CN202201082U - Crawler-type wall-climbing adsorption structure - Google Patents
Crawler-type wall-climbing adsorption structure Download PDFInfo
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- CN202201082U CN202201082U CN201120294633XU CN201120294633U CN202201082U CN 202201082 U CN202201082 U CN 202201082U CN 201120294633X U CN201120294633X U CN 201120294633XU CN 201120294633 U CN201120294633 U CN 201120294633U CN 202201082 U CN202201082 U CN 202201082U
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Abstract
The utility model provides a crawler-type wall-climbing adsorption structure. The structure comprises a chassis and a transmission mechanism which is arranged on the chassis, wherein the transmission mechanism comprises a motor, a front drive shaft, a transmission shaft and a back drive shaft, wherein the motor is connected with the front drive shaft through the transmission shaft; the two ends of the front drive shaft and the back drive shaft are respectively provided with a hub; a chain-type crawler is arranged between the front hub and the back hub; a plurality of suction disks are distributed on the outside surface of the chain-type crawler; magnets are arranged at the positions, symmetrical with the suction disks, on the inside surface of the chain-type crawler; an electromagnetic device for controlling the actions of the magnets is arranged between the two hubs; and the electromagnetic device is fixedly connected with the chassis. The crawler-type wall-climbing adsorption structure is suitable to be used for cleaning or spraying high-rise buildings; and the crawler per se can be adsorbed on a working surface reliably, and can overcome the movement resistance caused by the gravity and the power absorption force when in movement, and reduce the movement impact and the drive loss of a system structure.
Description
[technical field]
The utility model relates to the aerial lift device field, and particularly a kind of crawler type is climbed the wall adsorption structure.
[background technology]
Climb wall construction or Climbing Robot mobile vehicle, in the production and construction of ball (storage) jar, pipeline, power station, water turbine, building etc., obtained widespread use as operation under the destructuring environment.
Climbing Robot must possess two basic function: wall absorption and mobile operating.Absorbing unit for robot provides adsorption affinity, makes it reliably be adsorbed on wall as the important component part of climbing robot.But climbing robot is when mobile operating, and gravity and adsorption affinity become its main resistance of motion; And adsorption affinity is big more, and resistance of motion is also big more, and the mobile operating ability of robot is also just poor more.This shows that the adsorption power of magnetic adsorption wall climbing robot and travelling performance are conflicting.Especially under the situation of low speed such as welding delivery, the kinematic dexterity problem that causes owing to absorption is more remarkable.Therefore, be badly in need of the climbing robot of a kind of variable magnetic force of design, make the robot absorbed portion that enough big adsorption affinity can be provided, and when motion, overcome the contradiction that adsorption affinity causes.
There are three kinds to climb the wall construction form in the market, 1, pure sucked type, utilize " foot " of the sucker of band air valve and air machinery, the creeping of realization metope as robot; 2, depression generator is adorned the motor of bleeding in the domain of toy car, under the lower situation in domain, with air extraction below the domain; Form negative pressure, make dolly can be adsorbed on the metope, shortcoming is that noise is big; The domain is low, and through performance is poor, and motor sucks particle easily and damages; 3, be exactly the principle of the gecko's foot absorption body of wall studied of the U.S., but the prematurity still of this technology.
A kind of wall-climbing machine structure is provided in the prior art; As open day be: 2000.11.15; Publication number is that the Chinese patent of CN2405719 discloses a kind of crawler-type permanent magnet iron climbing mechanism, it is characterized in that: this crawler belt adopts the constant permanent magnetism track unit of a plurality of magnetic attractions to contact with the scope of operation, makes adsorption power improve greatly; But, make that the power and the stability of motion of having to when it moves to sacrifice motor are prerequisite because the magnetic attraction of permanent magnetism track unit is constant.
[summary of the invention]
The technical matters that the utility model will solve is to provide a kind of crawler type to climb the wall adsorption structure, thereby has overcome the deficiency that Climbing Robot exists in the prior art.
The utility model is achieved in that a kind of crawler type climbs the wall adsorption structure, comprises the chassis, and the transmission device of being located at the chassis, and said transmission device comprises electrical motor, drive axle, transmission shaft and rear drive shaft; Said electrical motor is connected with drive axle through transmission shaft; The two ends of said drive axle and rear drive shaft are provided with a wheel hub respectively; Be provided with a chain type crawler belt between described former and later two wheel hubs; The outer surface of said chain type crawler belt is laid with a plurality of suckers, and the position of the inner surface of said chain type crawler belt and sucker symmetry is provided with magnet; Also be provided with the calutron of controlling magnet action between said two wheel hubs, said calutron is fixedly connected on the said chassis.
Further, said calutron is the inner container that is provided with at least one group electric iron core.
Further, also comprise a rolling brush, described rolling brush is located at the front end on said chassis.
Further, described sucker array distribution is in the outer surface of said chain type crawler belt.
The advantage of the utility model is: the utility model comprises the chassis, and the transmission device of being located at the chassis, and the drive axle of its transmission device and the two ends of rear drive shaft are provided with a wheel hub respectively; Be provided with a chain type crawler belt between described former and later two wheel hubs; The outer surface of said chain type crawler belt is laid with sucker, and the position of the inner surface of said chain type crawler belt and sucker symmetry is provided with magnet; Also be provided with the calutron of controlling magnet action between said two wheel hubs.Can realize the cleaning or the spraying of skyscraper through this crawler belt and calutron; This crawler belt can either be adsorbed on the scope of operation reliably with self, can when motion, overcome the resistance of motion that gravity and powerful adsorption affinity cause again, reduces the motion impact and the drive loss of system architecture.
[description of drawings]
Fig. 1 is the structural representation that the utility model first embodiment removes part chain type crawler belt.
Fig. 2 is the chain type crawler belt of Fig. 1 the utility model and the structural representation of wheel hub.
Fig. 3 is the calutron structural representation of Fig. 1 the utility model.
Fig. 4 is the structural representation that the utility model second embodiment removes part chain type crawler belt.
Fig. 5 is the calutron structural representation of Fig. 4 the utility model.
[specific embodiment]
See also illustrated in figures 1 and 2ly, the crawler type of the utility model first embodiment is climbed the wall adsorption structure, comprises chassis 1, and the transmission device 2 of being located at chassis 1, and said transmission device 2 comprises electrical motor 21, drive axle 22, transmission shaft 23 and rear drive shaft 24; Said electrical motor 21 is connected with drive axle 22 through transmission shaft 23; The two ends of said drive axle 22 and rear drive shaft 24 are provided with a wheel hub 3 respectively; As shown in Figure 2,3 of described former and later two wheel hubs are provided with a chain type crawler belt 4; The outer surface of said chain type crawler belt 4 (it sees the crawler belt that Fig. 1 middle and upper part is divided) is laid with a plurality of suckers 41, and its sucker 41 is array distribution outer surfaces in said chain type crawler belt 4; The inner surface of said chain type crawler belt 4 (it sees the crawler belt of Fig. 1 lower middle portion) is provided with magnet 42 with the position of sucker 41 symmetries; Also be provided with the calutron 5 of a controlling magnet 42 actions between said two wheel hubs 3, said calutron 5 is fixedly connected on the said chassis 1.
As shown in Figure 3, be the calutron structural representation of the utility model first embodiment.Said in the present embodiment calutron 5 is the inner container that is provided with at least one group electric iron core 51.It comes controlling magnet 42 actions through electric iron core 51, sucker is done with magnet (magnetic material) be in the same place, and utilizes the magnetic material mutual action; Purpose is to transfer to the front and back axle drive shaft on chassis with acting on bar pressure on the sucker, then before and after four wheel hubs also just produced " adhesive ability " that vertically acts on metope, this " adhesive ability " has two effects; One is to realize the low absorption in chassis on the wall, be exactly " station " on the wall, rather than hang by crawler belt; Another vital function is; When advance in the chassis, wheel has individual squeese pressure to the sucker under the wheel hub, makes its discharge inner air and forms negative pressure.Another design feature of present embodiment is exactly easily to throw off the sucker under the rear-wheel hub: rear wheel hub upwards rotates and pulls out the sucker that closes on simultaneously; Because barometric pressure is to be distributed in a plurality of suckers the inside, so the adsorption affinity of single sucker is little, the power that the while crawler belt acts on the sucker is not in the centre; But at the edge of sucker; The action of similar " raising " sucker makes sucker in the crawler belt rolling process, throw off more easily, has reduced the loss of propelling energy.
As shown in Figure 4, be the structural representation that the utility model removes part chain type crawler belt second embodiment.The distinctive points of itself and first embodiment is: this structure comprises a rolling brush 6, and described rolling brush 6 is located at the front end on said chassis 1, and its rolling brush 6 can well be accomplished cleaning; As shown in Figure 5, wherein calutron 5 is square containers, and described container is separated into a plurality of column cell bodies 52, is provided with described electric iron core 51 in the described column cell body 52, and its electric iron core 51 is shaped as bar shape.So electric iron core just can stable being arranged in the column cell body.
Here what deserves to be mentioned is: adopt the multi-sucker mentality of designing in the utility model, the sucker size is little, and quantity is many, and then effect is good more; Design makes that the power of shaking off indivedual suckers just need not be too big when trailing wheel rolled like this; The probability of failure of sucker absorption simultaneously is just little, because quantity is many, if because wherein several sucker absorption failure as long as most of sucker is a normal sorption, is can not have influence on the single-piece adsorption effect; If, improve adsorption affinity owing to the machine deadweight increases, only need that crawler belt is done length and do wide getting final product, other wall-climbing machine structures of these characteristics are difficult to possess.
In a word, the utility model can be realized the cleaning or the spraying of skyscraper through chain type crawler belt and calutron; This crawler belt can either be adsorbed on the scope of operation reliably with self, can when motion, overcome the resistance of motion that powerful adsorption affinity causes again, reduces the motion impact and the drive loss of system architecture.
The above is merely the preferred embodiment of the utility model, and all equalizations of being done according to the utility model claim change and modify, and all should belong to the covering scope of the utility model.
Claims (4)
1. a crawler type is climbed the wall adsorption structure, comprises the chassis, and the transmission device of being located at the chassis, and said transmission device comprises electrical motor, drive axle, transmission shaft and rear drive shaft; Said electrical motor is connected with drive axle through transmission shaft; The two ends of said drive axle and rear drive shaft are provided with a wheel hub respectively; It is characterized in that: be provided with a chain type crawler belt between described former and later two wheel hubs; The outer surface of said chain type crawler belt is laid with a plurality of suckers, and the position of the inner surface of said chain type crawler belt and sucker symmetry is provided with magnet; Also be provided with the calutron of controlling magnet action between said two wheel hubs, said calutron is fixedly connected on the said chassis.
2. crawler type according to claim 1 is climbed the wall adsorption structure, it is characterized in that: said calutron is the inner container that is provided with at least one group electric iron core.
3. crawler type according to claim 1 is climbed the wall adsorption structure, it is characterized in that: also comprise a rolling brush, described rolling brush is located at the front end on said chassis.
4. crawler type according to claim 1 is climbed the wall adsorption structure, it is characterized in that: described sucker array distribution is in the outer surface of said chain type crawler belt.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120294633XU CN202201082U (en) | 2011-08-15 | 2011-08-15 | Crawler-type wall-climbing adsorption structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201120294633XU CN202201082U (en) | 2011-08-15 | 2011-08-15 | Crawler-type wall-climbing adsorption structure |
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| Publication Number | Publication Date |
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| CN202201082U true CN202201082U (en) | 2012-04-25 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201120294633XU Expired - Fee Related CN202201082U (en) | 2011-08-15 | 2011-08-15 | Crawler-type wall-climbing adsorption structure |
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Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774441A (en) * | 2012-08-21 | 2012-11-14 | 常州工学院 | Caterpillar multi-sucker wall-climbing robot |
| CN102774442A (en) * | 2012-06-01 | 2012-11-14 | 上海大学 | Caterpillar track running device used in constrained space |
| CN102774440A (en) * | 2012-08-21 | 2012-11-14 | 常州工学院 | Track chuck component applicable to climbing robot |
| CN103318283A (en) * | 2012-06-16 | 2013-09-25 | 摩尔动力(北京)技术股份有限公司 | Solid face walking device |
| CN103332232A (en) * | 2013-06-06 | 2013-10-02 | 中国人民解放军海军工程大学 | Steel plate wall climbing robot |
| CN103587604A (en) * | 2013-10-31 | 2014-02-19 | 长春理工大学 | Magnetic force climbing vehicle |
| CN104071247A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Crawler belt sucker type wall-climbing robot |
| CN104475405A (en) * | 2014-11-07 | 2015-04-01 | 常州大学 | Wall climbing cleaning robot for container and pipeline |
| CN105502128A (en) * | 2016-01-13 | 2016-04-20 | 宁波市鄞州发辉机械科技有限公司 | Multifunctional high-building lifting device |
| CN105617545A (en) * | 2016-01-13 | 2016-06-01 | 宁波市鄞州发辉机械科技有限公司 | Multifunctional high-rise escape device |
| CN105664383A (en) * | 2016-01-13 | 2016-06-15 | 宁波市鄞州发辉机械科技有限公司 | Multifunctional high-rise fire control device |
| CN105752183A (en) * | 2016-04-08 | 2016-07-13 | 昆明理工大学 | Robot |
| CN107050706A (en) * | 2016-12-25 | 2017-08-18 | 武汉轻工大学 | A kind of emergent fire extinguishing dolly of high building |
| CN107310651A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of crawler type electromagnetic adsorption climbing robot walking mechanism |
| CN107362993A (en) * | 2015-10-16 | 2017-11-21 | 马根昌 | The method for avoiding hot spot effect |
| CN109204598A (en) * | 2018-08-07 | 2019-01-15 | 国网辽宁省电力有限公司葫芦岛供电公司 | A kind of climbing robot electromagnetism pedrail mechanism |
| CN110053682A (en) * | 2019-03-26 | 2019-07-26 | 深圳先进技术研究院 | A kind of method of robot and control robot motion |
| CN111152857A (en) * | 2020-02-24 | 2020-05-15 | 林钢 | Crawler driving device and crawler robot |
| CN111319695A (en) * | 2020-03-24 | 2020-06-23 | 佛山科学技术学院 | Sucking disc mechanism of rotary wheel of crawling |
| CN112339877A (en) * | 2020-08-27 | 2021-02-09 | 南京驭逡通信科技有限公司 | Climbing robot with high stability |
| CN112716349A (en) * | 2020-12-30 | 2021-04-30 | 张云 | Cleaning brush for high glass |
| CN115649313A (en) * | 2022-08-24 | 2023-01-31 | 中国十七冶集团有限公司 | Wheeled electromagnetic welding robot chassis |
-
2011
- 2011-08-15 CN CN201120294633XU patent/CN202201082U/en not_active Expired - Fee Related
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102774442B (en) * | 2012-06-01 | 2014-10-01 | 上海大学 | Caterpillar track running device used in constrained space |
| CN102774442A (en) * | 2012-06-01 | 2012-11-14 | 上海大学 | Caterpillar track running device used in constrained space |
| CN103318283A (en) * | 2012-06-16 | 2013-09-25 | 摩尔动力(北京)技术股份有限公司 | Solid face walking device |
| CN102774441A (en) * | 2012-08-21 | 2012-11-14 | 常州工学院 | Caterpillar multi-sucker wall-climbing robot |
| CN102774440A (en) * | 2012-08-21 | 2012-11-14 | 常州工学院 | Track chuck component applicable to climbing robot |
| CN102774440B (en) * | 2012-08-21 | 2014-10-22 | 常州工学院 | Track chuck component applicable to climbing robot |
| CN102774441B (en) * | 2012-08-21 | 2015-09-16 | 常州工学院 | A kind of climbing robot of crawler multi-sucker |
| CN103332232A (en) * | 2013-06-06 | 2013-10-02 | 中国人民解放军海军工程大学 | Steel plate wall climbing robot |
| CN103332232B (en) * | 2013-06-06 | 2015-10-14 | 中国人民解放军海军工程大学 | Steel plate climbing robot |
| CN103587604A (en) * | 2013-10-31 | 2014-02-19 | 长春理工大学 | Magnetic force climbing vehicle |
| CN104071247A (en) * | 2014-05-15 | 2014-10-01 | 苏州工业园区职业技术学院 | Crawler belt sucker type wall-climbing robot |
| CN104475405A (en) * | 2014-11-07 | 2015-04-01 | 常州大学 | Wall climbing cleaning robot for container and pipeline |
| CN107362993B (en) * | 2015-10-16 | 2019-09-24 | 温州跨界环保科技有限公司 | The method for avoiding hot spot effect |
| CN107362993A (en) * | 2015-10-16 | 2017-11-21 | 马根昌 | The method for avoiding hot spot effect |
| CN105664383A (en) * | 2016-01-13 | 2016-06-15 | 宁波市鄞州发辉机械科技有限公司 | Multifunctional high-rise fire control device |
| CN105617545A (en) * | 2016-01-13 | 2016-06-01 | 宁波市鄞州发辉机械科技有限公司 | Multifunctional high-rise escape device |
| CN105502128A (en) * | 2016-01-13 | 2016-04-20 | 宁波市鄞州发辉机械科技有限公司 | Multifunctional high-building lifting device |
| CN105664383B (en) * | 2016-01-13 | 2018-12-07 | 宁波市海曙发辉机械科技有限公司 | Multifunctional high building fire plant |
| CN105752183B (en) * | 2016-04-08 | 2018-03-06 | 昆明理工大学 | A kind of robot |
| CN105752183A (en) * | 2016-04-08 | 2016-07-13 | 昆明理工大学 | Robot |
| CN107310651A (en) * | 2016-04-26 | 2017-11-03 | 广西大学 | A kind of crawler type electromagnetic adsorption climbing robot walking mechanism |
| CN107050706A (en) * | 2016-12-25 | 2017-08-18 | 武汉轻工大学 | A kind of emergent fire extinguishing dolly of high building |
| CN107050706B (en) * | 2016-12-25 | 2022-09-09 | 武汉轻工大学 | Emergency fire extinguishing trolley for high-rise building |
| CN109204598A (en) * | 2018-08-07 | 2019-01-15 | 国网辽宁省电力有限公司葫芦岛供电公司 | A kind of climbing robot electromagnetism pedrail mechanism |
| CN110053682A (en) * | 2019-03-26 | 2019-07-26 | 深圳先进技术研究院 | A kind of method of robot and control robot motion |
| CN111152857A (en) * | 2020-02-24 | 2020-05-15 | 林钢 | Crawler driving device and crawler robot |
| CN111319695A (en) * | 2020-03-24 | 2020-06-23 | 佛山科学技术学院 | Sucking disc mechanism of rotary wheel of crawling |
| CN112339877A (en) * | 2020-08-27 | 2021-02-09 | 南京驭逡通信科技有限公司 | Climbing robot with high stability |
| CN112339877B (en) * | 2020-08-27 | 2021-09-10 | 南京驭逡通信科技有限公司 | Climbing robot with high stability |
| CN112716349A (en) * | 2020-12-30 | 2021-04-30 | 张云 | Cleaning brush for high glass |
| CN115649313A (en) * | 2022-08-24 | 2023-01-31 | 中国十七冶集团有限公司 | Wheeled electromagnetic welding robot chassis |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120425 Termination date: 20120815 |