CN117184267A - Vacuum adsorption type hexapod wall climbing robot - Google Patents
Vacuum adsorption type hexapod wall climbing robot Download PDFInfo
- Publication number
- CN117184267A CN117184267A CN202310591471.3A CN202310591471A CN117184267A CN 117184267 A CN117184267 A CN 117184267A CN 202310591471 A CN202310591471 A CN 202310591471A CN 117184267 A CN117184267 A CN 117184267A
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- China
- Prior art keywords
- vacuum
- wall climbing
- double
- robot
- climbing robot
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- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 23
- 238000001179 sorption measurement Methods 0.000 title claims abstract description 22
- 241000238631 Hexapoda Species 0.000 title claims description 10
- 229920000049 Carbon (fiber) Polymers 0.000 claims abstract description 8
- 239000004917 carbon fiber Substances 0.000 claims abstract description 8
- VNWKTOKETHGBQD-UHFFFAOYSA-N methane Chemical compound C VNWKTOKETHGBQD-UHFFFAOYSA-N 0.000 claims abstract description 8
- 230000005291 magnetic effect Effects 0.000 abstract description 18
- 210000000078 claw Anatomy 0.000 abstract description 11
- 239000000463 material Substances 0.000 abstract description 6
- 239000000919 ceramic Substances 0.000 abstract description 5
- 239000011521 glass Substances 0.000 abstract description 5
- 239000000696 magnetic material Substances 0.000 abstract description 5
- 238000000034 method Methods 0.000 abstract description 5
- 230000001105 regulatory effect Effects 0.000 abstract description 3
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 3
- 229910052799 carbon Inorganic materials 0.000 description 3
- 210000002414 leg Anatomy 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 230000002457 bidirectional effect Effects 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 239000003302 ferromagnetic material Substances 0.000 description 1
- 210000001503 joint Anatomy 0.000 description 1
- 238000005086 pumping Methods 0.000 description 1
- 210000000689 upper leg Anatomy 0.000 description 1
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- Manipulator (AREA)
Abstract
The invention discloses a vacuum adsorption type six-foot wall climbing robot which comprises a robot main body and six mechanical feet which are arranged at the side edge of the robot main body at equal angles, wherein a vacuum chuck is fixedly arranged at the bottom of each mechanical foot; the magnetic adsorption type wall climbing robot is used for solving the problems that in the prior art, the base is inclined in the steering process, so that the adaptability is poor, and the magnetic adsorption type wall climbing robot is not suitable for walking on the surfaces of non-magnetic materials such as ceramic tiles and glass. The operation of each claw is regulated by three double-shaft steering engines, and the hardness is kept by adopting a carbon fiber plate material, so that the claw is flexible and stable.
Description
Technical Field
The invention relates to the field of robots, in particular to a vacuum adsorption type hexapod wall climbing robot.
Background
The magnetic adsorption type wall climbing robot is widely applied to various industries to perform surveying, cleaning and other works in places which are not easy to reach by manpower, and the wall climbing principle is that rollers of the robot are arranged to be magnetic rollers, and the robot is climbed on a wall surface of a cylindrical structure made of ferromagnetic materials by utilizing the magnetic attraction effect of the magnetic rollers. The magnetic adsorption type wall climbing robot generally comprises a chassis, the chassis comprises a base, magnetic rollers are arranged on the base through wheel frames, the wheel frames are rotationally assembled on the base, one magnetic roller is usually arranged as a steering wheel for some robots which are only provided with two magnetic rollers and have the same rotating axes of the wheel frames corresponding to the two magnetic rollers, when the robot is required to steer, the steering wheel is controlled to steer, and then the other magnetic roller is driven to steer, when the robot climbs a cylindrical structure, the periphery of the cylindrical structure is a curved surface, so that the condition of base inclination easily occurs in the robot steering process, if the carried object of the robot is not allowed to incline, the robot cannot finish tasks, and the robot is not suitable for walking on the surfaces of ceramic tiles, glass and other non-magnetic materials.
Disclosure of Invention
The invention aims to provide a vacuum adsorption type hexapod wall climbing robot, which is used for solving the problems that the adaptability of the magnetic adsorption type hexapod wall climbing robot in the prior art is poor and the magnetic adsorption type hexapod wall climbing robot is not suitable for walking on the surfaces of non-magnetic materials such as ceramic tiles, glass and the like due to the fact that a base tilts in the steering process. The operation of each claw is regulated by three double-shaft steering engines, and the hardness is kept by adopting a carbon fiber plate material, so that the claw is flexible and stable.
The vacuum adsorption type six-foot wall climbing robot comprises a robot main body and six mechanical feet which are arranged at the side edge of the robot main body at equal angles, wherein a vacuum chuck is fixedly arranged at the bottom of each mechanical foot;
the robot is characterized in that a vacuum pump and a vacuum valve are arranged in the robot main body, a one-way valve and a filter are further arranged on the mechanical foot, one end of the vacuum pump is connected with the vacuum chuck through a pipeline, the other end of the vacuum pump is communicated with the atmosphere, and the pipeline between the vacuum pump and the vacuum chuck is sequentially provided with the vacuum valve, the one-way valve and the filter.
Preferably, the mechanical foot comprises a first double-shaft steering engine, a second double-shaft steering engine, a third double-shaft steering engine and a connecting bracket, wherein the first double-shaft steering engine is connected between the first-stage bracket and the robot main body, the second double-shaft steering engine is connected between the second-stage bracket and the first-stage bracket, and the third double-shaft steering engine is connected between the second-stage bracket and the third-stage bracket.
Preferably, the vacuum valve is arranged in the robot main body, and the directional valve and the filter are arranged in the mechanical foot.
Preferably, the vacuum chuck is connected to the end of the tertiary bracket.
Preferably, the primary support, the secondary support and the tertiary support are all composed of carbon fiber plates.
The invention has the advantages that: the magnetic adsorption type wall climbing robot is used for solving the problems that in the prior art, the base is inclined in the steering process, so that the adaptability is poor, and the magnetic adsorption type wall climbing robot is not suitable for walking on the surfaces of non-magnetic materials such as ceramic tiles and glass. The operation of every claw is all adjusted with three biax steering wheels to adopt carbon borer dimension board material to keep hardness, nimble again stable.
Drawings
FIG. 1 is a schematic view of the overall structure of the device of the present invention;
FIG. 2 is a schematic view of the mechanical foot of the device of the present invention;
FIG. 3 is a schematic view of the structure of the gas path of the suction cup in the device of the invention;
the robot comprises a robot body, a first double-shaft steering engine, a second double-shaft steering engine, a third double-shaft steering engine and a vacuum chuck, wherein the robot body comprises the robot body, the first double-shaft steering engine, the robot body, the second double-shaft steering engine, the third double-shaft steering engine and the vacuum chuck.
Detailed Description
The invention is further described in connection with the following detailed description, in order to make the technical means, the creation characteristics, the achievement of the purpose and the effect of the invention easy to understand.
As shown in fig. 1 to 3, the invention comprises a robot main body 01 and six mechanical feet which are arranged at the side edge of the robot main body 01 at equal angles, wherein the bottom of each mechanical foot is fixedly provided with a vacuum chuck 05;
the robot is characterized in that a vacuum pump and a vacuum valve are arranged in the robot main body 01, a one-way valve and a filter are further arranged on the mechanical foot, one end of the vacuum pump is connected with the vacuum chuck 05 through a pipeline, the other end of the vacuum pump is communicated with the atmosphere, and the vacuum valve, the one-way valve and the filter are sequentially arranged on the pipeline between the vacuum pump and the vacuum chuck 05.
Specifically, the mechanical foot comprises a first double-shaft steering engine 02, a second double-shaft steering engine 03, a third double-shaft steering engine 04 and a connecting support, wherein the first double-shaft steering engine 02 is connected between a first-stage support and a robot main body 01, the second double-shaft steering engine 03 is connected between a second-stage support and the first-stage support, and the third double-shaft steering engine 04 is connected between the second-stage support and the third-stage support.
The operation of every claw is all adjusted with three biax steering wheels to adopt carbon borer dimension board material to keep hardness, nimble again stable.
The vacuum valve is arranged in the robot main body 01, and the directional valve and the filter are arranged in the mechanical foot. The vacuum chuck 05 is connected to the tail end of the three-stage bracket. The tail end is provided with the sucking disc, so that the mechanical legs of the user can be more stable, the movement of the user is firmer, and the operation is more convenient.
In addition, the primary support, the secondary support and the tertiary support are all composed of carbon fiber plates, and the carbon fiber plates can well maintain hardness.
Specific embodiments and principles:
in the scheme, a steering engine driving structure is adopted in the chassis of the robot main body 01, a single claw is controlled by a circuit board, and three bidirectional steering engines are mainly used for respectively driving each similar mechanical leg joint to drive the claw body to swing so as to drive the chassis to advance.
The six mechanical feet are made of carbon fiber plates, so that the weight of the six mechanical feet can be kept light on the basis of ensuring the stability of the whole structure. The floor is also enlarged, leaving sufficient space above the chassis. The operation of every claw is all adjusted with three biax steering wheel, is similar to each joint of thigh, and carbon borer dimension board also can be fine keeps hardness, and the sucking disc can make our mechanical leg more stable, lets our removal more firm, more convenient operation. The sucking disc of the vacuum adsorption type six-foot wall climbing robot is used for pumping air by a vacuum pump to provide suction force, so that walking on the surface of a nonmagnetic material can be completed.
Based on the above, the invention is used for solving the problems that the base of the magnetic adsorption type wall climbing robot in the prior art is inclined in the steering process, so that the adaptability is poor and the magnetic adsorption type wall climbing robot is not suitable for walking on the surfaces of non-magnetic materials such as ceramic tiles, glass and the like. The operation of each claw is regulated by three double-shaft steering engines, and the hardness is kept by adopting a carbon fiber plate material, so that the claw is flexible and stable.
It will be appreciated by those skilled in the art that the present invention can be carried out in other embodiments without departing from the spirit or essential characteristics thereof. Accordingly, the above disclosed embodiments are illustrative in all respects, and not exclusive. All changes that come within the scope of the invention or equivalents thereto are intended to be embraced therein.
Claims (5)
1. The vacuum adsorption type six-foot wall climbing robot is characterized by comprising a robot main body (01) and six mechanical feet which are arranged at the side edge of the robot main body (01) at equal angles, wherein a vacuum chuck (05) is fixedly arranged at the bottom of each mechanical foot;
be equipped with vacuum pump and vacuum valve in robot main part (01), still be equipped with check valve and filter on the machinery is sufficient, the one end of vacuum pump is connected with vacuum chuck (05) through the pipeline, and the other end and the atmosphere intercommunication of vacuum pump, and is equipped with vacuum valve, check valve and filter on the pipeline between vacuum pump and vacuum chuck (05) in proper order.
2. A vacuum adsorption hexapod wall climbing robot according to claim 1, wherein: the mechanical foot comprises a first double-shaft steering engine (02), a second double-shaft steering engine (03), a third double-shaft steering engine (04) and a connecting support, wherein the first double-shaft steering engine (02) is connected between a first-stage support and a robot main body (01), the second double-shaft steering engine (03) is connected between a second-stage support and a first-stage support, and the third double-shaft steering engine (04) is connected between the second-stage support and a third-stage support.
3. A vacuum adsorption hexapod wall climbing robot according to claim 1, wherein: the vacuum valve is arranged in the robot main body (01), and the directional valve and the filter are arranged in the mechanical foot.
4. A vacuum adsorption hexapod wall climbing robot according to claim 2, wherein: the vacuum sucker (05) is connected to the tail end of the three-stage bracket.
5. A vacuum adsorption hexapod wall climbing robot according to claim 2, wherein: the primary support, the secondary support and the tertiary support are all composed of carbon fiber plates.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310591471.3A CN117184267A (en) | 2023-05-24 | 2023-05-24 | Vacuum adsorption type hexapod wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310591471.3A CN117184267A (en) | 2023-05-24 | 2023-05-24 | Vacuum adsorption type hexapod wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117184267A true CN117184267A (en) | 2023-12-08 |
Family
ID=88982474
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202310591471.3A Pending CN117184267A (en) | 2023-05-24 | 2023-05-24 | Vacuum adsorption type hexapod wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117184267A (en) |
-
2023
- 2023-05-24 CN CN202310591471.3A patent/CN117184267A/en active Pending
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