CN205769667U - A kind of can the crawler-type wall climbing robot of free translation - Google Patents
A kind of can the crawler-type wall climbing robot of free translation Download PDFInfo
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- CN205769667U CN205769667U CN201620481066.1U CN201620481066U CN205769667U CN 205769667 U CN205769667 U CN 205769667U CN 201620481066 U CN201620481066 U CN 201620481066U CN 205769667 U CN205769667 U CN 205769667U
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- steering wheel
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- absorbing unit
- crawler
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Abstract
This utility model relates to a kind of crawler-type wall climbing robot, and it includes frame, and the lateral symmetry in frame is provided with a pair track assembly, and the bottom of frame is provided with steering assembly；Steering assembly includes the disc type electric machine being rotatably connected on bottom frame, and the bottom of disc type electric machine is coaxially fastenedly connected with telescoping cylinder, and the outfan of telescoping cylinder is fastenedly connected electric magnet；Track assembly includes rubber belt track and multiple magnetic absorbing unit being fastenedly connected with crawler belt, magnetic absorbing unit include cylindrical permanent magnet, left yoke, right yoke, on every magnetic piece, under every magnetic piece and steering wheel, cylindrical permanent magnet rotate be arranged on by left yoke, right yoke, on every magnetic piece and under in the hollow cylinder that magnetic piece is encircled into, one end of hollow cylinder is fastenedly connected with back shroud, and the outfan of steering wheel is connected with cylindrical permanent magnet by shaft coupling；Steering wheel has 0 ° and 90 ° of two angle states；Steering wheel has 0 ° and 90 ° of two angle states；When steering wheel is in 0 ° of angle state, magnetic absorbing unit is in the state of magnetizing；When steering wheel is in 90 ° of states, magnetic absorbing unit is in erasing state.
Description
Technical field
This utility model relate to a kind of can the crawler-type wall climbing robot of free translation, belong to specialized robot technical field.
Background technology
In industries such as nuclear energy, boats and ships, chemical industry, wind-powered electricity generations, it is widely present magnetic conductor metal outer wall.These walls are through long-term
Expose to the weather, saline and alkaline erosion, dust adhere to, gravel friction, and it is existing that or even surface there will be dirt, depainting, corrosion etc.
As.These problems not only affect attractive in appearance, and may jeopardize the safe operation of wall body, it is impossible to meet safely, clearly
Clean industrial management requirement.At present, the work such as the cleaning of above-mentioned wall, rust cleaning, touch-up paint and maintenance mostly uses manually
, there is the problems such as high-risk, poor efficiency, high cost in operating type.Climbing robot be one in specialized robot important
Classification, can be widely applied to the O&M in said circumstances and service work, replaces manual work, improve work efficiency,
Reduce operating cost.Absorption and walking are two big basic functions of climbing robot, suction widely used in current industry
Subsidiary formula formula has magnetic-adsorption and negative-pressure adsorption, conventional walking manner to comprise crawler type, wheeled and sufficient formula.Above-mentioned absorption
Mode and the various combination of walking manner, can form multiple climbing robot design.In view of operating mode is special, should
Climbing robot under aforementioned circumstances, needs possess multi-direction motor capacity and appropriateness obstacle climbing ability, the most also needs
There is relatively large load ability.And existing most of climbing robot is not the most well positioned to meet duty requirements.
Summary of the invention
For the problems referred to above, the purpose of this utility model is to provide one and possesses multi-direction motor capacity and appropriateness obstacle detouring energy
The crawler-type wall climbing robot of power.
For achieving the above object, this utility model is by the following technical solutions: a kind of can the crawler-type wall climbing of free translation
Robot, it is characterised in that: it include frame, described frame include second side relative with the first side, the first side,
3rd side and fourth side relative with the 3rd side；It is relatively set with the first shoe in the first side of described frame and the second side
Band assembly, is relatively set with the second track assembly in the 3rd side of described frame and the 4th side；In described frame first
Side and the second side are provided with the first suspension frame structure, and described first suspension frame structure is connected by telescoping cylinder and the first track assembly；
Be provided with the second suspension frame structure in the 3rd side of described frame and the 4th side, described second suspension frame structure is carried out with described second
Band assembly is fixing to be connected；Described first track assembly and the second track assembly all include rubber belt track and multiple and described shoe
The magnetic absorbing unit that band is fastenedly connected, described magnetic absorbing unit include cylindrical permanent magnet, left yoke, right yoke, on
Every magnetic piece, under every magnetic piece and steering wheel, described cylindrical permanent magnet rotate be arranged on by described left yoke, right yoke, on
Every magnetic piece and under in the hollow cylinder that magnetic piece is encircled into, one end of described hollow cylinder is fastenedly connected with back shroud, described rudder
The outfan of machine is connected with described cylindrical permanent magnet by shaft coupling；Described steering wheel has 0 ° and 90 ° of two angles
State；When described steering wheel is in 0 ° of angle state, the N pole of described cylindrical permanent magnet and S pole are positioned at puts down with wall
The direction of row；When described steering wheel is in 90 ° of states, the N pole of described cylindrical permanent magnet and S pole are positioned at hangs down with wall
Straight direction.
Bluetooth communication, described panel and the control being arranged in described frame it is provided with on the panel of described steering wheel
Device processed is connected by bluetooth.
Described steering wheel is arranged in the protecgulum being fastenedly connected with described hollow cylinder, arranges both positive and negative polarity two on described protecgulum
Power supply contact, described power supply contact is connected with the in-line power circuit of described steering wheel, is provided with power supply in described frame
Track, the described power supply contact on each described steering wheel obtains power supply by described power supply rail.
Described first track assembly and the second track assembly also include that chain rail, each described magnetic absorbing unit are fastenedly connected in institute
State the outside of chain rail；The inner side of described rubber belt track is fastenedly connected with each described magnetic absorbing unit；Described chain rail is by actively
Wheel, driven pulley and pressing sprocket are propped up jointly, and described drivewheel and driven pulley are all connected with described frame by power transmission shaft,
Described pressing sprocket is multiple and interval is rotatably connected on connecting rod, and described connecting rod is by two expansion links and crawler belt portion support
Connect；Described crawler belt portion support on described first track assembly is connected with the outfan of described telescoping cylinder；Described second
Described crawler belt portion support on track assembly is connected with described second suspension frame structure.
In described frame, the position near described drivewheel and driven pulley is respectively provided with a NFC sensor, each described
NFC chip all it is embedded with on the panel of steering wheel；Described NFC sensor electrically connects with described controller, will enter certainly
The information real-time Transmission of the magnetic absorbing unit of body investigative range gives described controller, and described controller is near drivewheel
The magnetic absorbing unit that NFC sensor and the NFC sensor near driven pulley are detected is implemented to magnetize or demagnetization control.
This utility model is owing to taking above technical scheme, and it has the advantage that 1, this utility model uses four crawler belts
Modular structure, two track assemblies therein are for advancing and retreating on wall, and two other track assembly is used for
On wall, left and right rows is walked, so that this utility model possesses the ability of multi-direction motion.2, this utility model controller
The filling of magnetic absorbing unit, erasing state can be controlled at any time by Bluetooth signal, therefore can be easily to this utility model
The direction of motion switch over, specifically, when this utility model is vertically walked, telescoping cylinder stretches out, now
First track assembly and wall are fitted, and the magnetic absorbing unit at binding face is completely in the state of magnetizing, and the second crawler belt
Assembly is unsettled, and all magnetic absorbing units of the second track assembly are erasing state；When this utility model needs along level
During the walking of direction, all magnetic absorbing units below the second track assembly switching to the state of magnetizing, simultaneous retractable cylinder is received
Contracting, when the second track components is fitted with wall, all switches to the magnetic absorbing unit bottom the first track assembly and disappears
Magnetic state, then telescoping cylinder continues to shrink, thus lifts unsettled for the first track assembly；So far, this practicality is completed new
Type from vertical walking states to the switching of walking in a horizontal state state, by the rolling of the second track assembly, can be along level side
Advance to normal.3, this utility model use track assembly as ground-engaging element, can with the different curved surface wall of self adaptation,
And possess good obstacle climbing ability, it is greatly improved this equipment use scene at industrial circle.4, this utility model is joined
Put the flexible mechanical arm of six degree of freedom, it is possible to achieve to the cleaning of wall, eliminate rust, spray paint and multiple actions such as detection.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is the structural representation of this utility model frame；
Fig. 3 is the schematic diagram of this utility model track assembly；
Fig. 4 is this utility model track assembly planar structure schematic diagram；
Fig. 5 is the structural representation of this utility model magnetic absorbing unit；
Fig. 6 is the generalized section of Section A-A in Fig. 5；
Fig. 7 is the structural representation after this utility model magnetic absorbing unit omits protecgulum；
Fig. 8 is the schematic diagram that this utility model magnetic absorbing unit is in the state of magnetizing；
Fig. 9 is the schematic diagram that this utility model magnetic absorbing unit is in erasing state.
Detailed description of the invention
With embodiment, this utility model is described in detail below in conjunction with the accompanying drawings.
As it is shown in figure 1, this utility model includes that frame 10, frame 10 are rectangle frame structure, it include the first side,
Second side, threeth side and with threeth side relative fourth side relative with the first side.In the first side of frame 10 and
Two sides are symmetrically arranged with a pair first track assemblies 20, for realizing this utility model absorption in vertical walls and edge
The walking of vertical direction.It is symmetrically arranged with a pair second track assemblies 40 in the 3rd side of frame 10 and the 4th side, uses
In realizing this utility model absorption in vertical walls and walking in the horizontal direction.Install at the top of frame 10
There is mechanical arm 50, for implementing the cleaning of wall, eliminating rust, spray paint and the action such as detection.
As in figure 2 it is shown, be provided with suspension frame structure 11, suspension frame structure 11 and on the first side of frame 10 and the second side
Connected by telescoping cylinder 12 between one track assembly 20；It is provided with suspension frame structure on 3rd side of frame 10 and the 4th side
13, suspension frame structure 13 is fixing with the second track assembly 40 to be connected.
First track assembly 20 of the present utility model and the second track assembly 40 use identical structure, the most only with
One track assembly 20 illustrates.As shown in Figure 3, Figure 4, the first track assembly 20 includes that chain rail 21, rubber are carried out
Band 22 and magnetic absorbing unit 23, wherein, magnetic absorbing unit 23 is multiple, and interval is fastenedly connected outside chain rail 21
Side；The inner side of rubber belt track 22 is fastenedly connected with each magnetic absorbing unit 23.Chain rail is by drivewheel 24, driven pulley 25
Jointly propping up with pressing sprocket 26, wherein, drivewheel 24 and driven pulley 25 are all connected with frame 10 by power transmission shaft,
Pressing sprocket 26 is multiple, and interval is rotatably connected on connecting rod 27, and connecting rod 27 is by two expansion links 28,29 and shoe
Band portion support 30 connects.Crawler belt portion support 30 is fastenedly connected with the outfan of telescoping cylinder 12.
As shown in Fig. 5～7, magnetic absorbing unit 23 include cylindrical permanent magnet 231, left yoke 232, right yoke 233,
On every magnetic piece 234 and under every magnetic piece 235, wherein, cylindrical permanent magnet 231 be rotatably arranged in by left yoke 232,
Right yoke 233, on every magnetic piece 234 and under in the hollow cylinder that magnetic piece 235 is encircled into, the fastening of one end of hollow cylinder is even
Being connected to back shroud 236, the other end of hollow cylinder is provided with protecgulum 237, is provided with steering wheel 238, rudder in protecgulum 237
The outfan of machine 238 is connected with cylindrical permanent magnet 231 by shaft coupling 239.Steering wheel 238 has 0 ° and 90 °
Two angle states, when steering wheel 238 is in 0 ° of angle state, the N pole of cylindrical permanent magnet 231 and position, S pole
In horizontal direction (as shown in Figure 8), the magnetic line of force is from N pole, by left yoke 232, wall 60 and right yoke
Ferrum 233 reaches S pole, forms Guan Bi；Now, magnetic absorbing unit 23 is the state of magnetizing, and magnetic absorbing unit 23 is filling
Wall can be produced suction under magnetic state.When steering wheel 238 is in 90 ° of angle states, cylindrical permanent magnet 231
Vertically (as shown in Figure 9), the magnetic line of force is from N pole, respectively by left yoke 232 He for N pole and S pole
Right yoke 233 arrives S pole, forms two closed-loop paths；Now, magnetic absorbing unit 23 is erasing state, the magnetic line of force
Loop gets around wall, and magnetic absorbing unit 23 does not produce suction to wall 60.
The control signal that two angle states of steering wheel 238 are sent by panel 241 determines, panel 241 is arranged
There is bluetooth communication, make the panel 241 can be by Bluetooth signal with the controller being arranged in frame 10 (in figure
Not shown) transmission signal, controller can need long-range control each magnetic absorbing unit 23 in the state of magnetizing according to actual condition
And switch between erasing state.
In above-described embodiment, in frame 10, the position near drivewheel 24 and driven pulley 25 is respectively mounted a NFC
Sensor, is embedded with NFC chip on the panel 241 of each steering wheel 238.During this utility model advances,
When a certain magnetic absorbing unit 23 to drivewheel 24 near enough near time, NFC sensor is identified by NFC chip
This magnetic absorbing unit, and identification information is sent to controller, controller receives after identification information to the control of steering wheel 238
Control instruction is assigned in making sheet 241, makes steering wheel 238 switch to the state of magnetizing；When a certain magnetic absorbing unit 23 is to driven pulley
25 in time obtaining enough near, and NFC sensor identifies this magnetic absorbing unit by NFC chip, and identification information sent out
Giving controller, controller assigns control instruction to the panel 241 of steering wheel 238 after receiving identification information, makes steering wheel
238 switch to erasing state.This utility model fallback procedures then uses contrary control flow, it may be assumed that when a certain
Magnetic absorbing unit 23 is to driven pulley 25 in time obtaining enough near, and NFC sensor identifies this magnetic by NFC chip
Coupon unit, and is sent to controller by identification information, and controller receives after identification information to the panel 241 of steering wheel 238
Assign control instruction, make steering wheel 238 switch to the state of magnetizing；When a certain magnetic absorbing unit 23 is close to drivewheel 24
When obtaining enough near, NFC sensor identifies this magnetic absorbing unit by NFC chip, and identification information is sent to control
Device processed, controller is assigned control instruction to the panel 241 of steering wheel 238 after receiving identification information, is made steering wheel 238 cut
Shift to erasing state.
In above-described embodiment, two power supply contacts 240 of both positive and negative polarity can be set on the protecgulum 237 of magnetic absorbing unit 23,
Power supply contact 240 is connected with the in-line power circuit of steering wheel 238, is provided with power supply rail in frame 10 (in figure not
Illustrate), the power supply contact 240 on each steering wheel 238 obtains power supply by power supply rail.
In above-described embodiment, mechanical arm 50 is sixdegree-of-freedom simulation, can install at the end of sixdegree-of-freedom simulation
Different end effectors, thus complete to clean, eliminate rust, spray paint and the work such as detection.
Feature of the present utility model is the ability possessing multi-direction walking, when this utility model is vertically walked,
Telescoping cylinder 12 stretches out, and now the first track assembly 20 is fitted with wall, and the magnetic absorbing unit 23 at binding face is whole
Being in the state of magnetizing, and the second track assembly 40 is unsettled, all magnetic absorbing units 23 of the second track assembly 40 are
Erasing state.When this utility model needs to walk in the horizontal direction, by all magnetic below the second track assembly 40
Coupon unit 23 switches to the state of magnetizing, and simultaneous retractable cylinder 12 shrinks, when the second track components is fitted with wall, and will
Magnetic absorbing unit 23 bottom first track assembly 20 all switches to erasing state, and then telescoping cylinder 12 continues to shrink,
Thus lift unsettled for the first track assembly 20.So far, this utility model is completed from vertical walking states to horizontal line
Walk the switching of state, by the rolling of the second track assembly 40, can the most normally advance.
Needing to say especially, as an equivalent replacement scheme, telescoping cylinder can also be arranged on by this utility model
Between suspension frame structure 13 and the second track assembly 40, and the first suspension frame structure 11 and the first track assembly 20 use directly
The mode connect in succession.The function that can reach in this replacement scheme and aforementioned schemes equivalence.
This utility model only illustrates with above-described embodiment, the structure of each parts, arranges position and to connect be all can
Be varied from, on the basis of technical solutions of the utility model, all according to this utility model principle to individual part
The improvement carried out and equivalents, the most should not get rid of outside protection domain of the present utility model.
Claims (5)
1. one kind can the crawler-type wall climbing robot of free translation, it is characterised in that: it includes frame, described frame bag
Include second side relative with the first side, the first side, the 3rd side and fourth side relative with the 3rd side；In described frame
The first side and the second side be relatively set with the first track assembly, be oppositely arranged in the 3rd side of described frame and the 4th side
There is the second track assembly；The first suspension frame structure, described first suspension it is provided with in the first side of described frame and the second side
Structure is connected by telescoping cylinder and the first track assembly；3rd side of described frame and the 4th side are provided with the second suspension
Structure, described second suspension frame structure is fixing with described second track assembly to be connected；
Described first track assembly and the second track assembly all include what rubber belt track and multiple and described crawler belt were fastenedly connected
Magnetic absorbing unit, described magnetic absorbing unit include cylindrical permanent magnet, left yoke, right yoke, on every magnetic piece, under every
Magnetic piece and steering wheel, described cylindrical permanent magnet rotate be arranged on by described left yoke, right yoke, on every magnetic piece and under every
In the hollow cylinder that magnetic piece is encircled into, one end of described hollow cylinder is fastenedly connected with back shroud, and the outfan of described steering wheel leads to
Cross shaft coupling to be connected with described cylindrical permanent magnet；Described steering wheel has 0 ° and 90 ° of two angle states；Described rudder
When machine is in 0 ° of angle state, the N pole of described cylindrical permanent magnet is positioned at the direction parallel with wall with S pole；Institute
Stating steering wheel when being in 90 ° of states, the N pole of described cylindrical permanent magnet is positioned at the direction vertical with wall with S pole.
A kind of can the crawler-type wall climbing robot of free translation, it is characterised in that: described
Being provided with bluetooth communication on the panel of steering wheel, described panel passes through with the controller being arranged in described frame
Bluetooth connects.
A kind of can the crawler-type wall climbing robot of free translation, it is characterised in that: described
Steering wheel is arranged in the protecgulum being fastenedly connected with described hollow cylinder, arranges two power supply contacts of both positive and negative polarity on described protecgulum,
Described power supply contact is connected with the in-line power circuit of described steering wheel, is provided with power supply rail, each institute in described frame
The described power supply contact stated on steering wheel obtains power supply by described power supply rail.
A kind of can the crawler-type wall climbing robot of free translation, it is characterised in that: described
First track assembly and the second track assembly also include that chain rail, each described magnetic absorbing unit are fastenedly connected at described chain rail
Outside；The inner side of described rubber belt track is fastenedly connected with each described magnetic absorbing unit；Described chain rail is by drivewheel, driven
Wheel and pressing sprocket are propped up jointly, and described drivewheel and driven pulley are all connected with described frame by power transmission shaft, described pressure chain
Wheel is rotatably connected on connecting rod for multiple and interval, and described connecting rod is connected with crawler belt portion support by two expansion links；Institute
The described crawler belt portion support stated on the first track assembly is connected with the outfan of described telescoping cylinder；Described second track assembly
On described crawler belt portion support be connected with described second suspension frame structure.
A kind of can the crawler-type wall climbing robot of free translation, it is characterised in that: in institute
State the position of close described drivewheel and driven pulley in frame and be respectively provided with a NFC sensor, in the control of each described steering wheel
NFC chip all it is embedded with in making sheet；Described NFC sensor electrically connects with described controller, will enter self detection model
The information real-time Transmission of the magnetic absorbing unit enclosed gives described controller, and described controller is to the NFC sensing near drivewheel
The magnetic absorbing unit that device and the NFC sensor near driven pulley are detected is implemented to magnetize or demagnetization control.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620481066.1U CN205769667U (en) | 2016-05-24 | 2016-05-24 | A kind of can the crawler-type wall climbing robot of free translation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620481066.1U CN205769667U (en) | 2016-05-24 | 2016-05-24 | A kind of can the crawler-type wall climbing robot of free translation |
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| Publication Number | Publication Date |
|---|---|
| CN205769667U true CN205769667U (en) | 2016-12-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620481066.1U Active CN205769667U (en) | 2016-05-24 | 2016-05-24 | A kind of can the crawler-type wall climbing robot of free translation |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105923061A (en) * | 2016-05-24 | 2016-09-07 | 邵萌 | Crawler type wall climbing robot capable of moving horizontally and freely |
| CN106585750A (en) * | 2017-01-10 | 2017-04-26 | 南京林业大学 | Wall climbing robot adsorbed on steel wall surface |
| CN107128389A (en) * | 2017-06-30 | 2017-09-05 | 河北工业大学 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
| CN108016582A (en) * | 2017-09-21 | 2018-05-11 | 邱鑫泽 | A kind of endless track type cleaning robot and cleaning systems |
| CN108609048A (en) * | 2018-06-07 | 2018-10-02 | 张家港江苏科技大学产业技术研究院 | A kind of multi-track walking mechanism |
| CN117961384A (en) * | 2024-03-29 | 2024-05-03 | 中国核工业二四建设有限公司 | Crawler-type nuclear power station containment wall climbing welding robot with hollow structure |
-
2016
- 2016-05-24 CN CN201620481066.1U patent/CN205769667U/en active Active
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105923061A (en) * | 2016-05-24 | 2016-09-07 | 邵萌 | Crawler type wall climbing robot capable of moving horizontally and freely |
| CN106585750A (en) * | 2017-01-10 | 2017-04-26 | 南京林业大学 | Wall climbing robot adsorbed on steel wall surface |
| CN107128389A (en) * | 2017-06-30 | 2017-09-05 | 河北工业大学 | A kind of curved surface adaptive magnetic adsorption wall climbing paint-spray robot |
| CN107128389B (en) * | 2017-06-30 | 2022-12-30 | 河北工业大学 | Curved surface self-adaptive magnetic adsorption wall-climbing paint spraying robot |
| CN108016582A (en) * | 2017-09-21 | 2018-05-11 | 邱鑫泽 | A kind of endless track type cleaning robot and cleaning systems |
| CN108609048A (en) * | 2018-06-07 | 2018-10-02 | 张家港江苏科技大学产业技术研究院 | A kind of multi-track walking mechanism |
| CN117961384A (en) * | 2024-03-29 | 2024-05-03 | 中国核工业二四建设有限公司 | Crawler-type nuclear power station containment wall climbing welding robot with hollow structure |
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| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170920 Address after: 102206 Beijing city Changping District Shahe Nanfeng Road No. 9 Mega home building 1 unit 704 Patentee after: Beijing history river Technology Co., Ltd. Address before: 100084 0821A, building 14, Bauhinia, Tsinghua University, Beijing, Haidian District Patentee before: Shao Meng |