Split type obstacle crossing climbing robot

Abstract

The utility model discloses a split type obstacle crossing climbing robot, and relates to the technical field of robots. Comprising a plurality of vehicle bodies, every two adjacent vehicle bodies are connected through symmetrically-arranged vehicle body connecting pieces, split bodies are arranged below the vehicle bodies, adsorption devices used for being adsorbed to a wall surface are arranged below the split bodies, the adsorption devices are fixedly connected with obstacle crossing devices, and the obstacle crossing devices are arranged between the vehicle bodies and the split bodies. A detection device is arranged in the circumferential direction of the vehicle body, driving devices are arranged on the two sides of the adsorption device respectively, the driving devices are arranged at the bottoms of the split bodies, and the adsorption device, the obstacle crossing device and the detection device are electrically connected with an MCU control panel; the number of the adsorption devices is at least three, each adsorption device comprises a negative pressure cavity, two negative pressure cavities are adsorbed on the wall during obstacle crossing, and the top surfaces of the negative pressure cavities are fixedly connected with the obstacle crossing device. When the obstacle crossing robot is used for crossing obstacles, the two negative pressure cavities are adsorbed on a wall surface, so that the obstacle crossing robot can better adapt to a complicated wall surface structure, and efficient and safe operation is realized.

Description

TECHNICAL FIELD

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

[0002] With the rapid development of industrial and construction fields, the demand for high-altitude operation and dangerous operation increases year by year. However, traditional manual operation faces 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. Therefore, the development of a climbing robot capable of replacing manual operation and having multi-wall obstacle climbing capability can reduce the difficulty and risk of manual operation.

[0003] Therefore, a split type barrier climbing robot is urgently needed, which is an intelligent device that can climb and overcome obstacles on a vertical wall surface by relying on negative pressure. Compared with traditional climbing robots, this robot can better adapt to complex wall structures through split module design, negative pressure self-adaptive control and obstacle climbing technology, while achieving efficient and safe operation. SUMMARY

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

[0005] To achieve the above-mentioned purpose, the utility model provides the following scheme: the utility model provides a split type barrier climbing robot, comprising a plurality of car bodies, two adjacent car bodies are connected through symmetrically arranged body connecting pieces, a split body is arranged below the car body, an adsorption device for adsorbing on the wall surface is arranged below the split body, the adsorption device is fixedly connected with an obstacle climbing device, the obstacle climbing device is arranged between the car body and the split body, a detection device is arranged on the circumference of the car body, drive devices are arranged on both sides of the adsorption device, the drive devices are arranged at the bottom of the split body, the adsorption device, the obstacle climbing device and the detection device are electrically connected with an MCU control panel; the adsorption device is provided with at least three, the adsorption device comprises a negative pressure cavity, and two negative pressure cavities are adsorbed on the wall surface when climbing, and the top surface of the negative pressure cavity is fixedly connected with the obstacle climbing device.

[0006] Preferably, a sealing ring is installed at one end of the negative pressure cavity away from the obstacle climbing device, a negative pressure sensor is installed in the negative pressure cavity, and the negative pressure sensor is electrically connected with the MCU control panel.

[0007] Preferably, the negative pressure cavity is communicated with a fan through a fan extension pipe, the fan is installed on the top of the split body through a fan support, and the fan is electrically connected with the MCU control panel.

[0008] Preferably, the air outlet end of the fan is provided with a silencer.

[0009] Preferably, the obstacle surmounting device comprises symmetrically arranged scissor lifting mechanisms, the top of the scissor lifting mechanism is arranged on the top of the vehicle body, and the bottom of the scissor lifting mechanism is arranged on the top of the split body.

[0010] Preferably, one end of the top of the scissor lifting mechanism is fixedly connected with the vehicle body, the other end of the top of the scissor lifting mechanism is slidably connected with a sliding rail, the sliding rail is arranged on the top of the vehicle body, the end of the scissor lifting mechanism, which is out of the sliding rail, is fixedly connected with the telescopic end of an electric push rod, the fixed end of the electric push rod is fixedly connected with the top surface of the vehicle body, and the electric push rod is electrically connected with the MCU control board.

[0011] Preferably, one end of the bottom of the scissor lifting mechanism is fixedly connected with the split body, and the other end of the bottom of the scissor lifting mechanism is slidably connected with a groove plate.

[0012] Preferably, the detection device comprises a camera arranged at one end of the vehicle body, a camera module is arranged at the end of the vehicle body, away from the camera, a plurality of temperature and humidity sensors are arranged on the outer surface of the vehicle body, and the camera, the temperature and humidity sensors and the camera module are electrically connected with the MCU control board.

[0013] Preferably, the driving device comprises wheels arranged at the bottom of the split body, the wheels are drivingly connected with a direct-current brushless motor, the direct-current brushless motor is fixedly connected with an aluminum plate through a motor flange seat, the aluminum plate is fixedly connected with the bottom of the split body, and the direct-current brushless motor is electrically connected with the MCU control board.

[0014] Preferably, the sealing ring comprises an O-shaped sealing ring, the O-shaped sealing ring is coated with PE foam on the outside, and the PE foam is coated with Teflon fabric on the outside.

[0015] The utility model discloses the following technical effects:

[0016] The utility model discloses the cooperation of obstacle surmounting device and negative pressure cavity can keep two negative pressure cavities adsorbed on the wall surface when surmounting the obstacle, and the vehicle body can be adsorbed on the vertical wall surface and independently climbs by the driving device, can better adapt to the complex wall surface structure, and simultaneously realizes efficient and safe operation. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed in the embodiments will be briefly introduced as follows. Obviously, the drawings described in the following embodiments are only some of the embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0018] Figure 1 It is a schematic diagram of the overall structure of the present application.

[0019] Figure 2 It is a schematic diagram of the bottom view structure of the present application.

[0020] Figure 3 It is a schematic diagram of the side view structure of the present application.

[0021] Figure 4 It is a schematic diagram of the negative pressure cavity structure of the present application.

[0022] Figure 5 It is a schematic diagram of the local section view structure of the sealing ring of the present application.

[0023] Among them, 1, camera; 2, aluminum plate; 3, electric push rod; 4, MCU control board; 5, slide rail; 6, DC brushless motor; 7, temperature and humidity sensor; 8, groove plate; 9, silencer; 10, camera module; 11, fan bracket; 12, wheel; 13, motor flange seat; 14, negative pressure cavity; 15, sealing ring; 16, negative pressure sensor; 17, fan extension pipe; 18, fan; 19, scissor lifting mechanism; 20, O-shaped sealing ring; 21, Teflon fabric; 22, PE foam; 23, vehicle body connecting piece; 24, vehicle body side baffle; 25, spring. DETAILED DESCRIPTION

[0024] The technical solutions in the embodiments of the present application will be described clearly and completely in combination with the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor are within the scope of protection of the present application.

[0025] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the present application will be further described in detail in combination with the drawings and specific embodiments.

[0026] REFERENCE Figures 1-5The utility model discloses a split type obstacle climbing robot, including a plurality of car body, the car body of adjacent two is connected through the car body connecting piece 23 of symmetrical setting, the below of car body is provided with split, the below of split is provided with the adsorption device for adsorbing on the wall, adsorption device fixedly connected with obstacle device, and the obstacle device sets up between car body and split, and the periphery of car body is provided with detection device, and the both sides of adsorption device are provided with drive device respectively, and drive device sets up at the bottom of split, and adsorption device, obstacle device, detection device electric connection has MCU control board 4, and adsorption device sets up at least three, and adsorption device includes negative pressure chamber 14, and when two negative pressure chambers 14 adsorbed on the wall when obstacle, and the top surface of negative pressure chamber 14 is fixedly connected with obstacle device. Split sets up in car body, and the inner wall of split and car body is connected slidingly.

[0027] MCU control board 4 is a circuit board based on microcontroller unit (MCU), mainly used for controlling and managing various electronic devices and systems.

[0028] MCU control board 4 processes input signals through microcontroller chips and generates corresponding output signals according to preset programs and algorithms to realize the control of external devices.

[0029] MCU control board 4 has the following characteristics:

[0030] High integration: MCU control board 4 integrates microcontroller chips 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.

[0031] Programmability: Users can customize the functions of MCU control board 4 by writing programs according to specific application requirements. For example, different control algorithms and communication protocols can be programmed.

[0032] High flexibility: MCU control board 4 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 the control of various complex systems.

[0033] Common MCU control boards 4 are divided into:

[0034] LPCXpresso development board: based on LPC microcontroller, suitable for development in the fields of Internet of Things and industrial control.

[0035] EFM32 development board: based on EFM32 microcontroller, with low power consumption and high performance, suitable for battery-powered application scenarios.

[0036] Arduino development board: An open-source electronic prototyping platform based on Atmel AVR or ARM Cortex-M microcontrollers, widely used in creative projects and electronics making.

[0037] Raspberry Pi development board: A microcomputer motherboard based on ARM architecture, which can run Linux operating system, suitable for development in the fields of Internet of Things, smart home, robots, etc.

[0038] The utility model discloses a barrier crossing device and negative pressure cavity 14 cooperate, can when carrying out barrier crossing, keep two negative pressure cavities 14 adsorbed on the wall surface, and can drive the vehicle body to rely on the negative pressure adsorption of negative pressure cavity 14 on the vertical wall surface and carry out autonomous climbing through the driving device, can better adapt to the complex wall surface structure, simultaneously realizes efficient, safe operation.

[0039] A plurality of vehicle bodies are connected in a "eye" shape, and the side of the vehicle body is provided with a side baffle 24, which effectively increases the strength of the vehicle body.

[0040] Further optimization scheme, the end of negative pressure cavity 14 away from barrier crossing device is provided with sealing ring 15, negative pressure sensor 16 is installed in negative pressure cavity 14, and negative pressure sensor 16 is electrically connected with MCU control board 4.

[0041] The edge of negative pressure cavity 14 is in contact with the wall surface by sealing ring 15, avoiding the abrasion of relative movement between negative pressure cavity 14 and the wall surface, which not only effectively improves the adsorption capacity of negative pressure cavity 14, but also effectively prolongs the service life of negative pressure cavity 14.

[0042] Further optimization scheme, negative pressure cavity 14 is communicated with fan 18 through fan extension pipe 17, fan 18 is installed on the top of the split body through fan support 11, and fan 18 is electrically connected with MCU control board 4.

[0043] The negative pressure of negative pressure cavity 14 is adjusted by MCU control board 4, so that negative pressure cavity 14 can adapt to different wall surfaces.

[0044] Further optimization scheme, the air outlet end of fan 18 is provided with silencer 9.

[0045] The air in negative pressure cavity 14 is discharged by fan 18, so that negative pressure is generated in the inside of negative pressure cavity 14, and the robot can be firmly attached to the wall surface.

[0046] The air outlet end of fan 18 is connected with the silencer, which can effectively reduce the noise.

[0047] Further optimization scheme, the barrier crossing device comprises symmetrically arranged scissor lifting mechanisms 19, the top of the scissor lifting mechanism 19 is installed in the top of the vehicle body, and the bottom of the scissor lifting mechanism 19 is installed on the top of the split body.

[0048] Further optimization scheme, one end of the top of the scissor lifting mechanism 19 is fixedly connected with the vehicle body, and the other end of the top of the scissor lifting mechanism 19 is slidingly connected with a sliding rail 5 which is opened in the top of the vehicle body. The extending end of an electric push rod 3 is fixedly connected with the end of the scissor lifting mechanism 19 extending out of the sliding rail 5, the fixed end of the electric push rod 3 is fixedly connected with the top surface of the vehicle body, and the electric push rod 3 is electrically connected with an MCU control board 4.

[0049] Further optimization scheme, one end of the bottom of the scissor lifting mechanism 19 is fixedly connected with the split body, and the other end of the bottom of the scissor lifting mechanism 19 is slidingly connected with a groove plate 8 which is fixedly connected with the split body.

[0050] The scissor lifting mechanism 19 is in the shape of "X", and the opening and closing of the scissor lifting mechanism 19 is controlled by the electric push rod 3, which can drive the split body to rise and fall.

[0051] In order to assist the scissor lifting mechanism 19 to control the split body to move up and down, springs 25 are symmetrically arranged between the split body and the vehicle body, one end of each spring 25 is fixedly connected with the split body, and the other end of each spring 25 is fixedly connected with the vehicle body. Through the elasticity of the springs 25, the scissor lifting mechanism 19 can effectively control the split body to move up and down.

[0052] Further optimization scheme, the detection device comprises a camera 1 installed at one end of the vehicle body, a camera module 10 installed at the end of the vehicle body away from the camera 1, and a plurality of temperature and humidity sensors 7 installed on the outer surface of the vehicle body. The camera 1, the temperature and humidity sensors 7, and the camera module 10 are electrically connected with the MCU control board 4.

[0053] Through the camera 1, the temperature and humidity sensors 7, the negative pressure sensor 16, and the camera module 10, the surrounding environment can be perceived, and the surrounding conditions can be transmitted to the MCU control board 4.

[0054] The camera 1 adopts a depth camera, which is a device capable of acquiring distance information of an object to the camera, also known as a 3D camera. Different technologies are used to measure the depth information of the object, and common technologies include binocular vision, structured light, and time of flight.

[0055] Further optimization scheme, the driving device comprises wheels 12 arranged at the bottom of the split body, the wheels 12 are drivingly connected with direct current brushless motors 6, the direct current brushless motors 6 are fixedly connected with aluminum plates 2 through motor flange seats 13, the aluminum plates 2 are fixedly connected with the bottom of the split body, and the direct current brushless motors 6 are electrically connected with the MCU control board 4. Each wheel 12 is matched with a direct current brushless motor 6 for driving, which not only enables the wheels 12 to move under strong suction, but also enables the wheels 12 to realize the function of steering through differential.

[0056] The MCU control board 4 controls the scissor lifting mechanism 19 and the direct current brushless motors 6 to realize obstacle crossing.

[0057] The MCU control board 4 judges whether the obstacle can be crossed by judging the collected information, and the MCU control board 4 lifts and moves the device in turn through the position information of the obstacle obtained by the camera 1 to cross the obstacle.

[0058] Further optimization scheme, sealing ring 15 includes O type sealing ring 20, O type sealing ring 20 outside is covered with PE bubble cotton 22, PE bubble cotton 22 outside is covered with Teflon fabric 21. That is, the inside of the sealing ring 15 is the O type sealing ring 20, the O type sealing ring 20 is covered with PE bubble cotton 22, and the outermost layer is wrapped with Teflon fabric 21, so that the friction coefficient of the sealing ring 15 is small, the sealing ring 15 can effectively improve the adsorption force of the robot, and the flexibility of the bottom of the negative pressure cavity 14 is improved, and the robot can work stably on different wall surfaces.

[0059] Working process: when the front obstacle information is detected by the detection device, the MCU control board 4 judges and takes the obstacle avoidance or obstacle crossing measures.

[0060] When the obstacle crossing measure is taken, after the climbing robot moves to the front of the obstacle, the three bodies are lifted in turn by the obstacle crossing device, that is, the body closest to the obstacle is lifted by the obstacle crossing device, and then the driving device on the other body drives the climbing robot to move towards the obstacle, when the body crosses the obstacle and falls down again, at this time, the negative pressure cavity 14 of the body generates negative pressure, so that the negative pressure cavity 14 is re-adsorbed on the wall surface, that is, during the obstacle crossing, two negative pressure cavities 14 are always adsorbed on the wall surface, then the next body that needs to cross the obstacle is lifted, and the process is repeated until all the bodies completely cross the obstacle.

[0061] When the obstacle avoidance measure is taken, when the climbing robot moves to the front of the obstacle, differential steering is performed through each DC brushless motor 6, so that the obstacle can be avoided and the robot can continue to move forward.

[0062] In the description of the present application, it should be understood that the terms "longitudinal", "transverse", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present application, and do not indicate or imply that the devices or elements referred to must have a particular orientation, be constructed and operated in a particular orientation, therefore it cannot be understood as a limitation of the present application.

[0063] The above-described embodiments are merely preferred modes of the present application, and are not intended to limit the scope of the present application, and various modifications and improvements to the technical solutions of the present application made by those of ordinary skill in the art without departing from the design spirit of the present application shall fall within the protection scope of the present application as defined by the claims.

Claims

1. A split type obstacle climbing robot, characterized by: The application relates to a wall-climbing vehicle, which comprises a plurality of vehicle bodies, two adjacent vehicle bodies are connected through symmetrically arranged body connecting sheets (23), the lower part of the vehicle body is provided with a sub-body, the lower part of the sub-body is provided with an adsorption device for adsorbing on a wall surface, the adsorption device is fixedly connected with an obstacle surmounting device, the obstacle surmounting device is arranged between the vehicle body and the sub-body, a detection device is arranged on the circumference of the vehicle body, drive devices are arranged on the two sides of the adsorption device respectively, the drive devices are arranged on the bottom of the sub-body, the adsorption device, the obstacle surmounting device and the detection device are electrically connected with an MCU control board (4). The adsorption device is arranged at least in three, the adsorption device comprises a negative pressure cavity (14), and two negative pressure cavities (14) are adsorbed on the wall surface when surmounting obstacles, and the top surface of the negative pressure cavity (14) is fixedly connected with the obstacle surmounting device.

2. The split type obstacle climbing robot according to claim 1, characterized by: A sealing ring (15) is arranged at the end of the negative pressure cavity (14) away from the obstacle surmounting device, a negative pressure sensor (16) is arranged in the negative pressure cavity (14), and the negative pressure sensor (16) is electrically connected with the MCU control board (4).

3. The split-body obstacle climbing robot according to claim 1, characterized in that: The negative pressure cavity (14) is communicated with a fan (18) through a fan extension pipe (17), the fan (18) is arranged on the top of the sub-body through a fan support (11), and the fan (18) is electrically connected with the MCU control board (4).

4. The split-body obstacle climbing robot according to claim 3, characterized in that: A silencer (9) is arranged on the air outlet end of the fan (18).

5. The split obstacle climbing robot of claim 1, wherein: The obstacle surmounting device comprises symmetrically arranged shear type lifting mechanisms (19), the top of the shear type lifting mechanism (19) is arranged on the top of the vehicle body, and the bottom of the shear type lifting mechanism (19) is arranged on the top of the sub-body.

6. The split-body obstacle climbing robot according to claim 5, characterized in that: One end of the top of the shear type lifting mechanism (19) is fixedly connected with the vehicle body, the other end of the top of the shear type lifting mechanism (19) is slidably connected with a sliding rail (5), the sliding rail (5) is arranged on the top of the vehicle body, the extension end of an electric push rod (3) is fixedly connected with the end of the shear type lifting mechanism (19) extending out of the sliding rail (5), the fixed end of the electric push rod (3) is fixedly connected with the top surface of the vehicle body, and the electric push rod (3) is electrically connected with the MCU control board (4).

7. The split-body obstacle climbing robot according to claim 5, characterized in that: One end of the bottom of the shear type lifting mechanism (19) is fixedly connected with the sub-body, and the other end of the bottom of the shear type lifting mechanism (19) is slidably connected with a groove plate (8), and the groove plate (8) is fixedly connected with the sub-body.

8. The split-body obstacle climbing robot according to claim 1, wherein: The detection device comprises a camera (1) arranged on one end of the vehicle body, a camera module (10) is arranged on the end of the vehicle body away from the camera (1), a plurality of temperature and humidity sensors (7) are arranged on the outer surface of the vehicle body, and the camera (1), the temperature and humidity sensors (7) and the camera module (10) are electrically connected with the MCU control board (4).

9. The split-body obstacle climbing robot according to claim 1, characterized in that: The driving device includes wheels (12) arranged on the split bottom, the wheels (12) are drivingly connected with a direct-current brushless motor (6), the direct-current brushless motor (6) is fixedly connected with an aluminum plate (2) through a motor flange base (13), the aluminum plate (2) is fixedly connected with the split bottom, and the direct-current brushless motor (6) is electrically connected with the MCU control board (4).

10. The split-body obstacle climbing robot according to claim 2, characterized in that: The sealing ring (15) comprises an O-shaped sealing ring (20), the O-shaped sealing ring (20) is coated with PE foam (22) on the outside, and the PE foam (22) is coated with a Teflon fabric (21) on the outside.

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