CN206202482U - A kind of outside corner of wall Climbing Robot - Google Patents
A kind of outside corner of wall Climbing Robot Download PDFInfo
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- CN206202482U CN206202482U CN201621309055.1U CN201621309055U CN206202482U CN 206202482 U CN206202482 U CN 206202482U CN 201621309055 U CN201621309055 U CN 201621309055U CN 206202482 U CN206202482 U CN 206202482U
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- wall
- driving wheel
- outside corner
- empennage
- metope
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Abstract
The utility model is related to a kind of outside corner of wall Climbing Robot, it includes fuselage sections and empennage portion, the fuselage sections include with the external corner line of outside corner of wall just to fixed plate, the left and right sides of fixed plate is each connected with a support, motor foot stool is fixed with support, one motor is installed on motor foot stool, the output shaft of motor is connected with a driving wheel, angle between the support of the fixed plate left and right sides is less than outside corner of wall, driving wheel is tangent with the metope of outside corner of wall, and the external corner line of the axis of driving wheel diagonally downward with outside corner of wall is at an acute angle；The empennage portion includes empennage, the upper end of empennage is fixedly connected with the fixed plate, the both sides of empennage bottom are respectively connected with a small foot stool of empennage, a driven pulley is provided with by bearing on the small foot stool of empennage, driven pulley is tangent with the metope of outside corner of wall and axis is vertical with the external corner line of outside corner of wall.This programme solves the problems such as Climbing Robot is high to material installation requirement, energy utilization rate is low, load capacity is not enough.
Description
Technical field
The utility model is related to Climbing Robot, specifically a kind of outside corner of wall Climbing Robot.
Background technology
With China industrialize and modernization be pushed further into, to fire control and disaster rescue, military surveillance, explore rescue, aviation
The aspects such as space flight propose requirement higher.Existing Climbing Robot can be roughly divided into：Vacuum cap type Climbing Robot, wind
Pressure type Climbing Robot and viscose type Climbing Robot.Vacuum cap type Climbing Robot is broadly divided into two kinds：One kind is imitative
Raw formula leg formula hydraulic pressure sucker robot, this kind of robot needs the larger hydraulic press of power, and gait movement needs part every time
Release sucker pressure, causes capacity usage ratio not high and climbs inefficiency；Another kind takes out pressure type vacuum cup and climbs wall for blower fan
Robot, this kind of robot is high to blower fan and the material requirements of sucker shirt rim, and cost is higher, and wind pressure type Climbing Robot is utilized
Propeller is rotated dolly pressure on the wall, and this kind of Climbing Robot needs dolly body weight light, so the material to making dolly
Material requirement is very high, and load capacity is a fatal problem.In addition, viscose type Climbing Robot utilizes stickum by dolly
On the wall, requirement of this kind of robot to cohesive material is higher for absorption, and to overcome when mobile cohesive material absorption affinity so
Mobile efficiency and energy utilization rate be not high.
In the prior art, the research to above-mentioned these Climbing Robots is concentrated mainly on the adsorption function of vertical wall,
But all use defect in the presence of some all the time：Need high power components to produce using the Climbing Robot of hydraulic pressure sucker mode
Negative pressure；The Climbing Robot for taking out pressure type using blower fan is high to material requirements, and cost is higher；Using the Climbing Robot of viscose type
In addition to the requirement to cohesive material is higher, mobile efficiency and energy utilization rate be not high.
The content of the invention
The purpose of this utility model is to provide a kind of outside corner of wall Climbing Robot, and its simple structure is compact, can solve the problem that
The problems such as Climbing Robot is high to material installation requirement in the prior art, energy utilization rate is low, load capacity is not enough.
The technical solution of the utility model is as follows：
A kind of outside corner of wall Climbing Robot, it includes fuselage sections and empennage portion, wherein：
The fuselage sections include with the external corner line of outside corner of wall just to fixed plate, the left and right sides of the fixed plate is each
A support is connected with, motor foot stool is fixed with the support, a motor, the motor are installed on the motor foot stool
Output shaft be connected with a driving wheel, the driving wheel is tangent with the metope of outside corner of wall, the axis of driving wheel diagonally downward with
The external corner line of outside corner of wall is at an acute angle, and the angle between the support of the fixed plate left and right sides is less than outside corner of wall, fixed plate and branch
Make to produce pressure between driving wheel and the metope by producing elastic deformation between frame, so that described in when driving wheel is rotated
Metope produces the force of sliding friction for tilting upward to driving wheel；The empennage portion include empennage, the upper end of the empennage with
The fixed plate is fixedly connected, and the both sides of empennage bottom are respectively connected with a small foot stool of empennage, on the small foot stool of empennage
One driven pulley is provided with by bearing, the driven pulley is tangent with the metope of outside corner of wall and axis hangs down with the external corner line of outside corner of wall
The straight stationarity so as to maintain robot.
Further, the wheel shaft of the driven pulley is provided with the block for preventing driven pulley from deviating from.
Further, the outside corner of wall is 90 °, and the angle between the support of the fixed plate left and right sides is 85 °, described
The driving wheel of fixed plate both sides and the driven pulley of empennage both sides are symmetrical both with respect to the external corner line of outside corner of wall.
Further, the fixed plate is two for arranging up and down, and the driving wheel is two pairs, and the driven pulley is one
It is right.
Further, also including the remote control of the control motor speed, the remote control is provided with freeze button, rises
Button and decline button；The rotating speed of the freeze button correspondence motor can make the metope tie up the frictional force of driving wheel
Hold robot static on metope；The rotating speed for rising the button correspondence motor can make the metope rub driving wheel
Wiping power maintains robot to be moved up on metope；The rotating speed for declining the button correspondence motor can make the metope pair
The frictional force of driving wheel maintains robot to be moved down on metope.
There is shape by the fuselage sections of robot using the exterior wall corner structure of building generally existing in the utility model
Become, so as to produce pressure to metope, then the relative motion realized and between metope is rotated by driving wheel, so as to produce with perpendicular
Under the synergy of the self gravitation of the frictional force of straight upward component, the frictional force and robot, allow the robot in wall
Moved on face or static.The empennage portion of this programme ensures that robot is vertically moving, it is to avoid shifting causes machine
People's motion is unstable even " to adsorb " failure.
This programme employs stop block structure to prevent driven pulley from sliding.It is 90 °, main body section in view of universal outside corner of wall
85 ° are set between the left and right two stands for dividing, whole robot also uses symmetrical structure, make whole robot easy on metope
Reach poised state.In this programme, the logarithm for increasing driving wheel is capable of the carrying ability of hoisting machine people, goes out from actual demand
Hair, employs the preferred structure of two pairs of driving wheels and a pair of driven.
For convenience of controlling, using remote control come the running status of controlled in wireless robot, allow the robot to by simple
Operation is capable of achieving robot static " absorption " on metope, and completion is at the uniform velocity risen by starting to of being gradually reduced of acceleration
Process, and complete acceleration be gradually reduced start to the process at the uniform velocity gliding.
Robot of the present utility model utilizes the exterior wall corner structure of building generally existing, using the dynamic in mechanical structure
The robot stabilized rapid climbing building of Balancing relization, so as to carry out detection to the situation inside and outside building, which overcomes existing
The shortcomings of Climbing Robot is high to material installation requirement, energy utilization rate is low, load capacity is not enough, it uses the wheeled construction to have
The characteristics of simple structure is compact, power is small, small volume, climbing speed fast, efficiency high, low cost the characteristics of, and with certain
Load capacity；Self-balancing, the self adaptation of Climbing Robot stress are also achieved simultaneously, efficiently complete rising, static, decline etc.
Action, can carry various kinds of sensors and its video monitoring system realizes that environment is detected, and be needed with good application prospect and market
Ask.
Brief description of the drawings
Fig. 1 is a kind of structural representation of embodiment of the utility model；
Fig. 2 is the side view of structure shown in Fig. 1；
Fig. 3 is the top view of structure shown in Fig. 1；
Fig. 4 is a force analysis figure for driving wheel in the utility model；
Fig. 5 is the structural representation of empennage portion in the utility model；
Fig. 6 is the structural representation of the utility model another kind embodiment.
Specific embodiment
The utility model will be further described with reference to the accompanying drawings and examples.
A kind of outside corner of wall Climbing Robot disclosed in the utility model, it is broadly divided into fuselage sections and empennage portion.It is right
In fuselage sections, mainly it is made up of driving wheel, motor, motor foot stool, support and fixed plate.As shown in Figure 1 to Figure 3, fixed plate
11-1 is just right with the external corner line L of outside corner of wall, and the left side of fixed plate 11-1 connects a support 12-2, connects on the right side of fixed plate 11-1
A support 12-1 is met, a motor foot stool 14-1 is fixed on support 12-1, propped up, a motor foot stool 14-2 is fixed on 12-2,
One motor 13-1 is installed on motor foot stool 14-1, a motor 13-2, the output of motor 13-1 are installed on motor foot stool 14-2
Axle connects a driving wheel 15-1, and the output shaft of motor 13-2 connects a driving wheel 15-2, driving wheel 15-1 and outside corner of wall
Metope α is tangent, and driving wheel 15-2 is tangent with the metope β of outside corner of wall.
The rotation-speed measuring device of motor can measurement motor in real time rotating speed, driving wheel is fixed on support by motor foot stool
On, left and right support 12-2,12-1 are rigidly fixed together by fixed plate 11-1, the left and right support of the fixed plate left and right sides
Angle γ between 12-2,12-1 is less than outside corner of wall, is that left socle 12-2 fixes plane where motor 13-2 and right support 12-
1 angle fixed between plane where motor 13-1 can make driving wheel 15-1 to metope α using the appropriate angle less than outside corner of wall
Pressure, driving wheel 15-2 is produced to produce pressure to metope β.Driving wheel 15-1,15-2 are driven using the appropriate tire of coefficient of friction
Take turns external corner line L of the axis of 15-1,15-2 diagonally downward with outside corner of wall at an acute angle.As fixed plate 11-1 and support 12-1,12-2
Between produce elastic deformation, when making to produce pressure between driving wheel 15-1,15-2 and metope α, β of outside corner of wall, now driving wheel
15-1,15-2 are rotated, and make the metope α of outside corner of wall that the force of sliding friction for tilting upward is produced to driving wheel 15-1, and metope β is to driving
Wheel 15-2 produces the force of sliding friction for tilting upward, and this force of sliding friction is to maintain robot movement or static main power
Amount.By regulation motor rotational speed regulation metope to the force of sliding friction of each driving wheel, make robot all driving wheel 15-1,
Realize rising in the presence of force of sliding friction sum F that 15-2 is subject to and self gravitation G, decline and on metope it is static.
Because each driving wheel stressing conditions is identical, a driving wheel 15-1 for robot carries out force analysis, such as
Shown in Fig. 4, motor 13-1 drives driving wheel 15-1 to rotate, the force of sliding friction F of generationfThe torsion for overcoming motor 13-1 to export,
This force of sliding friction FfThe power F straight up parallel to external corner line L can be divided into1With the power F perpendicular to external corner line L2, F2Work
There is elastic deformation in the supporting construction for constituting support 12-1 and fixed plate 11-1 under, the power that this elastic deformation is produced can divide
Solve to act on driving wheel 15-1 and perpendicular to the normal pressure F of metope αNWith the power F perpendicular to external corner line L3, work as F2More than F3
When supporting construction elastic deformation may proceed to increase until F2Equal to F3When supporting construction stress balance, now driving wheel 15-1 is most
Making a concerted effort for whole appearance one force self-balanced phenomenon, i.e. horizontal direction is zero.On vertical direction, normal pressure FNThe lower cunning for producing of effect
Kinetic force of friction FfThe component F of in the vertical direction1Half with robot gravity G is equal so that make a concerted effort on vertical direction be
Zero, robot may remain in static on wall or at the uniform velocity rise or fall.Metope α is eliminated in Fig. 4 to driving wheel 15-1
Support force.
For empennage portion, as shown in Fig. 3,5, mainly by empennage 21, driven pulley, the small foot stool of empennage, bearing and its block
Composition, the driven pulley 22-1 connections bearing 23-1 on the right side of empennage 21 is fixed on the small foot stool 24-1 of empennage, the knot in the left side of empennage 21
Structure is consistent with right side, is not marked in figure.Driven pulley 22-1 connections bearing 23-1 can make driven pulley 22-1 be fixed on the small foot stool of empennage
24-1 is upper freely to be rotated, and similarly driven pulley 22-2 is fixed on the small foot stool 24-2 of empennage and freely rotates, while using block 25-
1st, 25-2 connections wheel shaft can fix wheel shaft prevents driven pulley from sliding, and the small foot stool of empennage is fixed on the afterbody 21-2 of empennage 21,
Empennage portion is fixed by the head 21-1 and fixed plate 11-1 of empennage 21.The wall of described driven pulley 22-1,22-2 and outside corner of wall
Face α, β are tangent and axis is vertical with the external corner line L of outside corner of wall, it is ensured that robot keeps the shape of vertical shift when moving up and down
State, does not shift, and keeps two driving wheels 22-1,22-2 that fuselage inclination occurs in the same horizontal line, not.
The outside corner of wall is 90 °, and the angle between support 12-1,12-2 of the fixed plate 11-1 left and right sides is 85 °,
Driving wheel 15-1,15-2 of the fixed plate 11-1 both sides and driven pulley 22-1,22-2 of the both sides of empennage 21 are both with respect to outer
The external corner line L in corner is symmetrical.The interrelated selection of friction coefficient μ of α, β and driving wheel 15-1,15-2, optimization is optimal.Drive
Driving wheel can use many wheel ways of realization to increase load capacity enhancing, as shown in fig. 6, arrange up and down two fixed plate 11-1,
11-2, the driving wheel is two couples of 15-1 and 15-2,15-3 and 15-4,12-3 support, 13-3 motors, 14-3 motors foot stool, 15-
3 driving wheels are connected to fixed plate 11-2 right sides, and 12-4 supports, 13-4 motors, 14-4 motors foot stool, 15-4 driving wheels are connected to solid
Fixed board 11-2 left sides, the driven pulley is a pair of 22-1 and 22-2.
It is divided into three states, respectively static, raising and lowering, by controlling electricity during Climbing Robot climbing wall
The speed of machine is so as to the size of controlled motor outputting torsion and then the mobile status of control robot.The running status of robot is led to
Cross remote control to be controlled, the several motion states of correspondence, freeze button is set on remote control, rises button and declines button.
Step is climbed by robot：Robot is placed on outer foundation first, support is given with fixed plate composition with hand
The appropriate normal pressure of supporting construction, the deformation for producing supporting construction initial.Next is pressed freeze button and sets Climbing Robot
It is still-mode, now motor starts to rotate, and appropriate time unclamps hand, and robot quickly reaches the poised state of power, i.e. motor
Rotating speed make the component and robot of force of sliding friction sum F in the vertical directions from metope that all driving wheels are subject to
Gravitational equilibrium, is maintained at static on metope.Then rising button is pressed, motor speed increase, the torsion that motor is produced becomes big, drives
The increase of force of sliding friction that driving wheel is subject to, on vertical direction upward power more than robot gravity, robot start to start to
On creep.But now force of sliding friction is more than the current elastic force of supporting construction vertical in the component perpendicular to external corner line L directions
Component on external corner line L directions, therefore further deepen elastic deformation between left and right support and fixed plate, the left and right sides
Angle between support becomes larger, and elastic force gradually increases in the component on external corner line L directions, normal pressure FNGradually subtract
Small, the force of sliding friction that driving wheel is subject to also is gradually reduced, and is finally reached a poised state, and supporting construction keeps certain bullet
Property deformation, it is zero that what robot in the vertical direction was subject to makes a concerted effort, and the acceleration of dolly is gradually reduced and finally at the uniform velocity rises.Machine
People presses freeze button after rising to proper height, and motor speed reduces, and above-mentioned force analysis inversionization is so as to by decelerating to
It is static.
Robot declines step：Robot remains static first, presses decline button, and motor speed reduces, and drives
Force of sliding friction, the torsion reduction of motor generation that driving wheel is subject to, the power straight up that robot is subject to is less than robot
Gravity, robot starts to slide downwards, and now force of sliding friction is worked as in the component perpendicular to external corner line L directions less than supporting construction
Preceding elastic force in the component on external corner line L directions, the supporting structural elastic deformation that left and right support is constituted with fixed plate by
It is decrescence small, the balance of power is finally reached, support frame keeps certain deformed state, the power straight up that now robot is subject to
Equal to the gravity of robot, what dolly experience acceleration was gradually reduced starts to the process at the uniform velocity gliding.Then robot glides
Freeze button is pressed after to proper height, motor speed increase occurs above-mentioned force analysis inversion, and robot is by decelerating to
It is static.
Claims (5)
1. a kind of outside corner of wall Climbing Robot, it is characterised in that：Including fuselage sections and empennage portion, wherein：
The fuselage sections include with the external corner line of outside corner of wall just to fixed plate, the left and right sides of the fixed plate each connects
Have a support, motor foot stool be fixed with the support, a motor is installed on the motor foot stool, the motor it is defeated
Shaft is connected with a driving wheel, and the driving wheel is tangent with the metope of outside corner of wall, the axis of driving wheel diagonally downward with exterior wall
The external corner line at angle is at an acute angle, and the angle between the support of the fixed plate left and right sides is less than outside corner of wall, fixed plate and support it
Between make to produce pressure between driving wheel and the metope by producing elastic deformation so that driving wheel rotate when the metope
The force of sliding friction for tilting upward is produced to driving wheel；
The empennage portion includes empennage, and the upper end of the empennage is fixedly connected with the fixed plate, the two of empennage bottom
Side is respectively connected with a small foot stool of empennage, and a driven pulley is provided with by bearing on the small foot stool of empennage, described driven
Wheel and axis tangent with the metope of the outside corner of wall stationarity so as to maintain robot vertical with the external corner line of outside corner of wall.
2. a kind of outside corner of wall Climbing Robot according to claim 1, it is characterised in that：The wheel shaft of the driven pulley is set
There is the block for preventing driven pulley from deviating from.
3. a kind of outside corner of wall Climbing Robot according to claim 1 and 2, it is characterised in that：The outside corner of wall is 90 °,
Angle between the support of the fixed plate left and right sides is 85 °, the driving wheel of the fixed plate both sides and empennage both sides
Driven pulley is symmetrical both with respect to the external corner line of outside corner of wall.
4. a kind of outside corner of wall Climbing Robot according to claim 3, it is characterised in that：The fixed plate is to arrange up and down
Two, the driving wheel be two pairs, the driven pulley be a pair.
5. a kind of outside corner of wall Climbing Robot according to any one of claim 1,2,4, it is characterised in that：Also include control
The remote control of the motor speed is made, the remote control is provided with freeze button, rises button and declines button；
The rotating speed of the freeze button correspondence motor can make the metope maintain robot to exist the frictional force of driving wheel
It is static on metope；
The rotating speed for rising the button correspondence motor can make the metope maintain robot to exist the frictional force of driving wheel
Moved up on metope；
The rotating speed for declining the button correspondence motor can make the metope maintain robot to exist the frictional force of driving wheel
Moved down on metope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621309055.1U CN206202482U (en) | 2016-11-30 | 2016-11-30 | A kind of outside corner of wall Climbing Robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621309055.1U CN206202482U (en) | 2016-11-30 | 2016-11-30 | A kind of outside corner of wall Climbing Robot |
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| Publication Number | Publication Date |
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| CN206202482U true CN206202482U (en) | 2017-05-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201621309055.1U Active CN206202482U (en) | 2016-11-30 | 2016-11-30 | A kind of outside corner of wall Climbing Robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510027A (en) * | 2019-08-29 | 2019-11-29 | 北京理工大学 | A kind of multi-locomotion mode ground/wall-surface mobile robot |
-
2016
- 2016-11-30 CN CN201621309055.1U patent/CN206202482U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110510027A (en) * | 2019-08-29 | 2019-11-29 | 北京理工大学 | A kind of multi-locomotion mode ground/wall-surface mobile robot |
| CN110510027B (en) * | 2019-08-29 | 2020-12-08 | 北京理工大学 | Multi-motion-mode ground/wall mobile robot |
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