A wall-climbing robot based on linear guide rails

Abstract

The present invention discloses a wall-climbing robot based on a linear guide rail, which is composed of a vehicle body, a rear pressing part, a driving part, and a front supporting part, and the operating environment is any-angle wall surface based on the linear guide rail. The present invention uses a research method based on a pressing mechanism, and utilizes a pressing device to provide a pre-tightening force for the wheels to increase the frictional force, thereby offsetting its own gravity and realizing the wall-climbing movement of the wheeled robot driven by frictional force. The present invention provides a new idea for solving the wall-climbing robot under specific linear working conditions, and has the advantages of reducing the requirements for the working surface, greatly reducing the manufacturing cost, reducing the structural weight, improving the load capacity of the structure, simplifying the control circuit by using a remote control interaction method, improving the reliability of the structure, and having important significance for the field of wall-climbing robots.

Description

Technical Field

[0001] The present invention relates to the technical field of robots, and particularly to a wall-climbing robot structure based on a linear guide pressing mechanism. Background Art

[0002] A wall-climbing robot is a special industrial robot that can perform special operations such as cleaning, welding, and rust removal in places where it is inconvenient for people to reach, such as the glass curtain walls of high-rise buildings and the outer skins of airplanes and ships, reducing labor costs and risk factors, and having great application prospects. At present, the wall-climbing robot industry is not yet mature, and there are still many problems to be solved.

[0003] Existing wall-climbing robots are mostly adsorption types, mainly including negative pressure adsorption, magnetic adsorption, bionic adsorption, etc. These adsorption-type wall-climbing robots have relatively high requirements for the working wall surface. For example, magnetic adsorption wall-climbing robots need to work on metal surfaces, and negative pressure adsorption wall-climbing robots have relatively high requirements for the smoothness and cleanliness of the working surface; the current wall-climbing robot structures are becoming more and more complex, the driving and control are too cumbersome, and the reliability is low. At the same time, too many structures lead to an increase in their own weight, indirectly resulting in a reduction in load. Summary of the Invention

[0004] The purpose of the present invention is to overcome the deficiencies in the prior art and provide a wheeled wall-climbing robot based on a linear guide. The present invention uses a research method based on a pressing mechanism, simplifies the contact points between two pulleys and the track into a simply supported structure for research, and uses the pressing force to increase the friction force, thereby offsetting its own gravity and realizing the wall-climbing movement of the wheeled robot driven by the friction force. The present invention provides a new idea for simplifying the structure of the wall-climbing robot under specific linear working conditions, reduces the requirements for the working surface, improves the reliability of the structure, and has important significance for the field of wall-climbing robots.

[0005] The purpose of the present invention is achieved through the following technical solutions:

[0006] A wall-climbing robot based on a linear guide includes a vehicle body, a rear pressing part, a driving part, and a front supporting part; the rear pressing part is connected to the tail of the vehicle body, the driving part is connected to the middle of the vehicle body, and the front supporting part is connected to the head of the vehicle body;

[0007] The rear pressing part is composed of a push rod connecting piece, an electric push rod, a rear pulley, and a rear pulley connecting piece; the push rod connecting piece is connected to the vehicle body through a threaded fastener, the electric push rod is connected to the push rod connecting piece, the rear pulley connecting piece is connected to the electric push rod, and the rear pulley is connected to the rear pulley connecting piece;

[0008] The driving part consists of a power source, two reduction motors, two motor brackets, two wheels, and a remote control switch; the power source is connected to the vehicle body, the motor brackets are connected to the vehicle body through threaded fasteners, the reduction motors are connected to the motor brackets, the wheels are connected to the reduction motors, and the remote control switch is connected to the vehicle body;

[0009] The front support part consists of a front pulley, a front guide rod, and a bearing seat; the bearing seat is connected to the vehicle body, the front guide rod is connected to the bearing seat, and the front pulley is connected to the front guide rod.

[0010] Furthermore, the axis of the front guide rod is parallel to the z-axis, the axis of the electric push rod is parallel to the z-axis, the plane formed by the axes of the front guide rod and the electric push rod is parallel to the xOz plane, and the front pulley and the rear pulley are at the same height in the z direction in the working state; the axes of the two wheels are collinear and parallel to the y-axis; the electric push rod is fixed by a push rod connecting piece and can retract or extend in the z direction.

[0011] Furthermore, it cooperates with the wall surface of the linear guide rail; the front pulley and the rear pulley simultaneously form a sliding fit with the linear guide rail, and the wheels are in contact with the wall surface.

[0012] Furthermore, the remote control switch is connected by wiring to the electric push rod, the power source, and the two reduction motors; the power source supplies power to the electric push rod, the two reduction motors, and the remote control switch; the remote control switch controls the retraction and extension of the electric push rod to realize the pressing and releasing operations of the rear pressing part; the remote control switch controls the forward and reverse rotations of the two reduction motors to realize the forward and backward movements of the robot.

[0013] Furthermore, the wall surface of the linear guide rail can be placed at any angle with the ground, and a pressing force on the wheels is formed through the electric push rod, the front pulley, the rear pulley, and the linear guide rail, so that the frictional force between the wheels and the wall surface cancels out the gravity while driving the movement of the robot.

[0014] Compared with the prior art, the beneficial effects brought by the technical solution of the present invention are:

[0015] 1. The wall-climbing robot based on a linear guide rail of the present invention has a simple structure and a relatively low manufacturing cost.

[0016] 2. The wall-climbing robot based on a linear guide rail of the present invention has fewer mechatronic control systems and more mechanical structures are adopted, so it has higher reliability.

[0017] 3. The wall-climbing robot based on a linear guide rail of the present invention is lighter in weight, which can improve the load capacity of the robot.

[0018] 4. The wall-climbing robot based on a linear guide rail according to the present invention specializes the wall-climbing ability of the robot moving linearly, and reduces the harsh requirements of the wall-climbing robot for the working surface.

[0019] 5. The height of the wheels and sliders of the wall-climbing robot based on a linear guide rail according to the present invention is adjustable, which can adapt to the combination of linear guide rails and wall surfaces with different height differences within a certain range, and can also adapt to slightly uneven wall surfaces.

[0020] 6. The wall-climbing robot based on a linear guide rail according to the present invention adopts a remote control pressing mechanism, which can judge whether the pressing force of the wheels meets the working requirements through the motion state, avoids a complex control system, and has better human-computer interaction characteristics.

[0021] 7. The wall-climbing robot based on a linear guide rail according to the present invention can achieve linear wall-climbing motion at any angle by changing the pressing force. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 FIG. is a schematic structural diagram of the wall-climbing robot based on a linear guide rail according to the present invention.

[0023] Figure 2 FIG. is a schematic diagram of a wall surface based on a linear guide rail applied in the present invention.

[0024] Figure 3 FIG. is a schematic diagram of the cooperation between the wall-climbing robot and the wall surface based on a linear guide rail of the present invention.

[0025] Figure 4 FIG. is a simplified diagram of the force analysis during the vertical wall-climbing process of the present invention.

[0026] Reference numerals: 1 - vehicle body, 2 - push rod connecting piece, 3 - electric push rod, 4 - rear pulley, 5 - rear pulley connecting piece, 6 - power supply, 7 - reduction motor, 8 - motor bracket, 9 - wheel, 10 - remote control switch, 11 - front pulley, 12 - front guide rod, 13 - bearing seat, 14 - linear guide rail, 15 - wall surface. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0027] The following further describes the present invention in detail with reference to the drawings and specific embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0028] See Figure 1As shown in the figure, the wall-climbing robot based on a linear guide rail of the present invention includes a vehicle body 1, a rear pressing part, a driving part, and a front supporting part. The rear pressing part is connected to the tail of the vehicle body 1, the driving part is connected to the middle of the vehicle body 1, and the front supporting part is connected to the head of the vehicle body 1. The rear pressing part is composed of a push rod connecting piece 2, an electric push rod 3, a rear pulley 4, and a rear pulley connecting piece 5. The push rod connecting piece 2 is connected to the vehicle body 1 through a threaded fastener, the electric push rod 3 is connected to the push rod connecting piece 2, the rear pulley connecting piece 5 is connected to the electric push rod 3, and the rear pulley 4 is connected to the rear pulley connecting piece 5. The driving part is composed of a power source 6, two reduction motors 7, two motor brackets 8, two wheels 9, and a remote control switch 10. The power source 6 is connected to the vehicle body 1, the motor brackets 8 are connected to the vehicle body 1 through threaded fasteners, the reduction motors 7 are connected to the motor brackets 8, the wheels 9 are connected to the reduction motors 7, and the remote control switch 10 is connected to the vehicle body 1. The front supporting part is composed of a front pulley 11, a front guide rod 12, and a bearing seat 13. The bearing seat 13 is connected to the vehicle body 1, the front guide rod 12 is connected to the bearing seat 13, and the front pulley 11 is connected to the front guide rod 12. The axis of the front guide rod 12 is parallel to the z-axis, the axis of the electric push rod 3 is parallel to the z-axis, the plane formed by the axis of the front guide rod 12 and the axis of the electric push rod 3 is parallel to the xOz plane, and the front pulley 11 and the rear pulley 4 are at the same height in the z direction when in the working state. The axes of the two wheels 9 are collinear and parallel to the y-axis. The electric push rod 3 is fixed by the push rod connecting piece 2 and can be retracted or extended in the z direction. The remote control switch 10 is connected to the electric push rod 3, the power source 6, and the two reduction motors 7 by wiring, and the power source 6 supplies power to the electric push rod 3, the two reduction motors 7, and the remote control switch 10. The remote control switch 10 controls the retraction and extension of the electric push rod 3 to realize the pressing and relaxing operations of the rear pressing part. The remote control switch 10 controls the forward and reverse rotations of the two reduction motors 7 to realize the forward and backward movements of the robot.

[0029] See Figure 2 and Figure 3 As shown in the figure, the wall-climbing robot of the present invention needs to cooperate with a wall surface 15 based on a linear guide rail 14. The front pulley 11 and the rear pulley 4 are simultaneously in sliding fit with the linear guide rail 14, and the wheels 9 are in contact with the wall surface 15.

[0030] See Figure 4As shown in the figure, one of the special application scenarios of the present invention is vertical wall climbing. At this time, both the linear guide rail 14 and the wall surface 15 are perpendicular to the ground. A pressing force on the wheel 9 is formed through the electric push rod 3, the front pulley 11, the rear pulley 4, and the linear guide rail 14, so that the friction between the wheel 9 and the wall surface 15 cancels out the gravity while driving the movement of the robot. Denote the distance from the front pulley 11 to the wheel 9 in the x direction as L1, and the distance from the rear pulley 4 to the wheel 9 as L2. At this time, a comprehensive force analysis of the linear guide rail 14 and the wall surface 15 can be simplified to the simply supported beam structure at both ends in the figure, and it is distributed with the tensile force F provided by the front pulley 1 fp and the tensile force F provided by the rear pulley 4 rp and the pressure F provided by the wheel 9 w . These three forces satisfy the force balance and moment balance formulas, that is, F fp +F rp =F w , F rp ×L2 = F fp ×L1; Since the friction coefficients between the front pulley 11, the rear pulley 4 and the linear guide rail 14 are much smaller than the friction coefficient between the wheel 9 and the wall surface 15, the influence of the pressure F w on the friction of the wheel 9 is mainly considered. Due to the gravity factor, the wall climbing robot has a tendency to slide downward, and the wall surface 15 will provide an upward friction to the wheel 9. When the electric push rod 3 is retracted, F rp increases, and at this time F w increases, which further leads to an increase in friction. When the friction is greater than the gravity of the wall climbing robot, the wall climbing robot of the present invention will achieve upward vertical wall climbing movement.

[0031] The present invention is not limited to the embodiments described above. The above description of the specific embodiments is intended to describe and illustrate the technical solutions of the present invention. The above specific embodiments are merely illustrative and not restrictive. Without departing from the spirit of the present invention and the scope protected by the claims, those of ordinary skill in the art can also make many specific transformations in various forms under the inspiration of the present invention, and these all fall within the protection scope of the present invention.

Claims

1. A wall-climbing robot based on a linear guide rail, characterized in that, It includes a vehicle body (1), a rear pressing part, a driving part, and a front supporting part; the rear pressing part is connected to the tail of the vehicle body (1), the driving part is connected to the middle of the vehicle body (1), and the front supporting part is connected to the head of the vehicle body (1); The rear pressing part is composed of a push rod connecting piece (2), an electric push rod (3), a rear pulley (4), and a rear pulley connecting piece (5); the push rod connecting piece (2) is connected to the vehicle body (1) through a threaded fastener, the electric push rod (3) is connected to the push rod connecting piece (2), the rear pulley connecting piece (5) is connected to the electric push rod (3), and the rear pulley (4) is connected to the rear pulley connecting piece (5); The driving part is composed of a power supply (6), two reduction motors (7), two motor brackets (8), two wheels (9), and a remote control switch (10); the power supply (6) is connected to the vehicle body (1), the motor brackets (8) are connected to the vehicle body (1) through threaded fasteners, the reduction motors (7) are connected to the motor brackets (8), the wheels (9) are connected to the reduction motors (7), and the remote control switch (10) is connected to the vehicle body (1); The front supporting part is composed of a front pulley (11), a front guide rod (12), and a bearing seat (13); the bearing seat (13) is connected to the vehicle body (1), the front guide rod (12) is connected to the bearing seat (13), and the front pulley (11) is connected to the front guide rod (12); the electric push rod (3) is fixed by the push rod connecting piece (2) and can retract or extend in the z direction; The wall-climbing robot works in cooperation with the wall surface (15) of the linear guide rail (14); the front pulley (11) and the rear pulley (4) are simultaneously in sliding fit with the linear guide rail (14), and the wheels (9) are in contact with the wall surface (15); The wall surface (15) of the linear guide rail (14) can be placed at any angle with the ground. Through the electric push rod (3), the front pulley (11), the rear pulley (4), and the linear guide rail (14), a pressing force on the wheels (9) is formed, so that the frictional force between the wheels (9) and the wall surface (15) cancels the gravity while driving the movement of the robot.

2. The wall-climbing robot based on a linear guide rail according to claim 1, wherein The axis of the front guide rod (12) is parallel to the z-axis, the axis of the electric push rod (3) is parallel to the z-axis, the plane formed by the axis of the front guide rod (12) and the axis of the electric push rod (3) is parallel to the xOz plane, and the front pulley (11) and the rear pulley (4) are at the same height in the z direction during the working state; the axes of the two wheels (9) are collinear and parallel to the y-axis.

3. The wall-climbing robot based on a linear guide rail according to claim 1, characterized in that The remote control switch (10) is connected by wiring to the electric push rod (3), the power supply (6), and the two reduction motors (7). The power supply (6) supplies power to the electric push rod (3), the two reduction motors (7), and the remote control switch (10); the remote control switch (10) controls the retraction and extension of the electric push rod (3) to realize the pressing and relaxing operations of the rear pressing part; the remote control switch (10) controls the forward and reverse rotations of the two reduction motors (7) to realize the forward and backward movements of the robot.

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