CN109436115A - Climbing robot - Google Patents
Climbing robot Download PDFInfo
- Publication number
- CN109436115A CN109436115A CN201811631188.4A CN201811631188A CN109436115A CN 109436115 A CN109436115 A CN 109436115A CN 201811631188 A CN201811631188 A CN 201811631188A CN 109436115 A CN109436115 A CN 109436115A
- Authority
- CN
- China
- Prior art keywords
- along
- connection frame
- bracket
- main part
- length direction
- Prior art date
- 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.)
- Granted
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 38
- 239000003463 adsorbent Substances 0.000 claims abstract description 37
- 230000005540 biological transmission Effects 0.000 claims description 21
- 239000011324 bead Substances 0.000 claims description 10
- 230000014759 maintenance of location Effects 0.000 claims description 10
- 238000003825 pressing Methods 0.000 claims description 8
- 238000001179 sorption measurement Methods 0.000 description 48
- 238000010521 absorption reaction Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 125000000623 heterocyclic group Chemical group 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
Landscapes
- 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 climbing robot, including robot body and running gear, the robot body includes the first main part, first main part is multiple, multiple first main parts are arranged along the width direction interval of the robot body, it is hinged by articulation piece between two neighboring first main part, the running gear is equipped on each first main part, the running gear is equipped with adsorbent equipment, the adsorbent equipment is for adsorbing working face, and the running gear is for driving the robot body to walk along the working face.The present invention can be improved the reliability that climbing robot uses.
Description
Technical field
The present invention relates to walking arrangement technology more particularly to a kind of climbing robots.
Background technique
With the high speed development of modern society and science and technology, climbing robot is just increasingly used in various multiple
Heterocycle border.
Existing climbing robot includes the robot body being connected and crawler attachment, crawler attachment include driving wheel,
The surface of track member is arranged in track member and magnetic devices, magnetic devices, and track member can be adsorbed on work by magnetic devices
On face, in addition, track member is arranged on the drive wheel and engages with driving wheel, driving wheel is for driving track member to operate, to make
Crawler attachment can walk on working face, and then robot body is driven to move along working face.
However, existing climbing robot is on pipeline or cylinder when walking, and since working face is arcwall face, magnetic
Property device can not fit with working face, to reduce magnetic devices for the adsorption capacity of working face, make track member be easy with
Working face is separated, and reduces the reliability that climbing robot uses.
Summary of the invention
The present invention provides a kind of climbing robot, to improve the reliability used.
The present invention provides a kind of climbing robot, including robot body and running gear, and the robot body includes
First main part, first main part are multiple, width direction of multiple first main parts along the robot body
Interval is arranged, hinged by articulation piece between two neighboring first main part, is equipped with the row on each first main part
Walking apparatus, the running gear are equipped with adsorbent equipment, and for adsorbing working face, the running gear is used for the adsorbent equipment
The robot body is driven to walk along the working face.
Based on above-mentioned, climbing robot provided by the invention, when in use, can be inhaled by the adsorbent equipment on running gear
Attached working face, and drive robot body to walk along working face by running gear.Since multiple first main parts are along robot
The width direction interval of main body is arranged, hinged by articulation piece between two neighboring first main part, therefore, multiple first main bodys
Between portion can using the axis of articulation piece as center relative rotation, and due to being equipped with running gear on each first main part, because
This is when the adsorbent equipment on running gear is adsorbed on curved working face, multiple first main parts energy under the action of adsorption capacity
Enough using the axis of articulation piece as center relative rotation, to make robot body form the shape for adapting to curved working face, thus
It can be improved the compactness of adsorbent equipment and working face, to improve adsorbent equipment for the adsorption capacity of working face, effectively prevent
Running gear is separated with working face, improves the reliability that climbing robot uses.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of climbing robot provided in an embodiment of the present invention；
Fig. 2 is a kind of bottom view of climbing robot provided in an embodiment of the present invention；
Fig. 3 is a kind of partial structural diagram of climbing robot provided in an embodiment of the present invention；
Fig. 4 is a kind of structural schematic diagram of the running gear of climbing robot provided in an embodiment of the present invention；
Fig. 5 is a kind of partial structural diagram of the running gear of climbing robot provided in an embodiment of the present invention；
Fig. 6 is a kind of front elevation of the adsorbent equipment of climbing robot provided in an embodiment of the present invention；
Fig. 7 is a kind of perspective view of the adsorbent equipment of climbing robot provided in an embodiment of the present invention.
Appended drawing reference:
100: adsorbent equipment；101: adsorption piece；102: connecting plate；
103: elastic component；104: guiding device；105: connecting rod；
106: the first pin shafts；107: perforation；108: locating part；
109: directive wheel；110: the second pin shafts；111: frame；
112: magnetic patch；201: robot body；202: running gear；
203: the first main parts；204: articulation piece；205: the second main parts；
206: first rotating shaft；207: the second shafts；208: bracket；
209: the first connection frames；210: the second connection frames；211: driven wheel；
212: follower shaft；213: driving wheel；214: drive sprocket axle；
215: track member；216: caging system；217: limiting section；
218: screw rod；219: limiting device；220: threaded hole；
221: transmission chain；222: limiting groove；223: pressing device；
224: pressure plate；225: contact roller；226: wheel body；
227: retention bead；228: elastic device；229: pneumatic pick.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1-3 is please referred to, the embodiment of the present invention provides a kind of climbing robot, including robot body 201 and walking dress
202 are set, robot body 201 includes the first main part 203, and the first main part 203 is multiple, multiple first main part, 203 edges
The width or length direction of robot body 201 is alternatively arranged setting, passes through articulation piece between two neighboring first main part 203
204 is hinged, and running gear 202 is equipped on each first main part 203, and running gear 202 is equipped with adsorbent equipment 100, absorption
Device 100 is for adsorbing working face, and running gear 202 is for driving robot body 201 to walk along working face.
Climbing robot in the present embodiment can be adsorbed when in use by the adsorbent equipment 100 on running gear 202
Working face, and drive robot body 201 to walk along working face by running gear 202.Due to multiple first main part, 203 edges
The width or length direction of robot body 201 is alternatively arranged setting, passes through articulation piece between two neighboring first main part 203
204 is hinged, therefore, between multiple first main parts 203 can using the axis of articulation piece 204 as center relative rotation, and due to
Running gear 202 is equipped on each first main part 203, therefore the adsorbent equipment 100 on running gear 202 is adsorbed on arc
When on working face, multiple first main parts 203 being capable of the opposite rotation centered on the axis of articulation piece 204 under the action of adsorption capacity
Turn, so that robot body 201 be made to form the shape for adapting to curved working face, thus, it is possible to improve adsorbent equipment 100 and work
The compactness in face effectively prevent running gear 202 and working face to improve adsorbent equipment 100 for the adsorption capacity of working face
It is separated, improves the reliability that climbing robot uses.
In the present embodiment, it is preferred that robot body 201 further includes the second main part 205, and the first main part 203 is two
A, the second main part 205 is arranged between two the first main parts 203, and the second main part 205 passes through articulation piece 204 and first
Main part 203 is hinged.The distance between two first main parts 203 can be increased by the way that the second main part 205 is arranged as a result,
To make two the first main parts 203 be not in interference in relative rotation, two the first main part 203 rotations are improved
Amplitude and smoothness, in addition, easily the equipment such as executive device, control device, power device can be arranged in the second main part
On 205, since in climbing robot walking process, the second main part 205 is relatively stable, therefore, peace can be preferably protected
Equipment on the second main part 205.
In the present embodiment, it is preferred that two the first main parts 203 are alternatively arranged along the width direction of robot body 201
Setting, running gear 202 are crawler attachment, and crawler attachment extends along the length direction of robot body 201, and articulation piece 204 wraps
First rotating shaft 206 is included, first rotating shaft 206 is arranged along the length direction of robot body 201, and the first main part 203 and second is main
It body portion 205 can be with first rotating shaft 206 for center relative rotation.As a result, when climbing robot in the duct or on cylinder manage by edge
When the axial traveling of road or cylinder, the adsorbent equipment 100 on running gear 202 is adsorbed on inner wall of the pipe or cylinder outer wall, and two
A first main part 203 can be using the axis of first rotating shaft 206 as center relative rotation, due to crawler belt under the action of adsorption capacity
Device and first rotating shaft 206 are arranged along the length direction of robot body 201, so as to form robot body 201
The shape for adapting to inner wall of the pipe or cylinder outer wall, thus, it is possible to improve the compactness of adsorbent equipment 100 Yu working face, to improve
Adsorbent equipment 100 effectively prevent running gear 202 to be separated with working face the adsorption capacity of working face, improves and climbs wall machine
The reliability that device people uses.
In the present embodiment, it is preferred that articulation piece 204 further includes the second shaft 207, and the second shaft 207 is along robot body
201 width direction setting, the first main part 203 and the second main part 205 can also the opposite rotations centered on the second shaft 207
Turn.Width direction due to the second shaft 207 along robot body 201 is arranged, when climbing robot passes through continuous wave
When shape wave working face, pass through the relative rotation of the first main part 203 and the second main part 205 centered on the second shaft 207, energy
Swing crawler attachment with the fluctuating of waveform working face, thus, it is possible to improve adsorbent equipment 100 and working face
Compactness effectively prevent running gear 202 mutually to take off with working face to improve adsorbent equipment 100 for the adsorption capacity of working face
From improving the reliability that climbing robot uses.Wherein, articulation piece 204 can be to include first rotating shaft 206 and the second shaft
207 universal shaft can also be the connectors such as flexural pivot.
Fig. 4 and Fig. 5 are please referred to, in the present embodiment, it is preferred that running gear 202 is crawler attachment, and crawler attachment includes:
Bracket 208, including the first connection frame 209 and the second connection frame 210, the first connection frame 209 and the second connection frame 210 are along bracket
208 length direction is slidably connected；Driven wheel 211 is rotatablely connected, driven wheel by follower shaft 212 and the first connection frame 209
Axis 212 is arranged along the width direction of bracket 208；Driving wheel 213 is connected by drive sprocket axle 214 and the rotation of the second connection frame 210
Connect, parallel with the follower shaft 212 and length direction interval setting along bracket 208 of drive sprocket axle 214, the first connection frame 209 with
Second connection frame 210 can along bracket 208 length direction it is opposite slide with adjust follower shaft 212 and drive sprocket axle 214 it
Between distance；Positioning system, including track member 215 and caging system 216, track member 215 are set in driving wheel 213 and driven wheel
211 outsides are simultaneously meshed with driving wheel 213 and driven wheel 211, and track member 215 can limit the first connection frame 209 and second and connect
The opposite sliding of length direction that frame 210 is connect along bracket 208 is mutually separate to limit follower shaft 212 and drive sprocket axle 214, limit system
System 216 is connected with the first connection frame 209 and the second connection frame 210, caging system 216 can limit the first connection frame 209 and
Second connection frame 210 is mutually close to limit follower shaft 212 and drive sprocket axle 214 along the opposite sliding of length direction of bracket 208,
So as to make 210 relative positioning of the first connection frame 209 and the second connection frame with the cooperation of track member 215.
When needing to install track member 215, the first connection frame 209 and the second connection frame 210 can be made along bracket 208
Length direction it is opposite slide, to shorten the distance between follower shaft 212 and drive sprocket axle 214, thus can easily by
Track member 215 is set on follower shaft 212 and drive sprocket axle 214, can make the first connection frame 209 and the second connection frame later
210 along bracket 208 length direction it is opposite slide to increase the distance between follower shaft 212 and drive sprocket axle 214, thus will
Track member 215 is tensioned, can be by caging system 216 by the first connection frame 209 and the second connection frame after the tensioning of track member 215
210 phases are connected, and since track member 215 can limit, follower shaft 212 is mutually separate with drive sprocket axle 214 and caging system 216
Follower shaft 212 can be limited and drive sprocket axle 214 is mutually close, therefore, energy is cooperated by caging system 216 and track member 215
Enough make 210 relative positioning of the first connection frame 209 and the second connection frame.When needing to dismantle track member 215, it need to only make caging system
216 release the limit for the first connection frame 209 and the second connection frame 210, can make the first connection frame 209 and the second connection frame
210 keep follower shaft 212 and drive sprocket axle 214 mutually close along the length direction of bracket 208 with respect to sliding, so as to shorten driven
The distance between wheel shaft 212 and drive sprocket axle 214, convenient for unloading track member 215.Make 215 installing and dismounting side of track member as a result,
Just, the convenience that crawler attachment uses is improved.
In the present embodiment, it is preferred that caging system 216 includes limiting section 217, screw rod 218 and limiting device 219, limit
Portion 217 is arranged on the first connection frame 209；Limiting device 219 is arranged on the second connection frame 210, and limiting device 219 offers
The threaded hole 220 extended along the length direction of bracket 208, screw rod 218 are threaded through in threaded hole 220, and screw rod 218 is used for axis
Centered on relative to limiting device 219 rotate with along the length direction of bracket 208 stretch and can offset with limiting section 217
It connects, so as to limit the opposite sliding of length direction of the first connection frame 209 and the second connection frame 210 along bracket 208 to limit
Follower shaft 212 and drive sprocket axle 214 are mutually close.
When needing to install track member 215, rotatable screw rod 218, make screw rod 218 shrink with limiting section 217
It mutually separates, to release the limit for the first connection frame 209 and the second connection frame 210, connects the first connection frame 209 and second
Connect frame 210 can along bracket 208 length direction it is opposite slide, with shorten between follower shaft 212 and drive sprocket axle 214 away from
From therefore easily track member 215 capable of being set on follower shaft 212 and drive sprocket axle 214, later rotatable screw rod
218, enable screw rod 218 to stretch to abut against with limiting section 217 towards limiting section 217, continuing rotary screw 218 being capable of band
Dynamic first connection frame 209 and the second connection frame 210 along bracket 208 length direction it is opposite slide, to make 212 He of follower shaft
214 phase of drive sprocket axle connects far from track member 215 to be tensioned at this point, track member 215 can limit the first connection frame 209 and second
The opposite sliding of length direction that frame 210 is connect along bracket 208 is mutually separate to limit follower shaft 212 and drive sprocket axle 214, and then will
First connection frame 209 and the second connection frame 210 position.When needing to dismantle track member 215, rotary screw 218 is only needed, screw rod is made
218 shrink to separate with 217 phase of limiting section, to release the limit for the first connection frame 209 and the second connection frame 210, make
First connection frame 209 and the second connection frame 210 can be along the opposite slidings of length direction of bracket 208, to shorten follower shaft 212
The distance between drive sprocket axle 214, convenient for unloading track member 215.Make track member 215 easy for assemble or unload as a result, and fixed
Position system structure is simple, easy to operate.
In the present embodiment, it is preferred that limiting device 219 is detachably connected with the first connection frame 209.As a result, when needs are torn open
When unloading track member 215, directly limiting device 219 can be unloaded, to enable the first connection frame 209 and the second connection frame 210
Quick sliding relatively long distance makes track member so as to quickly shorten the distance between follower shaft 212 and drive sprocket axle 214
215 being capable of rapid removal.
In the present embodiment, it is preferred that track member 215 includes transmission chain 221, and transmission chain 221 is formed with limiting groove 222,
Limiting groove 222 extends along the length direction of transmission chain 221, and driving wheel 213 and driven wheel 211 are located in limiting groove 222 simultaneously
It is meshed with transmission chain 221, crawler attachment further includes pressing device 223, and pressing device 223 includes: pressure plate 224, is located at branch
208 bottom of frame and length direction along bracket 208 and width direction extend；Contact roller 225 is rotatably connected on pressure plate 224,
The axis of contact roller 225 is arranged along the width direction of bracket 208, and contact roller 225 includes wheel body 226 and retention bead 227, limit
Protrusion 227 along the radial convex of wheel body 226 is located at the outside of wheel body 226 and along the circumferentially extending of wheel body 226, and retention bead 227 is held
The phase for being contained in limiting groove 222, and cooperating limitation wheel body 226 and transmission chain 221 axial along wheel body 226 with limiting groove 222
To movement；Elastic device 228, the both ends of elastic device 228 are connected with pressure plate 224 and bracket 208 respectively, elastic device
228 are supported between pressure plate 224 and bracket 208 for applying pressure to pressure plate 224, so that contact roller 225 compresses transmission
Chain 221.Applying pressure to pressure plate 224 by elastic device 228 as a result, can make contact roller 225 compress transmission chain 221, from
And be conducive to improve the rate of tension of track member 215, in addition, the cooperation by retention bead 227 and limiting groove 222 can limit wheel
Body 226 and transmission chain 221 relative movement axial along wheel body 226, so as to effectively prevent contact roller 225 and transmission chain 221
It is separated, improves the stability that contact roller 225 presses transmission chain 221, and improve the reliability of the connection of track member 215.
In the present embodiment, it is preferred that retention bead 227 is made of multiple along the circumferentially spaced limiting tooth of wheel body 226,
Limiting tooth is meshed with transmission chain 221.Since limiting tooth can be meshed with transmission chain 221, it is conducive to improve retention bead
227 position-limiting action prevents contact roller 225 and transmission chain 221 to be separated so as to more efficiently.
In the present embodiment, it is preferred that climbing robot further includes pneumatic pick 229, and pneumatic pick 229 is arranged in robot body 201
On, for clearing up object to be cleaned.Due to pneumatic pick 229 can on object to be cleaned dirt or rust deposite continue
Impact, therefore the higher dirt of hardness or rust deposite can be subjected to crushing cleaning, to be conducive to improve cleaning effect.
Fig. 6 and Fig. 7 are please referred to, in the present embodiment, it is preferred that adsorbent equipment 100 includes adsorption piece 101,102 and of connecting plate
Elastic component 103, adsorption piece 101 for being adsorbed on working face, the both ends of elastic component 103 respectively with adsorption piece 101 and connecting plate
102 are connected, and elastic component 103 is supported between connecting plate 102 and adsorption piece 101 so that connecting plate 102 and adsorption piece 101 can
Keep relative positioning state；Track member 215 is equipped with interconnecting piece, and interconnecting piece is connected with connecting plate 102, and elastic component 103 is along shoe
Strips 215 radially extends so that adsorption piece 101 is located at 215 outside of track member.Due to passing through the flexible or curved of elastic component 103
Song can be such that adsorption piece 101 and connecting plate 102 relatively moves, when crawler attachment is walked on non-planar working face, adsorption piece
101 will receive the pressure of working face, under the action of pressure and the elastic force of elastic component 103,101 meeting of adsorption piece and relative to even
Fishplate bar 102 is mobile, so that adsorption piece 101 be enable to fit with working face, and then is conducive to improve adsorption piece 101 for working face
Adsorption capacity, prevent crawler attachment and working face to be detached from and fall, improve the reliability used.Meanwhile in elastic component 103
Under supporting role, it can guarantee the stability of crawler attachment walking.
In the present embodiment, it is preferred that crawler attachment further includes guiding device 104, and guiding device 104 includes connecting rod 105
, first pin shaft 106 and bullet hinged by the first pin shaft 106 and adsorption piece 101 with the first end of the first pin shaft 106, connecting rod 105
The setting direction of property part 103 is perpendicular；Connecting plate 102 is equipped with perforation 107, and connecting plate 102 is set in connection by perforation 107
Between the first end and second end of bar 105, connecting rod 105 can stretch in perforation 107.When crawler attachment is in non-planar work
When walking on face, adsorption piece 101 will receive the pressure of working face, under the action of pressure and the elastic force of elastic component 103, absorption
Part 101 will drive connecting rod 105 and stretch in perforation 107, and adsorption piece 101 can be centered on the first pin shaft 106 relative to even
Fishplate bar 102 rotates, so that adsorption piece 101 be enable to fit with working face, and then is conducive to improve adsorption piece 101 for working face
Adsorption capacity, prevent crawler attachment and working face to be detached from and fall, improve the reliability used.In addition, guiding device 104 limits
The direction that adsorption piece 101 and connecting plate 102 relatively move is made, to improve the support force of adsorbent equipment 100.
In the present embodiment, it is preferred that connecting plate 102 is arranged along the width direction of bracket 208, the first pin shaft 106 and bracket
208 width direction is perpendicular, guiding device 104 be it is multiple, multiple guiding devices 104 are along the width direction interval of bracket 208
Setting.Since the width direction of the first pin shaft 106 and bracket 208 is perpendicular, guiding device 104 limits adsorption piece 101
With relative movement of the connecting plate 102 on the direction of the width direction of radial direction and bracket 208 perpendicular to track member 215, into one
Step improves the support force of adsorbent equipment 100.Multiple guiding devices 104 are arranged along the width direction interval of bracket 208, Neng Gouyou
Effect prevent adsorption piece 101 centered on connecting rod 105 relative to connecting plate 102 rotate, improve adsorbent equipment 100 use it is steady
Qualitative and reliability.
In the present embodiment, it is preferred that adsorbent equipment 100 is multiple, circumferential direction of multiple adsorbent equipments 100 along track member 215
It is alternatively arranged setting.Crawler attachment is adsorbed by the cooperation of multiple adsorbent equipments 100 and is supported on working face, can be improved crawler belt
Device for working face absorption dynamics, to improve the reliability and stability that crawler attachment is walked on working face.
In the present embodiment, it is preferred that adsorbent equipment 100 further includes locating part 108, and locating part 108 is connected to connecting rod 105
Second end and connecting plate 102 between it is mobile with the second end for limiting connecting plate 102 towards connecting rod 105；Elastic component 103 is bullet
Spring, spring is arranged in each connecting rod 105, and spring is used to apply elastic pressure to adsorption piece 101 and connecting plate 102 so as to inhale
Attachment 101 and connecting plate 102 are able to maintain relative positioning state.102 He of connecting plate can be limited by locating part 108 as a result,
Spacing between adsorption piece 101 so that spring be made to keep compressive state, and then enables spring to adsorption piece 101 and connecting plate
102 application elastic pressures improve adsorbent equipment 100 so that adsorption piece 101 and connecting plate 102 are able to maintain relative positioning state
Support force.Since spring is set in connecting rod 105, connecting rod 105 can provide support force to spring, prevent spring mistake
Degree is deformed and is damaged, and improves the reliability that adsorbent equipment 100 uses.In addition, since multiple guiding devices 104 are along bracket 208
Width direction interval setting, therefore, be set in the spring in connecting rod 105 naturally also along the width direction interval of bracket 208
Setting, therefore can be improved the support force for adsorption piece 101 and connecting plate 102, enable connecting plate 102 and adsorption piece 101
Relative positioning state is preferably kept, the reliability that adsorbent equipment 100 uses is improved.
In the present embodiment, it is preferred that locating part 108 is stop nut, and connecting rod 105 is equipped with thread segment, stop nut
It is threadedly engaged with thread segment.In 100 assembling process of adsorbent equipment, connecting rod 105 first can be passed through into the first pin shaft 106 and absorption
Part 101 is hinged, and spring is set in connecting rod 105 later, then connecting plate 102 is set in connecting rod 105 by perforation 107
On, stop nut is set on thread segment again later, making stop nut by rotary stopper nut, threadingly section is mobile to press
Connecting plate 102 is held, so that spring be made to keep compressive state, adsorbent equipment 100 is thus made to assemble, is easy to adjust.Certainly, locating part
108 be also the spacing block set being arranged in connecting rod 105.
In the present embodiment, it is preferred that adsorbent equipment 100 further includes directive wheel 109, width of the adsorption piece 101 along bracket 208
Direction extends, and directive wheel 109 is connected to the end of adsorption piece 101, the second pin shaft 110 and the first pin shaft by the second pin shaft 110
106 is parallel.When crawler attachment is walked on non-planar working face, adsorption piece 101 will receive the pressure of working face, in pressure
Under the action of the elastic force of elastic component 103, adsorption piece 101 can be revolved centered on the first pin shaft 106 relative to connecting plate 102
Turn, in adsorption piece 101 relative in 102 rotary course of connecting plate, directive wheel 109 can be in contact and on working face with working face
Sliding, at this point, directive wheel 109 can be rotated centered on the second pin shaft 110 relative to adsorption piece 101, to effectively avoid inhaling
The end of attachment 101 is damaged with working face direct collision, and keeps movement of the crawler attachment on working face more smoothly.
In the present embodiment, it is preferred that the bottom surface of adsorption piece 101 with working face for being in contact, the bottom end position of directive wheel 109
In the subjacent of adsorption piece 101, thus, it is possible to reduce the friction of adsorption piece 101 Yu working face.
In the present embodiment, it is preferred that adsorption piece 101 includes frame 111 and magnetic patch 112, frame 111 and the equal edge of magnetic patch 112
The width direction of bracket 208 extends, and directive wheel 109 is connected to the both ends of frame 111, magnetic patch 112 and frame by the second pin shaft 110
Frame 111 connects and is located between the both ends of frame 111, and magnetic patch 112 is for being adsorbed on working face.Make 101 knot of adsorption piece as a result,
Structure is simple, adsorption reliability, easy to assembly.Certainly, magnetic patch 112 also can be replaced vacuum absorption device 100.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of climbing robot, which is characterized in that including robot body and running gear, the robot body includes the
One main part, first main part are multiple, width or length of multiple first main parts along the robot body
Direction is alternatively arranged setting, hinged by articulation piece between two neighboring first main part, is all provided on each first main part
There is the running gear, the running gear is equipped with adsorbent equipment, and the adsorbent equipment is for adsorbing working face, the walking
Device is for driving the robot body to walk along the working face.
2. climbing robot according to claim 1, which is characterized in that the robot body further includes the second main body
Portion, first main part are two, and second main part is arranged between two first main parts, and described second is main
Body portion is hinged by the articulation piece and first main part.
3. climbing robot according to claim 2, which is characterized in that two first main parts are along the robot
The width direction of main body is alternatively arranged setting, and the running gear is crawler attachment, and the crawler attachment is along the robot master
The length direction of body extends, and the articulation piece includes first rotating shaft, and the first rotating shaft is along the length side of the robot body
To setting, first main part and the second main part can be using the first rotating shafts as center relative rotation.
4. climbing robot according to claim 3, which is characterized in that the articulation piece further includes the second shaft, described
Second shaft is arranged along the width direction of the robot body, and first main part and the second main part can also be with described
Second shaft is center relative rotation.
5. climbing robot according to claim 1, which is characterized in that the running gear is crawler attachment, the shoe
Include: with device
Bracket, including the first connection frame and the second connection frame, first connection frame and second connection frame are along the bracket
Length direction be slidably connected；
Driven wheel is rotatablely connected, width of the follower shaft along the bracket by follower shaft and first connection frame
Direction setting；
Driving wheel is rotatablely connected by drive sprocket axle and second connection frame, and the drive sprocket axle and the follower shaft are flat
Row is simultaneously arranged along the length direction interval of the bracket, and first connection frame and the second connection frame can be along the length of the bracket
The opposite sliding in direction is spent to adjust the distance between the follower shaft and drive sprocket axle；
Positioning system, including track member and caging system, the track member be set on the outside of the driving wheel and driven wheel and with
The driving wheel and driven wheel are meshed, and the track member can limit first connection frame and second connection frame along institute
State bracket length direction it is opposite slide it is mutually separate to limit the follower shaft and drive sprocket axle, the caging system with it is described
First connection frame and the second connection frame are connected, and the caging system can limit first connection frame and connect with described second
Frame along the bracket length direction it is opposite slide it is mutually close to limit the follower shaft and drive sprocket axle, so as to institute
Stating track member cooperation makes first connection frame and the second connection frame relative positioning.
6. climbing robot according to claim 5, which is characterized in that the caging system include limiting section, screw rod and
Limiting device, the limiting section are arranged on first connection frame；
The limiting device is arranged on second connection frame, and the limiting device offers the length direction along the bracket
The threaded hole of extension, the screw rod are threaded through in the threaded hole, and the screw rod is used for centered on axis relative to the limit
Position device rotation along the length direction of the bracket to stretch and can abut against with the limiting section, so as to limit
The first connection frame and second connection frame are stated along the opposite sliding of length direction of the bracket with limit the follower shaft and
Drive sprocket axle is mutually close.
7. climbing robot according to claim 6, which is characterized in that the limiting device and first connection frame can
Dismantling connection.
8. climbing robot according to claim 5, which is characterized in that the track member includes transmission chain, the transmission
Chain forms limited position groove, and the limiting groove extends along the length direction of the transmission chain, the driving wheel and driven wheel position
It is meshed in the limiting groove and with the transmission chain, the crawler attachment further includes pressing device, the pressing device
Include:
Pressure plate, length direction and width direction positioned at the frame bottom and along the bracket extend；
Contact roller is rotatably connected on the pressure plate, and the axis of the contact roller is arranged along the width direction of the bracket, institute
Stating contact roller includes wheel body and retention bead, and the retention bead is located at the outside of the wheel body simultaneously along the radial convex of the wheel body
Along the circumferentially extending of the wheel body, the retention bead is contained in the limiting groove, and is cooperated with the limiting groove and limited
The wheel body and transmission chain are made along the relative movement of the wheel body axial direction；
Elastic device, the both ends of the elastic device are connected with the pressure plate and bracket respectively, the elastic device support
For applying pressure to the pressure plate between the pressure plate and bracket, so that the contact roller compresses the transmission chain.
9. climbing robot according to claim 8, which is characterized in that the retention bead is by multiple along the wheel body week
It is constituted to spaced limiting tooth, the limiting tooth is meshed with the transmission chain.
10. any climbing robot in -9 according to claim 1, which is characterized in that further include pneumatic pick, the pneumatic pick is set
It sets on the robot body, for clearing up object to be cleaned.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811631188.4A CN109436115B (en) | 2018-12-29 | 2018-12-29 | Wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811631188.4A CN109436115B (en) | 2018-12-29 | 2018-12-29 | Wall climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109436115A true CN109436115A (en) | 2019-03-08 |
| CN109436115B CN109436115B (en) | 2024-06-11 |
Family
ID=65542298
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811631188.4A Active CN109436115B (en) | 2018-12-29 | 2018-12-29 | Wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109436115B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001806A (en) * | 2019-05-27 | 2019-07-12 | 洛阳圣瑞智能机器人有限公司 | A kind of climbing robot with variable curvature adaptive ability |
| CN111702591A (en) * | 2020-06-17 | 2020-09-25 | 北京史河科技有限公司 | Polishing and derusting equipment |
| CN114227722A (en) * | 2022-01-20 | 2022-03-25 | 北京史河科技有限公司 | Positioning mechanism of ship inner cabin rust removal robot capable of accurately identifying rusty area |
| US11338871B2 (en) * | 2016-11-24 | 2022-05-24 | Zete Crezen Co., Ltd. | Magnetic track for traveling on wall and ceiling of steel structure |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016107893A (en) * | 2014-12-09 | 2016-06-20 | 三菱重工業株式会社 | Crawler type wall surface suction travelling robot |
| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
| CN206528544U (en) * | 2016-12-26 | 2017-09-29 | 哈尔滨科能熔敷科技有限公司 | A kind of obstacle crossing type climbing robot of crawler belt embedded magnet |
| CN108407912A (en) * | 2018-04-20 | 2018-08-17 | 中国科学院合肥物质科学研究院 | A kind of combined wall climbing robot walking mechanism |
| CN209274752U (en) * | 2018-12-29 | 2019-08-20 | 北京史河科技有限公司 | Climbing robot |
-
2018
- 2018-12-29 CN CN201811631188.4A patent/CN109436115B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2016107893A (en) * | 2014-12-09 | 2016-06-20 | 三菱重工業株式会社 | Crawler type wall surface suction travelling robot |
| CN106184452A (en) * | 2016-08-10 | 2016-12-07 | 西安交通大学 | A kind of all fours type electromagnetic adsorption climbing robot |
| CN206528544U (en) * | 2016-12-26 | 2017-09-29 | 哈尔滨科能熔敷科技有限公司 | A kind of obstacle crossing type climbing robot of crawler belt embedded magnet |
| CN108407912A (en) * | 2018-04-20 | 2018-08-17 | 中国科学院合肥物质科学研究院 | A kind of combined wall climbing robot walking mechanism |
| CN209274752U (en) * | 2018-12-29 | 2019-08-20 | 北京史河科技有限公司 | Climbing robot |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US11338871B2 (en) * | 2016-11-24 | 2022-05-24 | Zete Crezen Co., Ltd. | Magnetic track for traveling on wall and ceiling of steel structure |
| CN110001806A (en) * | 2019-05-27 | 2019-07-12 | 洛阳圣瑞智能机器人有限公司 | A kind of climbing robot with variable curvature adaptive ability |
| CN111702591A (en) * | 2020-06-17 | 2020-09-25 | 北京史河科技有限公司 | Polishing and derusting equipment |
| CN114227722A (en) * | 2022-01-20 | 2022-03-25 | 北京史河科技有限公司 | Positioning mechanism of ship inner cabin rust removal robot capable of accurately identifying rusty area |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109436115B (en) | 2024-06-11 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109436115A (en) | Climbing robot | |
| CN209274752U (en) | Climbing robot | |
| CN109533053A (en) | Clear up robot | |
| JP3430143B2 (en) | Curve belt support device | |
| CN109760910A (en) | Suction type automatic labeling structure, labeling method and set-top box label-sticking mechanism | |
| CN209274747U (en) | Clear up robot | |
| CN109466650A (en) | A kind of climbing robot | |
| CN109878591A (en) | Climbing robot | |
| CN104114354A (en) | Preparing a precured tread for application to a tire carcass | |
| CN209274754U (en) | Crawler attachment and climbing robot | |
| CN110158928A (en) | Smooth out robot | |
| CN109436116A (en) | Crawler attachment and climbing robot | |
| CN202397372U (en) | Roll paper support | |
| CN109436117A (en) | Crawler attachment and climbing robot | |
| CN209274759U (en) | A kind of climbing robot | |
| CN209142577U (en) | Brand peeling apparatus | |
| CN208993804U (en) | Adsorbent equipment and crawler attachment | |
| CN103318279A (en) | Mobile wheel crawler device | |
| CN208993806U (en) | Crawler attachment | |
| CN206288618U (en) | Carrying roller attaching/detaching apparatus and the idler assembly and belt conveyor using the device | |
| CN204736940U (en) | Harvester track overspeed device tensioner's push rod structure | |
| CN207656357U (en) | Wound form machine tool drive leading screw protecting device | |
| CN209096861U (en) | A kind of caterpillar type robot | |
| CN104507849B (en) | There is the linear actuating device of the chuck(ing) capacity relevant with load | |
| CN209644809U (en) | Clear up robot |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |