CN104108431A - Tracked intelligent traveling-on-wall platform - Google Patents
Tracked intelligent traveling-on-wall platform Download PDFInfo
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- CN104108431A CN104108431A CN201310131665.1A CN201310131665A CN104108431A CN 104108431 A CN104108431 A CN 104108431A CN 201310131665 A CN201310131665 A CN 201310131665A CN 104108431 A CN104108431 A CN 104108431A
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Abstract
A track intelligent traveling-on-wall platform is an innovative product of organic integration of electromechanical devices and technologies and reflects the development tendency of the mechanical-electrical integration technology. The platform mainly comprises a stepping motor driving system, a gear transmission system, a track traveling system, a track adjustment system and a vacuum absorption system, and integrates multidisciplinary knowledge and technologies of mechanical design, electronic circuits, sensing detection, program control, feedback regulation, image processing, wireless transmission and the like. The platform can be stably adsorbed and can perform stable forwarding and free turning on rough or smooth vertical surfaces such as concrete wall surfaces, ceramic exterior walls, glass curtain walls and metallic wall surfaces, and has functions of automatic obstacle avoidance, tracking, real-time monitoring, image feedback and the like. The platform has the advantages of high adsorption force, good load performance, stable traveling, convenient control and the like, and can be popularized and applied to military reconnaissance, fire detection, oil tank measurement, road deicing, industrial production, antarctic science investigation and the like after hitting, defending and grabbing and lifting devices and the like are carried on the platform.
Description
Technical field
The invention belongs to specialized robot application, be specifically related to a kind of negative-pressure adsorption-type crawler travel wall robot.
Background technology
Climbing robot can carry out the motor platform of mobile operating as a kind of in vertical walls, can carry multiple types of tools, carry out multiple-task, can be applicable to a plurality of industries such as petrochemical industry, the energy, boats and ships, building, can reduce difficulty, risk and the running cost of manual work, increase work efficiency, there is important Research Significance and practical value.Successively carried out the correlative study of climbing robot both at home and abroad, and the external existing precedent of being applied.The western bright professor of the vertical university of Osaka, Japan Engineering Department in 1966 successfully develops first vertical walls mobile robot model machine, and within 1975, he adopts again the single sucking disc structure fabrication to go out the second generation climbing robot model machine that turns to target with practicality; The climbing robot for large-scale wall and window washing and cleaning operation that Moscow, Russia mechanics of machinery Research Institute in 1997 goes out also adopts the single sucking disc structure, and robot can be at wall all-around mobile.The Henry R Seemann of seattle, u.s.a develops a kind of vacuum suction crawler-type wall climbing robot " AutoCrawler " under the subsidy of Boeing; KOEI has developed a kind of multicup wall-lcimbing robot, carries two vacuum pumps, battery, control system and wireless telecommunication systems, for the testing of high-lager building wall on robot body.
Climbing robot design in the past all attempts to utilize the motion structure of self to deacclimatize wall environment complicated and changeable, and mobile vehicle mechanism is more complicated often, thereby causes the increase of robot quality, the reduction of the complicated and work efficiency of control system.And mass penalty means the increase of dangerous increase and safety guard cost.Therefore the contradiction that, how to solve mobile vehicle complexity and wall working ability is to hinder the practical key issue of climbing robot always.
Summary of the invention
Crawler type intelligence trip wall platform is the wall robot of a kind of crawler-type traveling, negative-pressure adsorption-type.This trip wall platform has that adsorption affinity is strong, the pulsation-free advantage of advancing simultaneously, can fast speed operation by the adsorption power of lift pump and the ability of advancing of crawler belt.It can overcome in vacuum cavity flexible bristle configurations around the gas leakage situation that hydraulically rough surface causes, and this platform, applicable to smooth or coarse walls such as glass, ceramic tile, cement, is not affected by material.This platform is equipped with infradred sensor and image delivering system, has automatic identification function, can complete the functions such as automatic obstacle avoiding, tracking tracking, Real-time Feedback, Long-distance Control.Meanwhile, platform is equipped with Android system, accepts the control of wireless signal, and simple to operate, universality is strong.Compare with wall robot in the past, this independently swims wall platform and has better stable working and safety, can, the in the situation that of low-power consumption, complete the work capacity of expection.
For making crawler type intelligence trip wall platform can complete predetermined various functions, platform is comprised of driving system of stepping motor, gear train assembly, crawler belt driving system, crawler belt adjustment System, vacuum suction system, control system etc., and has merged many technology and multidisciplinary such as machine design, electronic circuit, sensor measuring, programming control, feedback regulation, image processing, transmission over radio.
What the adsorbing mechanism of platform adopted is centrifugal compressor.Physical construction comprises movable vane wheel, determines the parts such as impeller, casing, arbor, motor, motor cabinet, support.The principle of work of compressor is: gas is under the effect of movable vane impeller blade, and servo-actuated impeller is made High Rotation Speed, and gas is subject to the effect of rotary centrifugal force, and the diffusion in impeller flows, thereby has obtained energy, and the pressure after making it by impeller is improved.Under the impact of pressure reduction, the gas in impeller is discharged in atmosphere, and the core of impeller forms vacuum area, and the gas in vacuum chamber enters in impeller, and is discharged in atmosphere via impeller, thereby completes the function of negative-pressure adsorption.Movable vane wheel is the core of centrifugal compressor, and the shape of movable vane wheel and size have determined speed, the air pressure of exhausr port and the degree of vacuum in vacuum chamber air-breathing under mode of operation.For making adsorbing mechanism that enough large adsorption affinity is provided, by the performance characteristics of inspection information and more various impellers, it is P-7 type enclosed impeller that our final decision adopts.The efficiency of this enclosed impeller is higher, and manufacture difficulty is easier, and in centrifuge, application at most.The blade of this impeller is plate curve backward inclined blade.Plate curve backward inclined blade has good air dynamic behaviour, can meet well the requirement of the gas boosting for flowing through.Efficiency is high, intensity good, rigidity is large, and manufacturing process is relatively simple.
Trip wall platform adopts Dual-motors Driving, secondary cone-spur gear drive, Timing Belt running gear.Drive motor is stepper motor, can accurately control rotating speed.Dual-motors Driving can meet the function of trip wall platform differential steering, and can regulate arbitrarily Turning radius, increases the adjustability of trip wall platform motion, thereby better meet, tracking is followed the trail of and the functional requirement of location tracking.The employing of secondary cone-Cylindrical gear actuator is convenient to swim the space layout of wall platform, meets the symmetry of structure, improves the stability of trip wall platform.In order to guarantee the synchronism of motion and high friction coefficient, we have selected double cog synchronous belt, model is DB300H150, and consider light, flexible large, the high requirement of friction coefficient of quality, choosing material is rubber, is of a size of basis subsequently the chassis of trip wall platform and general arrangement design relative dimensions content of the present invention are to Design and implementation crawler type intelligence trip wall platform with Timing Belt.
For making to swim wall platform, integrate with better with modernization science and technology, be convenient to it and apply, we are by the single chip embedded control system adopting based on arduino Open Source Platform.Optional hardware abundant species in platform, can select the processing kernel based on AVR, ARM Cortex-M3 as required.Thus, the function adaptability of trip wall platform and the load of outer loading system are enhanced, and more can be applicable to multi-field, multi-functional job requirement.In order to realize Long-distance Control, trip wall platform will adopt transmission of wireless signals.We have installed blue teeth wireless control system for trip wall platform, use bluetooth module and expansion board, connect arduino, can realize Bluetooth transmission.
The advantage of crawler type intelligence has been swum wall fusion of platforms suction type absorption mode and crawler-type traveling mode, aspect gait of march and work efficiency, there is apparent advantage, make the application of platform in the fields such as nuke industry, fire-fighting, military affairs, production, boats and ships there is the advantage that climbing robot in the past does not have, for the very positive effect of applying of platform.
The invention has the advantages that:
(1) choose double-sided synchronous belt and can increase friction coefficient, prevent that the situation of skidding from occurring, and improve crawler belt resistance to abrasion, extend the crawler belt life-span, solved climbing robot difficult in maintenance, need to change in time the problem of crawler belt;
(2) fluid mechanics is applied in climbing robot, adsorption affinity is strong, avoided sucked type negative pressure to require the flexible bristle configurations of air pump outer cover to be in addition out of shape with wall gap to the harshness of wall smooth degree simultaneously, thereby filled wall gap, platform still can normally be worked at hydraulically rough surface;
(3) the layer flexible outer cover of lift pump has expanded evacuated space, and has improved leak tightness, for platform absorption wall provides enough large adsorption affinity;
(4) suction type absorption is advanced and is combined with crawler type, make platform have simultaneously adsorption affinity by force, the pulsation-free feature of advancing;
(5) infrared induction system is surveyed barrier automatically, and combining wireless remote control module has been realized two kinds of patterns of unit work and man-machine unification, Mechatronics control make link be closely connected, timely and effective, strengthened the controllability of platform;
Accompanying drawing explanation
Accompanying drawing 1 is crawler type intelligence trip wall platform and integrally schematic diagram;
Accompanying drawing 2 is crawler type intelligence trip wall platform birds-eye view;
Accompanying drawing 3 is crawler type intelligence trip wall platform left view;
Accompanying drawing 4 is crawler type intelligence trip wall platform front view;
Accompanying drawing 5 is crawler type intelligence trip wall platform blast diagram;
Accompanying drawing 6 is crawler type intelligence trip wall platform adsorption system blast diagram;
Accompanying drawing 7 is crawler type intelligence trip wall platform adsorption system blast diagram front view;
Accompanying drawing 8 is crawler type intelligence trip wall platform adsorption system schematic diagram.
In accompanying drawing: the passive cylindrical wheel of 1-, 2-is cylindrical wheel initiatively, the passive conical gear of 3-, 4-is conical gear initiatively, 5-stepping motor, 6-bearing seat, 7-tension wheel, 8-support, 9-fix screw, 10-catch, 11-synchronizing wheel, 12-pressure zone plate, 13-spring, 14-cradle head camera, 15-Timing Belt, 16-roller bearing end cap, 17-axle drive shaft, 18-transmission shaft, 19-adapter plate, 20-bearing air cover, 21-driven shaft, 22-underframe circle, 23-chuck, 24-double-screw bolt, 25-jump ring, 26-axle sleeve, 27-bearing, 28-chassis, 29-determines impeller, the air-breathing motor of 30-, 31-nut, 32-motor cabinet, 33-motor cabinet support, 34-screw, 35-movable vane wheel, 36-outer cover, 37-lock washer, 38-lock screw, 39-coupler, 40-stock, 41-stepping motor seat.
The specific embodiment
A. the structure of running gear and assembling:
As shown in accompanying drawing 3 and accompanying drawing 5, running gear is comprised of Timing Belt (15), synchronizing wheel (11), catch (10), fix screw (9), tension wheel (7), pressure zone plate (12), spring (13), support (8) etc.Timing Belt and synchronizing wheel engagement, and regulate Timing Belt by tension wheel and pressure zone plate, make it in optimum Working.
B. the structure of adsorption system and assembling:
As shown in accompanying drawing 6, accompanying drawing 7 and accompanying drawing 8.Adsorption system mainly by air-breathing motor (30), stock (40), motor cabinet (32), motor cabinet support (33), coupler (39), determine impeller (29), movable vane wheel (35), outer cover (36), jam nut (38), lock washer (37) etc. and form.Determine impeller and car body is connected, motor is supported on and is determined on impeller by stock, and is arranged on car body by motor cabinet, motor cabinet support etc.Movable vane wheel is connected with motor with coupler by jam nut, lock washer, by the moving wheel rotation of driven by motor, thereby completes breathing process.
C. robot overall package:
As shown in Figure 5, by mounted running gear, by fix screw (9), be connected respectively with axle drive shaft (17) with driven shaft (21), pressure zone plate (12) is connected with car body (28) by support (8), and tension wheel (7) is connected with car body by adapter plate (19).Axle drive shaft is equipped with passive cylindrical wheel (1), and active cylindrical wheel (2) is housed transmission shaft (18) and by dynamic bevel gear (3), active and passive cylindrical wheel meshes.Axle drive shaft, driven shaft, transmission shaft are connected with car body by bearing seat (6).Stepping motor (5) is equipped with initiatively conical gear (4), and is connected with car body by stepping motor seat (41).Active and passive conical gear engagement.Underframe circle (22) is directly connected with car body, and chuck (23) is connected with underframe circle with car body by double-screw bolt (24).Mounted adsorption system is connected with car body by motor cabinet support (33), and by chuck support and fixing.Supersonic sounding and positioner and circuit control structure are finally installed on car body.
Claims (2)
- A crawler type advance, suction type absorption wall robot, possess: the stable function of adsorbing, steadily moving ahead, freely turning on wall, and the design of platform adsorption system, can be applicable to the coarse or smooth vertical surface such as cement wall surface, ceramic tile exterior wall, glass curtain wall, metal wall, not affected by wall material.This platform can and have the functions such as automatic obstacle avoiding, tracking tracking, monitoring in real time, image feedback simultaneously, can realize Long-distance Control and Real-Time Monitoring.Carry thereon after the functional devices such as strike, defence, snatch, can be applied to the work such as military surveillance, fire-fighting detection, oil tank detection, road deicing, commercial production and South Pole scientific investigation.
- A crawler type advance, suction type absorption wall robot, it is characterized in that: running gear is comprised of Timing Belt (15), synchronizing wheel (11), catch (10), fix screw (9), tension wheel (7), pressure zone plate (12), spring (13), support (8) etc., and tension wheel and pressure zone plate can make it in optimum Working.Adsorption system mainly by air-breathing motor (30), stock (40), motor cabinet (32), motor cabinet support (33), coupler (39), determine impeller (29), movable vane wheel (35), outer cover (36), jam nut (38), lock washer (37) etc. and form, there is powerful suction, and can be applicable to the hydraulically rough surfaces such as cement.Platform is driven by stepping motor (5), by the transmission of cone-cylinder secondary gear, drives synchronizing wheel (11), and platform is advanced on wall.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201310131665.1A CN104108431A (en) | 2013-04-16 | 2013-04-16 | Tracked intelligent traveling-on-wall platform |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201310131665.1A CN104108431A (en) | 2013-04-16 | 2013-04-16 | Tracked intelligent traveling-on-wall platform |
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Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459093A (en) * | 2016-01-14 | 2016-04-06 | 任曲波 | Autonomous navigation harmful gas detecting robot |
| CN105477809A (en) * | 2016-01-14 | 2016-04-13 | 任曲波 | High-temperature resisting perpetuum mobile type hydroelectric generation exhausting robot |
| CN105500332A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Nuclear power station rescue and operation robot |
| CN105500364A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Hygiene and epidemic prevention monitoring and rescue robot |
| CN105539618A (en) * | 2016-01-14 | 2016-05-04 | 任曲波 | Maintenance-free caterpillar structure |
| CN105605980A (en) * | 2016-01-14 | 2016-05-25 | 任曲波 | Energy-heat-hiding laser battle robot with investigation function |
| CN106073623A (en) * | 2016-08-11 | 2016-11-09 | 广西大学 | Double-brush double crawler belt adds sucker Mobile domestic glass cleaning machine people |
| CN108120684A (en) * | 2018-01-30 | 2018-06-05 | 中国建材检验认证集团股份有限公司 | Safety partition detects robot and curtain wall detecting system |
| CN108420368A (en) * | 2018-05-10 | 2018-08-21 | 西京学院 | A kind of full landform clean robot |
| CN108622219A (en) * | 2018-03-26 | 2018-10-09 | 浙江大学 | A kind of propeller side compression type adsorption wall climbing robot |
| CN109187564A (en) * | 2018-10-25 | 2019-01-11 | 河南城建学院 | A kind of sleeve configuration structures real-time deformation monitoring system |
| CN109649517A (en) * | 2019-01-14 | 2019-04-19 | 中国长江电力股份有限公司 | A kind of negative-pressure adsorption crawler-type wall climbing robot and application method based on rolling seal |
| CN110481657A (en) * | 2019-07-31 | 2019-11-22 | 青岛农业大学 | A kind of specialized robot having complicated landform adaptation function and its motion work method |
| CN112008738A (en) * | 2020-09-04 | 2020-12-01 | 湖南理工职业技术学院 | Rescue robot is patrolled and examined to workshop safety |
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Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105477809A (en) * | 2016-01-14 | 2016-04-13 | 任曲波 | High-temperature resisting perpetuum mobile type hydroelectric generation exhausting robot |
| CN105500332A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Nuclear power station rescue and operation robot |
| CN105500364A (en) * | 2016-01-14 | 2016-04-20 | 任曲波 | Hygiene and epidemic prevention monitoring and rescue robot |
| CN105539618A (en) * | 2016-01-14 | 2016-05-04 | 任曲波 | Maintenance-free caterpillar structure |
| CN105605980A (en) * | 2016-01-14 | 2016-05-25 | 任曲波 | Energy-heat-hiding laser battle robot with investigation function |
| CN105459093A (en) * | 2016-01-14 | 2016-04-06 | 任曲波 | Autonomous navigation harmful gas detecting robot |
| CN106073623A (en) * | 2016-08-11 | 2016-11-09 | 广西大学 | Double-brush double crawler belt adds sucker Mobile domestic glass cleaning machine people |
| CN108120684A (en) * | 2018-01-30 | 2018-06-05 | 中国建材检验认证集团股份有限公司 | Safety partition detects robot and curtain wall detecting system |
| CN108622219A (en) * | 2018-03-26 | 2018-10-09 | 浙江大学 | A kind of propeller side compression type adsorption wall climbing robot |
| CN108420368A (en) * | 2018-05-10 | 2018-08-21 | 西京学院 | A kind of full landform clean robot |
| CN108420368B (en) * | 2018-05-10 | 2021-03-30 | 西京学院 | All-terrain cleaning robot |
| CN109187564A (en) * | 2018-10-25 | 2019-01-11 | 河南城建学院 | A kind of sleeve configuration structures real-time deformation monitoring system |
| CN109649517A (en) * | 2019-01-14 | 2019-04-19 | 中国长江电力股份有限公司 | A kind of negative-pressure adsorption crawler-type wall climbing robot and application method based on rolling seal |
| CN109649517B (en) * | 2019-01-14 | 2023-06-13 | 中国长江电力股份有限公司 | Negative pressure adsorption crawler type wall climbing robot based on rolling seal and use method |
| CN110481657A (en) * | 2019-07-31 | 2019-11-22 | 青岛农业大学 | A kind of specialized robot having complicated landform adaptation function and its motion work method |
| CN110481657B (en) * | 2019-07-31 | 2020-02-21 | 青岛农业大学 | Special robot with complex terrain self-adaption function and movement operation method thereof |
| US11427272B2 (en) | 2019-07-31 | 2022-08-30 | Qingdao Agricultural University | Special robot with complex terrain adaptive function and a motion and operation method thereof |
| CN112008738A (en) * | 2020-09-04 | 2020-12-01 | 湖南理工职业技术学院 | Rescue robot is patrolled and examined to workshop safety |
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Application publication date: 20141022 |