CN219544941U

CN219544941U - Reverse pushing adsorption type wall climbing robot

Info

Publication number: CN219544941U
Application number: CN202223096937.2U
Authority: CN
Inventors: 于保军; 郭永义; 彭方方
Original assignee: Changchun University of Technology
Current assignee: Changchun University of Technology
Priority date: 2022-11-22
Filing date: 2022-11-22
Publication date: 2023-08-18
Anticipated expiration: 2032-11-22

Abstract

The embodiment of the utility model relates to a reverse-pushing adsorption type wall climbing robot, belongs to the technical field of robot application, and mainly aims to solve the problems of poor adsorption capacity and high requirement on a wall surface when climbing the wall surface. The device mainly comprises a machine body, a front wheel steering device, a rear wheel driving device, an adsorption device and an auxiliary transition device. When the horizontal plane works, the front wheel steering device and the rear wheel driving device can complete tasks only by being matched with each other; the wall surface also needs to be provided with a reverse thrust force for the wall by the adsorption device to finish the adsorption on the wall when working; the auxiliary transition mechanism is perpendicular to the machine body and keeps static when the horizontal plane and the wall face work, the steering engine controls the transition device to turn to be attached to the wall face when in transition between the horizontal plane and the vertical wall face, and meanwhile, the transition task is completed under the cooperation of the rear wheel driving and the adsorption device. The reverse thrust adsorption type wall climbing robot can adapt to different wall surfaces by utilizing reverse thrust adsorption, and can replace manpower to complete the tasks of monitoring, checking and transporting objects.

Description

Reverse pushing adsorption type wall climbing robot

Technical Field

The embodiment of the utility model relates to the technical field of robot application, in particular to a reverse-pushing adsorption type wall climbing robot.

Background

At present, the operation in the high-altitude environment and the extreme environment mainly takes manpower as the main, and the manual operation mode has the problems of low efficiency, high cost and the like, and meanwhile, operators have the problems of great hidden danger, safety and the like, so that the casualties are frequent. The design research of the wall climbing robot can replace the manual work of working in the high-altitude dangerous environment, so that the risk of high-risk working is greatly reduced; can also generate certain social and economic benefits while improving the working efficiency.

The wall climbing robot is a machine device capable of working at high altitude, can move on a vertical wall surface or a top, is a branch of a limit working robot, mainly adopts vacuum negative pressure adsorption type and magnetic adsorption type, and is matched with wheel type, crawler type and foot type travelling devices to complete the task of working at high altitude, and the application occasions of the wall climbing robot are very limited because the robots can only work on smooth wall surfaces or magnetic wall surfaces generally, and the power supply modes of many robots adopt cables, so that the movable range of the wall climbing robot is greatly restricted; meanwhile, the wall climbing robots often have difficulty in realizing the transition from the horizontal plane to the wall surface, and many wall climbing robots can only finish the attachment on the wall surface by manpower, so that the robot needs to rely on manpower to a great extent; for a vacuum negative pressure adsorption type wall climbing robot, the adsorption capacity is limited, the loading capacity is poor, adsorption failure is easy to occur, and the phenomenon of crash occurs; these drawbacks limit the application range of the robot to a large extent, thereby affecting the practicality of the wall climbing robot.

Disclosure of Invention

The utility model aims at solving some defects of the existing wall climbing robot, and provides a reverse pushing adsorption type wall climbing robot which has good practicability, is little influenced by application occasions and can finish transition from a horizontal plane to a wall surface.

The utility model provides a reverse thrust adsorption type wall climbing robot, which comprises the following components:

fuselage, front wheel steering device, rear wheel drive arrangement, adsorption equipment, auxiliary transition device etc. parts, wherein:

the whole machine body is plate-shaped, two holes for installing the adsorption device are horizontally and symmetrically distributed at the front end and the rear end of the machine body relative to the central axis, and a steering space is reserved at the front end of the machine body.

The front wheel steering device comprises front wheels, a front wheel shaft, a connecting plate mechanism, front wheel fixing pieces, steering engines and other components, the front wheel steering device is installed at the front end of the machine body through the front wheel fixing pieces and bolts, and the connecting plate mechanism is driven to move through the change of the angle of the steering engines to realize the left-right turning function of the front wheels.

The rear wheel driving device comprises rear wheels, a rear wheel shaft, a gear mechanism, a rear wheel fixing piece, a motor and other components, the rear wheel driving device is installed at the rear end of the machine body through the rear wheel fixing piece and a bolt, the gear mechanism adopts straight bevel gear transmission, an output shaft of the motor is connected with small teeth, the rear wheel shaft is connected with big teeth, and the motor drives the rear wheels to rotate through the gear mechanism, so that rear wheel driving is completed.

The auxiliary transition device is fixedly arranged at the forefront end of the machine body and comprises an auxiliary transition steering engine, a connecting plate mechanism, auxiliary wheels and the like, the lower end of the connecting plate mechanism is fixedly arranged on the steering engine through screws, the two steering engines are horizontally and symmetrically arranged at two ends relative to the central axis, the upper end of the connecting plate mechanism is provided with the auxiliary wheels through a connecting shaft, the connecting plate mechanism adopts a hollowed-out design, the whole weight is reduced, and the function of lifting the machine body can be realized through the change of the angle of the steering engines.

The adsorption equipment is through support frame and screw fixed mounting in fuselage open hole's position department, and adsorption equipment mainly has rotor, brushless DC motor, sleeve, screw rod, several parts of nut are constituteed, and the screw rod passes through sleeve fixed mounting on brushless DC motor's output shaft, installs the rotor above the sleeve, screws up through the nut above the rotor, and brushless DC motor's rotation drives the rotor rotation and can thereby provide required adsorption affinity.

Furthermore, the front wheels and the rear wheels adopt the same size, and hollow designs are adopted to reduce the overall weight.

Further, the shape of the front rotor wing and the shape of the rear rotor wing in the adsorption device are kept opposite, and the rotation directions of the two direct current brushless motors are changed simultaneously to enable the rotation directions of the two direct current brushless motors to be opposite, so that the two rotor wings can generate the same reverse thrust, and the interference of air flow is reduced to a certain extent.

Furthermore, a certain free space is reserved at the upper end of the machine body, and control and circuit devices such as a battery, a main control board, a control circuit, a driving device, a wireless communication device, a sensor and the like which are required by the wall climbing robot can be arranged on the machine body.

According to the back-pushing adsorption type wall climbing robot, the horizontal plane and the wall surface can be moved through the front wheel steering device and the rear wheel driving device; the reverse thrust provided by the rotation of the rotor wing can ensure the adsorption on the wall surface; the horizontal plane and the wall surface can be mutually transited through the auxiliary transition mechanism, when the robot is close to the wall surface, the auxiliary transition mechanism which is originally perpendicular to the machine body rotates under the control of the steering engine and is attached to the wall surface, and an upward lifting force is provided under the action of the rear wheel driving device, so that the transition is realized. When the wall moves, the wall can stay by controlling the adsorption mechanism, so that the energy consumption of the robot is saved.

Compared with the prior art, the utility model has the beneficial effects that:

(1) According to the back-pushing adsorption type wall climbing robot, the double-driving scheme is adopted to control the movement and the adsorption driving respectively, so that mutual interference between the two can be avoided, the adsorption device can be kept static when the horizontal plane moves, and the moving device can be kept static when the wall surface is static, and therefore energy consumption can be reduced to a great extent.

(2) The reverse pushing adsorption type wall climbing robot provided by the utility model has the advantages that the steering function is realized by controlling the connecting plate mechanism through the steering engine, the steering in the horizontal plane and the wall surface walking process can be realized, and the flexibility is better.

(3) The back-pushing adsorption type wall climbing robot realizes the driving function of the rear wheel through the transmission of the stepping motor and the straight bevel gear, and can realize the power supply in the walking process of the horizontal plane and the wall surface.

(4) According to the reverse thrust adsorption type wall climbing robot, the required reverse thrust is provided through the rotation of the rotor wing in the adsorption device, so that the wall climbing robot can complete adsorption in more occasions, the defect that the application occasions of the wall climbing robot are limited is overcome, and meanwhile, the reverse thrust provided by the rotation of the rotor wing is relatively large and stable, so that the load capacity of the wall climbing robot can be improved to a certain extent.

The back-pushing adsorption type wall climbing robot realizes the mutual transition of the wall climbing robot on the horizontal plane and the wall surface through the auxiliary transition device, and solves the defect that the wall climbing robot is difficult to transition and depends on manpower.

According to the back-pushing adsorption type wall climbing robot, the lithium battery is integrally adopted for power supply, so that the moving range of the wall climbing robot can be enlarged to a certain extent.

Drawings

In order to more clearly illustrate the technical solution of the embodiments of the present utility model, the drawings required in the embodiments will be briefly described, the following drawings are merely embodiments of the present utility model, and other drawings may be obtained according to the provided drawings for those skilled in the art.

FIG. 1 is a schematic diagram of the overall structure of a reverse thrust adsorption type wall climbing robot of the present utility model;

FIG. 2 is a schematic diagram of the auxiliary transition device and the adsorption device of the back-pushing adsorption type wall climbing robot;

FIG. 3 is a schematic structural diagram of a front wheel steering device and a rear wheel driving device of the back-thrust adsorption type wall climbing robot;

FIG. 4 is a schematic diagram of the adsorption device of the reverse-push adsorption type wall climbing robot;

FIG. 5 is a control schematic diagram of the reverse thrust adsorption type wall climbing robot of the present utility model;

in the figure: 1-a fuselage; 2-front wheel steering means; 3-rear wheel drive means; 4-an auxiliary transition device; 5-an adsorption device; 6-supporting frames; 21-front wheels; 22-front wheel mount; 23-connecting plate 1; 24-front wheel steering engine; 25-connecting plates; 26-connecting rod; 27-connecting plate 2; 28-steering engine fixing frame; 29-front axle; 31-rear wheels; 32-rear wheel fixtures; 33-rear axle; 34-spur bevel gear large teeth; 35-straight bevel gear pinion teeth; 36-a motor fixing frame; 37-stepper motor; 41-auxiliary transition steering engine; 42-connecting plate 3; 43-connecting plate 4; 44-auxiliary wheels; 45-auxiliary wheel axle; 51-rear rotor; 52-front rotor; 53-DC brushless motor; 54-sleeve; 55-nut; 56-screw.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to fall within the scope of the utility model.

In the description of the present utility model, it should be understood that the terms "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the devices or elements referred to must have a specific orientation, be configured and operated in a specific orientation, and thus should not be construed as limiting the present utility model.

Referring to fig. 1-5 of the specification, the embodiment of the utility model discloses a reverse thrust adsorption type wall climbing robot, wherein a machine body 1, a front wheel steering device 2, a rear wheel driving device 3 and an auxiliary transition device 4 are made of light materials based on 3D printing, and a front rotor wing 51 and a rear rotor wing 52 of an adsorption device 5 are made of carbon fiber materials, so that the overall weight of the wall climbing robot can be reduced to a great extent.

As shown in fig. 1, the whole body 1 is plate-shaped, two holes are formed in the middle position thereof, the adsorption device 5 is placed by the support frame 6, the positions of the holes are respectively placed at the front end and the rear end of the body 1, the holes are horizontally and symmetrically distributed about the central axis, the auxiliary transition device 4 is fixedly mounted at the top end of the body 1, and the front wheel steering device 2 and the rear wheel driving device 3 are fixedly connected to the front end and the rear end of the body 1 by bolts through the front wheel fixing piece 22 and the rear wheel fixing piece 32 respectively.

As shown in fig. 3, the front wheel steering device 2 is fixedly installed below the front end of the machine body 1, the whole device is horizontally and symmetrically distributed about the central axis, so that the mutual influence with the adsorption device 5 can be avoided, the front wheel steering device 2 is mainly matched with the link mechanism through the front wheel steering engine 24 to complete the steering task, the front wheel 21 is installed on the front wheel shaft 29, the front wheel shaft 29 and the link plate 2 (27) are vertically and fixedly connected together, the front wheel shaft 29 and the link plate are rotationally connected to the front wheel fixing piece 22, the front wheel fixing piece 22 is installed on the machine body 1 through bolts, the link plate 1 (23) is rotationally connected to the link plate 2 (27), the front wheel steering engine 24 is fixedly installed below the machine body 1 through the steering engine fixing frame 28 and bolts, and is connected with the link mechanism through the link plate 25 and the link rod 26, and thus the link mechanism can be driven to realize the steering task of the front wheel through the rotation of the front wheel steering engine 24.

The rear wheel driving device 3 is fixedly arranged below the rear end of the machine body 1, the whole device is horizontally and symmetrically distributed about the central axis, so that the mutual influence with the adsorption device 5 can be avoided, the rear wheel 31 and the rear wheel shaft 33 are fixedly connected through a spline, the rear wheel shaft 33 is arranged on two rear wheel fixing pieces 32, the rear wheel fixing pieces 32 are fixedly connected to the machine body 1 through bolts, the spur gear large tooth 34 is fixedly arranged at one end, close to the rear wheel 31, of the rear wheel shaft 33, of the rear wheel driving device 3, the stepping motor 37 is adopted as a driving motor, the stepping motor is arranged on the machine body 1 through a motor fixing frame 36 and screws, the spur gear small tooth 35 is arranged on an output shaft of the stepping motor 37 and is matched with the spur gear large tooth 34 through mechanical gear, and the rotation of the stepping motor 37 drives the rear wheel 31 to rotate, so that the driving force of the wall climbing robot during movement is provided.

As shown in fig. 2, the auxiliary transition device 4 is mounted on the top end of the machine body 1, two auxiliary transition steering engines 41 thereof are horizontally and symmetrically distributed about the central axis, the connecting plates 3 (42) are fixedly mounted on the auxiliary transition steering engines 41 through screws, and the middle positions of the two connecting plates 3 (42) are fixedly connected together through the connecting plates 4 (43), so that the rotation synchronism of the two connecting plates 3 (42) is ensured, the uppermost end of the connecting plate 3 (42) is provided with an auxiliary wheel 44 through an auxiliary wheel shaft 45, the connecting plate device is driven to rotate and be attached to the wall surface through the change of the steering engine angle, and the front end of the machine body 1 can be lifted under the driving of the rear wheel driving device 3.

As shown in fig. 2 and 4, the adsorption device 5 is fixedly mounted at the position of the opening hole of the machine body 1 through a support frame 6 and screws, the adsorption device is integrally arranged on the machine body 1, the direct-current brushless motor 53 is fixedly mounted on the support frame 6 through the screws, an output shaft of the direct-current brushless motor 53 is fixedly connected with a screw 56 and a sleeve 54, a front rotor 52 or a rear rotor 51 is connected to the sleeve, a nut 55 is mounted on the rotor to fix the rotor, and thus the rotation of the rotor can be realized through the rotation of the direct-current brushless motor 53, so that the required reverse thrust is provided for the wall climbing robot.

The front wheel 21, the rear wheel 31, the connecting plate 1 (23), the connecting plate 3 (42) and the connecting plate 4 (43) of the back-pushing adsorption type wall climbing robot are hollowed out, so that the whole weight of the wall climbing robot can be reduced as much as possible.

The shape of the front rotor 52 and the shape of the rear rotor 51 of the adsorption device 5 of the back-pushing adsorption type wall climbing robot are kept opposite, and the rotation directions of the direct current brushless motors 53 at the front end and the rear end are also kept opposite, so that the front rotor and the rear rotor provide the same back-pushing force and the interference of air flow is avoided to a certain extent.

The control assembly can be arranged on the upper panel of the machine body 1 in a free space: the lithium battery, the driving circuit, the control board, the sensor, the wireless communication equipment and the like are arranged on the lithium battery.

The specific control principle of the utility model is shown in fig. 5, the power supply is used for supplying power, the main control board is used for controlling the operation of each module, the upper computer and the wireless communication equipment are used for completing the task of man-machine interaction, the driving module is used for driving each motor and the steering engine to operate, and the sensor module is used for overall sensing and measurement.

The application process of the embodiment of the utility model is as follows:

when the horizontal plane works, the rear wheel driving device 3 provides driving force for the wall climbing robot during movement, the front wheel steering device 2 finishes steering work, and the work on the horizontal plane can be finished through the mutual matching of the control component and the wireless communication equipment; when the wall surface works, the rear wheel driving device 3 and the front wheel steering device 2 are used for controlling the movement, and the adsorption device 5 is required to provide reverse thrust to complete the adsorption work on the wall surface; the auxiliary transition device 4 keeps vertical and fuselage position when working on horizontal plane and wall, when transition from horizontal plane to wall, the auxiliary wheel 44 of the auxiliary transition device 3 is jointed with wall under steering engine control by the connecting plate device, and the transition to wall is completed under the drive of the rear wheel driving device 3, and when transition is completed to a certain extent, the adsorption device 5 is needed to provide reverse thrust to complete adsorption; when the transition from the wall surface to the horizontal surface is performed, the steering engine is controlled to rotate, and the auxiliary wheels 44 of the auxiliary transition device 4 firstly provide a supporting force to the horizontal surface, so that the transition from the wall surface to the horizontal surface of the machine body 1 is completed.

The foregoing is merely illustrative of the present utility model, and the scope of the utility model is not limited thereto, and modifications, color changes and equivalents may be made to the specific embodiments of the present utility model within the scope of the present utility model as defined by the appended claims.

Claims

1. A reverse thrust adsorption type wall climbing robot, comprising: the machine body (1), the whole platy of machine body (1), it has supplementary transition device (4) to pass through screw fixed mounting at its top, in addition at its front end through bolt and front wheel mounting (22) fixedly connected with front wheel steering device (2), at the rear end of machine body (1) through bolt and rear wheel mounting (32) fixedly connected with rear wheel drive arrangement (3), two holes that the size is the same have been seted up to the intermediate position horizontal symmetry of machine body (1), and support frame (6) are installed in the hole of opening to on through screw fixed connection in machine body (1), have adsorption equipment (5) through screw fixed mounting in support frame (6) intermediate position.

2. The back-thrust adsorption type wall climbing robot according to claim 1, wherein the front wheel steering device (2) comprises front wheels (21), front wheel fixing pieces (22), a connecting plate 1 (23), a front wheel steering engine (24), a connecting plate (25), a connecting rod (26), a connecting plate 2 (27), a steering engine fixing frame (28) and a front wheel shaft (29), the two front wheels (21) are connected to the front wheel shaft (29), are horizontally and symmetrically fixedly arranged on two sides of the front end of the machine body (1) through the front wheel fixing pieces (22), the connecting plate 2 (27) is fixedly and vertically connected with the front wheel shaft (29), the connecting plate 1 (23) is rotatably connected with the connecting plate 2 (27), the front wheel steering engine (24) is fixedly connected to the machine body (1) through screws and the steering engine fixing frame (28), an output shaft of the front wheel steering engine (24) is fixedly connected with one end of the connecting plate (25), and the other end of the connecting plate (25) is rotatably connected with the connecting plate 1 (23) through the connecting rod (26).

3. The back-thrust adsorption type wall climbing robot according to claim 1, wherein the back-wheel driving device (3) comprises a back-wheel (31), a back-wheel fixing piece (32), a back-wheel shaft (33), a spur-tooth conical gear big tooth (34), a spur-tooth conical gear small tooth (35), a motor fixing frame (36) and a stepping motor (37), the two back-wheels (31) are connected to the back-wheel shaft (33), and are horizontally and symmetrically and fixedly arranged on two sides of the back end of the machine body (1) through the back-wheel fixing piece (32), the spur-tooth conical gear big tooth (34) is fixedly connected to one end, close to the wheels, of the back-wheel shaft (33), the stepping motor (37) is fixedly connected to the machine body (1) through a bolt and the motor fixing frame (36), and the spur-tooth conical gear small tooth (35) is fixedly arranged on an output shaft of the stepping motor (37) and is matched with the spur-tooth conical gear big tooth (34) through mechanical gears.

4. The back-pushing adsorption type wall climbing robot according to claim 1, wherein the auxiliary transition device (4) is fixedly installed at the top end of the machine body (1), two auxiliary transition steering engines (41) are fixedly installed on the machine body (1) through steering engine fixing frames (28) and screws, the two steering engines are horizontally and symmetrically distributed about the central axis, the two connecting plates 3 (42) are fixedly connected to the two auxiliary transition steering engines (41) through screws, in order to keep the synchronism of the two connecting plates, the connecting plates 4 (43) are fixedly installed at the middle position of the two connecting plates 3 (42) which are horizontally and symmetrically distributed, and in addition, auxiliary wheels (44) are connected to the front ends of the connecting plates 3 (42) through auxiliary wheel shafts (45).

5. The back-pushing adsorption type wall climbing robot according to claim 1, wherein the adsorption device (5) is fixedly installed at the positions of two holes formed in the machine body (1) through a supporting frame (6) and screws, the two adsorption devices (5) are horizontally and symmetrically distributed at the front end and the rear end of the machine body respectively about a central axis, the direct-current brushless motor (53) is fixedly installed on the supporting frame (6) through screws, an output shaft of the direct-current brushless motor is fixedly connected with a screw (56) through a sleeve (54), a front rotor (52) and a rear rotor (51) are installed at the middle position of the screw (56), and a screw cap (55) is installed at the uppermost end of the screw (56).

6. A counter-pushing adsorption type wall climbing robot according to claim 2 or 3, wherein the front wheels (21) and the rear wheels (31) are hollow, and the weight of the whole robot is reduced as much as possible.

7. A counter-thrust sucking wall climbing robot according to claim 5, wherein the shape of the front rotor (52) and the shape of the rear rotor (51) are maintained opposite, and the rotation direction of the respective dc brushless motor (53) is maintained opposite during operation, thereby reducing air flow disturbance during operation.