CN113492931A - Foot type wall-climbing robot - Google Patents
Foot type wall-climbing robot Download PDFInfo
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- CN113492931A CN113492931A CN202010200042.5A CN202010200042A CN113492931A CN 113492931 A CN113492931 A CN 113492931A CN 202010200042 A CN202010200042 A CN 202010200042A CN 113492931 A CN113492931 A CN 113492931A
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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
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Abstract
The application discloses a foot type wall-climbing robot, which comprises a body and a plurality of mechanical legs; the mechanical leg comprises an active posture adjusting part, a passive posture adjusting part and a fixed connecting part, wherein the active posture adjusting part is provided with a connecting end and a free end, the connecting end is connected with the body, and the free end is connected with the fixed connecting part through the passive posture adjusting part; the passive posture adjusting piece can passively change the structure of the passive posture adjusting piece under the action force of the fixing piece and the walking surface so as to adjust the posture of the fixing piece to be attached and fixed with the walking surface; the trunk includes an abdomen side, a back side, and a gas control unit, the abdomen side facing the walking surface and the back side facing away from the walking surface when the foot-type climbing robot walks, the gas control unit controlling the flow of ambient gas to generate a biasing force capable of bringing the abdomen side closer to the walking surface. The foot type wall climbing robot provided by the embodiment can not cause instability of self posture when walking, and the control difficulty is reduced.
Description
Technical Field
The application relates to the technical field of robots, in particular to a foot type wall-climbing robot.
Background
Wall-climbing robots have gained relatively widespread use as window-cleaning robots. The foot type wall climbing robot can control a plurality of mechanical legs of the robot to move alternately when walking to form a moving mode similar to that of a multi-legged organism to drive a body to move forward, so that obstacles can be easily crossed, and the foot type wall climbing robot is widely used.
In the related art, a foot type wall-climbing robot may be provided with a fixing member such as a suction cup at the end of a leg, which can be easily fixed and separated from a walking surface. These fastening members place high demands on their posture in order to be secured to the walking surface. Taking the suction cup as an example, if the opening of the suction cup has a large inclination angle with the walking surface, the periphery of the opening cannot be completely attached to the walking surface, and once a gap is formed between the opening and the walking surface, the suction and fixation are difficult to achieve. And the mechanical leg needs to carry out multi-dimensional composite attitude adjustment when moving, and the control accuracy is difficult to guarantee to lead to the link member to accomplish the fixed connection process with walking surface very difficultly, seriously influence the walking speed of robot.
In order to reduce the precision requirement on the posture of the mechanical leg, some foot type wall-climbing robots are provided with passive posture adjusting pieces on the mechanical leg, and the passive posture adjusting pieces can passively change the structures of the passive posture adjusting pieces by utilizing the acting force of the fixing pieces and the walking surface so that the fixing pieces can be smoothly attached and fixed with the walking surface.
However, when walking, because the posture of each mechanical leg and the position and orientation of the fastening piece on the mechanical leg from the body can be different, the whole body of the body can incline to a certain degree relative to the walking surface, especially when the foot type wall climbing robot walks by adopting diagonal lines, when the two mechanical legs are in the lifting process, the foot type wall climbing robot is fixed with the walking surface only by the fastening pieces on the two remaining mechanical legs, and the passive posture adjusting pieces connected by the two fastening pieces can form the effect similar to hinges, so that the whole robot rotates by taking the connecting line of the two passive posture adjusting pieces as the axis, the posture of the robot is unstable, and the control difficulty is increased.
Disclosure of Invention
The embodiment of the application provides a foot type wall-climbing robot to solve the problems.
The embodiment of the application adopts the following technical scheme:
the embodiment of the application provides a foot type wall-climbing robot, which comprises a body and a plurality of mechanical legs;
the mechanical leg comprises an active posture adjusting piece, a passive posture adjusting piece and a fixing piece, wherein the active posture adjusting piece is provided with a connecting end and a free end, the connecting end is connected with the body, and the free end is connected with the fixing piece through the passive posture adjusting piece;
the active posture adjusting piece can change the position and the posture of the free end relative to the connecting end, and the passive posture adjusting piece can passively change the structure of the passive posture adjusting piece under the action force of the fixed connecting piece and the walking surface so as to adjust the posture of the fixed connecting piece to be attached and fixed with the walking surface;
the trunk includes a belly side facing a running surface and a back side facing away from the running surface when the foot-type wall-climbing robot is running, and a gas control unit for controlling a flow of ambient gas to generate a biasing force capable of bringing the belly side closer to the running surface.
Alternatively, in the foot-type wall climbing robot, the gas control unit is a negative pressure generating unit for generating a negative pressure region by evacuating gas between the abdominal side and the walking surface so as to generate a force capable of approaching the abdominal side to the walking surface.
Optionally, in the above-mentioned foot-type wall-climbing robot, the negative pressure generating assembly includes an air inlet, a negative pressure cavity, an air exhaust module and an air exhaust port, the air inlet is located on the abdomen side and is communicated with the negative pressure cavity, and the negative pressure cavity is communicated with the air exhaust port through the air exhaust module.
Optionally, in the foot-type wall-climbing robot, the body further includes a housing, the negative pressure generating assembly further includes a supporting base, the negative pressure cavity is disposed on the supporting base and protrudes from the housing from the abdomen side, and the air inlet is disposed on the supporting base.
Optionally, in the above foot-type wall-climbing robot, the negative pressure generating assembly penetrates through the housing, and the air outlet is located on the back side.
Optionally, in the foot-type wall-climbing robot, the negative pressure generating assembly further comprises an auxiliary sealing member, which covers an edge of the air inlet and is used for assisting in sealing a gap between the air inlet and the walking surface.
Optionally, in the foot-type wall-climbing robot, the auxiliary sealing member is a cleaning fabric, and the cleaning fabric covers the air inlet.
Optionally, in the above foot-type wall-climbing robot, a flange is disposed at an edge of the air inlet, and the cleaning fabric is sleeved and fixed on the flange.
Alternatively, in the foot-type wall climbing robot described above, the gas control unit may be a gas blowing unit configured to discharge gas in a direction toward the back side and generate a force capable of approaching the belly side toward the walking surface.
Optionally, in the foot-type wall climbing robot, the gas blowing component is a fan.
Optionally, in the foot-type wall-climbing robot, the passive posture adjustment part includes a first connection part, a second connection part, and a ball rod;
the first connecting part is fixedly connected with the ball head rod, the second connecting part is provided with a spherical groove, and the spherical groove is clamped with the ball head rod and can do spherical surface relative motion with the ball head rod;
one of the first connecting part and the second connecting part is fixedly connected with the free end, and the other one is fixedly connected with the fixed connecting piece;
the spherical groove passively makes spherical relative motion with the ball head rod under the action force of the fixing member and the walking surface and changes the relative posture of the first connecting part and the second connecting part.
Optionally, in the foot-type wall-climbing robot, the passive posture adjustment element further includes a reset elastic element;
the reset elastic piece is arranged around the ball head rod and is simultaneously connected with the first connecting part and the second connecting part;
the reset elastic piece can elastically deform when the relative posture of the first connecting part and the second connecting part changes under the action force of the fixed connecting piece and the walking surface;
the reset elastic piece can also release elasticity to reset the first connecting part and the second connecting part to a stress balance posture after the acting force of the fixed connecting piece and the walking surface disappears.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
the foot type wall climbing robot disclosed by the embodiment of the application can enable the abdomen side of the body to be tightly attached to the walking surface by generating acting force through the gas control assembly by arranging the gas control assembly on the body, so that the robot cannot cause instability of self posture when walking, and the control difficulty is reduced.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a perspective view of a back side of a foot-type wall-climbing robot with a negative pressure generating assembly according to an embodiment of the present application;
fig. 2 is a perspective view of a ventral side of a foot-type wall-climbing robot with a negative pressure generating assembly according to an embodiment of the present application;
fig. 3 is an exploded view of a foot-type wall-climbing robot with a negative pressure generating assembly according to an embodiment of the present application;
FIG. 4 is a partial cross-sectional view of an assembled structure of the sub-atmospheric chamber, the evacuation module, the support base, the communication chamber, and the auxiliary closure member disclosed in an embodiment of the present application;
fig. 5 is a perspective view of a back side of a foot type wall climbing robot having a gas blowing assembly according to an embodiment of the present application;
fig. 6 is a cross-sectional structural view of a passive attitude adjustment member disclosed in an embodiment of the present application.
Description of reference numerals:
1-body, 1 a-abdomen side, 1 b-back side, 10-shell, 100-body, 102-upper cover, 12 a-negative pressure generating component, 120-air inlet, 120 a-flanging, 121-negative pressure cavity, 122-air extracting module, 123-air outlet, 124-supporting base, 125-air outlet channel, 126-communicating chamber, 127-auxiliary closing piece/cleaning fabric, 12 b-air blowing component, 14-cleaning module;
2-mechanical leg, 20-active posture adjusting piece, 20 a-connecting end, 20 b-free end, 200-section, 201-rotating joint, 21-passive posture adjusting piece, 210-first connecting part, 210 a-first limit flange, 211-second connecting part, 211 a-second limit flange, 2110-base, 2111-cover plate, 212-ball rod, 212 a-ball shaft, 212 b-rod body, 213-spherical groove, 231 a-first spherical surface, 213 b-second spherical surface, 214-reset elastic piece, 22-fastening piece/sucker and 220-opening part.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
The embodiment of the application discloses a foot type wall-climbing robot, as shown in fig. 1, 2, 3 and 5, comprising a body 1 and a plurality of mechanical legs 2. The body 1 is the core of the foot type wall-climbing robot, the body 1 usually has a closed housing 10, and important structures (not shown in the figures) such as a control center, a power supply module and a command receiving module of the robot are all arranged in the housing 10. The robot leg 2 is a traveling mechanism of the robot, and the robot controls the posture of the robot leg 2 to move the trunk 1 and the robot.
The mechanical leg 2 in this embodiment includes an active attitude adjustment member 20, a passive attitude adjustment member 21, and a fastening member 22. Wherein the active posture adjustment member 20 is the main structure of the robotic leg 2, which is generally in the form of a limb, and has a connected end 20a and a free end 20 b. The connecting end 20a is used for connection with the trunk 1, and the entire active posture adjustment member 20 can change the position and posture of the free end 20b with respect to the connecting end 20 a.
Specifically, the active posture adjustment member 20 may be divided into a plurality of segments 200 in the extending direction, two adjacent segments are connected by a rotational joint 201, and the two segments 200 at both ends have a connection end 20a and a free end 20b, respectively. Thus, the active posture adjustment member 20 can change the angle between two adjacent segments 200 by rotating the joint 201, and finally change the position and posture (angle or orientation) of the free end 20 b. The connecting end 20a and the body 1 may be fixedly connected or may also be connected by using a rotating joint 201, and these rotating joints 201 may be parallel to each other, or may also be partially parallel or non-parallel to each other, so that the free end 20b obtains a multi-dimensional position and posture adjustment capability.
The fastening member 22 in this embodiment is used for being attached to and fixed with the walking surface, so that the robot can walk and climb along the walking surface. Different fastening members 22 may be used for different walking surfaces. For example, when the walking surface is a smooth and flat glass or plastic surface, the fastening member 22 may be a suction cup that is attached to the walking surface by vacuum suction. When the walking surface is a magnetic metal surface such as iron sheet, the fixing member 22 may be a magnetic adsorbing member or the like, which is attached and fixed to the walking surface by magnetic force, and for other types of walking surfaces, the fixing member 22 may also be of other corresponding types or structures.
Regardless of the type or configuration of fastening member 22, it is generally required to be substantially perpendicular to the walking surface. Taking the suction cup as an example, if the opening portion 220 of the suction cup 22 (for easy understanding, the following reference numeral of the fastening member is used) has a larger inclination angle with the walking surface, the periphery of the opening portion 220 cannot be completely attached to the walking surface, so that a gap is always formed between the opening portion and the walking surface, and the gap is formed to communicate the space inside and outside the suction cup 22, so that negative pressure cannot be realized, and thus, adsorption and fixation are difficult to realize.
In this embodiment, the fastening member 22 is connected to the free end 20b via the passive attitude adjusting member 21. Passive posture adjustment piece 21 can change self structure passively under the effort of linking firmly 22 and walking surface to the adjustment links firmly the relative gesture between 22 and the free end 20b, and the effort that links firmly 22 and walking surface can make and link firmly 22 and the fixed gesture of walking surface reaching the laminating, therefore under the unchangeable prerequisite of free end 20 b's gesture, the gesture that links firmly 22 can be adjusted by oneself to fixed with the laminating of walking surface, thereby simplify and link firmly 22 and the fixed degree of difficulty on walking surface, improve walking efficiency.
In the present embodiment, the foot type wall-climbing robot generally adopts a structure simulating a living body, and the number of the mechanical legs 2 is generally an even number and is symmetrically arranged. Meanwhile, the trunk 1 includes a abdomen side 1a and a back side 1b, and when the foot-type wall climbing robot travels, the abdomen side 1a faces the travel surface and the back side 1b faces away from the travel surface.
When walking, because the posture of each mechanical leg 2 and the position, orientation, etc. of the fastening piece 22 from the body 1 may be different, so that the whole body of the body 1 may incline to a certain extent relative to the walking surface, especially when the foot-type wall-climbing robot has four mechanical legs 2 and adopts diagonal walking, when two mechanical legs 2 are in the lifting process, if the abdomen side 1a of the body 1 of the foot-type wall-climbing robot is not in contact with the walking surface at this time, the foot-type wall-climbing robot will only rely on the fastening pieces 22 on the remaining two mechanical legs 2 to be fixed with the walking surface. At this time, the passive posture adjusting members 21 connected by the two fixing members 22 can form a hinge-like effect, so that the robot integrally rotates by taking the connecting line of the two passive posture adjusting members 21 as an axis, the posture of the robot is unstable, and the control difficulty is increased.
To improve this problem, the body 1 of the present embodiment further includes a gas control unit. The gas control assembly may generate a force capable of approaching the abdominal side 1a towards the walking surface by controlling the ambient gas flow. Under this effort, no matter when stopping or when walking, the surface of walking can be hugged closely all the time to belly side 1a to avoid only having the circumstances of linking firmly 22 on two mechanical legs 2 and walking surface fixation to take place, thereby effectively prevent that sufficient wall climbing robot from using the connecting wire of two passive gesture adjusting parts 21 to rotate as the axle, improved overall stability, reduced the control degree of difficulty.
In the present embodiment, there are many types of gas control modules, and the control method of the ambient gas flow is also various.
As shown in fig. 1-4, in one embodiment, the gas control assembly may be a negative pressure generating assembly 12a, and the negative pressure generating assembly 12a may draw gas away between the abdominal side 1a and the walking surface such that the abdominal side 1a and the abdominal side 1a together form a negative pressure region. Due to the negative pressure region, the external atmospheric pressure generates a biasing force to the trunk 1 so as to bring the abdomen side 1a close to the walking surface, and the abdomen side 1a can be brought into close contact with the walking surface.
Specifically, the negative pressure generating assembly 12a may include an air inlet port 120, a negative pressure cavity 121, an air suction module 122, and an air outlet port 123, the air inlet port 120 being located on the abdominal side 1a and communicating with the negative pressure cavity 121, and the negative pressure cavity 121 and the air outlet port 123 communicating through the air suction module 122.
In the initial state, the air inlet 120 is attached to the walking surface, and the walking surface covers the air inlet 120, so that the negative pressure cavity 121 forms a relatively closed space. When the air suction module 122 operates, the gas in the negative pressure cavity 121 is sucked and exhausted through the exhaust port 123, so that the negative pressure cavity 121 forms a negative pressure environment. By using the pressure difference, the external air pressure will press the body 1, so that the whole body 1 obtains an acting force approaching to the walking surface, and the air inlet 120 and the whole body 1 can be continuously and closely attached to the walking surface.
Since the inner space of the housing 10 is limited, in order to form a large negative pressure environment, the negative pressure generating assembly 12a of the present embodiment may include a supporting base 124 therein, and the negative pressure chamber 121 is disposed on the supporting base 124. In order to increase the volume of the negative pressure chamber 121, the negative pressure chamber 121 in the present embodiment protrudes from the housing 10 from the abdomen side 1a, and the air inlet 120 is provided on the support base 124.
Structurally, the negative pressure generating assembly 12a may penetrate the casing 10 such that the air inlet 120 and the air outlet 122 are located on the abdominal side 1a and the back side 1b of the trunk 1, respectively. For example, the casing 10 of the trunk 1 may be opened with an opening penetrating the abdomen side 1a and the back side 1b, and the one-stage exhaust duct 125 may be extended from the back side 1b into the casing 10, and the one end remaining on the back side 1b may be the exhaust port 123. Meanwhile, a communication chamber 126 communicating with the negative pressure chamber 121 is provided on the supporting base 124, the suction module 122 (for example, a fan) is directly provided in the communication chamber 126, and finally the communication chamber 126 communicates with the exhaust passage 125 inside the casing 10. Of course, the negative pressure generating assembly 12a in this embodiment may also be disposed in other feasible penetrating structures, and will not be described in detail herein.
According to the structure, on one hand, a negative pressure environment can be formed between the abdomen side 1a and the walking surface to enable the body 1 to obtain acting force close to the walking surface, on the other hand, the body 1 can obtain acting force close to the walking surface by utilizing the reaction force generated in the process of exhausting gas, and the two acting forces can be superposed to enable the body 1 to be attached to the walking surface more closely. Moreover, the structure can also enable the structure of the foot type wall climbing robot to be more integrated. For convenience of assembly, in the present embodiment, the housing 10 may be divided into two parts, namely, a main body 100 and an upper cover 102, the main body 100 encloses an assembly space, and the upper cover 102 may be separated from the main body 100 by the back side 1b and close or open an opening of the assembly space, so as to install the components such as the negative pressure generating assembly 12a, the control center, the power supply module, and the command receiving module into the housing 10.
If the sub-atmospheric chamber 121 is to be made sub-atmospheric, it is desirable that the inlet port 120 and the walking surface be relatively sealed, at least to some extent, against the ingress of air. Generally, spraying some liquid on the walking surface can close the gap between the air inlet 120 and the walking surface by using the liquid sealing performance of the liquid. However, since the robot needs to move in different areas during operation, the sealing method needs to keep the areas wet, which is difficult to satisfy.
To this end, the negative pressure generating assembly 12a provided by the present embodiment may further include an auxiliary closing member 127, and the auxiliary closing member 127 covers an edge of the air inlet 120 and serves to auxiliary-close a gap between the air inlet 120 and the walking surface.
The auxiliary closure member 127 can be of various types. For example, the auxiliary sealing member 127 may keep the edges of the air inlet 120 wet at all times by secreting liquid (e.g., water, washing liquid) at all times, etc., thereby maintaining the liquid sealing capability of the air inlet 120 with the walking surface.
Still alternatively, the secondary closure member 127 may cover the air inlet 120 with a towel or other cleaning fabric having certain air barrier properties. The cleaning cloth is a structure which is generally necessary for the foot type wall climbing robot to work, so that the number of components of the foot type wall climbing robot is not increased by adopting the cleaning cloth 127 (for the convenience of understanding, the reference numeral of the auxiliary sealing part is used below) as the auxiliary sealing part 127. The cleaning fabric 127 can block the air from flowing through the inside of the negative pressure chamber 121 to a certain extent while being breathable, and the cleaning fabric can effectively prevent the air from entering the negative pressure chamber 121 from the edge of the air inlet 120 after covering the air inlet 120. Also, the cleaning cloth is usually wetted during use, which further improves the sealing effect.
In order to fix the cleaning cloth 127, a flange 120a may be provided at the edge of the air inlet 120, and the cleaning cloth 127 may be fixed on the flange 120a in a pocket shape. Of course, the cleaning cloth 127 in the present embodiment may be fixed in other manners as long as the technical effect thereof can be achieved.
In this embodiment, the negative pressure chamber 121 may be flat, which not only has a larger volume space, but also enables the air inlet 120 and the cleaning fabric 127 to have a larger area, thereby facilitating the improvement of the cleaning efficiency of the foot-type wall-climbing robot.
As shown in fig. 5, in another embodiment, the gas control means may be a gas blowing means 12b, and the gas blowing means 12b may be configured to discharge the gas in a direction toward the back side 1b, and generate a force capable of approaching the abdomen side 1a toward the walking surface by a reaction force of the gas.
In this embodiment, the gas blowing assembly 12b may be a fan, which may be disposed to protrude outside the back side 1b, or may be disposed at a side portion of the housing 10. The fan can blow air in front (in the direction of the abdomen side 1 a) to the rear (in the direction of the back side 1 b), and when the air flows backward, the air simultaneously generates a forward force on the fan and the whole body 1, so that the whole abdomen side 1a of the body 1 approaches to and adheres to the walking surface.
In this embodiment, the body 1 may be provided with a cleaning module 14 separately, the cleaning module 14 may comprise a cleaning cloth or other cleaning member.
In this embodiment, the passive posture adjusting member 21 of the foot-type wall-climbing robot has various structures and kinds, for example, the passive posture adjusting member 21 may adopt an elastic member (e.g., a spring, an elastic rod, etc.) which can elastically deform to a certain extent by itself as the passive posture adjusting member 21, and the acting force of the fastening member 22 and the walking surface can elastically deform the elastic member, thereby adjusting the relative posture between the fastening member 22 and the free end 20 b. Or the passive posture adjusting member 21 may also adopt a plurality of connecting portions connected by a movable connecting structure such as a rotating shaft which can be mechanically moved but cannot be completely separated, and these connecting portions are connected by the mechanically movable connecting structure, so that the relative posture between the connecting portions can be changed by the movable connecting structure under the acting force of the fixing member 22 and the walking surface, and the purpose of passively adjusting the posture of the fixing member 22 can also be achieved.
As shown in fig. 6, the passive posture adjustment member 21 in the present embodiment includes a first connection portion 210, a second connection portion 211, and a ball bar 212. The first connecting portion 210 is fixedly connected with the ball stud 212, the second connecting portion 211 has a spherical groove 213, and the spherical groove 213 is engaged with the ball stud 212 and can move relative to the ball stud 212 in a spherical manner. When the first connecting portion 210 or the second connecting portion 211 is fixedly connected to the free end 20b, and the other one is fixedly connected to the fixing member 22, when the fixing member 22 and the walking surface generate an interaction force, a torque is generated between the second connecting portion 211 and the first connecting portion 210, and the torque is converted into a tangential force relative to the center of the ball stud 212 through the spherical connection between the spherical groove 213 and the ball stud 212, so that the spherical groove 213 and the ball stud 212 perform a spherical relative motion. The spherical groove 213 and the ball rod 212 can change the relative posture of the first connecting portion 210 and the second connecting portion 211 while performing spherical relative movement, thereby changing the relative posture of the fastening member 22 and the free end 20 b.
The ball shaft 212 generally has a ball shaft 212a, and in order to obtain a larger rotation range, the ball shaft 212a generally needs to be far away from the first connection portion 210, for example, a shaft 212b may be used to connect the first connection portion 210 and the ball shaft 212a, one end of the shaft 212b is used to connect the first connection portion 210, and the other end is connected to the ball shaft 212a, so as to place the ball shaft 212a far away from the first connection portion 210. However, since the ball axis 212a is located farther from the first connection portion 210, the tangential component of the force applied to the first connection portion 210 at different locations is small relative to the center of the ball axis 212 a. Since the spherical groove 213 is disposed on the second connecting portion 211, the center of the sphere is located inside the second connecting portion 211, and the acting force applied to different positions of the second connecting portion 211 can generate a more obvious tangential component with respect to the center of the sphere, so that the spherical groove 213 can more easily rotate relative to the ball head shaft 212a along the spherical surface. Therefore, in order to improve the flexibility of the passive posture adjustment member 21 in the present embodiment, it is recommended that the first connection portion 210 is fixedly connected to the free end 20b, and the second connection portion 211 is fixedly connected to the fastening member 22.
Typically, the fastening member 22 (e.g., suction cup) will be provided as a solid of revolution having an axis, and the spherical groove 213 will also typically be a spherical surface of revolution having an axis, which may be arranged coaxially when the structure is designed. Thus, the area of the fastening member 22 in abutting contact with the walking surface (e.g., the opening 220) is substantially the same distance from the center of the ball, and thus has substantially the same moment arm regardless of which portion of the opening 220 interacts with the walking surface, thereby ensuring that sufficient torque is generated to cause the ball grooves 213 and the ball shafts 212 to rotate relative to each other.
The passive posture adjustment member 21 provided in the above embodiment can make the fastening member 22 and the free end 20b passively and spontaneously adjust the posture to adapt to the fixed connection with the walking surface. However, since the foot-type wall-climbing robot needs to climb along the walking surface, the first connecting portion 210 and the second connecting portion 211 are generally arranged in a horizontal direction during use. Although it is difficult to directly adjust the posture of the fastening member 22 by means of the active posture adjustment member 20, the deviation is not large, but the passive posture adjustment member 21 can rotate due to its own structure, so that the first connection portion 210 and the second connection portion 211 can naturally rotate under the action of gravity and the fastening member 22 faces obliquely downward rather than the walking surface. This results in a maximum angle of inclination between the fastening member 22 and the walking surface each time, which is detrimental to the attitude adjustment of the fastening member 22.
To alleviate this, as shown in fig. 6, a return elastic member 214 may be additionally provided in the passive posture adjustment member 21, and the return elastic member 214 may be provided around the ball bar 212 and connected to the first connection portion 210 and the second connection portion 211 at the same time. The elastic restoring member 214 can be elastically deformed when the relative posture of the first connecting portion 210 and the second connecting portion 211 changes under the action force of the fixing member 22 and the walking surface, and releases the elastic force to restore the first connecting portion 210 and the second connecting portion 211 to the stress balance posture after the action force of the fixing member 22 and the walking surface disappears. The relative posture of the first connecting part 210 and the second connecting part 211 when the reset elastic part 214 is in a stress balance state is adjusted, so that the reset position of the fixedly connecting part 22 can be adjusted, and the reset position can be returned after the fixedly connecting part 22 leaves a walking surface, so that the amplitude of passive posture adjustment at each time can be reduced, and the adjustment difficulty is simplified.
The elastic restoring member 214 may be formed by a plurality of portions (e.g., a plurality of springs or elastic pieces) surrounding the ball rod 212, or may be formed by a single restoring spring sleeved on the periphery of the ball rod 212, and two ends of the elastic restoring member 214 are connected to the first connecting portion 210 and the second connecting portion 211 at the same time so as to be deformed by posture adjustment of the two portions.
The elastic restoring element 214 can be fixedly connected to the first connecting portion 210 and the second connecting portion 211 at the same time, or can be abutted to one of the first connecting portion 210 and the second connecting portion 211 (i.e., the elastic restoring element is connected by the pressing force, and the pressing force can be separated after being released) and fixedly connected to the other of the first connecting portion 210 and the second connecting portion 211, or can be abutted to the first connecting portion and the second connecting portion at the same time, and the specific connection mode can be determined according to the deformation state of the elastic restoring element 214 itself, so that the elastic restoring element can be ensured not to be disengaged from the first connecting portion 210 and the second connecting portion 211. The return spring is preferably connected to the first connection portion 210 and the second connection portion 211 at the same time, so that the assembly process is simplified.
As shown in fig. 6, in order to limit the position of the return spring 214 (for convenience of description, reference numerals of the return elastic member are used hereinafter), a first limit flange 210a surrounding the ball rod 212 may be provided at a side of the first connection portion 210 facing the second connection portion 211, while a second limit flange 211a surrounding the ball groove 213 may be provided at a side of the second connection portion 211 facing the first connection portion 210. Both ends of the return spring 214 respectively extend into the areas surrounded by the first and second position-limiting flanges 210a and 211a, and are thus confined between the first and second connection portions 210 and 211. The first position-limiting flange 210a and the second position-limiting flange 211a may be complete ring structures, or may be formed by several independent structures distributed annularly.
To facilitate the assembly of the ball stud 212 with the spherical groove 213, the second connecting portion 211 may be configured to include a base 2110 and a cover 2111 that are detachably connected, and the fastening member 22 is connected to the base 2110. The first spherical surface 213a is provided on the base 2110, and the second spherical surface 213b is provided on the cover plate 2111, and the first spherical surface 213a and the second spherical surface 213b jointly form the spherical groove 213. The first spherical surface 213a has an opening (not numbered), and the ball stud 212a can extend into and separate from the first spherical surface 213a through the opening, i.e., the base 2110 can be separated from the ball stud 212 as a whole. The second spherical surface 213b is engaged with the ball shaft 212a and cannot be separated from the ball shaft 212a from a side away from the rod 212b, so that the second connecting portion 211 cannot be separated from the ball shaft 212 as a whole when the base 2110 and the cover 2111 are connected together. When base 2110 is separated from cover 2111, base 2110 may be separated from ball stud 212, which may then facilitate servicing or replacement of a new second connection portion 211 or fastening member 22.
In conclusion, the foot type wall climbing robot provided by the embodiment can not cause instability of self posture when walking, and the control difficulty is reduced.
In the embodiments of the present application, the difference between the embodiments is described in detail, and different optimization features between the embodiments can be combined to form a better embodiment as long as the differences are not contradictory, and further description is omitted here in view of brevity of the text.
The above description is only an example of the present application and is not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.
Claims (12)
1. A foot type wall-climbing robot is characterized by comprising a body and a plurality of mechanical legs;
the mechanical leg comprises an active posture adjusting piece, a passive posture adjusting piece and a fixing piece, wherein the active posture adjusting piece is provided with a connecting end and a free end, the connecting end is connected with the body, and the free end is connected with the fixing piece through the passive posture adjusting piece;
the active posture adjusting piece can change the position and the posture of the free end relative to the connecting end, and the passive posture adjusting piece can passively change the structure of the passive posture adjusting piece under the action force of the fixed connecting piece and the walking surface so as to adjust the posture of the fixed connecting piece to be attached and fixed with the walking surface;
the trunk includes a belly side facing a running surface and a back side facing away from the running surface when the foot-type wall-climbing robot is running, and a gas control unit for controlling a flow of ambient gas to generate a biasing force capable of bringing the belly side closer to the running surface.
2. The foot-type wall-climbing robot according to claim 1, wherein the gas control means is a negative pressure generating means for drawing gas between the abdominal side and the walking surface away to form a negative pressure region to generate a force capable of approaching the abdominal side toward the walking surface.
3. The legged wall-climbing robot according to claim 2, wherein the negative pressure generating assembly includes an air inlet port located on the abdominal side and communicating with the negative pressure chamber, a negative pressure chamber communicating with the exhaust port through the exhaust module, an exhaust module, and an exhaust port.
4. The legged wall-climbing robot according to claim 3, wherein the body further includes a housing, the negative pressure generating assembly further includes a support base, the negative pressure chamber is disposed on the support base and protrudes from the housing from the abdomen side, and the air inlet is disposed on the support base.
5. The legged wall-climbing robot according to claim 4, wherein the negative pressure generating assembly extends through the housing, the exhaust port being located on the back side.
6. The legged wall-climbing robot according to claim 2, wherein the negative pressure generating assembly further comprises an auxiliary enclosure covering an edge of the air inlet and for assisting in closing a gap between the air inlet and a walking surface.
7. The legged wall-climbing robot according to claim 6, wherein the auxiliary enclosure is a cleaning fabric covering the air inlet.
8. The foot-type wall-climbing robot according to claim 7, wherein a flange is arranged at the edge of the air inlet, and the cleaning fabric is sleeved and fixed on the flange.
9. The foot-type wall-climbing robot according to claim 1, wherein the gas control unit is a gas blowing unit for discharging gas in a direction toward the back side and generating a force capable of approaching the belly side toward a walking surface.
10. The legged wall-climbing robot according to claim 9, wherein the gas blowing component is a fan.
11. The legged wall-climbing robot according to any one of claims 1 to 10, wherein the passive attitude adjustment member includes a first connecting portion, a second connecting portion, and a ball bar;
the first connecting part is fixedly connected with the ball head rod, the second connecting part is provided with a spherical groove, and the spherical groove is clamped with the ball head rod and can do spherical surface relative motion with the ball head rod;
one of the first connecting part and the second connecting part is fixedly connected with the free end, and the other one is fixedly connected with the fixed connecting piece;
the spherical groove passively makes spherical relative motion with the ball head rod under the action force of the fixing member and the walking surface and changes the relative posture of the first connecting part and the second connecting part.
12. The legged wall-climbing robot according to claim 11, wherein the passive attitude adjustment member further includes a return elastic member;
the reset elastic piece is arranged around the ball head rod and is simultaneously connected with the first connecting part and the second connecting part;
the reset elastic piece can elastically deform when the relative posture of the first connecting part and the second connecting part changes under the action force of the fixed connecting piece and the walking surface;
the reset elastic piece can also release elasticity to reset the first connecting part and the second connecting part to a stress balance posture after the acting force of the fixed connecting piece and the walking surface disappears.
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| CN202010200042.5A CN113492931A (en) | 2020-03-20 | 2020-03-20 | Foot type wall-climbing robot |
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| CN202010200042.5A CN113492931A (en) | 2020-03-20 | 2020-03-20 | Foot type wall-climbing robot |
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