement of the T-shaped workpieces 45 of the rotating body parts, and the connecting plate IV 47 is driven to rotate around the connecting plate III 46 by the pushing force of the connecting plate III 46, the other end of the connecting plate iv 47 is rotated to generate a downward pushing force to the adsorbing material ii fixing member 50, meanwhile, the adsorbing material II fixing member 50 moves downward along the guide groove, thereby realizing the downward movement of the adsorbing material, the other three groups of adsorbing materials II 48 are driven by the rotating body part, the four groups of adsorbing materials II 48 move downwards simultaneously until the adsorbing materials II are attached to the wall surface, at the moment, because the sealing property of the adsorbing material II 48 and the wall is better, the load of the wall-climbing robot is increased, and at the moment, the mechanical arm of the wall-climbing robot can perform tasks with high requirements on the load, when the mechanical arm finishes the operation without the adsorption material II 48, the four groups of adsorption materials II 48 are directly driven to move upwards by the retraction of the electromagnet push-pull motor 40 until the four groups of adsorption materials II 48 are separated from the wall surface, and the adsorption material replacement can be realized integrally.
While the present invention has been described in detail with reference to the embodiments shown in the drawings, the present invention is not limited to the embodiments, and various changes can be made without departing from the spirit of the present invention within the knowledge of those skilled in the art.
Claims (10)
1. A removable adsorption material mechanism which characterized in that: comprises a fixed plate (53), a rotating body part and a push-pull adsorption material part; the fixed plate (53) is used for mounting the rotating body part, and the pushing and pulling movement of the rotating body part drives the adsorbing materials in the pushing and pulling adsorbing material part to move up and down.
2. A replaceable adsorbent material mechanism as set forth in claim 1, wherein: the rotating body part drives the connecting plate I (41) to move by pushing and pulling the electromagnet push-pull motor (40), and further drives the T-shaped workpiece (45) connected with the connecting plate I (41) to move, so that the sliding block II (43) is driven to slide on the sliding rail II (44), the sliding block II (43) drives the connecting plate II (42) to move, so that a group of arc plates (39) are driven to rotate, the rotation of the arc plates (39) can cause the rotation of the annular plate (38), so that all the arc plates (39) are driven to synchronously move, the push-pull movement of the electromagnet push-pull motor (40) is converted into the rotation of the arc plates (39) and the annular plate (38), and the T-shaped workpiece (45) is driven to push and pull by the rotation of the arc plates (39);
the push-pull adsorbing material part drives the connecting plate III (46) to move in a push-pull mode through the push-pull movement of the T-shaped workpiece (45), meanwhile, the connecting plate IV (47) receives a pushing force of the connecting plate III (46) and rotates around the connecting plate III (46), the other end of the connecting plate IV (47) gives an upward/downward pushing force to the adsorbing material II fixing piece (50) through rotation, meanwhile, the adsorbing material II fixing piece (50) moves upward/downward along the guide groove in the guide groove workpiece (51), and therefore the upward/downward movement of the adsorbing material II (48) on the adsorbing material fixing plate (49) is achieved.
3. A replaceable adsorbent material mechanism as set forth in claim 1, wherein: the rotating body part comprises a circuit main board (2), a stepping motor driver (23), an annular plate (38), an arc plate (39), an electromagnet push-pull motor (40), a connecting plate I (41), a connecting plate II (42), a sliding block II (43), a sliding rail II (44), a T-shaped workpiece (45) and a fixing plate (53); wherein, the fixed plate (53) is fixedly connected with the bottom of the bottom plate (1), the electromagnet push-pull motor (40) is fixedly connected with the fixed plate (53), the annular plate (38) is in pin connection with one end of a plurality of groups of uniformly distributed arc-shaped plates (39), the other ends of the plurality of groups of arc-shaped plates (39) are in pin connection with the corresponding connecting plate II (42), each group of sliding rails II (44) is fixedly connected with the fixed plate (53), the sliding block II (43) is arranged on the sliding rail II (44) and can move along the sliding rail II (44), the sliding block II (43) is fixedly connected with the connecting plate II (42) and the T-shaped workpiece (45) arranged thereon, one end of one group of T-shaped workpieces (45) facing the annular plate (38) is in pin connection with one end of the connecting plate I (41), the other end of the connecting plate I (41) connected with the T-shaped workpiece (45) is in pin connection with a push-pull rod of the electromagnet push-pull motor (40), the positive and negative poles corresponding to the electromagnet push-pull motor (40) are directly connected with a group of output serial ports of the stepping motor driver (23), and the circuit main board (2) is connected with two groups of input serial ports of the stepping motor driver (23) through two groups of serial ports.
4. A replaceable adsorbent material mechanism as set forth in claim 1, wherein: the push-pull adsorption material part comprises a connecting plate III (46), a connecting plate IV (47), an adsorption material II (48), an adsorption material fixing plate (49), an adsorption material II fixing piece (50) and a guide groove machining piece (51); one end of a connecting plate III (46) is fixedly connected with one end of a middle circular plate (38) of a T-shaped workpiece (45) far away from a rotating body, one end of a connecting plate IV (47) is in pin connection with the other end of the connecting plate III (46), an adsorbing material II (48) is bonded on the bottom surface of an adsorbing material fixing plate (49), the top surface of the adsorbing material fixing plate (49) is fixedly connected with one end of an adsorbing material II fixing piece (50), the adsorbing material II fixing piece (50) is in pin connection with the connecting plate IV (47), the other end of the adsorbing material II fixing piece (50) penetrates through a bolt hole in the adsorbing material II and a guide groove of a guide groove workpiece (51) through a bolt, the guide groove workpiece (51) is connected with the adsorbing material II fixing piece (50), and the top side end of the guide groove workpiece (51) is directly and fixedly connected with a vacuum cavity (15) in a vacuum adsorbing portion.
5. A wall climbing robot, its characterized in that: comprising the replaceable adsorbent material mechanism of any one of claims 1-4, further comprising a chassis movement mechanism, a robotic arm mechanism;
the chassis moving mechanism comprises a bottom plate (1), a battery (5), a moving part and a vacuum adsorption part; the bottom plate (1) is used for mounting a moving part and a vacuum adsorption part, the battery (5) is used for providing a power supply, the moving part is used for providing driving force for moving back and forth, and the vacuum adsorption part is used for adsorbing a wall surface;
the mechanical arm mechanism comprises a rotary base part, a rotating arm I, a mechanical arm I (30) and a rotating arm II; the rotary base part is used for installing a rotating arm I, the rotating arm I is connected with a rotating arm II through a mechanical arm I (30), and operation is performed through an execution component at the tail end of the rotating arm II.
6. The wall-climbing robot of claim 5, wherein: the moving part comprises two groups of direct current motors (3), a direct current motor driver (4), a synchronous belt (6), a large belt wheel (7), a small belt wheel (8), a small belt wheel mounting seat (9), a sliding block I (10), a sliding rail I (11), a direct current motor driver fixing plate (52), a large belt wheel mounting seat (54) and a supporting device; fixing a circuit main board (2), two direct current motors (3) and two sliding rails I (11) in a rotating body part on a bottom board (1), fixedly installing two direct current motor drivers (4) on a direct current motor driver fixing plate (52), fixedly installing the direct current motor driver fixing plate (52) on the circuit main board (2), directly connecting the positive and negative poles corresponding to the circuit main board (2) and the two groups of motor drivers (4) with the positive and negative poles of a battery (5), connecting the positive and negative poles of the two groups of direct current motors (3) with output serial ports corresponding to the two groups of motor drivers (4), and connecting the circuit main board (2) with four groups of input serial ports corresponding to the two groups of motor drivers (4) through four serial ports; big band pulley mount pad (54) are fixed with bottom plate (1) upper portion installation, big band pulley (7) carry out pin junction with big band pulley mount pad (54), big band pulley (7) carry out the key-type connection with the output shaft of direct current motor (3) simultaneously, slider I (10) are installed and can be followed I (11) movements of slide rail on slide rail I (11), slider I (10) and install little band pulley mount pad (9) fixed connection above that, pin junction is carried out with little band pulley mount pad (9) in little band pulley (8), overlap hold-in range (6) on big band pulley (7), little band pulley (8), the strutting arrangement of bottom plate (1) lower part.
7. The wall-climbing robot of claim 5, wherein: the vacuum adsorption part mainly comprises a micro vacuum pump (14), a vacuum cavity (15), an adsorption material I (16) and a spring assembly; the spring assembly is installed between the bottom plate (1) and the inner side of a top plate of the vacuum cavity (15), the bottom of the spring assembly is fixedly installed on the bottom plate (1), the vacuum cavity (15) is of a cavity structure with an opening at the bottom, the inner side of the top plate of the vacuum cavity (15) covered on the bottom plate (1) is fixedly installed with the top of the spring assembly, an adsorbing material I (16) is bonded with the opening end of the bottom of the vacuum cavity (15), the micro vacuum pump (14) is fixedly connected with the top of the vacuum cavity (15), the micro vacuum pump (14) is provided with an air inlet hole and an air outlet hole, the vacuum cavity (15) is provided with an air exhaust hole, the air exhaust hole of the vacuum cavity (15) is connected with the air inlet hole on the micro vacuum pump (14) through an air pipe, and the vacuum cavity (15) is pumped and conveyed through the micro vacuum pump (14).
8. The wall-climbing robot of claim 5, wherein: the rotary base part comprises a stepping motor (20), a flange shaft I (21) and a thrust ball bearing (22); the stepping motor (20) and the vacuum cavity (15) are fixedly installed, an output shaft is directly connected to one end of a flange shaft I (21) through the stepping motor (20), a thrust ball bearing (22) is sleeved on the flange shaft I (21), the flange shaft I (21) penetrates through a group of thrust ball bearings (22) and then penetrates through a top plate of the vacuum absorption part middle vacuum cavity (15), then penetrates through another group of thrust ball bearings (22), and finally is fixed through a locking nut, the positive and negative poles corresponding to the stepping motor (20) are directly connected with an output serial port of a stepping motor driver (23) in the rotator part, and the positive and negative poles of the stepping motor driver (23) are connected with a battery (5).
9. The wall-climbing robot of claim 5, wherein: the rotating arm I comprises a small direct current motor I (24), a flange bearing (25), a small direct current motor base (26), a small direct current motor driver I (27), a small direct current motor driver mounting base (28) and a flange shaft II (29); wherein, one side of a small direct current motor base (26) is fixedly connected with a flange shaft I (21) at the rotating bottom part, a small direct current motor I (24) is fixedly connected with the other side of the small direct current motor base (26), one side of the small direct current motor base (26) fixed with the flange shaft I (21) is mutually vertical to one side of the small direct current motor base (26) fixed with the small direct current motor I (24), a flange shaft II (29) penetrates through the small direct current motor base (26) to be matched and connected with an output shaft of the small direct current motor I (24) at the tail end, one end of a mechanical arm I (30) is fixedly connected with the flange shaft II (29), flange bearings (25) are inserted at the front and back matching parts of the flange shaft II (29) and the small direct current motor base (26), a small direct current motor driver I (27) is directly fixed on a small direct current motor driver mounting base (28), and the small direct current motor driver mounting base (28) is directly and fixedly connected with a bottom plate (1), the positive and negative poles corresponding to the small direct current motor I (24) are directly connected with the two output serial ports of the small direct current motor driver I (27), the positive and negative poles of the small direct current motor driver I (27) are directly connected with the positive and negative poles of the battery (5), and the circuit main board (2) in the rotator part is connected with the input serial port of the small direct current motor driver I (27) through the two serial ports.
10. The wall-climbing robot of claim 5, wherein: the rotating arm II comprises a small direct current motor II (31), a flange shaft III (32), a base plate (33), a mechanical arm II (34), a pneumatic clamping hand (35), a small direct current motor driver II (36) and an electromagnetic valve (37); wherein one side of the other end of the mechanical arm I (30) is fixed with a small direct current motor II (31), the other side of the other end of the mechanical arm I (30) is fixedly connected with a backing plate (33), two ends in the backing plate (33) are respectively penetrated with a group of flange bearings (25), a flange shaft III (32) penetrates through two groups of flange bearings (25) and is directly and fixedly connected with an output shaft of the small direct current motor II (31), one end of the mechanical arm II (34) is fixedly installed with the flange shaft III (32), the other end of the mechanical arm II (34) is fixed with a pneumatic gripper (35), an electromagnetic valve (37) is fixed on a vacuum cavity (15) in a vacuum adsorption part, the small direct current motor driver II (36) is fixedly connected with a small direct current motor driver mounting seat (28) in the rotating arm I, and the corresponding positive and negative poles of the small direct current motor II (31) are directly connected with an output port of the small direct current motor driver II (36), the positive and negative poles of the small direct current motor driver II (36) are directly connected with the positive and negative poles of the battery (5), the circuit main board (2) in the rotator part is connected with two groups of input ports of the small direct current motor driver II (36) through two groups of output serial ports, the pneumatic gripper (35) is provided with an electromagnetic valve (37), an air inlet and an air outlet of the pneumatic gripper (35) are connected with an air inlet and an air outlet which correspond to the upper surface of the electromagnetic valve (37) through an air pipe, a main air suction port of the electromagnetic valve (37) is connected with an air suction port of the micro vacuum pump (14) through the air pipe, and meanwhile, two serial ports on the electromagnetic valve (37) are connected and controlled through two serial ports on the circuit main board (2) in the rotator part.
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| CN202110762697.6A CN113320614B (en) | 2021-07-06 | 2021-07-06 | Adsorption material replaceable mechanism and wall-climbing robot constructed by same |
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| CN113320614B (en) | 2022-11-25 |
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