WO2024066023A1 - 高灵活性的吸附式爬壁机器人、爬行方法及其应用 - Google Patents

高灵活性的吸附式爬壁机器人、爬行方法及其应用 Download PDF

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Publication number
WO2024066023A1
WO2024066023A1 PCT/CN2022/135726 CN2022135726W WO2024066023A1 WO 2024066023 A1 WO2024066023 A1 WO 2024066023A1 CN 2022135726 W CN2022135726 W CN 2022135726W WO 2024066023 A1 WO2024066023 A1 WO 2024066023A1
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Prior art keywords
hinge
wall
walking
sub
connecting member
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PCT/CN2022/135726
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English (en)
French (fr)
Inventor
王宝玉
李建伟
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江苏镌极特种设备有限公司
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Publication of WO2024066023A1 publication Critical patent/WO2024066023A1/zh

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
    • B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60B—VEHICLE WHEELS; CASTORS; AXLES FOR WHEELS OR CASTORS; INCREASING WHEEL ADHESION
    • B60B19/00—Wheels not otherwise provided for or having characteristics specified in one of the subgroups of this group
    • B60B19/006—Magnetic wheels

Definitions

  • the present invention relates to the technical field of wall-climbing robots, and in particular to a highly flexible adsorption-type wall-climbing robot, a crawling method and applications thereof.
  • the wall-climbing robot can realize unmanned inspection, and can also carry various processing devices and work along the wall.
  • the technical problem to be solved by the present invention is to overcome the technical defects of the wall-climbing robot in the prior art, such as poor flexibility, poor stability and potential safety hazards.
  • the present invention provides a highly flexible adsorption wall-climbing robot, comprising:
  • a first connecting assembly comprising a first front connecting member, a second front connecting member, a front swinging pair, a front main hinge, a first front secondary hinge and a second front secondary hinge, the first front connecting member is connected to the vehicle frame via the front swinging pair, and the second front connecting member is connected to the first front connecting member via a main hinge;
  • a front walking module comprising a first front walking unit and a second front walking unit, the first front walking unit and the second front walking unit can be adsorbed on a wall and walk, the first front walking unit and the second front walking unit are respectively located on both sides of the second front connecting member, the first front walking unit is connected to the second front connecting member through a first front sub-hinges, and the second front walking unit is connected to the second front connecting member through a second front sub-hinges;
  • the second connecting assembly comprising a first rear connecting member, a second rear connecting member, a rear swinging pair, a rear main hinge, a first rear secondary hinge and a second rear secondary hinge, the first rear connecting member being connected to the vehicle frame via the rear swinging pair, and the second rear connecting member being connected to the first rear connecting member via a main hinge;
  • a rear walking module comprising a first rear walking unit and a second rear walking unit, the first rear walking unit and the second rear walking unit can be adsorbed on a wall and walk, the first rear walking unit and the second rear walking unit are respectively located on both sides of the second rear connecting member, the first rear walking unit is connected to the second rear connecting member through a first rear sub-hinge, and the second rear walking unit is connected to the second rear connecting member through a second rear sub-hinge;
  • the rotation axis directions of the front swing pair and the rear swing pair are both perpendicular to the forward direction
  • the rotation axis directions of the front main hinge, the rear main hinge, the first front secondary hinge, the second front secondary hinge, the first rear secondary hinge and the second rear secondary hinge are the forward direction of the wall-climbing robot
  • the front swing pair and the rear swing pair are driven by driving sources respectively.
  • the front main hinge, the rear main hinge, the first front secondary hinge, the second front secondary hinge, the first rear secondary hinge and the second rear secondary hinge are all follow-up type to make adaptive adjustments according to the wall morphology;
  • the front main hinge, the rear main hinge, the first front secondary hinge, the second front secondary hinge, the first rear secondary hinge and the second rear secondary hinge are respectively provided with damping to ensure the passive adaptability of the hinge pair to the wall characteristics.
  • the front main hinge and the rear main hinge are follow-up type to make adaptive adjustments according to the wall surface morphology, and the front main hinge and the rear main hinge are respectively provided with damping to ensure the passive adaptability of the hinge pair to the wall surface characteristics;
  • the first front sub-hinge, the second front sub-hinge, the first rear sub-hinge and the second rear sub-hinge are driven by different driving sources respectively to make active adjustments according to the wall topography.
  • the front main hinge and the rear main hinge are driven by different driving sources respectively so as to make active adjustments according to the wall topography;
  • the first front sub-hinge, the second front sub-hinge, the first rear sub-hinge and the second rear sub-hinge are follow-up type so as to make adaptive adjustments according to the wall morphology.
  • the first front sub-hinge, the second front sub-hinge, the first rear sub-hinge and the second rear sub-hinge respectively have damping to ensure the passive adaptability of the hinge pair to the wall characteristics.
  • the first front connecting member and the first rear connecting member are symmetrically arranged relative to the frame; the front swinging pair and the rear swinging pair are symmetrically arranged relative to the frame; the front walking module and the rear walking module are symmetrically arranged relative to the frame;
  • the first front secondary hinge and the second front secondary hinge are symmetrically arranged relative to the front main hinge; the first rear secondary hinge and the second rear secondary hinge are symmetrically arranged relative to the rear main hinge.
  • an intermediate walking module is provided on the frame
  • the intermediate walking module is a driven structure
  • the intermediate walking module is a passive structure
  • the large load working condition is that the load of the wall-climbing robot is greater than a preset load
  • the small load working condition is that the load of the wall-climbing robot is less than or equal to a preset load.
  • the front walking module and the rear walking module are both adsorption-type walking modules, and the adsorption-type walking modules are permanent magnetic adsorption, vacuum adsorption or biological adsorption.
  • the front walking module and the rear walking module both include permanent magnetic adsorption wheels;
  • the permanent magnetic adsorption wheel comprises a driving member, a wheel body, a rotating member and a permanent magnetic suction cup, the wheel body is provided with a mounting portion recessed toward its axis, the rotating member is sleeved on the mounting portion, the permanent magnetic suction cup is fixedly arranged on the rotating member, and the driving member drives the rotating member to rotate so as to drive the permanent magnetic suction cup to rotate;
  • the adsorption surface of the permanent magnetic chuck and the contact surface of the wheel body on the wall are arranged at intervals to form a preset air gap
  • the position of the permanent magnetic chuck is adjusted in real time by rotating the rotating part so that the permanent magnetic chuck is parallel to the current wall surface.
  • the present invention discloses a crawling method of a highly flexible adsorption-type wall-climbing robot, based on the highly flexible adsorption-type wall-climbing robot, comprising:
  • the front swing pair and the rear swing pair cooperate to enable the crawling robot to overcome the obstacle
  • the front main hinge is used to adjust the angle of the front walking module relative to the frame to adapt to the change of the large topography of the wall surface
  • the first front secondary hinge and the second front secondary hinge are used to adjust the swing angles of the first front walking unit and the second front walking unit respectively to adapt to the change of the small topography of the wall surface
  • the rear main hinge is used to adjust the angle of the rear walking module relative to the frame to adapt to changes in large wall topography
  • the first rear secondary hinge and the second rear secondary hinge are used to adjust the swing angles of the first rear walking unit and the second rear walking unit respectively to adapt to changes in small wall topography.
  • the present invention discloses an application of a highly flexible adsorption-type wall-climbing robot, which is applied to one or more of the following road conditions: flat road conditions, curved road conditions, road conditions with obstacles, road conditions with convex transition surfaces between flat walls and inclined walls, road conditions with concave transition surfaces between flat walls and inclined walls, spherical road conditions and irregular road conditions.
  • the wall-climbing robot in order to adapt to the changes of complex wall surfaces, is provided with two swing pairs, namely a front swing pair and a rear swing pair.
  • the actions of the two swing pairs are driven by a driving source.
  • the front walking module Through the action of the front swing pair, the front walking module can be swung relative to the frame, and the rotation axis of the front walking module swinging action is perpendicular to the direction of travel; similarly, through the action of the rear swing pair, the rear walking module can be swung relative to the frame.
  • the front main hinge and the rear main hinge mainly meet the adaptability of the robot's front and rear walking modules to rugged and large terrain.
  • the first front sub-hinge, the second front sub-hinge, the first rear sub-hinge and the second rear sub-hinge can meet the robot's adaptability to local terrain on the wall.
  • the robot's adaptability to the wall and its working stability can be greatly improved by adjusting the main and sub-hinge.
  • the adjustment direction of the main and sub-hinge is mainly the direction of the walking module's rotation axis. In this way, the robot's adaptability to complex walls in the direction of travel can be met.
  • the wall-climbing robot has high flexibility and strong adaptability, and can be used for walking on spherical surfaces, overcoming obstacles, walking on curved surfaces and other wall surfaces with various morphologies.
  • FIG1 is a schematic structural diagram of a wall-climbing robot according to the present invention.
  • FIG2 is a simplified structural diagram of a wall-climbing robot
  • FIG3 is a schematic diagram of the structure of a permanent magnetic adsorption wheel
  • FIG4 is a schematic diagram of the structure of a wall-climbing robot that avoids walking at different times
  • Figure 5 is a schematic diagram of the obstacle-crossing structure of the wall-climbing robot
  • FIG6 is a schematic diagram of a wall-climbing robot transporting on a concave transition wall.
  • the present invention discloses a highly flexible adsorption-type wall-climbing robot, including a frame 10 , a first connecting component, a front walking module 20 , a second connecting component and a rear walking module 40 .
  • the first connecting component includes a first front connecting member 50, a second front connecting member 52, a front swinging member 51, a front main hinge 60, a first front secondary hinge 61 and a second front secondary hinge 62.
  • the first front connecting member 50 is connected to the frame 10 through the front swinging member 51
  • the second front connecting member 52 is connected to the first front connecting member 50 through a main hinge.
  • the front walking module 20 includes a first front walking unit 21 and a second front walking unit 22.
  • the first front walking unit 21 and the second front walking unit 22 can be adsorbed on the wall and walk.
  • the first front walking unit 21 and the second front walking unit 22 are respectively located on both sides of the second front connecting member 52.
  • the first front walking unit 21 is connected to the second front connecting member through the first front sub-hinge 61
  • the second front walking unit 22 is connected to the second front connecting member through the second front sub-hinge 62.
  • the second connecting assembly includes a first rear connecting member, a second rear connecting member 71, a rear swinging member 70, a rear main hinge 80, and a first rear sub-hinge 81 and a second rear sub-hinge 82.
  • the first rear connecting member is connected to the frame 10 via the rear swinging member 70
  • the second rear connecting member 71 is connected to the first rear connecting member via a main hinge.
  • the rear walking module 40 includes a first rear walking unit 41 and a second rear walking unit 42.
  • the first rear walking unit 41 and the second rear walking unit 42 can be adsorbed on the wall and walk.
  • the first rear walking unit 41 and the second rear walking unit 42 are respectively located on both sides of the second rear connecting member 71.
  • the first rear walking unit 41 is connected to the second rear connecting member through the first rear sub-hinge 81
  • the second rear walking unit 42 is connected to the second rear connecting member through the second rear sub-hinge 82.
  • the rotation axis directions of the front swinging pair 51 and the rear swinging pair 70 are both perpendicular to the forward direction, and the rotation axis directions of the front main hinge 60, the rear main hinge 80, the first front sub-hinge 61, the second front sub-hinge 62, the first rear sub-hinge 81 and the second rear sub-hinge 82 are the forward direction of the wall-climbing robot.
  • the actions of the front swinging pair 51 and the rear swinging pair 70 are driven by the driving source respectively.
  • the working principle of the present invention is as follows: in order to adapt to the changes of complex wall surfaces, the present invention sets two swinging pairs, namely the front swinging pair 51 and the rear swinging pair 70.
  • the actions of the two swinging pairs are driven by the driving source.
  • the front swinging pair 51 the front walking module 20 can be swung relative to the frame 10.
  • the rotation axis of the swinging action of the front walking module 20 is perpendicular to the direction of advance; similarly, through the action of the rear swinging pair 70, the rear walking module 40 can be swung relative to the frame 10.
  • the front main hinge 60 and the rear main hinge 80 mainly meet the adaptability of the robot's front and rear walking modules 40 to the terrain of rugged wall surfaces.
  • the first front sub-hinge 61, the second front sub-hinge 62, the first rear sub-hinge 81 and the second rear sub-hinge 82 can meet the robot's adaptability to the local terrain of the wall surface.
  • the robot's adaptability to the wall surface can be greatly improved by adjusting the main and sub-hinges to improve its working stability.
  • the adjustment direction of the main and sub-hinges is mainly the direction of the walking module's rotation axis. In this way, the robot's adaptability to complex walls in the direction of travel can be met.
  • the front main hinge 60 , the rear main hinge 80 , the first front sub-hinge 61 , the second front sub-hinge 62 , the first rear sub-hinge 81 and the second rear sub-hinge 82 are all follow-up type to make adaptive adjustments according to the wall morphology.
  • the front main hinge 60, the rear main hinge 80, the first front sub-hinge 61, the second front sub-hinge 62, the first rear sub-hinge 81 and the second rear sub-hinge 82 are respectively provided with damping to ensure the passive adaptability of the hinge pairs to the wall features.
  • the front main hinge 60 and the rear main hinge 80 are follow-up type to make adaptive adjustments according to the wall surface morphology.
  • the front main hinge 60 and the rear main hinge 80 are respectively equipped with damping to ensure the passive adaptability of the hinge pair to the wall surface characteristics.
  • the first front sub-hinge 61, the second front sub-hinge 62, the first rear sub-hinge 81 and the second rear sub-hinge 82 are respectively driven by different driving sources to make active adjustments according to the wall surface topography, thus achieving active adaptation to the wall surface characteristics.
  • the front main hinge 60 and the rear main hinge 80 are driven by different driving sources to make active adjustments according to the wall topography.
  • the first front sub-hinge 61, the second front sub-hinge 62, the first rear sub-hinge 81 and the second rear sub-hinge 82 are follow-up types to make adaptive adjustments according to the wall topography.
  • the first front sub-hinge 61, the second front sub-hinge 62, the first rear sub-hinge 81 and the second rear sub-hinge 82 are respectively equipped with damping to ensure the passive adaptability of the hinge pair to the wall characteristics.
  • the first front connecting member 50 and the first rear connecting member are symmetrically arranged relative to the frame 10; the front swinging member 51 and the rear swinging member 70 are symmetrically arranged relative to the frame 10; the front walking module 20 and the rear walking module 40 are symmetrically arranged relative to the frame 10; the first front sub-hinge 61 and the second front sub-hinge 62 are symmetrically arranged relative to the front main hinge 60; the first rear sub-hinge 81 and the second rear sub-hinge 82 are symmetrically arranged relative to the rear main hinge 80.
  • the robot is arranged symmetrically front and rear with the frame 10 as the center, and this layout can greatly improve the simplicity of assembly and the flexibility of movement of the robot.
  • An intermediate walking module 30 is provided on the frame 10.
  • the intermediate walking module 30 When the wall-climbing robot is in a large load condition, the intermediate walking module 30 is a driven structure.
  • the intermediate walking module 30 When the wall-climbing robot is in a small load condition, the intermediate walking module 30 is a passive structure.
  • the large load condition is that the load of the wall-climbing robot is greater than the preset load
  • the small load condition is that the load of the wall-climbing robot is less than or equal to the preset load.
  • the load when the intermediate walking module 30 is provided, the load can be increased, but the intermediate walking module 30 can also be removed, which can reduce the dead weight and improve the flexibility of the system, so as to be suitable for the working conditions requiring low load and high transportability.
  • Those skilled in the art can make specific designs on whether to design the intermediate walking module 30 for the wall-climbing robot, and whether the intermediate walking module 30 is an active or a follower structure according to the load size of the wall-climbing robot
  • the front walking module 20 and the rear walking module 40 are both adsorption walking modules, and the adsorption walking modules are permanent magnetic adsorption, vacuum adsorption or biological adsorption.
  • the present invention is not limited to a specific movement mode (according to the specific process requirements, the appropriate movement mode can be selected, which can be wheeled, crawler-type, chain-type, etc.), and this component adopts a modular design, which is convenient for assembly, conducive to the optimization of the robot, and can greatly improve the applicability of the robot.
  • both the front walking module 20 and the rear walking module 40 include permanent magnetic adsorption wheels.
  • the permanent magnetic adsorption wheel includes a driving member, a wheel body, a rotating member and a permanent magnetic suction cup.
  • the wheel body is provided with a mounting portion recessed toward its axis, the rotating member is sleeved on the mounting portion, the permanent magnetic suction cup is fixedly arranged on the rotating member, and the driving member drives the rotating member to rotate to drive the permanent magnetic suction cup to rotate.
  • the driving member can be a motor.
  • the adsorption surface of the permanent magnetic suction cup and the contact surface of the wheel body on the wall are arranged at intervals to form a preset air gap.
  • the position of the permanent magnetic suction cup is adjusted in real time by rotating the rotating part so that the permanent magnetic suction cup is parallel to the current wall.
  • the rotating shaft of the rotating part and the rotating shaft of the wheel body are in a straight line, and a bearing is also provided between the rotating part and the mounting part. When the wheel body rotates, it will not interfere with the rotating part and the permanent magnetic suction cup thereon.
  • the wheel body can be a driving wheel or a follower wheel, and can be specifically designed according to requirements.
  • the contact surface between the wheel body and the wall also changes with the change of the topography.
  • the permanent magnetic suction cup is always parallel to the contact surface, thereby ensuring the stability of the adsorption force between the permanent magnetic suction cup and the wall, thereby improving the stability of the wall-climbing robot.
  • the permanent magnetic suction cup in the present invention can freely adjust the posture of the permanent magnetic suction cup, thereby ensuring the consistency and stability of the spatial posture between the permanent magnetic suction cup and the wall on different walls, which can greatly improve the wall movement stability and reliability of the wall-climbing robot.
  • this method is easy to unload the magnet adsorption force, and can greatly reduce the driving force required for magnet angle adjustment compared to the up and down movement method (the purpose of unloading the adsorption force is to reduce the driving force required for robot deformation and improve deformation efficiency). This process facilitates the layout and simplification of the drive mechanism.
  • the present invention discloses a crawling method of a highly flexible suction-type wall-climbing robot.
  • the highly flexible suction-type wall-climbing robot is based on the above-mentioned method, comprising: when the crawling robot encounters an obstacle, the front swinging pair 51 and the rear swinging pair 70 cooperate to enable the crawling robot to overcome the obstacle; the front main hinge 60 is used to adjust the angle of the front walking module 20 relative to the frame 10 to adapt to the changes in the large landforms of the wall, and the first front sub-hinge 61 and the second front sub-hinge 62 are respectively used to adjust the swing angles of the first front walking unit 21 and the second front walking unit 22 to adapt to the changes in the small landforms of the wall; the rear main hinge 80 is used to adjust the angle of the rear walking module 40 relative to the frame 10 to adapt to the changes in the large landforms of the wall, and the first rear sub-hinge 81 and the second rear sub-hinge 82 are respectively used to adjust the swing
  • the wall-climbing robot is highly dependent on the magnetic adsorption force. If the adsorption force is insufficient, the robot will fall off the wall.
  • the main factor affecting the adsorption force is the gap between the suction cup and the wall - the air gap.
  • the effect of the air gap on the magnetic adsorption force is a quasi-exponential decay - the adsorption force decays sharply in a quasi-exponential manner as the air gap increases. Therefore, the consistency of the spatial posture of the suction cup and the wall determines the robot's crawling stability.
  • the main and secondary hinges and the swing pair can realize the flexible change of the robot to meet the robot's high adaptability to complex walls, and are suitable for all-terrain wall-climbing walking solutions.
  • the wall-climbing robot can travel, avoid obstacles, transition, and turn on various complex walls represented by spherical surfaces.
  • the design of the permanent magnetic adsorption wheel can greatly improve the robot's crawling ability and turning ability on complex terrains, and improve the stability and reliability of the robot's movement by ensuring the consistency and stability of the spatial posture between the magnet and the wall during the turning process.
  • the present invention also discloses an application of a highly flexible adsorption-type wall-climbing robot, and the above-mentioned highly flexible adsorption-type wall-climbing robot is applied to one or more of the following road conditions: flat road conditions, curved road conditions, road conditions with obstacles, road conditions with convex transition surfaces between flat walls and inclined walls, road conditions with concave transition surfaces between flat walls and inclined walls, spherical road conditions and irregular road conditions.
  • the robot's posture when moving on different walls and different working conditions is shown, including the robot's plane motion, curved surface motion, wall motion with obstacles, and the process of transporting between different transition walls.
  • the front, middle and rear walking modules of the wall-climbing robot are all in effective contact with the wall, and the three walking modules have effective driving capabilities.
  • the robot's driving ability is the strongest.
  • the robot's main and secondary hinges and swing joints are all in the initial state.
  • the robot's plane motion is not limited to horizontal plane motion, but also includes inclined plane motion.
  • the posture of the walking module of the inclined plane motion robot is the same as that of the horizontal plane.
  • the wall-climbing robot's swinging pair performs a corresponding swing adjustment.
  • the purpose of the adjustment is to make the front, middle and rear three walking modules all effectively contact the wall.
  • the three walking modules have effective driving capabilities.
  • the robot's main and auxiliary hinges are in the initial state, and the swinging pair intervenes in the adjustment.
  • the main and auxiliary hinges and the swinging pair are all involved in the adjustment.
  • the adjustment goal is to ensure that all walking modules effectively contact the wall.
  • the wall-climbing robot moves from left to right.
  • the front swing pair 51 realizes the lifting of the front walking module 20 under the driving action of the driving component, that is, the first step shown in the figure is realized.
  • the middle and rear modules keep driving forward, so that after the current walking module 20 completely crosses the obstacle (it can also be adjusted synchronously during the obstacle crossing process), the front swing pair 51 returns and swings to finally realize the second step shown in the figure, thus realizing the obstacle crossing movement of the front walking module 20; after the front walking module 20 completes the obstacle crossing, the three groups of walking modules move forward at the same time, and the front and rear swing pairs 70 swing towards each other during the forward movement.
  • the robot finally realizes the third step state shown in the figure. At this time, only the front and rear walking modules 40 are driving forward.
  • the front and rear swinging pairs 70 swing back to finally reach the fourth step state shown in the figure.
  • all three walking modules participate in driving forward.
  • the rear walking module 40 approaches the obstacle, the rear swinging pair 70 adjusts and finally reaches the fifth step state shown in the figure.
  • the front and middle walking modules participate in driving forward.
  • the rear swinging pair 70 returns to swing and finally realizes the sixth step shown in the figure, so that the entire robot can realize the wall obstacle crossing movement.
  • Different process steps in the obstacle crossing process can be serial processes-the previous step is completed before the next step is executed, or parallel processes (such as: swinging and moving forward are performed synchronously).
  • the specific process to be used should be selected and determined according to the specific working conditions.
  • FIG. 6 it is a schematic diagram of the wall-climbing robot transporting on the concave transition wall.
  • the wall-climbing robot moves along the arrow shown, and in this process the robot needs to realize the transport from the horizontal wall to the inclined wall.
  • the front walking module 20 of the wall-climbing robot completes a certain angle adjustment under the driving action of the front swing pair 51, and the final state is shown in the figure.
  • the front walking module 20 is effectively in contact with the inclined wall, and the middle and rear walking modules are effectively in contact with the horizontal wall.

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Abstract

本发明涉及一种高灵活性的吸附式爬壁机器人、爬行方法及其应用，包括：车架；第一前连接件与车架通过前摆动副连接，第二前连接件与第一前连接件通过主铰链连接；前行走模块，前行走模块包括第一前行走单元和第二前行走单元，第一前行走单元通过第一前副铰链与第二前连接件连接，第二前行走单元通过第二前副铰链与第二前连接件连接；第二连接组件，第一后连接件与车架通过后摆动副连接，第二后连接件与第一后连接件通过主铰链连接；后行走模块包括第一后行走单元和第二后行走单元，第一后行走单元通过第一后副铰链与第二后连接件连接，第二后行走单元通过第二后副铰链与第二后连接件连接。其灵活度高，适应性强，可适用多种形貌壁面爬行。

Description

高灵活性的吸附式爬壁机器人、爬行方法及其应用 技术领域
本发明涉及爬壁机器人技术领域，尤其是指一种高灵活性的吸附式爬壁机器人、爬行方法及其应用。
背景技术
随着社会的发展，爬壁机器人的应用越来越广泛。通过爬壁机器人行走至壁面的各个角落，可实现无人检测，也可运载各种加工装置，沿壁面上工作。
为了适应壁面的行走，现有的爬壁机器人多为吸附式爬壁机器人，其通过吸附在壁面上，以此实现行走。但是，当壁面崎岖不平时，爬壁机器人则容易从壁面上掉落，稳定性不好，安全性能不佳。
发明内容
为此，本发明所要解决的技术问题在于克服现有技术中爬壁机器人灵活性差，稳定性不佳，存在安全隐患的技术缺陷。
为解决上述技术问题，本发明提供了一种高灵活性的吸附式爬壁机器人，包括：
车架；
第一连接组件，所述第一连接组件包括第一前连接件、第二前连接件、前摆动副、前主铰链和第一前副铰链和第二前副铰链，所述第一前连接件与所述车架通过前摆动副连接，所述第二前连接件与所述第一前连接件通过主铰链连接；
前行走模块，所述前行走模块包括第一前行走单元和第二前行走单元，所述第一前行走单元和第二前行走单元能够吸附在壁面上并行走，所述第一前行走单元和第二前行走单元分别位于第二前连接件的两侧，所述第一前行走单元通过第一前副铰链与第二前连接件连接，所述第二前行走单元通过第二前副铰链与第二前连接件连接；
第二连接组件，所述第二连接组件包括第一后连接件、第二后连接件、后摆动副、后主铰链和第一后副铰链和第二后副铰链，所述第一后连接件与所述车架通过后摆动副连接，所述第二后连接件与所述第一后连接件通过主铰链连接；
后行走模块，所述后行走模块包括第一后行走单元和第二后行走单元，所述第一后行走单元和第二后行走单元能够吸附在壁面上并行走，所述第一后行走单元和第二后行走单元分别位于第二后连接件的两侧，所述第一后行走单元通过第一后副铰链与第二后连接件连接，所述第二后行走单元通过第二后副铰链与第二后连接件连接；
其中，所述前摆动副和后摆动副的转轴方向皆与前进方向垂直，所述前主铰链、后主铰链、第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链的转动轴方向为爬壁机器人的前进方向；
所述前摆动副和后摆动副的动作分别通过驱动源驱动。
作为优选的，所述前主铰链、后主铰链、第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链皆为随动式以依据壁面形貌做自适应调整；
所述前主铰链、后主铰链、第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链分别具备阻尼以保证铰链副对壁面特征的的被动适应性。
作为优选的，所述前主铰链和后主铰链为随动式以依据壁面形貌做自适 应调整，所述前主铰链和后主铰链分别具备阻尼以保证铰链副对壁面特征的的被动适应性；
所述第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链分别通过不同的驱动源驱动以依据壁面地貌做主动调整。
作为优选的，所述前主铰链和后主铰链为分别通过不同的驱动源驱动以依据壁面地貌做主动调整；
所述第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链为随动式以依据壁面形貌做自适应调整，所述第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链分别具备阻尼以保证铰链副对壁面特征的的被动适应性。
作为优选的，所述第一前连接件和所述第一后连接件相对于所述车架对称设置；所述前摆动副和所述后摆动副相对于所述车架对称设置；所述前行走模块和所述后行走模块相对于所述车架对称设置；
所述第一前副铰链和所述第二前副铰链相对于所述前主铰链对称设置；所述第一后副铰链和所述第二后副铰链相对于所述后主铰链对称设置。
作为优选的，所述车架上设置有中间行走模块；
当爬壁机器人为大负载工况时，所述中间行走模块为驱动式结构；
当爬壁机器人为小负载工况时，所述中间行走模块为被动式结构；
其中，所述大负载工况为爬壁机器人的负载大于预设负载，所述小负载工况为爬壁机器人的负载小于等于预设负载。
作为优选的，所述前行走模块和所述后行走模块皆为吸附式行走模块，所述吸附式行走模块为永磁吸附、真空吸附或生物吸附。
作为优选的，所述前行走模块和所述后行走模块皆包括永磁吸附轮；
所述永磁吸附轮包括驱动件、轮体、转动件和永磁吸盘，所述轮体上设置有朝向其轴芯凹陷的安装部，所述转动件套设在所述安装部上，所述永磁吸盘固定设置在所述转动件上，所述驱动件驱动所述转动件转动以带动所述永磁吸盘转动；
其中，所述永磁吸盘的吸附面与轮体在壁面上的接触面为间隔设置以形成预设气隙；
通过转动件转动以实时调整永磁吸盘的位姿，使得永磁吸盘与当前壁面平行。
本发明公开了一种高灵活性的吸附式爬壁机器人的爬行方法，基于上述的高灵活性的吸附式爬壁机器人，包括：
当爬行机器人遇到障碍物时，所述前摆动副和所述后摆动副配合以实现爬行机器人越障；
所述前主铰链用于调整前行走模块相对于车架的角度以适应壁面大地貌的变化，所述第一前副铰链和第二前副铰链分别用于调整第一前行走单元和第二前行走单元的摆动角度以适应壁面小地貌的变化；
所述后主铰链用于调整后行走模块相对于车架的角度以适应壁面大地貌的变化，所述第一后副铰链和第二后副铰链分别用于调整第一后行走单元和第二后行走单元的摆动角度以适应壁面小地貌的变化。
本发明公开了一种高灵活性的吸附式爬壁机器人的应用，将上的高灵活性的吸附式爬壁机器人应用在以下一种或多种路况：平面路况、曲面路况、有障碍路况、平面壁面与倾斜壁面之间内凸过渡面路况、平面壁面与倾斜壁面之间内凹过渡面路况、球面路况和不规则路况。
本发明的上述技术方案相比现有技术具有以下优点：
1、本发明中，为了适应复杂壁面的变化，爬壁机器人设置两个摆动副，分别为前摆动副和后摆动副，两个摆动副的动作皆为驱动源驱动，通过前摆动副的动作，可以实现前行走模块相对于车架摆动，前行走模块摆动都动作的转动轴垂直于前进的方向；同样的，通过后摆动副的动作，可以实现后行走模块相对于车架摆动。
2、本发明中，前主铰链和后主铰链主要满足机器人前后行走模块对崎岖壁面大的地貌的适应性，第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链可以满足机器人对壁面局部地貌的适应性，通过主副铰链的调整可大大提高机器人都壁面的适应能力提高其工作稳定性，主副铰链的调整方向主要是行走模块转轴方向，如此，可满足机器人在行进方向上的复杂壁面适应性。
3、本发明中，爬壁机器人的灵活度高，适应性强，可适用球面行走、越障、曲面行走等多种形貌壁面。
附图说明
图1为本发明爬壁机器人的结构示意图；
图2为爬壁机器人的结构简化图；
图3为永磁吸附轮的结构示意图；
图4为爬壁机器人在不同多个避免行走的结构示意图；
图5为爬壁机器人越障结构示意图；
图6为爬壁机器人在内凹过渡壁面转运的示意图。
说明书附图标记说明：10、车架；20、前行走模块；21、第一前行走单元；22、第二前行走单元；30、中间行走模块；40、后行走模块；41、第一后行走单元；42、第二后行走单元；50、第一前连接件；51、前摆动副；52、 第二前连接件；60、前主铰链；61、第一前副铰链；62、第二前副铰链；70、后摆动副；71、第二后连接件；80、后主铰链；81、第一后副铰链；82、第二后副铰链。
具体实施方式
下面结合附图和具体实施例对本发明作进一步说明，以使本领域的技术人员可以更好地理解本发明并能予以实施，但所举实施例不作为对本发明的限定。
参照图1-图2所示，本发明公开了一种高灵活性的吸附式爬壁机器人，包括车架10、第一连接组件、前行走模块20、第二连接组件和后行走模块40。
第一连接组件包括第一前连接件50、第二前连接件52、前摆动副51、前主铰链60和第一前副铰链61和第二前副铰链62，第一前连接件50与车架10通过前摆动副51连接，第二前连接件52与第一前连接件50通过主铰链连接。
前行走模块20包括第一前行走单元21和第二前行走单元22，第一前行走单元21和第二前行走单元22能够吸附在壁面上并行走，第一前行走单元21和第二前行走单元22分别位于第二前连接件52的两侧，第一前行走单元21通过第一前副铰链61与第二前连接件连接，第二前行走单元22通过第二前副铰链62与第二前连接件连接。
第二连接组件包括第一后连接件、第二后连接件71、后摆动副70、后主铰链80和第一后副铰链81和第二后副铰链82，第一后连接件与车架10通过后摆动副70连接，第二后连接件71与第一后连接件通过主铰链连接。
后行走模块40包括第一后行走单元41和第二后行走单元42，第一后行走单元41和第二后行走单元42能够吸附在壁面上并行走，第一后行走单元41和第二后行走单元42分别位于第二后连接件71的两侧，第一后行走 单元41通过第一后副铰链81与第二后连接件连接，第二后行走单元42通过第二后副铰链82与第二后连接件连接。
其中，前摆动副51和后摆动副70的转轴方向皆与前进方向垂直，前主铰链60、后主铰链80、第一前副铰链61、第二前副铰链62、第一后副铰链81和第二后副铰链82的转动轴方向为爬壁机器人的前进方向。前摆动副51和后摆动副70的动作分别通过驱动源驱动。
本发明的工作原理是：为了适应复杂壁面的变化，本发明设置两个摆动副，分别为前摆动副51和后摆动副70，两个摆动副的动作皆为驱动源驱动，通过前摆动副51的动作，可以实现前行走模块20相对于车架10摆动，前行走模块20摆动都动作的转动轴垂直于前进的方向；同样的，通过后摆动副70的动作，可以实现后行走模块40相对于车架10摆动。对于前主铰链60和后主铰链80主要满足机器人前后行走模块40对崎岖壁面大的地貌的适应性，第一前副铰链61、第二前副铰链62、第一后副铰链81和第二后副铰链82可以满足机器人对壁面局部地貌的适应性，通过主副铰链的调整可大大提高机器人都壁面的适应能力提高其工作稳定性，主副铰链的调整方向主要是行走模块转轴方向。如此，可满足机器人在行进方向上的复杂壁面适应性。
下面，对前摆动副51、后摆动副70、前主铰链60、后主铰链80、第一前副铰链61、第二前副铰链62、第一后副铰链81和第二后副铰链82的设计方案做进一步介绍。
在一实施例中，前主铰链60、后主铰链80、第一前副铰链61、第二前副铰链62、第一后副铰链81和第二后副铰链82皆为随动式以依据壁面形貌做自适应调整。
为防止铰链无约束运动对机器人产生影响，前主铰链60、后主铰链80、第一前副铰链61、第二前副铰链62、第一后副铰链81和第二后副铰链82 分别具备阻尼以保证铰链副对壁面特征的的被动适应性。
在另一实施例中，前主铰链60和后主铰链80为随动式以依据壁面形貌做自适应调整，前主铰链60和后主铰链80分别具备阻尼以保证铰链副对壁面特征的的被动适应性。而第一前副铰链61、第二前副铰链62、第一后副铰链81和第二后副铰链82分别通过不同的驱动源驱动以依据壁面地貌做主动调整，如此，实现对壁面特征的主动适应。
在另一实施例中，前主铰链60和后主铰链80为分别通过不同的驱动源驱动以依据壁面地貌做主动调整。第一前副铰链61、第二前副铰链62、第一后副铰链81和第二后副铰链82为随动式以依据壁面形貌做自适应调整，第一前副铰链61、第二前副铰链62、第一后副铰链81和第二后副铰链82分别具备阻尼以保证铰链副对壁面特征的的被动适应性。
本发明中，第一前连接件50和第一后连接件相对于车架10对称设置；前摆动副51和后摆动副70相对于车架10对称设置；前行走模块20和后行走模块40相对于车架10对称设置；第一前副铰链61和第二前副铰链62相对于前主铰链60对称设置；第一后副铰链81和第二后副铰链82相对于后主铰链80对称设置。机器人以车架10为中心前后对称布局，此种布局可大大提高机器人的组合简便性和运动灵活性。
在车架10上设置有中间行走模块30。当爬壁机器人为大负载工况时，中间行走模块30为驱动式结构。当爬壁机器人为小负载工况时，中间行走模块30为被动式结构。其中，大负载工况为爬壁机器人的负载大于预设负载，小负载工况为爬壁机器人的负载小于等于预设负载。本发明中，当设置中间行走模块30时，可提高负载，但是也可将中间行走模块30去除，如此可以降低自重提高系统的灵活性，从而适用于低负载高转运性的工况需求。本领域技术人员可根据爬壁机器人的负载大小，对爬壁机器人是否设计中间行走模块30，以及中间行走模块30为主动式还是随动式结构做具体设计。
本发明中好，前行走模块20和后行走模块40皆为吸附式行走模块，吸附式行走模块为永磁吸附、真空吸附或生物吸附。本发明不局限于特一运动方式(根据具体工艺要求选择合适的运动方式，可轮式、可履带式、可链式等)，此组件采用模块化设计，此种设计方便组装、利于机器人的优化，并可大大提高机器人的适用性。
当壁面为导磁材料时，参照图3所示，前行走模块20和后行走模块40皆包括永磁吸附轮。
永磁吸附轮包括驱动件、轮体、转动件和永磁吸盘，轮体上设置有朝向其轴芯凹陷的安装部，转动件套设在安装部上，永磁吸盘固定设置在转动件上，驱动件驱动转动件转动以带动永磁吸盘转动。驱动件可为电机。
其中，永磁吸盘的吸附面与轮体在壁面上的接触面为间隔设置以形成预设气隙。通过转动件转动以实时调整永磁吸盘的位姿，使得永磁吸盘与当前壁面平行。具体的，转动件的转轴与轮体的转轴在一条直线上，在转动件与安装部之间还设置有轴承，当轮体转动时，并不会干扰到转动件及其上的永磁吸盘。轮体可为驱动轮，也可为随动轮，具体可以根据需求设计。轮体在壁面上的滚动时，由于壁面形貌多变，轮体与壁面的接触面也随着地貌变化而变化。通过实时调整永磁吸盘，使得永磁吸盘始终与接触面平行，从而保证永磁吸盘与壁面之间吸附力的稳定，从而提高爬壁机器人的稳定性。
本发明中的永磁吸盘可以对永磁吸盘姿态的自由调整，从而保证在不同壁面永磁吸盘与壁面之间空间姿态的一致性和稳定性，可大大提高爬壁机器人的壁面运动稳定性和可靠性，同时此种方式易于实现磁铁吸附力的卸载，相对于上下移动的方式可大大减少磁铁角度调整所需的驱动力(吸附力卸载的目的是减小机器人变形所需的驱动力，提高变形效率)，此工艺方便驱动机构的布局和简化。
本发明公开了一种高灵活性的吸附式爬壁机器人的爬行方法，基于上述 的高灵活性的吸附式爬壁机器人，包括：当爬行机器人遇到障碍物时，前摆动副51和后摆动副70配合以实现爬行机器人越障；前主铰链60用于调整前行走模块20相对于车架10的角度以适应壁面大地貌的变化，第一前副铰链61和第二前副铰链62分别用于调整第一前行走单元21和第二前行走单元22的摆动角度以适应壁面小地貌的变化；后主铰链80用于调整后行走模块40相对于车架10的角度以适应壁面大地貌的变化，第一后副铰链81和第二后副铰链82分别用于调整第一后行走单元41和第二后行走单元42的摆动角度以适应壁面小地貌的变化。
爬壁机器人对磁吸附力的依赖性很大，吸附力不足机器人会跌落壁面，吸附力大小的主要影响因素就是吸盘于壁面之间的间隙-气隙，气隙对磁吸力的影响是类指数衰减-气隙增加吸附力呈类指数急剧衰减，因此吸盘与壁面的空间姿态的一致性决定了机器人的爬行稳定性。本发明中，主副铰链和摆动副可以实现机器人的灵活变化以满足机器人对复杂壁面的高度适应，适用全地形爬壁行走方案，爬壁机器人能够在以球面为代表的各种复杂壁面上的行进、避障、过渡以及壁面转弯等功能，永磁吸附轮的设计可大大提高机器人的复杂地形的爬行能力及转弯能力，通过保证转弯过程中磁铁与壁面之间空间姿态的一致性和稳定性，从而提高机器人运动的稳定性和可靠性。
本发明还公开了一种高灵活性的吸附式爬壁机器人的应用，将上述高灵活性的吸附式爬壁机器人应用在以下一种或多种路况：平面路况、曲面路况、有障碍路况、平面壁面与倾斜壁面之间内凸过渡面路况、平面壁面与倾斜壁面之间内凹过渡面路况、球面路况和不规则路况。
参照图4所示，展示了机器人在不同壁面、不同工况移动时的姿态情况时实现过程。其中，包括机器人平面运动、曲面运动、有障碍物壁面运动和在不同的过渡壁面间转运过程。
当壁面为平面时，此种状态下，爬壁机器人的前中后三组行走模块皆与 壁面有效接触，三组行走模块都具有有效的驱动能力，此时机器人的驱动能力最强。此种情况下机器人的主副铰链和摆动副皆处于初始状态。机器人的平面运动并不局限于水平面运动还包括倾斜平面的运动，倾斜平面运动机器人的行走模块姿态与水平面情况相同。
当壁面为曲面时，此种状态下，爬壁机器人摆动副进行响应的摆动调整，调整的目的是使得前中后三组行走模块皆与壁面有效接触，在此种情况下三组行走模块都具有有效的驱动能力。此种情况下机器人的主副铰链处于初始状态，而摆动副介入调整。当机器人工作表面是复合曲面时，主副铰链和摆动副皆介入调整，调整目标是保证所有的行走模块都有效接触壁面。
参照图5所示，当壁面为有障碍物壁面时，爬壁机器人从左向右行进，当爬壁机器人前行走模块20靠近壁面障碍物时，前摆动副51在驱动组件的驱动作用下实现前行走模块20抬升，即实现图中所示的第一步，在前行走模块20抬升的过程中中后模块保持驱动前行，这样当前行走模块20完全跨过障碍物后(亦可在跨障过程中同步调整)前摆动副51回位摆动最终实现图中所示的第二步，这样便实现前行走模块20的越障运动；前行走模块20越障完成后三组行走模块同时前行，在前行过程中前后摆动副70做相向摆动最终实现图示的第三步状态，此时只有前后行走模块40在驱动前行，当中间行走模块30完全跨过障碍物以后(亦可在跨障过程中同步调整)，前后摆动副70背向摆动最终达到图示第四步状态，此时三组行走模块皆参与驱动前行；当后行走模块40靠近障碍物时后摆动副70调整，最终达到图示第五步状态，此时之后前中两组行走模块参与驱动前行，这样当后行走模块40完全跨过障碍物后(亦可在跨障过程中同步调整)后摆动副70回位摆动最终实现图中所示的第六步，这样便实现前整个机器人的壁面越障运动。越障过程中不同的工艺步骤之间可以串行工艺-前步完成才执行后步骤，亦可采用并行工艺(如：摆动和前行同步进行)，具体采用何种工艺要根据具体的工况要求选择确定。
参照图6所示，为爬壁机器人在内凹过渡壁面转运的示意图。爬壁机器人沿所示箭头行进，在此过程中机器人要实现从水平壁面到倾斜壁面的转运。第一步，爬壁机器人前行走模块20在前摆动副51的驱动作用下完成一定角度的调整，最终状态如图所示，此时前行走模块20与倾斜壁面有效接触，中后两组行走模块与水平壁面有效接触此时三组行走模块皆参与驱动前行；随着机器人的继续前行，当中间行走模块30靠近过渡角时，在前后摆动副70的共同作用下最终实现中间行走模块30与倾斜壁面的有效接触，状态如图第二步所示，此时爬壁机器人继续前移，在前移过程中后行走模块40逐渐脱离水平壁面，此后随着爬壁机器人的继续前移，后摆动副70逐渐后摆以逐渐减少倾斜夹角，最终实现三组行走模块都与倾斜壁面有效接触，如此，即实现了爬壁机器人从水平壁面到倾斜壁面的过渡转运。
显然，上述实施例仅仅是为清楚地说明所作的举例，并非对实施方式的限定。对于所属领域的普通技术人员来说，在上述说明的基础上还可以做出其它不同形式变化或变动。这里无需也无法对所有的实施方式予以穷举。而由此所引伸出的显而易见的变化或变动仍处于本发明创造的保护范围之中。

Claims (10)

  1. 一种高灵活性的吸附式爬壁机器人，其特征在于，包括：
    车架；
    第一连接组件，所述第一连接组件包括第一前连接件、第二前连接件、前摆动副、前主铰链和第一前副铰链和第二前副铰链，所述第一前连接件与所述车架通过前摆动副连接，所述第二前连接件与所述第一前连接件通过主铰链连接；
    前行走模块，所述前行走模块包括第一前行走单元和第二前行走单元，所述第一前行走单元和第二前行走单元能够吸附在壁面上并行走，所述第一前行走单元和第二前行走单元分别位于第二前连接件的两侧，所述第一前行走单元通过第一前副铰链与第二前连接件连接，所述第二前行走单元通过第二前副铰链与第二前连接件连接；
    第二连接组件，所述第二连接组件包括第一后连接件、第二后连接件、后摆动副、后主铰链和第一后副铰链和第二后副铰链，所述第一后连接件与所述车架通过后摆动副连接，所述第二后连接件与所述第一后连接件通过主铰链连接；
    后行走模块，所述后行走模块包括第一后行走单元和第二后行走单元，所述第一后行走单元和第二后行走单元能够吸附在壁面上并行走，所述第一后行走单元和第二后行走单元分别位于第二后连接件的两侧，所述第一后行走单元通过第一后副铰链与第二后连接件连接，所述第二后行走单元通过第二后副铰链与第二后连接件连接；
    其中，所述前摆动副和后摆动副的转轴方向皆与前进方向垂直，所述前 主铰链、后主铰链、第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链的转动轴方向为爬壁机器人的前进方向；
    所述前摆动副和后摆动副的动作分别通过驱动源驱动。
  2. 根据权利要求1所述的高灵活性的吸附式爬壁机器人，其特征在于，所述前主铰链、后主铰链、第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链皆为随动式以依据壁面形貌做自适应调整；
    所述前主铰链、后主铰链、第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链分别具备阻尼以保证铰链副对壁面特征的的被动适应性。
  3. 根据权利要求1所述的高灵活性的吸附式爬壁机器人，其特征在于，所述前主铰链和后主铰链为随动式以依据壁面形貌做自适应调整，所述前主铰链和后主铰链分别具备阻尼以保证铰链副对壁面特征的的被动适应性；
    所述第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链分别通过不同的驱动源驱动以依据壁面地貌做主动调整。
  4. 根据权利要求1所述的高灵活性的吸附式爬壁机器人，其特征在于，所述前主铰链和后主铰链为分别通过不同的驱动源驱动以依据壁面地貌做主动调整；
    所述第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链为随动式以依据壁面形貌做自适应调整，所述第一前副铰链、第二前副铰链、第一后副铰链和第二后副铰链分别具备阻尼以保证铰链副对壁面特征的的被动适应性。
  5. 根据权利要求1所述的高灵活性的吸附式爬壁机器人，其特征在于，所述第一前连接件和所述第一后连接件相对于所述车架对称设置；所述前摆动副和所述后摆动副相对于所述车架对称设置；所述前行走模块和所述后行 走模块相对于所述车架对称设置；
    所述第一前副铰链和所述第二前副铰链相对于所述前主铰链对称设置；所述第一后副铰链和所述第二后副铰链相对于所述后主铰链对称设置。
  6. 根据权利要求1所述的高灵活性的吸附式爬壁机器人，其特征在于，所述车架上设置有中间行走模块；
    当爬壁机器人为大负载工况时，所述中间行走模块为驱动式结构；
    当爬壁机器人为小负载工况时，所述中间行走模块为被动式结构；
    其中，所述大负载工况为爬壁机器人的负载大于预设负载，所述小负载工况为爬壁机器人的负载小于等于预设负载。
  7. 根据权利要求1所述的高灵活性的吸附式爬壁机器人，其特征在于，所述前行走模块和所述后行走模块皆为吸附式行走模块，所述吸附式行走模块为永磁吸附、真空吸附或生物吸附。
  8. 根据权利要求1所述的高灵活性的吸附式爬壁机器人，其特征在于，所述前行走模块和所述后行走模块皆包括永磁吸附轮；
    所述永磁吸附轮包括驱动件、轮体、转动件和永磁吸盘，所述轮体上设置有朝向其轴芯凹陷的安装部，所述转动件套设在所述安装部上，所述永磁吸盘固定设置在所述转动件上，所述驱动件驱动所述转动件转动以带动所述永磁吸盘转动；
    其中，所述永磁吸盘的吸附面与轮体在壁面上的接触面为间隔设置以形成预设气隙；
    通过转动件转动以实时调整永磁吸盘的位姿，使得永磁吸盘与当前壁面平行。
  9. 一种高灵活性的吸附式爬壁机器人的爬行方法，基于权利要求1-8中任一项所述的高灵活性的吸附式爬壁机器人，其特征在于，包括：
    当爬行机器人遇到障碍物时，所述前摆动副和所述后摆动副配合以实现爬行机器人越障；
    所述前主铰链用于调整前行走模块相对于车架的角度以适应壁面大地貌的变化，所述第一前副铰链和第二前副铰链分别用于调整第一前行走单元和第二前行走单元的摆动角度以适应壁面小地貌的变化；
    所述后主铰链用于调整后行走模块相对于车架的角度以适应壁面大地貌的变化，所述第一后副铰链和第二后副铰链分别用于调整第一后行走单元和第二后行走单元的摆动角度以适应壁面小地貌的变化。
  10. 一种高灵活性的吸附式爬壁机器人的应用，其特征在于，将权利要求1-8任一项所述的高灵活性的吸附式爬壁机器人应用在以下一种或多种路况：
    平面路况、曲面路况、有障碍路况、平面壁面与倾斜壁面之间内凸过渡面路况、平面壁面与倾斜壁面之间内凹过渡面路况、球面路况和不规则路况。
PCT/CN2022/135726 2022-09-29 2022-12-01 高灵活性的吸附式爬壁机器人、爬行方法及其应用 WO2024066023A1 (zh)

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