CN218536927U - Multi-foot wall climbing robot - Google Patents
Multi-foot wall climbing robot Download PDFInfo
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- CN218536927U CN218536927U CN202222639647.1U CN202222639647U CN218536927U CN 218536927 U CN218536927 U CN 218536927U CN 202222639647 U CN202222639647 U CN 202222639647U CN 218536927 U CN218536927 U CN 218536927U
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Abstract
The utility model provides a multi-foot wall climbing robot, a multi-foot robot mainboard, a plurality of mechanical legs symmetrically arranged at two sides of the multi-foot robot mainboard, an electric control device and two air pump devices arranged on the multi-foot robot mainboard; the mechanical leg comprises a first micro steering engine, a second micro steering engine, a connecting piece and a third micro steering engine, wherein one end of the first micro steering engine is fixedly connected with a multi-foot robot mainboard, the other end of the first micro steering engine is connected with the second micro steering engine through a rotary buckle, and the third micro steering engine is connected with a vertical cavity through a fixed buckle; one end of the vertical cavity is provided with a vacuum chuck, and the other end of the vertical cavity is connected with an air pump device through an air duct; the three steering engines can realize the operations of advancing or retreating, leg lifting and foot falling; the two air pump devices are respectively connected with all the mechanical legs at intervals; the electric control system controls the three steering engines and the two air pump devices to be started and closed, and the adsorption function of the vacuum sucker is realized.
Description
Technical Field
The utility model belongs to the technical field of mobile robot, concretely relates to polypody wall climbing robot.
Background
With the development of cities, various skyscrapers rise out of the ground, in the construction of modern skyscrapers, the building envelope needs to be installed or maintained manually, the danger coefficient of high-altitude operation is large, accidents are often accompanied, the robot technology is developed vigorously nowadays, a part of dangerous work can be carried out by using robots, and the robots have the characteristics of simplicity and convenience in operation and high intelligent degree, share part of work by using the robots, so that the danger of workers in high altitude is reduced, and the life safety of high-altitude practitioners is protected.
The wall climbing robot, which is a kind of robot, realizes a function of walking on a wall and has been widely used since birth, but the conventional wall climbing robot has a difficulty in that the adsorption property of the wall climbing robot is poor and the robot cannot be stably adsorbed on an outer wall of a building.
SUMMERY OF THE UTILITY MODEL
To the problem that exists among the prior art, the utility model provides a polypody wall climbing robot, what can be stable adsorbs in the building outer wall.
The utility model discloses a realize through following technical scheme:
a multi-foot wall climbing robot is characterized by comprising a multi-foot robot main board, a plurality of mechanical legs symmetrically arranged on two sides of the multi-foot robot main board, an electric control device and two air pump devices, wherein the electric control device and the two air pump devices are arranged on the multi-foot robot main board;
the plurality of mechanical legs comprise a first micro steering engine, a second micro steering engine and a third micro steering engine, one end of the first micro steering engine is fixedly connected with the multi-legged robot mainboard, the other end of the first micro steering engine is connected with the second micro steering engine through a rotary buckle, a connecting piece is arranged between the second micro steering engine and the third micro steering engine, and the third micro steering engine is connected with a vertical cavity through a fixed buckle; one end of the vertical cavity is provided with a vacuum chuck, and the other end of the vertical cavity is connected with an air pump device through an air duct;
the two air pump devices are respectively connected with all the mechanical legs at intervals in sequence;
the electric control device is respectively connected with the two air pump devices, the first micro steering engine, the second micro steering engine and the third micro steering engine.
Furthermore, the swinging direction of the driving end of the first miniature steering engine is a horizontal direction, and the swinging direction of the driving ends of the second miniature steering engine and the third miniature steering engine is a vertical direction.
Further, a ventilation valve is arranged on the ventilation pipeline and connected with an electric control device.
Further, the mechanical legs comprise a first mechanical leg, a second mechanical leg, a third mechanical leg, a fourth mechanical leg, a fifth mechanical leg and a sixth mechanical leg;
the first mechanical leg and the second mechanical leg are symmetrically arranged at the front end of the multi-legged robot mainboard respectively, the third mechanical leg and the fourth mechanical leg are symmetrically arranged at the middle end of the multi-legged robot mainboard respectively, and the fifth mechanical leg and the sixth mechanical leg are symmetrically arranged at the rear end of the multi-legged robot mainboard respectively.
Further, the first mechanical leg, the fourth mechanical leg and the fifth mechanical leg are connected to one air pump device, and the second mechanical leg, the third mechanical leg and the sixth mechanical leg are connected to another air pump device.
Further, a mechanical leg fixing support is further arranged on the mechanical leg, and the mechanical leg fixing support comprises a first vertical support fixedly connected to the free end of the rotating buckle and a second vertical support fixedly connected to the driving end of a third micro steering engine;
the other ends of the first vertical support and the second vertical support are hinged with two ends of a first horizontal support, and the vertical cavity and the second vertical support are hinged with two ends of a second horizontal support.
Further, the model of the chip adopted by the electric control device is STM32F103RCT.
Further, the multi-legged robot mainboard adopts a double-layer hexagonal bottom plate.
Compared with the prior art, the utility model discloses following profitable technological effect has:
the utility model provides a multi-foot wall climbing robot, which comprises a multi-foot robot mainboard, a plurality of mechanical legs symmetrically arranged at two sides of the multi-foot robot mainboard, an electric control device and two air pump devices arranged on the multi-foot robot mainboard; the plurality of mechanical legs comprise a first micro steering engine, a second micro steering engine and a third micro steering engine, one end of the first micro steering engine is fixedly connected with the multi-legged robot mainboard, the other end of the first micro steering engine is connected with the second micro steering engine through a rotary buckle, a connecting piece is arranged between the second micro steering engine and the third micro steering engine, and the third micro steering engine is connected with a vertical cavity through a fixed buckle; one end of the vertical cavity is provided with a vacuum chuck, and the other end of the vertical cavity is connected with an air pump device through an air duct; the mechanical legs are used for supporting, moving and being adsorbed on the outer wall of a building, and the three steering engines can realize the operations of advancing or retreating, leg lifting and foot falling; the two air pump devices are respectively connected with all the mechanical legs in sequence at intervals; the electric control device is respectively connected with the two air pump devices, the first miniature steering engine, the second miniature steering engine and the third miniature steering engine, and the electric control system controls the three steering engines and the two air pump devices to be started and closed, so that the functions of movement and adsorption can be realized.
Drawings
Fig. 1 is a schematic structural view of a multi-legged wall-climbing robot of the present invention;
fig. 2 is a schematic view of the mechanical leg structure of the present invention.
In the figure: the multi-legged robot comprises a main board 1 of the multi-legged robot, an electric control device 12, an air pump device 8, a first micro steering engine 3, a second micro steering engine 4, a third micro steering engine 5, a connecting piece 19, a fixing buckle 6, a vertical cavity 20, an air vent pipeline 9, an air vent valve 11, a first mechanical leg 13, a second mechanical leg 14, a third mechanical leg 15, a fourth mechanical leg 16, a fifth mechanical leg 17, a sixth mechanical leg 18, a mechanical leg fixing support 10, a first vertical support 101, a second vertical support 102, a first horizontal support 103 and a second horizontal support 104.
Detailed Description
The present invention will be described more fully hereinafter with reference to the accompanying drawings, which are given by way of illustration and not by way of limitation.
In order to make the technical solution of the present invention better understood, the technical solution of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative efforts shall belong to the protection scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Moreover, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements explicitly listed, but may include other steps or elements not expressly listed or inherent to such process, article, or apparatus.
The utility model provides a multi-foot wall-climbing robot, which is characterized in that the robot comprises a multi-foot robot mainboard 1, a plurality of mechanical legs symmetrically arranged at two sides of the multi-foot robot mainboard 1, an electric control device 12 arranged on the multi-foot robot mainboard 1 and two air pump devices 8;
the plurality of mechanical legs comprise a first micro steering engine 3, a second micro steering engine 4 and a third micro steering engine 5, one end of the first micro steering engine 3 is fixedly connected with a multi-legged robot main board 1, the other end of the first micro steering engine is connected with the second micro steering engine 4 through a rotary buckle 2, a connecting piece 19 is arranged between the second micro steering engine 4 and the third micro steering engine 5, and the third micro steering engine 5 is connected with a vertical cavity 20 through a fixed buckle 6; one end of the vertical cavity 20 is provided with a vacuum chuck 7, and the other end is connected with an air pump device 8 through an air duct 9;
the two air pump devices 8 are respectively connected with all the mechanical legs at intervals in sequence;
the electric control device 12 is respectively connected with two air pump devices 8, a first micro steering engine 3, a second micro steering engine 4 and a third micro steering engine 5.
Preferably, the swinging direction of the driving end of the first micro steering engine 3 is a horizontal direction, and the swinging directions of the driving ends of the second micro steering engine 4 and the third micro steering engine 5 are vertical directions; specifically, the first micro steering engine 3 is used for advancing or retreating a mechanical leg, the second micro steering engine 4 is used for lifting the mechanical leg, the third micro steering engine 5 is used for lowering a foot of the mechanical leg, and the first micro steering engine 3, the second micro steering engine 4 and the third micro steering engine 5 move independently and are all controlled independently through the electric control device 12; specifically, first miniature steering wheel 3, second miniature steering wheel 4 and third miniature steering wheel 5 mainly comprise shell, circuit board, driving motor, reduction gear and position detection component, and the motion range of steering wheel can be adjusted according to actual working distance to the skilled person in the art, and then satisfies the demand.
Preferably, the ventilation pipeline 9 is provided with a ventilation valve 11, the ventilation valve 11 is connected with an electric control device 12, and the electric control device 12 controls the opening and closing of the ventilation valve, so as to control the operation of the vacuum suction cup 7 for absorbing or separating from the outer wall of the building.
Preferably, the mechanical legs include a first mechanical leg 13, a second mechanical leg 14, a third mechanical leg 15, a fourth mechanical leg 16, a fifth mechanical leg 17 and a sixth mechanical leg 18; the first mechanical leg 13 and the second mechanical leg 14 are respectively symmetrically arranged at the front end of the multi-legged robot main board 1, the third mechanical leg 15 and the fourth mechanical leg 16 are respectively symmetrically arranged at the middle end of the multi-legged robot main board 1, and the fifth mechanical leg 17 and the sixth mechanical leg 18 are respectively symmetrically arranged at the rear end of the multi-legged robot main board 1; furthermore, the first mechanical leg 13, the fourth mechanical leg 16 and the fifth mechanical leg 17 are connected to one air pump device 8, and the second mechanical leg 14, the third mechanical leg 15 and the sixth mechanical leg 18 are connected to another air pump device 8; specifically, in the crawling process, three mechanical legs connected with one air pump device 8 are used for supporting, and three mechanical legs connected with the other air pump device 8 are used for moving and are alternately carried out, so that the adsorption and moving processes in the crawling process are realized, and meanwhile, the stability in the moving process is also met.
Preferably, the mechanical leg is further provided with a mechanical leg fixing support 10, and the mechanical leg fixing support 10 comprises a first vertical support 101 fixedly connected to the free end of the rotating buckle 2 and a second vertical support 102 fixedly connected to the driving end of the third micro steering engine 5; the other ends of the first vertical bracket 101 and the second vertical bracket 102 are hinged with two ends of a first horizontal bracket 103, and the vertical cavity 20 and the second vertical bracket 102 are hinged with two ends of a second horizontal bracket 104; specifically, mechanical leg fixed bolster 10 is used for improving the stability of structure, can guarantee the vertical relation of vertical cavity 20 and vacuum chuck 7 and building outer wall simultaneously, and then improves the adsorption efficiency and the reliability of this application.
Preferably, the model of the chip adopted by the electric control device 12 is STM32F103RCT.
Preferably, the multi-legged robot main board 1 adopts a double-layer hexagonal bottom board; specifically, double-deck hexagon bottom plate has strengthened bottom stability as the base of robot, increase of service life, is favorable to its adjustment of crawling in-process direction.
The application provides a preferred embodiment as follows:
the total mass of the actual prototype is 3KG, and the direct proportion relation is formed between the adsorption force and the vacuum degree and between the contact area of the sucking disc and the curtain wall. The calculation formula of the suction force of the vacuum chuck 7 is:
wherein W is the adsorption capacity of the sucker and the unit is Newton; Δ P is vacuum (expressed as a percentage); and S is the contact area of the sucker and the contact surface, and the unit is mm < 2 >.
The vacuum degree of each sucker can reach at least 60kPa through actual experiment tests, the mechanical size of each sucker is determined, the adsorption force of a single sucker can reach 48.23N through calculation of the formula (1), and the equivalent mass is 4.92kg through conversion, so that the adsorption force can be far more satisfied under the condition of inverted posture with the highest adsorption force requirement of the robot.
Further, each major structure all adopts 3D to print in this application and obtains, splices the equipment again, has higher mechanical strength and physical expansion degree, and the material later maintenance of also being convenient for reduces the maintenance cost.
When the multi-legged robot is used, when the robot walks forwards, the electric control device 12 controls the air pump device 8 to be started, the air pump device 8 pumps out air in the vacuum chuck 7 at the tail end of the mechanical leg through the air duct 9, and the preparation action of the multi-legged robot for adsorbing a wall body is realized; then the air pump device 8 is started to ventilate the vacuum suction cups 7 at the tail ends of the second mechanical leg 14, the third mechanical leg 15 and the sixth mechanical leg 18, so that the mechanical legs are separated from the wall body, the electric control device 12 drives the second mechanical leg 14, the third mechanical leg 15 and the sixth mechanical leg 18 of the multi-legged robot to move forward by one step, at the moment, the electric control device 12 drives the second mechanical leg 14, the third mechanical leg 15 and the sixth mechanical leg 18 to fall down again, and the air pump device 8 pumps out the air in the vacuum suction cups 7 at the tail ends of the second mechanical leg 14, the third mechanical leg 15 and the sixth mechanical leg 18, so that the multi-legged robot is adsorbed on the wall body. The air pump device 8 of the multi-legged robot ventilates the vacuum suction cups at the tail ends of the first mechanical leg 13, the fourth mechanical leg 16 and the fifth mechanical leg 17 to enable the mechanical legs to be separated from the wall, the electric control device 12 drives the first mechanical leg 13, the fourth mechanical leg 16 and the fifth mechanical leg 17 to move forward by one step, at the moment, the electric control device 12 drives the first mechanical leg 13, the fourth mechanical leg 16 and the fifth mechanical leg 17 to fall down, the air pump device 8 pumps out the air in the vacuum suction cups 7 at the tail ends of the first mechanical leg 13, the fourth mechanical leg 16 and the fifth mechanical leg 17, and the multi-legged robot is enabled to be adsorbed on the wall. The multi-legged robot finishes a forward walking action.
Particularly, when the robot rotates on site at a large angle, the crawling direction can be directly converted by taking the other axial direction as the advancing direction through the adjustment of the legs of the robot without rotating the machine body.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the embodiments of the present invention.
Claims (9)
1. A multi-foot wall-climbing robot is characterized by comprising a multi-foot robot main board (1), a plurality of mechanical legs symmetrically arranged on two sides of the multi-foot robot main board (1), an electric control device (12) and two air pump devices (8) arranged on the multi-foot robot main board (1);
the mechanical legs comprise a first micro steering engine (3), a second micro steering engine (4) and a third micro steering engine (5), one end of the first micro steering engine (3) is fixedly connected with the multi-legged robot main board (1), the other end of the first micro steering engine is connected with the second micro steering engine (4) through a rotary buckle (2), a connecting piece (19) is arranged between the second micro steering engine (4) and the third micro steering engine (5), and the third micro steering engine (5) is connected with a vertical cavity (20) through a fixed buckle (6); one end of the vertical cavity (20) is provided with a vacuum sucker (7), and the other end is connected with an air pump device (8) through an air duct (9);
the two air pump devices (8) are respectively connected with all the mechanical legs at intervals in sequence;
the electric control device (12) is respectively connected with two air pump devices (8), a first micro steering engine (3), a second micro steering engine (4) and a third micro steering engine (5).
2. The multi-foot wall-climbing robot according to claim 1, characterized in that the swinging direction of the driving end of the first micro steering engine (3) is horizontal, and the swinging direction of the driving ends of the second micro steering engine (4) and the third micro steering engine (5) is vertical.
3. The robot for climbing wall with multiple feet as claimed in claim 1, characterized in that the ventilation duct (9) is provided with a ventilation valve (11), and the ventilation valve (11) is connected with an electric control device (12).
4. A multi-legged wall-climbing robot according to claim 1, characterized in that the mechanical legs include a first mechanical leg (13), a second mechanical leg (14), a third mechanical leg (15), a fourth mechanical leg (16), a fifth mechanical leg (17) and a sixth mechanical leg (18);
the first mechanical leg (13) and the second mechanical leg (14) are symmetrically arranged at the front end of the multi-foot robot mainboard (1) respectively, the third mechanical leg (15) and the fourth mechanical leg (16) are symmetrically arranged at the middle end of the multi-foot robot mainboard (1) respectively, and the fifth mechanical leg (17) and the sixth mechanical leg (18) are symmetrically arranged at the rear end of the multi-foot robot mainboard (1) respectively.
5. A multi-legged wall-climbing robot according to claim 4, characterized in that the first mechanical leg (13), the fourth mechanical leg (16) and the fifth mechanical leg (17) are connected to one air pump device (8), and the second mechanical leg (14), the third mechanical leg (15) and the sixth mechanical leg (18) are connected to another air pump device (8).
6. The multi-legged wall-climbing robot according to claim 1, characterized in that a mechanical leg fixing support (10) is further arranged on the mechanical leg, and the mechanical leg fixing support (10) comprises a first vertical support (101) fixedly connected to the free end of the rotary buckle (2) and a second vertical support (102) fixedly connected to the driving end of the third micro steering engine (5).
7. A multi-foot wall-climbing robot according to claim 6, characterized in that the other ends of the first vertical support (101) and the second vertical support (102) are hinged with both ends of a first horizontal support (103), and the vertical cavity (20) and the second vertical support (102) are hinged with both ends of a second horizontal support (104).
8. A multi-legged wall-climbing robot according to claim 1, characterized in that the electric control device (12) is a chip model STM32F103RCT.
9. The multi-footed wall climbing robot of claim 1, characterized in that the main board (1) of the multi-footed robot adopts a double-layer hexagonal bottom board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222639647.1U CN218536927U (en) | 2022-09-30 | 2022-09-30 | Multi-foot wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222639647.1U CN218536927U (en) | 2022-09-30 | 2022-09-30 | Multi-foot wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218536927U true CN218536927U (en) | 2023-02-28 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222639647.1U Active CN218536927U (en) | 2022-09-30 | 2022-09-30 | Multi-foot wall climbing robot |
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|---|---|
| CN (1) | CN218536927U (en) |
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2022
- 2022-09-30 CN CN202222639647.1U patent/CN218536927U/en active Active
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