CN211388799U - Wall climbing operation robot - Google Patents
Wall climbing operation robot Download PDFInfo
- Publication number
- CN211388799U CN211388799U CN201921719499.6U CN201921719499U CN211388799U CN 211388799 U CN211388799 U CN 211388799U CN 201921719499 U CN201921719499 U CN 201921719499U CN 211388799 U CN211388799 U CN 211388799U
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- wall
- frame
- adsorption
- climbing operation
- operation robot
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Abstract
The utility model relates to a wall climbing operation robot, include: the device comprises a rack, a traveling device and an adsorption device, wherein a driving part is arranged on the rack and drives the traveling device to travel or turn; the running gear is arranged at the lower part of the frame; the adsorption device is arranged on the rack and comprises an adsorption motor and a propeller blade driven by the adsorption motor; the driving part is driving motor, and running gear is the walking wheel, and the walking wheel is four, distributes in the four corners department of frame, driving motor also is four, corresponds four walking wheels of connection respectively. The wall climbing operation robot can realize the adsorption movement on the surfaces of objects made of different materials, namely smooth and rough wall surfaces; meanwhile, the walking wheels can realize the actions of advancing, retreating, steering, climbing, crossing of concave and convex corners at any angle and the like of the robot under the mutual matching action of the driving parts, and simultaneously realize automatic crossing of obstacles, transition and crossing of wall surfaces made of different materials and wide application range.
Description
Technical Field
The utility model relates to a robot especially relates to a wall climbing operation robot.
Background
With the rapid development of mobile robots, wall-climbing robots are highly valued by more and more industries and widely applied in many fields. Such as: the method comprises the following steps of outer wall cleaning, solar photovoltaic panel cleaning, household cleaning, chemical tank detection and cleaning, bridge and tunnel detection and the like.
The wall climbing operation robots in the current market mainly comprise the following robots:
1. vacuum negative pressure adsorption robot: a vacuum part is generated between the machine body and the surface of the object through a vacuum sucker at the bottom of the machine body or a fan, so that the machine body is firmly adsorbed on the flat object to move;
2. magnetic adsorption robot: the magnetic force is absorbed on the wall surface, so that the magnetic force is suitable for the wall surface formed by the magnetic conductivity material;
3. the friction force holding and supporting robot: moving outside and inside the columnar structure in an external hoop or internal support mode;
4. gecko bionic robot: the climbing wall is buckled to move through the thin barb stabs or the thin bristles.
The robots have the following defects respectively: 1. the vacuum negative pressure adsorption robot has to form vacuum adsorption on a smooth wall surface, has high requirement on the smoothness of the wall surface and cannot span obstacles and corners; 2. the magnetic adsorption robot is complex to control, the wall surface needs to be made of magnetic conductivity materials, the adaptability is poor, and the technology is immature; 3. the friction holding robot can only change on a wall surface which can be grasped, the universality is poor, and obstacles and corners cannot be spanned; 4. the gecko bionic robot has good adsorption function, but has low wall climbing speed, inflexibility, easy damage and immature technology.
SUMMERY OF THE UTILITY MODEL
In order to overcome the defects, the utility model provides an absorption of adaptation various wall operating modes, turn to wall climbing operation robot.
The utility model provides a technical scheme that its technical problem adopted is: a wall climbing operation robot comprising:
the driving part is arranged on the rack and drives the walking device to walk or turn;
the traveling device is arranged at the lower part of the frame;
the adsorption device is arranged on the rack and comprises an adsorption motor and a propeller blade driven by the adsorption motor;
the driving part is driving motor, the walking device is walking wheel, and the walking wheel is four, distributes in the four corners of frame, driving motor also is four, corresponds four walking wheels of connection respectively.
In a preferred embodiment of the present invention, the frame and the propeller blades are made of carbon fiber plate material.
In a preferred embodiment of the present invention, an image recording device is provided at one end of the advancing direction of the frame.
In a preferred embodiment of the present invention, a cleaning brush is disposed at a lower portion of the backward end of the frame.
In a preferred embodiment of the present invention, the two groups of propeller blades are respectively disposed at two ends of the lower portion of the frame.
In a preferred embodiment of the invention, the propeller blades are arranged at the bottom end of the frame by means of a cross beam.
In a preferred embodiment of the present invention, the adsorption motor is a brushless motor.
In a preferred embodiment of the present invention, a wireless communication device is disposed on the frame, and the robot is connected to the controller through the wireless communication device.
The utility model has the advantages that: after the structure is adopted, the wall climbing operation robot can realize the adsorption movement on the surfaces of objects made of different materials, namely smooth and rough wall surfaces; meanwhile, the walking wheels can realize the actions of advancing, retreating, steering, climbing, crossing of concave and convex corners at any angle and the like of the robot under the mutual matching action of the driving parts, and simultaneously realize automatic crossing of obstacles, realize transition and crossing of wall surfaces made of different materials, adapt to various wall surface working conditions, and have wide application range.
Drawings
FIG. 1 is a schematic structural view of the present invention;
FIG. 2 is a schematic side view of the present invention;
fig. 3 is a schematic top view of the present invention;
fig. 4 is a circuit control diagram of the present invention.
Detailed Description
The following detailed description of the preferred embodiments of the present invention will be provided in conjunction with the accompanying drawings, so as to enable those skilled in the art to more easily understand the advantages and features of the present invention, and thereby define the scope of the invention more clearly and clearly.
A wall climbing operation robot as shown in fig. 1 to 4, comprising: the device comprises a frame 1, a walking device 2 and an adsorption device; wherein the content of the first and second substances,
the frame 1 is provided with a driving part 3, and the driving part 3 drives the traveling device 2 to travel or turn;
the walking device 2 is arranged at the lower part of the frame 1;
the adsorption device is arranged on the frame 1 and comprises an adsorption motor 402 and a propeller blade 401 driven by the adsorption motor 402;
the drive division is driving motor, specifically includes left front wheel driving motor 301, right front wheel driving motor 302, left rear wheel driving motor 303 and right rear wheel driving motor 304 in this application, running gear 2 is the walking wheel, and the walking wheel is four, distributes in the four corners department of frame, driving motor also is four, corresponds four walking wheels of connection respectively.
As shown in fig. 2 to 4, four 5V rechargeable driving motors are adopted in the application, and the driving shafts drive the corresponding four traveling wheels 2 to complete the actions of advancing, retreating, climbing, turning and the like, so as to provide power for the wall climbing operation robot; specifically, when the vehicle normally moves forward or backward, the forward rotation or the backward rotation can be realized only by controlling four driving motors to rotate forwards or backwards; when a left turn is needed, the left front wheel is controlled to be immobile and the right front wheel is controlled to rotate, namely the left front wheel driving motor 301 stops working and the right front wheel driving motor 302 normally works, so that the whole frame rotates to the left under the condition that the right front wheel rotates and the left front wheel is immobile, and the steering function is realized; similarly, the rack can be steered to the right and the front; when the left wheel needs to turn backwards and leftwards, the left rear wheel is kept still, the right rear wheel rotates, namely the left rear wheel driving motor 303 rotates reversely to stop working, and the right rear wheel driving motor 304 rotates reversely to normally work, so that the whole rack turns backwards and leftwards under the condition that the right rear wheel rotates and the left rear wheel does not move.
Four walking wheels of this application correspond four driving motor's the mode of setting for the executable multiple functions such as advancing, retreat, turn to forward and turn to backward of the robot of this application have improved the accommodation and the service environment of robot.
In order to achieve a better adsorption effect, two groups of propeller blades 401 are respectively arranged at two ends of the lower part of the rack, as shown in fig. 1, each group of propeller blades corresponds to one adsorption motor, specifically, the adsorption motor is a brushless motor, the motor arranged on one side of the bottom end of the rack is a front brushless motor 4021, and the motor arranged on the other side of the bottom end of the rack is a rear brushless motor 4022; the propeller blades may be arranged at the bottom end of the frame 1 by means of a cross beam 6. In the application, a 14.8V brushless motor is adopted to drive the two propeller blades to rotate at a high speed, so that the maximum adsorption force of 2000g can be generated, and the robot can be adsorbed on the wall surfaces of objects made of various materials; when the walking wheels run into an obstacle or need to climb, the walking wheels can stably climb and cross the surface of an article by providing enough power for the four walking wheels under the matching of the walking wheels and the adsorption device, so that the actions of crossing, crossing various obstacles and the like are realized.
Be equipped with wireless communication equipment in the frame, just the robot passes through wireless communication equipment connection director, and this wall climbing operation robot specifically accessible bluetooth is connected, the remote control, can realize remote control. One of frame direction of advance is served and is equipped with image recording device 5, specifically, is equipped with the WIFI camera device in the robot front portion, can realize real-time transmission machine carries the video picture to the realization carries out reconnaissance, detection operation to the object condition. The lower part of one end of the frame in the retreating direction is provided with a cleaning brush. Specifically, the robot can be provided with a cleaning device, so that the cleaning operation of wall surfaces made of different materials can be realized.
The application of the whole wall climbing operation robot can realize horizontal and vertical adsorption movement and conversion on the wall surfaces of objects made of different materials. Meanwhile, actions such as concave-convex corner crossing, various obstacle surmounting and the like are realized. As shown in fig. 3, the front brushless motor 4021 and the rear brushless motor 4022 in the present application are respectively connected to an electric adjuster, and the rotation speed of the propeller blade can be adjusted by the electric adjuster 7 of the brushless motor according to the difference of the material and the condition of the wall surface to be adsorbed, so as to adjust the adsorption force of the robot.
The wall-climbing operation robot can be adsorbed and moved on rough granite wall surfaces, grooved color steel tile wall surfaces, smooth glass wall surfaces, epoxy paint wall surfaces and the like. Meanwhile, the wall surface can be transited and moved among wall surfaces made of different materials. The wall-climbing operation robot can realize the adsorption movement on the surfaces of objects made of different materials, and can cross over wall surfaces at any angle (concave and convex corners) and cross over obstacles appearing in the wall surfaces.
The left front wheel drive motor 301, the right front wheel drive motor 302, the left rear wheel drive motor 303 and the right rear wheel drive motor in the application can set parameters as follows: rated voltage: 6V; no-load current: 120 mA; rated torque: 9.4 kg.cm;
front and rear brushless motor parameters: rated voltage: 14.8V; rated current: 26A; rated power: 360W; maximum tensile force: 1047 g;
brushless waterproof electrically-controlled parameters: output capability: a continuous current 15A, a short-time current 20A; BEC output: 5V @2A (Linear Voltage stabilization MODE-LINEAR MODE); the highest rotating speed is as follows: 210000 revolutions per minute;
propeller blade parameters: size: 5 cun, 3 positive and negative paddles; the material is as follows: and (3) a PC. The wall climbing experiment is carried out by adopting the parameters, and the specific experimental test results are as follows:
from the upper table, the wall climbing operation robot can be adsorbed on the wall surfaces made of different materials and uneven, and can be freely converted among the wall surfaces made of different materials; the robot has high moving efficiency under the condition of wall surface adsorption and has certain loading operation capacity;
the robot can also be used as a high-rise building and pipeline climbing robot, and can replace manual work to automatically detect the conditions of the building and the pipeline.
It is to be emphasized that: the above only is the embodiment of the present invention, not limiting the patent scope of the present invention, all the equivalent structures or equivalent processes that are used in the specification and the attached drawings or directly or indirectly applied to other related technical fields are included in the patent protection scope of the present invention.
Claims (8)
1. A wall climbing operation robot, comprising:
the driving part is arranged on the rack and drives the walking device to walk or turn;
the traveling device is arranged at the lower part of the frame;
the adsorption device is arranged on the rack and comprises an adsorption motor and a propeller blade driven by the adsorption motor;
the driving part is driving motor, the walking device is walking wheel, and the walking wheel is four, distributes in the four corners of frame, driving motor also is four, corresponds four walking wheels of connection respectively.
2. A wall-climbing operation robot according to claim 1, characterized in that the frame and the propeller blades are made of carbon fiber sheet material.
3. A wall-climbing operation robot according to claim 1, wherein an image recording device is provided at one end of the advancing direction of the frame.
4. The wall-climbing operation robot according to claim 3, wherein a cleaning brush is provided at a lower portion of one end in the retreating direction of the frame.
5. The wall-climbing operation robot according to claim 1, wherein the two groups of the propeller blades are respectively provided at both lower ends of the frame.
6. A wall-climbing operation robot according to claim 5, characterized in that the propeller blade is arranged at the bottom end of the frame by a cross beam.
7. The wall-climbing operation robot according to claim 1, wherein the adsorption motor is a brushless motor.
8. A wall-climbing operation robot according to claim 1, wherein the frame is provided with a wireless communication device, and the robot is connected with the controller through the wireless communication device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921719499.6U CN211388799U (en) | 2019-10-14 | 2019-10-14 | Wall climbing operation robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201921719499.6U CN211388799U (en) | 2019-10-14 | 2019-10-14 | Wall climbing operation robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211388799U true CN211388799U (en) | 2020-09-01 |
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ID=72212048
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201921719499.6U Expired - Fee Related CN211388799U (en) | 2019-10-14 | 2019-10-14 | Wall climbing operation robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211388799U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112849356A (en) * | 2021-03-19 | 2021-05-28 | 上海应用技术大学 | Underwater wall-climbing ship cleaning robot |
| CN112936216A (en) * | 2021-02-01 | 2021-06-11 | 中国农业大学 | Vacuum adsorption wheel type mobile robot platform for nondestructive testing of wind driven generator blade |
-
2019
- 2019-10-14 CN CN201921719499.6U patent/CN211388799U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112936216A (en) * | 2021-02-01 | 2021-06-11 | 中国农业大学 | Vacuum adsorption wheel type mobile robot platform for nondestructive testing of wind driven generator blade |
| CN112849356A (en) * | 2021-03-19 | 2021-05-28 | 上海应用技术大学 | Underwater wall-climbing ship cleaning robot |
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Legal Events
| Date | Code | Title | Description |
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| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200901 Termination date: 20211014 |
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| CF01 | Termination of patent right due to non-payment of annual fee |