CN205615606U - Wall climbing robot - Google Patents
Wall climbing robot Download PDFInfo
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- CN205615606U CN205615606U CN201620388594.2U CN201620388594U CN205615606U CN 205615606 U CN205615606 U CN 205615606U CN 201620388594 U CN201620388594 U CN 201620388594U CN 205615606 U CN205615606 U CN 205615606U
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- trachea
- treads
- wheel hub
- sucker
- support
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Abstract
The utility model provides a wall climbing robot, including frame, traveling mechanism, gas circuit control mechanism, traveling mechanism includes wheel hub, walking area, the walking is taken and is equipped with the sucking disc, gas circuit control mechanism includes main trachea, elasticity trachea, annular gas pipe, bronchus, support trachea, the sucking disc passes through support the trachea set up in the walking is taken, the annular gas pipe cover is located the walking is taken, it includes induction port, relief port to support the trachea, support the trachea and pass through magenetic exchange valve in order to switch induction port and relief port, support tracheal induction port with bronchus, annular gas pipe, elasticity trachea, main trachea are consecutive, main trachea links to each other with the air pump, it links to each other with the atmosphere to support tracheal relief port. The return circuit of breathing in among this wall climbing robot's the gas circuit control mechanism parts with the return circuit of exitting, and return circuit of breathing in of sucking disc sharing, has simplified gas circuit structure for control is all more convenient with the maintenance.
Description
Technical field
This utility model relates to specialized robot application, specifically a kind of climbing robot.
Background technology
In recent years, along with robot miscellaneous extensively applying and development in every field, climbing robot as carrying out the robot of operation on steep slope, the good characteristic of a kind of robot apparatus that high-altitude limit operation can be become with it, be increasingly subject to people's attention.Summing up, climbing robot mainly can apply to following field:
(1) can be applicable to spray huge metope, ceramic tile, wall flaw detection, wall reparation face-lifting, wall cleaning, cleaning glass window wall etc. are installed in building 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 carries out the work that visual inspection, thickness measuring and seam inspection etc. are dangerous in nuclear industry；
(4) can be used for the inside and outside wall of vertical canister or spherical tank in petroleum chemical enterprise to carry out checking or derusting by sandblasting, anticorrosion of spraying paint；
(5) shipbuilding industry can be used for spraying hull inside and outside wall, the inside and outside wall of hull is checked, hull inside and outside wall cleaning；
(6) can be applicable to transport escape apparatus, transmission food water provisions etc. to high-altitude trapped personnel in rescue and relief work；
(7) in Aero-Space, 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, nuclear industry, shipbuilding industry etc., and serves as highly important work in these areas, it is possible to promote the raising of the productivity, the life improving the people and working condition.
In prior art, climbing robot realizes wall is adsorbed with three kinds of i.e. vac sorbs of mode, magnetic suck and thrust absorption.The climbing robot of vac sorb mode generally uses sucker suction method, and its traveling mechanism usually crawler belt adds multiple suction tray, need multiple suction trays are carried out gas circuit control to realize walking and absorption, atmospheric pressure is utilized to make robot adsorb on wall, existing gas circuit controls to be all to have single a set of air-breathing and venting loop between each sucker and air pump, this mode makes the gas circuit structure of climbing robot the most complicated, controls the most cumbersome with maintenance.
Utility model content
The technical problems to be solved in the utility model is, it is provided that a kind of climbing robot, including frame, traveling mechanism, air path controlling mechanism, described traveling mechanism includes that wheel hub, treads, described treads are provided with sucker；Described air path controlling mechanism includes main trachea, elastic trachea, annular gas pipe, bronchus, support trachea, described sucker is arranged in described treads by described support trachea, described bronchus is laid in described treads, described annular gas pipe is sheathed in described treads, described support trachea includes air entry, gas vent, described support trachea passes through solenoid directional control valve to switch described air entry and gas vent, the air entry of described support trachea and described bronchus, annular gas pipe, elastic trachea, main trachea is sequentially connected, described main trachea is connected with air pump, the gas vent of described support trachea is connected with air.Air-breathing loop in the air path controlling mechanism of this climbing robot separates with venting loop, and sucker shares an air-breathing loop, simplifies gas circuit structure so that control the most more convenient with maintenance.
In order to reach above-mentioned technique effect, the concrete technical scheme that this utility model provides is:
A kind of climbing robot, including: frame；Traveling mechanism, including wheel hub, treads, described wheel hub include by connecting rod be connected wheel hub one, wheel hub two, described treads is set around on described wheel hub one, wheel hub two, described wheel hub one, wheel hub two are rotationally arranged in described frame, and described treads is provided with sucker；nullAir path controlling mechanism，Described air path controlling mechanism includes main trachea、Elastic trachea、Annular gas pipe、Bronchus、Support trachea，Described sucker is arranged in described treads by described support trachea，Described support trachea includes air entry、Gas vent，Described support trachea passes through solenoid directional control valve to switch described air entry and gas vent，Described gas vent and atmosphere，Described air entry is connected with described bronchial air inlet，Described bronchus is laid in described treads，Described annular gas pipe is sheathed in described treads，Described bronchial gas outlet is connected with the air inlet of described annular gas pipe，The gas outlet of described annular gas pipe is connected with the air inlet of described elastic trachea，The gas outlet of described elastic trachea is connected by the air inlet of universal connecting tube with described main trachea，The gas outlet of described main trachea is connected with air pump，Described universal connecting tube is arranged on described connecting rod.
Preferred as such scheme, the two ends of described connecting rod are equipped with direction sensor, and described support trachea is provided with angular displacement sensor.
Preferred as such scheme, described wheel hub one, wheel hub two are all in gear-like, and the inner surface indentation of described treads, described wheel hub one in gear-like, wheel hub two are meshed with the inner surface of the indentation of described treads.
Preferred as such scheme, described treads is additionally provided with electric magnet, and described traveling mechanism is liftably arranged in described frame.
Preferred as such scheme, described sucker, electric magnet are all arranged in described treads in the way of annular array, described sucker is provided with two or more annular array on the width of treads, and described electric magnet is arranged on the width of treads in the middle of the sucker of adjacent described annular array, on the circumferencial direction of treads and is crisscross arranged with described sucker.
Accompanying drawing explanation
Fig. 1 is the overall structure schematic diagram of a kind of climbing robot that this utility model provides；
Fig. 2 is the structural representation of traveling mechanism；
Fig. 3 is the another structural representation of traveling mechanism.
Detailed description of the invention
Of the present utility model embodiment is described below in detail, and the example of described embodiment is shown in the drawings, and the most same or similar label represents same or similar element or has the element of same or like function.The embodiment described below with reference to accompanying drawing is exemplary, is only used for explaining this utility model, and it is not intended that to restriction of the present utility model.
In description of the present utility model, it will be appreciated that, orientation or the position relationship of the instruction such as term " " center ", " on ", D score, "front", "rear", "left", "right", " vertically ", " level ", " top ", " end " " interior ", " outward " they be based on orientation shown in the drawings or position relationship; be for only for ease of description this utility model and simplifying and describe; rather than instruction or imply the device of indication or element must have specific orientation, with specific azimuth configuration and operation, therefore it is not intended that to restriction of the present utility model.
In description of the present utility model, it should be noted that unless otherwise clearly defined and limited, term " is installed ", " being connected ", " setting " should be interpreted broadly, for example, it may be fixedly linked, arrange, can also be to removably connect, arrange, or be integrally connected, arrange.For the ordinary skill in the art, above-mentioned term concrete meaning in this utility model can be understood with concrete condition.
As shown in Figure 1-Figure 3, this utility model provides a kind of climbing robot, and it is used for cleaning glass curtain wall, including:
(1) frame 1, described frame is provided with cleaning brush 10；
(2) traveling mechanism, including wheel hub, treads 2, described wheel hub includes by the connected wheel hub 1 of connecting rod 3, wheel hub 2 402, described treads 2 is set around on described wheel hub 1, wheel hub 2 402, described wheel hub 1, wheel hub 2 402 are rotationally arranged in described frame 1, described treads 2 is provided with sucker 5, and described sucker 5 is arranged in described treads and is distributed along described treads annular array
null(3) air path controlling mechanism，Including main trachea 701、Elastic trachea 702、Annular gas pipe 703、Bronchus 704、Support trachea 6，Described sucker 5 is arranged in described treads 2 by described support trachea 6，Described support trachea 6 includes air entry、Gas vent，Described support trachea passes through solenoid directional control valve to switch described air entry and gas vent，Described gas vent and atmosphere，Described air entry is connected with described bronchial air inlet，Described bronchus 704 is laid on described traveling crawler 2，Described annular gas pipe 703 is sheathed on described traveling crawler 2，The gas outlet of described bronchus 704 is connected with the air inlet of described annular gas pipe 703，The gas outlet of described annular gas pipe 703 is connected with the air inlet of described elastic trachea 702，The gas outlet of described elastic trachea 702 is connected by the air inlet of universal connecting tube 17 with described main trachea 701，The gas outlet of described main trachea 701 is connected with air pump，Described universal connecting tube 17 is arranged on described connecting rod 3.
The operation principle of a kind of climbing robot that this utility model provides is: when needs cleaning glass curtain wall, this climbing robot is put on glass curtain wall, the air-breathing relying primarily on sucker of walking on glass curtain wall realizes with venting, during air-breathing, solenoid directional control valve makes the air entry supporting trachea be connected with bronchus, the air in the sucker being adsorbed onto on glass curtain wall is now needed to pass sequentially through bronchus through air entry from supporting trachea, annular gas pipe, elastic trachea, universal connecting tube enters main trachea, and siphoned away by air pump, so that sucker upon adsorption forms the purpose that vacuum reaches to be adsorbed onto on glass curtain wall；During venting, solenoid directional control valve makes the gas vent supporting trachea be connected with air thus realizes sucker venting to be departed from and reach to depart from the purpose of glass curtain wall.When this climbing robot needs to advance, the sucker above adsorbed is exitted disengaging glass curtain wall successively, meanwhile, new sucker is had to be adsorbed onto glass curtain wall by air-breathing the most successively, along with wheel hub constantly rotates, treads thus with during different on it sucker and the time of absorption and depart from, thus complete the walking of this climbing robot.When arriving the region that glass curtain wall needs cleaning, traveling mechanism stops advancing, and is cleaned clearly now by cleaning brush equity cleaning region.
This climbing robot realizes air-breathing and the venting of sucker by air path controlling mechanism, thus reach the purpose that traveling mechanism advances, the air-breathing loop of sucker is separated by this air path controlling mechanism with venting loop, multiple suckers are connected with air and to realize venting each via supporting trachea, multiple suckers are connected with air pump by same annular gas pipe, elastic trachea, universal connecting tube, main trachea and realize air-breathing, and this air path controlling mechanism simplifies gas circuit connection and easy to control.
Further, the two ends of described connecting rod 3 are equipped with direction sensor 23, and described support trachea 6 is provided with angular displacement sensor 24.When direction sensor detects and forms air-breathing angle with angular displacement sensor, now corresponding with this angular displacement sensor sucker enters air-breathing mode, i.e. its preparation and is adsorbed onto curtain wall；When direction sensor detects and forms venting angle with angular displacement sensor, now corresponding with this angular displacement sensor sucker enters air bleeding mode, and i.e. it prepares to depart from curtain wall.Direction sensor makes traveling mechanism walk sensitiveer with the common effect of angular displacement sensor.
Further, described wheel hub 1, wheel hub 2 402 are all in gear-like, and the inner surface indentation of described treads 2, described wheel hub one in gear-like, wheel hub two are meshed with the inner surface of the indentation of described treads.This structure makes wheel hub engage tighter with treads, thus strengthens the safety and reliability exercising mechanism.
Further, described treads 2 being additionally provided with electric magnet 25, described traveling mechanism is liftably arranged in described frame.Being simultaneously provided with sucker and electric magnet in treads so that this climbing robot can not only be walked on glass curtain wall, it can also be walked on the curtain wall of metal material；Traveling mechanism is liftably arranged in described frame, can not only conveniently realize turning to of this adsorption-type crawler belt wall-climbing cleaning robot, and traveling mechanism can be automatically adjusted to ensure the steady of complete machine when running into irregular curtain wall.
Further, described sucker 5, electric magnet 25 are all arranged in described treads in annular array ground mode, described sucker is provided with two annular arrays on the width of treads, and described electric magnet is arranged on the width of treads in the middle of the sucker of adjacent described annular array, on the circumferencial direction of treads and is crisscross arranged with described sucker.It does not interfere with each other both when this structure makes to be used alone sucker suction or electric magnet absorption, improve the safety of absorption.
Although include sucker and electric magnet in the treads of the Pa Biqing robot in the present embodiment simultaneously, but can only have sucker as in other embodiment treads.
Embodiment the most of the present utility model, it will be understood by those skilled in the art that: these embodiments can carry out in the case of without departing from principle of the present utility model and objective multiple change, revise, replace and modification, scope of the present utility model is limited by claim and equivalent thereof.
Claims (5)
1. a climbing robot, it is characterised in that including:
Frame；
Traveling mechanism, including wheel hub, treads, described wheel hub include by connecting rod be connected wheel hub one, wheel hub two, described treads is set around on described wheel hub one, wheel hub two, described wheel hub one, wheel hub two are rotationally arranged in described frame, and described treads is provided with sucker；
nullAir path controlling mechanism，Described air path controlling mechanism includes main trachea、Elastic trachea、Annular gas pipe、Bronchus、Support trachea，Described sucker is arranged in described treads by described support trachea，Described support trachea includes air entry、Gas vent，Described support trachea passes through solenoid directional control valve to switch described air entry and gas vent，Described gas vent and atmosphere，Described air entry is connected with described bronchial air inlet，Described bronchus is laid in described treads，Described annular gas pipe is sheathed in described treads，Described bronchial gas outlet is connected with the air inlet of described annular gas pipe，The gas outlet of described annular gas pipe is connected with the air inlet of described elastic trachea，The gas outlet of described elastic trachea is connected by the air inlet of universal connecting tube with described main trachea，The gas outlet of described main trachea is connected with air pump，Described universal connecting tube is arranged on described connecting rod.
Climbing robot the most according to claim 1, it is characterised in that the two ends of described connecting rod are equipped with direction sensor, described support trachea is provided with angular displacement sensor.
Climbing robot the most according to claim 1 and 2, it is characterized in that, described wheel hub one, wheel hub two are all in gear-like, and the inner surface indentation of described treads, described wheel hub one in gear-like, wheel hub two are meshed with the inner surface of the indentation of described treads.
Climbing robot the most according to claim 3, it is characterised in that be additionally provided with electric magnet in described treads, described traveling mechanism is liftably arranged in described frame.
Climbing robot the most according to claim 4, it is characterized in that, described sucker, electric magnet are all arranged in described treads in the way of annular array, described sucker is provided with two or more annular array on the width of treads, and described electric magnet is arranged on the width of treads in the middle of the sucker of adjacent described annular array, on the circumferencial direction of treads and is crisscross arranged with described sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620388594.2U CN205615606U (en) | 2016-04-29 | 2016-04-29 | Wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620388594.2U CN205615606U (en) | 2016-04-29 | 2016-04-29 | Wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205615606U true CN205615606U (en) | 2016-10-05 |
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ID=57024976
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620388594.2U Expired - Fee Related CN205615606U (en) | 2016-04-29 | 2016-04-29 | Wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205615606U (en) |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108158481A (en) * | 2017-12-27 | 2018-06-15 | 广东技术师范学院 | A kind of building glass cleaning robot |
| CN108544466A (en) * | 2018-05-06 | 2018-09-18 | 羊月生 | A kind of continuous pole-climbing formula highway lamp intelligent maintaining robot |
| CN109606491A (en) * | 2018-12-06 | 2019-04-12 | 潘晓青 | A kind of vacuum suction crawler belt for climbing wall for steel plate |
| CN111137368A (en) * | 2020-01-21 | 2020-05-12 | 金陵科技学院 | Wheeled vacuum chuck structure for glass curtain wall climbing trolley |
| CN111976660A (en) * | 2020-08-28 | 2020-11-24 | 浙江大学 | Crawler-type intelligent water-saving car washer |
| 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 |
| CN113877095A (en) * | 2021-10-09 | 2022-01-04 | 张现伟 | High-rise building fire control unmanned aerial vehicle |
| CN115338519A (en) * | 2022-08-23 | 2022-11-15 | 江苏敦邦钢结构工程有限公司 | A intelligent welding set for production of large-scale steel member |
-
2016
- 2016-04-29 CN CN201620388594.2U patent/CN205615606U/en not_active Expired - Fee Related
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108158481A (en) * | 2017-12-27 | 2018-06-15 | 广东技术师范学院 | A kind of building glass cleaning robot |
| CN108544466A (en) * | 2018-05-06 | 2018-09-18 | 羊月生 | A kind of continuous pole-climbing formula highway lamp intelligent maintaining robot |
| CN109606491A (en) * | 2018-12-06 | 2019-04-12 | 潘晓青 | A kind of vacuum suction crawler belt for climbing wall for steel plate |
| CN111137368A (en) * | 2020-01-21 | 2020-05-12 | 金陵科技学院 | Wheeled vacuum chuck structure for glass curtain wall climbing trolley |
| CN111137368B (en) * | 2020-01-21 | 2020-08-14 | 金陵科技学院 | Glass curtain wall climbing mechanism |
| 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 |
| CN111976660A (en) * | 2020-08-28 | 2020-11-24 | 浙江大学 | Crawler-type intelligent water-saving car washer |
| CN113877095A (en) * | 2021-10-09 | 2022-01-04 | 张现伟 | High-rise building fire control unmanned aerial vehicle |
| CN115338519A (en) * | 2022-08-23 | 2022-11-15 | 江苏敦邦钢结构工程有限公司 | A intelligent welding set for production of large-scale steel member |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161005 Termination date: 20210429 |
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| CF01 | Termination of patent right due to non-payment of annual fee |