CN109572836A - Climbing robot - Google Patents
Climbing robot Download PDFInfo
- Publication number
- CN109572836A CN109572836A CN201910037252.4A CN201910037252A CN109572836A CN 109572836 A CN109572836 A CN 109572836A CN 201910037252 A CN201910037252 A CN 201910037252A CN 109572836 A CN109572836 A CN 109572836A
- Authority
- CN
- China
- Prior art keywords
- climbing robot
- climbing
- body frame
- main body
- running gear
- 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.)
- Pending
Links
- 230000009194 climbing Effects 0.000 title claims abstract description 76
- 230000009184 walking Effects 0.000 claims abstract description 22
- 238000000926 separation method Methods 0.000 claims abstract description 7
- 238000004140 cleaning Methods 0.000 claims description 11
- 238000001179 sorption measurement Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000010521 absorption reaction Methods 0.000 description 2
- 239000003463 adsorbent Substances 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 230000003139 buffering effect Effects 0.000 description 1
- 230000006641 stabilisation Effects 0.000 description 1
- 238000011105 stabilization Methods 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
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of climbing robots, comprising: climbs wall device, climbing wall device includes: main body frame；Driving device is arranged on the main body frame；Running gear, for walking along working face, the running gear is two, and the driving device is connected with the running gear and the running gear can be driven to move in a first direction, so that two running gears are adjacent to each other or separate and be in contact with the working face.This programme climbing robot makes two running gears can be realized adjacent to each other or separation by the driving device being arranged, so that reliability greatly increases when it being made to contact walking between working face, improves the problem of traditional climbing robot adsorption capacity is not fallen easily by force.
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, the application of climbing robot is gradually risen, especially in height
The operation such as high-altitude cleaning etc. of danger environment, robot can replace worker's operation.
Existing climbing robot generally includes adsorbent equipment, main body and running gear, and robot body passes through absorption dress
It sets absorption on the work surface, and is walked by running gear band mobile robot in working surface.
However, the adsorbent equipment adsorption capacity of existing climbing robot is smaller, it is easy to falling for climbing robot is caused, from
And reduce the reliability that climbing robot uses.
Summary of the invention
In view of the above problems, the present invention provides a kind of climbing robot, to increase climbing robot in working face operation
Reliability.
The present invention provides a kind of climbing robot, including climbs wall device, and climbing wall device includes: main body frame；Driving device,
It is arranged on the main body frame；Running gear, for walking along working face, the running gear is at least two, the drive
Dynamic device is connected with the running gear and the running gear can be driven to move in a first direction, so that at least two
The running gear is adjacent to each other or separates and is in contact with the working face.
Based on a kind of above-mentioned, climbing robot provided by the invention, when needing to walk on cylinder, can be filled by driving
It sets driving running gear to move in a first direction, keeps at least two running gears adjacent to each other, to make at least two walkings
Device can be in contact with the working face of cylinder two sides, and then at least two running gears is enable to cooperate clamping cylinder, later
Climbing robot can be made to move on cylinder along working face walking by running gear.When climbing robot needs in the duct
When walking, climbing robot can be put into pipeline, drive running gear to move in a first direction by driving device later,
Keep at least two running gears disconnected from each other, so that at least two running gears and the inner wall of pipeline two sides is enable to be in contact,
Even if at least two running gears are in contact with working face, and then make the support of at least two running gears in the duct, Zhi Houtong
Crossing running gear can be such that climbing robot moves in tube body along working face walking.Driving due to passing through driving device can
So that at least two running gears is clamped on cylinder or is supported in tube body, therefore falling for climbing robot can be effectively prevent
It falls, improves the reliability that climbing robot uses.
The above description is only an overview of the technical scheme of the present invention, in order to better understand the technical means of the present invention,
And it can be implemented in accordance with the contents of the specification, and in order to allow above and other objects of the present invention, feature and advantage can
It is clearer and more comprehensible, the followings are specific embodiments of the present invention.
Detailed description of the invention
The following detailed description is read with reference to the accompanying drawings, above-mentioned and other mesh of exemplary embodiment of the invention
, feature and advantage will become prone to understand.In the accompanying drawings, if showing by way of example rather than limitation of the invention
Dry embodiment, in which:
In the accompanying drawings, identical or corresponding label indicates identical or corresponding part.
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 partial structural diagram of climbing robot provided in an embodiment of the present invention.
Specific embodiment
The present invention is described in detail below with reference to the accompanying drawings and embodiments.It should be appreciated, however, that the offer of attached drawing is only
For a better understanding of the present invention, they should not be interpreted as limitation of the present invention.
Fig. 1 is a kind of structural schematic diagram of climbing robot provided in an embodiment of the present invention.Referring to FIG. 1, the present invention is real
It applies example and a kind of climbing robot is provided, including climb wall device, climbing wall device includes: main body frame 10；Driving device 20, setting exist
On main body frame 10；Running gear 30, for walking along working face, running gear 30 is at least two, driving device 20 and row
Walking apparatus 30 is connected and running gear 30 can be driven to move in a first direction, so that at least two running gears 30 are mutually
Close or separation is simultaneously in contact with working face.
Climbing robot in the present embodiment can be driven by driving device 20 and be walked when needing to walk on cylinder
Device 30 moves in a first direction, keeps at least two running gears 30 adjacent to each other, to make at least two running gears 30
It can be in contact with the working face of cylinder two sides, and then at least two running gears 30 is enable to cooperate clamping cylinder, Zhi Houtong
Crossing running gear 30 can be such that climbing robot moves on cylinder along working face walking.When climbing robot needs in the duct
When walking, climbing robot can be put into pipeline, running gear 30 is driven in a first direction by driving device 20 later
It is mobile, keep at least two running gears 30 disconnected from each other, thus enable at least two running gears 30 in pipeline two sides
Wall is in contact, even if at least two running gears 30 are in contact with working face, and then is supported at least two running gears 30
In pipeline, climbing robot can be made to move in tube body along working face walking by running gear 30 later.It is driven due to passing through
The driving of dynamic device 20 can make at least two running gears 30 be clamped on cylinder or be supported in tube body, therefore can be effective
Falling for climbing robot is prevented, the reliability that climbing robot uses is improved.
In the present embodiment, it is preferred that climbing wall device further includes linking arm 40, and linking arm 40 extends in a second direction, and second
Direction is connect by linking arm 40 with driving device 20 perpendicular to 10 place plane of main body frame, running gear 30, so that walking
There is set distance, first direction is perpendicular with second direction between device 30 and main body frame 10.
When climbing robot is walked on cylinder, due to linking arm 40 can make running gear 30 and main body frame 10 it
Between form set distance, therefore, when running gear 30 clamp cylinder when, main body frame 10 can keep a spacing between cylinder
From playing protection main body frame 10 so that climbing robot is unlikely in walking operations to allow 10 frictional impact cylinder of main body frame
Effect.In addition, set distance is formed between running gear 30 and main body frame 10, and therefore, at least two running gears, 30 energy
The position in the middle part of cylinder is enough clamped in, to be conducive to improve the stability of clamping.
In the present embodiment, it is preferred that climbing wall device further includes guide rail 70, and guide rail 70 is arranged along first direction, linking arm 40
It is slidably installed on guide rail 70, driving device 20 includes: lead screw 201, and lead screw 201 is arranged along first direction, and linking arm 40 passes through screw thread
Hole is set on lead screw 201 and is threadedly coupled with lead screw 201；Driving portion 202, driving portion 202 is connect with lead screw 201, for driving
Dynamic lead screw 201 is rotated centered on axis relative to main body frame 10, is slided to be drivingly connected arm 40 along guide rail 70, to drive
Two running gears 30 are adjacent to each other or separate.It can be improved the mobile stabilization of linking arm 40 by the guiding role of guide rail 70
Property, in addition driving device 20 is conducive to simplify structure and can be improved the reliability used using screw rod.
Preferably, driving portion 202 is driving handle, and driving handle is directly connected to lead screw 201, rotate driving handle
Driving lead screw 201 is rotated centered on axis and then linking arm 40 is driven to move with running gear 30 along first direction, certainly, is driven
Dynamic portion 202 can also be driving motor, and lead screw 201 can also be replaced with other devices, be drivingly connected arm 40 and row as long as being able to achieve
The movement of walking apparatus 30.Guide rail 70 can be made of two guiding axis, and two guiding axis are located at 201 two sides of lead screw and and lead screw
201 is parallel to each other, and linking arm 40 is arranged with lead screw 201 by threaded hole and is connect, and passes through two connection through-holes and two guiding
Axis is mutually arranged connection, to realize the sliding rail of linking arm 40 in a first direction, and then drives running gear 30 along first
The movement in direction.It is conducive to improve the mobile stability of linking arm 40 as a result, and keeps the structure of climbing robot more compact.
In the present embodiment, it is preferred that at least two running gears 30 are oppositely arranged, and driving device 20 is for driving walking dress
It sets 30 to move in a first direction, so that at least two running gears 30 being capable of working face phase adjacent to each other and with cylinder two sides
Contact, so that at least two running gears 30 be enable to cooperate clamping cylinder.Since at least two running gears 30 can cooperate
Cylinder is clamped, therefore falling for climbing robot can be effectively prevent, improves the reliability that climbing robot uses.
In the present embodiment, it is preferred that climbing wall device further includes supporting element 50, and supporting element 50 is arranged on frame, first party
The plane parallel to where with frame, supporting element 50 are used to be located at extremely in the state that at least two running gears 30 clamp cylinder
It is in contact between few two running gears 30 and with cylinder.As a result, when at least two running gears 30 clamp cylinder, supporting element
50 can be in contact with cylinder, to form supported at three point, improve the stability of climbing robot walking.
Preferably, supporting element 50 is directive wheel, and climbing robot on cylinder when walking, leading on main body frame 10
It can be in contact with cylinder to wheel and be moved synchronously with running gear 30, directive wheel can support and reduce the effect of frictional force, mention
High climbing robot mobile flexibility ratio and stability.Preferably, directive wheel is universal wheel, to be conducive to improve wall-climbing device
The flexibility of people's walking.
Fig. 2 is a kind of directive wheel schematic diagram of climbing robot provided in an embodiment of the present invention.Referring to FIG. 2, this implementation
In example, it is preferred that directive wheel is four, and four directive wheel intervals are symmetrically distributed in the both sides up and down of main body frame 10, to main body
Frame 10 plays the role of more stable support and reduces frictional force, and then climbing robot is made to walk on cylinder Shi Nengzeng
The flexibility ratio and stability moved integrally by force.
In the present embodiment, it is preferred that climbing robot further includes buffer spring 80, linking arm 40 by buffer spring 80 with
Running gear 30 connects.When linking arm 40 drive running gear 30 moved along first direction and with work face contact when, buffering
Running gear 30 can apply elastic pressure to working face under the action of spring 80, so that running gear 30 be made to be bonded with working face
More closely, in addition, buffer spring 80 can generate certain cushion effect, play in running gear 30 and work face contact
Protect the effect of running gear 30.
In the present embodiment, it is preferred that climbing robot further includes connecting bracket 60, and connecting bracket 60 and main body frame 10 connect
It connects and extends along the direction perpendicular to 10 place plane of main body frame, connecting bracket 60 is equipped with cleaning device 601, cleaning device
601 for clearing up working face.As a result, when climbing robot is walked on working face, cleaning device 601 can be to work
It is cleared up as face, improves the convenience that climbing robot uses.
Wherein, connecting bracket 60 can be parallel with linking arm 40, equal space set cleaning inside and outside connecting bracket 60
Device 601, when climbing robot is in column external surface operation, the cooperation of running gear 30 clamps column and connecting bracket
60 are located on the outside of cylinder, can open 60 inside cleaning device 601 of connecting bracket at this time, to the working face being located in climbing robot
It is cleaned.With should climbing robot in inner surface of pipeline operation, running gear 30 cooperate supporting pipeline inner surface, at this time
It then opens outside cleaning device 601 to be cleaned, keeps job applications scene more flexible.
In the present embodiment, it is preferred that connecting bracket 60 is equipped with track 602, and track 602 is along the length side of connecting bracket 60
To extension, main body frame 10 is slidably installed on track 602, is climbed wall and is set to two, two main body frames 10 for climbing wall device can
It slides along track 602 with adjacent to each other or separation.Since two main body frames 10 for climbing wall device can be slided along track 602
With adjacent to each other or separation, therefore, it can adjust two according to cylinder or pipe diameter and climb the distance between wall device, thus
So that running gear 30 is in contact with working face, which thereby enhances the versatility of climbing robot.In addition, climbing wall due to two
The running gear 30 of device is in contact with working face, therefore makes to have between climbing robot and working face more by support
Point, reliability are stronger.
In the present embodiment, it is preferred that connecting bracket 60 is two, two interval of connecting bracket 60 settings, main body frame 10
It is folded between two connecting brackets 60.Since main body frame 10 can slide between two connecting brackets 60, to improve
The stability that main body frame 10 slides, in addition, being carried out in scale removal process to working surface, due in two connecting brackets 60
Cleaning device 601 working face can be cleared up from different directions, therefore can be improved the efficiency and effect of cleaning.
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 climbing wall device, the wall device of climbing includes:
Main body frame；
Driving device is arranged on the main body frame；
Running gear, for walking along working face, the running gear is at least two, and the driving device and the walking fill
It sets and is connected and the running gear can be driven to move in a first direction, so that at least two running gears lean on mutually
Close or separation is simultaneously in contact with the working face.
2. climbing robot according to claim 1, which is characterized in that the wall device of climbing further includes linking arm, described
Linking arm extends in a second direction, and the second direction passes through perpendicular to plane, the running gear where the main body frame
The linking arm is connect with the driving device, so as to there is set distance between the running gear and the main body frame,
The first direction and second direction are perpendicular.
3. climbing robot according to claim 2, which is characterized in that the wall device of climbing further includes guide rail, described to lead
Rail is arranged along the first direction, and the linking arm is slidably installed on the guide rail, and the driving device includes:
Lead screw, the lead screw are arranged along the first direction, the linking arm be located on the lead screw by screw thread borehole jack and with
The threads of lead screw connection；
Driving portion, the driving portion are connect with the lead screw, for driving the lead screw centered on axis relative to the master
Body frame rotation, to drive the linking arm to slide along the guide rail, to drive at least two running gears to lean on mutually
Close or separation.
4. climbing robot according to claim 1, which is characterized in that at least two running gears are oppositely arranged,
The driving device is for driving the running gear to move in said first direction, so that at least two running gears
Can the working face adjacent to each other and with cylinder two sides be in contact, so that at least two running gears be enable to cooperate
Clamp the cylinder.
5. climbing robot according to claim 4, which is characterized in that the wall device of climbing further includes supporting element, described
Supporting element is arranged on said frame, and plane parallel where the first direction and the frame, the supporting element is used for
At least two running gears clamp in the state of the cylinders between at least two running gears and with it is described
Cylinder is in contact.
6. climbing robot according to claim 5, which is characterized in that the supporting element is directive wheel.
7. climbing robot according to claim 2, which is characterized in that further include buffer spring, the linking arm passes through
The buffer spring is connect with the running gear.
8. climbing robot according to claim 1, which is characterized in that further include connecting bracket, the connecting bracket with
Main body frame connection simultaneously extends along the direction perpendicular to main body frame place plane, and the connecting bracket is equipped with cleaning dress
It sets, the cleaning device is for clearing up the working face.
9. climbing robot according to claim 8, which is characterized in that the connecting bracket is equipped with track, the rail
Road extends along the length direction of the connecting bracket, and the main body frame is slidably installed on the track, and the wall of climbing is set to two
A, the main body frame that wall device is climbed described in two can be slided along the track with adjacent to each other or separation.
10. climbing robot according to claim 8 or claim 9, which is characterized in that the connecting bracket is two, two institutes
The setting of connecting bracket interval is stated, the main body frame is folded between two connecting brackets.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910037252.4A CN109572836A (en) | 2019-01-15 | 2019-01-15 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910037252.4A CN109572836A (en) | 2019-01-15 | 2019-01-15 | Climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109572836A true CN109572836A (en) | 2019-04-05 |
Family
ID=65916718
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201910037252.4A Pending CN109572836A (en) | 2019-01-15 | 2019-01-15 | Climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109572836A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110081272A (en) * | 2019-06-06 | 2019-08-02 | 北京史河科技有限公司 | A kind of running gear and robot |
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|---|---|---|---|---|
| US20090033147A1 (en) * | 2006-04-05 | 2009-02-05 | Terex-Demag Gmbh & Co. Kg | Multiple Drive for Tracked Running Gear |
| KR20100043802A (en) * | 2008-10-21 | 2010-04-29 | 주식회사 로보스타 | Travelling equipment of the robot |
| CN104015831A (en) * | 2014-06-13 | 2014-09-03 | 徐州工业职业技术学院 | Active-passive combined type negative pressure adsorption continuous walking wall-climbing robot |
| DE102014103893A1 (en) * | 2014-03-21 | 2015-09-24 | Jakob Oblak | landing gear |
| KR20160054122A (en) * | 2014-11-05 | 2016-05-16 | 영남대학교 산학협력단 | Climbing robot |
| 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 |
| CN108639178A (en) * | 2018-07-13 | 2018-10-12 | 中国电子科技集团公司第二十研究所 | The climbing robot of hybrid movement |
| CN109178131A (en) * | 2018-09-18 | 2019-01-11 | 罗洋 | Multilayer leg formula climbing robot and climb wall loading system |
-
2019
- 2019-01-15 CN CN201910037252.4A patent/CN109572836A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20090033147A1 (en) * | 2006-04-05 | 2009-02-05 | Terex-Demag Gmbh & Co. Kg | Multiple Drive for Tracked Running Gear |
| KR20100043802A (en) * | 2008-10-21 | 2010-04-29 | 주식회사 로보스타 | Travelling equipment of the robot |
| DE102014103893A1 (en) * | 2014-03-21 | 2015-09-24 | Jakob Oblak | landing gear |
| CN104015831A (en) * | 2014-06-13 | 2014-09-03 | 徐州工业职业技术学院 | Active-passive combined type negative pressure adsorption continuous walking wall-climbing robot |
| KR20160054122A (en) * | 2014-11-05 | 2016-05-16 | 영남대학교 산학협력단 | Climbing robot |
| 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 |
| CN108639178A (en) * | 2018-07-13 | 2018-10-12 | 中国电子科技集团公司第二十研究所 | The climbing robot of hybrid movement |
| CN109178131A (en) * | 2018-09-18 | 2019-01-11 | 罗洋 | Multilayer leg formula climbing robot and climb wall loading system |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110081272A (en) * | 2019-06-06 | 2019-08-02 | 北京史河科技有限公司 | A kind of running gear and robot |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| CB03 | Change of inventor or designer information | ||
| CB03 | Change of inventor or designer information |
Inventor after: Xu Huayang Inventor after: He Chengtong Inventor after: Zhang Jingli Inventor after: Wang Zhichao Inventor after: Jiang Yu Inventor before: Xu Huayang Inventor before: He Chengtong Inventor before: Wang Zhichao Inventor before: Jiang Yu |