Wheel-foot conversion type obstacle-surmounting wall-climbing robot and obstacle-surmounting method thereof

A wall-climbing robot and conversion technology, applied in the field of wall-climbing robots, can solve the problems of poor obstacle-crossing ability and low walking efficiency, and achieve the effects of strong obstacle-breaking ability, high walking efficiency, and small turning radius

Active Publication Date: 2020-02-25
HARBIN UNIV OF SCI & TECH
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

[0008] The vacuum adsorption wall-climbing robot adopts negative pressure adsorption and alternate suction cups to realize the adsorption and movement of the robot. This kind of robot has strong adaptability to the wall surface, but the walking efficiency is low.
Although the wheeled wall-climbing robot has high walking efficiency, its ability to overcome obstacles is poor

Method used

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  • Wheel-foot conversion type obstacle-surmounting wall-climbing robot and obstacle-surmounting method thereof
  • Wheel-foot conversion type obstacle-surmounting wall-climbing robot and obstacle-surmounting method thereof
  • Wheel-foot conversion type obstacle-surmounting wall-climbing robot and obstacle-surmounting method thereof

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specific Embodiment approach 1

[0032] Specific implementation mode one: combine Image 6 This embodiment will be described. like Figure 6-1 As shown, when the wall-climbing robot encounters an obstacle that can be circumvented while traveling, the specific steps for the robot to overcome the obstacle with a right-angled fold line include:

[0033] Step 1, the first wheel 5-1, the second wheel 5-2, the third wheel 5-3, and the fourth wheel 5-4 are driven by their respective wheel steering motors 4-3, rotate 90° around the Z axis, and after turning The direction of travel of the wheels is parallel to the small cube obstacle 8, and the direction of the wheels after turning is as follows: Figure 6-2 shown;

[0034] Step 2, the wall-climbing robot moves to avoid obstacles, such as Figure 6-3 shown;

[0035] Step 3, the first wheel 5-1, the second wheel 5-2, the third wheel 5-3, and the fourth wheel 5-4 are driven by their respective wheel steering motors 4-3, and rotate 90° in the opposite direction arou...

specific Embodiment approach 2

[0037] Specific embodiment two: When running into an obstacle that can be circumvented, by controlling the wheel steering motor 4-3 in the four wheel foot conversion mechanisms 4, the wheel 5 is driven to rotate a certain angle around the Z axis, and the robot can realize small Obstacle-surmounting function with radial arc omnidirectional movement.

specific Embodiment approach 3

[0038] Specific implementation mode three: combination Figure 7 This embodiment will be described.

[0039] like Figure 7-1 As shown, when the robot encounters an obstacle that needs to be rolled over, the specific steps for overcoming the obstacle include:

[0040] Step 1, control the wheel-foot conversion motor 4-2 in the four wheel-foot conversion mechanism 4 to drive the crossbeam 4-4 to rotate 90° around the Y axis, and complete the adduction of the four wheels 5 relative to the frame 1, such as Figure 7-2 shown;

[0041] Step 2, sequentially control the wheel steering motors 4-3 in the four conversion mechanisms 4, and drive the wheels 5 to rotate 90° around the Z axis, so that the sucker group 7-1 in the wheels 5 is in vertical contact with the wall, realizing the wheel movement of the wall-climbing robot. Foot conversion functions such as Figure 7-3 shown;

[0042] Step 3, start the vacuum air pump 9 installed on the robot frame 1, make the suction cup group 7-1...

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Abstract

The invention discloses a wheel-foot conversion type obstacle-surmounting wall-climbing robot and an obstacle-surmounting method thereof, relates to the field of wall-climbing robots. The robot consists of a frame, a propeller, a propeller driving mechanism, wheel-foot conversion mechanisms, wheels, wheel driving mechanisms and vacuum adsorption systems. The propeller driving mechanism is installed in the center of the frame of the robot, the four wheel-foot conversion mechanism are symmetrically installed on the frame and provided with the wheel driving mechanisms, and the wheel driving mechanisms are provided with the wheels and the vacuum adsorption systems. The wall-climbing robot has the functions of wheel type linear walking, wheel type omnidirectional moving obstacle surmounting andfoot type rolling obstacle surmounting. The wheel-foot conversion type obstacle-surmounting wall-climbing robot has compact structure, high walking efficiency, small turning radius and strong obstacle crossing capability.

Description

technical field [0001] The invention belongs to the technical field of wall-climbing robots, and in particular relates to a wall-climbing robot capable of surmounting obstacles and a wheel-foot conversion type and an obstacle surmounting method thereof. Background technique [0002] A wall-climbing robot refers to a robot that can work in environments such as vertical walls. As an automatic mechanical device for extreme high-altitude operations, it is mainly used in the following aspects: [0003] 1. Detection: detection of large objects such as bridges, nuclear power plants, pipelines, solar power plants, and large oil and gas tanks. [0004] 2. Testing: non-destructive testing of wind power generation, chemical industry, etc. [0005] 3. Construction: repair and maintenance of buildings, etc. [0006] 4. Cleaning: Cleaning of glass curtain walls, large walls, ceilings, etc. [0007] 5. Transportation: Transportation inside the building, for example, the fire department ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): B62D57/024
CPCB62D57/024
Inventor 唐德栋郑俊豪吴殿昊姜金刚王真曹阳何添
Owner HARBIN UNIV OF SCI & TECH
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