CN108502042A - A kind of biped magnetic adsorption wall climbing robot - Google Patents
A kind of biped magnetic adsorption wall climbing robot Download PDFInfo
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- CN108502042A CN108502042A CN201810281400.2A CN201810281400A CN108502042A CN 108502042 A CN108502042 A CN 108502042A CN 201810281400 A CN201810281400 A CN 201810281400A CN 108502042 A CN108502042 A CN 108502042A
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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
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Abstract
The present invention is a kind of biped magnetic adsorption wall climbing robot, turn joint assembly, the first pitching joint assembly, the second pitching joint assembly, third pitching joint assembly, connecting rod (three), the sufficient component of the second absorption, control system, wireless module and supply unit by the sufficient component of the first absorption, waist to form, can be used for the detection to ironys wall surfaces such as large tank, naval vessel table body, steelframe bridge towers.By controlling the alternating sorbent between the coordinated movement of various economic factors of each joint assembly and the sufficient component of 2 absorption and wall surface, circumferential movement, wriggling, overturning and the cross facet transition of robot are realized.Robot can be detected wall surface feature by camera, and send an image to user.The robot can also execute different types of operation by being equipped with different end equipments.The robot architecture is compact, vdiverse in function and have cross facet transitive capability.Solution is provided to assist or carrying out under the hazardous environments such as vertical or high-altitude wall surface instead of the mankind operation such as overhauling.
Description
Technical field
The invention belongs to robot technology and automatic field, are related to a kind of climbing robot, and in particular to a kind of biped
Magnetic adsorption wall climbing robot.
Background technology
With the fast development of modern science and technology, various new technologies continue to bring out, and promote the application of robot further extensive.
In robot field, climbing robot is a kind of specialized robot integrating driving, sensing, control and communication etc., it can
To be assisted under the extreme environments such as a variety of vertical or high-altitude wall surfaces or execute detection, maintenance, derusting, cleaning or spraying instead of the mankind
Equal operations, before especially being had a wide range of applications in the fields such as warship, bridge tower detection, petrochemical industry and nuclear industry
Scape.
For climbing robot, suction type is core, and existing suction type includes mainly that (vacuum is inhaled for air pressure absorption
Attached, negative-pressure adsorption), bionical absorption and magnetic suck etc..Air pressure suction type is not limited by wall material, adaptable, but is easy
Gas leakage occurs, influences adsorption capacity, and not high using the climbing robot kinematic accuracy of air pressure absorption；Bionical absorption has negative
The advantages that loading capability is strong, wide adaptation range, but the technology is still in the laboratory research stage, it is also far from practical application；Magnetic
Subsidiary formula formula has many advantages, such as that load capacity is strong, simple in structure and convenient for application, but it must be permeability magnetic material to require wall surface, for big
For the ironys wall surfaces such as type tank body, naval vessel table body, steel construction bridge tower, magnetic suck mode is a kind of ideal selection.Walking manner
It is the key that realize that climbing robot motor function, current walking manner mainly have running on wheels, crawler-type traveling, polypody
Walking and double-feet walking, running on wheels and crawler-type traveling are chiefly used in single plane, and obstacle climbing ability is insufficient and is difficult to realize
Cross facet transition, polypody walking has preferable locomitivity, but structure is complex, usually needs external cable (or pipeline),
It is not easy to realize Integration Design；Double-feet walking manner has both obstacle detouring and kinematic dexterity, it is easy to accomplish densification and integrated
Change design.
Currently, having developed a variety of climbing robots both at home and abroad.In existing climbing robot, compare typically close hold
The small-sized Inchworm type robot Flipper that root state university develops, the robot are that a kind of biped adsorbed using air pressure climbs wall
Robot, it can only be moved in a manner of overturning, and due to being adsorbed using air pressure, load capacity is limited and kinematic accuracy is not high, this
Outside, it is also necessary to external cable (Minor M, Dulimarta H, Danghi G, et al.Design, implementation,
and evaluation of an under-actuated miniature biped climbing robot[C]//IEEE/
RSJ International Conference on Intelligent Robots and Systems.IEEE,2000:
1999-2005vol.3.).In addition, domestic Harbin Institute of Technology, the China Measures Institute, Shenyang automation research institute of the Chinese Academy of Sciences
Minitype biped air pressure adsorption wall climbing robot is had developed, similar with Flipper, there is also load capacity to have for these robots
Limit, kinematic accuracy it is not high and need external cable the deficiencies of.
In terms of patent application, application No. is 201510254700.8 Chinese patent, to disclose a kind of ship facade operation more
Function climbing robot, the robot, as walking mechanism, do not have wall surface transitive capability using the crawler belt for being equipped with permanent magnet；
Application No. is 201611052172.9 Chinese patents to disclose a kind of magnetic adsorption wall climbing robot, which uses wheeled row
Mode is walked, does not have wall surface conversion function；Application No. is 201710076556.2 Chinese patents to disclose one kind with wall surface
The barrier-crossing wall-climbing robot of conversion function, the robot realize wall surface using two monomer climbing robots and pitching deflection mechanism
Conversion, but there are volumes it is big, load capacity is weak and kinematic dexterity is weaker the deficiencies of.
Invention content
The purpose of the present invention is：It is limited for existing climbing robot kinematic dexterity, load capacity is weaker and does not have
The deficiencies of cross facet transitive capability (or transitive capability is weaker), designs a kind of biped magnetic adsorption wall climbing robot, realizes to large size
The operations such as the detection of the ironys wall surfaces such as tank body, naval vessel table body, steelframe bridge tower and maintenance, and have good kinematic dexterity and hand over
Fork face transitive capability carries to assist or carrying out under the hazardous environments such as above-mentioned vertical or high-altitude wall surface instead of the mankind operation such as overhauling
For solution.
The technical proposal of the invention is realized in this way：Biped magnetic adsorption wall climbing robot is mainly by the sufficient group of the first absorption
Part, waist turn joint assembly, the first pitching joint assembly, the second pitching joint assembly, third pitching joint assembly, connecting rod (three),
The sufficient component of second absorption, control system, wireless module and supply unit composition.The sufficient component of first absorption and the sufficient component of the second absorption
The absorption between robot and wall surface can be achieved or detach, and play a supportive role, waist turns the pivot center and first of joint assembly
The normal direction of the sufficient stack face of absorption is consistent, the first pitching joint assembly, the second pitching joint assembly and third pitching joint
The pivot center of component is spatially mutually parallel, but the pivot center for turning with waist joint assembly is perpendicular.When work, first inhales
Attached foot component and the second sufficient component of absorption are adsorbed on wall surface jointly, then, by the sufficient component of the second absorption of control system control (or
The sufficient component of first absorption) it is detached with wall surface, turn joint assembly, the first pitching joint assembly, the second pitching joint by controlling waist
The coordinated movement of various economic factors of component and third pitching joint assembly so that the sufficient component of the second absorption (or the sufficient component of the first absorption) reaches new
Absorption position, with wall adsorption；And then, the sufficient component of the first absorption (or the sufficient component of the second absorption) is detached with wall surface, passes through control
Make the coordinated movement of various economic factors of each joint assembly so that the sufficient component of the first absorption (or the sufficient component of the second absorption) reaches new absorption position,
With wall adsorption；Between the coordinated movement of various economic factors and the sufficient component of 2 absorption and wall surface that this can be by controlling each joint assembly
Alternating sorbent, realize robot in the circumferential movement in space, wriggling, overturning, obstacle detouring and cross facet transition.Robot can be with
Wall surface feature is measured in real time by the camera carried on the sufficient component of the second absorption, then, will be detected by wireless module
To information be sent to user, in order to user's accurate judgement wall surface state, and then carry out specific aim processing；It is being moved through
Cheng Zhong provides power supply supply by supply unit for each joint assembly, control system and wireless module.
The sufficient component of first absorption is by electromagnet, sufficient extremity piece (one), touch sensor, touch sensor seat and distance measuring sensor
Composition.N (n=1,2,3 ... ...) group electromagnet is uniformly distributed and is connected on sufficient extremity piece (one), to provide uniformly reliable inhale
Attached power；M (m=3,4,5 ... ...) group distance measuring sensors are also uniformly distributed and are connected on sufficient extremity piece (one), in motion process, survey
Relative pose state of the sufficient extremity piece (one) between wall surface can be detected in real time away from sensor, in time to the position of sufficient extremity piece (one)
Appearance is adjusted, it is ensured that in absorption, sufficient extremity piece (one) is mutually parallel between wall surface；M (m=3,4,5 ... ...) group touchings pass
Sensor is equally uniformly distributed and is mounted on sufficient extremity piece (one) by touch sensor seat, for detecting sufficient extremity piece (one) and wall surface
Between adsorbed state, with for subsequent motion control foundation is provided.
Waist turns joint assembly for realizing the circumferential movement of biped magnetic adsorption wall climbing robot, by motor cabinet, motor (one),
Flange (one), retarder (one), driver, inductive pick-up and sensor holder composition.Motor cabinet bottom is mounted on sufficient extremity piece
(1) upper surface forms support；Motor (one) is connected by flange (one) with the input terminal of retarder (one), retarder (one)
Output end side is connected on motor base inner surface；Driver is connected on the outside of motor cabinet, is used for driving motor (one)；Induction passes
Sensor is mounted on by sensor holder on the outside of motor cabinet, for determining that waist turns the initial position of joint assembly.
First pitching joint assembly mainly turns part, motor (one), flange (one), retarder (one), driver, induction by waist
Sensor and block piece (one) composition.Waist turns part and turns on the output end of the retarder (one) in joint assembly mounted on waist, with waist
Turn the rotation of motor in joint assembly (one) and rotate, and pivot center and the first absorption foot stack face normal direction phase one
It causes；Motor (one) is connected by flange (one) with the input terminal of retarder (one), and the output end side of retarder (one) is connected in
Waist turns on the inside of part, and rotary motion is provided for the second pitching joint assembly；Driver is connected in waist and turns on the outside of part, is used for driving motor
(1)；Inductive pick-up is connected in waist and turns part side, the initial position for determining the first pitching joint assembly；Block piece (one)
Turn part medial surface mounted on waist, turning the inductive pick-up in joint assembly with waist is used cooperatively.
Second pitching joint assembly is mainly by connecting rod (one), neonychium, motor (one), flange (one), retarder (one), drive
Dynamic device, inductive pick-up and block piece (two) composition.Connecting rod (one) is connected in the retarder (one) in the first pitching joint assembly
Output end, rotated with the rotation of motor (one) in the first pitching joint assembly, and pivot center and waist turn joint assembly
Pivot center direction is perpendicular；Neonychium is mounted on connecting rod (one), for limiting the movement of the second pitching joint assembly
System and protection；Motor (one) is connected by flange (one) with the input terminal of retarder (one), the output end side of retarder (one)
It is connected on the inside of connecting rod (one), rotary motion is provided for third pitching joint assembly；Driver is connected on the outside of connecting rod (one), is used
In driving motor (one)；Inductive pick-up is connected on the outside of connecting rod (one), the initial bit for determining the second pitching joint assembly
It sets；Block piece (two) is mounted on the side of connecting rod (one), is used cooperatively with the inductive pick-up in the first pitching joint assembly.
Third pitching joint assembly is mainly by connecting rod (two), motor (two), flange (two), retarder (two), driver, sense
Inductive sensing device and block piece (three) composition.Connecting rod (two) is connected in the output of the retarder (one) in the second pitching joint assembly
End, rotates, and the rotation axis of pivot center and the first joint assembly with the rotation of motor (one) in the second pitching joint assembly
Line direction is parallel；Motor (two) is connected by flange (two) with the input terminal of retarder (two), the output end of retarder (two)
Side is connected on the inside of connecting rod (two), and rotary motion is provided for connecting rod (three)；Driver is connected on the outside of connecting rod (two), for driving
Dynamic motor (two)；Inductive pick-up is connected on the outside of connecting rod (two), the initial position for determining third pitching joint assembly；It hides
Block piece (three) is mounted on the side of connecting rod (two), is used cooperatively with the inductive pick-up in the second pitching joint assembly.
Connecting rod (three) is connected in the output end of the retarder (two) of third pitching joint assembly, with third pitching joint assembly
The rotation of middle motor (two) and rotate, and pivot center is parallel with the pivot center direction of second joint component；Block piece
(4) it is mounted on the side of connecting rod (three), is used cooperatively with the inductive pick-up in third pitching joint assembly.
The sufficient component of second absorption is by electromagnet, sufficient extremity piece (two), touch sensor, touch sensor seat, distance measuring sensor
It is formed with camera.Sufficient extremity piece (two) is connected with connecting rod (three) bottom surface, and center is provided with hole, and for installing camera, camera can be with wall
Region feature is detected；N (n=1,2,3 ... ...) group electromagnet is uniformly distributed and is connected on sufficient extremity piece (two), equal to provide
Even reliable adsorption capacity；M (m=3,4,5 ... ...) group distance measuring sensors are also uniformly distributed and are connected on sufficient extremity piece (two), use
In relative pose state of the sufficient extremity piece (two) of detection between wall surface, to be adjusted in time to the pose of sufficient extremity piece (two), really
It protects in absorption, sufficient extremity piece (two) is mutually parallel between wall surface；It is equally uniform that m (m=3,4,5 ... ...) organizes touch sensor
It is distributed and is mounted on sufficient extremity piece (two) by touch sensor seat, for detecting adsorption-like of the sufficient extremity piece (two) between wall surface
State, to provide foundation for subsequent motion control.
Control system is mainly made of microcontroller and relay, and microcontroller is for receiving inductive pick-up, distance measuring sensor
With the heat transfer agent and external control instruction of touch sensor, to control the movement of biped magnetic adsorption wall climbing robot；Relay
Device is for controlling the absorption between electromagnet and wall surface and detaching.
Wireless module is mainly used for receiving the control instruction of external users and sends it to biped magnetic adsorption wall climbing machine
The status information of biped magnetic adsorption wall climbing robot can also be sent to external users, in addition, wireless module may be used also by device people
The image information taken by camera is sent to user.
Supply unit is mainly made of battery, voltage monitor and voltage changer, and battery is used to climb for biped magnetic suck
Wall robot provides power supply supply；Voltage monitor is connected with battery, for monitoring battery capacity, when electricity is less than safety value
When, alarm；Voltage changer for being converted to the output voltage of battery, with become swap out with driver, sensor with
And the voltage that control system matches.
The present invention biped magnetic adsorption wall climbing robot the advantages of be：The waist of the robot turns the pivot center of joint assembly
It is consistent with the first sufficient normal direction of stack face of absorption, joint is turned by waist and may be implemented circumferential movement, the first of robot
The pivot center of pitching joint assembly, the second pitching joint assembly and third pitching joint assembly is spatially mutually parallel, but
The pivot center for turning joint assembly with waist is perpendicular, is realized by the cooperation of 3 pitching joint assemblies and wriggles, overturning, gets over
Barrier and the movements such as cross facet transition, improve that previous climbing robot motor function is single and cross facet transitive capability is weaker
Deficiency, the configuration scheme of used " 1 waist turns+3, joint and is mutually parallel but turns the perpendicular pitching joint in joint with waist "
It is the most simple configuration for realizing these different motion forms；The self-contained supply unit of the robot, realizes biped wall-climbing device
The light weight of people minimizes and dynamoelectric controlled integrated design, and overcoming previous climbing robot needs external cable (or pipeline), is easy
The deficiency that kinking and motion range are limited；Meanwhile the robot carries camera and wireless module, it can be in real time to wall surface feature
It is detected, and taken image information is sent to user by wireless module, have real-time good and use effect
The features such as rate is high；In addition, the robot also has good configuration scalability and functional expansionary, it can be by increasing by one
A waist turns the structure type that joint assembly is extended to " 1 waist turns+3, joint+1, pitching joint waist and turns joint ", can also lead to
It crosses and is equipped with different end executive device (such as spray equipment, cleaning device) on the sufficient component of absorption, execute a variety of inhomogeneities
The job task of type.In general, which has compact-sized, vdiverse in function, movement flexibly and transitive capability is strong, has
The advantages that cross facet transitive capability and high efficient and reliable.The mankind can be assisted or replaced using the robot, realized in large tank
It is detected under body, naval vessel table body, steelframe bridge tower etc. be vertical or the hazardous environments such as high-altitude wall surface and the operations such as safeguards, had important
Practical significance and good application prospect.
Description of the drawings
The concrete structure of the present invention is provided by following embodiment and attached drawing.
Fig. 1 is the structural schematic diagram of the biped magnetic adsorption wall climbing robot of the present invention.
Fig. 2 is the structural schematic diagram of the sufficient component of the first absorption of the present invention.
Fig. 3 is that the waist for being equipped with relay of the present invention turns the structural schematic diagram of joint assembly.
Fig. 4 is the structural schematic diagram of the first pitching joint assembly of the present invention.
Fig. 5 is the structural schematic diagram of the second pitching joint assembly for being equipped with supply unit of the present invention.
Fig. 6 is the structural schematic diagram of the third pitching joint assembly for being equipped with microcontroller of the present invention.
Fig. 7 is the structural schematic diagram of the sufficient component of the first absorption of the present invention.
With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5, Fig. 6 and Fig. 7 to the detailed description of the invention.
In figure：1, electromagnet, 2, sufficient end (one), 3, motor cabinet, 4, driver, 5, motor (one), 6, flange (one), 7, subtract
Fast device (one), 8, sensor holder, 9, inductive pick-up, 10, block piece (one), 11, waist turn part, 12, block piece (two), 13, even
Bar (one), 14, voltage changer, 15, neonychium, 16, voltage monitor, 17, block piece (three), 18, connecting rod (two), 19, single
Piece machine, 20, battery, 21, block piece (four), 22, motor (two), 23, flange (two), 24, retarder (two), 25, wireless module,
26, connecting rod (three), 27, camera, 28, sufficient end (two), 29, touch sensor, 30, touch sensor seat, 31, relay, 32, survey
Away from sensor
Specific implementation mode
As shown in Figure 1：3 bottom of motor cabinet and the upper surface of sufficient extremity piece (one) 2 are connected, and form support；The inside of motor cabinet 3
Upper surface is equipped with retarder (one) 7, and waist turns the output end phase of 11 bottom of part and the retarder (one) 7 on motor cabinet 3
Even, it forms waist and turns joint；The medial surface that waist turns part 11 is equipped with retarder (one) 7, the side of connecting rod (one) 13 be mounted on waist
The output end for turning the retarder (one) 7 on part 11 is connected, and forms the first pitching joint；Installation inside the other side of connecting rod (one) 13
There are retarder (one) 7, the side of connecting rod (two) 18 to be connected with the retarder (one) 7 on connecting rod (one) 13, forms second
Pitching joint；Retarder (two) 24 is installed inside the other side of connecting rod (two) 18, the medial surface of connecting rod (three) 26 be mounted on
Retarder (two) 24 on connecting rod (two) 18 is connected, and forms third pitching joint；Sufficient extremity piece (two) 28 is mounted on connecting rod (three) 26
Bottom, form the support of another parapodum end.
As shown in Figure 2：Electromagnet 1 is connected in the lower surface of sufficient extremity piece (one) 2, and is uniformly distributed；Touch sensor 29 is logical
It crosses touch sensor seat 30 and is connected in the lower surface of sufficient extremity piece (one) 2, and be uniformly distributed；Distance measuring sensor 32 is directly connected in foot
The lower surface of extremity piece (one) 2, is uniformly distributed, and is spaced apart with touch sensor 29.
As shown in Figure 3：Motor (one) 5 is connected by flange (one) 6 with the input terminal of retarder (one) 7, and retarder is passed through
(1) 7 realizes that deceleration torque, the output end stationary plane of retarder (one) 7 are connected with the inside upper surface of motor cabinet 3, driver 4
It is connected in the outside of motor cabinet 5, is used for driving motor (one) 5, inductive pick-up 9 is connected in motor cabinet 3 by sensor holder 8
Outside, the initial position for determining motor (one) 5.
As shown in Figure 4：Motor (one) 5 is connected by flange (one) 6 with the input terminal of retarder (one) 7, retarder (one) 7
Output end stationary plane turn the medial surface of part 11 with waist and be connected, driver 4 is connected in the outside that waist turns part 11, block piece (one) 10
It is connected in the inside of joint piece 11, is matched with the inductive pick-up 9 in Fig. 3, waist turns also to install thoughts in the outer side edges of part 11
Inductive sensing device 9.
As shown in Figure 5：Block piece (two) 12 is mounted on the side of connecting rod (one) 13, coordinates with the inductive pick-up 9 in Fig. 4
It uses, voltage changer 14 is mounted on the lateral surface of connecting rod (one) 13, and the offside of voltage changer 14 is equipped with inductive pick-up
9, neonychium 15 is mounted in the outer side edges of connecting rod (one) 13, for the movement of connecting rod (one) 13 to be limited and is protected, electricity
Pond 20 is mounted on the inside of connecting rod (one) 13, and voltage monitor 16 is connected with battery 20, can in real time to the electricity of battery 20 into
Row monitoring, motor (one) 5 are connected by flange (one) 6 with the input terminal of retarder (one) 7, and the output end of retarder (one) 7 is solid
Determine face with the medial surface of connecting rod (one) 13 to be connected, driver 4 is connected in the outside of connecting rod (one) 13.
As shown in Figure 6：Block piece (three) 17 is mounted on the side of connecting rod (two) 18, coordinates with the inductive pick-up 9 in Fig. 5
It uses, microcontroller 19 is mounted on the lateral surface of connecting rod (two) 18, and the offside of microcontroller 19 is equipped with inductive pick-up 9, battery 20
Mounted on the inside of connecting rod (two) 18, voltage monitor 16 is connected with battery 20, can be supervised in real time to the electricity of battery 20
It surveys, motor (two) 22 is connected by flange (two) 23 with the input terminal of retarder (two) 24, and the output end of retarder (two) 24 is solid
Determine face with the medial surface of connecting rod (two) 18 to be connected, driver 4 is connected in the outside of connecting rod (two) 18, and wireless module 25, which is mounted on, to be connected
In the outside bottom surface of bar (two) 18, it can receive and send command information and image information.
As shown in Figure 7：The center opening of sufficient extremity piece (two) 28, for installing camera 27, electromagnet 1 is connected in sufficient extremity piece
(2) 28 lower surface, and be uniformly distributed；Touch sensor 29 is connected in sufficient extremity piece (two) 28 by touch sensor seat 30
Lower surface, and be uniformly distributed；Distance measuring sensor 32 is directly connected in the lower surface of sufficient extremity piece (two) 28, is uniformly distributed, and with touch
Bump sensor 29 is spaced apart.
Claims (5)
1. a kind of biped magnetic adsorption wall climbing robot, which is characterized in that turn joint assembly, the including the sufficient component of the first absorption, waist
One pitching joint assembly, the second pitching joint assembly, third pitching joint assembly, connecting rod (three), the sufficient component of the second absorption, control
System, wireless module and supply unit；
The sufficient component of first absorption and the sufficient component of the second absorption can realize absorption between robot and wall surface or detach, and rise
Supporting role, the pivot center that the waist turns joint assembly is consistent with the sufficient normal direction of stack face of the first absorption,
The pivot center of the first pitching joint assembly, the second pitching joint assembly and third pitching joint assembly is spatially mutual
It is parallel, but the pivot center for turning with the waist joint assembly is perpendicular, be formed by " 1 waist turn+3, joint be mutually parallel but
Turn the perpendicular pitching joint in joint with waist " configuration scheme be make climbing robot realize circumferential movement, wriggling, overturning, more
The most simple configuration scheme of barrier and cross facet transition；
The sufficient component of first absorption includes electromagnet, sufficient extremity piece (one), touch sensor, touch sensor seat and ranging sensing
Device, the electromagnet and distance measuring sensor are connected in the lower surface of sufficient extremity piece (one), and touch sensor passes through touch sensor seat
Mounted on the lower surface of the sufficient extremity piece (one)；
It includes motor cabinet, motor (one), flange (one), retarder (one), driver, inductive pick-up that the waist, which turns joint assembly,
And sensor holder, the motor cabinet bottom are mounted on the upper surface of the sufficient extremity piece (one) in the sufficient component of the first absorption, motor
(1) it is connected with the input terminal of retarder (one) by flange (one), the output end side of the retarder (one) is connected in motor
On base inner surface, driver is connected on the outside of the motor cabinet, is used for driving motor (one), inductive pick-up passes through sensor holder
On the outside of the motor cabinet, for determining that the waist turns the initial position of joint assembly；
The first pitching joint assembly includes that waist turns part, motor (one), flange (one), retarder (one), driver, induction biography
Sensor and block piece (one), waist turn part and turn on the output end of the retarder (one) in joint assembly mounted on the waist, form waist
It walks around movable joint, and pivot center is consistent with the sufficient normal direction of component mesopodium extremity piece (one) end face of the first absorption；Electricity
Machine (one) is connected by flange (one) with the input terminal of retarder (one), and the output end side of retarder (one) is connected in waist and turns part
Inside, driver turn mounted on the waist on the outside of part, are used for driving motor (one), and inductive pick-up is connected in the waist and turns part
On side, the initial position for determining the first pitching joint assembly, block piece (one) turns mounted on the waist on the inside of part
Face turns the inductive pick-up in joint assembly with the waist and is used cooperatively；
The second pitching joint assembly includes connecting rod (one), neonychium, motor (one), flange (one), retarder (one), driving
Device, inductive pick-up and block piece (two), connecting rod (one) are mounted on the retarder (one) in the first pitching joint assembly
Output end forms pitch rotation joint, and pivot center turns the central axis side of retarder in joint assembly (one) with the waist
To perpendicular；Neonychium is mounted on connecting rod (one), for the movement of the second pitching joint assembly to be limited and protected
Shield, motor (one) are connected by flange (one) with the input terminal of retarder (one), and the output end side of retarder (one) is connected in
The inside of the connecting rod (one), driver are mounted on the outside of the connecting rod (one), are used for driving motor (one), inductive pick-up
It is connected in the outside of the connecting rod (one), the initial position for determining the second pitching joint assembly, block piece (two) peace
Inductive pick-up in the side of the connecting rod (one), with the first pitching joint assembly is used cooperatively；
The third pitching joint assembly includes connecting rod (two), motor (two), flange (two), retarder (two), driver, induction
Sensor and block piece (three), connecting rod (two) are connected in the output end of the retarder (one) in the second pitching joint assembly,
Form pitch rotation joint, and the central axial direction phase of pivot center and retarder (one) in the first pitching joint assembly
It is parallel；Motor (two) is connected by flange (two) with the input terminal of retarder (two), and the output end side of retarder (two) is connected
On the inside of connecting rod (two)；Driver is mounted on the outside of the connecting rod (two), is used for driving motor (two)；Inductive pick-up is connected in
On the outside of the connecting rod (two), the initial position for determining the third pitching joint assembly；Block piece (three) is mounted on described
Inductive pick-up in the side of connecting rod (two), with the second pitching joint assembly is used cooperatively；
The connecting rod (three) is mounted on the output end of the retarder (two) in the third pitching joint assembly, forms pitch rotation
Joint, and pivot center is parallel with the central axial direction of retarder (one) in the second pitching joint assembly；The company
The side of bar (three) is equipped with block piece (four), is used cooperatively with the inductive pick-up in the third pitching joint assembly；
The sufficient component of second absorption includes electromagnet, sufficient extremity piece (two), touch sensor, touch sensor seat, ranging sensing
Device and camera, foot extremity piece (two) upper surface are connected with the bottom surface of the connecting rod (three), the electromagnet and distance measuring sensor
It is connected in sufficient extremity piece (one) lower surface, touch sensor seat, touch sensor are also equipped on described foot extremity piece (one) lower surface
On touch sensor seat, in addition, described foot extremity piece (two) center is provided with hole, for installing camera；
The control system includes microcontroller and relay, and microcontroller is mounted on the connecting rod in the third pitching joint assembly
(2) outside, for receiving heat transfer agent and external control instruction, to control the fortune of the biped magnetic adsorption wall climbing robot
It is dynamic；Relay is mounted on the waist and turns the outside of the motor cabinet in joint assembly and the sufficient extremity piece in the sufficient component of the second absorption
(2) upper surface, for controlling between the electromagnet and wall surface in the sufficient component of first absorption and the sufficient component of the second absorption
It adsorbs and detaches；
The wireless module is mounted on the bottom of the connecting rod (two) in the third pitching joint assembly, for receiving external control
The biped magnetic adsorption wall climbing robot is instructed and sends it to, it can also be by the biped magnetic adsorption wall climbing robot
Status information be sent to external users, the wireless module can also be clapped the camera in the sufficient component of the second absorption
The image information taken the photograph is sent to user；
The supply unit includes battery, voltage monitor and voltage changer, and battery is mounted on second pitching joint group
The inside of connecting rod (two) on the inside of connecting rod (one) in part and in the third pitching joint assembly, for being the biped magnetic
Adsorption wall climbing robot provides power supply supply；Voltage monitor is connected with the battery, for monitoring battery capacity；Voltage transformation
Device is mounted on the outside of the connecting rod (one) in the second pitching joint assembly, becomes for the output voltage to the battery
It changes.
2. according to the biped magnetic adsorption wall climbing robot described in claim 1, it is characterised in that：The biped magnetic adsorption wall climbing
Robot has configuration scalability, and turning joint by increasing waist can be extended to that " 1 waist turns+1, the pitching joint in+3, joint
Waist turns joint " configuration, wherein the pivot center that 2 waists turn joint be mutually parallel and with the sufficient stack face normal of the absorption
Direction is consistent, the pivot center in 3 pitching joints be mutually parallel and turn with waist joint pivot center it is perpendicular.
3. according to the biped magnetic adsorption wall climbing robot described in claim 1, it is characterised in that：The biped magnetic adsorption wall climbing
Robot can execute different types of operation times with functional expansionary, by installing end equipment on the sufficient component of absorption
Business.
4. according to the biped magnetic adsorption wall climbing robot described in claim 1, it is characterised in that：The sufficient component of first absorption
Sufficient end pose adjustment and absorption are realized in such a way that touch sensor is combined using distance measuring sensor with the sufficient component of the second absorption
State-detection.
5. according to the biped magnetic adsorption wall climbing robot described in claim 1, it is characterised in that：The sufficient component of first absorption
Quantity with electromagnet described in the second sufficient component of absorption is n groups, n=1, and 2,3 ... ..., between the adjacent electromagnet
Angle is 360/n degree；The quantity of the distance measuring sensor and touch sensor is m groups, m=3, and 4,5 ... ..., adjacent institute
The angle stated between distance measuring sensor and between the adjacent touch sensor is 360/m degree.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201810281400.2A CN108502042A (en) | 2018-04-02 | 2018-04-02 | A kind of biped magnetic adsorption wall climbing robot |
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| CN201810281400.2A CN108502042A (en) | 2018-04-02 | 2018-04-02 | A kind of biped magnetic adsorption wall climbing robot |
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| CN108502042A true CN108502042A (en) | 2018-09-07 |
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| CN201810281400.2A Pending CN108502042A (en) | 2018-04-02 | 2018-04-02 | A kind of biped magnetic adsorption wall climbing robot |
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| CN109514526A (en) * | 2018-11-19 | 2019-03-26 | 西安交通大学 | It is a kind of can on high voltage transmission line Quick-climbing device |
| CN109850027A (en) * | 2019-02-28 | 2019-06-07 | 重庆邮电大学 | A kind of bionical biped climbing robot based on magnetosensitive rubber pasting material |
| CN110171499A (en) * | 2019-06-27 | 2019-08-27 | 北京克莱明科技有限公司 | Absorption type electromagnetism foot with floating installation |
| CN110203298A (en) * | 2019-06-27 | 2019-09-06 | 北京克莱明科技有限公司 | A method of control climbing robot vola is accurately contacted with steel construction plane |
| CN110244740A (en) * | 2019-06-27 | 2019-09-17 | 北京克莱明科技有限公司 | The method that climbing robot patrols side with dibit displacement sensor |
| CN110723230A (en) * | 2019-10-23 | 2020-01-24 | 长沙理工大学 | Multi-section adsorption type inspection robot and application method thereof |
| CN113160075A (en) * | 2021-03-30 | 2021-07-23 | 武汉数字化设计与制造创新中心有限公司 | Processing method and system for Apriltag visual positioning, wall-climbing robot and storage medium |
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| CN113160075A (en) * | 2021-03-30 | 2021-07-23 | 武汉数字化设计与制造创新中心有限公司 | Processing method and system for Apriltag visual positioning, wall-climbing robot and storage medium |
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