CN116766841A - Amphibious wall climbing special operation robot and working method - Google Patents
Amphibious wall climbing special operation robot and working method Download PDFInfo
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Abstract
The invention belongs to the technical field of robots, and relates to an amphibious wall-climbing special operation robot and a working method thereof, wherein the robot comprises a robot body; the flow channel control assembly is arranged at the top of the robot body and is used for adjusting the flow of the fluid; the adsorption component is arranged at the inner bottom of the robot body, is positioned below the flow passage control component and is communicated with the flow passage control component; a plurality of motion components arranged at the bottom of the robot body. The pitch adjustment of the propeller blade is realized through the non-contact self-power generation type pitch adjustment assembly, the adjustment of the cross section size of the flow channel control assembly is realized through the flow control device, the stable adsorption wall climbing operation of the robot on the wall surface in liquid and gas fluid media is realized, the free wall climbing switching at the interface of the two fluid media is realized, the stability and the reliability of the wall climbing operation of the robot in various fluid media such as liquid, gas and gas-liquid juncture are improved, and the application range of the wall climbing operation robot is enlarged.
Description
Technical Field
The invention belongs to the technical field of robots, and particularly relates to an amphibious wall climbing special operation robot and a working method.
Background
The wall climbing robot (wall climbing robot) is an automatic robot capable of climbing on a vertical wall and completing operation, the robot is automatically attached to and crawled on the surface of each equipment platform, and the work such as reconnaissance, maintenance, welding, repair and surface sand blasting, polishing and cleaning of the surface of a structure is efficiently completed, so that human beings are liberated from a severe dangerous environment, and the wall climbing robot has high economic and social benefits.
At present, a wall climbing robot working in an air medium (such as a building outer wall, a glass curtain and the like) mainly depends on hoisting, magnetic attraction or vacuum adsorption operation; while the wall climbing robot working in water medium (such as ship wall surface, sea tool surface, etc.) mainly relies on magnetic adsorption, thrust adsorption or negative pressure adsorption. However, in many application scenarios, the wall surface to which the robot is attached is made of a non-magnetic conductive material, and marine organisms grow on the surface of the underwater structure, so that the modes such as magnetic adsorption and vacuum adsorption are not applicable. When the robot moves from the surface of a structure of one medium to another medium (such as a wall climbing robot is used for cleaning attachments on the surface of a ship, overhauling or maintaining a marine equipment platform), if thrust or negative pressure adsorption is used, the adsorption force is rapidly reduced when the robot enters the surface of the structure in the air, so that the robot is triggered to fall off or even topple.
The conventional wall climbing robot can only realize operation in a certain specific medium, for example, an utility model patent with application number 202220224491.8 discloses a negative pressure adsorption type air-land amphibious robot, an utility model patent with application number 202111131364.X discloses an amphibious three-mode flying adsorption wall climbing robot and a control method, an utility model patent with application number 201310118990.4 discloses a flying and wall climbing amphibious robot and a control method thereof, and an utility model patent with application number 201810662969.3 discloses an amphibious robot with flying and wall climbing functions.
The operation of the underwater environment, such as cleaning, detection, welding, spraying and the like, is more required to be completed by a special operation robot, and the robot is required to be capable of stably adsorbing wall climbing operation in two fluid media of gas and liquid.
Disclosure of Invention
The utility model aims to provide an amphibious wall-climbing special operation robot which can realize the stable wall-climbing operation of the robot on a wall surface in a liquid fluid medium, a gas fluid medium and a gas-liquid juncture composite medium.
The technical scheme adopted for solving the technical problems is as follows: an amphibious wall climbing special operation robot, comprising:
the robot body is used for installing and fixing all parts of the robot;
the flow channel control assembly is arranged at the center of the top of the robot body and is used for adjusting the flow rate and the flow velocity of the fluid;
the adsorption component is arranged at the inner bottom of the robot body, is positioned below the flow passage control component and is communicated with the flow passage control component, and is used for providing adsorption force required by crawling on the wall surface of the robot;
the robot comprises a robot body and a plurality of motion components arranged at the bottom of the robot body and used for driving the robot to finish wall crawling motion.
Specifically, the flow channel control assembly comprises a body, a control motor, a flow guiding device and a flow control device, wherein the body is in a circular shape, a circular through hole which is matched with the body is formed in the top of the robot body, the body is fixedly arranged at the circular through hole in the top of the robot body, the flow control device is arranged in the body, the flow guiding device is arranged at the center of the body, the inner end of the flow control device is connected with the outer wall of the flow guiding device, the control motor is arranged on the outer side of the body, an output shaft of the control motor penetrates through the body and is connected with the outer end of the flow control device, the flow control device is driven by the control motor to adjust the size of the flow channel section, and then the fluid flow passing through the flow channel control assembly is adjusted.
Further, the body includes solid fixed ring and fixed shell, and solid fixed ring and the circular through-hole sealing connection at robot body top, and the fixed shell sets up and envelops in solid fixed ring's outside, forms annular cavity between fixed shell and the solid fixed ring.
Further, the flow control device includes: the trapezoid fan blade, the guide shaft, the driving shaft, the bearing seat, the driving gear, the reversing gear and the reversing shaft I are uniformly distributed with a plurality of driving gears on the outer wall of the fixed ring, the number of the reversing gears is one less than that of the driving gears, one side of each driving gear is sequentially arranged at intervals with the reversing gears, the adjacent driving gears are sequentially meshed with the reversing gears, the reversing gears are not arranged between the other side of the initial driving gear and the driving gear at the tail end, the driving gear and the reversing gear are both arranged on the outer wall of the fixed ring through the bearing seat, the reversing gears are rotationally connected with the bearing seat through the reversing shaft I, the driving gears are rotationally connected with the bearing seat through the driving shaft, the number of the trapezoidal fan blades is consistent with the number of the driving gears and the positions of the trapezoidal fan blades correspond to each other, the inner ends of the trapezoidal fan blades are rotationally connected to the outer wall of the flow guiding device through guide shafts, the outer ends of the trapezoidal fan blades penetrate through the fixing rings through the guide shafts and are connected with bearing seats connected with the driving shafts, the initial driving gears are connected with output shafts of the control motor, the control motor drives the initial driving gears to rotate, the driving gears and the reversing gears are sequentially meshed and connected, all driving gears connected to the outer walls of the fixing rings are driven to synchronously rotate, and the driving gears are driven to drive the trapezoidal fan blades to rotate through the driving shafts, the bearing seats and the guide shafts to achieve angle posture adjustment, and therefore the flow passage section size adjustment between the fixing rings and the flow guiding device is achieved.
Further, the inner wall of the fixed ring is a concave arc surface with a large middle diameter and a small upper and lower top surface diameters, the outer wall of the flow guiding device is a convex arc surface with a large middle diameter and a small upper and lower top surface diameters, one end of each trapezoidal fan blade connected with the flow guiding device is a concave arc surface matched with the outer wall of the flow guiding device, one end of each trapezoidal fan blade connected with the fixed ring is a convex arc surface matched with the inner wall of the fixed ring, and when all the trapezoidal fan blades rotate to a horizontal position, the adjacent trapezoidal fan blades and the trapezoidal fan blades, the fixed ring and the flow guiding device are bonded and sealed, so that the annular flow channel between the fixed ring and the flow guiding device is completely closed; the driving shaft, the bearing seat, the driving gear, the reversing gear and the reversing shaft I are all positioned in the annular cavity between the fixed shell and the fixed ring.
Specifically, the adsorption component comprises an adsorption power motor, a power transmission component, a self-generating component, a blade pitch adjusting component, a propeller hub and a guide cylinder, wherein the guide cylinder is arranged right below the flow channel control component, the power transmission component, the self-generating component, the blade pitch adjusting component, the propeller and the propeller hub are all arranged in the guide cylinder, the propeller hub is provided with two groups, each group of propeller hubs comprises a propeller column, the propeller column comprises a first propeller column and a second propeller column, the first propeller column and the second propeller column are coaxially arranged up and down, a plurality of propellers are arranged on the first propeller column and the second propeller column, and the blade pitch adjusting component is connected with the propellers and used for adjusting the blade pitches of the propellers; the power transmission assembly is connected with the first oar post and the second oar post respectively, drives the first oar post and the second oar post to rotate, and the below of power transmission assembly is equipped with from generating assembly, and from generating assembly is used for supplying power for the blade pitch adjustment assembly in the first oar post and the second oar post.
Further, the power transmission assembly comprises a base body, a shaft coupling, a power input shaft, a reversing bevel gear, a first supporting bearing, a reversing shaft II and a power bevel gear, wherein the base body is fixedly connected with the robot body and is fixed at the center of the upper part in the guide cylinder, the power input shaft, the reversing bevel gear, the first supporting bearing, the reversing shaft II and the power bevel gear are all arranged in the base body, the reversing bevel gear comprises a first reversing bevel gear and a second reversing bevel gear, the second reversing bevel gear is positioned below the first reversing bevel gear and is coaxial, the reversing shaft II comprises a first reversing shaft and a second reversing shaft, the second reversing shaft is sleeved on the first reversing shaft, the inner diameter of the second reversing shaft is larger than the outer diameter of the first reversing shaft, the first reversing shaft can realize non-contact rotation in the second reversing shaft, the adsorption power motor is connected with one end of the power input shaft through the shaft coupling, and the other end of the power input shaft is connected with the power bevel gear; the first reversing umbrella tooth and the second reversing umbrella tooth are both meshed with the power umbrella tooth, the second reversing umbrella tooth sleeve is fixed on the upper portion of the second reversing shaft, the bottom of the second reversing shaft is fixedly connected with the first paddle column, the first reversing umbrella tooth is fixedly connected to the top of the first reversing shaft, the bottom of the first reversing shaft downwards penetrates through the second reversing shaft and the first paddle column and then is fixedly connected with the second paddle column, and the first reversing umbrella tooth, the second reversing umbrella tooth and the power umbrella tooth are respectively installed in the matrix through the first supporting bearing.
The adsorption power motor drives the power input shaft and the power bevel gear to rotate, and the first reversing bevel gear drives the first reversing shaft to rotate through the meshing action of the power bevel gear, the first reversing bevel gear and the second reversing bevel gear, so that the second propeller post and the propeller on the second propeller post are driven to integrally rotate; the second reversing bevel gear drives the second reversing shaft to rotate, and then drives the first propeller post and the propeller on the first propeller post to integrally rotate.
Further, the second reversing shaft also comprises two keys and a second supporting bearing, wherein the two keys are respectively and horizontally arranged on the first paddle column and the second paddle column, one end of each key on the first paddle column is fixed on the first paddle column, and the other end of each key is fixedly connected to the second reversing shaft, so that the second reversing shaft drives the first paddle column to integrally rotate when rotating; one end of a key on the second paddle column is fixed on the second paddle column, and the other end of the key is fixedly connected to the first reversing shaft, so that the second paddle column is driven to integrally rotate when the first reversing shaft rotates; the second support bearings are four and are respectively arranged at the upper part and the lower part in the first paddle column and the second paddle column from top to bottom, and the second support bearings are coaxial with the first paddle column and the second paddle column.
Further, the self-generating assembly comprises a magnet, a first exciting coil, a first receiving coil, a second exciting coil and a second receiving coil, wherein the magnet is fixedly arranged at the bottom of the base body and distributed in a ring shape, and the magnet and the first receiving coil are arranged in the N, S direction according to requirements so as to realize an electromagnetic induction effect. The magnet outside is close to first receiving coil, and first exciting coil level sets up in the base member of magnet top, and magnet and first receiving coil all are located the top in the first oar post, and magnet and first receiving coil are located same horizontal plane, and the bottom in the first oar post is equipped with second exciting coil, and the top in the second oar post is equipped with second receiving coil.
When the adsorption power motor is started, the second reversing shaft is driven to rotate under the transmission action of the coupler, the power input shaft, the power bevel gear and the second reversing bevel gear in sequence, the second reversing shaft drives the first paddle column to rotate, the first receiving coil on the first paddle column rotates around the magnet, and the first receiving coil generates induction current through magnetic force lines generated by cutting the magnet; on the one hand, the first receiving coil supplies power for the blade pitch adjusting component in the first propeller post, on the other hand, the first receiving coil supplies power for the second exciting coil at the bottom in the first propeller post, then the second exciting coil generates an exciting magnetic field, and the second receiving coil in the second propeller post generates induction current through an electromagnetic induction principle to realize non-contact power generation and supply power for the blade pitch adjusting component in the second propeller post.
As a standby preferred scheme, when the adsorption power motor is not started, the pitch adjusting function of the propeller can be realized, and the method specifically comprises the following steps: the first exciting coil is powered by an external power supply, the first exciting coil generates a magnetic field, the first receiving coil achieves a power generation effect through electromagnetic induction, on one hand, the first receiving coil supplies power for a blade pitch adjusting assembly in the first paddle column, on the other hand, the first receiving coil supplies power for a second exciting coil at the bottom in the first paddle column and excites the magnetic field, and the second receiving coil in the second paddle column supplies power for the blade pitch adjusting assembly in the second paddle column through the magnetic field generated by the electromagnetic induction of the second exciting coil.
Further, the blade pitch adjustment assembly includes a first pitch adjustment module and a second pitch adjustment module.
The first pitch adjusting module is arranged in the first propeller post and comprises a first pitch adjusting motor, a first hollow coupler, first pitch adjusting power bevel gears and a plurality of first pitch adjusting synchronous bevel gears, wherein the first pitch adjusting motor is fixedly arranged at the lower part in the first propeller post, a first receiving coil supplies power for the first pitch adjusting motor, the output end of the first pitch adjusting motor is connected with the first pitch adjusting power bevel gears through the first hollow coupler, the first pitch adjusting power bevel gears are positioned at the upper part in the first propeller post, the top parts of the first pitch adjusting power bevel gears are connected with a second supporting bearing, the number of the first pitch adjusting synchronous bevel gears is consistent with that of the propellers on the first propeller post, one end of each first pitch adjusting synchronous bevel gear is fixedly connected with the corresponding propeller, the other end of each first pitch adjusting synchronous bevel gear is in meshed connection with the corresponding propeller, each first pitch adjusting motor, each first hollow coupler and each first pitch adjusting power bevel gear is of a hollow shaft structure, each hollow structure is a first reversing shaft non-contact longitudinal penetrating power bevel gear, and the hollow shaft is larger than the outer diameter of the first reversing shaft; the first pitch-adjusting motor drives the first pitch-adjusting power bevel gear to rotate through the first hollow coupling, so that a plurality of first pitch-adjusting synchronous bevel gears in meshed connection are driven to rotate, and then the propeller is driven to rotate, and the propeller blade angle pitch adjustment of the first propeller post is realized.
The second pitch adjusting module comprises a second pitch adjusting motor, a second hollow coupler, second pitch adjusting power bevel gears, a third supporting bearing and a plurality of second pitch adjusting synchronous bevel gears, wherein the second pitch adjusting motor is fixedly arranged at the lower part in a second pitch column, a second receiving coil supplies power for the second pitch adjusting motor, an output shaft of the second pitch adjusting motor is connected with the second pitch adjusting power bevel gears through the second hollow coupler, the second pitch adjusting power bevel gears are positioned at the upper part in the second pitch column, the top parts of the second pitch adjusting power bevel gears are connected with the second pitch column through the third supporting bearing, the third supporting bearing is positioned on the lower axis of the top part in the second pitch column, the outer end face is fixed in the second pitch column, and the inner end face is sleeved on the circumference of the outer end face of the second pitch adjusting power bevel gears so as to realize the rotation of the second pitch adjusting power bevel gears relative to the second pitch column. The key of the second pitch-adjusting synchronous bevel gear is transversely arranged between the third support bearing and the second support bearing at the inner top of the second pitch-adjusting power bevel gear, the number of the second pitch-adjusting synchronous bevel gear is consistent with that of the propellers on the second pitch-adjusting synchronous bevel gear, one end of the second pitch-adjusting synchronous bevel gear is fixedly connected with the corresponding propellers, the other end of the second pitch-adjusting synchronous bevel gear is meshed with the second pitch-adjusting power bevel gear, the second pitch-adjusting motor, the second hollow coupler and the second pitch-adjusting power bevel gear are of hollow shaft structures, the hollow structures are reserved spaces for the first reversing shaft to longitudinally penetrate through the first pitch-adjusting power bevel gear in a non-contact manner, and the inner diameter of the hollow structures is larger than the outer diameter of the first reversing shaft; the second pitch-adjusting motor drives the second pitch-adjusting power bevel gear to rotate through the second hollow coupler, so that a plurality of second pitch-adjusting synchronous bevel gears in meshed connection are driven to rotate, and then the propeller is driven to rotate, and the propeller blade angle pitch adjustment of the second propeller post is realized.
Further, the propeller comprises a blade, a stern shaft and a stern shaft bearing, wherein the blade is fixedly connected to the outer end of the stern shaft, and the inner end of the stern shaft is fixedly connected with the corresponding first pitch-adjusting synchronous bevel gear and second pitch-adjusting synchronous bevel gear through the stern shaft bearing.
Further, the oar hub still includes apron and kuppe, and the apron includes oar post upper cover plate and oar post lower cover plate, and the top of first oar post and second oar post all is equipped with oar post upper cover plate, and the bottom of first oar post and second oar post all is equipped with oar post lower cover plate, and the kuppe sets up in the below of second oar post, and the kuppe is connected fixedly with the bottom of first switching-over axle.
Preferably, a power conditioning module and a motor control module circuit can be arranged between the first receiving coil and the first distance-adjusting motor and between the first receiving coil and the second exciting coil, so that magnetic field excitation control and motor control are respectively realized, and efficient electromagnetic induction discovery and propeller pitch self-adaptive control are realized.
It is also preferred that a motor control module circuit is provided between the second excitation coil and the second pitch motor, so that an adaptive control of the pitch of the propeller in the second pitch adjustment module is achieved.
Preferably, the pitch adjustment angles of the propellers in the first pitch adjustment module and the second pitch adjustment module can be respectively and independently adjusted and uncoupled according to actual conditions, so that high efficiency and self-adaptive characteristics of fluid propulsion are realized.
Preferably, the number of blades in the first and second pitch adjustment modules may be set as required to achieve the highest efficiency of the fluid propulsion.
Further, the robot body includes the frame, and the frame is used for installing and connecting runner control assembly, absorption subassembly and motion subassembly, and the bottom of frame is equipped with the bottom plate that is used for forming negative pressure absorption passageway, and the periphery bottom of frame is equipped with the kicking block, and the kicking block is used for making the robot body produce buoyancy in liquid medium.
Further, the motion assembly is an important mechanism for driving the robot to finish wall crawling motion and can be a wheel type motion mechanism, a crawler type motion mechanism and the like.
Furthermore, for the wall-climbing special working robot, besides the basic components, corresponding working load tools such as cavitation cleaning systems, mechanical arm working systems and the like can be mounted according to requirements.
The invention relates to a working method of an amphibious wall-climbing special operation robot, which comprises a crawling motion method of the robot in an adsorption state on a wall surface and an adsorption adjustment method of the robot in different fluid media.
The crawling movement method of the robot in the adsorption state on the wall surface comprises the following steps:
1) The adsorption power motor drives the power bevel gear to rotate through the power input shaft, so that the first reversing bevel gear and the second reversing bevel gear which are in meshed connection with the power bevel gear are driven to rotate, the first reversing bevel gear drives the first reversing shaft fixedly connected with the first reversing bevel gear to rotate, the first reversing shaft is fixedly connected with the second oar post through a key, and then the second oar post and a propeller on the second oar post are driven to rotate; the second reversing umbrella tooth drives the second reversing shaft to rotate, and the second reversing shaft is fixedly connected with the first propeller post through a key, so that the first propeller post and the propeller on the first propeller post are driven to integrally rotate.
2) The propeller drives fluid to flow, and the fluid upwards flows through the flow channel control assembly through the draft tube between bottom plate and the wall of robot body and discharges, and the runner sectional area is little, and the velocity of flow is fast, according to Bernoulli's equation:it is known that: the pressure intensity of the flow velocity is high, the pressure intensity of the place with high flow velocity is low, so that the fluid pressure in the channel between the bottom plate and the wall surface of the robot body 1 and in the guide cylinder and the guide device is lower than the outside, the robot body is extruded on the wall surface by the pressure intensity of the fluid, and the negative pressure adsorption function is realized by the robot.
3) The robot can creep on the wall surface by controlling the motion assembly to move back and forth and turn.
The adsorption adjusting method of the robot in different fluid media comprises the following steps:
1) When the fluid medium is gas, the blade pitch of the propeller is increased and the size of the fluid channel section of the flow channel control assembly is reduced due to the smaller viscosity of the fluid:
a. the first pitch-adjusting motor rotates positively, the first pitch-adjusting power bevel gear is driven to rotate through the first hollow coupler, and then a plurality of first pitch-adjusting synchronous bevel gears meshed with the first pitch-adjusting power bevel gear are driven to rotate, the first pitch-adjusting synchronous bevel gears are fixedly connected with a stern shaft of the propeller, and the stern shaft is fixedly connected with a blade, so that the blade is driven to rotate, and the blade pitch on a first blade column is increased; similarly, the second pitch-adjusting motor rotates positively, and finally the pitch of the blades on the second blade column is increased;
b. the motor is controlled to rotate positively to drive the initial driving gear to rotate, all driving gears on the outer wall of the fixed ring are driven to rotate synchronously through the meshing action of the adjacent driving gears and the reversing gear, the driving gears are connected with the guide shafts on the inner wall of the fixed ring through driving shafts and bearing seats to drive the guide shafts and the trapezoid fan blades connected with the guide shafts to rotate synchronously, the trapezoid fan blades are positioned between the fixed ring and the flow guiding device, the cross section of a fluid channel between the fixed ring and the flow guiding device is gradually reduced in the rotating process of the trapezoid fan blades to a horizontal or nearly horizontal state, the rotating angle of the trapezoid fan blades is selected according to the requirement, and when the trapezoid fan blades rotate to the horizontal or nearly horizontal state, the trapezoid fan blades are completely sealed, and fluid can only pass through the inner wall flow channels of the flow guiding device;
2) When the fluid medium is liquid, the blade pitch of the propeller can be reduced at the moment due to the increase of the viscosity of the fluid, and the size of the section of the fluid channel of the flow passage control assembly is increased: the first pitch-adjusting motor rotates reversely, and finally drives the paddles to rotate reversely, so that the pitch of the paddles on the first paddle column is reduced; the second pitch-adjusting motor rotates reversely, and finally the pitch of the blades on the second blade column is reduced; controlling the motor to rotate reversely, finally driving the trapezoidal fan blades to rotate to a vertical or nearly vertical state, gradually increasing the section of the fluid channel between the fixed ring and the flow guiding device, selecting the rotation angle of the trapezoidal fan blades according to the requirement, and maximizing the section of the fluid channel between the fixed ring and the flow guiding device when the trapezoidal fan blades rotate to the vertical or nearly vertical state;
3) When the robot is positioned at the gas-liquid interface, the forward and reverse rotation of the first distance-adjusting motor and the second distance-adjusting motor are adjusted according to the requirement, the propeller pitch is adjusted, the range of the adjustment is adjusted to the state between the maximum value and the minimum value of the pitch according to the requirement, the forward and reverse rotation of the motor is synchronously controlled, the adjustment of the posture of the trapezoid fan blades is realized, the range of the adjustment is adjusted to the state between the horizontal and the vertical of the fan blades according to the requirement, the balance of the fluid flow and the speed is further realized, the accurate and controllable adsorption force of the robot body on the wall surface at the gas-liquid interface is realized, and therefore the robot body is enabled to be stably adsorbed and moved from a gas medium to a liquid medium or from the liquid medium to the gas medium.
The invention has the following beneficial effects: according to the amphibious wall climbing special operation robot, the blade pitch of the propeller is automatically adjusted independent of external energy sources through the blade pitch adjusting component, the flow control device is used for adjusting the flow passage section of the flow passage controlling component, so that the wall climbing operation of the robot on the wall surface in liquid and gas fluid media is realized, the wall climbing transition of the robot at a gas-liquid interface is creatively realized, the stability and the reliability of the wall climbing operation of the robot in the liquid and gas fluid media are improved, the wall climbing switching can be freely carried out at the interface of the two fluid media, and the application range of the wall climbing operation robot is enlarged.
Drawings
Fig. 1 is a perspective view of the overall structure of the amphibious wall climbing special operation robot of the present invention.
Fig. 2 is a bottom view of the amphibious wall climbing special operation robot of the present invention.
Fig. 3 is a left side view of the amphibious wall climbing special operation robot of the present invention.
Fig. 4 is a cross-sectional view taken along A-A in fig. 3.
Fig. 5 is an enlarged view of the structure of the portion C in fig. 4.
Fig. 6 is a perspective view showing the overall structure of the flow path control assembly of the present invention.
FIG. 7 is a perspective view of the overall structure of the flow control assembly of the present invention with the stationary housing removed.
FIG. 8 is a top view of the flow control assembly of the present invention with the stationary housing removed.
FIG. 9 is a front view of the flow control assembly of the present invention with the stationary housing removed.
FIG. 10 is a schematic view of a flow control assembly of the present invention with trapezoidal blades in a vertical position.
FIG. 11 is a schematic view of a flow control assembly according to the present invention with trapezoidal blades in a horizontal position.
Fig. 12 is a perspective view of the overall structure of the adsorption module of the present invention.
Fig. 13 is a front view of an adsorption module of the present invention.
Fig. 14 is a sectional view taken along line B-B of fig. 13.
Fig. 15 is an enlarged view of the structure of the portion D in fig. 14.
Fig. 16 is an enlarged view of the structure of the portion E in fig. 14.
Fig. 17 is an enlarged view of the structure of the F portion in fig. 14.
In the figure, 1, a robot body, 2, a flow path control unit, 3, an adsorption unit, 4, a motion unit, 5, a work load tool, 11, a frame, 12, a float, 13, a base plate, 21, a unit body, 22, a control motor, 23, a flow guiding device, 24, a flow control device, 211, a fixed ring, 212, a fixed case, 241, trapezoidal blades, 242, a guide shaft, 243, a drive shaft, 244, a bearing block, 245, a drive gear, 246, a reversing gear, 247, a reversing shaft one, 31, an adsorption power motor, 32, a power transmission unit, 33, a self-generating unit, 34, a blade pitch adjustment unit, 35, a propeller, 36, a hub, 37, a guide cylinder, 321, a base body, 322, a coupling, 323, a power input shaft, 324, a reversing bevel gear, 325, a first support bearing, 326, a reversing shaft two, 327, a power bevel gear one, 3241, a first reversing bevel gear one, 3242, a second reversing bevel gear one, 3261, first shaft, 3262, second shaft, 3263, key, 3264, second support bearing, 331, magnet, 332, first excitation coil, 333, first reception coil, 334, second excitation coil, 335, second reception coil, 341, first pitch adjustment module, 342, second pitch adjustment module, 3411, first pitch motor, 3412, first hollow shaft, 3412, first pitch adjustment power bevel gear, 3421, second pitch adjustment motor, 3422, second hollow shaft, 3423, second pitch adjustment power bevel gear, 3424, second pitch adjustment synchronization bevel gear, 3425, third support bearing, 351, blade, 352, stern shaft, 353, stern shaft bearing, 361, pitch adjustment cover plate, 363, pod, 3611, first pitch adjustment shaft, 3612, second pitch adjustment bevel gear, upper pitch adjustment cover plate, 3622, pitch adjustment lower pitch adjustment cover plate, 41. wheel system, 42, motion driving module.
Detailed Description
The following are specific examples of the present invention, and the technical solutions of the present invention are further described, but the scope of the present invention is not limited to these examples. All changes and equivalents that do not depart from the gist of the invention are intended to be within the scope of the invention.
As shown in fig. 1-4, an amphibious wall climbing special operation robot includes:
a robot body 1 for mounting and fixing each part of the robot;
the flow channel control assembly 2 is arranged in the center of the top of the robot body 1 and is used for adjusting the flow rate and the flow velocity of the fluid;
the adsorption component 3 is arranged at the inner bottom of the robot body 1, the adsorption component 3 is positioned below the flow channel control component 2 and is communicated with the flow channel control component 2, and the adsorption component 3 is used for providing adsorption force required by the crawling of the wall surface of the robot;
the plurality of motion components 4 are arranged at the bottom of the robot body 1 and are used for driving the robot to finish wall crawling motion.
The motion assembly 4 is an important mechanism for driving the robot to finish wall crawling motion, and can be a wheel type motion mechanism, a crawler type motion mechanism and the like, wherein the wheel type motion mechanism is adopted in the invention, the motion assembly 4 comprises a wheel train 41 and a motion driving module 42, and the motion driving module 42 drives the wheel train 41 to drive the robot body 1 to move. The gear train 41 and the motion driving module 42 are both of the prior art, and the specific structure thereof is not described in detail in the present invention.
As shown in fig. 6, the flow channel control assembly 2 includes a body 21, a control motor 22, a flow guiding device 23 and a flow control device 24, the body 21 is in a circular shape, a circular through hole adapted to the body 21 is formed in the top of the robot body 1, the body 21 is fixedly arranged at the circular through hole in the top of the robot body 1, the flow control device 24 is arranged in the body 21, the flow guiding device 23 is arranged at the center of the body 21, the inner end of the flow control device 24 is connected with the outer wall of the flow guiding device 23, the control motor 22 is arranged at the outer side of the body 21, an output shaft of the control motor 22 penetrates through the body 21 and is connected with the outer end of the flow control device 24, the control motor 22 drives the flow control device 24 to adjust the cross section of the flow channel, and then the fluid flow passing through the flow channel control assembly 2 is adjusted.
The body 21 includes a fixed ring 211 and a fixed shell 212, the fixed ring 211 is in sealing connection with a circular through hole at the top of the robot body 1, the fixed shell 212 is arranged and enveloped outside the fixed ring 211, and an annular cavity is formed between the fixed shell 212 and the fixed ring 211.
As shown in fig. 7-9, the flow control device 24 includes: the trapezoid fan blade 241, the guide shaft 242, the driving shaft 243, the bearing seat 244, the driving gear 245, the reversing gear 246 and the reversing shaft 247, a plurality of driving gears 245 are uniformly distributed on the outer wall of the fixed ring 211, the number of the reversing gears 246 is one less than that of the driving gears 245, one side of each driving gear 245 is sequentially arranged at intervals with the reversing gears 246, the adjacent driving gears 245 are sequentially meshed with the reversing gears 246, no reversing gear 246 is arranged between the other side of the initial driving gear 245 and the driving gear 245 at the tail end, the driving gear 245 and the reversing gear 246 are both arranged on the outer wall of the fixed ring 211 through the bearing seat 244, the reversing gear 246 is rotationally connected with the bearing seat 244 through the reversing shaft 247, the driving gear 245 is rotationally connected with the bearing seat 244 through the driving shaft 243, the number of the trapezoid fan blades 241 is consistent with the number of the driving gears 245 and the positions of the trapezoid fan blades correspond to each other, the inner ends of the trapezoid fan blades 241 are rotationally connected to the outer wall of the flow guiding device 23 through guide shafts 242, the outer ends of the trapezoid fan blades 241 penetrate through the fixed ring 211 and are connected with bearing seats 244 connected with driving shafts 243 through the guide shafts 242, the initial driving gears 245 are connected with the output shafts of the control motor 22, the control motor 22 drives the initial driving gears 245 to rotate, all driving gears 245 connected to the outer wall of the fixed ring 211 are driven to synchronously rotate through the sequentially meshed connection of the driving gears 245 and reversing gears 246, and the driving gears 245 are driven to rotate through the connection of the driving shafts 243, the bearing seats 244 and the guide shafts 242, so that angle posture adjustment is achieved by driving the trapezoid fan blades 241 to rotate, and flow passage section size adjustment between the fixed ring 211 and the flow guiding device 23 is finally achieved.
The inner wall of the fixed ring 211 is a concave arc surface with a large middle diameter and a small upper and lower top surface diameters, the outer wall of the flow guiding device 23 is a convex arc surface with a large middle diameter and a small upper and lower top surface diameters, one end of the trapezoid fan blade 241 connected with the flow guiding device 23 is a concave arc surface matched with the outer wall of the flow guiding device 23, one end of the trapezoid fan blade 241 connected with the fixed ring 211 is a convex arc surface matched with the inner wall of the fixed ring 211, when all the trapezoid fan blades 241 rotate to a horizontal position, the adjacent trapezoid fan blades 241 and the trapezoid fan blades 241, the fixed ring 211 and the flow guiding device 23 are bonded and sealed, so that the annular flow passage between the fixed ring 211 and the flow guiding device 23 is completely closed, as shown in fig. 11; when all the trapezoidal blades 241 are rotated to the vertical position, the flow path cross section between the fixing ring 211 and the flow guiding device 23 is maximized as shown in fig. 10. The drive shaft 243, bearing housing 244, drive gear 245, reversing gear 246, reversing shaft one 247 are all located in an annular cavity between the stationary housing 212 and the stationary ring 211.
As shown in fig. 5 and 12, the adsorption assembly 3 includes an adsorption power motor 31, a power transmission assembly 32, a self-generating assembly 33, a blade pitch adjusting assembly 34, a propeller 35, a hub 36 and a guide cylinder 37, the guide cylinder 37 is arranged under the flow channel control assembly 2, the power transmission assembly 32, the self-generating assembly 33, the blade pitch adjusting assembly 34, the propeller 35 and the hub 36 are all arranged in the guide cylinder 37, the hub 36 is provided with two groups, each group of hubs 36 includes a blade column 361, the blade column 361 includes a first blade column 3611 and a second blade column 3612, the first blade column 3611 and the second blade column 3612 are coaxially arranged up and down, a plurality of propellers 35 are arranged on the first blade column 3611 and the second blade column 3612, the blade pitch adjusting assembly 34 is arranged in the first blade column 3611 and the second blade column 3612, and the blade pitch adjusting assembly 34 is connected with the propellers 35 and is used for adjusting the blades of the propellers 35; the adsorption power motor 31 is transversely installed and fixed inside the robot body 1, the top of the power transmission assembly 32 is fixedly connected with the robot body 1, an output shaft of the adsorption power motor 31 is connected with the power transmission assembly 32, the first paddle column 3611 and the second paddle column 3612 are sequentially arranged below the power transmission assembly 32, the power transmission assembly 32 is respectively connected with the first paddle column 3611 and the second paddle column 3612 and drives the first paddle column 3611 and the second paddle column 3612 to rotate, a self-generating assembly 33 is arranged below the power transmission assembly 32, and the self-generating assembly 33 is used for supplying power to the blade pitch adjusting assemblies 34 in the first paddle column 3611 and the second paddle column 3612.
As shown in fig. 5, 12, 14 and 15, the power transmission assembly 32 comprises a base 321, a coupler 322, a power input shaft 323, a reversing bevel gear 324, a first support bearing 325, a reversing shaft second 326 and a power bevel gear 327, wherein the base 321 is fixedly connected with the robot body 1, the power input shaft 323, the reversing bevel gear 324, the first support bearing 325, the reversing shaft second 326 and the power bevel gear 327 are respectively arranged in the base 321 and are fixedly arranged at the center above the inside of the guide cylinder 37, the reversing bevel gear 324 comprises a first reversing bevel gear 3241 and a second reversing bevel gear 3242, the second reversing bevel gear 3242 is positioned below the first reversing bevel gear 3241 and is positioned at the same axis, the reversing shaft second 326 comprises a first reversing shaft 3261 and a second reversing shaft 3262, the second reversing shaft 3262 is sleeved on the first reversing shaft 3261, the inner diameter of the second reversing shaft 3262 is larger than the outer diameter of the first reversing shaft 3261, the first reversing shaft 3261 can rotate in the second shaft 3262 in a non-contact manner, the adsorption power motor 31 is fixedly connected with the first reversing shaft 3262 through the coupler and the first reversing shaft 3241 and the second reversing shaft 3242, the second reversing shaft 3242 is fixedly connected with the first reversing gear 3242 and the second reversing shaft 3262 through the first reversing gear 3211, the bottom of the second reversing shaft 3242 is fixedly connected with the first reversing shaft 3262, the second reversing gear 3211 is fixedly arranged at the bottom of the first reversing gear 3242, the second reversing gear 3242 is in the second reversing shaft 3262 is in contact with the second reversing gear 3211, and the second reversing gear 3211 is in the other end is in contact with the first reversing gear 3211, and the first reversing gear 3211, the first reversing gear 3211 is fixedly connected with the second reversing gear 3262, and the first reversing gear is in the bottom, and the first reversing gear is in the first reversing gear and the first reversing gear.
The adsorption power motor 31 drives the power input shaft 323 and the power bevel gear 327 to rotate, and the first reversing bevel gear 3241 drives the first reversing shaft 3261 to rotate through the meshing action of the power bevel gear 327 with the first reversing bevel gear 3241 and the second reversing bevel gear 3242, so that the second propeller post 3612 and the propeller 35 on the second propeller post 3612 are driven to integrally rotate; the second reversing bevel gear 3242 drives the second reversing shaft 3262 to rotate, and further drives the first propeller post 3611 and the propeller 35 on the first propeller post 3611 to integrally rotate.
As shown in fig. 12-14, the second reversing shaft 326 further includes two keys 3263 and a second supporting bearing 3264, the two keys 3263 are respectively horizontally arranged on the first paddle column 3611 and the second paddle column 3612, one end of the key 3263 on the first paddle column 3611 is fixed on the first paddle column 3611, and the other end is fixedly connected to the second reversing shaft 3262, so that the second reversing shaft 3262 drives the first paddle column 3611 to integrally rotate when rotating; one end of a key 3263 on the second paddle 3612 is fixed on the second paddle 3612, and the other end is fixedly connected to the first reversing shaft 3261, so that the second paddle 3612 is driven to integrally rotate when the first reversing shaft 3261 rotates; the second support bearings 3264 are four, and are disposed in the first paddle column 3611 and in the upper portion and the lower portion of the second paddle column 3612 from top to bottom, the second support bearings 3264 are coaxial with the first paddle column 3611 and the second paddle column 3612, the inner diameter of the two second support bearings 3264 in the first paddle column 3611 is larger than the outer diameter of the first reversing shaft 3261, and the second paddle column 3612 is connected with the first reversing shaft 3261 through the two second support bearings 3264.
As shown in fig. 14, the self-generating assembly 33 includes a magnet 331, a first exciting coil 332, a first receiving coil 333, a second exciting coil 334, and a second receiving coil 335, where the magnet 331 is fixedly mounted at the bottom of the base 321 and distributed in a ring shape, and the direction N, S is arranged as required and can achieve an electromagnetic induction effect with the first receiving coil 333. The outside of the magnet 331 is close to the first receiving coil 333, the first exciting coil 332 is horizontally arranged in the base 321 above the magnet 331, the magnet 331 and the first receiving coil 333 are both positioned at the top in the first paddle 3611, the magnet 331 and the first receiving coil 333 are positioned on the same horizontal plane, the bottom in the first paddle 3611 is provided with the second exciting coil 334, and the top in the second paddle 3612 is provided with the second receiving coil 335.
When the adsorption power motor 31 is started, the second reversing shaft 3262 is driven to rotate by the transmission action of the coupler 322, the power input shaft 323, the power bevel gear 327 and the second reversing bevel gear 3242 in sequence, the second reversing shaft 3262 drives the first paddle column 3611 to rotate, the first receiving coil 333 on the first paddle column 3611 rotates around the magnet 331, and the first receiving coil 333 generates induction current through magnetic force lines generated by the cutting magnet 331; on the one hand, the first receiving coil 333 supplies power to the blade pitch adjustment assembly 34 in the first blade column 3611, and on the other hand, the first receiving coil 333 supplies power to the second exciting coil 334 at the bottom in the first blade column 3611, then the second exciting coil 334 generates an exciting magnetic field, and the second receiving coil 335 in the second blade column 3612 generates induced current through the electromagnetic induction principle to realize contactless power generation and supply power to the blade pitch adjustment assembly 34 in the second blade column 3612.
As a standby preferred solution, when the adsorption power motor 31 is not started, the pitch adjustment function of the propeller can be realized as well, specifically: the first exciting coil 332 is powered by an external power supply, the first exciting coil 332 generates a magnetic field, the first receiving coil 333 realizes a generating function by electromagnetic induction, on one hand, the first receiving coil 333 supplies power to the blade pitch adjusting component 34 in the first paddle column 3611, on the other hand, the first receiving coil 333 supplies power to the second exciting coil 334 at the bottom in the first paddle column 3611 and excites the magnetic field, the second receiving coil 335 in the second paddle column 3612 supplies power to the blade pitch adjusting component 34 in the second paddle column 3612 by electromagnetic induction of the magnetic field generated by the second exciting coil 334
In another embodiment of the present invention, the second excitation coil 334 may be replaced with a magnet that generates a magnetic field for cutting by the second receiving coil 335, the second receiving coil 335 powering the blade pitch adjustment assembly 34 within the second blade column 3612.
As shown in fig. 14, blade pitch adjustment assembly 34 includes a first pitch adjustment module 341 and a second pitch adjustment module 342.
As shown in fig. 16, the first pitch adjustment module 341 is disposed in the first pitch column 3611, the first pitch adjustment module 341 includes a first pitch motor 3411, a first hollow shaft coupling 3412, first pitch power bevel gears 3413, and a plurality of first pitch synchronization bevel gears 3414, the first pitch motor 3411 is fixedly mounted at a lower portion in the first pitch column 3611, the first receiving coil 333 supplies power to the first pitch motor 3411, an output end of the first pitch motor 3411 is connected with the first pitch power bevel gears 3413 through the first hollow shaft coupling 3412, the first pitch power bevel gears 3413 are located at an upper portion in the first pitch column 3611, a top of the first pitch power bevel gears 3413 is connected with the second support bearing 3264, a number of the first pitch synchronization bevel gears 3414 is consistent with a number of the propellers 35 on the first pitch synchronization bevel gears 3611, one end of the first pitch synchronization bevel gears 3414 is fixedly connected with the corresponding propellers 35, another end of the first pitch synchronization bevel gears 3414 is in contact with the first pitch power bevel gears 3413, the first pitch power bevel gears 3413 are in hollow shaft diameter-free contact with the first pitch power bevel gears 3413, the first pitch power bevel gears 3413 have no hollow shaft diameter 3261, and no hollow shaft diameter is in contact with the first pitch power shaft 3413, and no hollow shaft diameter is in contact with the first pitch power structure; the first pitch-adjusting motor 3411 drives the first pitch-adjusting power bevel gear 3413 to rotate through the first hollow coupling 3412, so that a plurality of first pitch-adjusting synchronous bevel gears 3414 which are in meshed connection are driven to rotate, and further, the propeller 35 is driven to rotate, and the adjustment of the propeller 35 blade angle pitch of the first propeller post 3611 is realized.
As shown in fig. 17, the second pitch adjustment module 342 includes a second pitch adjustment motor 3421, a second hollow coupling 3422, a second pitch adjustment power bevel gear 3423, a third support bearing 3425, and a plurality of second pitch adjustment synchronous bevel gears 3424, the second pitch adjustment motor 3421 is fixedly installed at the lower part in the second pitch 3612, the second receiving coil 335 supplies power to the second pitch adjustment motor 3421, the output shaft of the second pitch adjustment motor 3421 is connected with the second pitch adjustment power bevel gear 3423 through the second hollow coupling 3422, the second pitch adjustment power bevel gear 3423 is located at the upper part in the second pitch 3612, the top of the second pitch adjustment power bevel gear 3423 is connected with the second pitch 3612 through the third support bearing 3425, the third support bearing 3425 is located at the center of the lower part of the inner top of the second pitch 3612, the outer end surface is fixed inside the second pitch 3612, the inner end surface is sleeved on the circumference of the outer end surface of the second pitch-adjusting power bevel gear 3423 to realize the rotation of the second pitch-adjusting power bevel gear 3423 relative to the second oar column 3612, the key 3263 of the second oar column 3612 is transversely arranged between the third supporting bearing 3425 and the second supporting bearing 3264 at the inner top of the second oar column 3612, the number of the second pitch-adjusting synchronous bevel gears 3424 is consistent with that of the propellers 35 on the second oar column 3612, one end of the second pitch-adjusting synchronous bevel gear 3424 is fixedly connected with the corresponding propellers 35, the other end of the second pitch-adjusting synchronous bevel gear 3424 is meshed with the second pitch-adjusting power bevel gear 3423, the second pitch-adjusting motor 3421, the second hollow coupler 3422 and the second pitch-adjusting power bevel gear 3423 are of hollow structures, the hollow structures are reserved spaces for the first reversing shaft 3261 to longitudinally penetrate the first pitch-adjusting power bevel gear 3413 in a non-contact manner, and the inner diameter of the hollow structures is larger than the outer diameter of the first reversing shaft 3261; the second pitch-adjusting motor 3421 drives the second pitch-adjusting power bevel gear 3423 to rotate through the second hollow coupling 3422, so as to drive the plurality of second pitch-adjusting synchronous bevel gears 3424 in meshed connection to rotate, and further drive the propeller 35 to rotate, thereby realizing the adjustment of the propeller 35 blade angle pitch of the second propeller post 3612.
As shown in fig. 16, the propeller 35 includes a blade 351, a stern shaft 352 and a stern shaft bearing 353, the blade 351 is fixedly connected to the outer end of the stern shaft 352, and the inner end of the stern shaft 352 is fixedly connected to the corresponding first pitch-adjusting synchronization bevel 3414 and second pitch-adjusting synchronization bevel 3424 through the stern shaft bearing 353.
As shown in fig. 12 and 14, the hub 36 further includes a cover plate 362 and a guide cover 363, the cover plate 362 includes a column upper cover plate 3621 and a column lower cover plate 3622, the top of the first column 3611 and the top of the second column 3622 are respectively provided with a column upper cover plate 3621, the bottoms of the first column 3611 and the second column 3622 are respectively provided with a column lower cover plate 3622, the guide cover 363 is disposed below the second column 3622, and the guide cover is connected and fixed with the bottom end of the first reversing shaft 3261.
Preferably, a power conditioning module and a motor control module circuit can be arranged between the first receiving coil 333 and the first pitch-adjusting motor 3411, and between the first receiving coil 333 and the second exciting coil 334, so that magnetic field excitation control and motor control can be respectively realized, and efficient electromagnetic induction discovery and propeller pitch self-adaptive control can be realized.
Also preferably, a motor control module circuit may be provided between the second excitation coil 334 and the second pitch motor 3421 to enable adaptive control of the pitch of the propeller in the second pitch adjustment module 342.
Preferably, the pitch adjustment angles of the propellers in the first pitch adjustment module 341 and the second pitch adjustment module 342 can be respectively and independently adjusted and uncoupled according to practical situations, thereby realizing high efficiency and self-adaptive characteristics of fluid propulsion.
Preferably, the number of blades 351 in the first pitch adjustment module 341 and the second pitch adjustment module 342 may be set as needed to achieve the highest efficiency of the fluid propulsion.
As shown in fig. 1 and 2, the robot body 1 includes a frame 11, the frame 11 is used for installing and connecting the flow channel control assembly 2, the adsorption assembly 3 and the movement assembly 4, a bottom plate 13 for forming a negative pressure adsorption channel is arranged at the bottom of the frame 11, a floating block 12 is arranged at the bottom of the periphery of the frame 11, and the floating block 12 is used for enabling the robot body to generate buoyancy in a liquid medium. The direction of fluid flow is generally from the channel between the base 13 and the wall to the flow control assembly 2 via the guide 37.
The motion assembly 4 is an important mechanism for driving the robot to finish wall crawling motion, and can be a wheel type motion mechanism, a crawler type motion mechanism and the like, wherein the wheel type motion mechanism is adopted in the invention, the motion assembly 4 comprises a wheel train 41 and a motion driving module 42, and the motion driving module 42 drives the wheel train 41 to drive the robot body 1 to move.
For the wall climbing special type working robot, besides the basic components, corresponding working load tools 5 can be mounted according to requirements, and the working load tools 5 are devices such as cavitation cleaning systems and mechanical arm working systems. For example, a cleaning head is mounted as a work module, and the cleaning effect on the wall surface can be achieved. The work load tool 5 may be a cleaning head, a cleaning tray, a robot arm, a detection sensor, or the like.
The working method of the amphibious wall-climbing special operation robot comprises a crawling motion method of the robot in an adsorption state on a wall surface and an adsorption adjustment method of the robot in different fluid media.
The crawling movement method of the robot in the adsorption state on the wall surface comprises the following steps:
1) The adsorption power motor 31 drives the power bevel gear 327 to rotate through the power input shaft 323, so as to drive the first reversing bevel gear 3241 and the second reversing bevel gear 3242 which are in meshed connection with the power bevel gear 327 to rotate, the first reversing bevel gear 3241 drives the first reversing shaft 3261 fixedly connected with the first reversing bevel gear 3241 to rotate, the first reversing shaft 3261 is fixedly connected with the second paddle column 3612 through a key 3263, and then the second paddle column 3612 and the screw propeller 35 on the second paddle column 3612 are driven to rotate; the second reversing umbrella tooth 3242 drives the second reversing shaft 3262 to rotate, and the second reversing shaft 3262 is fixedly connected with the first paddle 3611 through a key 3263, so that the first paddle 3611 and the propeller 35 on the first paddle 3611 are driven to integrally rotate.
2) The propeller drives fluid to flow, and the fluid flows between the bottom plate 13 and the wall surface of the robot bodyThe air is discharged through the flow control assembly 2 upwards through the guide cylinder 37, the flow passage is small in sectional area, the flow velocity is high, and the flow is regulated according to Bernoulli equation:it is known that: the pressure intensity of the flow velocity is high, the pressure intensity of the place with low flow velocity is high, so the fluid pressure in the channel between the bottom plate 13 and the wall surface of the robot body 1 and the fluid pressure in the guide cylinder 37 and the guide device 23 are relatively low, the robot body 1 is extruded on the wall surface by the pressure intensity of the fluid, and the robot realizes the negative pressure adsorption function.
3) The crawling function of the robot on the wall surface is realized by controlling the motion assembly 4 to perform the forward and backward movement and the steering function.
The adsorption adjusting method of the robot in different fluid media comprises the following steps:
1) When the fluid medium is gas, the viscosity of the fluid is smaller, so that the pitch of the blade 351 of the propeller 35 is increased, and the size of the fluid passage section of the flow passage control assembly 2 is reduced:
a. the first pitch-adjusting motor 3411 rotates positively, the first pitch-adjusting power bevel gear 3413 is driven to rotate through the first hollow coupling 3412, and then a plurality of first pitch-adjusting synchronous bevel gears 3414 meshed with the first pitch-adjusting power bevel gear 3413 are driven to rotate, the first pitch-adjusting synchronous bevel gears 3414 are fixedly connected with the stern shaft 352 of the propeller 35, the propeller shaft 352 is fixedly connected with the propeller blade 351, so that the propeller blade 351 is driven to rotate, and the propeller pitch of the propeller blade 351 on the first propeller post 3611 is increased; similarly, the second pitch-adjusting motor 3421 rotates forward, and finally increases the pitch of the blades 351 on the second blade column 3612;
b. The motor 22 is controlled to rotate positively to drive the initial driving gear 245 to rotate, all driving gears 245 on the outer wall of the fixed ring 21 are driven to rotate synchronously through the meshing action of the adjacent driving gears 245 and the reversing gears 246, the driving gears 245 are connected with the guide shafts 242 on the inner wall of the fixed ring 21 through the driving shafts 243 and the bearing seats 244, the guide shafts 242 and the trapezoid fan blades 241 connected with the guide shafts 242 are driven to rotate synchronously, the trapezoid fan blades 241 are positioned between the fixed ring 21 and the flow guiding device 23, the cross section of a fluid channel between the fixed ring 21 and the flow guiding device 23 is gradually reduced in the process that the trapezoid fan blades 241 rotate to be horizontal or nearly horizontal, the rotation angle of the trapezoid fan blades 241 is selected according to requirements, and when the trapezoid fan blades 241 rotate to be horizontal or nearly horizontal, fluid can only pass through the inner wall flow channels of the flow guiding device 23 between the trapezoid fan blades 241 and the fixed ring 21;
2) When the fluid medium is liquid, the pitch of the blade 351 of the propeller 35 is reduced at this time due to the increase in viscosity of the fluid, and the size of the fluid passage section of the flow path control assembly 2 is increased: the first pitch-adjusting motor 3411 rotates reversely, and finally drives the blade 351 to rotate reversely, so that the pitch of the blade 351 on the first blade column 3611 is reduced; second pitch motor 3421 reverses, eventually reducing pitch of blades 351 on second blade 3612; controlling the motor 22 to rotate reversely, finally driving the trapezoidal fan blades 241 to rotate towards a vertical or nearly vertical state, gradually increasing the section of the fluid channel between the fixed ring 21 and the flow guiding device 23, selecting the rotation angle of the trapezoidal fan blades 241 according to the requirement, and maximizing the section of the fluid channel between the fixed ring 21 and the flow guiding device 23 when the trapezoidal fan blades 241 rotate to the vertical or nearly vertical state;
3) When the robot is positioned at the gas-liquid interface, the forward and reverse rotation of the first pitch-adjusting motor 3411 and the second pitch-adjusting motor 3421 are adjusted according to the requirement, the adjustment of propeller pitch is realized, the adjustment range is adjusted to a state between the maximum value and the minimum value of the pitch according to the requirement, the forward and reverse rotation of the motor 22 is synchronously controlled, the adjustment of the posture of the trapezoidal fan blade 241 is realized, the adjustment range is adjusted to a state between the horizontal and the vertical of the fan blade according to the requirement, the balance of the fluid flow and the speed is further realized, and the accurate and controllable adsorption force of the robot body 1 on the wall surface at the gas-liquid interface is realized, so that the robot body 1 is stably adsorbed and moved from a gas medium to a liquid medium or is stably adsorbed and moved from the liquid medium to the gas medium.
The present invention is not limited to the above embodiments, and any person who can learn the structural changes made under the teaching of the present invention can fall within the scope of the present invention if the present invention has the same or similar technical solutions.
The technology, shape, and construction parts of the present invention, which are not described in detail, are known in the art.
Claims (10)
1. An amphibious wall climbing special operation robot, which is characterized by comprising:
the robot body is used for installing and fixing all parts of the robot;
The flow channel control assembly is arranged at the center of the top of the robot body and is used for adjusting the flow rate and the flow velocity of the fluid;
the adsorption component is arranged at the inner bottom of the robot body, is positioned below the flow passage control component and is communicated with the flow passage control component, and is used for providing adsorption force required by crawling on the wall surface of the robot;
the robot comprises a robot body and a plurality of motion components arranged at the bottom of the robot body and used for driving the robot to finish wall crawling motion.
2. The amphibious wall climbing special operation robot according to claim 1, wherein the flow channel control assembly comprises a body, a control motor, a flow guiding device and a flow control device, the body is in a circular shape, a circular through hole which is adaptive to the body is formed in the top of the robot body, the body is fixedly arranged at the circular through hole in the top of the robot body, the flow control device is arranged in the body, the flow guiding device is arranged in the center of the body, the inner end of the flow control device is connected with the outer wall of the flow guiding device, the control motor is arranged on the outer side of the body, an output shaft of the control motor penetrates through the body and is connected with the outer end of the flow control device, and the control motor drives the flow control device to adjust the section size of the flow channel so as to adjust the flow of fluid passing through the flow channel control assembly.
3. The amphibious wall-climbing special operation robot according to claim 2, wherein the body comprises a fixed ring and a fixed shell, the fixed ring is in sealing connection with a circular through hole at the top of the robot body, the fixed shell is arranged and enveloped on the outer side of the fixed ring, and an annular cavity is formed between the fixed shell and the fixed ring;
the flow control device includes: the device comprises trapezoid fan blades, a guide shaft, a driving shaft, a bearing seat, driving gears, reversing gears and a reversing shaft I, wherein a plurality of driving gears are uniformly distributed on the outer wall of a fixed ring, the number of the reversing gears is one less than that of the driving gears, one side of each driving gear is sequentially arranged at intervals with the reversing gears, adjacent driving gears are sequentially meshed with the reversing gears, no reversing gears are arranged between the other side of the initial driving gear and the driving gear at the tail end, the driving gears and the reversing gears are all arranged on the outer wall of the fixed ring through the bearing seat, the reversing gears are rotationally connected with the bearing seat through the reversing shaft I, the driving gears are rotationally connected with the bearing seat through the driving shaft I, the number of trapezoid fan blades is consistent with the number of the driving gears and correspond to the position, the inner ends of the trapezoid fan blades are rotationally connected to the outer wall of a flow guiding device through the guide shaft, the outer ends of the trapezoid fan blades penetrate through the fixed ring and are connected with the bearing seat connected with the driving shaft, the initial driving gear is connected with an output shaft of a control motor, the control motor drives the initial driving gear to rotate, all driving gears connected with the outer wall of the fixed ring are sequentially meshed and are driven to rotate synchronously, the driving gears are driven to rotate, the driving gears and the trapezoid fan blades are connected with the outer wall of the fixed ring through the driving gears, the driving shaft and the driving gear are correspondingly connected with the driving gears to the driving shaft and the driving gear are respectively;
The inner wall of the fixed ring is a concave arc surface with a large middle diameter and a small upper and lower top surface diameters, the outer wall of the flow guiding device is a convex arc surface with a large middle diameter and a small upper and lower top surface diameters, one end of each trapezoidal fan blade connected with the flow guiding device is a concave arc surface matched with the outer wall of the flow guiding device, one end of each trapezoidal fan blade connected with the fixed ring is a convex arc surface matched with the inner wall of the fixed ring, and when all the trapezoidal fan blades rotate to a horizontal position, the adjacent trapezoidal fan blades and the trapezoidal fan blades, the fixed ring and the flow guiding device are bonded and sealed, so that the annular flow passage between the fixed ring and the flow guiding device is completely closed; the driving shaft, the bearing seat, the driving gear, the reversing gear and the reversing shaft I are all positioned in the annular cavity between the fixed shell and the fixed ring.
4. The amphibious wall-climbing special operation robot according to claim 1, wherein the adsorption assembly comprises an adsorption power motor, a power transmission assembly, a self-generating assembly, a blade pitch adjusting assembly, a propeller hub and a guide cylinder, the guide cylinder is arranged right below the flow passage control assembly, the power transmission assembly, the self-generating assembly, the blade pitch adjusting assembly, the propeller and the propeller hub are all arranged in the guide cylinder, the propeller hub is provided with two groups, each group of propeller hubs comprises a first propeller column and a second propeller column, the first propeller column and the second propeller column are arranged up and down coaxially, a plurality of propellers are arranged on the first propeller column and the second propeller column, and the blade pitch adjusting assembly is connected with the propeller and used for adjusting the pitch of the propeller; the power transmission assembly is connected with the first oar post and the second oar post respectively, drives the first oar post and the second oar post to rotate, and the below of power transmission assembly is equipped with from generating assembly, and from generating assembly is used for supplying power for the blade pitch adjustment assembly in the first oar post and the second oar post.
5. The amphibious wall climbing special operation robot according to claim 4, wherein the power transmission assembly comprises a base body, a coupler, a power input shaft, reversing bevel gears, a first supporting bearing, a reversing shaft II and power bevel gears, wherein the base body is fixedly connected with the robot body, the power input shaft, the reversing bevel gears, the first supporting bearing, the reversing shaft II and the power bevel gears are all arranged in the base body, the reversing bevel gears comprise a first reversing bevel gear and a second reversing bevel gear, the second reversing bevel gear is positioned below the first reversing bevel gear and is coaxial, the reversing shaft II comprises a first reversing shaft and a second reversing shaft, the second reversing shaft is sleeved on the first reversing shaft, the inner diameter of the second reversing shaft is larger than the outer diameter of the first reversing shaft, the first reversing shaft can rotate in the second reversing shaft in a non-contact manner, the adsorption power motor is connected with one end of the power input shaft through the coupler, the other end of the power input shaft is connected with the power bevel gears, the first reversing bevel gear and the second reversing bevel gear are both meshed with the power bevel gears, a second reversing bevel gear sleeve is arranged below the first reversing bevel gear and the second reversing bevel gear, the second reversing shaft II is fixedly arranged on the first reversing shaft and the second reversing shaft II is fixedly connected with the first reversing shaft and the second bevel gear through the first reversing shaft and the second reversing shaft, the first reversing shaft and the second reversing shaft is fixedly connected with the bottom of the first reversing shaft and the second reversing shaft II is fixedly arranged on the first reversing shaft and the second reversing shaft;
The adsorption power motor drives the power input shaft and the power bevel gear to rotate, and the first reversing bevel gear drives the first reversing shaft to rotate through the meshing action of the power bevel gear, the first reversing bevel gear and the second reversing bevel gear, so that the second propeller post and the propeller on the second propeller post are driven to integrally rotate; the second reversing umbrella tooth drives the second reversing shaft to rotate, so that the first propeller post and the propeller on the first propeller post are driven to integrally rotate;
the second reversing shaft further comprises two keys and a second supporting bearing, wherein the two keys are respectively and horizontally arranged on the first paddle column and the second paddle column, one end of each key on the first paddle column is fixed on the first paddle column, and the other end of each key is fixedly connected to the second reversing shaft, so that the second reversing shaft drives the first paddle column to integrally rotate when rotating; one end of a key on the second paddle column is fixed on the second paddle column, and the other end of the key is fixedly connected to the first reversing shaft, so that the second paddle column is driven to integrally rotate when the first reversing shaft rotates; the second support bearings are four and are respectively arranged at the upper part and the lower part in the first paddle column and the second paddle column from top to bottom, and the second support bearings are coaxial with the first paddle column and the second paddle column.
6. The amphibious wall climbing special operation robot according to claim 4, wherein the self-power generation assembly comprises a magnet, a first exciting coil, a first receiving coil, a second exciting coil and a second receiving coil, wherein the magnet is fixedly arranged at the bottom of a base body and distributed in a ring shape, the magnet is arranged in a N, S direction according to requirements and can realize an electromagnetic induction effect with the first receiving coil, the outer side of the magnet is close to the first receiving coil, the first exciting coil is horizontally arranged in the base body above the magnet, the magnet and the first receiving coil are both positioned at the top in a first paddle column, the magnet and the first receiving coil are positioned on the same horizontal plane, the bottom in the first paddle column is provided with the second exciting coil, and the top in the second paddle column is provided with the second receiving coil;
When the adsorption power motor is started, the second reversing shaft is driven to rotate under the transmission action of the coupler, the power input shaft, the power bevel gear and the second reversing bevel gear in sequence, the second reversing shaft drives the first paddle column to rotate, the first receiving coil on the first paddle column rotates around the magnet, and the first receiving coil generates induction current through magnetic force lines generated by cutting the magnet; on one hand, the first receiving coil supplies power for a blade pitch adjusting component in the first propeller post, on the other hand, the first receiving coil supplies power for a second exciting coil at the bottom in the first propeller post, then the second exciting coil generates an exciting magnetic field, and the second receiving coil in the second propeller post generates induced current through an electromagnetic induction principle so as to realize non-contact power generation and supply power for the blade pitch adjusting component in the second propeller post;
when the adsorption power motor is not started, the first excitation coil is powered by an external power supply, the first excitation coil generates a magnetic field, the first receiving coil achieves a power generation effect through electromagnetic induction, on one hand, the first receiving coil supplies power for a blade pitch adjusting assembly in the first blade column, on the other hand, the first receiving coil supplies power for a second excitation coil at the bottom in the first blade column and excites the magnetic field, and the second receiving coil in the second blade column supplies power for the blade pitch adjusting assembly in the second blade column through the magnetic field generated by the electromagnetic induction of the second excitation coil.
7. The amphibious wall climbing special work robot of claim 4, wherein the blade pitch adjustment assembly comprises a first pitch adjustment module and a second pitch adjustment module;
the first pitch adjusting module is arranged in the first propeller post and comprises a first pitch adjusting motor, a first hollow coupler, first pitch adjusting power bevel gears and a plurality of first pitch adjusting synchronous bevel gears, wherein the first pitch adjusting motor is fixedly arranged at the lower part in the first propeller post, a first receiving coil supplies power for the first pitch adjusting motor, the output end of the first pitch adjusting motor is connected with the first pitch adjusting power bevel gears through the first hollow coupler, the first pitch adjusting power bevel gears are positioned at the upper part in the first propeller post, the top parts of the first pitch adjusting power bevel gears are connected with a second supporting bearing, the number of the first pitch adjusting synchronous bevel gears is consistent with that of the propellers on the first propeller post, one end of each first pitch adjusting synchronous bevel gear is fixedly connected with the corresponding propeller, the other end of each first pitch adjusting synchronous bevel gear is in meshed connection with the corresponding propeller, each first pitch adjusting motor, each first hollow coupler and each first pitch adjusting power bevel gear is of a hollow shaft structure, each hollow structure is a first reversing shaft non-contact longitudinal penetrating power bevel gear, and the hollow shaft is larger than the outer diameter of the first reversing shaft; the first pitch-adjusting motor drives the first pitch-adjusting power bevel gear to rotate through the first hollow coupler, so that a plurality of first pitch-adjusting synchronous bevel gears which are in meshed connection are driven to rotate, and further, the propeller is driven to rotate, and the adjustment of the angle pitch of the propeller blade of the first propeller post is realized;
The second pitch adjusting module comprises a second pitch adjusting motor, a second hollow coupler, a second pitch adjusting power bevel gear, a third supporting bearing and a plurality of second pitch adjusting synchronous bevel gears, the second pitch adjusting motor is fixedly arranged at the lower part in the second propeller post, a second receiving coil supplies power for the second pitch adjusting motor, an output shaft of the second pitch adjusting motor is connected with the second pitch adjusting power bevel gear through the second hollow coupler, the second pitch adjusting power bevel gear is positioned at the upper part in the second propeller post, the top of the second pitch adjusting power bevel gear is connected with the second propeller post through the third supporting bearing, the third supporting bearing is positioned on the lower shaft center of the inner top of the second propeller post, the outer end surface is fixed in the second propeller post, the inner end surface is sleeved on the circumference of the outer end surface of the second pitch-adjusting power bevel gear, the second pitch-adjusting power bevel gear rotates relative to the second propeller post, a key of the second propeller post is transversely arranged between the third support bearing and the second support bearing at the inner top of the second propeller post, the number of the second pitch-adjusting synchronous bevel gear is consistent with that of the propellers on the second propeller post, one end of the second pitch-adjusting synchronous bevel gear is fixedly connected with the corresponding propellers, the other end of the second pitch-adjusting synchronous bevel gear is meshed with the second pitch-adjusting power bevel gear, the second pitch-adjusting motor, the second hollow coupler and the second pitch-adjusting power bevel gear are of hollow shaft structures, the hollow structures are formed by longitudinally penetrating the first pitch-adjusting power bevel gear in a non-contact mode through mode, and the inner diameter of the hollow structures is larger than the outer diameter of the first reversing shaft; the second pitch-adjusting motor drives the second pitch-adjusting power bevel gear to rotate through the second hollow coupler, so that a plurality of second pitch-adjusting synchronous bevel gears in meshed connection are driven to rotate, and then the propeller is driven to rotate, and the propeller blade angle pitch adjustment of the second propeller post is realized.
8. The amphibious wall climbing special operation robot according to claim 4, wherein the propeller comprises a blade, a stern shaft and a stern shaft bearing, the blade is fixedly connected to the outer end of the stern shaft, and the inner end of the stern shaft is fixedly connected with the corresponding first distance-adjusting synchronous bevel gear and second distance-adjusting synchronous bevel gear through the stern shaft bearing;
the propeller hub further comprises a cover plate and a guide cover, the cover plate comprises a propeller column upper cover plate and a propeller column lower cover plate, the top of the first propeller column and the top of the second propeller column are both provided with a propeller column upper cover plate, the bottoms of the first propeller column and the second propeller column are both provided with a propeller column lower cover plate, the guide cover is arranged below the second propeller column, and the guide cover is fixedly connected with the bottom end of the first reversing shaft.
9. The amphibious wall climbing special operation robot according to claim 1, wherein the robot body comprises a frame, the frame is used for installing and connecting a flow channel control assembly, an adsorption assembly and a motion assembly, a bottom plate for forming a negative pressure adsorption channel is arranged at the bottom of the frame, a floating block is arranged at the bottom of the periphery of the frame, and the floating block is used for enabling the robot body to generate buoyancy in a liquid medium;
the motion assembly comprises a gear train and a motion driving module, and the motion driving module drives the gear train to move.
10. The working method of the amphibious wall climbing special operation robot according to any one of claims 1 to 9, comprising the following steps:
(1) The crawling movement method of the robot in the adsorption state on the wall surface comprises the following steps:
1) The adsorption power motor drives the power bevel gear to rotate through the power input shaft, so that the first reversing bevel gear and the second reversing bevel gear which are in meshed connection with the power bevel gear are driven to rotate, the first reversing bevel gear drives the first reversing shaft fixedly connected with the first reversing bevel gear to rotate, the first reversing shaft is fixedly connected with the second oar post through a key, and then the second oar post and a propeller on the second oar post are driven to rotate; the second reversing umbrella tooth drives the second reversing shaft to rotate, and the second reversing shaft is fixedly connected with the first propeller post through a key, so that the first propeller post and a propeller on the first propeller post are driven to integrally rotate;
2) The propeller drives fluid to flow, and the fluid upwards flows through the flow channel control assembly through the draft tube between bottom plate and the wall of robot body and discharges, and the runner sectional area is little, and the velocity of flow is fast, according to Bernoulli's equation:it is known that: the pressure intensity of the flow velocity is high, the pressure intensity of the place with low flow velocity is high, so that the fluid pressure in the channel between the bottom plate and the wall surface of the robot body and the fluid pressure in the guide cylinder and the guide device are lower than the outside, the robot body is extruded on the wall surface by the pressure intensity of the fluid, and the negative pressure adsorption function is realized by the robot;
3) The crawling function of the robot on the wall surface is realized by controlling the motion assembly to move forwards and backwards and turn;
(2) The adsorption adjusting method of the robot in different fluid media comprises the following steps:
1) When the fluid medium is gas, the blade pitch of the propeller is increased and the size of the fluid channel section of the flow channel control assembly is reduced due to the smaller viscosity of the fluid:
a. the first pitch-adjusting motor rotates positively, the first pitch-adjusting power bevel gear is driven to rotate through the first hollow coupler, and then a plurality of first pitch-adjusting synchronous bevel gears meshed with the first pitch-adjusting power bevel gear are driven to rotate, the first pitch-adjusting synchronous bevel gears are fixedly connected with a stern shaft of the propeller, and the stern shaft is fixedly connected with a blade, so that the blade is driven to rotate, and the blade pitch on a first blade column is increased; similarly, the second pitch-adjusting motor rotates positively, and finally the pitch of the blades on the second blade column is increased;
b. the motor is controlled to rotate positively to drive the initial driving gear to rotate, all driving gears on the outer wall of the fixed ring are driven to rotate synchronously through the meshing action of the adjacent driving gears and the reversing gear, the driving gears are connected with the guide shafts on the inner wall of the fixed ring through driving shafts and bearing seats to drive the guide shafts and the trapezoid fan blades connected with the guide shafts to rotate synchronously, the trapezoid fan blades are positioned between the fixed ring and the flow guiding device, the cross section of a fluid channel between the fixed ring and the flow guiding device is gradually reduced in the rotating process of the trapezoid fan blades to a horizontal or nearly horizontal state, the rotating angle of the trapezoid fan blades is selected according to the requirement, and when the trapezoid fan blades rotate to the horizontal or nearly horizontal state, the trapezoid fan blades are completely sealed, and fluid can only pass through the inner wall flow channels of the flow guiding device;
2) When the fluid medium is liquid, the blade pitch of the propeller is reduced at the moment due to the increase of the viscosity of the fluid, and the size of the fluid channel section of the flow passage control assembly is increased: the first pitch-adjusting motor rotates reversely, and finally drives the paddles to rotate reversely, so that the pitch of the paddles on the first paddle column is reduced; the second pitch-adjusting motor rotates reversely, and finally the pitch of the blades on the second blade column is reduced; controlling the motor to rotate reversely, finally driving the trapezoidal fan blades to rotate to a vertical or nearly vertical state, gradually increasing the section of the fluid channel between the fixed ring and the flow guiding device, selecting the rotation angle of the trapezoidal fan blades according to the requirement, and maximizing the section of the fluid channel between the fixed ring and the flow guiding device when the trapezoidal fan blades rotate to the vertical or nearly vertical state;
3) When the robot is positioned at the gas-liquid interface, the forward and reverse rotation of the first distance-adjusting motor and the second distance-adjusting motor are adjusted according to the requirement, the propeller pitch is adjusted, the range of the adjustment is adjusted to the state between the maximum value and the minimum value of the pitch according to the requirement, the forward and reverse rotation of the motor is synchronously controlled, the adjustment of the posture of the trapezoid fan blades is realized, the range of the adjustment is adjusted to the state between the horizontal and the vertical of the fan blades according to the requirement, the balance of the fluid flow and the speed is further realized, the accurate and controllable adsorption force of the robot body on the wall surface at the gas-liquid interface is realized, and therefore the robot body is enabled to be stably adsorbed and moved from a gas medium to a liquid medium or from the liquid medium to the gas medium.
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117400674A (en) * | 2023-09-22 | 2024-01-16 | 哈尔滨工程大学 | Amphibious search and rescue robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117400674A (en) * | 2023-09-22 | 2024-01-16 | 哈尔滨工程大学 | Amphibious search and rescue robot |
| CN117400674B (en) * | 2023-09-22 | 2024-04-30 | 哈尔滨工程大学 | Amphibious search and rescue robot |
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