CN114275065B - High-reliability adsorption type climbing robot and control method thereof - Google Patents
High-reliability adsorption type climbing robot and control method thereof Download PDFInfo
- Publication number
- CN114275065B CN114275065B CN202210104753.1A CN202210104753A CN114275065B CN 114275065 B CN114275065 B CN 114275065B CN 202210104753 A CN202210104753 A CN 202210104753A CN 114275065 B CN114275065 B CN 114275065B
- Authority
- CN
- China
- Prior art keywords
- climbing
- negative pressure
- fixed
- wall
- robot
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The invention discloses an adsorption type climbing robot with high reliability and a control method thereof, relating to the technical field of adsorption type climbing robots; in order to improve the climbing effect; this climbing robot includes robot main part, drive wheel, and the drive wheel is installed in robot main part both sides, and robot main part both sides are provided with crawler-type adsorption device, crawler-type adsorption device includes: one end of the concentric shaft is fixed at the central position of the outer wall of one side of the driving wheel; the method comprises the following steps: the climbing robot is preliminarily fixed on the climbing surface through the climbing sucker. According to the robot, the crawler-type adsorption mechanism is arranged, so that the rotation of the driving wheel can be controlled in the running process of the robot main body, the climbing crawler moves, the arc-shaped pressing sheet extrudes the elastic bag, gas in the elastic bag is exhausted, after the elastic bag is separated from the arc-shaped pressing sheet, the resilience force of the elastic bag enables the climbing sucker to be firmly adsorbed on a climbing surface, and climbing is carried out based on the rotation of the driving wheel.
Description
Technical Field
The invention relates to the technical field of adsorption type climbing robots, in particular to an adsorption type climbing robot with high reliability and a control method thereof.
Background
With the progress of the technology, the robot can gradually replace the manual work to perform work in a special environment, such as overhead work, and when the overhead work is performed, a work area is often in a high position, and the manual work has a great safety hazard, so that the robot is sometimes required to perform work or cooperative work.
At present, an unmanned aerial vehicle is one of operation devices with wide application, but the stability of the unmanned aerial vehicle is poor, and the operation requirements cannot be well met; except unmanned aerial vehicle, climbing type robot in addition, climbing type robot arrives the high altitude construction position through the mode of climbing on the plane and carries out the operation, for example climbing glass curtain wall and so on, though present climbing robot can satisfy certain operation requirement, but its climbing subassembly is mostly leg structure to the mode of simulation walking is scrambleed, and climbing speed is slow excessively, and operating efficiency is lower, consequently still remains to be improved.
Through retrieval, the Chinese patent with the application number of CN201620390050.X discloses a crawler-type multifunctional climbing robot, which comprises a ground oil supply device, a painting working module, a wifi module, a control system, a sensor module and a display screen; the ground oil supply device comprises an oil supercharging device, an oil temporary storage device, a synchronous operation vehicle body and the like, wherein the oil supercharging device and the oil temporary storage device are arranged on the synchronous operation vehicle body; the crawler-type climbing robot body is placed on the synchronous operation vehicle body, a crawler is installed on the crawler-type climbing robot body, and the front end of the crawler-type climbing robot body is a painting working module. The climbing robot in the above patent has the following disadvantages: although adopting crawler-type structure, the promotion of certain degree the climbing speed, but need frequent and orderly control solenoid valve's break-make in the use, and then control vacuum chuck adsorption state, implement comparatively inconveniently, and be difficult for maintaining.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an adsorption type climbing robot with high reliability and a control method thereof.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an absorption formula climbing robot that reliability is high, includes robot main part, drive wheel, and the drive wheel is installed in robot main part both sides, and robot main part both sides are provided with crawler-type adsorption device, crawler-type adsorption device includes:
one end of the concentric shaft is fixed at the central position of the outer wall at one side of the driving wheel;
the climbing crawler comprises a first belt body and a second belt body, and the first belt body is arranged on the outer wall of one side of the second belt body;
the crawler wheel is fixed on the circumferential outer wall of the concentric shaft and is in transmission fit with the first belt body;
the fixed sleeves are uniformly arranged on the second belt body;
the climbing sucker is arranged in the fixing sleeve, and an elastic bag is arranged at one end of the climbing sucker, which is positioned at the inner side of the second belt body;
the extrusion wheel is fixed on the circumferential outer wall of the concentric shaft, and an arc-shaped pressing sheet matched with the elastic bag in position is arranged on the circumferential outer wall of the extrusion wheel.
Preferably: robot main part bottom central point puts and still is provided with central steering mechanism, and central steering mechanism includes:
the motor is fixed on the inner wall of one side of the robot main body through the first mounting frame;
the driving gear is fixed at the output end of the motor;
the rotating frame is fixed on the inner wall of one side of the robot main body;
the central disc is rotationally connected to the circumferential inner wall of the rotating frame, and the circumferential outer wall of the central disc is provided with uniformly distributed annular convex teeth which are in transmission fit with the driving gear;
and the negative pressure adsorption assembly is arranged at the central position of the central disc and is used for fixing the central disc on the climbing surface.
Further: the negative pressure adsorption component comprises:
the negative pressure generator is fixed on the outer wall of the top of the central disc, and an air path joint is arranged at the output end of the negative pressure generator;
the negative pressure cylinder is fixed on the inner wall of the central disc, and the outer wall of one side of the negative pressure cylinder is provided with an air hole;
one end of the negative pressure pipe is connected to the bottom of the negative pressure cylinder, and the other end of the negative pressure pipe is installed on the air path joint;
the piston is connected to the inner wall of the negative pressure cylinder in a sliding manner, and a connecting rod is fixed at the top of the piston and is connected to the inner wall of the top of the negative pressure cylinder in a sliding manner;
the lifting frame is arranged on the outer wall of the top of the connecting rod;
the fixed sucker is arranged at the bottom of the lifting frame, is positioned at the center of the central plate and is connected into the air hole through a connecting pipe;
the sealing sliding cylinder is connected to the inner wall of the negative pressure cylinder in a sliding mode, the sealing sliding cylinder is fixed to the bottom of the piston through a connecting column, the standby position of the sealing sliding cylinder is matched with the air hole, and the sealing sliding cylinder plays a role in shielding and sealing the air hole.
Further preferred is: and an electric control air valve is arranged on one side of the fixed sucker, and when the electric control air valve is switched on, external air is supplemented into the fixed sucker so as to relieve the adsorption effect of the negative pressure adsorption assembly.
As a preferable aspect of the present invention: and the same spring is fixed between the outer wall of the top of the piston and the inner wall of the top of the negative pressure cylinder.
Further preferred as the invention: the inner wall of the circumference of the negative pressure cylinder is provided with a limiting ring, the limiting ring is positioned between the piston and the sealing sliding cylinder, and the inner diameter of the limiting ring is smaller than the diameter of the sealing sliding cylinder; and the distance from the limiting ring to the air hole is smaller than the height of the sealing sliding cylinder.
As a still further scheme of the invention: and the central disc and the rotating frame are provided with annular grooves matched with each other, and a plurality of balls are arranged in the annular grooves.
On the basis of the scheme: the outer wall of the top of the robot main body is fixed with a third mounting frame, and a camera assembly is mounted on the inner side of the third mounting frame.
On the basis of the scheme, the following steps are preferred: robot main part top outer wall is fixed with clean mechanism, and clean mechanism includes:
the cleaning box is arranged on the outer wall of the top of the robot main body, and a pump body for outputting cleaning liquid is arranged in the cleaning box;
the nozzle, the nozzle is fixed in robot main part top outer wall through the second mounting bracket, and nozzle one end is passed through pipeline and is connected in the output of clean box.
A control method of an adsorption type climbing robot with high reliability comprises the following steps:
s1: preliminarily fixing the climbing robot on a climbing surface through a climbing sucker, and controlling the climbing robot to run;
s2: judging whether steering is needed through the camera assembly, and turning to the step S3 without turning to the step S7;
s3: the negative pressure generator works to generate negative pressure in the negative pressure cylinder, so that the piston moves downwards, and the lifting frame is further driven to move downwards to attach the fixed sucker to the climbing surface;
s4: the negative pressure generator is controlled to work continuously, the piston moves downwards continuously, the sealing sliding cylinder slides to lose the sealing effect on the air hole, and then the negative pressure cylinder and the fixed sucker are communicated through the connecting pipe, so that the gas in the fixed sucker can be further extracted;
s5: the motor is controlled to work to drive the driving gear to rotate, so that the rotating frame rotates outside the central disc and is matched with the crawler-type adsorption mechanism to steer;
s6: after the steering is finished, the negative pressure generator stops working, the electric control air valve is conducted, and the adsorption effect of the fixed sucker is relieved; proceeding to step S8;
s7: the rotation of the driving wheel is controlled to enable the climbing crawler to move, the arc-shaped pressing sheet extrudes the elastic bag to discharge gas in the elastic bag, and after the elastic bag is separated from the arc-shaped pressing sheet, the resilience force of the elastic bag enables the climbing sucker to be firmly adsorbed on a climbing surface, so that climbing is carried out based on the rotation of the driving wheel; proceeding to step S8;
s8: and judging whether the specified position is reached, if not, turning to the step S2, and if so, ending climbing.
The invention has the beneficial effects that:
1. according to the crawler-type adsorption mechanism, the crawler-type wheels are driven to rotate through the concentric shafts based on rotation of the driving wheels in the running process of the robot main body, so that the climbing crawler moves, the elastic bags move to the extrusion wheels in order along with movement of the second belt body, the arc-shaped pressing sheets can extrude the elastic bags to a certain degree due to position adaptation of the arc-shaped pressing sheets and the elastic bags, gas in the elastic bags is discharged, the climbing suckers are contacted and adsorbed on a climbing surface, the corresponding elastic bags are separated from the arc-shaped pressing sheets along with continuous rotation of the climbing crawler, and the corresponding climbing suckers can be more firmly adsorbed on the climbing surface due to resilience of the elastic bags; similarly, along with the movement of the second belt body, when the climbing sucker is separated from and contacted with the climbing surface, the elastic bag is extruded by the arc-shaped pressing sheet at the rear part again, so that the climbing sucker is ensured to be separated from the climbing surface more labor-saving, and the practicability is improved; the design ensures the climbing speed and the stability of the climbing process.
2. According to the crawler-type adsorption mechanism, the central disc can be fixed on the climbing surface by the aid of the central steering mechanism, the motor is controlled to work, the driving gear is driven to rotate, the rotating frame rotates outside the central disc due to the fact that the driving gear is meshed with the annular convex teeth, and the crawler-type adsorption mechanism is matched with the crawler-type adsorption mechanism to steer, so that the problem that the crawler-type adsorption mechanism is inconvenient to steer is solved.
3. According to the robot, the negative pressure adsorption assembly is arranged, so that the robot can work based on the negative pressure generator, negative pressure is generated in the negative pressure cylinder, the piston moves downwards, the lifting frame can be driven to move downwards through the connecting rod when the piston moves, the fixed sucker is attached to the climbing surface, the lifting frame continues to move downwards, and the main body of the robot can be supported upwards through reaction force so as to facilitate steering; in addition, along with the piston slides downwards, sealed slide cartridge slides with the piston is synchronous, after sliding to a certain distance, sealed slide cartridge loses the sealed effect to the gas pocket, and then switches on negative pressure section of thick bamboo and fixed sucking disc through the connecting pipe, can further extract gas in the fixed sucking disc to promote fixed effect.
4. The piston can be urged to reset upwards by arranging the spring and other structures, so that the practicability is improved; by arranging the structures such as the limiting ring, the sealing sliding barrel can be limited, the sealing sliding barrel is prevented from being separated from the air hole upwards, and the reliability is improved; through setting up ring channel and ball, can reduce the rotating turret and rotate the resistance in the center disk outside, promote to turn to the smoothness degree.
5. By arranging the camera assembly, the climbing condition of the climbing robot can be conveniently known, the climbing path can be conveniently planned and corrected, and the practicability is improved; through setting up clean case, nozzle isotructure, can spout the assigned position through the nozzle with clean liquid in the clean case as required to reach the effect of clearance, promoted the practicality.
Drawings
Fig. 1 is a schematic structural diagram of an adsorption climbing robot with high reliability according to the present invention;
FIG. 2 is a schematic structural diagram of the bottom of an adsorption type climbing robot with high reliability, which is provided by the invention;
FIG. 3 is a schematic structural view of a crawler-type adsorption mechanism of an adsorption type climbing robot with high reliability, which is provided by the invention;
FIG. 4 is a schematic structural view of a crawler wheel and an extrusion wheel of the adsorption type climbing robot with high reliability, which are provided by the invention;
FIG. 5 is a schematic structural diagram of a central steering mechanism of the adsorption type climbing robot with high reliability, which is provided by the invention;
FIG. 6 is a schematic structural view of a center plate and a rotating frame of the high-reliability adsorption type climbing robot in section;
FIG. 7 is a schematic structural view of a high-reliability adsorption type climbing robot negative pressure cylinder and a fixed sucker in section;
fig. 8 is an enlarged view of fig. 7 at a.
In the figure: the robot comprises a robot main body 1, a driving wheel 2, a climbing sucker 3, a second belt body 4, an elastic bag 5, a nozzle 6, a second mounting rack 7, a camera assembly 8, a cleaning box 9, a negative pressure pipe 10, a fixed sucker 11, a central disk 12, an extrusion wheel 13, a fixed sleeve 14, a first belt body 15, an arc-shaped pressing sheet 16, a track wheel 17, a concentric shaft 18, a first mounting rack 19, a motor 20, a driving gear 21, a rotating rack 22, a negative pressure cylinder 23, a negative pressure generator 24, a lifting rack 25, an annular convex tooth 26, an annular groove 27, a ball 28, a gas circuit connector 29, a gas circuit connector 30, an electric control gas valve 31, a sealed sliding cylinder 32, an air hole 33, a limiting ring 34, a piston 35, a spring 36, a connecting rod 37 and a connecting column 38.
Detailed Description
The technical solution of the present patent will be described in further detail with reference to the following embodiments.
Reference will now be made in detail to embodiments of the present patent, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the same or similar elements or elements having the same or similar function throughout. The embodiments described below with reference to the drawings are exemplary only for the purpose of explaining the present patent and are not to be construed as limiting the present patent.
In the description of this patent, it is to be understood that the terms "center," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," and the like are used in the orientations and positional relationships indicated in the drawings for the convenience of describing the patent and for the simplicity of description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are not to be considered limiting of the patent.
In the description of this patent, it is noted that unless otherwise specifically stated or limited, the terms "mounted," "connected," and "disposed" are to be construed broadly and can include, for example, fixedly connected, disposed, detachably connected, disposed, or integrally connected and disposed. The specific meaning of the above terms in this patent may be understood by those of ordinary skill in the art as appropriate.
Example 1:
the utility model provides an absorption formula climbing robot that reliability is high, as shown in fig. 1-8, includes robot main part 1, drive wheel 2, and drive wheel 2 installs in robot main part 1 both sides, and robot main part 1 both sides are provided with crawler-type adsorption device, crawler-type adsorption device includes:
one end of the concentric shaft 18 is fixed at the center of the outer wall of one side of the driving wheel 2;
the climbing crawler comprises a first belt body 15 and a second belt body 4, and the first belt body 15 is arranged on the outer wall of one side of the second belt body 4;
the crawler wheel 17 is fixed on the circumferential outer wall of the concentric shaft 18, and the crawler wheel 17 is in transmission fit with the first belt body 15;
the fixed sleeves 14 are uniformly arranged on the second belt body 4;
the climbing sucker 3 is arranged in the fixed sleeve 14, and an elastic bag 5 is arranged at one end of the climbing sucker 3, which is positioned at the inner side of the second belt body 4;
the extrusion wheel 13 is fixed on the circumferential outer wall of the concentric shaft 18, and an arc-shaped pressing sheet 16 matched with the elastic bag 5 in position is integrally arranged on the circumferential outer wall of the extrusion wheel 13;
through the arrangement of the crawler-type adsorption mechanism, in the running process of the robot main body 1, the crawler wheel 17 is driven to rotate through the concentric shaft 18 based on the rotation of the driving wheel 2, so that the climbing crawler moves, along with the movement of the second belt body 4, the elastic bag 5 moves to the extrusion wheel 13 in order, due to the fact that the arc-shaped pressing sheet 16 is matched with the position of the elastic bag 5, the arc-shaped pressing sheet 16 can extrude the elastic bag 5 to a certain degree, gas in the elastic bag 5 is discharged, meanwhile, the climbing suckers 3 are in contact with and adsorbed on a climbing surface, along with the continuous rotation of the climbing crawler, the corresponding elastic bags 5 are separated from the arc-shaped pressing sheet 16, and the resilience force of the elastic bags 5 can enable the corresponding climbing suckers 3 to be adsorbed on the climbing surface more firmly;
similarly, along with the movement of the second belt body 4, when the climbing sucker 3 is separated from the climbing surface, the elastic bag 5 is extruded by the arc-shaped pressing sheet 16 at the rear part again, so that the climbing sucker 3 is separated from the climbing surface more labor-saving, and the practicability is improved; the design ensures the climbing speed and the stability of the climbing process.
To facilitate steering; as shown in fig. 2 and 5, a center steering mechanism is further disposed at a center of the bottom of the robot body 1, and the center steering mechanism includes:
the motor 20, the motor 20 is fixed on the inner wall of one side of the robot main body 1 through the first mounting rack 19;
a driving gear 21, the driving gear 21 being fixed to an output end of the motor 20;
a rotating frame 22, wherein the rotating frame 22 is fixed on the inner wall of one side of the robot main body 1;
the central disc 12 is rotationally connected to the circumferential inner wall of the rotating frame 22, the circumferential outer wall of the central disc 12 is integrally provided with uniformly distributed annular convex teeth 26, and the annular convex teeth 26 are in transmission fit with the driving gear 21;
the negative pressure adsorption assembly is arranged at the center of the central disc 12 and used for fixing the central disc 12 on the climbing surface;
through setting up central steering mechanism, can utilize negative pressure adsorption component to be fixed in the climbing face with center plate 12 on, and then control motor 20 work, drive gear 21 rotates, because drive gear 21 meshes with annular dogtooth 26 mutually, and then makes the rotating turret 22 rotate in the center plate 12 outside, turns to with the cooperation of crawler-type adsorption mechanism, has solved the inconvenient problem of crawler-type adsorption mechanism steering.
To facilitate reliable fixation of the robot main body 1; as shown in fig. 2 and 5 to 8, the negative pressure adsorption assembly includes:
the negative pressure generator 24 is fixed on the outer wall of the top of the central disc 12, and an air path connector 29 is installed at the output end of the negative pressure generator 24;
the negative pressure cylinder 23, the negative pressure cylinder 23 is fixed on the inner wall of the central disc 12, the outer wall of one side of the negative pressure cylinder 23 is provided with an air hole 33;
one end of the negative pressure pipe 10 is connected to the bottom of the negative pressure cylinder 23, and the other end of the negative pressure pipe 10 is installed on the air path joint 29;
the piston 35 is connected to the inner wall of the negative pressure cylinder 23 in a sliding mode, a connecting rod 37 is fixed to the top of the piston 35, and the connecting rod 37 is connected to the inner wall of the top of the negative pressure cylinder 23 in a sliding mode;
the lifting frame 25 is arranged on the outer wall of the top of the connecting rod 37;
the fixed sucker 11 is arranged at the bottom of the lifting frame 25, the fixed sucker 11 is positioned at the center of the central plate 12, and the fixed sucker 11 is connected into the air hole 33 through the connecting pipe 30;
the sealing sliding cylinder 32 is connected to the inner wall of the negative pressure cylinder 23 in a sliding manner, the sealing sliding cylinder 32 is fixed to the bottom of the piston 35 through a connecting column 38, the standby position of the sealing sliding cylinder 32 is matched with the air hole 33, and the sealing sliding cylinder 32 can play a role in shielding and sealing the air hole 33;
through the arrangement of the negative pressure adsorption assembly, negative pressure can be generated in the negative pressure cylinder 23 based on the work of the negative pressure generator 24, so that the piston 35 moves downwards, the lifting frame 25 can be driven to move downwards through the connecting rod 37 when the piston 35 moves, the fixed sucker 11 is attached to a climbing surface, and the robot main body 1 can be supported upwards by reaction force along with the downward movement of the lifting frame 25, so that steering is facilitated;
in addition, along with piston 35 slips downwards, sealed slide cylinder 32 slips with piston 35 synchronous, after slipping to a certain distance, sealed slide cylinder 32 loses the sealed effect to gas pocket 33, and then switches on negative pressure section of thick bamboo 23 and fixed suction cup 11 through connecting pipe 30, can further extract the gas in the fixed suction cup 11 to promote fixed effect.
In order to improve reliability; as shown in fig. 7, an electrically controlled gas valve 31 is disposed on one side of the fixed suction cup 11, and when the electrically controlled gas valve 31 is turned on, external gas can be supplied into the fixed suction cup 11 to release the suction effect of the negative pressure suction assembly.
To facilitate repositioning; as shown in fig. 7 and 8, the same spring 36 is fixed between the outer wall of the top of the piston 35 and the inner wall of the top of the negative pressure cylinder 23; by providing the spring 36 and the like, the piston 35 can be urged to return upward, and the practicability is improved.
In order to improve reliability; as shown in fig. 7 and 8, the inner wall of the circumference of the negative pressure cylinder 23 is integrally provided with a limiting ring 34, the limiting ring 34 is located between the piston 35 and the sealing sliding cylinder 32, and the inner diameter of the limiting ring 34 is smaller than the diameter of the sealing sliding cylinder 32; the distance from the limiting ring 34 to the air hole 33 is smaller than the height of the sealing sliding cylinder 32; through setting up spacing ring 34 isotructures, can carry on spacingly to sealed slide cartridge 32, avoid sealed slide cartridge 32 upwards to break away from gas pocket 33, promoted the reliability.
In order to improve the steering fluency; as shown in fig. 6, the central disc 12 and the rotating frame 22 are provided with an annular groove 27, and a plurality of balls 28 are mounted in the annular groove 27; by providing the annular groove 27 and the balls 28, the resistance of the rotating frame 22 to rotate outside the center plate 12 can be reduced, and the turning smoothness can be improved.
In the embodiment, in the running process of the robot main body 1, the rotation of the driving wheel 2 is controlled to drive the crawler wheel 17 to rotate through the concentric shaft 18, so that the climbing crawler moves, along with the movement of the second belt body 4, the elastic bag 5 moves to the extrusion wheel 13 orderly, because the arc-shaped pressing sheet 16 is matched with the position of the elastic bag 5, the arc-shaped pressing sheet 16 can extrude the elastic bag 5 to a certain degree, so that the gas in the elastic bag 5 is discharged, meanwhile, the climbing sucker 3 is contacted and adsorbed on the climbing surface, along with the continuous rotation of the climbing crawler, the corresponding elastic bag 5 is separated from the arc-shaped pressing sheet 16, and the resilience force of the elastic bag 5 can enable the corresponding climbing sucker 3 to be adsorbed on the climbing surface more firmly; similarly, along with the movement of the second belt body 4, when the climbing sucker 3 is separated from the climbing surface, the elastic bag 5 is extruded by the arc-shaped pressing sheet 16 at the rear part again to ensure that the climbing sucker 3 is separated from the climbing surface more labor-saving, so that the climbing function is realized;
when the robot needs to turn, based on the work of the negative pressure generator 24, negative pressure is generated in the negative pressure cylinder 23, so that the piston 35 moves downwards, the piston 35 can drive the lifting frame 25 to move downwards through the connecting rod 37 when moving, so that the fixed sucker 11 is attached to the climbing surface, and the lifting frame 25 continues to move downwards, so that the robot main body 1 can be supported upwards by the reaction force to facilitate turning; in addition, along with the downward sliding of the piston 35, the sealing sliding cylinder 32 and the piston 35 synchronously slide, after sliding to a certain distance, the sealing sliding cylinder 32 loses the sealing function on the air hole 33, and further the negative pressure cylinder 23 and the fixed suction cup 11 are communicated through the connecting pipe 30, so that the air in the fixed suction cup 11 can be further extracted, and the fixing effect is improved; the control motor 20 works to drive the driving gear 21 to rotate, and the driving gear 21 is meshed with the annular convex teeth 26, so that the rotating frame 22 rotates outside the central disc 12 and is matched with the crawler-type adsorption mechanism to realize steering.
Example 2:
an adsorption type climbing robot with high reliability is shown in figure 1, and aims to improve the practicability; the present embodiment is modified from embodiment 1 as follows: a third mounting frame is fixed on the outer wall of the top of the robot main body 1, and a camera assembly 8 is mounted on the inner side of the third mounting frame; through setting up camera subassembly 8, be convenient for know the climbing condition of climbing robot, do benefit to planning, revise the climbing route, promoted the practicality.
Be convenient for clear up climbing face, as shown in fig. 1, the outer wall of 1 top of robot main part is fixed with clean mechanism, and clean mechanism includes:
the cleaning box 9 is arranged on the outer wall of the top of the robot main body 1, and a pump body for outputting cleaning liquid is arranged in the cleaning box 9;
the nozzle 6 is fixed on the outer wall of the top of the robot main body 1 through a second mounting frame 7, and one end of the nozzle 6 is connected to the output end of the cleaning box 9 through a conveying pipeline;
through setting up structures such as cleaning tank 9, nozzle 6, can spout the assigned position through nozzle 6 with clean liquid in the cleaning tank 9 as required to reach the effect of clearance, promoted the practicality.
Example 3:
a control method of an adsorption type climbing robot with high reliability comprises the following steps:
s1: preliminarily fixing the climbing robot on a climbing surface through a climbing sucker 3, and controlling the climbing robot to run;
s2: judging whether steering is needed through the camera assembly 8, and turning to the step S3 without turning to the step S7;
s3: the negative pressure generator 24 works to generate negative pressure in the negative pressure cylinder 23, so that the piston 35 moves downwards, and further the lifting frame 25 is driven to move downwards to enable the fixed sucker 11 to be attached to the climbing surface;
s4: the negative pressure generator 24 is controlled to work continuously, the piston 35 moves downwards continuously, the sealing sliding cylinder 32 slides to lose the sealing effect on the air hole 33, the negative pressure cylinder 23 and the fixed sucker 11 are communicated through the connecting pipe 30, and the air in the fixed sucker 11 can be further extracted;
s5: the motor 20 is controlled to work to drive the driving gear 21 to rotate, so that the rotating frame 22 rotates outside the central disc 12 and is matched with the crawler-type adsorption mechanism to realize steering;
s6: after the steering is finished, the negative pressure generator 24 stops working, the electric control air valve 31 is conducted, and the adsorption effect of the fixed sucker 11 is relieved; proceeding to step S8;
s7: the rotation of the driving wheel 2 is controlled to enable the climbing crawler to move, the arc-shaped pressing sheet 16 extrudes the elastic bag 5 to discharge gas in the elastic bag 5, and after the elastic bag 5 is separated from the arc-shaped pressing sheet 16, the resilience force of the elastic bag 5 enables the climbing sucker 3 to be firmly adsorbed on a climbing surface and climbing is carried out based on the rotation of the driving wheel 2; proceeding to step S8;
s8: and judging whether the specified position is reached, if not, turning to the step S2, and if so, ending climbing.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (10)
1. The utility model provides an absorption formula climbing robot that reliability is high, its characterized in that, includes robot main part (1), drive wheel (2), and install in robot main part (1) both sides drive wheel (2), and robot main part (1) both sides are provided with crawler-type adsorption apparatus and construct, crawler-type adsorption apparatus constructs and includes:
one end of the concentric shaft (18) is fixed at the central position of the outer wall of one side of the driving wheel (2);
the climbing crawler comprises a first belt body (15) and a second belt body (4), and the first belt body (15) is arranged on the outer wall of one side of the second belt body (4);
the crawler wheel (17), the crawler wheel (17) is fixed on the circumferential outer wall of the concentric shaft (18), and the crawler wheel (17) is in transmission fit with the first belt body (15);
the fixing sleeves (14), the fixing sleeves (14) are uniformly arranged on the second belt body (4);
the climbing sucker (3), the climbing sucker (3) is installed in the fixed sleeve (14), and one end, located on the inner side of the second belt body (4), of the climbing sucker (3) is provided with an elastic bag (5);
the extrusion wheel (13), extrusion wheel (13) are fixed in the circumference outer wall of concentric shaft (18), are provided with arc preforming (16) with elastic bag (5) position adaptation on the circumference outer wall of extrusion wheel (13).
2. The high-reliability adsorption type climbing robot according to claim 1, wherein a central steering mechanism is further arranged at the center of the bottom of the robot main body (1), and comprises:
the motor (20), the motor (20) is fixed on the inner wall of one side of the robot main body (1) through the first mounting frame (19);
the driving gear (21), the driving gear (21) is fixed on the output end of the motor (20);
the rotating frame (22), the rotating frame (22) is fixed on the inner wall of one side of the robot main body (1);
the central disc (12) is rotationally connected to the circumferential inner wall of the rotating frame (22), annular convex teeth (26) are uniformly distributed on the circumferential outer wall of the central disc (12), and the annular convex teeth (26) are in transmission fit with the driving gear (21);
the negative pressure adsorption component is arranged at the central position of the central disc (12) and used for fixing the central disc (12) on the climbing surface.
3. The high-reliability adsorption type climbing robot according to claim 2, wherein the negative pressure adsorption assembly comprises:
the negative pressure generator (24), the negative pressure generator (24) is fixed on the outer wall of the top of the central disc (12), and the output end of the negative pressure generator (24) is provided with an air passage joint (29);
the negative pressure cylinder (23), the negative pressure cylinder (23) is fixed on the inner wall of the central disc (12), and the outer wall of one side of the negative pressure cylinder (23) is provided with an air hole (33);
one end of the negative pressure pipe (10) is connected to the bottom of the negative pressure cylinder (23), and the other end of the negative pressure pipe (10) is installed on the air path joint (29);
the piston (35) is connected to the inner wall of the negative pressure cylinder (23) in a sliding mode, a connecting rod (37) is fixed to the top of the piston (35), and the connecting rod (37) is connected to the inner wall of the top of the negative pressure cylinder (23) in a sliding mode;
the lifting frame (25), the lifting frame (25) is installed on the outer wall of the top of the connecting rod (37);
the fixed sucker (11) is arranged at the bottom of the lifting frame (25), the fixed sucker (11) is positioned at the center of the central disc (12), and the fixed sucker (11) is connected into the air hole (33) through a connecting pipe (30);
the sealing sliding cylinder (32), the sealing sliding cylinder (32) is connected to the inner wall of the negative pressure cylinder (23) in a sliding mode, the sealing sliding cylinder (32) is fixed to the bottom of the piston (35) through a connecting column (38), the standby position of the sealing sliding cylinder (32) is matched with the air hole (33), and the sealing sliding cylinder (32) plays a role in shielding and sealing the air hole (33).
4. The high-reliability adsorption type climbing robot according to claim 3, wherein an electric control air valve (31) is arranged on one side of the fixed suction cup (11), and when the electric control air valve (31) is turned on, external air is supplemented into the fixed suction cup (11) to release the adsorption effect of the negative pressure adsorption component.
5. The adsorption type climbing robot with high reliability as claimed in claim 4, wherein the same spring (36) is fixed between the outer wall of the top of the piston (35) and the inner wall of the top of the negative pressure cylinder (23).
6. The high-reliability adsorption type climbing robot is characterized in that a limiting ring (34) is arranged on the inner circumferential wall of the negative pressure cylinder (23), the limiting ring (34) is located between the piston (35) and the sealing sliding cylinder (32), and the inner diameter of the limiting ring (34) is smaller than the diameter of the sealing sliding cylinder (32); the distance from the limiting ring (34) to the air hole (33) is less than the height of the sealing sliding cylinder (32).
7. The adsorption type climbing robot with high reliability according to claim 6, wherein the central disc (12) and the rotating frame (22) are provided with matched annular grooves (27), and a plurality of balls (28) are arranged in the annular grooves (27).
8. The high-reliability adsorption type climbing robot according to claim 7, characterized in that a third mounting frame is fixed on the outer wall of the top of the robot main body (1), and a camera assembly (8) is mounted on the inner side of the third mounting frame.
9. The adsorption type climbing robot with high reliability according to claim 8, wherein a cleaning mechanism is fixed on the outer wall of the top of the robot main body (1), and the cleaning mechanism comprises:
the cleaning box (9), the cleaning box (9) is installed on the outer wall of the top of the robot main body (1), and a pump body for outputting cleaning liquid is arranged in the cleaning box (9);
and the nozzle (6), the nozzle (6) is fixed on the outer wall of the top of the robot main body (1) through a second mounting frame (7), and one end of the nozzle (6) is connected to the output end of the cleaning box (9) through a conveying pipeline.
10. The control method of the adsorption type climbing robot with high reliability according to claim 8, characterized by comprising the following steps:
s1: preliminarily fixing the climbing robot on a climbing surface through a climbing sucker (3) and controlling the climbing robot to run;
s2: judging whether steering is needed through the camera assembly (8), and turning to the step S3 without turning to the step S7;
s3: the negative pressure generator (24) works to generate negative pressure in the negative pressure cylinder (23) to enable the piston (35) to move downwards, and further drive the lifting frame (25) to move downwards to enable the fixed sucker (11) to be attached to the climbing surface;
s4: the negative pressure generator (24) is controlled to work continuously, the piston (35) moves downwards continuously, the sealing sliding cylinder (32) slides to lose the sealing effect on the air hole (33), the negative pressure cylinder (23) and the fixed sucker (11) are communicated through the connecting pipe (30), and gas in the fixed sucker (11) can be further extracted;
s5: the motor (20) is controlled to work to drive the driving gear (21) to rotate, so that the rotating frame (22) rotates outside the central disc (12) and is matched with the crawler-type adsorption mechanism to realize steering;
s6: after the steering is finished, the negative pressure generator (24) stops working, the electric control air valve (31) is conducted, and the adsorption effect of the fixed sucker (11) is relieved; proceeding to step S8;
s7: the rotation of the driving wheel (2) is controlled, the climbing crawler belt moves, the arc-shaped pressing sheet (16) extrudes the elastic bag (5), gas in the elastic bag (5) is discharged, after the elastic bag (5) is separated from the arc-shaped pressing sheet (16) to be contacted, the resilience force of the elastic bag (5) enables the climbing sucker (3) to be firmly adsorbed on a climbing surface, and climbing is carried out based on the rotation of the driving wheel (2); proceeding to step S8;
s8: and judging whether the specified position is reached, if not, turning to the step S2, and if so, ending climbing.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210104753.1A CN114275065B (en) | 2022-01-28 | 2022-01-28 | High-reliability adsorption type climbing robot and control method thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210104753.1A CN114275065B (en) | 2022-01-28 | 2022-01-28 | High-reliability adsorption type climbing robot and control method thereof |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114275065A CN114275065A (en) | 2022-04-05 |
| CN114275065B true CN114275065B (en) | 2022-09-20 |
Family
ID=80881830
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210104753.1A Active CN114275065B (en) | 2022-01-28 | 2022-01-28 | High-reliability adsorption type climbing robot and control method thereof |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114275065B (en) |
Families Citing this family (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2024055219A1 (en) * | 2022-09-14 | 2024-03-21 | 深圳怪虫机器人有限公司 | Fixed-point steering system for cleaning robot |
| CN115571307B (en) * | 2022-10-12 | 2023-10-13 | 华能盐城大丰新能源发电有限责任公司 | Control structure and control method for adsorption wall surface of underwater robot |
| CN115837383B (en) * | 2022-12-19 | 2024-07-02 | 国网河北省电力有限公司建设公司 | Automatic cleaning device for wire laying pipeline |
| CN118456375B (en) * | 2024-07-10 | 2024-09-17 | 北京东港瑞宏科技有限公司 | Intelligent service robot |
| CN118528137B (en) * | 2024-07-26 | 2024-09-27 | 福人木业（福州）有限公司 | Environment-friendly shaving board production equipment and production process thereof |
Family Cites Families (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH0316887A (en) * | 1989-06-14 | 1991-01-24 | M Eng:Kk | Wall surface adsorption running device |
| EP0416142B1 (en) * | 1989-09-04 | 1993-03-24 | O.N.O. Co., Ltd. | Travel-direction control method and device for a vacuum wall crawler |
| DE19727421C2 (en) * | 1997-06-27 | 1999-08-05 | Fraunhofer Ges Forschung | Autonomous climbing robot |
| CN104908834B (en) * | 2015-05-07 | 2016-12-21 | 吉林大学 | There is the sucker lifting device of gas path on-off function |
| CN105292292A (en) * | 2015-09-24 | 2016-02-03 | 烟台南山学院 | Multi-functional wall climbing car |
| CN106175617A (en) * | 2016-09-08 | 2016-12-07 | 肇庆市小凡人科技有限公司 | A kind of adsorption-type climbing device of glass curtain wall clean robot |
| CN110215164B (en) * | 2018-03-02 | 2024-08-30 | 科沃斯机器人股份有限公司 | Cleaning robot, steering control method of cleaning robot and operation control method |
| CN108583714B (en) * | 2018-07-16 | 2024-01-30 | 河南科技大学 | Smooth surface climbing cleaning machine |
| CN110040190B (en) * | 2019-04-23 | 2021-09-24 | 哈尔滨理工大学 | Adsorption system for sucker crawler-type wall-climbing robot |
| EP3929067B1 (en) * | 2020-06-22 | 2023-04-26 | Tata Consultancy Services Limited | Autonomous surface crawling robot |
-
2022
- 2022-01-28 CN CN202210104753.1A patent/CN114275065B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN114275065A (en) | 2022-04-05 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114275065B (en) | High-reliability adsorption type climbing robot and control method thereof | |
| CN106945740B (en) | A kind of wheel leg convolution climbing robot of multi-cavity absorption | |
| CN109744930B (en) | Many sucking discs formula high altitude glass curtain wall cleaning robot | |
| CN103909991B (en) | A kind of bionic type barrier-crossing wall-climbing robot and obstacle-detouring method thereof | |
| CN110758586A (en) | Convertible wall device of crawling | |
| CN106889957A (en) | One kind climbs wall sweeping robot | |
| CN211107756U (en) | Damping and buffering walking device of mobile robot | |
| CN201105774Y (en) | Novel wall climbing robot mechanism | |
| CN206166840U (en) | Glass curtain wall cleaning machines people that can hinder more | |
| CN114379666A (en) | Multi-foot adsorption detection robot with mechanical arm | |
| CN204472947U (en) | A kind of many areal, fluid absorption type Climbing Robot | |
| CN216805634U (en) | Multi-foot wall-climbing robot moving chassis capable of crossing obstacles | |
| CN116998972A (en) | Obstacle-crossing cleaning robot | |
| CN218690778U (en) | Helmet fixing device for production | |
| CN201914349U (en) | Biped-wheel wall-climbing robot mechanism | |
| CN110745194B (en) | Wall climbing robot and serial robot group thereof | |
| CN203766926U (en) | Suction cup capable of increasing friction force and adsorption type self-moving device | |
| CN205251438U (en) | Climb wall and clean machine people | |
| CN2272786Y (en) | Automatic cleaning device for high-rise building wall surface | |
| CN115778221A (en) | Wall-climbing cleaning robot and obstacle-crossing method thereof | |
| CN210000441U (en) | wall-climbing robot | |
| CN210971341U (en) | Turning unit for wall climbing robot | |
| CN210734340U (en) | Compound parallel four-footed wall climbing mechanism | |
| CN212776265U (en) | Pipeline type tectorial membrane wriggling robot | |
| CN110860501B (en) | Photovoltaic cleaning robot with self-telescopic rotary sucker assembly |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |