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CN-116946276-B - Complicated curved surface wall climbing robot based on guide rail tensioning

CN116946276BCN 116946276 BCN116946276 BCN 116946276BCN-116946276-B

Abstract

The invention discloses a complicated curved surface wall climbing robot based on guide rail tensioning, which is used for climbing on a working wall surface and comprises a vehicle body, a tensioning device, a driving device and a control system, wherein the control system comprises a singlechip, a hub motor driver, a stepping motor driver and a power supply, the tensioning device, the driving device, the singlechip, the hub motor driver, the stepping motor driver and the power supply are connected with the vehicle body, and the singlechip, the hub motor driver and the stepping motor driver are electrically connected with the power supply. The complex curved surface wall climbing robot based on the guide rail tensioning realizes mechanical attachment through the two tensioning sliding sheets and the steel wire rope, has high reliability and large load, can be used for carrying various operation equipment, and can realize wall climbing operation on complex curved surfaces with various shapes by processing corresponding curved surface guide rails.

Inventors

  • CHEN YAN
  • SONG ZHIBIN
  • WEI JINGSONG
  • ZHANG LIRUN
  • ZHANG YUZE
  • XI KAILI
  • ZHANG XIAO

Assignees

  • 天津大学

Dates

Publication Date
20260505
Application Date
20230904

Claims (4)

  1. 1. The complex curved surface wall climbing robot based on guide rail tensioning is used for climbing on a working wall and is characterized by comprising a vehicle body (1), a tensioning device (2), a driving device (3) and a control system, wherein the control system comprises a single chip microcomputer (4), a wheel hub motor driver (5), a stepping motor driver (6) and a power supply (7), and the tensioning device (2), the driving device (3), the single chip microcomputer (4), the wheel hub motor driver (5), the stepping motor driver (6) and the power supply (7) are connected with the vehicle body (1); the tensioning device (2) consists of an angle bracket (21), a first pulley (22A), a second pulley (22B), a third pulley (22C), a shaft sleeve (23), a shaft shoulder screw (24), a front guide rod part, a rear guide rod part, a tension spring support (212), a tension spring (213) and a steel wire rope (214); The automobile body (1) is provided with a first pulley (22A) with a vertical axis, a second pulley (22B) with a horizontal axis and a tension spring support (212), the second pulley (22B) is connected to the upper surface of the automobile body (1) through a corner bracket (21), a shoulder screw (24), a gasket and a nut, the first pulley (22A) is connected to the upper surface of the automobile body (1) through a shaft sleeve (23), the shoulder screw (24) and the nut, and the tension spring support (212) is fixed to the upper surface of the automobile body (1) through a pair of nuts; The front guide rod part and the rear guide rod part are respectively arranged at the front side and the rear side below the vehicle body (1), the front guide rod part consists of a front guide rod connecting block (25), a front guide rod (26) and a stainless steel ball (27), the front guide rod connecting block (25) is fixed on the lower surface of the vehicle body (1) through a fastener, and two ends of the front guide rod (26) are respectively in threaded connection with the front guide rod connecting block (25) and the stainless steel ball (27); The rear guide rod part consists of a movable hinge (28), a rear guide rod connecting block (29), a rear guide rod (210) and a stainless steel ball (27), one end of the movable hinge (28) is connected to the lower surface of the vehicle body (1) through a fastener, the other end of the movable hinge (28) is fixed with the rear guide rod connecting block (29), and two ends of the rear guide rod (210) are respectively connected with the guide rod connecting block (29) and the stainless steel ball (27) in a threaded manner; A rotating shaft of the movable hinge (28) is movably connected with a third pulley (22C); The front guide rod connecting block (25), the front guide rod (26), the stainless steel ball (27), the movable hinge (28), the rear guide rod connecting block (29) and the rear guide rod (210) are respectively provided with a through hole for a steel wire rope (214), and the vehicle body (1) connected with the front guide rod connecting block (25) and the movable hinge (28) is correspondingly provided with a through hole; The steel wire rope (214) passes through holes of the vehicle body (1), the front guide rod part and the rear guide rod part, the stress direction is changed through each pulley, tensioning sliding sheets (211) are respectively arranged at two ends of the steel wire rope (214), one end of a tension spring (213) is connected with a tension spring support (212), and the other end of the tension spring is movably connected with the steel wire rope (214) to enable the steel wire rope (214) to be in a tensioning state.
  2. 2. The complicated curved surface wall climbing robot based on guide rail tensioning according to claim 1, wherein the driving device (3) comprises two identical parts, and consists of a stepping motor (31), a stepping motor bracket (32), a horizontal bearing seat (33), a thrust bearing (34), a steering support (35), a tire bracket (36) and a hub motor (37), wherein the stepping motor bracket (32) is fixed on the upper surface of the vehicle body (1) through a fastener, the stepping motor (31) is fixed with the stepping motor bracket (32) through a fastener, the horizontal bearing seat (33) is fixed on the upper surface of the vehicle body (1) through a fastener, a rotating shaft part of the steering support (35) is matched with a hole of the horizontal bearing seat (33), the rotating shaft part of the steering support (35) is connected with an output shaft of the stepping motor (31) through a D-shaped shaft hole, the thrust bearing (34) is arranged between the upper surface of a platform of the steering support (35) and the lower surface of the vehicle body (1), and the hub motor (37) is connected to the lower surface of the platform of the steering support (35) through the tire bracket (36); the hub motor driver (5) is electrically connected with the hub motor (37), and the stepping motor driver (6) is electrically connected with the stepping motor (31).
  3. 3. The complex curved surface wall climbing robot based on guide rail tensioning, as set forth in claim 1, is characterized in that the working wall surface is composed of a curved surface guide rail (8) with an inverted-T-shaped groove and a complex curved surface (9), the curved surface guide rail (8) is attached to the complex curved surface (9), during movement, the tensioning sliding sheet (211) slides through the groove of the curved surface guide rail (8) under the traction of the steel wire rope (214), and the tire part of the hub motor (37) rolls in contact with the complex curved surface (9).
  4. 4. The complicated curved surface wall climbing robot based on the guide rail tensioning, which is disclosed in claim 1, is characterized in that the wall climbing robot moves through a hub motor (37) and turns through a stepping motor (31), the power supply (7) supplies power to the hub motor (37), the stepping motor (31), the singlechip (4), the hub motor driver (5) and the stepping motor driver (6), and the singlechip (4) controls the hub motor (37) through the hub motor driver (5) and controls the stepping motor (31) through the stepping motor driver (6).

Description

Complicated curved surface wall climbing robot based on guide rail tensioning Technical Field The invention relates to the technical field of robots, in particular to a wall climbing robot for complex curved surface application. Background At present, the common wall climbing robots mainly comprise crawler type, wheel type, foot type and hybrid wall climbing robots according to moving modes, and the common wall climbing robots are mainly in contact with the wall surface through vacuum adsorption, magnetic adsorption, thrust adsorption and other modes, and the adsorption mode has high requirements on the surface of the wall surface, such as smooth surface, magnetism on the surface and the like. The wall climbing robot based on the mechanical force gripping adsorption method is characterized in that the wall climbing robot is provided with structures such as barbs on feet to realize adsorption, and the load is large but the action is slow. The novel wall climbing robot can meet the characteristics of heavy load and rapid movement as much as possible, and has higher adaptability to complex curved surfaces and angles. Disclosure of Invention The invention aims to overcome the defects in the prior art and provide a complicated curved surface wall climbing robot based on guide rail tensioning, and the invention enables the robot to obtain larger adsorption force and loading capacity through a track by designing a tensioning structure, and simultaneously obtains higher movement speed through a wheel type driving mode, thereby avoiding a complicated control scheme; the cross guide rails are arranged on the curved surface, so that the problem of single movement path of the track type robot is solved, and strict requirements on the surface of the wall surface are avoided. The invention provides a new design thought for the wall climbing robot with a complex curved surface, improves the load capacity of the structure, avoids a complex control scheme, improves the mobility, and has important significance for the field of wall climbing robots. The invention aims at realizing the following technical scheme: the complex curved surface wall climbing robot based on guide rail tensioning is used for climbing on a working wall surface and consists of a vehicle body, a tensioning device, a driving device and a control system, wherein the control system consists of a singlechip, a hub motor driver, a stepping motor driver and a power supply; The singlechip, the hub motor driver and the stepping motor driver are electrically connected with a power supply. Further, the tensioning device consists of an angle bracket, a first pulley, a second pulley, a third pulley, a shaft sleeve, a shoulder screw, a front guide rod part, a rear guide rod part, a tension spring support column, a tension spring and a steel wire rope; The automobile body is provided with a first pulley with a vertical group of axes, a second pulley with a horizontal group of axes and a tension spring strut, the second pulley is connected to the upper surface of the automobile body through a corner bracket, a shoulder screw, a gasket and a nut, the first pulley is connected to the upper surface of the automobile body through a shaft sleeve, the shoulder screw and the nut, and the tension spring strut is fixed to the upper surface of the automobile body through a pair of nuts; The front guide rod part and the rear guide rod part are respectively arranged at the front side and the rear side below the vehicle body, the front guide rod part consists of a front guide rod connecting block, a front guide rod and a stainless steel ball, the front guide rod connecting block is fixed on the lower surface of the vehicle body through a fastener, and two ends of the front guide rod are respectively in threaded connection with the front guide rod connecting block and the stainless steel ball; The rear guide rod part consists of a movable hinge, a rear guide rod connecting block, a rear guide rod and a stainless steel ball, one end of the movable hinge is connected to the lower surface of the vehicle body through a fastener, the other end of the movable hinge is fixed with the rear guide rod connecting block, and two ends of the rear guide rod are respectively connected with the guide rod connecting block and the stainless steel ball through threads; a rotating shaft of the movable hinge is movably connected with a third pulley; The front guide rod connecting block, the front guide rod, the stainless steel ball, the movable hinge, the rear guide rod connecting block and the rear guide rod are respectively provided with a through hole for a steel wire rope, and the vehicle body connected with the front guide rod connecting block and the movable hinge is correspondingly provided with a through hole; the steel wire rope passes through the through holes of the vehicle body, the front guide rod part and the rear guide rod part and changes the stress direction through each pulley, the te