CN-116331376-A - Self-adaptive adsorption wall climbing robot and working method

CN116331376ACN 116331376 ACN116331376 ACN 116331376ACN-116331376-A

Abstract

The invention belongs to the technical field of robots, and relates to a self-adaptive adsorption wall climbing robot and a working method. The distance and the angle of the adsorption disc body relative to the unstructured wall surface are automatically adjusted through the first wall surface laminating adjusting assembly and the second wall surface laminating adjusting assembly, the disc body assemblies of the adsorption disc body are flexibly connected, the complex unstructured wall surface with protrusions, cracks and curvatures can be better laminated, universality and reliability of the adsorption operation of the robot on the complex wall surface are improved, the distance between the adsorption disc body and the unstructured wall surface can be adjusted, and the wall surface passing capacity and the maneuvering flexibility of the robot are improved while the adhesive force of the robot is guaranteed.

Inventors

GUO TINGTING
SUN HONGXIU
BAO WEI
SONG DALEI
XU XIAOGUO
ZHENG AN
XU YAFEI

Assignees

UNIV YANTAI
SHANDONG GUOXING INTELLIGENT TECH CO LTD

Dates

Publication Date: 20230627
Application Date: 20230404
Priority Date: 20230404

Claims (10)

1. Self-adaptation adsorbs wall climbing robot, its characterized in that includes: the movable body is used for installing and fixing all parts of the robot, and a longitudinally-through fluid channel is arranged in the center of the movable body; the adsorption module is connected with the movable body, is arranged in the fluid channel in the center of the movable body and is used for providing adsorption force required by the crawling of the wall surface of the robot; the motion modules are arranged at the bottom of the movable body and are used for driving the robot to finish wall crawling motion; the wall surface self-adaptive adjusting module is arranged at the bottom of the movable body and is used for automatically adjusting the distance and the angle between the robot and the wall surface so as to adapt to the unstructured wall surface; the adsorption module, the motion module and the wall self-adaptive adjusting module are all connected with the control module, and the adsorption module, the motion module and the wall self-adaptive adjusting module are all controlled by the control module.
2. The self-adaptive adsorption wall climbing robot according to claim 1, wherein the wall self-adaptive adjustment module comprises an adsorption disc body, a plurality of sensing assemblies for sensing a height distance from an underwater obstacle or an unstructured wall surface are arranged on the adsorption disc body, a plurality of second wall surface laminating adjustment assemblies are fixedly connected to the upper surface of the adsorption disc body, a plurality of first wall surface laminating adjustment assemblies are fixedly connected to the upper surface of the adsorption disc body, the first wall surface laminating adjustment assemblies are connected with the bottom of the movable body, and the first wall surface laminating adjustment assemblies and the second wall surface laminating adjustment assemblies are used for adjusting height and angle pose parameters of positions corresponding to the adsorption disc body from the unstructured wall surface.
3. The self-adaptive adsorption wall climbing robot according to claim 2, wherein the adsorption tray body is composed of a plurality of tray body components which are not connected with each other, the tray body components comprise a middle tray body, a first side tray body and a second side tray body which are arranged side by side along the radial direction of the adsorption tray body, the first side tray body and the second side tray body are respectively arranged at two sides of the middle tray body, and a through hole for a movement module to pass through is formed in the middle tray body; the middle disc body comprises a first middle disc body and a second middle disc body, and swing flexible ribs are connected between the first middle disc body and the second middle disc body; the first side disc body comprises a first side disc body and a second side disc body, and a hinge assembly is connected between the first side disc body and the second side disc body; the second side disc body comprises a first second side disc body and a second side disc body, and a hinge assembly is connected between the first second side disc body and the second side disc body; the center distances of the outer Zhou Ju adsorption discs of the first side disc body I, the middle disc body I and the second side disc body I are the same, and the upper surfaces of the first side disc body I, the middle disc body I and the second side disc body I are flexibly connected through circumferential flexible ribs; the center distances of the outer Zhou Ju adsorption discs of the second side disc body, the middle disc body and the second side disc body are the same, the upper surfaces of the second side disc body, the middle disc body and the second side disc body are fixedly connected with the bottom of the first wall surface laminating and adjusting assembly, and the upper surface of the first side disc body is fixedly connected with the bottom of the second wall surface laminating and adjusting assembly; The first side disc body, the second side disc body, the first side disc body II, the middle disc body II and the second side disc body II are fixedly provided with sensing components, the sensing components are connected with the control module, the sensing components are used for sensing the height distance from an underwater obstacle or an unstructured wall surface and feeding back to the control module, the control module analyzes and fuses and calculates the space size information of the flow channel between the disc bodies corresponding to the sensing components and the wall surface through a matrix distributed sensing module formed by a plurality of sensing components, and accordingly the corresponding first wall surface laminating adjusting components and second wall surface laminating adjusting components are controlled to start to perform height angle adjustment, so that the adsorption disc body adapts to the angle of the unstructured wall surface.
4. The self-adaptive adsorption wall climbing robot according to claim 2, wherein the first wall surface attaching and adjusting assembly comprises an upper fixing seat, a lower fixing seat, an upper end plate, an adjusting rod, a power rotating mechanism and a horizontal screw rod, wherein the upper surface of the upper fixing seat is rotationally connected with the bottom surface of the upper end plate, the top surface of the upper end plate is fixedly connected with the movable body, the lower fixing seat is fixedly connected with the upper surface of the adsorption disc body, the lower surface of the upper fixing seat is vertically connected with a guide rod, the side surface of the power rotating mechanism is provided with a guide rod sliding seat, the power rotating mechanism is slidingly connected with the guide rod through the guide rod sliding seat, two groups of adjusting rods are connected between the upper fixing seat and the lower fixing seat, the top of two sets of regulation poles is all articulated with last fixing base and is connected, and the bottom of two sets of regulation poles is all articulated with lower fixing base and is connected, and a parallelogram is constituteed to two sets of regulation poles, and power rotary mechanism is hollow shaft motor, and power rotary mechanism is connected with control module, and power rotary mechanism overlaps the middle part of locating horizontal lead screw, and horizontal lead screw's both ends respectively with two sets of regulation pole threaded connection, power rotary mechanism can drive two sets of regulation poles and follow horizontal lead screw and move in opposite directions or back to back, and power rotary mechanism can reciprocate at the guide bar simultaneously to distance and angle between fixing base and the lower fixing base can be adjusted.
5. The self-adaptive adsorption wall climbing robot according to claim 4, wherein the lower surface of the upper fixing seat and the upper surface of the lower fixing seat are fixedly connected with two groups of support columns respectively, each group of adjustment rods comprises an upper adjustment rod and a lower adjustment rod, the top of the upper adjustment rod is hinged with the support column on the upper fixing seat through a hinge shaft, the bottom of the lower adjustment rod is hinged with the support column on the lower fixing seat through a hinge shaft, a nut seat is connected with the end part of the horizontal screw rod in a threaded manner, the nut seat is hinged with the bottom of the upper adjustment rod and the top of the lower adjustment rod through a hinge shaft, the nut seat moves horizontally on the horizontal screw rod, the bottom of the upper adjustment rod and the top of the lower adjustment rod are driven to move horizontally, the included angle between the upper adjustment rod and the lower adjustment rod is changed, and therefore distance adjustment between the upper fixing seat and the lower fixing seat is achieved.
6. The self-adaptive adsorption wall climbing robot according to claim 5, wherein the tops of the two upper adjusting rods and the bottoms of the two lower adjusting rods are respectively provided with a synchronous gear, the tops of the two upper adjusting rods are in meshed connection through the synchronous gears, and the bottoms of the two lower adjusting rods are in meshed connection through the synchronous gears; The guide rods are two groups, the power rotating mechanism is positioned between the two groups of guide rods, guide rod sliding seats are arranged on two sides of the power rotating mechanism, and the guide rod sliding seats are sleeved on the guide rods; the upper surface fixedly connected with ball seat of last fixing base, supporting being equipped with the bulb in the ball seat, the bottom surface fixed connection of bulb upper end and upper end plate, the lower extreme sets up in the ball seat.
7. The self-adaptive adsorption wall climbing robot according to claim 2, wherein the second wall surface attaching and adjusting assembly comprises a power driving mechanism, a frame, a first eccentric rotating assembly, a second eccentric rotating assembly, a displacement assembly and a bottom plate, the lower surface of the bottom plate is fixedly connected to the upper surface of the adsorption disc body, vertical plates are symmetrically arranged at two ends of the upper surface of the bottom plate, the frame is inverted U-shaped, the top of the frame is fixedly connected to the movable body, the lower parts of two ends of the frame are respectively and slidably connected with the upper parts of one group of displacement assemblies, the bottom of each group of displacement assemblies is hinged with the vertical plates through a hinge shaft, the power driving mechanism is fixedly arranged on the outer side of the frame, the power driving mechanism is connected with the control module, an output shaft of the power driving mechanism is connected with the first eccentric rotating assembly, two ends of the first eccentric rotating assembly are fixedly connected with the frame, two ends of the second eccentric rotating assembly are respectively and fixedly connected with the displacement assembly, the first eccentric rotating assembly is meshed with the second eccentric rotating assembly, the power driving mechanism drives the first eccentric rotating assembly to rotate, and the first eccentric rotating assembly drives the second eccentric rotating assembly to rotate through meshing action, and further drives the displacement assembly to move up and down.
8. The self-adaptive adsorption wall climbing robot according to claim 7, wherein the lower part of the frame is provided with a groove, the displacement assembly is longitudinally connected in the groove, the displacement assembly comprises a guide sliding block and a tension spring, the bottom of the guide sliding block is hinged with the vertical plate through a hinge shaft, the bottom end of the tension spring is fixedly connected to the top of the guide sliding block, the top end of the tension spring is connected with the top of the groove of the frame, the inner walls of the two sides of the groove are longitudinally provided with a convex block, and the two sides of the guide sliding block are respectively provided with a sliding groove corresponding to the convex block; the first eccentric rotating assembly comprises a driving eccentric gear, driving eccentric cams and a driving shaft, wherein two ends of the driving shaft are respectively and transversely connected with the frame through bearings, the driving eccentric gears are sleeved in the middle of the driving shaft, the driving eccentric cams are symmetrically sleeved on the driving shafts on two sides of the driving eccentric gears, and one end of the driving shaft is connected with an output shaft of the power driving mechanism; the second eccentric rotating assembly comprises a driven eccentric gear, a driven eccentric concave wheel and a driven shaft, wherein the driven shaft is parallel to the driving shaft and is positioned below the driving shaft, two ends of the driven shaft are respectively connected onto guide sliding blocks of the two displacement assemblies through bearings, the driven eccentric gear, the driven eccentric concave wheel, the driving eccentric gear and the driving eccentric cam are consistent in quantity and correspond in position, the driven eccentric gear is meshed with the driving eccentric gear, and the driven eccentric concave wheel is matched and connected with the driving eccentric cam at the corresponding position.
9. The self-adaptive adsorption wall climbing robot according to any one of claims 1-8, wherein the movable body comprises a frame body, the frame body is used for installing and connecting an adsorption module, a movement module, a wall self-adaptive adjustment module and a control module, a floating body is arranged at the bottom of the periphery of the frame body, and the floating body is used for enabling the movable body to generate buoyancy in a liquid medium; the adsorption module comprises a power mechanism and a propeller, the propeller is longitudinally arranged at the lower part in the fluid channel of the movable body, the power mechanism is connected with the upper part of the propeller and drives the propeller to operate so as to drive fluid to flow from the bottom of the fluid channel to the top, and the power mechanism is also connected with the control module; the motion module comprises a gear train and a driving mechanism, wherein the driving mechanism is connected with the gear train and drives the gear train to move, and the driving mechanism is fixedly arranged in the moving body and connected with the control module.
10. The working method of the self-adaptive adsorption wall climbing robot according to claim 9, comprising a crawling motion method of the robot in an adsorption state on a wall surface and a self-adaptive adsorption adjustment method of the robot on an unstructured wall surface; the crawling movement method of the robot in the adsorption state on the wall surface comprises the following steps: 1) The power mechanism rotates to drive the propeller to rotate, the propeller drives fluid to flow, and the fluid flows in from a flow channel between the adsorption disc body and the wall surface and enters the fluid channel; 2) According to the law of conservation of fluid mass, the cross section area of a flow channel between the adsorption disc body and the wall surface, which is close to the outer edge of the adsorption disc body, is large, and the flow velocity is low; the flow passage close to the center of the adsorption disc body has small sectional area and high flow velocity, so that the flow velocity of the fluid in the flow passage gap between the adsorption disc body and the wall surface is high relative to the flow velocity of the fluid outside the movable body; 3) According to the bernoulli equation: it is known that: the pressure intensity of the fluid is high, and the pressure intensity of the fluid is high, so that the pressure intensity of the fluid is high, the pressure of the fluid in the flow channel between the adsorption disc body and the wall surface is high, the movable body is extruded on the wall surface, and the robot realizes the negative pressure adsorption function; 4) The crawling function of the robot is realized by controlling the motion module to move forwards and backwards and turn; the self-adaptive adsorption adjustment method for the unstructured wall surface by the robot comprises the following steps: 1) The sensing assemblies distributed on the adsorption disc body feed back the collected vertical distance data from the unstructured wall surface to the control module, and the control module analyzes and processes angle information between the disc bodies corresponding to the sensing assemblies through the height distance information provided by the sensing assemblies, so that the corresponding first wall surface laminating adjusting assembly and second wall surface laminating adjusting assembly are controlled to be started for height angle adjustment; 2) The control module controls the power rotating mechanism of the first wall surface laminating adjusting assembly to start, the power rotating mechanism drives the two groups of adjusting rods to move in opposite directions or in opposite directions along the horizontal screw rod, meanwhile, the power rotating mechanism moves in a limiting manner along the guide rod to maintain the stability of the power rotating mechanism, the distance between the upper fixing seat and the lower fixing seat is increased or smaller, and as the lower fixing seat is fixedly connected to the first side disc body II or the middle disc body II or the second side disc body II or the distance between the second side disc body II where the lower fixing seat is positioned and the wall surface is reduced or increased; the upper fixing seat is rotationally connected with the ball head and the upper end plate through the ball seat, and the upper end plate is fixedly connected with the movable body, so that the first side disk body II or the middle disk body II or the second side disk body II where the lower fixing seat is positioned can rotate around the ball head as a center to adjust the angle while the distance between the first side disk body II or the middle disk body II or the second side disk body II and the wall surface is reduced or increased, and the angle is suitable for the angle of the unstructured wall surface where the first side disk body II or the middle disk body II or the second side disk body II where the lower fixing seat is positioned; the first middle tray body and the second middle tray body are connected through swinging flexible ribs, the first side tray body and the first side tray body are connected through hinge assemblies, and therefore, the first side tray body or the second middle tray body or the second side tray body where the lower fixing seat is located is subjected to synchronous adaptive adjustment while the distance and the angle are adjusted, and the corresponding first side tray body or the corresponding first middle tray body or the corresponding second side tray body are subjected to synchronous adaptive adjustment; 3) The control module controls the power driving mechanism of the second wall surface laminating adjusting assembly on the first middle disc body to start, the power driving mechanism drives the first eccentric rotating assembly to rotate, the first eccentric rotating assembly drives the second eccentric rotating assembly to rotate through the meshing effect, and then the displacement assembly is driven to move up and down in the groove of the frame, the bottom of the displacement assembly is connected with the middle disc body through the vertical plate and the bottom plate, and therefore the first middle disc body is driven to move up and down, and the distance adjustment between the first middle disc body and the unstructured wall surface is achieved; the bottom of the displacement assembly is hinged with the vertical plate through the hinge shaft, so that the first middle plate body can rotate around the hinge shaft to realize angle adjustment in the process of moving the first middle plate body up and down, and the angle of the unstructured wall surface where the first middle plate body is positioned is adapted; the first side disc body I, the middle disc body I and the second side disc body I are flexibly connected through the circumferential flexible ribs, so that the distance and the angle of the first side disc body I and the second side disc body I can be adjusted along with the distance and the angle of the unstructured wall surface where the first side disc body I is synchronously adapted; 4) The synchronous distance and the angle adjustment of the disc assemblies are realized through the flexible connection of the swing flexible ribs and the circumferential flexible ribs and the hinged connection of the hinge assemblies, the synchronous distance and the angle adjustment of the disc assemblies finally realize that the distances between the positions of the adsorption disc bodies and the corresponding unstructured wall surfaces are the same, the angles between the positions of the adsorption disc bodies and the corresponding unstructured wall surfaces are consistent, and the adsorption disc bodies are parallel to the unstructured wall surfaces and are used for the stable adsorption of the adsorption module to the unstructured wall surfaces and the stable creeping of the motion module on the unstructured wall surfaces; 5) When the robot is on the unstructured wall surface which can stay or move without larger adsorption force, the control module enables the distance between the adsorption disc body and the unstructured wall surface to be increased by controlling the first wall surface attaching and adjusting assembly and the second wall surface attaching and adjusting assembly, and the moving body of the robot can stably and rapidly move on the unstructured wall surface through the movement module.

Description

Self-adaptive adsorption wall climbing robot and working method Technical Field The invention belongs to the technical field of robots, and particularly relates to a self-adaptive adsorption wall climbing robot and a working method thereof. Background The wall climbing robot (wall climbing robot) is an automatic robot capable of climbing on the wall surface and completing the operation, the robot is automatically attached to and crawled on the surface of each equipment platform, the work such as reconnaissance, maintenance, welding, repair and surface sand blasting, polishing and cleaning of the surface of a structure is efficiently completed, the human is liberated from the severe dangerous environment, and the wall climbing robot has high economic and social benefits. Wall climbing robots are classified according to the principle of an adsorption mechanism and can be divided into: vacuum adsorption, magnetic adsorption, thrust adsorption and negative pressure adsorption. Wherein, the magnetic force adsorption adopts a permanent magnet or an electromagnetic coil element to realize the adhesion to the surface of the structure, and the adsorbed structure is required to be made of a magnetic conductive material. The negative pressure adsorption and the vacuum adsorption have certain similarity, and a turbo fan, a fan and other devices are utilized to form the pressure difference between the inside and the outside of high-speed fluid, so that the wall surface adsorption is realized, and certain fluid leakage is allowed in the mode. In combination with the surface conditions of the currently known application scene structures, the most mature and effective modes are magnetic adsorption and negative pressure adsorption. The robot is required to realize the near-wall operation and maintenance operation, and has the advantages of being firmly attached to the wall surface and having the capability of resisting external disturbance (such as load reaction force and cable dragging force) under the condition of carrying load. However, unlike ground mobile robots, wall climbing robots are affected by adhesion, operating conditions and inherent characteristics of the robot itself, and there are a number of challenges in practical use: the magnetic force adsorption can be only attached to the surface of a magnetic conductive structure, and is not applicable to the wall surfaces of cement pile foundations of building outer walls, glass curtains and ocean platforms and bridge dams. The conventional negative pressure adsorption robot can only be suitable for flat structural wall surfaces, and the prior art is difficult to apply to non-structural wall surface scenes such as facilities and the like, which contain bulges, cracks or wall surfaces with curvature. On the magnetic adsorption scheme: the utility model patent of application number 201710524340.8 discloses a curved surface self-adaptive magnetic adsorption wall climbing paint spraying robot, the utility model of application number 202023231488.9 discloses a rolling adsorption wall climbing robot with curved surface adaptive capacity, the utility model of application number 201910370398.0 discloses a four-wheel wall climbing robot with curved surface adsorption function and a using method thereof, and the utility model of application number 202223043678.7 discloses an electromagnetic adsorption wall climbing robot capable of being used for curved surface movement and the like. On the negative pressure adsorption scheme: typical patent application number 202211667571.1 discloses a negative pressure adsorption mobile chassis and a mobile robot comprising the chassis, and patent application number 202211149573.1 discloses a multi-cavity negative pressure adsorption curtain wall cleaning robot; similarly, the patent application 202222450258.4 discloses a self-regulating adsorption flying robot. At present, no adsorption wall climbing robot capable of realizing structural wall surface and non-structural wall surface self-adaption is reported. Disclosure of Invention An object of the present invention is to provide an adaptive adsorption wall climbing robot, which realizes stable adsorption wall climbing operation of the robot on an unstructured wall surface in a fluid medium. The technical scheme adopted for solving the technical problems is as follows: self-adaptation adsorbs wall climbing robot includes: the movable body is used for installing and fixing all parts of the robot, and a longitudinally-through fluid channel is arranged in the center of the movable body; the adsorption module is connected with the movable body, is arranged in the fluid channel in the center of the movable body and is used for providing adsorption force required by the crawling of the wall surface of the robot by utilizing the Bernoulli negative pressure adsorption effect; the motion modules are arranged at the bottom of the movable body and are used for driving the robot to finish wall crawlin