CN115541072A - Foot pressure detection structure of wall climbing robot - Google Patents
Foot pressure detection structure of wall climbing robot Download PDFInfo
- Publication number
- CN115541072A CN115541072A CN202211286183.9A CN202211286183A CN115541072A CN 115541072 A CN115541072 A CN 115541072A CN 202211286183 A CN202211286183 A CN 202211286183A CN 115541072 A CN115541072 A CN 115541072A
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- shell
- wall
- sliding
- climbing robot
- foot pressure
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- 238000001514 detection method Methods 0.000 title claims abstract description 21
- 230000009194 climbing Effects 0.000 title claims abstract description 16
- 230000007246 mechanism Effects 0.000 claims abstract description 8
- 238000009434 installation Methods 0.000 claims description 7
- 239000002184 metal Substances 0.000 claims description 7
- 238000000034 method Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 238000005452 bending Methods 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000000956 alloy Substances 0.000 description 1
- 230000004075 alteration Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000007664 blowing Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000011810 insulating material Substances 0.000 description 1
- 238000010030 laminating Methods 0.000 description 1
- 230000005389 magnetism Effects 0.000 description 1
- 239000007769 metal material Substances 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
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Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L1/00—Measuring force or stress, in general
- G01L1/20—Measuring force or stress, in general by measuring variations in ohmic resistance of solid materials or of electrically-conductive fluids; by making use of electrokinetic cells, i.e. liquid-containing cells wherein an electrical potential is produced or varied upon the application of stress
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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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- Engineering & Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention belongs to the field of wall climbing robots, and particularly relates to a foot pressure detection structure of a wall climbing robot, which comprises a support, wherein a ducted fan is installed at one end of the support, a pressing plate is connected at the other end of the support through a connecting mechanism, the connecting mechanism comprises a shell, the outer side surface of the shell is detachably connected with the support, the shell is provided with a sliding cavity with an opening, a sleeve shell is slidably arranged in the sliding cavity, one end of the sleeve shell, which is far away from the shell, is detachably connected with a connector, the connector is connected with the pressing plate, a reset spring and a sliding rheostat are further arranged in the shell, the reset spring abuts against the end part of the sleeve shell, the sliding rheostat is connected with the sleeve shell, the resistance is changed along with the sliding of the sleeve shell, and the sliding rheostat is connected with a current detection module.
Description
Technical Field
The invention belongs to the field of wall-climbing robots, and particularly relates to a foot pressure detection structure of a wall-climbing robot.
Background
The foot of the wall climbing robot is important for the wall climbing robot, and determines whether the robot can effectively and efficiently climb on the wall surface, and the foot is the only mechanical part in contact with the wall surface in the climbing process and plays an important role in sensing.
Wall climbing robot among the prior art realizes wall climbing robot laminating on the wall through the technique of negative pressure absorption and magnetism, however to whether the right attached on the wall of its foot, prior art is difficult to judge, leads to the unable foot of knowing wall climbing robot whether right attached on the wall.
Disclosure of Invention
The invention aims to provide a foot pressure detection structure of a wall-climbing robot, which solves the defects in the prior art.
In order to realize the purpose of the invention, the technical scheme adopted by the invention is as follows:
a foot pressure detection structure of a wall-climbing robot comprises a support, wherein a ducted fan is installed at one end of the support, and a pressing plate is connected to the other end of the support through a connecting mechanism;
the connecting mechanism comprises a shell, the outer side surface of the shell is detachably connected with the bracket, the shell is provided with a sliding cavity with an opening, a sleeve shell is slidably arranged in the sliding cavity, one end of the sleeve shell, far away from the shell, is detachably connected with a connector, and the connector is connected with the pressing plate;
still be provided with reset spring and slip varistor device in the casing, reset spring butt the cover shell tip, slip varistor device connects the cover shell to along with the cover shell slides and changes the resistance size, slip varistor device is connected with the current detection module.
Further, two supporting rods are fixedly connected to the outer side face of the support, the shell is located between the two supporting rods, and the two supporting rods can be detachably connected.
Furthermore, the sliding resistance-changing device comprises an insulating column fixedly connected to the end part of the casing, a plurality of metal rings are fixedly sleeved on the outer side surface of the insulating column, and two elastic sheets which are symmetrically arranged are fixedly connected to the outer side surface of each metal ring;
two the lateral surface of flexure strip corresponds is provided with two arc pieces, the insulated column is used for sliding to two in the arc piece, the external diameter of flexure strip is greater than the internal diameter of arc piece, arc piece fixed connection be in the inner wall of casing, two the arc piece is connected current detection module.
Furthermore, the elastic sheet is arc-shaped and is obliquely arranged.
Furthermore, the two arc-shaped pieces are respectively connected with the current detection module through leads.
Further, the cover shell is provided with an installation cavity with an opening, the opening direction is the same as the direction of the sliding cavity, a sliding plate is slidably arranged in the installation cavity and connected with one end of the limiting rod, and the other end of the limiting rod penetrates through the cover shell and is fixedly connected with the inner wall of the shell.
Furthermore, the limiting rod is provided with a plurality of limiting rods, and the plurality of limiting rods are all sleeved with the reset springs.
The invention has the following beneficial effects: under the thrust action of the ducted fan, the pressing plate, namely the sucker is attached to the wall surface, relative sliding is generated between the shell and the shell, the sliding resistance-changing device slides to change the resistance of the sliding resistance-changing device, so that the current detection module detects the changed current value, the movement stroke of the shell can be judged according to the current value, whether the pressing plate is attached to the wall surface or not and whether a certain foot structure is in a suspended state or not can be judged, and finally the operation condition of the wall-climbing robot can be judged according to the information.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the present invention applied to a wall surface;
FIG. 3 is an enlarged view of a portion a of FIG. 2;
fig. 4 is a cross-sectional view of the fit relationship between the arc-shaped piece and the elastic piece.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to fig. 1 to 4 in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Unless otherwise specified, the technical means used in the examples are conventional means well known to those skilled in the art.
It should be noted that the embodiments and features of the embodiments of the present invention may be combined with each other without conflict.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures.
In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, or orientations or positional relationships that the products of the present invention conventionally lay out when in use, or orientations or positional relationships that are conventionally understood by those skilled in the art, which are merely for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the device or element referred to must have a specific orientation, be constructed in a specific orientation, and be operated, and thus, should not be construed as limiting the present invention. Furthermore, the terms "first," "second," and the like are used merely to distinguish one description from another, and are not to be construed as indicating or implying relative importance.
In the description of the present invention, it should also be noted that, unless otherwise explicitly stated or limited, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be connected directly or indirectly through intervening media, or they may be interconnected between two elements. The specific meanings of the above terms in the present invention can be understood in a specific case to those of ordinary skill in the art.
A foot pressure detection structure of a wall-climbing robot comprises a support 2, wherein a ducted fan 3 is installed at one end of the support 2, and a pressing plate 5 is connected to the other end of the support 2 through a connecting mechanism 4;
the connecting mechanism 4 comprises a shell 403, the outer side surface of the shell 403 is detachably connected with the bracket 2, the shell 403 is provided with a sliding cavity with an opening, a sleeve 402 is slidably arranged in the sliding cavity, one end of the sleeve 402, which is far away from the shell 403, is detachably connected with a connector 401, and the connector 401 is connected with the pressing plate 5;
a return spring 406 and a sliding varistor device are further arranged in the housing 403, the return spring 406 abuts against the end of the sleeve 402, the sliding varistor device is connected with the sleeve 402 and changes the resistance along with the sliding of the sleeve 402, and the sliding varistor device is connected with a current detection module.
The ducted fan 3 is in the prior art and comprises fan blades, a motor and a shell, wherein the shell is connected with the support 2, the blowing direction of the ducted fan faces the direction far away from the pressing plate 5, the support 2 is of a hollow structure, and the ducted fan 3 is installed in the ducted fan and used for wind flow to pass through, so that in specific implementation, the foot structure is arranged at four ends of the robot, the pressing plate 5 is pressed on the wall surface 6 through wind power through the four ducted fans 3, and the robot is attached to the wall surface 6.
Due to the thrust action of the ducted fan 3, when the wall climbing robot is attached to the wall surface 6, relative sliding is generated between the shell 403 and the casing 402, namely the pressing plate 5 is attached to the wall surface 6, the shell 403 moves towards the casing 402, and the whole wall climbing robot moves towards the wall surface 6 as a whole, in the process, the sliding variable resistance device slides to change the resistance of the sliding variable resistance device, so that the current detection module detects the changed current value, the movement stroke of the shell 403 can be judged according to the magnitude of the current value, whether a certain foot structure is attached to the wall surface 6 or not is judged, and finally the operation condition of the wall climbing robot can be judged according to the information, and compared with the attachment condition of the wall surface 6, and the reset spring 406 achieves the purpose of resetting.
Furthermore, 2 lateral surface fixedly connected with two branch 1 of support, casing 403 is located two between the branch 1, and can dismantle the connection branch 1.
Two struts 1 are symmetrically arranged and located at two sides of the housing 403, and the struts 1 can be connected with the housing 403 through screws.
It should be noted that, the current detection module is prior art, it can be including detecting power and ampere meter, it connects the sliding varistor device through wire 404 to detect the power, and the connection ampere meter that wire 404 corresponds, the ampere meter all can set up on the wall climbing robot with detecting the power, furthermore, all be provided with wire casing 101 on two relative one sides of branch 1, wire 404 passes casing 403 and is located wire casing 101, and wear out from branch 1 and extend to on the wall climbing robot, wire casing 101 has realized the arrangement, the effect of fixed pencil, can set up the ribbon that corresponds on branch 1, parts such as line is buckled are fixed with wire 404.
Further, the sliding varistor device comprises an insulating column 407 fixedly connected to the end of the casing 402, a plurality of metal rings 409 are fixedly sleeved on the outer side surface of the insulating column 407, and two elastic sheets 408 symmetrically arranged are fixedly connected to the outer side surface of each metal ring 409;
two the lateral surface of flexure strip 408 corresponds is provided with two arc pieces 410, insulating post 407 is used for sliding to two in the arc piece 410, the external diameter of flexure strip 408 is greater than the internal diameter of arc piece 410, arc piece 410 fixed connection be in the inner wall of casing 403, two arc piece 410 is connected current detection module.
Further, the elastic piece 408 is arc-shaped and is disposed obliquely.
Further, the two arc-shaped pieces 410 are respectively connected to the current detection module through a conducting wire 404.
Specifically, the insulating column 407 is made of an insulating material, such as plastic, a plurality of metal rings 409 are disposed at intervals and at equal intervals on the insulating column 407, the elastic piece 408 is made of a metal material and is positioned corresponding to and matched with the arc piece 410, the elastic piece 408 is inclined towards a direction away from the arc piece 410, due to the larger outer diameter of the elastic piece, when the housing 403 moves under the thrust of the ducted fan 3, the arc piece 410 contacts the elastic piece 408 to form a closed circuit, and the elastic piece 408 is bent, the bending direction of the elastic piece is towards the axial center of the insulating column 407, and the inclined structure of the elastic piece 408 can facilitate bending when the arc piece 410 contacts, so that a certain pressure is generated between the elastic piece 408 and the elastic piece 408 when the elastic piece 408 is bent.
Since the pressure and the contact area of the contact resistance both cause the resistance value to change, the bending structure of the elastic piece 408 and the arc piece 410 in the contact process of the invention can enable the elastic piece 408 and the arc piece 410 to generate pressure and be in close contact, so that stable current is formed between the arc piece 410 and the elastic piece 408, the elastic piece 408 is made of an alloy material with a large resistivity and plays a role of providing resistance, and in the movement process of the shell 403, the contact number of the arc piece 410 and the elastic piece 408 is increased, so that the contact area of the arc piece 410 and the elastic piece 408 changes in real time in the movement process of the shell 403, and the current value is in negative correlation with the contact number of the elastic piece 408, so that the number of the elastic pieces 408 contacted by the arc piece 410 can be reflected by the changed current value, and the movement stroke of the shell 403, namely the joint condition of the pressure plate 5 and the wall surface 6 can be reflected.
In addition, when the return spring 406 is at the maximum stroke, i.e. the pressing plate 5 does not contact the wall surface 6, the arc piece 410 and the elastic piece 408 are arranged at an interval, and at this time, a closed circuit is not formed, so the current value is 0.
Further, the shell 402 is provided with an installation cavity with an opening, the opening direction of the installation cavity is the same as that of the sliding cavity, a sliding plate 411 is slidably arranged in the installation cavity, the sliding plate 411 is connected with one end of the limiting rod 405, and the other end of the limiting rod 405 penetrates through the shell 402 and is fixedly connected with the inner wall of the shell 403.
Further, the limiting rod 405 is provided with a plurality of limiting rods, and the plurality of limiting rods 405 are all sleeved with the return springs 406.
The connecting head 401 functions as a limiting sliding plate 411, the connecting head 401 and the sleeve 402 can be in screw connection, one end of the return spring 406 contacts with the inner wall of one end of the shell 403 far away from the sleeve 402, the other end of the return spring 406 contacts with the outer end face of the sleeve 402, when the shell 403 moves towards the sleeve 402, the return spring 406 is compressed along with the inner wall, and then the elastic force of the return spring 406 provides pushing force for the resetting of the shell 403.
The above-described embodiments are merely illustrative of the preferred embodiments of the present invention, and do not limit the scope of the present invention, and various changes, modifications, alterations, and substitutions which may be made by those skilled in the art without departing from the spirit of the present invention shall fall within the protection scope defined by the claims of the present invention.
Claims (7)
1. The utility model provides a foot pressure detection structure of wall climbing robot, includes support (2), ducted fan (3), its characterized in that are installed to support (2) one end: the other end of the bracket (2) is connected with a pressing plate (5) through a connecting mechanism (4);
the connecting mechanism (4) comprises a shell (403), the outer side surface of the shell (403) is detachably connected with the bracket (2), the shell (403) is provided with a sliding cavity with an opening, a sleeve (402) is slidably arranged in the sliding cavity, one end, far away from the shell (403), of the sleeve (402) is detachably connected with a connector (401), and the connector (401) is connected with the pressing plate (5);
the novel high-voltage switch is characterized in that a return spring (406) and a sliding rheostat are further arranged in the shell (403), the return spring (406) abuts against the end part of the sleeve (402), the sliding rheostat is connected with the sleeve (402) and changes the resistance along with the sliding of the sleeve (402), and the sliding rheostat is connected with a current detection module.
2. The foot pressure detecting structure of the wall-climbing robot as claimed in claim 1, wherein: two branch (1) of support (2) lateral surface fixedly connected with, casing (403) are located two between branch (1), and can dismantle the connection branch (1).
3. The foot pressure detecting structure of the wall-climbing robot as claimed in claim 1, wherein: the sliding rheostat comprises an insulating column (407) fixedly connected to the end part of the casing (402), a plurality of metal rings (409) are fixedly sleeved on the outer side surface of the insulating column (407), and two elastic sheets (408) which are symmetrically arranged are fixedly connected to the outer side surface of each metal ring (409);
two the lateral surface of flexure strip (408) corresponds is provided with two arc pieces (410), insulated column (407) are used for sliding to two in the arc piece (410), the external diameter of flexure strip (408) is greater than the internal diameter of arc piece (410), arc piece (410) fixed connection be in the inner wall of casing (403), two arc piece (410) are connected the current detection module.
4. A foot pressure detecting structure of a wall-climbing robot according to claim 3, characterized in that: the elastic piece (408) is arc-shaped and is obliquely arranged.
5. The foot pressure detecting structure of the wall-climbing robot as claimed in claim 3, wherein: the two arc-shaped pieces (410) are respectively connected with the current detection module through conducting wires (404).
6. A foot pressure detecting structure of a wall-climbing robot according to claim 3, characterized in that: the casing (402) is provided with the installation cavity that has the open-ended, and the opening direction with the sliding cavity syntropy, slidable is provided with slide (411) in the installation cavity, the one end of gag lever post (405) is connected in slide (411), the other one end of gag lever post (405) is passed casing (402) and fixed connection casing (403) inner wall.
7. The foot pressure detecting structure of the wall-climbing robot as claimed in claim 6, wherein: the limiting rod (405) is provided with a plurality of limiting rods, and the reset springs (406) are sleeved on the limiting rods (405).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211286183.9A CN115541072B (en) | 2022-10-20 | 2022-10-20 | Foot pressure detection structure of wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202211286183.9A CN115541072B (en) | 2022-10-20 | 2022-10-20 | Foot pressure detection structure of wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN115541072A true CN115541072A (en) | 2022-12-30 |
| CN115541072B CN115541072B (en) | 2023-09-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202211286183.9A Active CN115541072B (en) | 2022-10-20 | 2022-10-20 | Foot pressure detection structure of wall climbing robot |
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| Country | Link |
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| CN (1) | CN115541072B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240668A (en) * | 2016-09-19 | 2016-12-21 | 南京航空航天大学 | A kind of convex articular type climbing robot |
| CN110481669A (en) * | 2019-08-30 | 2019-11-22 | 南京大学 | A kind of spider-shaped bionic wall climbing robot based on frictional force attachment techniques |
| WO2020015695A1 (en) * | 2018-07-20 | 2020-01-23 | 酷黑科技（北京）有限公司 | Ducted fan unmanned aerial vehicle and housing thereof |
| CN213442829U (en) * | 2020-09-16 | 2021-06-15 | 董承儒 | Wheel type wall-climbing robot with adjustable adsorption force |
| CN215944723U (en) * | 2021-09-08 | 2022-03-04 | 中建深圳装饰有限公司 | Building curtain wall check out test set carries on structure based on wall climbing robot |
-
2022
- 2022-10-20 CN CN202211286183.9A patent/CN115541072B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106240668A (en) * | 2016-09-19 | 2016-12-21 | 南京航空航天大学 | A kind of convex articular type climbing robot |
| WO2020015695A1 (en) * | 2018-07-20 | 2020-01-23 | 酷黑科技（北京）有限公司 | Ducted fan unmanned aerial vehicle and housing thereof |
| CN110481669A (en) * | 2019-08-30 | 2019-11-22 | 南京大学 | A kind of spider-shaped bionic wall climbing robot based on frictional force attachment techniques |
| CN213442829U (en) * | 2020-09-16 | 2021-06-15 | 董承儒 | Wheel type wall-climbing robot with adjustable adsorption force |
| CN215944723U (en) * | 2021-09-08 | 2022-03-04 | 中建深圳装饰有限公司 | Building curtain wall check out test set carries on structure based on wall climbing robot |
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| Publication number | Publication date |
|---|---|
| CN115541072B (en) | 2023-09-22 |
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