Crawler-type wall-climbing robot
By adding a secondary track module and a rocker arm connection to the crawler wall climbing robot to form a three-stage structure, the problem of poor adaptability in the existing technology on unstructured wall surfaces is solved, and high obstacle overflow capability and wide application are achieved.
Patent Information
- Application Number
- CN202411472685.X
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-10-22
- Publication Date
- 2024-12-10
AI Technical Summary
Existing tracked wall-climbing robots have poor adaptability when facing unstructured walls and cannot effectively overcome obstacles, which limits their application scope.
By installing the secondary track module on both sides of the main track module and using rocker arms to form a three-stage track structure, the length and freedom of the robot are increased, and the adsorption module is combined to adsorb and adjust the position on the wall to achieve obstacle-surfing ability.
The ability to override obstacles on unstructured walls is realized, the application range of wall-climbing robots is expanded, and it can flexibly adapt to different curvatures and obstacles.
Smart Images
Figure CN119099745A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of robots, and in particular to a tracked wall-climbing robot. Background Art
[0002] The wall-climbing robot is an automated device that can move and adsorb on walls of different curvatures. It can replace workers in dangerous and extreme environments such as nuclear engineering, firefighting, and the manufacture and maintenance of large non-structural equipment. It has broad application prospects.
[0003] Tracked wall-climbing robots can be divided into magnetic adsorption tracked wall-climbing robots and negative pressure adsorption tracked wall-climbing robots according to different adsorption methods. Magnetic adsorption tracked wall-climbing robots are wall-climbing robots that combine magnetic adsorption technology and mobile technology. Permanent magnets are embedded in the driving wheels. When the robot moves on the magnetic conductive wall surface, the magnetic wheels generate adsorption force to ensure the robot's wall-climbing movement safety. Negative pressure adsorption tracked wall-climbing robots are wall-climbing robots that combine negative pressure adsorption technology and mobile technology. The vacuum actuator is installed on the driving wheel or the robot body. When the robot moves on the wall, the adsorption force generated by negative pressure ensures the robot's wall-climbing movement safety.
[0004] A suction cup wall-climbing robot applied for by Anhui University of Information Engineering (application number: 202111585753.X) adopts negative pressure adsorption, but it uses the traditional dual-track walking method, which is suitable for flat or large curvature walls. It has poor adaptability to variable curvature walls and does not have the ability to overcome obstacles, so its application occasions are relatively small. A multifunctional wall-climbing robot that can overcome obstacles applied by Hebei University of Technology (authorization announcement number: CN 107933725B) adds two rotational degrees of freedom in the middle on the basis of the traditional dual-track vehicle, which greatly improves the adaptive ability of the wall curvature and has a certain ability to overcome obstacles, but generally cannot adapt to unstructured walls. Summary of the invention
[0005] The purpose of the present application is to provide a tracked wall-climbing robot, in which auxiliary track modules are installed on both sides of the main track module. The main track module and the auxiliary track module are connected together by a rocker arm, so that the tracks on both sides of the robot are a three-section track structure, which increases the length and degree of freedom of the robot's tracks, has a strong obstacle crossing ability, and greatly expands the application scope of the wall-climbing robot.
[0006] In order to solve the above technical problems, the following technical solutions are adopted: The present application provides a crawler-type wall-climbing robot, comprising a body module, a main crawler module and an auxiliary crawler module, wherein the main crawler modules are installed on both sides of the body module, the auxiliary crawler modules are installed on both ends of the main crawler module, and the main crawler module and the auxiliary crawler module are installed with adsorption modules; The main track module and the auxiliary track module are connected by a rocker arm, one end of the rocker arm is connected to the main track module, and the other end is connected to the auxiliary track module. Rocker arm driving parts are provided at both ends of the rocker arm, and the rocker arm driving parts are used to drive the rocker arm to rotate around the main track module or around the auxiliary track module.
[0007] Optionally, the adsorption module includes a plurality of adsorption devices, and the adsorption device includes any one of a magnetic adsorption device and a negative pressure adsorption device.
[0008] Optionally, the main track module includes a main track frame, a main track, a main drive wheel and a main driven wheel. The main track frame is provided with a main drive wheel at one end and a main driven wheel at the other end. The main track frame is provided with a main track, and the main drive wheel and the main driven wheel are respectively engaged with the inner wheel gear groove of the main track.
[0009] Optionally, the auxiliary track module includes a first auxiliary track module and a second auxiliary track module, the rocker arm includes a first rocker arm and a second rocker arm, the first auxiliary track module is connected to the main drive wheel through the first rocker arm, and the second auxiliary track module is connected to the main driven wheel through the second rocker arm.
[0010] Optionally, a plurality of tensioning mechanisms are provided on the inner side of the main crawler track.
[0011] Optionally, a plurality of the adsorption devices are arranged at intervals on the outside of the main track.
[0012] Optionally, the auxiliary track module includes an auxiliary track frame, an auxiliary track, an auxiliary drive wheel and an auxiliary driven wheel. The auxiliary drive wheel is installed at one end of the auxiliary track frame, and the auxiliary driven wheel is installed at the other end. The auxiliary track frame is provided with an auxiliary track, and the auxiliary drive wheel and the auxiliary driven wheel are respectively engaged with the gear groove of the inner side wheel of the auxiliary track.
[0013] Optionally, a tensioning groove is provided on the auxiliary crawler frame, and the auxiliary driven wheel moves in the tensioning groove to tension the auxiliary crawler.
[0014] Optionally, the diameter of the secondary driving wheel is greater than the diameter of the secondary driven wheel.
[0015] Optionally, a plurality of the adsorption devices are arranged at intervals on the auxiliary track.
[0016] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention installs auxiliary crawler modules at both ends of the main crawler module. The main crawler is connected to the auxiliary crawler through a rocker arm. The rocker arm is provided with a rocker arm driving member for driving the two ends of the rocker arm to rotate. The main crawler module and the auxiliary crawler modules at both ends form a three-section structure. The positions of the three-section crawler modules are adjusted by the rocker arm and the rocker arm driving member. Adsorption modules are provided on the main crawler module and the auxiliary crawler module. When climbing a wall, the adsorption module can be adsorbed on the wall surface, and two of the three crawlers can be adsorbed, and one end can be adjusted in position. The position of each section is adjusted forward and backward in turn to crawl on the vertical wall.
[0017] 2. The driving wheel on the auxiliary track module of the present invention is larger than the driven wheel. The driven wheel is located in the front and contacts the obstacle first. The auxiliary track module can be lifted under the action of the rocker arm, and the driven wheel in the front contacts the obstacle, so as to better cross the obstacle. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] Figure 1 Schematic diagram of the overall structure of the crawler-type wall-climbing robot in an embodiment of the present invention; Figure 2 This is one of the schematic diagrams of the crawler-type wall-climbing robot in use according to the embodiment of the present invention; Figure 3 This is the second schematic diagram of the crawler-type wall-climbing robot in use state according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the structure of the main crawler module in an embodiment of the present invention; Figure 5 A schematic diagram of the auxiliary crawler structure in an embodiment of the present invention; Figure 6 It is a simplified diagram of the crawler wall-climbing robot crawling on a vertical wall in an embodiment of the present invention.
[0019] Description of reference numerals: 1. Main crawler track module; 101. Main crawler track frame; 102. Tensioning mechanism; 103. Main crawler track; 104. Main driving wheel; 105. Main driven wheel; 2. First rocker arm; 3. First auxiliary crawler track module; 301. Auxiliary driving wheel; 302. Auxiliary crawler track frame; 303. Auxiliary crawler track; 304. Auxiliary driven wheel; 305. Tensioning groove; 4. Second rocker arm; 5. Second auxiliary crawler track module; 6. Adsorption device. DETAILED DESCRIPTION
[0020] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present application and its application or use. Example 1
[0021] like Figure 1-Figure 3 As shown, this embodiment provides a crawler-type wall-climbing robot, comprising a body module, a main crawler module 1 and an auxiliary crawler module, the main crawler module 1 is installed on both sides of the body module, the auxiliary crawler module is installed at both ends of the main crawler module 1, and the main crawler module 1 and the auxiliary crawler module are installed with adsorption modules; The main track module 1 and the auxiliary track module are connected by a rocker arm, one end of the rocker arm is connected to the main track module 1, and the other end is connected to the auxiliary track module. Rocker arm driving parts are provided at both ends of the rocker arm, and the rocker arm driving parts are used to drive the rocker arm to rotate around the main track module 1 or around the auxiliary track module.
[0022] The front and rear ends of the main track module 1 are respectively connected to the auxiliary track modules, and the track structure on each side of the main body module is a three-section structure, which increases the robot's degree of freedom and increases the contact area between the track and the ground.
[0023] During use, the main track module 1 in the middle section uses the rocker arm to rotate the auxiliary track modules at both ends to a certain angle to support it, so that the main track module 1 contacts the ground and better adapts to obstacles on the road surface. At the same time, the two auxiliary track modules use the rocker arm to rotate the main track module 1 to a certain angle to support it, and only the auxiliary track modules at both ends are used to contact the ground. This can also lift the entire robot, which is convenient for the auxiliary track module at one end to first contact the wall and adsorb on it, and then support the main track module 1 to a certain angle by supporting the flat ground through the auxiliary track module at the other end, and slowly contact the wall. During the wall climbing process, the front and rear auxiliary track modules can adjust the posture of the robot. When facing a right-angle wall, the three-section structure of the track can convert the support points to each other and climb over the wall. Example 2
[0024] This embodiment provides a crawler wall-climbing robot based on the first embodiment, which is different from the first embodiment in that: like Figure 4 As shown, the main track module 1 includes a main track frame 101, a main track 103, a main driving wheel 104 and a main driven wheel 105. The main track frame 101 is provided with a main driving wheel 104 at one end, and a main driven wheel 105 is provided at the other end. The main track frame 101 is provided with a main track 103, and a wheel groove is provided on the inner side of the main track 103. The main driving wheel 104 and the main driven wheel 105 are provided with gear teeth. The main driving wheel 104 and the main driven wheel 105 are respectively meshed with the inner wheel gear groove of the main track 103. A driving member is provided in the main driving wheel to provide power. The main driving wheel 104 drives the main track 103 to rotate, thereby driving the main driven wheel 105 to rotate around its axis.
[0025] A plurality of tensioning mechanisms 102 are provided inside the main crawler track 103 , and the tensioning mechanisms 102 adjust the tightness of the main crawler track 103 .
[0026] The main track 103 is provided with an adsorption module, which is a plurality of adsorption devices 6. The plurality of adsorption devices 6 are evenly spaced and arranged on the outer surface of the main track 103, and are adsorbed on the wall surface when passing through the wall surface.
[0027] like Figure 5 As shown, the auxiliary track module includes an auxiliary track frame 302, an auxiliary track 303, an auxiliary driving wheel 301 and an auxiliary driven wheel 304. The auxiliary driving wheel 301 is installed at one end of the auxiliary track frame 302, and the auxiliary driven wheel 304 is installed at the other end. The auxiliary track frame 302 is provided with an auxiliary track 303, and the auxiliary driving wheel 301 and the auxiliary driven wheel 304 are respectively meshed with the inner gear grooves of the auxiliary track 303.
[0028] The auxiliary track frame 302 is provided with a tensioning groove 305 at one end of the auxiliary driven wheel 304, and the axis of the auxiliary driven wheel 304 is set in the tensioning groove 305. The auxiliary driven wheel 304 moves in the tensioning groove 305 to adjust the distance between it and the auxiliary driving wheel 301, thereby adjusting the tightness of the auxiliary track 303.
[0029] The auxiliary crawler 303 is provided with an adsorption module, which is a plurality of adsorption devices 6. The plurality of adsorption devices 6 are evenly spaced and arranged on the outer surface of the auxiliary crawler 303, and are adsorbed on the wall surface when passing through the wall surface.
[0030] The auxiliary track modules at both ends of the main track module 1 are respectively the first auxiliary track module 3 and the second auxiliary track module 5. The first auxiliary track module 3 and the second auxiliary track module 5 have the same structure and are symmetrically arranged at both ends of the main track module 1. The rocker arm includes a first rocker arm 2 and a second rocker arm 4.
[0031] The auxiliary driving wheel 301 on the first auxiliary track module 3 is connected to the main driving wheel 104 through the first rocker arm 2 , and the auxiliary driving wheel 301 on the second auxiliary track module 5 is connected to the main driven wheel 105 through the second rocker arm 4 .
[0032] The first rocker arm 2 and the second rocker arm 4 are capable of moving in two degrees of freedom through rocker arm driving components. The two degrees of freedom are respectively rotation around the wheel hub on the main track module 1 and rotation around the wheel hub on the auxiliary track module.
[0033] When the position of the first auxiliary track module 3 needs to be adjusted, the first rocker arm 2 is driven to rotate around the main drive wheel 104 for adjustment through the rocker arm driving member installed on the main drive wheel 104. When the position of the second auxiliary track module 5 needs to be adjusted, the second rocker arm 4 is driven to rotate around the main driven wheel 105 for adjustment through the rocker arm driving member installed on the main driven wheel 105.
[0034] When the position of the main track module 1 needs to be adjusted, the first rocker arm 2 can be driven to rotate around the secondary drive wheel 301 by the rocker arm driving member installed on the secondary drive wheel 301 on the first secondary track module 3 to adjust the position of one end of the main track module 1. The second rocker arm can also be driven to rotate around the secondary drive wheel 301 by the rocker arm driving member installed on the secondary drive wheel 301 on the second secondary track module 5 to adjust the position of the other end of the main track module 1.
[0035] The auxiliary driving wheels 301 on the first auxiliary track module 3 and the second auxiliary track module 5 provide power, and the main driving wheels 104 on the main track module 1 provide power.
[0036] like Figure 2 As shown, the first auxiliary track module 3 and the second auxiliary track module 5 are in contact with the ground, and the main track module 1 is supported to a certain height off the ground by the first rocker arm 2 and the second rocker arm 4. With the support of the first rocker arm 2 and the second rocker arm 4, the first auxiliary track module 3 and the second auxiliary track module 5 are located below the main track module 1. With the support of the first rocker arm 2 and the second rocker arm 4, there is no interference between the main track 103 and the auxiliary track 303.
[0037] like Figure 3 As shown, the main track module 1 contacts the ground, and the first auxiliary track module 3 and the second auxiliary track module 5 are supported off the ground by the first rocker arm 2 and the second rocker arm 4, so that they can move forward faster on a relatively flat ground. When encountering an obstacle, the main drive wheel 104 and the auxiliary drive wheel 301 on the first auxiliary track module 3 are driven to make the first auxiliary track module 3 move forward. When the auxiliary driven wheel 304 at the front end contacts the obstacle, the first auxiliary track module 3 first climbs over the obstacle. When the main track module 1 and the second auxiliary track module 5 climb over the obstacle subsequently, the first auxiliary track module 3 can be used as a support point, and the first rocker arm 2 and the second rocker arm 4 adjust the second auxiliary track module 5 and the main track module 1 to climb over the obstacle.
[0038] The diameter of the auxiliary driving wheel 301 is larger than the diameter of the auxiliary driven wheel 304. The auxiliary track module is triangular in shape as a whole. The auxiliary driven wheel 304 at the front end is smaller. When crossing an obstacle, the auxiliary track module is rotated by a certain angle through the rocker arm and the rocker arm driving component to raise the auxiliary track module. The auxiliary driven wheel 304 at the front end is smaller. By raising it at a smaller angle, it can cross or contact the obstacle, making it more convenient to obtain the road conditions ahead.
[0039] A plurality of adsorption devices 6 are arranged at intervals on the outer surfaces of the main crawler 103 and the auxiliary crawler 303. The adsorption devices 6 are used to adsorb on the wall. When crawling on a relatively vertical wall, the auxiliary crawler 303 at the front end and the main crawler 103 are adsorbed on the wall, and then the position of the auxiliary crawler 303 at the rear end is adjusted to be close to the main crawler 103 and adsorbed on the wall again. Then the auxiliary crawler 303 at the front end is adjusted to be away from the main crawler 103. The above actions are repeated to climb the wall forward. During the process of adjusting the angle of the auxiliary crawler 303 at one end, the auxiliary crawler 303 at the other end and the main crawler 103 in the middle are adsorbed on the wall. When the auxiliary crawlers 303 at both ends are adsorbed on the wall, the main crawler 103 in the middle can adjust its position relative to the auxiliary crawlers 303 at both ends.
[0040] like Figure 6 As shown, it is a simplified diagram of the crawler-type wall-climbing robot provided by the present invention climbing over the vertical wall on the platform. The robot crawls forward on the wall. On one side of the vertical wall, when going up, the main crawler module 1 contacts the platform, and the first and second crawler modules 3 and 5 are supported to a certain height. When the robot moves forward to the bottom of the vertical wall, the first crawler module 3 rotates to the highest position supported to contact the platform and is adsorbed on the wall by the adsorption device. Then, the second crawler module 5 contacts the platform and serves as a supporting point. The middle main crawler module 1 is rotated and raised by the rocker drive member, and the contact wall is adsorbed on the adsorption device 6. On the wall, the first auxiliary track module 3 continues to rise and adsorbs on the wall, and the position of the second auxiliary track module 5 is adjusted so that it contacts and adsorbs on the wall. The first auxiliary track module 3 can release the adsorption device 6 and continue to adjust its position forward to be supported to a higher position. Through the drive of the main drive wheel and the auxiliary drive wheel, the wall climbing after the position adjustment is performed. When the first auxiliary track module 3 reaches the highest position of the wall, it crosses the highest position. The first auxiliary track module 3 is first adsorbed on the other side of the wall, and then the position of the main track module 1 is adjusted so that it contacts and adsorbs on the other side of the wall. Finally, the position of the second auxiliary track module 5 is adjusted so that it passes the highest position of the wall. When going down, similar to the above-mentioned upward process, in the process of adjusting one track module, the positions of two of them are fixed first and moved downward.
[0041] The above is only a preferred implementation of the present application. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present application. These improvements and modifications should also be regarded as the scope of protection of the present application.
Claims
1. A crawler wall-climbing robot, characterized in that: It includes a body module, a main crawler module and an auxiliary crawler module. The main crawler modules are installed on both sides of the body module, the auxiliary crawler modules are installed on both ends of the main crawler module, and the adsorption modules are installed on the main crawler module and the auxiliary crawler module. The main track module and the auxiliary track module are connected by a rocker arm, one end of the rocker arm is connected to the main track module, and the other end is connected to the auxiliary track module. Rocker arm driving parts are provided at both ends of the rocker arm, and the rocker arm driving parts are used to drive the rocker arm to rotate around the main track module or around the auxiliary track module.
2. The crawler wall-climbing robot according to claim 1, characterized in that: The adsorption module includes a plurality of adsorption devices, and the adsorption device includes any one of a magnetic adsorption device and a negative pressure adsorption device.
3. The crawler wall-climbing robot according to claim 2, characterized in that: The main crawler module comprises a main crawler frame, a main crawler, a main driving wheel and a main driven wheel. The main crawler frame is provided with a main driving wheel at one end and a main driven wheel at the other end. The main crawler frame is provided with a main crawler. The main driving wheel and the main driven wheel are respectively meshed with the inner wheel gear groove of the main crawler.
4. The crawler wall-climbing robot according to claim 3, characterized in that: The auxiliary track module includes a first auxiliary track module and a second auxiliary track module, the rocker arm includes a first rocker arm and a second rocker arm, the first auxiliary track module is connected to the main driving wheel through the first rocker arm, and the second auxiliary track module is connected to the main driven wheel through the second rocker arm.
5. The crawler wall-climbing robot according to claim 3, characterized in that: A plurality of tensioning mechanisms are arranged on the inner side of the main crawler.
6. The crawler wall-climbing robot according to claim 3, characterized in that: A plurality of the adsorption devices are arranged at intervals on the outer side of the main crawler.
7. The crawler wall-climbing robot according to claim 2, characterized in that: The auxiliary crawler module comprises an auxiliary crawler frame, an auxiliary crawler, an auxiliary driving wheel and an auxiliary driven wheel. The auxiliary crawler frame is provided with an auxiliary driving wheel at one end and an auxiliary driven wheel at the other end. The auxiliary crawler frame is provided with an auxiliary crawler, and the auxiliary driving wheel and the auxiliary driven wheel are respectively meshed with the gear grooves of the inner side wheels of the auxiliary crawler.
8. The crawler wall-climbing robot according to claim 7, characterized in that: The auxiliary crawler frame is provided with a tensioning groove, and the auxiliary driven wheel moves in the tensioning groove to tension the auxiliary crawler.
9. The crawler wall-climbing robot according to claim 7, characterized in that: The diameter of the auxiliary driving wheel is greater than the diameter of the auxiliary driven wheel.
10. The crawler wall-climbing robot according to claim 7, characterized in that: A plurality of the adsorption devices are arranged at intervals on the auxiliary crawler.