CN114056446A - Wall-climbing robot - Google Patents
Wall-climbing robot Download PDFInfo
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- CN114056446A CN114056446A CN202111277533.0A CN202111277533A CN114056446A CN 114056446 A CN114056446 A CN 114056446A CN 202111277533 A CN202111277533 A CN 202111277533A CN 114056446 A CN114056446 A CN 114056446A
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- robot body
- wall
- robot
- connecting rod
- climbing
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R11/04—Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R11/00—Arrangements for holding or mounting articles, not otherwise provided for
- B60R2011/0001—Arrangements for holding or mounting articles, not otherwise provided for characterised by position
- B60R2011/004—Arrangements for holding or mounting articles, not otherwise provided for characterised by position outside the vehicle
Abstract
The invention relates to a wall-climbing robot, which comprises a first robot body, a second robot body, a connecting mechanism and two traveling mechanisms, wherein the first robot body is connected with the second robot body through the connecting mechanism; the second robot body and the first robot body are arranged at intervals; the connecting mechanism comprises a frame, a first rotating assembly and a second rotating assembly, the frame comprises a first connecting rod, a second connecting rod and a connecting rod, the first connecting rod and the second connecting rod are parallel to each other, the first rotating assembly is sleeved on the first connecting rod and used for driving the frame to rotate around the axis of the first connecting rod, and the second rotating assembly is sleeved on the second connecting rod and used for driving the frame to rotate around the axis of the second connecting rod; the two walking mechanisms are respectively fixed on the first robot body and the second robot body; the wall climbing robot lifts the first robot body or the second robot body through the connecting mechanism, the obstacle crossing task of the wall climbing robot between the wall surfaces with the obstacles is completed in a cooperative mode, the frame is not prone to breaking in the lifting process, and reliability is high.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a wall-climbing robot.
Background
With the rapid development of the robot technology, the wall-climbing robot as a special robot has been widely applied in the fields of civil use, military, aerospace and the like, but the application occasions of the wall-climbing robot have the environmental specificity thereof, such as: the climbing wall has various materials, complex climbing space direction, different angle conversion between walls and the like. Therefore, it is necessary to solve the problem of adaptability of the wall-climbing robot to a particular environment.
Among the prior art, rotate around the connecting rod through two monoblock robots of drive to make the conversion of wall climbing robot between different walls, but only rely on the rotation of two articulated connecting rods each other, wall climbing robot is at the climbing in-process, and wall climbing robot's reliability is poor, and phenomena such as the connecting rod easily breaks off, and the load is little, can't be equipped with multiple detecting system, the function singleness.
Disclosure of Invention
Therefore, the wall-climbing robot needs to be provided for solving the problems of poor reliability, easy breakage and small load of the existing wall-climbing robot in the climbing process.
A wall climbing robot, comprising:
a first robot body;
the second robot body is arranged at a distance from the first robot body;
the connecting mechanism comprises a frame, a first rotating assembly and a second rotating assembly, the frame comprises a first connecting rod, a second connecting rod and a connecting rod for connecting the first connecting rod and the second connecting rod, the first connecting rod and the second connecting rod are parallel to each other, the first rotating assembly is detachably connected with the first robot body, and the first rotating assembly is sleeved on the first connecting rod and used for driving the frame to rotate around the axis of the first connecting rod; the second rotating assembly is detachably connected with the second robot body, and the second rotating assembly is sleeved on the second connecting rod and used for driving the frame to rotate around the axis of the second connecting rod; and
and the two walking mechanisms are respectively fixed on the first robot body and the second robot body.
The wall-climbing robot takes the first robot body as a base body, the first rotating assembly drives the frame to rotate around the axis of the first connecting rod, and the frame drives the second rotating assembly and the second robot body to rotate along with the first rotating assembly, so that the second robot body is lifted; or the second robot body is used as a base body, the second rotating assembly drives the frame to rotate around the axis of the second connecting rod, and the frame drives the first rotating assembly and the first robot body to rotate along with the first rotating assembly, so that the first robot body is lifted. And, first runner assembly is connected as an organic whole with first robot body detachably, and second runner assembly is connected as an organic whole with second robot body detachably, and the first robot body of being convenient for and the dismantlement of second robot body improve the suitability of climbing wall robot. The two walking mechanisms are respectively fixed on the first robot body and the second robot body to drive the wall-climbing robot to climb and walk on the wall surface. Above-mentioned wall climbing robot is at the climbing in-process of wall, lifts first robot body or second robot body through coupling mechanism, and the frame is difficult for the fracture at the in-process of lifting, can bear great load, and the reliability is high, is showing the active service life who improves wall climbing robot.
In one embodiment, the two connecting rods are respectively located at two ends of the first connecting rod and the second connecting rod.
In one embodiment, the frame further comprises a support rod, and the support rod is connected with the first connecting rod and the second connecting rod and is located between the two connecting rods.
In one embodiment, the first rotating assembly includes a first motor and a first gear set, the first motor has a first output shaft, one of the first gear set is sleeved on the first output shaft, and the other one is sleeved on the first connecting rod;
the second rotating assembly comprises a second motor and a second gear set, the second motor is provided with a second output shaft, one of the second gear set is sleeved on the second output shaft, and the other one of the second gear set is sleeved on the second connecting rod.
In one embodiment, the two traveling mechanisms are respectively fixed at the bottoms of the first robot body and the second robot body, each traveling mechanism comprises two groups of traveling wheels, a driving motor is arranged between each group of traveling wheels, each traveling wheel comprises a driving wheel and a driven wheel, and a synchronous belt is wound between the driving wheel in one group of the traveling wheels and the driven wheel in the other group of the traveling wheels.
In one embodiment, the road wheel is coated with an anti-slip layer, and the outer surface of the anti-slip layer is provided with textures.
In one embodiment, the robot further comprises two adsorption mechanisms, each adsorption mechanism comprises a self-adaptive sealing skirt, a fan module and a power module electrically connected with the fan module, the two sealing skirts are respectively wound on the side surfaces of the first robot body and the second robot body, each sealing skirt comprises a sealing cotton and a sealing cloth covering the outer side of the sealing cotton, and the two power modules and the two fan modules are respectively fixed in the first robot body and the second robot body.
In one embodiment, the robot further comprises a control module and a communication module electrically connected with the control module, wherein the control module and the communication module are fixed in the first robot body and/or the second robot body.
In one embodiment, the system further comprises a display system, wherein the display system comprises a holder device and a holder camera, and the holder device comprises a lifting mechanism, a yaw motor, a pitch motor and a camera support;
one end of the lifting mechanism is fixed on the first robot body and/or the second robot body;
one end of the yaw motor is fixed to one end, far away from the first robot body and the second robot body, of the lifting mechanism, and the other end of the yaw motor is fixed to the camera support;
the holder camera is fixed on the camera bracket;
the pitching motor is fixed in the camera support and is provided with an output shaft, a gear set is sleeved on the output shaft, and the gear set is in transmission connection with the holder camera.
In one embodiment, the robot further comprises a measuring module, wherein the measuring module is fixed on the first robot body and/or the second robot body.
Drawings
Fig. 1 is a schematic structural diagram of a wall-climbing robot provided by the present invention;
fig. 2 is a schematic view of the internal structure of the wall-climbing robot provided by the present invention;
FIG. 3 is a schematic structural diagram of a traveling mechanism provided by the present invention;
FIG. 4 is a schematic structural view of a coupling mechanism provided in the present invention;
fig. 5 is a schematic view of the internal structure of the wall-climbing robot provided by the present invention;
FIG. 6 is a schematic structural view of the wall-climbing robot provided by the present invention climbing a parallel wall;
FIG. 7 is a schematic structural view of the wall climbing robot provided by the present invention climbing an inclined wall surface;
FIG. 8 is a schematic structural view of the wall climbing robot provided by the present invention climbing a vertical wall surface;
FIG. 9 is a schematic structural view of the wall climbing robot provided by the present invention climbing an inclined wall surface;
FIG. 10 is a schematic structural view of the wall-climbing robot provided by the present invention crossing a raised obstacle;
FIG. 11 is a schematic structural diagram of the wall-climbing robot provided by the present invention for crossing a step obstacle;
fig. 12 is a schematic structural view illustrating a wall climbing robot crossing a ravine obstacle according to the present invention;
fig. 13 is a schematic structural diagram of a display system provided in the present invention.
Reference numerals:
100. a wall climbing robot;
110. a first robot body; 120. a second robot body;
130. a connecting mechanism; 131. a frame; 1311. a first link; 1312. a second link; 1313. a connecting rod; 1314. a support bar; 132. a first rotating assembly; 1321. a first motor; 1322. a first gear set; 1323. a first output shaft; 133. a second rotating assembly; 1331. a second motor; 1332. a second gear set;
140. a traveling mechanism; 141. a traveling wheel; 1411. a driving wheel; 1412. a driven wheel; 142. a drive motor; 143. a synchronous belt; 144. an anti-slip layer;
150. an adsorption mechanism; 151. a sealing skirt; 152. a fan module; 153. a power supply module;
160. a control module; 170. a communication module;
180. a display system; 181. a pan-tilt device; 1811. a lifting mechanism; 1812. a yaw motor; 1813. a pitch motor; 1814. a camera support; 182. a pan-tilt camera; 183. a gear set;
190. a measurement module; 191. a panoramic camera; 192. a pressure sensor; 193. a ranging sensor; 194. a multi-axis inclinometer.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in detail below. In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. This invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced device or element must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the invention.
Furthermore, the terms "first", "second" and "first" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of the present invention, "a plurality" means at least two, e.g., two, three, etc., unless specifically limited otherwise.
In the present invention, unless otherwise expressly stated or limited, the terms "mounted," "connected," "secured," and the like are to be construed broadly and can, for example, be fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or they may be connected internally or in any other suitable relationship, unless expressly stated otherwise. The specific meanings of the above terms in the present invention can be understood by those skilled in the art according to specific situations.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
It will be understood that when an element is referred to as being "secured to" or "disposed on" another element, it can be directly on the other element or intervening elements may also be present. When an element is referred to as being "connected" to another element, it can be directly connected to the other element or intervening elements may also be present. The terms "vertical," "horizontal," "upper," "lower," "left," "right," and the like as used herein are for illustrative purposes only and do not denote a unique embodiment.
The technical scheme provided by the embodiment of the invention is described below by combining the accompanying drawings.
As shown in fig. 1, 2, 3, 4, and 5, the present invention provides a wall-climbing robot 100, where the wall-climbing robot 100 includes a first robot body 110, a second robot body 120, a connecting mechanism 130, and two traveling mechanisms 140, the first robot body 110 and the second robot body 120 are disposed at an interval, specifically, the first robot body 110 and the second robot body 120 are both disposed on a wall surface to be detected, and a side surface of the first robot body 110 is parallel to a side surface of the second robot body 120.
The connecting mechanism 130 includes a frame 131, a first rotating component 132 and a second rotating component 133, the frame 131 includes a first connecting rod 1311, a second connecting rod 1312 and a connecting rod 1313, the connecting rod 1313 connects the first connecting rod 1311 and the second connecting rod 1312, the first connecting rod 1311 and the second connecting rod 1312 are parallel to each other, the first connecting rod 1311 is located at a side close to the first robot body 110, the first rotating component 132 is sleeved on the first connecting rod 1311 and is used for driving the frame 131 to rotate around an axis of the first connecting rod 1311, the frame 131 drives the second rotating component 133 and the second robot body 120 to rotate therewith, and the first robot body 110 is used as a base to complete the lifting of the second robot body 120; the second connecting rod 1312 is located at a side close to the second robot body 120, and the second rotating assembly 133 is sleeved on the second connecting rod 1312 and is used for driving the frame 131 to rotate around the axis of the second connecting rod 1312, so that the frame 131 drives the first rotating assembly 132 and the first robot body 110 to rotate therewith, and the second robot body 120 is used as a base to complete the lifting of the first robot body 110.
In addition, the first rotating assembly 132 and the first robot body 110 are detachably connected into a whole in a screwing mode, a riveting mode and the like, and the second rotating assembly 133 and the second robot body 120 are detachably connected into a whole in a screwing mode, a riveting mode and the like, so that the first robot body 110 and the second robot body 120 can be conveniently detached, and the applicability of the wall-climbing robot 100 is improved. When the wall climbing robot 100 needs to complete tasks such as detection and the like between wall surfaces with obstacles such as unevenness, ravines and the like, the first robot body 110 and the second robot body 120 can be connected into a whole through the connecting mechanism 130, and the first robot body 110 or the second robot body 120 is lifted through the connecting mechanism 130, so that the wall climbing robot 100 can complete obstacle crossing tasks between the wall surfaces with the obstacles; when the wall-climbing robot 100 needs to complete tasks such as detection between walls without obstacles, the first robot body 110 and the second robot body 120 may be disassembled into independent bodies, so as to improve the working efficiency and flexibility of the wall-climbing robot 100.
The two traveling mechanisms 140 are respectively fixed to the first robot body 110 and the second robot body 120 by screwing, welding, and the like, so as to drive the wall-climbing robot 100 to climb and travel on the wall surface.
The wall climbing robot 100 lifts the first robot body 110 or the second robot body 120 through the connecting mechanism 130, and the frame 131 is not easy to break in the lifting process of the first robot body 110 or the second robot body 120, can bear a large load, has high reliability, and obviously prolongs the service life of the wall climbing robot 100. In addition, the first robot body 110 and the second robot body 120 adopt a split structure design, so that the autonomous wall-changing function of the wall-climbing robot 100 is realized, and the flexibility and the applicability of the wall-climbing robot 100 are improved.
Specifically, as shown in fig. 6, the first robot body 110 is used as a base, the second robot body 120 is lifted by the connecting mechanism 130, and the obstacle crossing task of the wall climbing robot 100 is cooperatively completed between the wall surfaces parallel to each other in the height direction. As shown in fig. 7, the first robot body 110 is used as a base, and the second robot body 120 is lifted by the connecting mechanism 130, so as to complete the obstacle crossing task of the wall climbing robot 100 between the inclined walls. As shown in fig. 8, the first robot body 110 is used as a base, and the second robot body 120 is lifted by the connecting mechanism 130, so as to complete the obstacle crossing task of the wall-climbing robot 100 between the vertical walls. As shown in fig. 9, the first robot body 110 is used as a base, and the second robot body 120 is lifted by the connecting mechanism 130, so as to complete the obstacle crossing task of the wall climbing robot 100 between the inclined walls. As shown in fig. 10, the first robot body 110 is used as a base, and the second robot body 120 is lifted by the connecting mechanism 130, so as to complete the obstacle crossing task of the wall-climbing robot 100 between the wall surfaces with the raised obstacles. As shown in fig. 11, the first robot body 110 is used as a base, and the second robot body 120 is lifted by the connecting mechanism 130, so as to complete the obstacle crossing task of the wall climbing robot 100 between the wall surfaces with the step obstacle. As shown in fig. 12, the first robot body 110 is used as a base, and the second robot body 120 is lifted by the connecting mechanism 130 to complete an obstacle crossing task of the wall climbing robot 100 between wall surfaces having ravine obstacles. Of course, the wall climbing robot 100 may use the second robot body 120 as a base to lift the first robot body 110 through the connecting mechanism 130, so as to complete the obstacle crossing task of the wall climbing robot 100 on the wall surface with the obstacle. According to the specific environment of the wall surface to be detected, the first robot body 110 is used as a base body to lift the second robot body 120 through the connecting mechanism 130, or the second robot body 120 is used as a base body to lift the first robot body 110 through the connecting mechanism 130, so that the obstacle crossing task of the wall climbing robot 100 is completed.
In order to prolong the service life of the wall-climbing robot 100, in a preferred embodiment, as shown in fig. 1 and 4, two connecting rods 1313 are provided, and the two connecting rods 1313 are respectively located at two ends of the first connecting rod 1311 and the second connecting rod 1312 to form a frame 131 shaped like a Chinese character 'kou', so as to improve the supporting capability of the frame 131, during the climbing walking process of the wall-climbing robot 100, the connecting mechanism 130 lifts the first robot body 110 or the second robot body 120, and the frame 131 has better fracture resistance during the lifting process of the first robot body 110 or the second robot body 120, can bear larger load, has high reliability, and obviously prolongs the service life of the wall-climbing robot 100.
In order to further improve the service life of the wall-climbing robot 100, specifically, as shown in fig. 1 and 4, the frame 131 further includes a support rod 1314, the support rod 1314 connects the first link 1311 and the second link 1312, and the support rod 1314 is located in the middle of the two link 1313, i.e., the support rod 1314 is parallel to the link 1313. The frame 131 can be formed into a frame 131 shaped like a Chinese character 'ri', the supporting capacity of the frame 131 is further improved, the connecting mechanism 130 lifts the first robot body 110 or the second robot body 120 in the climbing walking process of the wall-climbing robot 100, the frame 131 has better fracture resistance in the lifting process of the first robot body 110 or the second robot body 120, can bear larger load, has high reliability, and further prolongs the service life of the wall-climbing robot 100.
In order to drive the frame 131 to rotate around the axis of the first link 1311 or the second link 1312, in a preferred embodiment, as shown in fig. 1 and 4, the first rotating assembly 132 includes a first motor 1321 and a first gear set 1322, and two gears of the first gear set 1322 are engaged with each other. The first motor 1321 has a first output shaft 1323, one of the first gear set 1322 is sleeved on the first output shaft 1323, and the other one of the first gear set 1322 is sleeved on the first link 1311. The first motor 1321 outputs power to the first output shaft 1323, the first output shaft 1323 drives the first gear set 1322 to rotate, the frame 131 can be driven to rotate around the axis of the first connecting rod 1311, the frame 131 drives the second rotating assembly 133 and the second robot body 120 to rotate therewith, and then the connecting mechanism 130 can complete lifting of the second robot body 120, so that the wall climbing robot 100 can complete obstacle crossing tasks between wall surfaces with obstacles.
Similarly, the second rotating assembly 133 includes a second electric motor 1331 and a second gear set 1332, wherein two gears of the second gear set 1332 are meshed with each other. The second motor 1331 has a second output shaft, one of the gears of the second gear set 1332 is sleeved on the second output shaft, and the other gear of the second gear set 1332 is sleeved on the second link 1312. The second motor 1331 outputs power to the second output shaft, and drives the second gear set 1332 to rotate through the second output shaft, so as to drive the frame 131 to rotate around the axis of the second connecting rod 1312, and the frame 131 drives the first rotating assembly 132 and the first robot body 110 to rotate therewith, so that the connecting mechanism 130 can complete lifting of the first robot body 110, and the wall climbing robot 100 can complete obstacle crossing between the wall surfaces with obstacles.
In addition, the first robot body 110 can realize stepless adjustment through the connecting mechanism 130 and the second robot body 120 can realize lifting angles through the connecting mechanism 130, the first robot body 110 and the second robot body 120 can realize lifting actions at any angles, the postures are various, the movement is flexible, and the movement range of the wall-climbing robot 100 for self wall replacement or obstacle crossing can be remarkably enlarged.
In order to drive the wall climbing robot 100 to climb and walk on the wall surface, in a preferred embodiment, as shown in fig. 1 and 3, two walking mechanisms 140 are respectively fixed at the bottoms of the first robot body 110 and the second robot body 120 by means of screwing, welding and the like, the walking mechanisms 140 include two groups of walking wheels 141, a driving motor 142 is disposed between each group of walking wheels 141, and the driving motor 142 can drive the walking wheels 141 to rotate so as to complete the climbing and walking of the wall climbing robot 100 on the wall surface. Specifically, the traveling wheels 141 include a driving wheel 1411 and a driven wheel 1412, a synchronous belt 143 is wound between the driving wheel 1411 of one group of the traveling wheels 141 and the driven wheel 1412 of the other group of the traveling wheels 141, the driving wheel 1411 is driven to rotate by the driving motor 142, and the driven wheel 1412 is driven to rotate by the synchronous belt 143 wound on the driven wheel 1412, so as to drive the wall climbing robot 100 to climb and travel on the wall surface.
The wall-climbing robot 100 drives the wall-climbing robot 100 to climb and travel on the wall surface by controlling the speed and direction of the two traveling mechanisms 140. And the speed and direction of the two traveling mechanisms 140 are changed, and the traveling wheels 141 rotate at a differential speed, so that the wall-climbing robot 100 can turn when climbing and traveling on the wall surface, and tasks such as detection of the wall-climbing robot 100 between the wall surfaces can be completed more comprehensively.
In order to further improve the reliability of the wall-climbing robot 100 in climbing and walking on the wall surface, specifically, as shown in fig. 3, the walking wheel 141 is coated with an anti-slip layer 144, and the outer surface of the anti-slip layer 144 is provided with texture. The walking wheels 141 are made of natural rubber, and the friction force of the natural rubber to the wall surface is large, so that good adhesion between the walking wheels 141 and the wall surface can be ensured; and the natural rubber has the advantages of high elasticity, excellent tear resistance, good wear resistance and processability, easy adhesion with other materials and the like, and can be used as a preferred material of the travelling wheel 141. Of course, the road wheels 141 may also be made of other materials, and the specific material form of the road wheels 141 is not limited in the present invention. In addition, the texture is a protrusion arranged on the outer surface of the anti-slip layer 144, so that the roughness of the anti-slip layer 144 is increased, and the problem that when the wall-climbing robot 100 climbs and walks on the wall surface, the wall-climbing robot 100 cannot complete tasks such as detection between the wall surfaces due to the poor friction force with the wall surface and the occurrence of poor phenomena such as slipping is avoided.
In order to ensure the reliability of the wall climbing robot 100 in climbing and walking on the wall surface, as shown in fig. 1 and fig. 2, a preferred embodiment is provided, in which the wall climbing robot 100 further includes two adsorption mechanisms 150, each adsorption mechanism 150 includes a self-adaptive sealing skirt 151, a fan module 152 and a power module 153, the two power modules 153 are respectively fixed inside the first robot body 110 and the second robot body 120 in a screwing manner, a clamping manner, and the like, and the two fan modules 152 are respectively fixed inside the first robot body 110 and the second robot body 120 in a screwing manner, a clamping manner, and the like. The power module 153 is electrically connected to the fan module 152 by a wire to drive the fan module 152. The two adaptive sealing skirts 151 are respectively wound around the side surfaces of the first robot body 110 and the second robot body 120, and the sealing skirts 151 comprise sealing cotton and sealing cloth, and the sealing cloth is wrapped outside the sealing skirts 151. The power module 153 may drive the fan module 152 to continuously suck the air in the sealed cavity, so that a negative pressure cavity is formed inside the first robot body 110 and the second robot body 120, and the first robot body 110 and the second robot body 120 are attached to the wall surface.
The adaptive sealing skirt 151 is disposed around the side surfaces of the first robot body 110 and the second robot body 120, and the adaptive sealing skirt 151 is in contact with the wall surface, and the thickness of the adaptive sealing skirt 151 is adapted to extend or shorten along with the internal pressure and the wall surface shape of the first robot body 110 and the second robot body 120. In addition, the sealing cotton is made of ethylene propylene diene monomer, the sealing cotton can be compressed in a follow-up mode according to the internal pressure and the external environment of the wall climbing robot 100, when the interiors of the first robot body 110 and the second robot body 120 are in pressure balance, the sealing cotton cannot reach the tightest compression state, a certain air inflow exists on the side face of the sealing cotton, and the air inflow from the side face of the sealing cotton and the air outflow of the fan module 152 reach dynamic balance, so that the negative pressure stability inside the first robot body 110 and the second robot body 120 is achieved, and the climbing and walking reliability of the wall climbing robot 100 on the wall face is improved.
In order to facilitate the control of the wall climbing robot 100, as shown in fig. 1 and 2, in a preferred embodiment, the wall climbing robot 100 further includes a control module 160 and a communication module 170, the control module 160 and the communication module 170 are fixed in the first robot body 110 and/or the second robot body 120 by screwing, clamping, and the like, and the control module 160 and the communication module 170 are electrically connected to each other by a wire. The control module 160 can transmit signals to the communication module 170, so that the wall-climbing robot 100 can realize remote interactive operation and control the wall-climbing robot 100 to complete obstacle-crossing tasks on the wall surface.
In order to obtain information of a wall surface to be detected in real time, in a preferred embodiment, as shown in fig. 1 and 13, the wall-climbing robot 100 further includes a display system 180, the display system 180 includes a pan-tilt device 181 and a pan-tilt camera 182, and the pan-tilt device 181 includes a lifting mechanism 1811, a yaw motor 1812, a pitch motor 1813 and a camera support 1814. One end of the lifting mechanism 1811 is fixed to the first robot body 110 and/or the second robot body 120 by screwing, welding, etc., and the height of the pan/tilt camera 182 in the direction perpendicular to the wall surface to be detected can be adjusted by the lifting mechanism 1811, so as to drive the pan/tilt camera 182 to lift. One end of the yaw motor 1812 is fixed to one end of the lifting mechanism 1811 far away from the first robot body 110 and the second robot body 120 by means of screwing, welding and the like, the other end of the yaw motor 1812 is fixed to the camera support 1814 by means of screwing, welding and the like, and the pan-tilt camera 182 can be driven to rotate in a yaw mode by the yaw motor 1812. The pitching motor 1813 is fixed in the camera bracket 1814 by welding, screwing and other methods, the pitching motor 1813 is provided with an output shaft, the output shaft is sleeved with a gear set 183, the gear set 183 is in transmission connection with the pan/tilt head camera 182, the pitching motor 1813 outputs power to the output shaft, the gear set 183 is driven to rotate, and then the pan/tilt head camera 182 is driven to rotate in a pitching manner. The pan/tilt camera 182 is fixed to the camera support 1814 by screwing, riveting, or the like, and is used to photograph wall information.
When the wall climbing robot 100 performs wall observation operation, the pan-tilt camera 182 can perform visual detection in a 360-degree view to acquire wall information to be detected in real time and transmit the wall information to be detected to the user interface, so that a user can conveniently grasp the wall information to be detected in real time.
In order to further obtain more comprehensive wall information to be detected in real time, in a preferred embodiment, as shown in fig. 1, 5 and 13, the wall-climbing robot 100 further includes a measuring module 190, and the measuring module 190 is fixed to the first robot body 110 and the second robot body 120 by means of screwing, clamping, and the like. Specifically, the measurement module 190 includes a panoramic camera 191, a pressure sensor 192, a range sensor 193, and a multi-axis inclinometer 194. The panoramic camera 191 is fixed to the yaw motor 1812 and the pitching motor 1813 through the auxiliary mounting block, so that the panoramic camera 191 rotates in an all-directional manner, and the wall surface environment where the wall-climbing robot 100 is located is effectively observed. The pressure sensor 192 is fixed inside the first robot body 110 and/or the second robot body 120 in a screwing manner, a clamping manner and the like, and is used for providing internal pressure information of the first robot body 110 and the second robot body 120, and by adjusting the internal pressure of the first robot body 110 and the second robot body 120, the wall surfaces at different angles can be subjected to self-adaptive adsorption, so that the reliability of climbing and walking of the wall climbing robot 100 on the wall surface is ensured. The distance measuring sensor 193 is fixed on the outer surface of the first robot body 110 and/or the second robot body 120 in a screwing mode, a clamping mode and the like, is used for providing the obstacle position of the wall climbing robot 100 in the climbing and walking process, and can effectively assist the wall climbing robot 100 in obstacle crossing operation in the obstacle crossing mode. The multi-axis inclinometer 194 is fixed on the first robot body 110 and/or the second robot body 120 by screwing, clamping and the like, and is used for providing an inclination angle of a wall surface where the wall climbing robot 100 is located. Through the arrangement, more comprehensive wall surface information to be detected can be further acquired in real time, and the applicability of the wall-climbing robot 100 is improved.
Of course, the measurement module 190 is not limited to the four measurement elements provided above, and may further include an oxygen sensor and a temperature and humidity sensor, where the oxygen sensor provides an oxygen content of the environment where the wall-climbing robot 100 is located, and the temperature and humidity sensor provides a temperature value and a humidity value of the environment where the wall-climbing robot 100 is located. The measuring module 190 may also be other measuring elements capable of measuring information of the wall-climbing robot 100 during the climbing walking process, and the specific type of the measuring element of the measuring module 190 is not limited in the present invention and may be specifically set according to actual requirements.
The technical features of the embodiments described above may be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the embodiments described above are not described, but should be considered as being within the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present invention, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the inventive concept, which falls within the scope of the present invention. Therefore, the protection scope of the present patent shall be subject to the appended claims.
Claims (10)
1. A wall climbing robot, comprising:
a first robot body;
the second robot body is arranged at a distance from the first robot body;
the connecting mechanism comprises a frame, a first rotating assembly and a second rotating assembly, the frame comprises a first connecting rod, a second connecting rod and a connecting rod for connecting the first connecting rod and the second connecting rod, the first connecting rod and the second connecting rod are parallel to each other, the first rotating assembly is detachably connected with the first robot body, and the first rotating assembly is sleeved on the first connecting rod and used for driving the frame to rotate around the axis of the first connecting rod; the second rotating assembly is detachably connected with the second robot body, and the second rotating assembly is sleeved on the second connecting rod and used for driving the frame to rotate around the axis of the second connecting rod; and
and the two walking mechanisms are respectively fixed on the first robot body and the second robot body.
2. The wall-climbing robot as claimed in claim 1, wherein the number of the connecting rods is two, and the two connecting rods are respectively located at two ends of the first connecting rod and the second connecting rod.
3. The wall-climbing robot of claim 2, wherein the frame further comprises a support rod connecting the first and second links and located intermediate the two links.
4. The wall-climbing robot as claimed in claim 1, wherein the first rotating assembly includes a first motor and a first gear set, the first motor has a first output shaft, one of the first gear set is sleeved on the first output shaft, and the other one is sleeved on the first connecting rod;
the second rotating assembly comprises a second motor and a second gear set, the second motor is provided with a second output shaft, one of the second gear set is sleeved on the second output shaft, and the other one of the second gear set is sleeved on the second connecting rod.
5. The wall-climbing robot as claimed in claim 1, wherein two walking mechanisms are respectively fixed at the bottom of the first robot body and the bottom of the second robot body, each walking mechanism comprises two groups of walking wheels, a driving motor is arranged between each group of walking wheels, each walking wheel comprises a driving wheel and a driven wheel, and a synchronous belt is wound between the driving wheel in one group of walking wheels and the driven wheel in the other group of walking wheels.
6. The wall-climbing robot as claimed in claim 5, wherein the walking wheels are coated with an anti-slip layer, and the outer surface of the anti-slip layer is provided with texture.
7. The wall-climbing robot according to claim 1, further comprising two adsorption mechanisms, wherein each adsorption mechanism comprises a self-adaptive sealing skirt, a fan module and a power supply module electrically connected with the fan module, the two sealing skirts are respectively arranged around the side surfaces of the first robot body and the second robot body, each sealing skirt comprises a sealing cotton and a sealing cloth covering the outer side of the sealing cotton, and the two power supply modules and the two fan modules are respectively fixed in the first robot body and the second robot body.
8. The wall-climbing robot according to claim 1, further comprising a control module and a communication module electrically connected to the control module, wherein the control module and the communication module are fixed in the first robot body and/or the second robot body.
9. The wall-climbing robot according to claim 1, further comprising a display system, wherein the display system comprises a pan-tilt device and a pan-tilt camera, and the pan-tilt device comprises a lifting mechanism, a yaw motor, a pitch motor and a camera bracket;
one end of the lifting mechanism is fixed on the first robot body and/or the second robot body;
one end of the yaw motor is fixed to one end, far away from the first robot body and the second robot body, of the lifting mechanism, and the other end of the yaw motor is fixed to the camera support;
the holder camera is fixed on the camera bracket;
the pitching motor is fixed in the camera support and is provided with an output shaft, a gear set is sleeved on the output shaft, and the gear set is in transmission connection with the holder camera.
10. A wall-climbing robot according to claim 1, further comprising a measuring module fixed to the first robot body and/or the second robot body.
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| CN114056446B (en) | 2023-04-07 |
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