CN202966473U - Falcula grab type vibration wall surface climbing robot - Google Patents

Abstract

The utility model discloses a falcula grab type vibration wall surface climbing robot which comprises a first main body structure, a second main body structure and a climbing driving device capable of driving the first main body structure and the second main body structure to climb alternatively. Four grab falculas are arranged on the first main body structure, four grab falculas are positioned on the second main body structure, a first connection rod and a second connection rod are hinged on the first main body structure, the other end of the first connection rod and the other end of the second connection rod are hinged on the second main body structure, four hinge points formed by the first connection rod, the second connection rod, the first main body structure and the second main body structure are in a parallelogram shape, and the output end of the climbing driving device is connected with the second connection rod. The falcula grab type vibration wall surface climbing robot is simple and reasonable in structure, convenient to maintain, high in climbing speed, capable of being applied to detection of large cable-stayed bridges and suitable for detection of wall surfaces of elevated bridge piers on remote mountainous dangerous environment.

Description

Gripper grabbing type vibration wall climbing robot

Technical field

The utility model patent relates to the coarse cement concrete wall of a kind of Alcula type and detects robot, specifically, relates to the climbing robot of a kind of coarse concrete wall for the aerial vibration of height, the detection of granitic plaster wall, belongs to the Robotics field.

Background technology

Along with developing rapidly of China's communication, cable-stayed bridge and dangerous high vacant building are widely used in China.In three parts (Sarasota, drag-line and girder) that form cable-stayed bridge, except but the maintenance project car test of girder application specific is surveyed, Sarasota and suspension cable up to hundreds of rice all exist one to be difficult to the reality checked, the bridge maintenance engineer is difficult to their everywhere of close-ups, can't approach even at all and need the position checked, this present situation is lasting for years, does not change yet so far.Along with the more continuous appearance of Longspan Bridge, the cycle of manual detection will be longer, danger is higher, difficulty is larger, and exploitation, for the automated installation of bridge cable tower and remote mountain areas viaduct pier safety detection, becomes inevitable requirement.

In the application of actual engineering, climbing robot should have absorption and mobile two large basic function, the modes such as current suction type mainly contains that magnetic is attached, vacuum suction, negative-pressure adsorption and bionical viscosity absorption.The attached mode suction of magnetic is larger, and noise is little, controls also more conveniently, but require wall, is permeability magnetic material; Vacuum and negative-pressure adsorption mode are not limited by wall surface material, but exist than large fracture, when uneven when wall, and the Leakage Gas phenomenon easily occurs sucker, causes the adsorption affinity deficiency, the more difficult surface that is applied to rock, granitic plaster of this type of robot.In recent years, viscosity, crawl adsorption mechanism by Reptilia soles such as research gecko, cockroaches, Chinese scholars is developed the viscosity sorbing material of Polymer Synthesizing, Van der Waals force between these material use molecules, just can obtain larger adsorption affinity on very little area of contact, have advantages of that adsorption affinity and surface material characteristic are irrelevant, but it is larger that these materials existence are at present affected by the wall dust, process more difficult, service life is shorter, use certain number of times just to lose the shortcomings such as viscosity afterwards, still will further study.

Because the crack of concrete wall easily causes the gas leakage of sucker, to bionical adhesive agent, absorption has considerable influence, traditional suction type to be difficult to meet the requirement of climbing on the porous such as crannied cement concrete, granitic plaster, fragment of brick and rock or coarse surface to the uncertain dust in surface.The viaduct pier of Cable-stayed Bridge Pylon and remote mountain areas particularly, superficial dust is serious, carried by winds aloft to affect larger, and vehicular traffic causes the random vibration of Sarasota in addition, while causing robot to climb, with Sarasota, vibrate, this adsorption plant to robot is had higher requirement.

Particularity for this type of vibration wall, the Alcula type wall climbing robot that Harbin Engineering University proposes, utilize the hook thorn to hang and invest coarse wall surface by flexible realization of arm creeped, its technical scheme is published in the patent document that the patent No. is 200710072237.0.Southeast China University has proposed to capture the cable-stayed bridge concrete pylon surface detection robot of hook, utilize a small sharp hook of driven by quill shaft to capture wall and realize absorption, its technical scheme is published in the patent document that the patent No. is 201110030032.2, when the crank of slider-crank mechanism and connecting rod overlap, produce quickreturn characteristics, can cause the chatter phenomena of robot, during the claw grab wall, rigidity to flexible axle is had relatively high expectations, and causes robot body structure, expense higher.The claw grab-type wall-climbing robot proposed, application rope type of drive drives the hook motion, its technical scheme is published in the patent document that the patent No. is 201010290721.2, the lasso trick drive mechanism body of this patent is too complicated, lasso trick and sleeve pipe are more, lasso trick drives the frictional influence that is subject to sleeve pipe, and path is uncertain easily swipes, interferes with the wall projection, and the more difficult realization of drive characteristic is accurately controlled.

The biomimetic features of Nanjing Aero-Space University and material protection research institute, also microstructure and its living environment surface topography of the insect claws such as hornet, beetle are studied, designed bionical sole, the sharp pawl of its claw front end can be hooked to the sags and crests on hydraulically rough surface, robot is hung on wall, realize climbing action.

In addition, some reports about Alcula type wall climbing robot are also arranged abroad, as:

1.?Sintov?A,?Avramovich?T,?Shapiro?A.?Design?and?motion?planning?of?an?autonomous?climbing?robot?with?claws.?Robotics?and?Autonomous?Systems,?2011,?59(11):?1008-1019.

2.?M.?J.?Spenko,?G.?C.?Haynes,?J.?A.?Saunders.?Biologically?Inspired?Climbing?with?a?Hexapedal?Robot?[J].?Journal?of?Field?Robotics,?2008,?25(4-5):?223–242.

3.?Asbeck?A?T,?Kim?S,?Cutkosky?M?R,?Provancher?W?R,?M.?Lanzetta.?Scaling?hard?vertical?surfaces?with?compliant?microspine?array?[J].?International?Journal?of?Robotics?Research,?2006,?25(12):?1165-1179.

Along with the span of cable-stayed bridge is increasing, the Sarasota height constantly increases, and the shadow that the safety wind-engaging of detection shakes also rings increasing, and the logical bridge of reviving of take is example, and its Sarasota is up to 300m, all more and more difficult to the detection of drag-line and Sarasota.For the testing of cable-stayed bridge cable, this seminar had applied for that (application number was 200810019166.2,200810142308.4,2006101576019.9 to multiple detection robot, 200620016413.X).The utility model is mainly for cement concrete, the granitic plaster wall of remote danger, the high-altitudes such as viaduct pier building as cable-stayed bridge bridge pier, Cable-stayed Bridge Pylon, remote mountain areas, design a kind of novel Alcula type wall climbing robot, make hook when capturing wall, application force to wall has formed shape sealing and force-closed, the coarse projection of wall offers " suction " that points to wall of robot, increased the constraint of wall to robot, effectively overcome winds aloft and carried, the impact of Wall Vibration on the robot climbing performance.This patent has designed dedicated test mechanism mainly for coarse Sarasota cement concrete wall, and mechanism is practically applicable to viaduct pier equally, the testing of the cement concrete wall of common building.

Summary of the invention

Technical problem to be solved in the utility model is for above carried climbing robot deficiency, apply the adsorption scheme of small claw grab wall dietary fibres, propose a kind of simple in structurely, the Cable-stayed Bridge Pylon and the aloft work wall of viaduct pier that are suitable for vibration detect robot .

The utility model adopts following technical scheme: a kind of gripper grabbing type vibration wall climbing robot, comprise the first noumenon structure, the second body construction and the actuating device that climbs that drives described the first noumenon structure and the second body construction alternately to climb, be provided with four on described the first noumenon structure and capture hook, also be provided with four on described the second body construction and capture hook, it is characterized in that: be hinged with head rod and the second pipe link on described the first noumenon structure, the other end of described head rod and the second pipe link is hinged on described the second body construction, described head rod, four hinge-points that the second pipe link and described the first noumenon structure and the second body construction form form a parallelogram, the mouth of the described actuating device that climbs is connected on described the second pipe link.

Described crawl hook comprises a set of hook actuating device, the first hook box and the second hook box, and be arranged at least three small sharp hooks and three extension springs in the first hook box and the second hook box, described hook actuating device comprises that hook drives two output shafts of steering wheel and intermeshing transmission, described the first hook box all becomes L-type with the second hook box, the middle part of the first hook box and the second hook box is connected on an output shaft, and two free ends of the first hook box and the second hook box are connected to middle part and the non-hook end of small sharp hook; Described small sharp hook comprises bill and hook body, and the application torsion spring is hinged by bill and hook body, bill and hook body be equipped with make bill and hook body can be in default small scope position-limited trough in relative rotation.

The described actuating device that climbs comprises the driving steering wheel that climbs, control circuit board, and steering wheel adapter plate and steering wheel output shaft, described steering wheel adapter plate is fixed on described the second body construction, and described steering wheel output shaft is connected with described the second pipe link.

Also be provided with lithium cell on described robot body link span, wall detecting instrument etc.

Compared with prior art, the utility model climbing robot has following advantage:

1, the utility model proposes parallel four adds the derivative machinery that shape mechanism is in fact the plane hinge four-bar linkage, and the frame of plane hinge four-bar linkage is generally fixing, multiplex in the plane transmission, and it has operation balance, failure-free advantage.The quadrangle climbing device that the utility model proposes, be similar to the four-bar linkage of checker fixed frame, when making it retain robust motion and reliability, becomes a plane hinge four-bar linkage moved along wall.Due to being arranged all the time, " fixes " on metope by a connecting rod, so the mechanism that the utility model proposes is that 201110030032.2(works as the crank of slider-crank mechanism and connecting rod while overlapping than the patent No., produce quickreturn characteristics, can cause the chatter phenomena of robot, during the claw grab wall, rigidity to flexible axle is had relatively high expectations, and causes robot body structure, expense higher.) and 201010290721.2(lasso trick drive mechanism body too complicated, lasso trick and sleeve pipe are more, lasso trick drives the frictional influence be subject to sleeve pipe, and path is uncertain easily swipes, interferes with the wall projection, and the more difficult realization of drive characteristic is accurately controlled) described robot is more stable, reliably.

2, extension spring of the utility model application connects small sharp hook and the hook box of hook, and each small hook and hook box are connected through the hinge, bill is connected by torsion spring with the hook body, in the crawl process, hook all can, in the stroke range of extension spring, be found suitable crawl point under the effect of hook torsion spring.When one of them small sharp hook is caught the wall projection, under the synergy of extension spring and torsion spring, when keeping grasp force, other small sharp hook can continue motion, to guarantee that each sharp hook searches out, can capture a little; Once not search the suitable protruding point captured in this scope, it is larger that the gait stroke that can adjust robot by quadrangular mechanism makes to capture scope, guarantees that search is stable, it is reliable to capture.

3, the utility model adopts and captures the suction type of hook as climbing robot, can complete " crawl " and " hanging and taking " two kinds of actions.Each hook is provided with a plurality of small sharp hooks, for hooking up the microspike of granitic plaster or coarse cement concrete wall, can effectively overcome the impact on the suction type stability of Wall Vibration, metope dust, wall crack, make the applicable area of climbing robot more extensive.The crawl of robot adopts paired sharp hook to complete, the bending direction of point hook is relative, form one and make a concerted effort when capturing, in the projection interaction process of whole paw point hook and wall, the vertical direction component that the projection of wall acts on the friction force of small sharp hook supports the robot own wt.The component of frictional force levels direction, point to wall, this component can prevent in the robot operational process that breaking away from wall causes the accident effectively, makes mechanism kinematic more stable, has effectively overcome the impact of the external disturbance factors such as wall vibration and winds aloft carry on robot stabilization.Robot is in the whole service process, can take " crawl " and " hanging and taking " two kinds of modes, can cross larger obstacle, adaptation rock etc. has the wall of larger projection, select suitable crawl position while making robot run into crack and larger projection, can not break away from wall.In addition, because a plurality of hooks all can form the sealing of force-closed and shape, can provide the component that points to wall, this robot is also credible repays the testing that examination is applied to indoor top.

4, the actuating device of each paw of the present utility model is by corresponding steering wheel, and extension spring and torsion spring form, and can be arranged on easily and drive on tetragonal two limits, and convenient adjustment, balance tilting moment, climb robot more stable.

While 5, implementing this wall detection robot, its steering engine driving device, check implement all adopts the power supply mode of lithium cell, and does not adopt the active cable power supply, is more suitable for the aloft work environment, makes robot be subject to windage less, moves more reliable.

The accompanying drawing explanation

Fig. 1 is the integral structure schematic diagram of the utility model robot;

Fig. 2 is whole hook structural representation;

Fig. 3 is single sharp hook structure of the present utility model;

Fig. 4 key transmission schematic diagram;

Fig. 5 is that single sharp hook captures schematic diagram;

The single sharp hook of Fig. 6 can capture the scope schematic diagram;

Fig. 7 robot longitudinal movement gait schematic diagram, a incipient state wherein, bBC upwards climbs on limit, and cAD upwards climbs on limit;

Fig. 8 robot cross motion gait schematic diagram, a incipient state wherein, bAD upwards climbs on limit, and cBC upwards climbs on limit, and dAD climbs on limit, and eBC upwards climbs on limit.

The specific embodiment

Below in conjunction with accompanying drawing, the utility model is elaborated:

Be illustrated in figure 1 a kind of gripper grabbing type vibration wall climbing robot of the present utility model, comprise the actuating device 1 that climbs of robot, the first noumenon structure 2, the second body constructions 3, head rod 4, the second pipe link 14.Wherein, the actuating device 1 that climbs, the first noumenon structure 2, the second body constructions 3, head rod 4 and the second pipe link 14 form a parallel-crank mechanism ABCD.The actuating device 1 that climbs is arranged on the CD limit of this parallelogram, and the first noumenon structure 2 is arranged on the BC limit of this parallelogram, and the second body construction 3 is arranged on the AD limit of this parallelogram.Climb on actuating device 1 and be provided with main drive motor 11; Be provided with the first crawl hook 21, the second on the first noumenon structure 2 and capture hook 22, the three crawl hooks 23, the four crawl hooks 24; Be provided with the 5th on the second body construction 3 and capture hook 31, the six crawl hooks 32, the seven crawl hooks 33, the eight crawl hooks 34.Each hook comprises at least two hook boxes, is respectively the first hook box 212 and the second hook box 213.

As shown in Figure 1, the actuating device 1 that climbs comprises driving steering wheel 11, control circuit board 12, steering wheel adapter plate 13 and steering wheel output shaft.

As shown in Figure 2, described eight hook structures are identical, every cover hook has all comprised a set of hook actuating device 211, two hook boxes, the first hook box 212 and the second hook box 213, and be arranged at least three small sharp hooks and three extension springs in the first hook box, be respectively miniature sharp hook 2123, the first extension springs 2124 of the miniature sharp hook the 2122, the 3rd of the first miniature sharp hook 2121, second, the second extension spring 2125, the 3rd extension spring 2126(wherein 2125 and 2126 does not draw in plan sketch); Be arranged at least three miniature sharp hooks in the second hook box and and three extension springs, be respectively miniature sharp hook 2133, the four extension springs 2134 of the miniature sharp hook the 2132, the 6th of the 4th miniature sharp hook the 2131, the 5th, the 5th extension spring 2135, the 6th extension spring 2136(wherein 2135 and 2136 does not draw in plan sketch).The sharp hook bending direction of two miniature sharp hooks that this is paired is relative, described hook actuating device in order to hook is opened, closed or capture.

As shown in Figure 3, each sharp hook has comprised bill 2127 and hook body 2129, and application torsion spring 2128 is hinged by bill and hook body, at bill and hook body, is equipped with position-limited trough, and bill and hook body can be relatively rotated in default small scope.

As shown in Figure 2, hook actuating device 211 has comprised that a hook drives 2111, one drive couplings of steering wheel, 2112, the first axle drive shaft 2113, the second axle drive shaft 2114, the first gears 2115 and the second gears 2116.

As shown in Figure 5 and Figure 6, hook box 212 and 213 is designed to " L " shape." L " shape hook box 212 and 213 upper end and miniature sharp hook 2121 middle parts are hinged, and " L " shape hook box 212 is connected with small sharp hook 2121 lower ends by extension spring 2124 with 213 bottom righthand side.As seen from Figure 4, " L " shape hook box 212 and 213 lower-left end are provided with circular hole 2117, and offer keyway 2118, can cross driving key 2119 and be connected with 2113 with axle drive shaft 2112.

A preferred embodiment of the present utility model is, as shown in Figure 1, drive steering wheel 11 and control circuit board 12 all to be arranged on steering wheel adapter plate 13, the CD limit of steering wheel output shaft and parallelogram tightens together, by the swing behavior of steering wheel axle, drive four limit row mechanisms to move along wall.

Another preferred embodiment of the present utility model is, as shown in Figure 2, every cover hook has all comprised a set of hook actuating device 211, hook drives steering wheel 2111 to be connected with the first axle drive shaft 2113 by drive coupling 2112, the first hook box 212 is arranged on the first axle drive shaft 2113, by driving key 2117, transmission of power is given and is arranged on the small sharp hook in the first hook box 212.By being arranged on the first gear 2115 on the first axle drive shaft 2113 and being arranged on the second gear 2116 on the second axle drive shaft 2114, by drive the power of steering wheel 2111 to pass to the second hook box 213 simultaneously, by driving key, transmission of power is given and is arranged on the small sharp hook in the second hook box 213.

Another preferred embodiment of the present utility model is that as shown in Figure 5, every cover hook has all comprised two hook boxes, the first hook box 212 and the second hook box 213.From Fig. 2 and Fig. 5, be provided with at least three small sharp hooks and three extension springs in the first hook box, be respectively miniature sharp hook 2123, the first extension springs 2124 of the miniature sharp hook the 2122, the 3rd of the first miniature sharp hook 2121, second, the second extension spring 2125, the 3rd extension spring 2126.By drive coupling 2112 and the first axle drive shaft 2113, hook drives steering wheel 2111 to drive the first hook box 212 to press close to wall, at hook, drive under the propulsive effort of steering wheel 2111 and the first extension spring 2124, the second extension spring 2125, the 3rd extension spring 2126 combineds action, the miniature sharp hook 2123 of the miniature sharp hook the 2122, the 3rd of the described first miniature sharp hook 2121, second, find and can capture a little simultaneously on wall.

Another preferred embodiment of the present utility model is, from Fig. 2 and Fig. 5, be provided with at least three small sharp hooks and three extension springs in the second hook box, be respectively miniature sharp hook 2133, the four extension springs 2134 of the miniature sharp hook the 2132, the 6th of the 4th miniature sharp hook the 2131, the 5th, the 5th extension spring 2135, the 6th extension spring 2136.By drive coupling 2112, the first axle drive shaft 2113, the first gear 2115, the second gear 2116 and the second axle drive shaft 2114, drive the power of steering wheel 2111 can be delivered to the second hook box 213, at hook, drive under the propulsive effort of steering wheel 2111 and the 4th extension spring 2134, the 5th extension spring 2135, the 6th extension spring 2136 combineds action, the miniature sharp hook 2133 of the described the 4th miniature sharp hook the 2132, the 6th of miniature sharp hook the 2131, the 5th, find and can capture a little simultaneously on wall.

Another preferred embodiment of the present utility model is, from Fig. 5 and Fig. 6, each sharp hook all can capture a little for searching in the scope of " S " at stroke, when not searching suitable projection in a stroke range, need to control driving steering wheel 11, adjust the motion gait of parallelogram, continue to capture in other wall scope and climb.

Another preferred embodiment of the present utility model is, as seen from Figure 3, for increasing the flexibility of small sharp hook, avoid after a sharp hook searches out and can capture a little, become rigidity with other sharp hook, the position that restriction can capture mutually, all sharp hooks all increase a rotational freedom, apply torsion spring 2129 by bill 2127 and hook body 2128, bill and hook body are hinged, be equipped with position-limited trough at bill and hook body, bill and hook body can relatively rotated, when one of them bill is caught the wall projection, its torsion spring can produce distortion, thereby other bill can continue motion on wall, the wall projection that searching can capture.

Another preferred embodiment of the present utility model is, as can be seen from Fig. 6, each sharp hook all can capture a little for searching in the scope of " S " at stroke, when not searching suitable projection in a stroke range, need to control driving steering wheel 11, adjust the motion gait of parallelogram ABCD, continue to capture in other wall scope and climb.

Another preferred embodiment of the present utility model is, as seen from Figure 7, and when robot vertically climbs, incipient state is shown in Fig. 7-a, parallel-crank mechanism ABCD is divided into two steps to be completed, and (1), when the AD limit, the 5th captures hook 31, the 6th captures hook 32, the 7th captures hook 33, the eight captures hook 34, while firmly grasping wall, the BC limit breaks away from the wall upward movement, sees Fig. 7-b; (2) subsequently, the BC limit, first capture hook 21, the second crawl hooks 22, the three crawl hooks 23, the four crawl hooks 24, firmly grasps wall, and the AD limit breaks away from the wall upward movement, sees Fig. 7-c, completes the motion of vertically climbing.

Another preferred embodiment of the present utility model is, as seen from Figure 8, and when robot is laterally creeped, parallel-crank mechanism ABCD is divided into four steps to be completed, (1) at first, the BC limit, first capture hook 21, second captures hook 22, the 3rd captures hook 23, the four captures hook 24, promptly wall, the AD limit breaks away from the wall upward movement, sees Fig. 8-b; (2) subsequently, the AD limit, the 5th capture hook 31, the six crawl hooks 32, the seven crawl hooks 33, the eight crawl hooks 34, and while firmly grasping wall, the BC limit breaks away from the wall upward movement, sees Fig. 8-c; (3) next, the BC limit, first capture hook 21, the second crawl hooks 22, the three crawl hooks 23, the four crawl hooks 24, firmly grasps wall, and the AD limit breaks away from the wall upward movement, sees Fig. 8-d; (4) finally, the AD limit, the 5th capture hook 31, the six crawl hooks 32, the seven crawl hooks 33, the eight crawl hooks 34, firmly grasps wall, and the BC limit breaks away from the wall upward movement, sees Fig. 8-e.Through above four steps, robot completes the motion of laterally climbing.

In a word, the described several embodiments of above-described embodiment, do not represent the implementation that the utility model is all; Above embodiment is not the concrete restriction to this robot, such as, robot is also applicable to the cement concrete that climbs, granitic plaster wall, house top, and the irregular surfaces such as curved surface of high curvature such as electric pole and rock, complete relevant detection handling labor.

Claims (3)

1. a gripper grabbing type vibrates the wall climbing robot, comprise the first noumenon structure (2), the second body construction (3) and drive described the first noumenon structure (2) and the actuating device that climbs (1) that the second body construction (3) alternately climbs, be provided with four on described the first noumenon structure and capture hook (21, 22, 23, 24), also be provided with four on described the second body construction and capture hook (31, 32, 33, 34), it is characterized in that: be hinged with head rod (4) and the second pipe link (14) on described the first noumenon structure (2), the other end of described head rod and the second pipe link is hinged on described the second body construction (3), described head rod (4), the second pipe link (14) forms a parallelogram with four hinge-points that described the first noumenon structure (2) and the second body construction (3) form, the mouth of the described actuating device that climbs is connected on described the second pipe link (14).

2. gripper grabbing type according to claim 1 vibrates the wall climbing robot, it is characterized in that: described crawl hook comprises a set of hook actuating device (211), the first hook box (212) and the second hook box (213), and be arranged at least three small sharp hooks and three extension springs in the first hook box and the second hook box, described hook actuating device (211) comprises that hook drives two output shafts of steering wheel (2111) and intermeshing transmission, described the first hook box (212) all becomes L-type with the second hook box (213), the middle part of the first hook box (212) and the second hook box (213) is connected on an output shaft, two free ends of the first hook box (212) and the second hook box (213) are connected to middle part and the non-hook end of small sharp hook, described small sharp hook comprises bill (2127) and hook body (2129), and application torsion spring (2128) is hinged by bill and hook body, bill and hook body be equipped with make bill and hook body can be in default small scope position-limited trough in relative rotation.

3. gripper grabbing type according to claim 1 vibrates the wall climbing robot, it is characterized in that: the described actuating device that climbs (1) comprises the driving steering wheel (11) that climbs, control circuit board (12), steering wheel adapter plate (13) and steering wheel output shaft, it is upper that described steering wheel adapter plate (13) is fixed on described the second body construction (3), and described steering wheel output shaft is connected with described the second pipe link (14).

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