CN112356934A - Walking device of wall-climbing robot - Google Patents
Walking device of wall-climbing robot Download PDFInfo
- Publication number
- CN112356934A CN112356934A CN202011343753.4A CN202011343753A CN112356934A CN 112356934 A CN112356934 A CN 112356934A CN 202011343753 A CN202011343753 A CN 202011343753A CN 112356934 A CN112356934 A CN 112356934A
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- wall
- rotating
- walking device
- climbing robot
- walking
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- 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
-
- 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
-
- 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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention provides a walking device of a wall-climbing robot, which comprises two walking mechanisms arranged along the longitudinal direction, wherein the two walking mechanisms are connected in a hinged mode; each running gear all includes sprocket support frame and a plurality of magnetism absorption unit, the sprocket support frame includes two supporting beam along longitudinal extension, is equipped with a pair of synchronous motion's track between two supporting beam, and is a pair of horizontal interval distribution is followed to the track, and is a plurality of magnetism absorption unit interval distribution is in on the track. The walking device of the wall-climbing robot adopts a sectional design, so that the wall-climbing robot can adjust the angle between the two walking mechanisms according to the working condition curved surface, and the adaptability of the robot to the working condition curved surface on the whole scale is improved.
Description
Technical Field
The invention relates to the technical field of robots, in particular to a walking device of a wall-climbing robot.
Background
The wall climbing robot can carry various tools to move on the wall surface, executes high-difficulty and high-risk work, and has wide application prospect in multiple industries. For the magnetic conductivity wall surface, a permanent magnetic crawler adsorption robot is mostly adopted to move the wall surface. Most of the existing permanent magnet type crawler belt walking robots can adsorb and move on the ground and a vertical plane, but the wall surface can not be effectively attached and adsorbed on the wall surface with large curvature, the adaptability of the curved surface is poor, the robot can easily fall off when working on the curved surface, and the normal working requirement can not be met.
Disclosure of Invention
The invention aims to provide a walking device of a wall climbing robot, which can improve the curved surface adaptability of the robot.
In order to solve the technical problems, the invention adopts the following technical scheme:
a walking device of a wall-climbing robot comprises two walking mechanisms arranged along the longitudinal direction, each walking mechanism comprises a chain wheel supporting frame and a plurality of magnetic adsorption units, each chain wheel supporting frame comprises two supporting beams extending along the longitudinal direction, a pair of synchronously moving tracks is arranged between the two supporting beams, and the plurality of magnetic adsorption units are distributed on the tracks at intervals; the supporting beams of the two travelling mechanisms correspond to each other one by one and can rotate relatively.
Preferably, the sprocket support frame still includes the walking beam, the walking beam is along longitudinal extension, fixed connection in the vertical one side of a supporting beam, two connect through the articulated mode between the walking beam of sprocket support frame.
Preferably, a plurality of magnetism adsorb the unit and install on the track through movable assembly, movable assembly is including fixing respectively a pair of supporting seat on the track, magnetism adsorbs unit bottom fixed mounting has the rotation axis, the axis of rotation axis is along horizontal extension, and both ends are rotationally connected respectively and are a pair of on the supporting seat.
Preferably, the longitudinal two sides of the walking device are both provided with framework rotating pieces, and the framework rotating pieces are rotatably connected with the chain wheel supporting frame through rotating pairs.
Preferably, the vertical one end fixedly connected with rotary rod of sprocket support frame, rotationally the cover is equipped with rotatory sleeve on the rotary rod, skeleton rotating member fixed connection be in on the rotatory sleeve, rotatory sleeve and rotary rod cooperation form the revolute pair.
Preferably, running gear still includes and is used for carrying out the spacing subassembly of circumference to skeleton rotating member.
Preferably, the spacing subassembly of circumference includes rotatory piece and two limit stop, two limit stop connects in the vertical one side of sprocket support frame, rotatory piece fixed connection is on rotatory sleeve, rotatory piece is along horizontal extension, and spacing post is all installed to its horizontal both sides, spacing post is located the limit stop top.
Preferably, the support seat is fixed on the track through bolts; and a clamp spring is connected between the rotating shaft and the supporting seat.
According to the technical scheme, the wall-climbing robot provided by the invention at least has the following advantages and positive effects:
two movable beams of the walking device form fixed constraint with two chain wheel supporting frames respectively, and the two movable beams are hinged, so that the sectional design of the walking device is realized, the wall-climbing robot can adjust the angle between the two walking mechanisms according to the working condition curved surface, and the adaptability of the robot to the working condition curved surface on the whole scale is improved.
The chain wheel support frame and the framework rotating piece are formed with a rotating pair, and when the working environment with a large curved surface is met, the walking mechanism and the framework rotating piece can rotate freely within a certain angle, so that the whole robot can be better attached to the curved surface of the corresponding working condition.
Can make magnetism adsorb the unit and rotate for a pair of supporting seat through the rotation axis to adjust the position and the angle of magnetism adsorb the unit according to the curved surface degree at different positions, in the great region of local curvature change, guaranteed that magnetism adsorbs the unit and effectively adsorb on the operating mode curved surface.
Drawings
Fig. 1 is a schematic structural diagram of a wall-climbing robot in an embodiment of the present invention.
Fig. 2 is a schematic structural diagram of a walking device in an embodiment of the invention.
Fig. 3 is a schematic structural diagram of a portion where the traveling mechanism is located in the embodiment of the present invention.
Fig. 4 and 5 are schematic structural views of a portion where the load dispersing mechanism is located in the embodiment of the present invention.
Fig. 6 is a schematic structural view of a portion where the rigid connection member is located in the embodiment of the present invention.
The reference numerals are explained below:
1. a traveling device; 2. a rigid rod; 3. a sprocket support frame; 31. a support beam; 4. a movable beam; 5. rotating the rod; 6. rotating the sleeve; 7. a frame rotating member; 8. rotating the block; 9. a limit stop block; 10. a crawler belt; 11. a magnetic adsorption unit; 12. a supporting seat; 13. a rigid connection; 14. a middle square tube; 15. a compression spring; 16. a guide rail; 17. a guide rail welding sheet; 18. and (4) a guide wheel.
Detailed Description
Exemplary embodiments that embody features and advantages of the invention are described in detail below in the specification. It is to be understood that the invention is capable of other embodiments and that various changes in form and details may be made therein without departing from the scope of the invention and the description and drawings are to be regarded as illustrative in nature and not as restrictive.
Referring to fig. 1, the embodiment provides a wall-climbing robot, which includes two traveling devices 1, wherein the two traveling devices 1 are connected into a whole through a rigid rod 2 so as to perform synchronous steering, so that the robot keeps a coordinated traveling state in the steering process. For convenience of description, the length direction of the rigid rod 2 is defined as a transverse direction, and the horizontal direction perpendicular to the transverse direction is defined as a longitudinal direction, and the two walking devices in the embodiment are spaced apart in the transverse direction.
Running gear 1 includes two running gear, and two running gear are along longitudinal distribution, connect through articulated mode for this wall climbing robot can be according to the angle between two running gear of operating mode curved surface adjustment, in order to promote the adaptability to the operating mode curved surface.
Referring to fig. 2, the traveling mechanism includes a sprocket support frame 3 and a magnetic adsorption unit 11.
The sprocket support frame 3 comprises two support beams 31 extending along the longitudinal direction, a pair of tracks 10 moving synchronously are arranged between the two support beams 31, and the pair of tracks 10 are distributed at intervals along the transverse direction. In this embodiment, the crawler belt 10 is a chain structure, the inner sides of the two support beams of the traveling mechanism are rotatably connected with a sprocket, and the crawler belt 10 is engaged with the sprocket.
A plurality of magnetic adsorption units 11 are arranged on the crawler belt 10 of the walking mechanism, and the robot can be attached to the working condition surface through the magnetic adsorption units 11, so that the stability of the robot during working and traveling is improved.
The plurality of magnetic adsorption units 11 in this embodiment are mounted on the crawler 10 through a movable assembly, and can rotate with a small degree with respect to the crawler 10.
Referring to fig. 2 and 4, the movable assembly includes a pair of supporting seats 12 fixed to the pair of caterpillar tracks 10, respectively, and a rotating shaft is fixedly installed at the bottom of the magnetic attraction unit 11, an axis of the rotating shaft extends in a transverse direction, and both ends of the rotating shaft are rotatably connected to the pair of supporting seats 12, respectively.
In a preferred embodiment, the track 10 is provided with a chain clamp, and the support base 12 is fixed on the chain clamp through bolts so as to ensure the connection strength of the support base 12 and the track 10.
Through the rotation axis can make magnetism adsorb the unit and rotate for a pair of supporting seat 12 to adjust the position and the angle of magnetism adsorb the unit according to the curved surface degree at different positions, reached the aforesaid make wall climbing robot at the positive effect of the stable work in operating mode surface.
In the process of climbing the wall, because the crawler 10 is connected by the hinge, the wall surface normal load cannot be distributed on each adsorption unit, so the gravity is mainly concentrated on the magnetic adsorption units 11 at the two ends of the crawler 10, and the action efficiency of the robot is limited. In order to solve this problem, the traveling device 1 in this embodiment further includes a load dispersing mechanism connected to the magnetic attraction units 11 and the sprocket support frame 3 for dispersing a load generated when the robot operates to each of the magnetic attraction units 11.
The load dispersing mechanism comprises a guide rail 16, a rigid connection 13 and a compression spring 15.
Referring to fig. 4 and 5, the guide rail 16 is connected to the movable beam 4 by a compression spring 15 so that it has movability with respect to the movable beam 4. In this embodiment, a longitudinal beam is arranged between two movable beams 4 with opposite positions, the longitudinal beam extends along the transverse direction, a middle square tube 14 is installed on the longitudinal beam, and the middle square tube 14 extends along the longitudinal direction.
Referring to fig. 6, the rigid connection member 13 is substantially in a "T" like structure, in this embodiment, the rigid connection member 13 includes two hollow circular pipes perpendicular to each other, the two hollow circular pipes are connected into a whole by welding, one of the hollow circular pipes is welded to the magnetic adsorption unit 11, the other hollow circular pipe is sleeved with a guide wheel 18, and the guide wheel 18 is connected in the guide rail 16 in a rolling manner.
The guide wheel 18 in this embodiment is connected with the permanent magnetic adsorption unit 11 through the rigid connecting piece 13, so that the guide wheel 18 can move on a predetermined path, the condition of derailment caused by torsion is avoided, and the whole robot can stably work for a long time.
Referring to fig. 2 again, as a further preferred mode, the longitudinal sides of the traveling device 1 are provided with frame rotating members 7, and the frame rotating members 7 are rotatably connected with the sprocket support frame 3 through a rotating pair. A connecting frame (not shown) can be installed between the two framework rotating members 7, and the connecting frame is a functional connecting mechanism, for example, a cleaning device, a cavitation jet cleaning device and the like can be installed on the connecting frame.
In this embodiment, the longitudinal end fixedly connected with rotary rod 5 of sprocket support frame 3, rotationally the cover is equipped with rotatory sleeve 6 on the rotary rod 5, skeleton rotating member 7 fixed connection be in on the rotatory sleeve 6, rotatory sleeve 6 and rotary rod 5 cooperation form the revolute pair. The adjustment of the relative position and the angle between the framework rotating part 7 and the chain wheel supporting frame 3 can be realized through the rotating pair so as to adapt to the working conditions of different curved surface degrees between the framework rotating part and the chain wheel supporting frame.
The walking mechanism further comprises a circumferential limiting assembly, and the circumferential limiting assembly is used for circumferentially limiting the framework rotating piece 7.
The spacing subassembly of circumference includes rotatory piece 8 and two limit stop 9, two limit stop 9 connects in the vertical one side of sprocket support frame 3, rotatory 8 fixed connection of piece is on rotatory sleeve 6, rotatory 8 along horizontal extension, spacing post (not mark) are all installed to its horizontal both sides, spacing post is located limit stop 9 top, can with limit stop 9 cooperatees to it is spacing to carry out circumference to skeleton rotating member 7.
According to the degree nonconformity of robot condition curved surface, the relative position between link accessible skeleton rotating member 7 adjustment and running gear 1 to the curved surface operating mode of the degree of adaptation difference between the two, when the curved surface degree of the operating mode of wall climbing robot is inconsistent promptly, the link of installing on skeleton rotating member 7 can take place the adjustment of relative position for the running gear 1 of both sides, make the link self can laminate better on the curved surface of the operating mode that corresponds is surperficial, make wall climbing robot work in operating mode surface stabilization.
In summary, the invention has at least the following advantages and positive effects:
two movable beams 4 of the walking device 1 respectively form fixed restraint with two chain wheel supporting frames 3, and the two movable beams 4 are hinged, so that the sectional type design of the walking device 1 is realized, the wall-climbing robot can adjust the angle between the two walking mechanisms according to the working condition curved surface, and the adaptability of the robot to the working condition curved surface on the whole machine scale is improved.
The guide rail 16 is connected with the chain wheel support frame 3 through the compression spring 15, the guide rail 16 has mobility relative to the chain wheel support frame 3, so that the distance between the magnetic adsorption unit 11 and the guide wheel 18 and the chain wheel support frame 3 is variable, the chain is divided into a working surface and a non-working surface, the distance between the magnetic adsorption unit 11 and the guide wheel 18 is increased on the working surface, the compression spring 15 works, the guide wheel 18 and the magnetic adsorption unit 11 are tensioned, the load can be dispersed on each magnetic adsorption unit 11, and the load moving capacity of the wall climbing robot is obviously improved.
The guide wheel 18 is connected with the permanent magnetic adsorption unit 11 through the rigid connecting piece 13, so that the guide wheel 18 can move on a preset path, the condition of derailment caused by torsion is avoided, and the robot can stably work for a long time.
Can make magnetism adsorb the unit and rotate for a pair of supporting seat 12 through the rotation axis to according to the position and the angle of the curved surface degree adjustment magnetism of different positions, in the great region of local curvature change, guaranteed that magnetism adsorbs unit 11 effectively adsorbs on the operating mode curved surface.
While the present invention has been described with reference to several exemplary embodiments, it is understood that the terminology used is intended to be in the nature of words of description and illustration, rather than of limitation. As the present invention may be embodied in several forms without departing from the spirit or essential characteristics thereof, it should also be understood that the above-described embodiments are not limited by any of the details of the foregoing description, but rather should be construed broadly within its spirit and scope as defined in the appended claims, and therefore all changes and modifications that fall within the meets and bounds of the claims, or equivalences of such meets and bounds are therefore intended to be embraced by the appended claims.
Claims (8)
1. The walking device of the wall-climbing robot is characterized by comprising two walking mechanisms which are longitudinally arranged, each walking mechanism comprises a chain wheel supporting frame and a plurality of magnetic adsorption units, each chain wheel supporting frame comprises two supporting beams which longitudinally extend, a pair of synchronously moving tracks are arranged between the two supporting beams, and the magnetic adsorption units are distributed on the tracks at intervals; the supporting beams of the two travelling mechanisms correspond to each other one by one and can rotate relatively.
2. The walking device of a wall-climbing robot as claimed in claim 1, wherein the chain wheel support frames further comprise movable beams, the movable beams extend in the longitudinal direction and are fixedly connected to one longitudinal side of the support beam, and the movable beams of the two chain wheel support frames are connected in an articulated manner.
3. The walking device of claim 2, wherein the plurality of magnetic adsorption units are mounted on the tracks via movable components, each movable component comprises a pair of supporting seats fixed on the pair of tracks, respectively, a rotating shaft is fixedly mounted at the bottom of each magnetic adsorption unit, the axis of the rotating shaft extends in the transverse direction, and both ends of the rotating shaft are rotatably connected to the pair of supporting seats.
4. The walking device of claim 2, wherein the framework rotating members are arranged on both longitudinal sides of the walking device, and are rotatably connected with the sprocket support frame through a rotating pair.
5. The walking device of the wall-climbing robot as claimed in claim 4, wherein a rotating rod is fixedly connected to one longitudinal end of the chain wheel support frame, a rotating sleeve is rotatably sleeved on the rotating rod, the skeleton rotating member is fixedly connected to the rotating sleeve, and the rotating sleeve and the rotating rod are matched to form the rotating pair.
6. The walking device of a wall-climbing robot according to claim 5, wherein the walking mechanism further comprises a circumferential limiting component for circumferentially limiting the framework rotating member.
7. The walking device of a wall-climbing robot as claimed in claim 6, wherein the circumferential limiting component comprises a rotation block and two limiting stops, the two limiting stops are connected to one longitudinal side of the sprocket support frame, the rotation block is fixedly connected to the rotation sleeve, the rotation block extends in the transverse direction, limiting posts are mounted on two transverse sides of the rotation block, and the limiting posts are located above the limiting stops.
8. The walking device of a wall-climbing robot as claimed in claim 3, wherein the supporting base is fixed on the track by bolts; and a clamp spring is connected between the rotating shaft and the supporting seat.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011343753.4A CN112356934A (en) | 2020-11-26 | 2020-11-26 | Walking device of wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011343753.4A CN112356934A (en) | 2020-11-26 | 2020-11-26 | Walking device of wall-climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN112356934A true CN112356934A (en) | 2021-02-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202011343753.4A Pending CN112356934A (en) | 2020-11-26 | 2020-11-26 | Walking device of wall-climbing robot |
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| CN (1) | CN112356934A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696987A (en) * | 2021-09-18 | 2021-11-26 | 河北工业大学 | Single-track wall-climbing robot |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1419084B1 (en) * | 2001-08-24 | 2005-02-23 | Ellettari S.p.a. | Articulated crawler-tracked carriage |
| CN202911827U (en) * | 2012-10-23 | 2013-05-01 | 中国石油天然气集团公司 | Triangular rubber crawler wheel |
| CN103303387A (en) * | 2013-05-24 | 2013-09-18 | 宁波大学 | Curved surface self-adaption magnetic adsorption wall-climbing robot |
| CN105381902A (en) * | 2015-12-23 | 2016-03-09 | 烟台大学 | Wall-climbing rust removal paint spraying robot and control method thereof |
| CN211250046U (en) * | 2019-10-29 | 2020-08-14 | 河北工业大学 | Boats and ships adhere to biological cleaning robot |
-
2020
- 2020-11-26 CN CN202011343753.4A patent/CN112356934A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP1419084B1 (en) * | 2001-08-24 | 2005-02-23 | Ellettari S.p.a. | Articulated crawler-tracked carriage |
| CN202911827U (en) * | 2012-10-23 | 2013-05-01 | 中国石油天然气集团公司 | Triangular rubber crawler wheel |
| CN103303387A (en) * | 2013-05-24 | 2013-09-18 | 宁波大学 | Curved surface self-adaption magnetic adsorption wall-climbing robot |
| CN105381902A (en) * | 2015-12-23 | 2016-03-09 | 烟台大学 | Wall-climbing rust removal paint spraying robot and control method thereof |
| CN211250046U (en) * | 2019-10-29 | 2020-08-14 | 河北工业大学 | Boats and ships adhere to biological cleaning robot |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113696987A (en) * | 2021-09-18 | 2021-11-26 | 河北工业大学 | Single-track wall-climbing robot |
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Application publication date: 20210212 |