TWI235901B - Moving mechanism for climbing robot - Google Patents

Abstract

The present invention relates to a moving mechanism for climbing robot, which is a moving mechanism for the robot to vertically climb on a smooth and flat wall or glass curtain wall for providing various servicing jobs, in which the structure includes a base with the front and the rear of left and right sides, and the front side and the rear side are configured with the feet for swinging, displacing and generating the attaching force, and each foot includes a stand with a swinging angle, a pneumatic cylinder for driving the stand to swing, and a sucker which is driven by the stand for displacement and provides the up and down flexible retraction; a pneumatic direction control valve set for controlling the operation of each pneumatic cylinder; three vacuum generators/destructors for separately controlling the sucking force of the left front and the right rear, the right front and the left rear, and the right front and the right rear suckers; three vacuum status sensors for separately detecting the attachment levels for the left front and the right rear, the right front and the left rear, and the right front and the right rear suckers; a microcomputer controller for controlling the operation of the pneumatic direction control valve set, and three vacuum generators/destructors, and for receiving and determining the signals from the three vacuum status sensors; and a controller for providing the instructions to the microcomputer controller to control the marching direction of the robot; thus, with the above-mentioned structure, the present invention enables the robot to climb on a smooth and flat wall, or a glass curtain wall.

Description

1235901, one ------------------------ ~ one-fifth, description of the invention (1) ------------- ----------------- ^ _____ [Technical field to which the invention belongs 1 The present invention relates to a wall or a glass curtain wall for a robot, etc. β + for the work of the robot ^ machine cleaning, cleaning or disaster relief services [prior technology] the development of the brain mechanism to the current combination of electricity r ... like the former machine text: the development is also moving towards fully automated workers Stride forward: machine = brother is a program poor value control in the 1960s * the age of reading people? The age should belong to the machine Xinyueli said that due to the continuous progress of the times, the development of technology also said: ring Product 2 :: Highly repeatable, dangerous, and human beings ca n’t stop for a long time ^ The work of Brother Yi is almost completely replaced by robots, for example: Industrial process management: use of robotic arm welding, quality control inspection, material handling, batch Assembling; · Secret ί military security aspects · use of robotic blasting and dismantling of ammunition, unmanned aircraft or target aircraft, etc .; under construction ^ and aspects · use of machinery Arm digging ditch, masonry, application of cobblestone, Kazakhstan, Friends, women's porcelain monuments, installation of insulation and other similar work; in the mining area ·· Robotic arms instead of workers for digging work; ^ Undersea operation Aspect: Do some seabed exploration and retrieve lost objects; 〃

In terms of space robots: they can be used for space construction and rescue tasks.

Circle 1_ 1235901 V. Description of the invention (2) Operation of maintenance, repair and repair. The reason is that this has been deeply constructed, and after a long period of time, services such as smooth and flat disaster relief [Contents of the Invention] The services of the present invention for climbing and smooth flat or disaster relief include: a base, a swingable displacement foot The right rear foot includes a swingable cylinder, and a 1-pneumatic square, a first true foot suction cup, a second true foot suction cup, space transportation, material handling, and other space industry creators. Feeling the importance and necessity of robot application, think and actively research and use the existing materials and processing methods to improve the trial and develop and design a kind of vertical climbing wall or glass curtain wall for cleaning and detection Or climbing robot at work. The main purpose is to provide a mobile mechanism for a climbing robot that can be used for vertical climbing on walls or glass curtain walls for cleaning and detection work. The moving mechanism of the climbing robot according to the present invention includes a left front foot, a left rear foot, a right front, a front right foot and a front left and right foot, a front left foot, a right front foot, and a front foot respectively. The rear feet, and each of the feet is a tripod that rotates at an angle, and an air pressure that can drive the swing of the tripod. Cylinder action; air generator / destructor for controlling left front foot and right rear suction; air generator / destructor for controlling right front foot and left rear 12359901 V. Description of the invention (4) 22) and other components (see (Shown in the fourth and fifth figures), wherein: the stand (20) includes a fixing base (200) for fixing on the base (1), and two bottoms are pivoted on the fixing base (200) and mutually A swing arm (201) arranged in parallel to swing at an appropriate angle, and a horizontal block (202) horizontally connected to the upper ends of the two swing arms (20 1); the pneumatic cylinder (2 1) is connected at one end with a pivot seat ( 2 1 0) is fixed on the base (1), and the telescopic rod at the other end can be telescopically moved to The movable stand (20) pivot;

The suction cup (2 2) is coupled to a support block (220) in an upward and downward displacement manner, and the support block (220) is fixedly connected to the horizontal block (202) so that it can be used by a foot stand ( 20) Drive its horizontal displacement, and an elastic element (2 2 1) is arranged between the sucker (2 2) and the support block (2 2 0), and the elastic element (2 2 1) can act by its elastic force So that the suction cup (2 2) can be returned to an appropriate height from the wall when negative pressure suction does not occur; a pneumatic directional control valve group (30) is used to control the air pressure of each foot (2) The cylinder (2 1) makes appropriate actions;

A first vacuum generator / destroyer (40) is used to control the suction of the suction cups (22) of the left front foot (2a) and the right rear foot (2d), and the first vacuum generator / destroyer (40) ) Is also equipped with vacuum generation, vacuum release damage, filtration and other functions. It mainly uses high pressure compressed air conversion to generate a negative pressure of about 0--100kPa (0--750 mmHg) to produce a sufficient suction cup ( 2 2) strong suction on the wall;

Page 101235901 V. Description of the invention (6) It is used to measure the vacuum degree of the negative pressure of the two suction cups (2 2), use the negative pressure value to detect the adsorption state of the suction cups (2 2), and set 0 ~ A negative pressure of 100kPa (0 ~ 750 mm H g) is converted into an analog signal of DC 0 V ~ 5 V;

A microcomputer controller (60), which includes 16 input interfaces with photoelectric coupling and 16 output interfaces with relays as the contact point, and the software uses the ladder diagram of the motor to construct the combined logic and sequential logic circuits. , Which is mainly used for controlling the air pressure directional control valve group (30), the first vacuum generator / destroyer (40), the second vacuum generator / destroyer (41), and the third vacuum generator / destroyer (4) 2) the operating sequence, and receiving and determining analog signals from the first vacuum state sensor (50), the second vacuum state sensor (51), and the third vacuum state sensor (52); The controller (70) is a controller of a hand-held video game PS2, and is mainly used to provide a microcomputer controller instruction (60) for directly controlling the robot's forward and backward, left and right movement directions, and start and pause, etc. Features.

Please refer to the sixth figure. When the pneumatic cylinder (2 1) is retracted, the tripod (20) will be driven by it to swing to the right by an angle (viewed in the direction of the diagram). Then the suction cup (2 2) will also be displaced to the right by a distance; conversely, when the pneumatic cylinder (2 1) is actuated outward, the foot stand (20) will be driven by it to swing to the left by an angle At the same time, the suction cup (2 2) will also be shifted to the left by a distance. Please refer to the seventh figure. When the vacuum generator / destroyer uses high pressure compressed air to generate sufficient vacuum negative pressure, the suction cup (2 2) will

Page 121235901 V. Description of the invention (7) It will displace downward and be absorbed on the wall, and at the same time compress the elastic element (2 2 1); conversely, when the vacuum generator / destructor releases the breaking vacuum, the suction cup (2 2) will be returned to the original position by the elastic restoring force of the elastic element (2 2 1). Please refer to the first figure and the eighth figure. When the controller (7 0) issues a start instruction to the microcomputer controller (60), the microcomputer controller (60) will pass through the first vacuum. produce/

The destroyer (40) controls the suction cups (2 2) of the left front foot part (2a) and the right rear foot part (2d) to generate suction force and adsorb on the wall surface, and passes through the second vacuum generator / destructor (4 1) ) And the third vacuum generator / destructor (42) release the vacuum degree of the suction cup (2 2) which damages the right front foot (2c) and the left rear foot (2b), so that the suction cup (2 2) rises and A height from the wall; then when the controller (70) issues a command to advance to the programmable microcomputer controller (60), the microcomputer controller (60) will sequentially and repeatedly make the following control Program to achieve the purpose of traveling forward: 1. Control the left front foot through the air pressure directional control valve group (30).

(2 a) and the pneumatic cylinder (2 1) of the left rear foot (2b) are retracted, and the pneumatic cylinder (2 1) of the right front foot (2 c) and the right rear foot (2 d) is extended. Act so that the base (1) is driven forward by a stroke; 2. Then, control the right front foot (2c) and the left rear foot (2b) through the second vacuum generator / destructor (41). Suction cup (2 2)

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I 1235901 V. Description of the invention (9) d) The vacuum degree of the suction cup (2 2), so that the suction cup (2 2) of the two feet rises to a height from the wall surface; 3. After that, through the air pressure directional control valve The group (30) controls the inner cylinders (21) of the front foot (2e) and the rear foot (2f) to be retracted, so that the base (1) is driven to the left by a stroke. Conversely, when the controller (70) issues a right-shift instruction to the programmable microcomputer controller (60), the microcomputer controller (60) will repeatedly make the above-mentioned control procedures in the reverse order. To achieve the purpose of right shift. Because the present invention has the above-mentioned special structural design, it can achieve the purpose of making the robot climb vertically on the smooth and flat wall or the outer wall of the glass curtain to perform service tasks such as cleaning, detection or disaster relief. Moreover, several cameras, network transceivers and other devices can be installed on the present invention to achieve the purpose of remote monitoring and control. In summary, when the present invention is known to have industrial applicability and advancement, and there are no similar products or publications of the same type that are novel and innovative, it has already met the requirements for applying for an invention patent. The above is only a preferred embodiment of the present invention. When the scope of implementation of the present invention cannot be limited by this, that is, all equal changes and modifications made in accordance with the scope of the patent application of the present invention should still belong to the present invention. Within the scope of the patent. The 1235901 i diagram briefly illustrates the first diagram, which is the system side of the present invention | The second diagram, which is the third external view of the present invention, the fourth diagram which is the top view of the present invention, and the fifth diagram which is the left and right side of the present invention. It is the sixth picture of each foot of the present invention, the seventh picture of foot swinging of the present invention, the eighth picture of suction cup telescoping of the present invention, the ninth picture of travel displacement of the present invention, and the left and right positions of the present invention. ] (1) Base (2 a) left front foot (2 c) right front foot (2 e) front foot (2 0) foot stand (2 0 1) swing arm (2 1) pneumatic cylinder (2 2) Sucker (2 2 1) Elastic element (40) First vacuum generation / break (41) Second vacuum generation / break (42) Third vacuum generation / break (50) First vacuum state sensing (5 1) Schematic diagram of two vacuum state sensing blocks. View map. 〇 A perspective view of a foot. Tie block diagram. Schematic diagram of displacement action. Schematic diagram of the action of adsorption. Motion diagram. Schematic diagram of movement. (2) Foot (2b) Left hind foot (2d) Right hind foot (2f) Right hind foot (2 0 0) Fixed seat (2 0 2) Horizontal block (2 1 0) pivot seat (2 2 0) Support block (3 0) Pneumatic directional control valve group bad device bad device bad device

Page 16 1235901 Brief description of the diagram (5 2) First vacuum state (6 0) Microcomputer controller j (7 0) Controller Circle

Claims (1)

1235901 l A mobile robot climbing mechanism is mainly a mobile mechanism for the robot to climb vertically on a smooth and flat wall or glass curtain wall to provide a variety of service work. Its structure includes ... The front, rear and front and back sides attached to the left and right sides are respectively provided with a left front foot, a left rear foot, a forward foot, a right rear foot, a forward foot and a rear foot that can swing and generate adsorption force. Each foot system includes a tripod, a pneumatic cylinder and a suction cup, wherein the tripod is pivoted on the base and can swing at an angle, and the pneumatic cylinder can drive the tripod to swing ^ The suction cup can be driven by a tripod to move and can be elastically extended up and down; a pressure directional control valve group is used to control the pneumatic pressure of each foot; a first vacuum generator / destructor; For controlling the suction force of the suction cups of the left front foot and the right rear foot; a second vacuum generator / destructor for controlling the suction force of the suction cups of the right front foot and the left rear foot; a third vacuum generator / destructor, For controlling the front foot and the front The suction force of the suction cup of the foot; a first vacuum state sensor for detecting the adsorption degree of the suction cups of the left front foot and the right rear foot; a second vacuum state sensor for detecting the right front foot And the degree of adsorption of the suction cups on the left and rear feet; a third vacuum state sensor for detecting the degree of adsorption of the suction cups on the front and rear feet; Page 18 2005.03.22.017 1235901 6. Scope of patent application: A microcomputer controller for controlling the operation of the air pressure directional control valve group, the first, second, and third vacuum generators / destructors, and receiving signals from the first, second, and third vacuum state sensors. A controller is provided with a microcomputer controller instruction for controlling the direction of travel of the robot. 2. The moving mechanism of a climbing robot as described in item 1 of the scope of patent application, the left front foot, left rear foot, right front foot, right rear foot, front front foot and front rear foot respectively include a A tripod that can swing at an angle, a pneumatic cylinder that can drive the tripod to swing, and a suction cup that can be displaced by the tripod and can be elastically retracted up and down. 3. The moving mechanism of a climbing robot as described in item 2 of the scope of the patent application, the tripod includes a fixed base for fixing on the base, and the two bottom parts are pivoted on the fixed base and are arranged in parallel with each other to be able to swing. A swing arm at an appropriate angle and a horizontal block horizontally connected to the upper ends of the two swing arms. 4. According to the moving mechanism of a climbing robot described in item 3 of the scope of the patent application, the suction cup is coupled to a support block in a manner capable of upward and downward displacement, and the support block is connected to a horizontal block, and the suction cup An elastic element is arranged between the supporting block and the elastic element. By virtue of its elastic force, the suction cup can be restored to a proper south position from the wall surface when no negative pressure suction occurs. 5. According to the moving mechanism of a climbing robot described in item 2 of the scope of the patent application, one end of the pneumatic cylinder is fixed to the base with a pivot seat, and the telescopic rod at the other end can be telescopically operated to drive the tripod to swing. 6. The movement of a climbing robot as described in item 1 of the scope of patent application Page 19 1235901 VI. Scope of patent application i-movement mechanism, the controller is a controller for a hand-held video game P S 2 Painting page 20