CN204021042U - A kind of endless track installation for climbing robot - Google Patents
A kind of endless track installation for climbing robot Download PDFInfo
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- CN204021042U CN204021042U CN201420259520.XU CN201420259520U CN204021042U CN 204021042 U CN204021042 U CN 204021042U CN 201420259520 U CN201420259520 U CN 201420259520U CN 204021042 U CN204021042 U CN 204021042U
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- Prior art keywords
- crawler belt
- climbing robot
- endless track
- track installation
- sawtooth
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- 230000009194 climbing Effects 0.000 title claims abstract description 42
- 238000009434 installation Methods 0.000 title claims abstract description 26
- 239000000463 material Substances 0.000 claims description 16
- 229920001971 elastomer Polymers 0.000 claims description 9
- 239000005060 rubber Substances 0.000 claims description 9
- 229910000838 Al alloy Inorganic materials 0.000 claims description 5
- PCHJSUWPFVWCPO-UHFFFAOYSA-N gold Chemical compound [Au] PCHJSUWPFVWCPO-UHFFFAOYSA-N 0.000 claims description 4
- 239000010931 gold Substances 0.000 claims description 4
- 229910052737 gold Inorganic materials 0.000 claims description 4
- 230000008901 benefit Effects 0.000 abstract description 7
- 238000013461 design Methods 0.000 abstract description 7
- 238000004140 cleaning Methods 0.000 description 6
- 238000011161 development Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 238000010008 shearing Methods 0.000 description 5
- 229920000515 polycarbonate Polymers 0.000 description 4
- 238000009826 distribution Methods 0.000 description 3
- 239000011521 glass Substances 0.000 description 3
- 210000003127 knee Anatomy 0.000 description 3
- 238000000034 method Methods 0.000 description 3
- 239000004417 polycarbonate Substances 0.000 description 3
- 244000043261 Hevea brasiliensis Species 0.000 description 2
- 239000005062 Polybutadiene Substances 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 239000011159 matrix material Substances 0.000 description 2
- 229920003052 natural elastomer Polymers 0.000 description 2
- 229920001194 natural rubber Polymers 0.000 description 2
- 229920002857 polybutadiene Polymers 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 238000012827 research and development Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- OKTJSMMVPCPJKN-UHFFFAOYSA-N Carbon Chemical compound [C] OKTJSMMVPCPJKN-UHFFFAOYSA-N 0.000 description 1
- 239000004425 Makrolon Substances 0.000 description 1
- 229910000639 Spring steel Inorganic materials 0.000 description 1
- 230000001133 acceleration Effects 0.000 description 1
- 229910052799 carbon Inorganic materials 0.000 description 1
- 239000000919 ceramic Substances 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 229920002457 flexible plastic Polymers 0.000 description 1
- 235000013305 food Nutrition 0.000 description 1
- 238000002347 injection Methods 0.000 description 1
- 239000007924 injection Substances 0.000 description 1
- 238000001746 injection moulding Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 229910052751 metal Inorganic materials 0.000 description 1
- 239000002184 metal Substances 0.000 description 1
- 238000005457 optimization Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 239000003208 petroleum Substances 0.000 description 1
- 239000004033 plastic Substances 0.000 description 1
- 229920003023 plastic Polymers 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
- 238000005488 sandblasting Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
- 238000003860 storage Methods 0.000 description 1
- 239000000126 substance Substances 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000009423 ventilation Methods 0.000 description 1
- 238000004073 vulcanization Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 1
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Abstract
The utility model discloses a kind of endless track installation for climbing robot, comprise: crawler belt, Athey wheel and Suction cup assembly, the discrete outside face that is distributed in described crawler belt of described Suction cup assembly, described Athey wheel is fixed on the inside of described crawler belt, and comprise driving wheel and some flower wheels, the inside face of described crawler belt is provided with some the first sawtooth, the outside face of described Athey wheel is provided with some the second sawtooth that match with described some the first sawtooth, and described some the first sawtooth are 2 with the modulus that engages of described some the second sawtooth.By the way, the utility model for the endless track installation of climbing robot there is scientific structure, modern design, configuration is reasonable, function is advanced, automatic control, the advantage such as safe and reliable, economical and practical, on the endless track installation for climbing robot universal, has market outlook widely.
Description
Technical field
The utility model relates to mechanical automation field, particularly relates to a kind of endless track installation for climbing robot.
Background technology
Along with scientific and technological progress, industrial robot has obtained widely using in every field, and wherein, with it, the outstanding advantages in industries such as nuke industry, building, fire-fightings more and more receives people's concern to climbing robot.
The application of climbing robot on clean high-rise building wall surface, can find out the development along with control and mechanical & electrical technology, this can instead of manual the appearance of wall surface cleaning robot of work people is freed from heavy, dangerous high building cleaning, reduce the cleaning cost of skyscraper, enhance productivity, also promote the development of cleaning industry, bring suitable social benefit, economic benefit simultaneously.But this is only an application of climbing robot, in recent years, along with widespread use and the development of multi-form robot in every field, climbing robot is as the robot that can carry out operation on steep slope, the good characteristic that can become a kind of robot apparatus of high-altitude limit operation with it, is more and more subject to people's attention.Sum up, climbing robot mainly can be applied to following
:
(1) can be applicable to spray huge metope, installation ceramic tile, wall flaw detection, wall reparation lift face, wall cleaning, cleaning glass window wall etc. at construction trade;
(2) can be applicable to carry fire-fighting equipment at fire department, transmit relief goods, carry out height rescue work;
(3) can be used for nuclear waste storage tank to carry out the dangerous work such as sight control, thickness measuring and seam inspection at nuke industry;
(4) the inside and outside wall that can be used for vertical metal can or spherical tank in petroleum chemical enterprise checks or sand blasting, spray paint anticorrosion;
(5) ship building industry can be used for spraying the inside and outside wall of hull, to the inside and outside wall of hull check, hull inside and outside wall is clean etc.;
(6) in rescue and relief work, can be applicable to transport escape apparatus, transmit food water provisions etc. to high-altitude trapped personnel;
(7), in aerospace, can be used for space probation, Aerospace Satellite maintenance etc.
As can be seen here, the application of climbing robot relates generally to the people's livelihood, nuke industry, shipbuilding industry etc., and in these fields, is serving as very important work, can promote the raising of productive force, the life that improves the people and service conditions.The research and development of climbing robot structural principle can be the manufacturing of wall robot and the progressive effect of playing guidance and promoting of upgrading; In addition, the research scientific findings of climbing robot correlation technique can directly apply to or drive the progress of relevant chain industry, promotes on the whole the development of productive force, improves the people's quality of life.
In a word, active research and development climbing robot technology, making great efforts exploitation and manufacture and design the needs that the climbing robot that can be converted into reality potential productivity is productive force development, is that people's living standard and service conditions are improved and the needs that improve, and Ye Shi China rejuvenates China by applying scientific and technological advances, the needs of technological advance.The scientific research of this technology will produce huge economic value and social value with innovation.
Existing crawler belt design plan is generally following two kinds: one, drive wheel and track adjusting wheel double as support wheel, have therefore increased Area of bearing, have improved stability, but the performance of penetrate a little less than, be not suitable for and have gap or rough surface; Two, for drive wheel and the track adjusting wheel position of not making support wheel are above the ground level, angle when chain is introduced reaches 50 degree, and its benefit is to be suitable for penetrate, but while use, crawler belt wearing and tearing are large, service life is low.
Utility model content
The technical matters that the utility model mainly solves is to provide a kind of endless track installation for climbing robot, in putting by employing drive wheel (driving wheel), track adjusting wheel (flower wheel) is symmetrical, the double structure design that does support wheel of drive wheel and track adjusting wheel, increase widely area of contact, and make stressed concentrated place on crawler belt away from crawler belt knee, reduce the infringement to crawler belt, and then promote the stability of walking and increased service life, novel structure, economical and practical, there are market outlook widely popularizing of the endless track installation for climbing robot.
For solving the problems of the technologies described above, the utility model provides a kind of endless track installation for climbing robot, comprise: crawler belt, Athey wheel and Suction cup assembly, the discrete outside face that is distributed in described crawler belt of described Suction cup assembly, described Athey wheel is fixed on the inside of described crawler belt, and comprise driving wheel and some flower wheels, the inside face of described crawler belt is provided with some the first sawtooth, the outside face of described Athey wheel is provided with some the second sawtooth that match with described some the first sawtooth, and described some the first sawtooth are 2 with the modulus that engages of described some the second sawtooth.
In preferred embodiment of the utility model, described crawler belt is connected with power source system and control system, and described control system is PLC control circuit.
In preferred embodiment of the utility model, described crawler belt comprises crawler belt main body and skeleton, and described crawler belt main body is coated described skeleton.
In preferred embodiment of the utility model, the inside of described skeleton is provided with core gold.
In preferred embodiment of the utility model, the material of described crawler belt main body is rubber.
In preferred embodiment of the utility model, the position of center line of the side of described Athey wheel is provided with groove, and the degree of depth of described groove is greater than 45mm.
In preferred embodiment of the utility model, the maximum height of the inside that puts in described crawler belt of described Suction cup assembly is less than the degree of depth of described groove.
In preferred embodiment of the utility model, described Suction cup assembly includes sucker body and housing, and the material of described sucker body is rubber, and the material of described housing is aluminum alloy.
In preferred embodiment of the utility model, described driving wheel is arranged on the centre of described some flower wheels.
In preferred embodiment of the utility model, the quantity of described some flower wheels is 2.
The beneficial effects of the utility model are: the utility model for the endless track installation of climbing robot there is scientific structure, modern design, configuration is reasonable, function is advanced, automatic control, the advantage such as safe and reliable, economical and practical, on the endless track installation for climbing robot universal, has market outlook widely.
Brief description of the drawings
In order to be illustrated more clearly in the technical scheme in the utility model embodiment, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only embodiment more of the present utility model, for those of ordinary skill in the art, do not paying under the prerequisite of creative work, can also obtain according to these accompanying drawings other accompanying drawing, wherein:
Fig. 1 is the structural representation of endless track installation one preferred embodiment for climbing robot of the present utility model;
In accompanying drawing, the mark of each parts is as follows: 1, crawler belt, 10, some the first sawtooth, 20, some the second sawtooth, 21, driving wheel, 22, some flower wheels, 3, Suction cup assembly.
Detailed description of the invention
To the technical scheme in the utility model embodiment be clearly and completely described below, obviously, described embodiment is only a part of embodiment of the present utility model, instead of whole embodiment.Based on the embodiment in the utility model, those of ordinary skill in the art are not making all other embodiment that obtain under creative work prerequisite, all belong to the scope of the utility model protection.
The utility model embodiment comprises:
For an endless track installation for climbing robot, comprising: crawler belt 1, Athey wheel and Suction cup assembly 3.
The discrete outside face that is distributed in described crawler belt 1 of described Suction cup assembly 3, the flexibility of the discrete characteristic distributions of Suction cup assembly 3 on crawler belt 1 and crawler belt 1 self makes the obstacle of going beyond that climbing robot can be relatively easy, as glass gap, metope kick etc., crawler belt 1 does not directly contact with wall in addition, reduce the infringement of unsmooth wall to crawler belt 1, thereby improved the work life of robot; Described Athey wheel is fixed on the inside of described crawler belt 1, and comprise driving wheel 20 and some flower wheels 21, the inside face of described crawler belt 1 is provided with some the first sawtooth 10, the outside face of described Athey wheel is provided with some the second sawtooth 20 that match with described some the first sawtooth 10, be between crawler belt 1 and Athey wheel, to be to connect simulation wheel and rack to engage, this can steadily move climbing robot rapidly on wall, thereby has greatly improved bonding tightness and walking degree of stability between crawler belt 1 and Athey wheel; Described some the first sawtooth 10 are 2 with the modulus that engages of described some the second sawtooth 20, in order to ensure that crawler belt 1 can not be killed with Athey wheel in the time moving, the thickness of some the first sawtooth 10 on crawler belt 1 is arranged to such an extent that be relatively thinner than some the second sawtooth 20 on described Athey wheel, make it ensure enough engagement spaces; In addition, arrange porosely on crawler belt 1, for assembling Suction cup assembly and ventilation flue passes through, on crawler belt 1, be provided with bossing, for connecting mutually in order to be Suction cup assembly 3 air feed with gas distribution plate, novel structure, stable performance, running velocity are fast.
Preferably, described crawler belt 1 is connected with power source system and control system, and described control system is PLC control circuit, Based Intelligent Control, novel structure, control convenience, performance optimization, convenient and practical.
Preferably, described crawler belt 1 comprises crawler belt main body and skeleton, and described crawler belt main body is coated described skeleton, has greatly promoted bearing pressure.
Preferably, the inside of described skeleton is provided with core gold, has further promoted bearing capacity, convenient carrying, raising life-span.
Preferably, the material of described crawler belt main body is rubber, crawler belt main body adopts rubber belt track, make by molded vulcanization, have that grounding pressure is little, tractive force is large, it is little to vibrate, noise is low, wet field is good by performance, do not damage road surface, fireballing advantage, the material that Athey wheel adopts is that polycarbonate injection moulded forms, and tensile strength is high, mechanical characteristics is high, intensity is large, sturdy and durable.
Preferably, the position of center line of the side of described Athey wheel is provided with groove, and the degree of depth of described groove is greater than 45mm, for preventing the interference that bumps of the afterbody of Suction cup assembly 3 and Athey wheel, human nature reasonable in design, sturdy and durable, convenient control.
Preferably, the maximum height of the inside that puts in described crawler belt 1 of described Suction cup assembly 3 is less than the degree of depth of described groove.
Preferably, described Suction cup assembly 3 includes sucker body and housing, the material of described sucker body is rubber, the material of described housing is aluminum alloy, sucker body is made up through injection moulding of flexible plastic, housing is Al-alloy parts, cause danger in order to prevent that the housing of Suction cup assembly 3 fractures in robot working process, Suction cup assembly 3 is thicker with crawler belt 1 joint portion material, in addition in order to alleviate the total mass of whole robot, in the situation that meeting work and requirement of strength, part all adopts plastics, aluminum alloy or other light materials to make.
Preferably, described driving wheel 21 is arranged on the centre of described some flower wheels 22, during driving wheel 21 is put, the mode that is arranged symmetrically with of flower wheel 22 makes the stressed maximum of crawler belt 1 avoid crawler belt 1 knee, reduced the infringement to crawler belt 1, improved the service life of crawler belt 1.
Preferably, the quantity of described some flower wheels 22 is 2.
Following table is depicted as the main performance of rubber belt track matrix natural rubber and butadiene rubber:
Following table is the main performance of Athey wheel material polycarbonate:
2 charts can be found out above, and the tensile strength of crawler belt 1 matrix natural rubber and butadiene rubber is lower than Athey wheel material polycarbonate.But crawler belt 1 is made up of body of rubber, core gold, cord framework material, carbon spring steel wires (if diameter is 0.08mm) tensile strength is 2059 ~ 2452MPa, and therefore Athey wheel occurs that dangerous possibility is large, below Athey wheel is checked.
When Athey wheel drives crawler belt 1 to rotate, can obtain according to the relation of power:
In formula, the meaning of each symbol is:
P---drive wheel passes to the power of crawler belt, and unit is W;
---driving wheel 21 drives the moment of torsion of crawler belt, and unit is
;
---be the cireular frequency that driving wheel 21 rotates, the rad/s of unit;
---safety factor is in order to ensure certain margin of power and watt loss, generally to get 2 ~ 3;
---the total mass of robot, unit is
;
---acceleration due to gravity, unit is
;
---the speed that robot moves on wall, unit
.
Being located at the shearing on a tooth in driving wheel 21 work is
, have:
In formula, the sectional area of A---driving wheel 21 tooth bottoms, unit is
;
---the shearing stress that driving wheel 21 gear teeth bottoms are subject to, unit is Pa;
---the length of driving wheel 21 gear teeth bottom sections, unit is
;
---the width of driving wheel 21 gear teeth bottom sections, unit is
.
Square is got in driving wheel 21 centers, by equation of equilibrium
, can obtain:
In formula,
---the shearing in driving wheel 21 work on a tooth is
;
---the diameter of driving wheel 21, unit is mm;
---the simultaneously in running order number of gears;
Rotation for driving wheel 21 has:
In formula, the radius of r---driving wheel 21, the m of unit;
Simultaneous can obtain, the shearing stress that driving wheel 21 gear teeth bottoms are subject to:
In formula, safety factor k gets 2.5, and the total weight m of robot is 45Kg, and gravity acceleration g gets 9.8
, machine man-hour simultaneously in running order tooth number gets 2.3, and the driving wheel 21 wide l in gear teeth bottom are 30mm, and driving wheel 21 gear teeth bottom lengths b are 4.86mm, and above data substitution can be obtained:
For the makrolon material of driving wheel 21 can be by its tensile strength the intensity with reference to its anti-shearing stress, therefore have:
From above formula, driving wheel 21 intensity of climbing robot meet the demands, and comprehensive above discussion proves that the traveling gear of known climbing robot meets requirement of strength, can ensure robot security's task of finishing the work reliably.
The utility model for the beneficial effect of the endless track installation of climbing robot is:
One, by adopt drive wheel (driving wheel) put in, symmetrical, the drive wheel of track adjusting wheel (flower wheel) and the double structure design that does support wheel of track adjusting wheel, increase widely area of contact, and make stressed concentrated place on crawler belt away from crawler belt knee, reduce the infringement to crawler belt, and then promote the stability of walking and increased service life, novel structure, economical and practical;
Two, by adopting connection simulation wheel and rack between crawler belt and Athey wheel to engage, this can steadily move climbing robot rapidly on wall, thereby has greatly improved bonding tightness and walking degree of stability between crawler belt and Athey wheel;
Three, with respect to the general endless track installation for climbing robot, the discrete distribution of the Suction cup assembly for climbing robot here on crawler belt, this makes the obstacle of going beyond that climbing robot can be relatively easy, as glass gap, metope kick etc., crawler belt does not directly contact with wall in addition, reduce the infringement of unsmooth wall to crawler belt, thereby improved the work life of robot.
The foregoing is only embodiment of the present utility model; not thereby limit the scope of the claims of the present utility model; every equivalent structure or conversion of equivalent flow process that utilizes the utility model description to do; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present utility model.
Claims (10)
1. the endless track installation for climbing robot, it is characterized in that, comprise: crawler belt, Athey wheel and Suction cup assembly, the discrete outside face that is distributed in described crawler belt of described Suction cup assembly, described Athey wheel is fixed on the inside of described crawler belt, and comprise driving wheel and some flower wheels, the inside face of described crawler belt is provided with some the first sawtooth, the outside face of described Athey wheel is provided with some the second sawtooth that match with described some the first sawtooth, and described some the first sawtooth are 2 with the modulus that engages of described some the second sawtooth.
2. the endless track installation for climbing robot according to claim 1, is characterized in that, described crawler belt is connected with power source system and control system, and described control system is PLC control circuit.
3. the endless track installation for climbing robot according to claim 1, is characterized in that, described crawler belt comprises crawler belt main body and skeleton, and described crawler belt main body is coated described skeleton.
4. the endless track installation for climbing robot according to claim 3, is characterized in that, the inside of described skeleton is provided with core gold.
5. the endless track installation for climbing robot according to claim 3, is characterized in that, the material of described crawler belt main body is rubber.
6. the endless track installation for climbing robot according to claim 1, is characterized in that, the position of center line of the side of described Athey wheel is provided with groove, and the degree of depth of described groove is greater than 45mm.
7. the endless track installation for climbing robot according to claim 6, is characterized in that, the maximum height of the inside that puts in described crawler belt of described Suction cup assembly is less than the degree of depth of described groove.
8. the endless track installation for climbing robot according to claim 1, is characterized in that, described Suction cup assembly includes sucker body and housing, and the material of described sucker body is rubber, and the material of described housing is aluminum alloy.
9. the endless track installation for climbing robot according to claim 1, is characterized in that, described driving wheel is arranged on the centre of described some flower wheels.
10. the endless track installation for climbing robot according to claim 1, is characterized in that, the quantity of described some flower wheels is 2.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420259520.XU CN204021042U (en) | 2014-05-21 | 2014-05-21 | A kind of endless track installation for climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420259520.XU CN204021042U (en) | 2014-05-21 | 2014-05-21 | A kind of endless track installation for climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN204021042U true CN204021042U (en) | 2014-12-17 |
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| CN201420259520.XU Expired - Fee Related CN204021042U (en) | 2014-05-21 | 2014-05-21 | A kind of endless track installation for climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029743A (en) * | 2014-05-21 | 2014-09-10 | 苏州工业园区职业技术学院 | Caterpillar band running system for wall-climbing robot |
| CN108556944A (en) * | 2017-12-28 | 2018-09-21 | 江苏集萃智能制造技术研究所有限公司 | A kind of leak detection climbing robot and its system |
-
2014
- 2014-05-21 CN CN201420259520.XU patent/CN204021042U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104029743A (en) * | 2014-05-21 | 2014-09-10 | 苏州工业园区职业技术学院 | Caterpillar band running system for wall-climbing robot |
| CN108556944A (en) * | 2017-12-28 | 2018-09-21 | 江苏集萃智能制造技术研究所有限公司 | A kind of leak detection climbing robot and its system |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Huajing Inventor before: Ding Shenping Inventor before: Dai Changhao Inventor before: Liu Jun |
|
| CB03 | Change of inventor or designer information | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170314 Address after: 211100 Xuanwu District, Jiangsu, Zhujianglu Road, No. 680, No. Patentee after: NANJING XINGMENG EDUCATION TECHNOLOGY CO., LTD. Address before: 215021 Suzhou Industrial Park, Jiangsu, if waterway No. 1 Patentee before: Suzhou Industrial Park Institute of Vocational Technology |
|
| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20141217 Termination date: 20200521 |
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| CF01 | Termination of patent right due to non-payment of annual fee |