Stripping type climbing robot

Abstract

The utility model discloses a crossing type climbing robot, and relates to the technical field of robots. Comprising a body, an obstacle crossing device is fixedly connected to the center of the top face of the body through a fixing plate, a first bowl-shaped negative pressure cavity used for being adsorbed to a wall is formed in the end, away from the body, of the obstacle crossing device, and a detection device is arranged on the outer wall of the body; the body comprises a plurality of square negative pressure cavities used for adsorbing the wall surface, the interior of each square negative pressure cavity is divided into an equipment chamber and a driving chamber through a partition plate, and a driving device used for driving the body to move is arranged in each driving chamber; a second bowl-shaped negative pressure cavity is formed in the equipment chamber, the equipment chamber is fixedly connected with a cavity bottom cover plate used for sealing the equipment chamber, and a filter screen is installed on the partition plate; the detection device, the obstacle crossing device, the driving device, the first bowl-shaped negative pressure cavity and the second bowl-shaped negative pressure cavity are electrically connected with an MCU control panel. According to the robot, the robot body can effectively and autonomously climb on a vertical wall surface and cross obstacles; and the working efficiency is effectively improved.

Description

TECHNICAL FIELD

[0001] The utility model relates to robot technical field, in particular to a leapfrog climbing robot. BACKGROUND

[0002] With the increasing demand of high-altitude operation and dangerous operation year by year, traditional manual operation will face problems such as low efficiency and poor safety in these environments, which not only threatens the safety of workers, but also limits the execution efficiency of tasks.

[0003] Therefore, a leapfrog climbing robot is needed, which can better adapt to complex wall structures, effectively climb and overcome obstacles on the vertical wall autonomously, and efficiently and safely operate, effectively improving the operation efficiency and reducing the safety risk. UTILITY MODEL CONTENT

[0004] The utility model aims at providing a leapfrog climbing robot to solve the problems in the prior art.

[0005] To achieve the above-mentioned purpose, the utility model provides the following scheme: the utility model provides a leapfrog climbing robot, which comprises a body, an obstacle surmounting device is fixedly connected to the center of the top surface of the body through a fixed plate, a first bowl-shaped negative pressure cavity for adsorbing a wall surface is arranged at one end of the obstacle surmounting device away from the body, and a detection device is arranged on the outer wall of the body; the body comprises a plurality of square negative pressure cavities for adsorbing a wall surface, the square negative pressure cavities are divided into an equipment chamber and a driving chamber by a partition plate, a driving device for driving the body to move is arranged in the driving chamber; a second bowl-shaped negative pressure cavity is arranged in the equipment chamber, a cavity bottom cover plate for sealing the equipment chamber is fixedly connected to the equipment chamber, and a filter screen is mounted on the partition plate; the detection device, the obstacle surmounting device, the driving device, the first bowl-shaped negative pressure cavity and the second bowl-shaped negative pressure cavity are electrically connected with an MCU control board.

[0006] Preferably, adjacent square negative pressure cavities are connected through a plurality of square negative pressure cavity connecting plates.

[0007] Preferably, the obstacle surmounting device comprises an obstacle surmounting driving arm, two ends of the obstacle surmounting driving arm are fixedly connected with servo motors respectively, the output shafts of the servo motors are drivingly connected with rotating bases, one end of one rotating base away from the servo motor is fixedly connected with the body, and one end of the other rotating base away from the servo motor is fixedly connected with the first bowl-shaped negative pressure cavity.

[0008] Preferably, the servo motors, the rotating bases and the MCU control board are electrically connected.

[0009] Preferably, the first bowl-shaped negative pressure chamber and the second bowl-shaped negative pressure chamber are respectively connected to a brushless fan; a negative pressure sensor is installed in the first bowl-shaped negative pressure chamber and the second bowl-shaped negative pressure chamber respectively.

[0010] Preferably, an O-ring is installed at the end of the first bowl-shaped negative pressure cavity and the square negative pressure cavity facing the wall.

[0011] Preferably, the detection device includes a temperature and humidity sensor mounted on the body, a depth camera is mounted at one end of the body, and a camera module is mounted at the end of the body away from the depth camera.

[0012] Preferably, the negative pressure sensor, the temperature and humidity sensor, the depth camera, the camera module, and the MCU control board are electrically connected.

[0013] Preferably, the drive device includes a drive motor installed in the equipment chamber, the drive motor being connected to a track via a drive gear, and the track being disposed in the drive chamber.

[0014] Preferably, the drive motor is electrically connected to the MCU control board.

[0015] The present invention discloses the following technical effects:

[0016] This invention uses a first bowl-shaped negative pressure chamber and a square negative pressure chamber to adsorb onto the wall surface, and an obstacle-crossing device enables the first bowl-shaped negative pressure chamber and the main body to effectively cross obstacles. This not only better adapts to complex wall structures, but also allows the main body to autonomously climb and cross obstacles on vertical walls. At the same time, it enables efficient and safe operation, effectively improving work efficiency and reducing safety risks. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the overall structure of this utility model;

[0019] Figure 2 This is a top view of the structure of this utility model;

[0020] Figure 3 This is a schematic diagram of the structure of this utility model from below;

[0021] Figure 4This is a schematic diagram of the square negative pressure cavity structure of this utility model;

[0022] Figure 5 This is a schematic cross-sectional view of the square negative pressure cavity of this utility model;

[0023] Figure 6 This is a cross-sectional view of the square sealing ring of this utility model;

[0024] Figure 7 This is a cross-sectional view of the bowl-shaped sealing ring of this utility model;

[0025] Figure 8 This is a cross-sectional view of the rotating base of this utility model;

[0026] The components include: 1. Servo motor; 2. Obstacle-crossing drive arm; 3. Silencer; 4. Temperature and humidity sensor; 5. MCU control board; 6. Sealing coil; 7. First bowl-shaped negative pressure chamber; 8. Depth camera; 9. Rotating base; 10. Square negative pressure chamber connecting plate; 11. Camera module; 12. Brushless fan; 13. Negative pressure sensor; 14. Bottom cover plate of the chamber; 15. Track; 16. Drive motor; 17. Drive gear; 18. Spring; 19. Spring buckle; 20. PE foam; 21. Teflon fabric; 22. O-ring seal; 23. Filter screen; 24. Fan bracket; 25. Square negative pressure chamber; 26. Second bowl-shaped negative pressure chamber. Detailed Implementation

[0027] The technical solutions of the present utility model will be clearly and completely described below with reference to the accompanying drawings of the embodiments. Obviously, the described embodiments are only some embodiments of the present utility model, and not all embodiments. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of the present utility model.

[0028] To make the above-mentioned objectives, features and advantages of this utility model more apparent and understandable, the utility model will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0029] Reference Figures 1-8The utility model discloses a leapfrog type climbing robot, including body, the top surface center of body is fixedly connected with the barrier -crossing device through the fixed plate, and the barrier -crossing device is provided with first bowl negative pressure chamber 7 for adsorbing wall surface away from the body one end, and the outer wall of body is provided with detection device, the body includes a plurality of square negative pressure chamber 25 for adsorbing wall surface, and square negative pressure chamber 25 is divided into equipment room and drive chamber through the baffle, and the drive device for driving body movement is arranged in drive chamber, the equipment room is provided with second bowl negative pressure chamber 26, and the equipment room is fixedly connected with the cavity bottom cover plate 14 for sealing equipment room, and the filter screen 23 is installed on the baffle, and detection device, barrier -crossing device, drive device, first bowl negative pressure chamber 7, second bowl negative pressure chamber 26 electrically connected with MCU control board 5.

[0030] Through the filter screen 23 arranged on the baffle, impurities can be prevented from entering the second bowl negative pressure chamber 26, so that the second bowl negative pressure chamber 26 can effectively provide adsorption force for the square negative pressure chamber 25.

[0031] The MCU control board 5 is a circuit board based on a microcontroller unit (MCU), mainly used for controlling and managing various electronic devices and systems.

[0032] The MCU control board 5 processes input signals through a microcontroller chip and generates corresponding output signals according to pre-set programs and algorithms to control external devices.

[0033] The MCU control board 5 has the following characteristics:

[0034] High integration: the MCU control board 5 integrates the microcontroller chip and other necessary electronic components (such as power supply circuit, signal conditioning circuit, communication interface circuit, etc.) on one circuit board, with the characteristics of small size, low power consumption and high reliability.

[0035] Programmability: users can customize the functions of the MCU control board 5 by writing programs according to specific application requirements. For example, different control algorithms and communication protocols can be programmed.

[0036] High flexibility: the MCU control board 5 can be flexibly configured and expanded according to different application scenarios and requirements. For example, different sensors, actuators, communication modules, etc. can be added to realize control of various complex systems.

[0037] Common MCU control boards 5 are divided into:

[0038] LPCXpresso development board: based on LPC microcontroller, suitable for development in the fields of Internet of Things and industrial control.

[0039] EFM32 Development Board: Based on the EFM32 microcontroller, it features low power consumption and high performance, and is suitable for battery-powered application scenarios.

[0040] Arduino Development Board: An open-source electronic prototyping platform based on Atmel AVR or ARM Cortex-M microcontrollers, widely used in creative projects and electronic production.

[0041] Raspberry Pi Development Board: A microcomputer motherboard based on the ARM architecture, which can run the Linux operating system and is suitable for the development of the Internet of Things, smart home, robotics and other fields.

[0042] On the inner wall of one end of the square negative pressure chamber 25 facing the wall, a double-loop fixing groove is provided, and a sealing coil 6 is installed in the double-loop fixing groove. A frame is slidably connected in the square negative pressure chamber 25. Between the frame and the top in the square negative pressure chamber 25, a number of springs 18 are provided. Both ends of the spring 18 are respectively installed between the frame and the square negative pressure chamber 25 through spring buckles 19.

[0043] When adsorbing, the sealing coil 6 squeezes the spring 18 so that the sealing coil 6 and the driving device can be simultaneously fitted to the wall; the elastic fitting of the spring 18 provides a certain adaptability, so that when the square negative pressure chamber 25 moves, the sealing coil 6 can be closely attached to the wall.

[0044] The utility model adsorbs the wall surface through the first bowl-shaped negative pressure chamber 7 and the square negative pressure chamber 25 respectively, and enables the first bowl-shaped negative pressure chamber 7 and the body to effectively cross obstacles through the obstacle-crossing device. It can not only better adapt to complex wall structures, but also effectively enable the body to climb and cross obstacles autonomously on the vertical wall surface; at the same time, it can also operate efficiently and safely, effectively improving the operation efficiency and reducing the safety risk.

[0045] In a further optimized solution, adjacent square negative pressure chambers 25 are connected by a number of square negative pressure chamber connecting plates 10.

[0046] When there are four square negative pressure chambers 25, the four square negative pressure chambers 25 are arranged in a "field" shape, and through a number of square negative pressure chamber connecting plates 10, the four square negative pressure chambers 25 can be effectively connected together to form the body.

[0047] In a further optimized solution, the obstacle-crossing device includes an obstacle-crossing driving arm 2. Servo motors 1 are respectively fixedly connected to both ends of the obstacle-crossing driving arm 2. The output shafts of the servo motors 1 are drivingly connected to rotating bases 9. One end of a rotating base 9 far from the servo motor 1 is fixedly connected to the body, and the other end of the other rotating base 9 far from the servo motor 1 is fixedly connected to the first bowl-shaped negative pressure chamber 7.

[0048] The height of the barrier driving arm 2 away from one end of the body can be adjusted by the servo motor 1 close to the body, and the barrier driving arm 2 can drive the first bowl-shaped negative pressure cavity 7 to cross the barrier by the action of the rotating base 9 close to the body.

[0049] The height of the barrier driving arm 2 away from one end of the body can be adjusted by the servo motor 1 close to the body, and the barrier driving arm 2 can drive the first bowl-shaped negative pressure cavity 7 to cross the barrier by the action of the rotating base 9 close to the body.

[0050] Further optimization scheme, servo motor 1, rotating base 9 and MCU control board 5 are electrically connected. The action of the servo motor 1 and the rotating base 9 can be effectively controlled by the MCU control board 5.

[0051] Further optimization scheme, the first bowl-shaped negative pressure cavity 7 and the second bowl-shaped negative pressure cavity 26 are respectively communicated with the brushless fan 12; the first bowl-shaped negative pressure cavity 7 and the second bowl-shaped negative pressure cavity 26 are respectively provided with a negative pressure sensor 13.

[0052] The brushless fan 12 communicated with the first bowl-shaped negative pressure cavity 7 is installed on the rotating base 9 away from one end of the body.

[0053] The brushless fan 12 communicated with the second bowl-shaped negative pressure cavity 26 is installed in the square negative pressure cavity 25 through the fan support 24.

[0054] The outlet end of the brushless fan 12 is provided with a silencer 3, which can effectively reduce noise and improve the working environment friendliness.

[0055] The first bowl-shaped negative pressure cavity 7 and the square negative pressure cavity 25 can be effectively adsorbed to the wall surface by the brushless fan 12.

[0056] Further optimization scheme, the first bowl-shaped negative pressure cavity 7 and the square negative pressure cavity 25 are respectively provided with an O-shaped sealing ring 22 at one end facing the wall surface.

[0057] The sealing ring 6 and the O-shaped sealing ring 22 are covered with PE foam 20, and the PE foam 20 is covered with Teflon fabric 21, so that the friction coefficient is small, the wear and movement resistance is reduced, not only the adsorption force is improved, but also the flexibility of the bottom structure is improved, so that it can work stably on different wall surfaces.

[0058] Further optimization scheme, the detection device comprises a temperature and humidity sensor 4 installed on the body, a depth camera 8 installed at one end of the body, and a camera module 11 installed at one end of the body away from the depth camera 8.

[0059] The depth camera 8 is a device capable of acquiring object-to-camera distance information, also known as a 3D camera; the measurement of object depth information is realized through different technologies, common technologies include binocular vision, structured light and time of flight.

[0060] The temperature and humidity sensor 4 can effectively detect the ambient temperature and humidity.

[0061] The depth camera 8 and the camera module 11 can effectively acquire real-time pictures of the surrounding environment.

[0062] Further optimization scheme, negative pressure sensor 13, temperature and humidity sensor 4, depth camera 8, camera module 11 and MCU control board 5 are electrically connected.

[0063] The data of the negative pressure sensor 13, the temperature and humidity sensor 4, the depth camera 8 and the camera module 11 can be acquired through the MCU control board 5, and the MCU control board 5 can be used to determine whether to take obstacle crossing or obstacle avoidance measures. When crossing obstacles, the position of the obstacle can be determined during the movement process through the characteristic points of the image, and the obstacle crossing device is used to cross obstacles.

[0064] Further optimization scheme, the driving device includes a driving motor 16 installed in the equipment chamber, the driving motor 16 is drivingly connected with the track 15 through the driving gear 17, and the track 15 is arranged in the driving chamber.

[0065] Further optimization scheme, the driving motor 16 and the MCU control board 5 are electrically connected.

[0066] Each driving motor 16 is controlled to work by the MCU control board 5, so that the track 15 can not only move linearly, but also can realize the steering function through the differential of each track 15.

[0067] The second bowl-shaped negative pressure cavity 26 arranged in the equipment chamber can discharge the air between the square negative pressure cavity 25 and the wall surface through the filter screen 23 on the partition plate, so as to form negative pressure between the square negative pressure cavity 25 and the wall surface and realize adsorption. When adsorbing, the sealing coil 6 extrudes the spring 18, so that the sealing coil 6 and the track 15 can be attached to the wall surface at the same time. Through the elastic attachment, the square negative pressure cavity 25 can be closely attached to the wall surface when moving, and the body can also be moved along the wall surface by the track 15.

[0068] Working process: The ambient temperature and humidity can be effectively detected by the temperature and humidity sensor 4, and the real-time pictures of the surrounding environment can be acquired by the depth camera 8 and the camera module 11, so that the MCU control board 5 can determine whether to take obstacle crossing or obstacle avoidance measures.

[0069] Through the work of the second bowl-shaped negative pressure cavity 26, the square negative pressure cavity 25 can effectively adsorb the wall surface and move the body along the wall surface through the track 15.

[0070] When the MCU control board 5 judges that the obstacle needs to be overcome, the track 15 stops working, the first bowl-shaped negative pressure cavity 7 is controlled to fall to the wall surface on the other side of the obstacle through the obstacle driving arm 2 and completes the adsorption action, at the same time, the second bowl-shaped negative pressure cavity 26 stops working, the square negative pressure cavity 25 stops adsorbing the wall surface, the body is lifted through the obstacle driving arm 2, the body is rotated to the wall surface on the other side of the obstacle through the rotating base 9 and the servo motor 1 and the obstacle driving arm 2 is lowered, so that the body is attached to the wall surface again, then the second bowl-shaped negative pressure cavity 26 starts working again, so that the square negative pressure cavity 25 can adsorb the wall surface again, at this time, the first bowl-shaped negative pressure cavity 7 stops adsorbing and the obstacle driving arm 2 is lifted, the obstacle overcoming work is completed, then the track 15 is started again to drive the body to move along the wall surface.

[0071] When the MCU control board 5 judges that the obstacle needs to be avoided, each driving motor 16 is controlled to work through the MCU control board 5, so that each track 15 realizes the steering function through differential.

[0072] In the description of the utility model, it is understood that the orientation or position relationship indicated by the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like is the orientation or position relationship shown based on the drawings, and is only for the convenience of describing the utility model, and does not indicate or imply that the indicated device or element must have a particular orientation, be constructed and operated in a particular orientation, therefore, it cannot be understood as a limitation on the utility model.

[0073] The above-described embodiments are only preferred modes of the utility model, and do not limit the scope of the utility model, under the premise of not departing from the design spirit of the utility model, various deformations and improvements of the technical scheme of the utility model made by those skilled in the art should fall within the protection scope determined by the claims of the utility model.

Claims

1. A cross-over climbing robot, characterized by: The body includes a top surface center fixedly connected with an obstacle crossing device through a fixing plate, and a first bowl-shaped negative pressure cavity (7) for adsorbing a wall surface is arranged at a far end of the obstacle crossing device from the body. The body includes a plurality of square negative pressure cavities (25) for adsorbing a wall surface, and the square negative pressure cavities (25) are divided into an equipment chamber and a driving chamber by a partition plate, and the driving chamber is provided with a driving device for driving the body to move. The detection device, the obstacle crossing device, the driving device, the first bowl-shaped negative pressure cavity (7) and the second bowl-shaped negative pressure cavity (26) are electrically connected with an MCU control board (5).

2. The spanning climbing robot according to claim 1, characterized in that: The adjacent square negative pressure cavities (25) are connected through a plurality of square negative pressure cavity connecting plates (10).

3. The spanning climbing robot according to claim 1, wherein: The obstacle crossing device includes an obstacle crossing driving arm (2), and the two ends of the obstacle crossing driving arm (2) are fixedly connected with servo motors (1), respectively.

4. The spanning climbing robot according to claim 3, characterized in that: The servo motors (1) and the rotating bases (9) are electrically connected with the MCU control board (5).

5. The spanning climbing robot according to claim 1, wherein: The first bowl-shaped negative pressure cavity (7) and the second bowl-shaped negative pressure cavity (26) are respectively communicated with brushless fans (12), and the first bowl-shaped negative pressure cavity (7) and the second bowl-shaped negative pressure cavity (26) are respectively provided with negative pressure sensors (13).

6. The spanning climbing robot of claim 1, wherein: The first bowl-shaped negative pressure cavity (7) and the square negative pressure cavity (25) are respectively provided with O-shaped sealing rings (22) at the ends facing the wall surface.

7. The spanning climbing robot according to claim 5, wherein: The detection device includes a temperature and humidity sensor (4) mounted on the body, one end of the body is provided with a depth camera (8), and the other end of the body away from the depth camera (8) is provided with a camera module (11).

8. The spanning climbing robot according to claim 7, characterized in that: The negative pressure sensor (13), the temperature and humidity sensor (4), the depth camera (8) and the camera module (11) are electrically connected with the MCU control board (5).

9. The spanning climbing robot of claim 1, wherein: The driving device includes a driving motor (16) mounted in the equipment chamber, and the driving motor (16) is drivingly connected with a track (15) through a driving gear (17), and the track (15) is arranged in the driving chamber.

10. The spanning climbing robot according to claim 9, characterized in that: The driving motor (16) is electrically connected with the MCU control board (5).

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