CN108860356A - A kind of climbing robot - Google Patents
A kind of climbing robot Download PDFInfo
- Publication number
- CN108860356A CN108860356A CN201810646158.4A CN201810646158A CN108860356A CN 108860356 A CN108860356 A CN 108860356A CN 201810646158 A CN201810646158 A CN 201810646158A CN 108860356 A CN108860356 A CN 108860356A
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- China
- Prior art keywords
- crank
- climbing robot
- driving unit
- rocker
- bottom plate
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of for crawling the climbing robot of operation in vertical walls, it includes bottom plate, driving unit and adsorbing mechanism of creeping, driving unit is placed on the top of bottom plate, adsorbing mechanism of creeping includes two groups of crank-rocker structures positioned at driving unit two sides, every group of crank-rocker structure includes two crank rocker units being oppositely arranged along the central axis of bottom plate, and the crank of each crank rocker unit is connected to driving unit.Compared with the prior art, robot body of the invention is designed as four-footed absorption climbing mechanism, when crawling can retainer body it is steady, and drive four crank rocker units by a motor, move flexible, adaptable.
Description
Technical field
The present invention relates to polypody bio-robot technical fields, more particularly to one kind to be suitable for being climbed in vertical walls
The climbing robot of row operation.
Background technique
In the prior art, with the raising of Building technology, glass curtain wall is because of light and handy beautiful, easy for installation, easy maintenance
The advantages that be widely used in skyscraper.For example, skyscraper for beauty, is often gradually replaced using entire glass curtain wall
For traditional exterior wall.At the same time, glass curtain wall easily covers dirt and receives dirt, in order to keep its bright and clean bright, certainly will need periodically into
Row cleaning.Currently, most glass curtain wall slowly carries out cleaning, this method efficiency using " one rope type of a people "
It is low, at high cost and have it is high risk sexual.
With the development of science and technology, the special machines people for glass curtain wall cleaning is seen in market, heavy load, movement spirit in succession
Climbing robot living certainly will replace the washing and cleaning operation manually automated.However, existing climbing robot is in load energy
More difficult between power and kinematic dexterity to take into account, load capacity is stronger, it is desirable to which the adsorption capacity of robot body is bigger, and this is often
It will cause the resistance of motion again to increase so as to cause mobile heavy and slow in reacting.
Summary of the invention
In view of the above drawbacks of the prior art, it is suitable for crawling operation in vertical walls the present invention provides one kind
Climbing robot.
According to one aspect of the present invention, a kind of climbing robot is provided, suitable for crawling in vertical walls
Operation, the climbing robot include bottom plate, driving unit and adsorbing mechanism of creeping, wherein driving unit is placed on bottom plate
Top, the adsorbing mechanism of creeping include two groups of crank-rocker structures positioned at driving unit two sides, every group of crank-rocker structure
For the climbing robot absorption and creep comprising shaken along two cranks that the central axis of the bottom plate is oppositely arranged
The crank of bar unit, each crank rocker unit is connected to driving unit, wherein
The crank rocker unit includes bracket, oscillating rod, drive rod, crank connecting link, rocking bar, sucker, sliding block, and bracket is perpendicular
It directly is fixed on bottom plate, crank connecting link and rocking bar are placed on bracket, and oscillating rod is connect with rocking bar and drive rod, sucker and driving
Bar connection.
In a specific embodiment, driving unit is set to the middle position of two groups of crank-rocker structures.
Crank rocker list in a specific embodiment, in the same side of the bottom plate, the crank-rocker structure of difference group
Member shares same bracket.
In a specific embodiment, sucker is vacuum chuck, is used to provide the described climbing robot in the vertical walls
Adsorption capacity.
In a specific embodiment, sliding block is hollow metal block, and oscillating rod through sliding block and is connected to sucker via sliding block.
In a specific embodiment, driving unit drives crank connecting link rotation, and crank connecting link connects oscillating rod to movable pendulum
Lever movement；Rocking bar is connected with bracket and oscillating rod respectively, and oscillating rod motion profile is made to reach preset state；Oscillating rod connection is driven
Lever is to drive drive rod to move；Sliding block is connect with bracket and drive rod respectively, and the motion profile of drive rod is made to reach default
State.
Using of the invention for crawling the climbing robot of operation in vertical walls comprising bottom plate, driving are single
Member and adsorbing mechanism of creeping, driving unit are placed on the top of bottom plate, and adsorbing mechanism of creeping includes being located at driving unit two sides
Two groups of crank-rocker structures, every group of crank-rocker structure includes two crank rockers being oppositely arranged along the central axis of bottom plate
The crank of unit, each crank rocker unit is connected to driving unit.Compared with the prior art, robot body of the invention
Be designed as four-footed absorption climbing mechanism, when crawling can retainer body it is steady, and drive four by a motor
Crank rocker unit moves flexible, adaptable.
Detailed description of the invention
Reader is after having read a specific embodiment of the invention referring to attached drawing, it will more clearly understands of the invention
Various aspects.Wherein,
Fig. 1 is shown according to one aspect of the present invention, for crawling in vertical walls the climbing robot of operation
Structural schematic diagram.
Specific embodiment
In order to keep techniques disclosed in this application content more detailed with it is complete, can refer to attached drawing and of the invention following
Various specific embodiments, identical label represents the same or similar component in attached drawing.However, those skilled in the art
It should be appreciated that embodiment provided hereinafter is not intended to limit the invention covered range.In addition, attached drawing is used only for
It is schematically illustrated, and is drawn not according to its full size.
With reference to the accompanying drawings, the specific embodiment of various aspects of the present invention is described in further detail.
Fig. 1 is shown according to one aspect of the present invention, for crawling in vertical walls the climbing robot of operation
Structural schematic diagram.Wherein, the component that numeral mark represents is followed successively by：Bracket 1, oscillating rod 2, drive rod 3, driving unit 4, crank
Connecting rod 5, rocking bar 6, sucker 7, sliding block 8.
Referring to Fig.1, in this embodiment, the climbing robot of the application includes bottom plate, driving unit and absorption of creeping
Mechanism.Driving unit 4 is placed on the top of bottom plate, and adsorbing mechanism of creeping includes that two groups of cranks positioned at 4 two sides of driving unit shake
Rod structure.Every group of crank-rocker structure is used for the absorption of climbing robot and creeps comprising the central axis along bottom plate is opposite
Two crank rocker units being arranged.The crank of each crank rocker unit is connected to driving unit 4.Preferably, driving is single
Member 4 is set to the middle position of two groups of crank-rocker structures.
Crank rocker unit includes bracket 1, oscillating rod 2, drive rod 3, crank connecting link 5, rocking bar 6, sucker 7, sliding block 8.Branch
Frame 1 is fixed on bottom plate vertically, and crank connecting link 5 and rocking bar 6 are placed on bracket 1, and oscillating rod 2 and rocking bar 6 and drive rod 3 connect
It connects, sucker 7 is connect with drive rod 3.As shown in Figure 1, the crank in the crank-rocker structure of difference group shakes in the same side of bottom plate
Bar unit shares same bracket 1.
In a specific embodiment, sucker 7 is vacuum chuck, for providing climbing robot in the adsorption capacity of vertical walls.
In addition, sliding block 8 is hollow metal block, oscillating rod 2 through sliding block 8 and is connected to sucker 7 via sliding block 8.
In a specific embodiment, driving unit 4 drives crank connecting link 5 to rotate, and crank connecting link 5 connects oscillating rod 3 to band
Movable pendulum lever 3 moves.Rocking bar 6 is connected with bracket 1 and oscillating rod 3 respectively, and 3 motion profile of oscillating rod is made to reach preset state.Pendulum
Lever 3 connects drive rod 2 to drive drive rod 2 to move.Sliding block 8 is connect with bracket 1 and drive rod 2 respectively, makes drive rod 2
Motion profile reaches preset state.
Using of the invention for crawling the climbing robot of operation in vertical walls comprising bottom plate, driving are single
Member and adsorbing mechanism of creeping, driving unit are placed on the top of bottom plate, and adsorbing mechanism of creeping includes being located at driving unit two sides
Two groups of crank-rocker structures, every group of crank-rocker structure includes two crank rockers being oppositely arranged along the central axis of bottom plate
The crank of unit, each crank rocker unit is connected to driving unit.Compared with the prior art, robot body of the invention
Be designed as four-footed absorption climbing mechanism, when crawling can retainer body it is steady, and drive four by a motor
Crank rocker unit moves flexible, adaptable.
Above, a specific embodiment of the invention is described with reference to the accompanying drawings.But those skilled in the art
It is understood that without departing from the spirit and scope of the present invention, can also make to a specific embodiment of the invention each
Kind change and replacement.These changes and replacement are all fallen within the scope of the invention as defined in the claims.
Claims (6)
1. a kind of climbing robot, suitable for crawling operation in vertical walls, which is characterized in that the climbing robot packet
Bottom plate, driving unit (4) and adsorbing mechanism of creeping are included,
Wherein, driving unit (4) is placed on the top of bottom plate, and the adsorbing mechanism of creeping includes being located at driving unit (4) two sides
Two groups of crank-rocker structures, every group of crank-rocker structure for the climbing robot absorption and creep comprising along institute
Two crank rocker units that the central axis of bottom plate is oppositely arranged are stated, the crank of each crank rocker unit is connected to driving
Unit (4)；
Wherein, the crank rocker unit include bracket (1), oscillating rod (2), drive rod (3), crank connecting link (5), rocking bar (6),
Sucker (7), sliding block (8), bracket (1) are fixed on bottom plate vertically, and crank connecting link (5) and rocking bar (6) are placed on bracket (1), pendulum
Lever (2) is connect with rocking bar (6) and drive rod (3), and sucker (7) is connect with drive rod (3).
2. climbing robot according to claim 1, which is characterized in that driving unit (4) is set to two groups of crank rockers
The middle position of structure.
3. climbing robot according to claim 1, which is characterized in that in the same side of the bottom plate, the song of difference group
The same bracket of crank rocker units shared (1) in handle rocker structure.
4. climbing robot according to claim 1, which is characterized in that sucker (7) is vacuum chuck, is used to provide the described
Adsorption capacity of the climbing robot in the vertical walls.
5. climbing robot according to claim 1, which is characterized in that sliding block (8) is hollow metal block, oscillating rod (2)
Sucker (7) are connected to through sliding block (8) and via sliding block (8).
6. climbing robot according to claim 1, which is characterized in that driving unit (4) drives crank connecting link (5) rotation
Turn, crank connecting link (5) connection oscillating rod (3) is to drive oscillating rod (3) to move；Rocking bar (6) respectively with bracket (1) and oscillating rod
(3) it is connected, oscillating rod (3) motion profile is made to reach preset state；Oscillating rod (3) connection drive rod (2) is to drive drive rod
(2) it moves；Sliding block (8) is connect with bracket (1) and drive rod (2) respectively, and the motion profile of drive rod (2) is made to reach default shape
State.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810646158.4A CN108860356A (en) | 2018-06-21 | 2018-06-21 | A kind of climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810646158.4A CN108860356A (en) | 2018-06-21 | 2018-06-21 | A kind of climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108860356A true CN108860356A (en) | 2018-11-23 |
Family
ID=64340645
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810646158.4A Pending CN108860356A (en) | 2018-06-21 | 2018-06-21 | A kind of climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108860356A (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110126938A (en) * | 2019-05-24 | 2019-08-16 | 北京深醒科技有限公司 | A kind of quadruped robot suitable for security protection patrol |
| CN111114721A (en) * | 2019-12-30 | 2020-05-08 | 广州航海学院 | Adsorption type underwater robot |
| CN111806590A (en) * | 2020-07-17 | 2020-10-23 | 上海布鲁可科技有限公司 | Crawling robot |
| CN112478010A (en) * | 2020-10-30 | 2021-03-12 | 浙江大学 | Underwater cruising and wall-climbing dual-mode robot |
| CN112744307A (en) * | 2021-01-08 | 2021-05-04 | 中国石油大学胜利学院 | Wall-climbing robot for smooth plane and wall-climbing method thereof |
| CN115092284A (en) * | 2022-06-29 | 2022-09-23 | 中国民航大学 | Miniature absorption formula robot |
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| CN201445469U (en) * | 2009-07-20 | 2010-05-05 | 昆山市工业技术研究院有限责任公司 | Curtain wall automatic cleaning mechanism |
| CN204587074U (en) * | 2015-03-23 | 2015-08-26 | 王涛 | A kind of negative-pressure adsorption-type bionic wall climbing robot |
| US20160075035A1 (en) * | 2014-09-15 | 2016-03-17 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd | Loading device having suction assemblies with adjustable interspaces thereamong |
| CN205697569U (en) * | 2016-02-03 | 2016-11-23 | 南京聚特机器人技术有限公司 | A kind of glass curtain wall clean robot |
| CN107411650A (en) * | 2017-06-29 | 2017-12-01 | 安徽南博机器人有限公司 | Stereoscopic wall surface cleaning machine |
| CN207407879U (en) * | 2017-10-07 | 2018-05-25 | 厦门精图信息技术有限公司 | A kind of novel underground pipeline mapping system |
| CN108742275A (en) * | 2018-06-21 | 2018-11-06 | 宁波介量机器人技术有限公司 | One kind climbing wall cleaning robot |
| CN108852144A (en) * | 2018-06-21 | 2018-11-23 | 宁波介量机器人技术有限公司 | A kind of automatic cleaning equipment and cleaning method for glass curtain wall |
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2018
- 2018-06-21 CN CN201810646158.4A patent/CN108860356A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN201445469U (en) * | 2009-07-20 | 2010-05-05 | 昆山市工业技术研究院有限责任公司 | Curtain wall automatic cleaning mechanism |
| US20160075035A1 (en) * | 2014-09-15 | 2016-03-17 | Hong Fu Jin Precision Industry (Shenzhen) Co., Ltd | Loading device having suction assemblies with adjustable interspaces thereamong |
| CN204587074U (en) * | 2015-03-23 | 2015-08-26 | 王涛 | A kind of negative-pressure adsorption-type bionic wall climbing robot |
| CN205697569U (en) * | 2016-02-03 | 2016-11-23 | 南京聚特机器人技术有限公司 | A kind of glass curtain wall clean robot |
| CN107411650A (en) * | 2017-06-29 | 2017-12-01 | 安徽南博机器人有限公司 | Stereoscopic wall surface cleaning machine |
| CN207407879U (en) * | 2017-10-07 | 2018-05-25 | 厦门精图信息技术有限公司 | A kind of novel underground pipeline mapping system |
| CN108742275A (en) * | 2018-06-21 | 2018-11-06 | 宁波介量机器人技术有限公司 | One kind climbing wall cleaning robot |
| CN108852144A (en) * | 2018-06-21 | 2018-11-23 | 宁波介量机器人技术有限公司 | A kind of automatic cleaning equipment and cleaning method for glass curtain wall |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110126938A (en) * | 2019-05-24 | 2019-08-16 | 北京深醒科技有限公司 | A kind of quadruped robot suitable for security protection patrol |
| CN111114721A (en) * | 2019-12-30 | 2020-05-08 | 广州航海学院 | Adsorption type underwater robot |
| CN111806590A (en) * | 2020-07-17 | 2020-10-23 | 上海布鲁可科技有限公司 | Crawling robot |
| CN112478010A (en) * | 2020-10-30 | 2021-03-12 | 浙江大学 | Underwater cruising and wall-climbing dual-mode robot |
| CN112744307A (en) * | 2021-01-08 | 2021-05-04 | 中国石油大学胜利学院 | Wall-climbing robot for smooth plane and wall-climbing method thereof |
| CN115092284A (en) * | 2022-06-29 | 2022-09-23 | 中国民航大学 | Miniature absorption formula robot |
| CN115092284B (en) * | 2022-06-29 | 2023-10-03 | 中国民航大学 | Miniature adsorption robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
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| WD01 | Invention patent application deemed withdrawn after publication | ||
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Application publication date: 20181123 |