CN1511681A - Five foot wall climbing robot - Google Patents
Five foot wall climbing robot Download PDFInfo
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- CN1511681A CN1511681A CNA021588767A CN02158876A CN1511681A CN 1511681 A CN1511681 A CN 1511681A CN A021588767 A CNA021588767 A CN A021588767A CN 02158876 A CN02158876 A CN 02158876A CN 1511681 A CN1511681 A CN 1511681A
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Abstract
The five-foot wall climbing robot as one small robot consists of frame, leg mechanism, driving mechanism and control system, and has five feet with adsorbing electromagnet. Its frame consists of front frame and back frame, the front frame is provided with straight motor and reducer combination and has on the output shaft two symmetric and synchronous sets of leg mechanisms and electromagnets, and the back frame is also provided with straight motor and reducer combination and has on the output shaft two symmetric and synchronous sets of leg mechanisms and electromagnets. The front frame and the back frame capable of rotating and floating are driven with a middle turning motor, and the leg mechanism is four-link rod mechanism. The robot is novel in structure, simple, small and smart, can crawl and turn on plane in any inclination and may be used in job in narrow space and dangerous area.
Description
Technical field
The present invention's five sufficient climbing robots belong to applied small scale robot field, can replace the people to carry out work high above the ground or enter the hazardous area operation.
Background technology
In modern industry is produced, often need to carry out work high above the ground or enter the hazardous area operation, as the inspection of equipment or underground piping inside in the detection of the repairing of high-lager building, steamer Lower Hold narrow gap, the toxic gas workshop and reparation or the like.This just wishes that robot can replace the people pasting surperficial at any angle manually can't finishing of the task of steadily creeping, freely turn to, operate or finish.
The wall walking is climbed than higher in plane walking difficulty, general level land walking mechanism by robot, and moving ahead of it is to utilize by the foot of gravity generation and the frictional force on ground to advance, and foot can produce relative slip with ground.And climbing robot requires the relative stationary fixing with metope of body foot in the process that moves ahead, so general plane walking mechanism is unsuitable for climbing wall.The foot suction type of climbing robot often adopts vacuum suction or magnetic attached, and the both has strict requirement to motion mode, and when promptly body moved ahead, foot and metope adsorbed close were fixed.For adapting to different walls, what adopt usually is the conceptual design of polypody walking, for example four-footed or six-legged walking machine structure, it generally is the motion of coordinating polypody with multivariant shank mechanism, so not only increased the weight of whole machine body, and controlled also more complicated, the body center of gravity is also higher relatively, can not pivot stud, certain radius of turn be arranged.
Retrieve disclosed climbing robot patent, more approaching design is as follows:
1. patent of invention-climbing robot, application number: 97121896.X
Utilize screw or ducted fan under power drive, to produce the thrust of pointing to wall, make robot be affixed on wall, need cable traction.Travel mechanism is the crawler type mechanism design, and volume is big, if driven machine people walking on pitching face then needs fan that bigger driving power is arranged, reliability is bad.
2. patent of invention-have five sufficient walking carriers of comprehensive locomotive function, the ZL patent No.: 97104103.2
A kind of five sufficient walking carriers with comprehensive locomotive function, foot are distributed as front 3 foots arranged side by side, and back two is sufficient, but is the multiple-degree-of-freedom mechanism of independently moving, can realize the excessive and walking of different curve.Body constitutes with control system quite complicated, and volume is big, is not suitable for climbing the wall walking, the cost height, and it is poor to make producing feasibility.
The present invention's five sufficient climbing robots utilize the four-bar mechanism of single-degree-of-freedom just can finish the requirement of climbing wall, by simple mechanism design is realized complicated motion mode.As long as satisfy the bar elongate member, can change the relative length of bar as required arbitrarily, form different step-lengths and foot track.Five sufficient climbing robots all have foot and the wall absorption more than 3 fixing at any time, so action is stable.Walking robot because motion institute is limit, often has min. turning radius in steering procedure, this has just limited the movement locus of robot, and five feet walking robot havings that we design can pivot stud, has saved space greatly.Five sufficient climbing robots both can be kept straight on apace, pivot stud flexibly again, and steadily walking not have relative slip with metope absorption is fixing, is very suitable for climbing wall at various wall surfaces and arbitrarily angled face and walks.
Summary of the invention
The objective of the invention is to invent a kind of five sufficient climbing robots, solution replaces the task that manually fulfils assignment in special operation, simple in structure, volume is small and exquisite, action is stable, center of gravity is low, but the original place freely turn to, control is simple, by changing the suction type of foot, applicable to creeping of multiple wall and arbitrarily angled, overcome the deficiency of existing climbing robot, can be widely used in various occasion.
The technical solution adopted in the present invention is: five sufficient climbing robots have five foots, front two foots, back two foots, a middle foot, foot adsorbs with electromagnet, five foots of robot adopt 212 topology layout mode, middle foot is public foot, robot all has above foot of tripodia or tripodia and wall absorption at any time, can realize that the robot min. turning radius is zero pivot stud.
Five sufficient climbing robots are made up of frame, shank mechanism, driver part, control system, see accompanying drawing 2, accompanying drawing 3.Five sufficient climbing robot frames are made up of forebay [4] and afer bay [9], forebay is equipped with driver part on [4]--craspedodrome motor and speed reducer group [5], two front foots that shank mechanism [I] that two groups of left-right symmetry are synchronized with the movement and electromagnet [1] are robot are housed on its output shaft, two groups of shank mechanisms [I] in the forebay are connected by transverse axis [2], guarantee that two groups of shank mechanisms are synchronized with the movement.Afer bay is equipped with driver part on [9]--craspedodrome motor and speed reducer group [11], two metapedes that shank mechanism [I] that two groups of left-right symmetry are synchronized with the movement and electromagnet [17] are robot also are housed on its output shaft, and the two groups of shank mechanisms [I] in the afer bay are connected by transverse axis [18].Middle electromagnet [16] is i.e. the 5th foot of middle foot, frame before and after the square output shaft of reduction box [8] of middle steer motor [6] passes, by axle sleeve [12], thrust bearing [7], axle sleeve [13] forebay [4] and afer bay [9] two parts are coupled together, drive forward and backward frame by middle steer motor [6] and relatively rotate; Middle electromagnet [16] is connected by cover [15] with the output shaft of motor [6], and screw [14] is the location circumferentially, can relatively rotate and fluctuate; Shank mechanism [I] is a quadric chain, the D end of driving lever CD links to each other with the craspedodrome motor output shaft, make driving lever CD do the turnover motion, fork AB links to each other with frame, around the swing relatively of A end, the B end of bar BCD and fork AB, the C end of driving lever CD use pin [10] hinged, and electromagnet [1] or electromagnet [17] are articulated in the E point with the BCD bar.
Five sufficient climbing robot foots can adopt electromagnetism absorption or vacuum suction as required.
The invention has the beneficial effects as follows: five sufficient climbing robots adopt five sufficient manner of walking walkings, and robot all has above foot of tripodia or tripodia and wall absorption at any time, and absorption firmly.The action that robot keeps straight on, turns to is to finish by the motion of coordinating five foots and the absorption of foot, can be implemented in creeping and pivot stud in the arbitrarily angled plane.Control method is simple, realizes the triangle stable support, can on the wall of any luffing angle, creep, and can pivot stud.The four-bar mechanism of single-degree-of-freedom is seen accompanying drawing 1, track low level, mild, make whole machine body when advancing, rises and falls little, stride greatly.This project organization novelty, motion can be widely used in the operation in the difficult zone of small space or danger flexibly.
Description of drawings
Accompanying drawing 1 is the shank mechanism and the foot track schematic diagram of five sufficient climbing robots, wherein: AB-fork, CD-driving lever, BCE-connecting rod.Accompanying drawing 2 is the whole assembling front view of five sufficient climbing robots, and accompanying drawing 3 is the whole assembling plan view of five sufficient climbing robots.Wherein: [I]-shank mechanism, [1]-electromagnet, [2]-transverse axis, [3]-and nut, [4]-forebay, [5], [11]-craspedodrome motor and deceleration unit, [6]-and middle steer motor and deceleration unit, [7]-thrust bearing, [8]-middle steer motor output shaft, [9]-and afer bay, [10]-pin, [12], [13]-axle sleeve, [14]-screw, [15]-and cover, [16], [17]-electromagnet, [18]-transverse axis.Accompanying drawing 4,5,6,7 is the body schematic diagram that moves ahead, and wherein: Fig. 4 is metapedes absorption, and Fig. 5 is front foot absorption, and Fig. 6 is four-footed absorption, and Fig. 7 was five sufficient absorptions.Accompanying drawing 8,9,10 is for body turns to schematic diagram, wherein: Fig. 8 is metapedes absorption, and Fig. 9 is front foot absorption, and Figure 10 is five foot absorption.
Specific embodiments
Being that the example explanation is concrete with the accompanying drawing implements, and when five sufficient climbing robots were kept straight on forward, robot was by following paces motion, shown in accompanying drawing 4-7.At first, the electromagnet of two forelegs [1] outage, the craspedodrome motor [5] of control foreleg motion, [11] rotation, foreleg lifts swing forward, and front foot leaves wall, and body supports and is adsorbed on the wall, as shown in Figure 4 by two metapedes and middle foot; After front foot wall, electromagnet [1] energising, front foot is adsorbed on the wall, and the motor of keeping straight on simultaneously [1] stops operating.Then, the electromagnet of two back legs [17] outage, craspedodrome motor [11] rotation of control back leg motion, back leg lifts swing forward, and metapedes leaves wall, and as shown in Figure 5, body is supported by two forelegs and middle supporting leg, tripodia absorption; After metapedes wall, electromagnet [17] energising, metapedes is adsorbed on the wall, and the motor of keeping straight on simultaneously [11] stops operating; Electromagnet [16] outage on the middle supporting leg, middle foot is not adsorbed on the wall, the motor of leg rotates together before and after the control, the body forward motion as shown in Figure 6, make four discrete legs get back to original state, electromagnet [16] energising, middle foot is adsorbed on the wall, be five sufficient adsorbed states, as shown in Figure 7.Like this, robot has just finished once and has travelled forward.So constantly circulation, robot just can constantly move ahead.If robot retreats, craspedodrome motor counter-rotation gets final product according to above-mentioned control method operation.
When turning to, the motion of robot is different when directly walking, and motion process is as follows: at first, electromagnet [1] outage on two forelegs, front foot does not adsorb, from wall, as shown in Figure 8.Middle steer motor [6] rotation, half body changes certain angle with respect to lower body before making, electromagnet [1] energising then, front foot is adsorbed on the wall, electromagnet [17] outage on two back legs, metapedes does not adsorb from wall, as shown in Figure 9.Steer motor [6] turns over identical angle in the other direction then, makes lower body and preceding half body in line, and as shown in Figure 10, the electromagnet [17] on two back legs is switched on, and metapedes is adsorbed on the wall.Like this, robot has just finished the action at pivot stud.Five feet walking robot havings can carry out repeatedly low-angle turning in the original place, have both satisfied the angle requirement, have saved space again greatly.
Five sufficient wall climbing robot mechanisms are simple, just satisfied the strict demand of climbing wall with the four-bar mechanism of single-degree-of-freedom, and it are long to change bar, forms different step-lengths and foot track, and action is stable.In this robot ambulation process, no matter be or turn to that remaining robot all has foot and wall absorption more than 3 fixing at any time, so just makes body that kinetic stability is preferably arranged in craspedodrome; Volume is small and exquisite flexibly, can be as required, and bi-directional scaling is done robot forr a short time.Five sufficient climbing robots can be widely used in the actual engineering, as select very little motor for use, dwindle the volume of robot again, make it enter the narrow slit operation; Also can change the relative position of five legs, it can be walked on the inside and outside circle cylinder; Or the horsepower of increase motor, the suction of enhancing electromagnet allows robot carry and loads on freely-movable on the metope; Robot can add motion arm, and control mode can be remote control or intelligent from main control.Not only can also independently judge according to field condition, select movement locus automatically, finish the job task of some adverse circumstances etc. by the track walking of appointment.This robot expansion performance is good, as installs a plurality of sensors and intelligent circuit additional, just can enlarge its application and scope.
Claims (3)
1. five sufficient climbing robots have five foots, it is characterized in that: the mode of five sufficient layouts is front two foots, next two foots, a middle foot, foot adsorbs with electromagnet, and five foots adopt the mode of 212 layouts, and middle foot is public foot, robot all has above foot of tripodia or tripodia and wall absorption at any time, can realize the craspedodrome and the pivot stud of robot.
2. five sufficient climbing robots are by frame, shank mechanism, driver part, control system four parts are formed, it is characterized in that: frame is made up of forebay [4] and afer bay [9], forebay is equipped with driver part on [4]--craspedodrome motor and speed reducer group [5], two front foots that shank mechanism [I] that two groups of left-right symmetry are synchronized with the movement and electromagnet [1] are robot are housed on its output shaft, two groups of shank mechanisms [I] in the forebay are connected by transverse axis [2], afer bay is equipped with driver part on [9]--craspedodrome motor and speed reducer group [11], two metapedes that shank mechanism [I] that two groups of left-right symmetry are synchronized with the movement and electromagnet [17] are robot also are housed on its output shaft, two groups of shank mechanisms [I] in the afer bay are connected by transverse axis [18], middle electromagnet [16] is i.e. the 5th foot of middle foot, the lap of frame before and after the output shaft of middle steer motor deceleration unit vertically passes, by axle sleeve [12], thrust bearing [7], axle sleeve [13] couples together forebay [4] and afer bay [9] two parts, the formation planar uniaxial is hinged, before being driven by middle steer motor [6], afer bay relatively rotates; Middle electromagnet [16] is connected by cover [15] with the output shaft of motor [6], and screw [14] is the location circumferentially, can relatively rotate and fluctuate; Shank mechanism [I] is a quadric chain, the D end of driving lever CD links to each other with the craspedodrome motor output shaft, make driving lever CD do the turnover motion, fork AB links to each other with frame, around the swing relatively of A end, the B end of bar BCD and fork AB, the C end of driving lever CD use pin [10] hinged, and electromagnet [1] or electromagnet [17] are articulated in the E point with the BCD bar.
3. as claimed in claim 1 or 2 five sufficient climbing robots is characterized in that, foot can adopt electromagnetism absorption or vacuum suction as required.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA021588767A CN1511681A (en) | 2002-12-27 | 2002-12-27 | Five foot wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNA021588767A CN1511681A (en) | 2002-12-27 | 2002-12-27 | Five foot wall climbing robot |
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| CN1511681A true CN1511681A (en) | 2004-07-14 |
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| CNA021588767A Pending CN1511681A (en) | 2002-12-27 | 2002-12-27 | Five foot wall climbing robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1321781C (en) * | 2005-09-09 | 2007-06-20 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN100455473C (en) * | 2007-05-22 | 2009-01-28 | 哈尔滨工程大学 | Alcula type wall climbing robot |
| CN101830253A (en) * | 2010-05-21 | 2010-09-15 | 哈尔滨工业大学 | Six-foot crawling robot |
| CN101863025A (en) * | 2010-04-15 | 2010-10-20 | 上海应用技术学院 | Wall-climbing robot |
| CN105020537A (en) * | 2015-07-05 | 2015-11-04 | 北京工业大学 | Nondestructive testing robot for pipes |
| CN107949459A (en) * | 2015-09-07 | 2018-04-20 | Ntn株式会社 | Using the multiple working device of connecting rod operation device |
| CN110244737A (en) * | 2019-06-26 | 2019-09-17 | 燕山大学 | A kind of pneumatic climbing robot of small-sized sufficient formula with multi-direction automatic obstacle avoiding function |
| CN114851223A (en) * | 2022-05-24 | 2022-08-05 | 武汉理工大学 | Bionic robot for wall detection, image processing device and working method |
-
2002
- 2002-12-27 CN CNA021588767A patent/CN1511681A/en active Pending
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1321781C (en) * | 2005-09-09 | 2007-06-20 | 清华大学 | Non-contact magnetically adsorbed wall climbing robot |
| CN100455473C (en) * | 2007-05-22 | 2009-01-28 | 哈尔滨工程大学 | Alcula type wall climbing robot |
| CN101863025A (en) * | 2010-04-15 | 2010-10-20 | 上海应用技术学院 | Wall-climbing robot |
| CN101830253A (en) * | 2010-05-21 | 2010-09-15 | 哈尔滨工业大学 | Six-foot crawling robot |
| CN105020537A (en) * | 2015-07-05 | 2015-11-04 | 北京工业大学 | Nondestructive testing robot for pipes |
| CN105020537B (en) * | 2015-07-05 | 2017-08-25 | 北京工业大学 | Pipeline non-destructive testing robot |
| CN107949459A (en) * | 2015-09-07 | 2018-04-20 | Ntn株式会社 | Using the multiple working device of connecting rod operation device |
| CN107949459B (en) * | 2015-09-07 | 2021-02-12 | Ntn株式会社 | Combined working device using connecting rod operating device |
| CN110244737A (en) * | 2019-06-26 | 2019-09-17 | 燕山大学 | A kind of pneumatic climbing robot of small-sized sufficient formula with multi-direction automatic obstacle avoiding function |
| CN110244737B (en) * | 2019-06-26 | 2020-07-31 | 燕山大学 | Small-size sufficient pneumatic robot of crawling with barrier function is independently kept away to multi-direction |
| CN114851223A (en) * | 2022-05-24 | 2022-08-05 | 武汉理工大学 | Bionic robot for wall detection, image processing device and working method |
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