技术领域technical field
本发明涉及机器人技术领域，具体涉及一种用于爬壁机器人的行走机构。The invention relates to the technical field of robots, in particular to a walking mechanism for a wall-climbing robot.
背景技术Background technique
机器人是自动执行工作的机器装置。它既可以接受人类指挥，又可以运行预先编排的程序，也可以根据以人工智能技术制定的原则纲领行动。机器人在生产业、建筑业等领域得到广泛应用，尤其常见用于协助或替代人类进行危险作业或在人类无法到达的区域进行作业。A robot is a machine device that performs work automatically. It can accept human command, run pre-programmed programs, and act according to principles formulated with artificial intelligence technology. Robots are widely used in the production industry, construction industry and other fields, and are especially commonly used to assist or replace humans in dangerous operations or in areas that humans cannot reach.
爬壁机器人是机器人中常见的类型，可以在垂直墙壁上攀爬并完成作业。爬壁机器人通常采用真空吸盘、磁铁和普通粘附材料的方式进行粘附。然而，自然界和人类生活环境中大多数壁面是粗糙、多孔、多裂缝且布满灰尘的(例如石头、水泥、砖块外墙面)，这三种粘附方式均不适用。A wall-climbing robot is a common type of robot that can climb and complete tasks on vertical walls. Wall-climbing robots are usually adhered by means of vacuum chucks, magnets, and common adhesive materials. However, most of the walls in nature and human living environment are rough, porous, cracked and full of dust (such as stone, cement, brick exterior walls), and these three adhesion methods are not suitable.
近年来，受到壁虎、甲虫等可以在墙面上攀爬的动物的启发，以干粘附、湿粘附及爪刺抓附为代表的仿生粘附方式开始兴起。目前，人造仿生干粘附和湿粘附材料只适用于洁净、光滑的壁面，还不能适应粗糙和多灰尘的壁面。此外，采用该种粘附方式的机器人运动形式单一，支持负载较小，也无法实现机器人在光滑与粗糙平面之间的完美切换。In recent years, inspired by animals such as geckos and beetles that can climb on walls, bionic adhesion methods represented by dry adhesion, wet adhesion, and claw-thorn gripping have begun to emerge. At present, artificial bionic dry-adhesive and wet-adhesive materials are only suitable for clean and smooth wall surfaces, and cannot adapt to rough and dusty wall surfaces. In addition, the robot using this adhesion method has a single movement form and a small supporting load, and it is impossible to realize the robot's perfect switching between smooth and rough surfaces.
通过专利检索，存在以下已知的技术方案：Through patent search, there are the following known technical solutions:
专利1：Patent 1:
申请号：201610870706.2，申请日：2016.09.30，授权公告日：2017.02.15，本发明公开了一种轮式爬壁机器人及其工作方法，属于机器人技术领域。机器人本体主要包括机架(2)、N个粘附轮式驱动装置(1)、以及涵道风扇(3)；上述粘附轮式驱动装置(1)安装于机架(2)上，每个粘附轮式驱动装置(1)均由主动同步轮(8)、诱导轮(9)、拖带同步轮(10)以及同步带(11)组成；同步带(11)外表面粘贴粘附材料(12)组成；上述涵道风扇(3)安装于机架(2)上，提供推力，作为粘附材料(12)的预压力，使机器人粘附于垂直面上。机器人的移动速度快，工作效率高，可用于楼宇、太阳能帆板、大型风机等表面的清洗，亦可用于大型垂直表面的状态监测等。Application number: 201610870706.2, application date: 2016.09.30, authorization announcement date: 2017.02.15, the invention discloses a wheeled wall-climbing robot and its working method, belonging to the field of robot technology. The robot body mainly includes a frame (2), N adhesion wheel drive devices (1), and a ducted fan (3); the above adhesion wheel drive device (1) is installed on the frame (2), and each adhesion wheel drive device (1) is composed of an active synchronous wheel (8), an induction wheel (9), a drag synchronous wheel (10) and a synchronous belt (11); the outer surface of the synchronous belt (11) is composed of an adhesive material (12); 2) On, provide thrust, as the pre-pressure of the adhesive material (12), make the robot adhere to the vertical surface. The robot moves fast and has high work efficiency. It can be used for cleaning the surfaces of buildings, solar panels, large wind turbines, etc., and can also be used for condition monitoring of large vertical surfaces.
该专利机器人虽然能实现楼宇、太阳能帆板表面的攀爬，但因采用粘附装置，无法实现表面粗糙度较大的粗糙表面的攀爬。Although this patented robot can realize climbing on the surface of buildings and solar panels, it cannot climb on rough surfaces with larger surface roughness due to the use of adhesion devices.
专利2：Patent 2:
申请号：201610966884.5，申请日：2016.10.28，授权公告日：2017.03.15，本发明公开了一种洞壁吸附爬壁机器人及水电站引水发电洞的检查方法，机器人利用吸附履带(1)配合负压室(2)和抽水泵(7)实现了机器人在洞壁上的吸附，同时利用驱动轮(9)配合姿态控制装置实现机器人的姿态调整和移动。本发明设计的水下吸附式爬壁电视检查机器人，不用人工潜水检查，具有安全、检查图像覆盖全洞段各方向、检查范围大、图像清晰、信息真实全面、检查效率高，可广泛用于大中型水电站的引水隧洞、大坝表面的水下检查工作。Application number: 201610966884.5, application date: 2016.10.28, authorized announcement date: 2017.03.15. The invention discloses a cave wall adsorption wall-climbing robot and an inspection method for water diversion and power generation caves of hydropower stations. The robot uses the adsorption crawler (1) to cooperate with the negative pressure chamber (2) and the water pump (7) to realize the adsorption of the robot on the cave wall, and at the same time, the driving wheel (9) and the attitude control device are used to realize the posture adjustment and movement of the robot. The underwater adsorption wall-climbing TV inspection robot designed by the present invention does not need manual diving inspection, has safety, inspection images cover all directions of the entire tunnel section, large inspection range, clear images, true and comprehensive information, and high inspection efficiency, and can be widely used in underwater inspections of diversion tunnels and dam surfaces of large and medium-sized hydropower stations.
该专利采用吸附履带方式，仅适用相对光滑表面的爬行，不能适用于粗糙壁面作业。This patent adopts the adsorption crawler method, which is only suitable for crawling on relatively smooth surfaces, and cannot be applied to operations on rough walls.
专利3：Patent 3:
申请号：201611095707.0，申请日：2016.12.02，授权公告日：2017.02.22，本发明公开一种基于静电吸附原理的双履带式清洁爬壁机器人，其包括机器人本体、吸附模块、运动模块、清洁模块和控制模块，所述吸附模块包括高压静电发生器和两个履带电极，所述高压静电发生器产生的静电传递到两个所述履带电极上，所述吸附模块设置在所述机器人本体的左右两侧；所述运动模块包括两个驱动电机和两个驱动轮，两个所述驱动轮设置在所述机器人本体后部的两侧；所述控制模块能够控制两个所述驱动电机差速转动，实现转向功能，设置在所述机器人本体的中部；所述清洁模块设置在所述机器人本体的前部，便于清洁。这样，履带电极与待清洁壁面紧紧吸附，安全稳定，控制模块控制机器人实现转弯，转向区域小，清洁洁净度高。Application number: 201611095707.0, application date: 2016.12.02, authorized announcement date: 2017.02.22, the invention discloses a double-crawler cleaning wall-climbing robot based on the principle of electrostatic adsorption, which includes a robot body, an adsorption module, a motion module, a cleaning module and a control module. The adsorption module includes a high-voltage electrostatic generator and two crawler electrodes. The left and right sides of the robot body; the motion module includes two drive motors and two drive wheels, and the two drive wheels are arranged on both sides of the robot body rear; the control module can control the differential rotation of the two drive motors to realize the steering function, and is arranged in the middle of the robot body; the cleaning module is arranged at the front of the robot body for easy cleaning. In this way, the crawler electrode is tightly adsorbed to the wall to be cleaned, which is safe and stable. The control module controls the robot to turn, the steering area is small, and the cleaning degree is high.
该专利适用的清洁表面较为光滑，同样也是采用履带模式爬行，无法实现粗糙面的抓附。The cleaning surface that this patent applies to is relatively smooth, and it also crawls in the crawler mode, which cannot grasp rough surfaces.
通过以上的检索发现，以上技术方案没有影响本发明的新颖性；并且以上专利文件的相互组合没有破坏本发明的创造性。Through the above search, it is found that the above technical solutions do not affect the novelty of the present invention; and the mutual combination of the above patent documents does not destroy the inventiveness of the present invention.
发明内容Contents of the invention
本发明正是为了避免上述现有技术所存在的不足之处，提供了一种爪刺式爬壁机器人的行走机构。The present invention provides a walking mechanism of a claw-type wall-climbing robot in order to avoid the shortcomings of the above-mentioned prior art.
本发明为解决技术问题采用如下技术方案：一种爪刺式爬壁机器人的行走机构，包括用于支撑固定的底盘，所述底盘上对角设置两个主运动舵机和两个切换舵机，所述主运动舵机用于驱动第一爬行机构和第二爬行机构以实现机器人的爬壁，所述切换舵机用于切换所述第一爬行机构或所述第二爬行机构执行爬壁动作，所述第一爬行机构和第二爬行机构分别用于在光滑及粗糙的墙壁环境攀爬；The present invention adopts the following technical solution to solve the technical problem: a walking mechanism of a claw-type wall-climbing robot, including a chassis for supporting and fixing. Two main motion steering gears and two switching steering gears are arranged diagonally on the chassis. The main motion steering gear is used to drive the first crawling mechanism and the second crawling mechanism to realize the wall climbing of the robot. The switching steering gear is used to switch the first crawling mechanism or the second crawling mechanism to perform wall climbing.
同步轴通过轴承连接于所述爪刺带轮支架前端，其内侧连接爪刺轮，两个爪刺带轮分别位于所述爪刺带轮支架前端和末端，并分别连接于所述同步轴外侧及通过轴与所述爪刺带轮支架转动连接，爪刺履带与两个爪刺带轮配合；弹簧两端分别与所述传动支架末端及所述爪刺带轮支架前端连接，构成所述第二爬行机构；The synchronous shaft is connected to the front end of the thorn pulley bracket through a bearing, and the inner side is connected to the thorn pulley, and the two thorn pulleys are respectively located at the front end and the end of the thorn pulley support, and are respectively connected to the outside of the synchronization shaft and connected to the thorn pulley support through the shaft.
每个切换舵机通过切换传动机构驱动两个对称设于其两侧的传动支架，每个传动支架末端均通过一个爪刺带轮支架连接有一个第二爬行机构；每个主运动舵机通过传动机构驱动两个对称设于其两侧的同步轴，进而驱动所述第二爬行机构执行爬壁动作。Each switching steering gear drives two transmission brackets symmetrically arranged on both sides through the switching transmission mechanism, and a second crawling mechanism is connected to the end of each transmission bracket through a claw barbed pulley bracket; each main motion steering gear drives two synchronous shafts symmetrically arranged on both sides of the steering gear through the transmission mechanism, and then drives the second crawling mechanism to perform wall climbing.
进一步的，所述爪刺履带由黏附材料以及爪刺复合制造而成，爪刺沿接线方向阵列排布，共十一排，爪刺与壁面的倾斜角为45°。Further, the claw crawler is made of adhesive materials and claws. The claws are arranged in an array along the wiring direction, a total of eleven rows, and the inclination angle between the claws and the wall is 45°.
进一步的，所述爪刺轮由多个弹性薄片结构构成。Further, the claw wheel is composed of a plurality of elastic sheet structures.
进一步的，所述爪刺轮上爪刺的倾斜角为45°。Further, the inclination angle of the claws on the claw wheel is 45°.
本发明提供了一种爪刺式爬壁机器人的行走机构，具有以下有益效果：The invention provides a walking mechanism of a claw-type wall-climbing robot, which has the following beneficial effects:
1、设有第二爬行机构，通过带有爪刺的爪刺轮和爪刺履带抓紧粗糙壁面，实现粗机器人粗糙、陡峭壁面的攀爬；1. Equipped with a second crawling mechanism, the rough wall is grasped by the claw wheel and the claw crawler with claws, so that the rough robot can climb rough and steep walls;
2、设有切换舵机，用于切换第一爬行机构或第二爬行机构执行爬壁动作，分别实现机器人在光滑及粗糙壁面上的攀爬；2. Equipped with a switching steering gear, which is used to switch the first crawling mechanism or the second crawling mechanism to perform wall-climbing actions, respectively realizing the climbing of the robot on smooth and rough walls;
3、设有两端分别与传动支架末端及爪刺带轮支架前端连接的弹簧，在切换舵机进行切换的过程中，确保爪刺履带抓紧壁面，壁面机器人由墙面滑落，实现第一爬行机构和第二爬行机构爬壁的平稳切换；3. There are two springs connected to the end of the transmission bracket and the front end of the claw pulley bracket respectively. During the switching process of switching the steering gear, it is ensured that the claw track grasps the wall, and the wall robot slides down from the wall to realize the smooth switching between the first crawling mechanism and the second crawling mechanism climbing the wall;
4、爪刺轮和爪刺带轮通过同步轴驱动，确保两者角速度一致并实现同步传输，提升机器人爬壁的稳定性和可靠性；4. The claw wheel and the claw pulley are driven by a synchronous shaft to ensure that the angular velocity of the two is consistent and realize synchronous transmission, improving the stability and reliability of the robot's wall climbing;
5、结构简单、可靠，自动化程度高，特别适用于执行陡峭壁面、狭小空间等特殊环境的清洁、检测、救援任务。5. The structure is simple, reliable, and highly automated, especially suitable for cleaning, detection, and rescue tasks in special environments such as steep walls and narrow spaces.
附图说明Description of drawings
图1为本发明的结构示意图；Fig. 1 is a structural representation of the present invention;
图2为本发明第二爬行机构的仰视图；Fig. 2 is the bottom view of the second crawling mechanism of the present invention;
图3为本发明爪刺履带的结构示意图。Fig. 3 is a schematic structural view of the claw track of the present invention.
图中：In the picture:
1、底盘；2、第一爬行机构，21、主运动舵机，22、同步带轮，221、主动轮，23、吸附履带；3、切换机构，31、切换舵机，32、传动支架；4、第二爬行机构，41、传动机构，42、同步轴，43、爪刺轮，44、爪刺带轮，45、爪刺履带，46、爪刺带轮支架，47、弹簧。1, chassis; 2, the first crawling mechanism, 21, main motion steering gear, 22, synchronous pulley, 221, driving wheel, 23, adsorption crawler belt; 3, switching mechanism, 31, switching steering gear, 32, transmission bracket; 4, the second crawling mechanism, 41, transmission mechanism, 42, synchronous shaft, 43, claw stab wheel, 44, claw spike pulley, 45, claw spike track, 46, claw spike pulley support, 47, spring.
具体实施方式Detailed ways
为使本发明实施例的目的、技术方案和优点更加清楚，下面将结合本发明实施例，对本发明实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例是本发明一部分实施例，而不是全部的实施例。基于本发明中的实施例，本领域普通技术人员在没有作出创造性劳动前提下所获得的所有其他实施例，都属于本发明保护的范围。In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without creative efforts fall within the protection scope of the present invention.
实施例1Example 1
如图1～图3所示，其结构关系为：包括用于支撑固定的底盘1，底盘1上对角设置两个主运动舵机21和两个切换舵机31，主运动舵机21用于驱动第一爬行机构2和第二爬行机构4以实现机器人的爬壁，切换舵机31用于切换第一爬行机构2或第二爬行机构4执行爬壁动作，第一爬行机构2和第二爬行机构4分别用于在光滑及粗糙的墙壁环境攀爬；As shown in Figures 1 to 3, the structural relationship is as follows: a chassis 1 for supporting and fixing is included. Two main motion steering gears 21 and two switching steering gears 31 are arranged diagonally on the chassis 1. The main motion steering gear 21 is used to drive the first crawling mechanism 2 and the second crawling mechanism 4 to realize the wall climbing of the robot. The switching steering gear 31 is used to switch the first crawling mechanism 2 or the second crawling mechanism 4 to perform wall climbing actions.
同步轴42通过轴承连接于爪刺带轮支架46前端，其内侧连接爪刺轮43，两个爪刺带轮44分别位于爪刺带轮支架46前端和末端，并分别连接于同步轴42外侧及通过轴与爪刺带轮支架46转动连接，爪刺履带45与两个爪刺带轮44配合；弹簧47两端分别与传动支架32末端及爪刺带轮支架46前端连接，构成第二爬行机构4；The synchronous shaft 42 is connected to the front end of the claw thorn pulley support 46 through a bearing, and its inner side is connected to the claw thorn pulley 43. Two claw thorn pulleys 44 are located at the front end and the end of the claw thorn pulley support 46 respectively, and are respectively connected to the outside of the synchronous shaft 42 and are connected in rotation with the claw thorn pulley support 46 through the shaft.
每个切换舵机31通过切换传动机构驱动两个对称设于其两侧的传动支架32，每个传动支架32末端均通过一个爪刺带轮支架46连接有一个第二爬行机构4；每个主运动舵机21通过传动机构驱动两个对称设于其两侧的同步轴42，进而驱动第二爬行机构4执行爬壁动作。Each switching steering gear 31 drives two symmetrical transmission brackets 32 located on both sides of it through a switching transmission mechanism, and the end of each transmission bracket 32 is connected to a second crawling mechanism 4 through a claw barbed pulley bracket 46; each main motion steering gear 21 drives two synchronous shafts 42 symmetrically located on its both sides through a transmission mechanism, and then drives the second crawling mechanism 4 to perform wall climbing.
优选的，每个主运动舵机21通过齿轮及传动轴驱动两个对称设于其两侧的同步带轮22，两个吸附履带23分别与两组同侧的同步带轮22配合，构成第一爬行机构2，第一爬行机构2通过吸附履带23吸附墙壁实现攀爬；同步带轮22外侧设主动轮221，并通过主动轮221将动力经传动机构41传递至第二爬行机构。Preferably, each main motion steering gear 21 drives two synchronous pulleys 22 symmetrically located on its both sides through gears and transmission shafts, and two adsorption crawlers 23 cooperate with two groups of same-side synchronous pulleys 22 respectively to form the first crawling mechanism 2, and the first crawling mechanism 2 realizes climbing by absorbing the wall of the adsorption crawler belt 23;
优选的，第一爬行机构2中还可设置副同步带轮及副吸附履带，以增加吸附力。Preferably, an auxiliary synchronous pulley and an auxiliary adsorption track can also be arranged in the first crawling mechanism 2 to increase the adsorption force.
优选的，爪刺履带45由黏附材料以及爪刺复合制造而成，爪刺沿接线方向阵列排布，共十一排，爪刺与壁面的倾斜角为45°。Preferably, the claw crawler 45 is made of adhesive materials and claws. The claws are arranged in an array along the wiring direction, a total of eleven rows, and the inclination angle between the claws and the wall is 45°.
优选的，爪刺轮43由多个弹性薄片结构构成。Preferably, the claw wheel 43 is composed of a plurality of elastic sheet structures.
优选的，爪刺轮43上爪刺的倾斜角为45°Preferably, the angle of inclination of the claws on the claw wheel 43 is 45°
具体使用时，主运动舵机21驱动第一爬行机构2或第二爬行机构4执行爬壁动作，实现机器人的爬壁。当壁面光滑时，使用第一爬行机构2进行爬壁，吸附履带23和副吸附履带吸附墙壁，并在主运动舵机21的驱动下转动，实现机器人的爬壁；当壁面粗糙时，使用第二爬行机构4进行爬壁，爪刺轮43和爪刺履带45上的爪刺抓紧壁面，并在主运动舵机21的驱动下转动，实现机器人的爬壁。During specific use, the main motion steering gear 21 drives the first crawling mechanism 2 or the second crawling mechanism 4 to perform a wall-climbing action, thereby realizing the robot's wall-climbing. When the wall surface is smooth, use the first crawling mechanism 2 to climb the wall, the adsorption crawler belt 23 and the auxiliary adsorption crawler belt absorb the wall, and rotate under the drive of the main motion steering gear 21 to realize the wall climbing of the robot;
当壁面由粗糙过度为光滑时，需要切换至使用第一爬行机构2进行爬壁。此时，切换舵机31驱动传动支架32转动，使底盘1逐步接近壁面。切换过程中，弹簧47将传动支架32与爪刺带轮支架46拉紧，使爪刺带轮支架46向墙壁方向转动，保证爪刺履带45始终抓紧壁面，避免切换时爪刺轮43受到传动支架32抬升力后与墙壁之间接触的爪刺数目下降，导致机器人抓持力不足由避免滑落。When the wall surface changes from rough to smooth, it is necessary to switch to use the first crawling mechanism 2 to climb the wall. At this time, the switching steering gear 31 drives the transmission bracket 32 to rotate, so that the chassis 1 gradually approaches the wall. During the switching process, the spring 47 tightens the transmission support 32 and the claw thorn pulley support 46, so that the claw thorn pulley support 46 rotates towards the wall direction to ensure that the claw thorn crawler belt 45 grasps the wall all the time, avoiding the number of claw thorns contacting between the claw thorn wheel 43 and the wall after being subjected to the lifting force of the transmission support 32 during switching, resulting in insufficient gripping force of the robot to avoid slipping.
实施例2Example 2
如图1～图3所示，其结构关系为：包括用于支撑固定的底盘1，底盘1上对角设置两个主运动舵机21和两个切换舵机31，主运动舵机21用于驱动第一爬行机构2和第二爬行机构4以实现机器人的爬壁，切换舵机31用于切换第一爬行机构2或第二爬行机构4执行爬壁动作，第一爬行机构2和第二爬行机构4分别用于在光滑及粗糙的墙壁环境攀爬；As shown in Figures 1 to 3, the structural relationship is as follows: a chassis 1 for supporting and fixing is included. Two main motion steering gears 21 and two switching steering gears 31 are arranged diagonally on the chassis 1. The main motion steering gear 21 is used to drive the first crawling mechanism 2 and the second crawling mechanism 4 to realize the wall climbing of the robot. The switching steering gear 31 is used to switch the first crawling mechanism 2 or the second crawling mechanism 4 to perform wall climbing actions.
同步轴42通过轴承连接于爪刺带轮支架46前端，其内侧连接爪刺轮43，两个爪刺带轮44分别位于爪刺带轮支架46前端和末端，并分别连接于同步轴42外侧及通过轴与爪刺带轮支架46转动连接，爪刺履带45与两个爪刺带轮44配合；弹簧47两端分别与传动支架32末端及爪刺带轮支架46前端连接，构成第二爬行机构4；The synchronous shaft 42 is connected to the front end of the claw thorn pulley support 46 through a bearing, and its inner side is connected to the claw thorn pulley 43. Two claw thorn pulleys 44 are located at the front end and the end of the claw thorn pulley support 46 respectively, and are respectively connected to the outside of the synchronous shaft 42 and are connected in rotation with the claw thorn pulley support 46 through the shaft.
每个切换舵机31通过切换传动机构驱动两个对称设于其两侧的传动支架32，每个传动支架32末端均通过一个爪刺带轮支架46连接有一个第二爬行机构4；每个主运动舵机21通过传动机构驱动两个对称设于其两侧的同步轴42，进而驱动第二爬行机构4执行爬壁动作。Each switching steering gear 31 drives two symmetrical transmission brackets 32 located on both sides of it through a switching transmission mechanism, and the end of each transmission bracket 32 is connected to a second crawling mechanism 4 through a claw barbed pulley bracket 46; each main motion steering gear 21 drives two synchronous shafts 42 symmetrically located on its both sides through a transmission mechanism, and then drives the second crawling mechanism 4 to perform wall climbing.
优选的，主运动舵机21采用北京智能佳AX-18数字型，输出端采用花键舵盘与传动机构41连接，通过两级齿轮传动机构带动爪刺轮43和爪刺履带45同时旋转。Preferably, the main motion steering gear 21 adopts Beijing Zhizhijia AX-18 digital type, and the output end adopts a splined steering wheel to connect with the transmission mechanism 41, and the two-stage gear transmission mechanism drives the claw wheel 43 and the claw crawler belt 45 to rotate simultaneously.
优选的，传动机构41的两级齿轮平行排列且齿数相等，机构总传动比为1。为了减少装配误差以及减轻自身重量，中间齿轮与其附属零件采用3D打印一体成型。所有齿轮材料均为尼龙2200。Preferably, the two-stage gears of the transmission mechanism 41 are arranged in parallel with the same number of teeth, and the total transmission ratio of the mechanism is 1. In order to reduce assembly errors and reduce its own weight, the intermediate gear and its accessory parts are integrally formed by 3D printing. All gear materials are Nylon 2200.
优选的，传动支架32中部镂空处理，以减轻整体质量。Preferably, the middle part of the transmission bracket 32 is hollowed out to reduce the overall mass.
具体使用时，主运动舵机21驱动第一爬行机构2或第二爬行机构4执行爬壁动作，实现机器人的爬壁。当壁面光滑时，使用第一爬行机构2进行爬壁；当壁面粗糙时，使用第二爬行机构4进行爬壁，爪刺轮43和爪刺履带45上的爪刺抓紧壁面，并在主运动舵机21的驱动下转动，实现机器人的爬壁。During specific use, the main motion steering gear 21 drives the first crawling mechanism 2 or the second crawling mechanism 4 to perform a wall-climbing action, thereby realizing the robot's wall-climbing. When the wall surface is smooth, the first crawling mechanism 2 is used to climb the wall; when the wall surface is rough, the second crawling mechanism 4 is used to climb the wall, and the claws on the claw wheel 43 and the claw crawler 45 grasp the wall and rotate under the drive of the main motion steering gear 21 to realize the wall climbing of the robot.
当壁面由粗糙过度为光滑时，需要切换至使用第一爬行机构2进行爬壁。此时，切换舵机31驱动传动支架32转动，使底盘1逐步接近壁面。切换过程中，弹簧47将传动支架32与爪刺带轮支架46拉紧，使爪刺带轮支架46向墙壁方向转动，保证爪刺履带45始终抓紧壁面，避免切换时爪刺轮43受到传动支架32抬升力后与墙壁之间接触的爪刺数目下降，导致机器人抓持力不足由避免滑落。When the wall surface changes from rough to smooth, it is necessary to switch to use the first crawling mechanism 2 to climb the wall. At this time, the switching steering gear 31 drives the transmission bracket 32 to rotate, so that the chassis 1 gradually approaches the wall. During the switching process, the spring 47 tightens the transmission support 32 and the claw thorn pulley support 46, so that the claw thorn pulley support 46 rotates towards the wall direction to ensure that the claw thorn crawler belt 45 grasps the wall all the time, avoiding the number of claw thorns contacting between the claw thorn wheel 43 and the wall after being subjected to the lifting force of the transmission support 32 during switching, resulting in insufficient gripping force of the robot to avoid slipping.
实施例3Example 3
一种爪刺式爬壁机器的爪刺轮的安装方法，包括以下步骤：将爪刺安装于爪刺轮的管线内，然后将管线与爪刺沟槽粘合。A method for installing a claw wheel of a claw-type wall-climbing machine, comprising the following steps: installing the claws in the pipeline of the claw wheel, and then adhering the pipeline to the groove of the claw.
目前，爪刺安装一般将爪刺直接安装在爪刺沟槽内，安装效率极低，单个爪刺费时约5min。同时，因固定胶与爪刺接触面积有限，爪刺极易松动脱落。At present, claws are generally installed directly in the grooves of the claws. The installation efficiency is extremely low, and it takes about 5 minutes for a single claw. At the same time, due to the limited contact area between the fixing glue and the claws, the claws are very easy to loosen and fall off.
本方法将爪刺安装于爪刺轮的管线内，然后将管线与爪刺沟槽粘合，粘合强度是直接安装爪刺方法的五倍，安装效率为1分钟5个。In this method, the claws are installed in the pipeline of the claw wheel, and then the pipeline is bonded to the groove of the claws. The bonding strength is five times that of the method of directly installing the claws, and the installation efficiency is 5 per minute.
需要说明的是，在本文中，诸如第一和第二等之类的关系术语仅仅用来将一个实体或者操作与另一个实体或操作区分开来，而不一定要求或者暗示这些实体或操作之间存在任何这种实际的关系或者顺序。而且，术语“包括”、“包含”或者其任何其他变体意在涵盖非排他性的包含，从而使得包括一系列要素的过程、方法、物品或者设备不仅包括那些要素，而且还包括没有明确列出的其他要素，或者是还包括为这种过程、方法、物品或者设备所固有的要素。在没有更多限制的情况下，由语句“包括一个……”限定的要素，并不排除在包括所述要素的过程、方法、物品或者设备中还存在另外的相同要素。It should be noted that in this document, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the term "comprises", "comprises" or any other variation thereof is intended to cover a non-exclusive inclusion such that a process, method, article or apparatus comprising a set of elements includes not only those elements but also other elements not expressly listed or which are inherent to such process, method, article or apparatus. Without further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article or apparatus comprising said element.
以上实施例仅用以说明本发明的技术方案，而非对其限制；尽管参照前述实施例对本发明进行了详细的说明，本领域的普通技术人员应当理解：其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换；而这些修改或者替换，并不使相应技术方案的本质脱离本发明各实施例技术方案的精神和范围。The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: it can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions depart from the spirit and scope of the technical solutions of the various embodiments of the present invention.
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711458175.7ACN107963143B (en) | 2017-12-28 | 2017-12-28 | Walking mechanism of claw-thorn type wall climbing robot |
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201711458175.7ACN107963143B (en) | 2017-12-28 | 2017-12-28 | Walking mechanism of claw-thorn type wall climbing robot |
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| CN107963143A CN107963143A (en) | 2018-04-27 |
| CN107963143Btrue CN107963143B (en) | 2023-07-25 |
| Application Number | Title | Priority Date | Filing Date |
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| CN201711458175.7AActiveCN107963143B (en) | 2017-12-28 | 2017-12-28 | Walking mechanism of claw-thorn type wall climbing robot |
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