CN209008722U - A kind of rotatable and obstacle detouring wall surface crawling device - Google Patents
A kind of rotatable and obstacle detouring wall surface crawling device Download PDFInfo
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- CN209008722U CN209008722U CN201821434034.1U CN201821434034U CN209008722U CN 209008722 U CN209008722 U CN 209008722U CN 201821434034 U CN201821434034 U CN 201821434034U CN 209008722 U CN209008722 U CN 209008722U
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- sucker
- turntable
- sliding plate
- wall surface
- screw
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Abstract
The rotatable wall surface crawling device with obstacle detouring of one kind disclosed by the utility model, including distance rod, transmission mechanism, several adsorbing mechanisms and rotating disk mechanism, transmission mechanism is symmetrically mounted on the distance rod of the left and right sides, each adsorbing mechanism is installed in the surface of the transmission mechanism, rotating disk mechanism is located between the transmission mechanism of the left and right sides, and by being fixedly connected between screw rod and the left and right sides transmission mechanism；The setting that the device passes through rotating disk mechanism, it with crossing over blockage and can rotate in place, the crawling device has absorption and two effects of creeping, sucker generates adsorption capacity when entering pull rod, during creeping, the sucker of front passes sequentially through pull rod and enters adsorbed state, the last one sucker of tail portion, respectively successively by pull rod median-plane orbit and end cambered surface track, realizes that sucker is gradually become by adsorbed state and be adjacent to wall surface without adsorption capacity state.
Description
Technical field
The utility model belongs to high-altitude glass washing device technical field, is related to a kind of rotatable and obstacle detouring wall surface and creeps
Device.
Background technique
Wall surface mechanically moving Genus Homo is in limit operation robot.So-called limit operation refers to the operating condition of some danger
The operations such as detection, maintenance, the rescue carried out under (such as radioactivity, high temperature, high pressure, vertical walls, space environment etc.).These are made
It is also to be not easy to realize that industry, which is dangerous for the mankind, and multiple piston cylinders or electricity are generally used in crawling device used at present
Machine and associated mechanisms are connected with vacuum chuck, realize straight trip, turning and static, overall mechanism of the crawling device on hydraulically smooth surface
Complicated, heavy, overweight quality is unfavorable for its absorption on hydraulically smooth surface, and complicated mechanism also increases crawling device manufacture
Cost reduces the reliability of whole device.Existing wall surface crawling device will stop when encountering metope has barrier
Only advance, can not work on, causes great inconvenience.
Utility model content
The purpose of the utility model is to provide a kind of rotatable and obstacle detouring wall surface crawling devices, solve existing dress of creeping
The problem of setting and be unable to crossing over blockage, can not rotating in place.
The utility model is the technical scheme adopted is that a kind of rotatable and obstacle detouring wall surface crawling device, including spacing
Bar, transmission mechanism, several adsorbing mechanisms and rotating disk mechanism, transmission mechanism are symmetrically mounted on the distance rod of the left and right sides, each
Adsorbing mechanism is installed in the surface of transmission mechanism, rotating disk mechanism between the transmission mechanism of the left and right sides, and by screw rod with
It is fixedly connected between the transmission mechanism of the left and right sides, for driving transmission mechanism to rotate in place and crossing over blockage.
Other features of the utility model also reside in,
Rotating disk mechanism includes circular turntable top plate, and turntable top plate face center opens that there are four bolt hole II, bolt hole II
Place has been bolted to connection sliding plate underbeam, and two lateral edge axis of sliding plate underbeam is connected with guide rod, and guide rod is connect with sliding plate upper beam,
The axis of sliding plate upper beam is vertical with the axis of sliding plate underbeam, and sliding plate upper beam intermediate symmetry is connected with sliding plate upper beam boss, on sliding plate
Beam boss is connect with guide rod by bolt at bolt hole III and is fixed by screw, and sliding plate underbeam axially connects ball-screw,
One end of ball-screw is connected to motor by shaft coupling, and motor drives ball screw turns, and sliding plate underbeam is with ball-screw
Rotation along the axial movement of ball-screw, sliding plate upper beam fixed at the screw hole II that both ends open up by screw motor axis
It is connected on the distance rod of the left and right sides, screw motor axis is fixedly connected with screw motor as a whole, to drive transmission mechanism to transport
It is dynamic.
Turntable top plate both ends pass through the circular sucker fixed disk of turntable linear motor axis connection, turntable straight-line electric arbor one end
Be connected with turntable linear motor drives rotating disk mechanism to move as a whole；Turntable is provided among turntable top plate and sucker fixed disk
Gear wheel, the turntable straight-line electric arbor other end pass through the both ends of turntable gear wheel and are fixed in the fixed panel surface of sucker, and turntable is big
Gear engages turntable pinion gear, and turntable pinion gear and the central of turntable gear wheel are keyed respectively in gear shaft one end, gear shaft
The other end is connected with drive by shaft coupling with the gear shaft that sucker fixed disk is connect by bearing, and connect with turntable pinion gear
Dynamic motor.
The fixed panel surface of sucker is circumferentially uniformly connected with turntable sucker by several sucking disk bar intervals, and each sucking disk bar is worn
It crosses the fixed panel surface of sucker to be threadedly coupled with sucker fixed disk, and is fixed by nut, each sucking disk bar inner hollow, each suction
Disk bar is located at the affixed butyl rubber II in one end of sucker fixed disk bottom surface, and one end positioned at the fixed panel surface of sucker connects vacuum pump
Pipe, vacuum pump line connect vacuum pump, and vacuum pump is fixed in the fixed panel surface of sucker.
Transmission mechanism include by bearing I interference fit be connected to the left and right sides distance rod between be parallel to each other two-by-two it is big
Gear shaft, pinion shaft and axis, Large Gear Shaft and axle position are located in Large Gear Shaft and axis in the both ends of distance rod, pinion shaft
Between, it is keyed gear wheel among Large Gear Shaft, is keyed pinion gear, gear wheel pinion mate, pinion gear among pinion shaft
One end of axis connects motor I by shaft coupling, and motor I is fixed on distance rod；Large Gear Shaft and axis both ends both pass through distance rod
It is connected through a screw thread chain wheel set I and chain wheel set II respectively, is wound with chain I and chain II respectively on chain wheel set I and chain wheel set II,
Chain wheel set I is identical with the structure of chain wheel set II.
Chain wheel set I includes two big sprocket wheels for being threadedly attached in Large Gear Shaft and axis one end respectively, two big sprocket wheels
Between wind engagement chain I, chain I also engages with three minor sprockets, and distance rod center is connected with triangular fixing frame by bolt,
Triangular fixing frame center offers pin shaft hole and connects another triangular fixing frame by pin shaft I, another triangular fixing frame is located at
It on the outside of transmission mechanism, and is bolted on compression bar at the bolt hole of surface, it is solid that three minor sprockets are located at two triangles
Determine between frame, and be fixed on the triangle of two triangular fixing frames by pin, three minor sprockets can be rotated around pin.
Also affixed auxiliary mounting shell on each distance rod assists affixed linear motor in mounting shell inner tip, auxiliary peace
The two sides of dress shell phase pair are provided with groove, pull rod are placed in groove, the axis of pull rod is parallel with distance rod, and pull rod passes through threaded hole
It is threadedly coupled with linear motor lead screw shaft.
The center of pull rod is provided with corresponding boss with the place that groove is cooperatively connected, and pull rod axially inside offers
Concave through-hole, through-hole both ends are provided with cambered surface track, and through-hole interior surface removed the place at both ends in planar tracks.
Adsorbing mechanism includes circular sucker shell, sucker shell central space connecting sucker bar, sucker surface of shell position
Pass through two pin shaft II connections being parallel to each other between the symmetrical affixed two groups of sucker boss in sucking disk bar two sides, every group of sucker boss
On chain I and chain II, the outside on sucker shell positioned at sucker boss is also connected with roller supporting platform, and roller supporting platform is logical
Pin shaft connection idler wheel is crossed, perpendicular to the cross bar of sucking disk bar, cross bar both ends are respectively interference fitted connection one for one end of sucking disk bar affixed one
Bearing I I inner ring, the outer ring bearing I I roll in cambered surface track and in planar tracks, and the other end of sucking disk bar is connected by nut
Butyl rubber, butyl rubber are connected on the circumference of sucker shell.
Sliding plate underbeam is connect by guide rod with sliding plate underbeam motor.
The utility model has the beneficial effects that a kind of rotatable and obstacle detouring wall surface crawling device, solves existing creep
The problem of apparatus structure is complicated, is unable to crossing over blockage.There is the crawling device absorption and two effects of creeping, sucker to enter pull rod
When generate adsorption capacity, during creeping, the sucker of front passes sequentially through pull rod and enters adsorbed state, tail portion the last one
Sucker is realized that sucker is gradually become by adsorbed state and is adjacent to respectively successively by pull rod median-plane orbit and end cambered surface track
Wall surface would not be adsorbed state when sucker leaves wall surface without adsorption capacity state, just will not move ahead to crawling device and cause resistance.
By the setting of rotating disk mechanism, the rotation that mechanism can be made to carry out 360 degree in situ passes through motor when encountering barrier
It can control chain wheel set throwing over barrier.
Detailed description of the invention
Fig. 1 is the rotatable structural schematic diagram with the wall surface crawling device of obstacle detouring of one kind of the utility model；
The schematic diagram that Fig. 2 rotating disk mechanism is connect with transmission mechanism；
Fig. 3 is the structural schematic diagram of rotating disk mechanism；
Fig. 4 is sliding plate structural schematic diagram；
Fig. 5 is sliding plate structural side view；
Fig. 6 is the structural schematic diagram of sucker；
Fig. 7 is the schematic diagram of drive mechanism in the rotatable wall surface crawling device with obstacle detouring of one kind of the utility model；
Fig. 8 is the structural schematic diagram of triangular fixing frame；
Fig. 9 is the structural scheme of mechanism of pull rod；
Figure 10 is the structural schematic diagram of turntable sucker.
In figure, 1. gear wheels, 2. Large Gear Shafts, 3. distance rods, 4. chain wheel set I, 5. motor I, 6. chain I, 7. pinion gears
Axis, 8. pinion gears, 9. axis, 10. chain II, 11. pull rods, 12. linear motors, 13. auxiliary mounting shells, 14. grooves, 15. straight lines
Motor lead screw shaft, 16. chain wheel set II, 17. adsorbing mechanisms, 18. big sprocket wheels, 19. triangular fixing frames, 20. compression bars, 21. chainlets
Wheel, 22. bearing Is, 23. pin shaft I, 24. bolts hole, 25. pin shaft holes, 27. cambered surface tracks, 28. planar tracks, 29. pin shaft II,
30. bearing I I, 31. sucking disk bars, 32. sucker boss, 33. idler wheels, 34. sucker shells, 35. butyl rubbers, 36. roller supportings
Platform, 37. threaded holes, 38. turntable pinion gears, 39. turntable suckers, 40. nuts, 41. vacuum pumps, 43. bolt hole II, 44. turns
Disk top plate, 45. turntable straight-line electric arbors, 46. turntable linear motors, 47. vacuum pump line, 48. sucker fixed disk, on 49. sliding plates
Beam, 50. guide rods, 51. sliding plate underbeams, 52. screws, 53. ball-screws, 56. sliding plate underbeam motors, 57. bolt hole III, 58.
Screw hole II, 59. sliding plate upper beam boss, 60. screw motor axis, 61. screw motors, 62. butyl rubber II, 63. turntable canine tooths
Wheel.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
The rotatable wall surface crawling device with obstacle detouring of one kind of the utility model, as depicted in figs. 1 and 2, including distance rod
3, transmission mechanism, several adsorbing mechanisms 17 and rotating disk mechanism, transmission mechanism are symmetrically mounted on the spacing at left and right sides of installation frame
On bar 3, each adsorbing mechanism 17 is installed in the surface of transmission mechanism, rotating disk mechanism between the transmission mechanism of the left and right sides,
And by being fixedly connected between screw rod and left and right sides transmission mechanism, for driving transmission mechanism to rotate in place and crossing over blockage.
As shown in Fig. 3, Fig. 4 and Fig. 5, rotating disk mechanism includes circular turntable top plate 44, and 44 face center of turntable top plate is opened
There are four bolt hole II43, sliding plate underbeam 51,51 liang of lateral edge axis of sliding plate underbeam have been bolted to connection at bolt hole II43
Line is connected with guide rod 50, and guide rod 50 is connect with sliding plate upper beam 49, and the axis of sliding plate upper beam 49 is vertical with the axis of sliding plate underbeam 51,
49 intermediate symmetry of sliding plate upper beam is connected with sliding plate upper beam boss 59, and sliding plate upper beam boss 59 passes through bolt at bolt hole III57
It is connect with guide rod 50 and fixed by screw 52, the axial connection ball-screw 53 of sliding plate underbeam 51, one end of ball-screw 53 is logical
Shaft coupling is crossed to be connected to motor, motor drive ball-screw 53 rotate, sliding plate underbeam 51 with ball-screw 53 rotation along
The axial movement of ball-screw 53, sliding plate upper beam 49 connect at the screw hole II58 that both ends open up by the way that screw motor axis 60 is fixed
It connects on left and right sides distance rod 3, screw motor axis 60 is fixedly connected with screw motor 61 as a whole, to drive transmission mechanism
Movement.
44 center of turntable top plate connects circular sucker fixed disk 48, turntable linear motor by turntable straight-line electric arbor 45
45 one end of axis is connected with turntable linear motor 46 and the rotating disk mechanism is driven to move as a whole；Turntable top plate 44 and sucker are fixed
It is provided with turntable gear wheel 63 among disk 48,45 other end of turntable straight-line electric arbor passes through both ends of turntable gear wheel 63 and affixed
On 48 surface of sucker fixed disk, turntable gear wheel 63 engages turntable pinion gear 38, turntable pinion gear 38 and turntable gear wheel 63
Center is keyed respectively in gear shaft one end, and the gear shaft other end is connect with sucker fixed disk 48 by bearing, and and turntable
The gear shaft that pinion gear 38 connects is connected with driving motor by shaft coupling.
As shown in fig. 6,48 surface of sucker fixed disk is circumferentially uniformly connected with turntable sucker by several sucking disk bar intervals
39, the sucking disk bar of turntable sucker 39 passes through 48 surface of sucker fixed disk and is threadedly coupled with sucker fixed disk 48, and passes through nut 40
Fixed, each sucking disk bar inner hollow, each sucking disk bar is located at the affixed butyl rubber II62 in one end of 48 bottom surface of sucker fixed disk,
Vacuum pump line 47 is connected positioned at the one end on 48 surface of sucker fixed disk, vacuum pump line 47 connects vacuum pump 41, and vacuum pump 41 is affixed
On 48 surface of sucker fixed disk.
As shown in fig. 7, transmission mechanism includes being connected to two between the distance rod 3 of the left and right sides by the interference fit of bearing I 22
Two Large Gear Shaft 2, pinion shaft 7 and the axis 9 being parallel to each other, Large Gear Shaft 2 and axis 9 are located at the both ends of distance rod 3, pinion gear
Axis 7 is located at the centre of Large Gear Shaft 2 and axis 9, and gear wheel 1 is keyed among Large Gear Shaft 2, is keyed among pinion shaft 7 small
One end of gear 8,1 pinion mate 8 of gear wheel, pinion shaft 7 connects motor I5 by shaft coupling, and motor I5 is fixed in spacing
On bar 3；Large Gear Shaft 2 and 9 both ends of axis both pass through distance rod 3 and are connected through a screw thread chain wheel set I4 and chain wheel set II16, chain respectively
Chain I6 and chain II10, the structure phase of chain wheel set I4 and chain wheel set II16 are wound on wheel group I4 and chain wheel set II16 respectively
Together.
Chain wheel set I4 includes two big sprocket wheels 18 for being threadedly attached in 9 one end of Large Gear Shaft 2 and axis respectively, two big
Engagement chain I6 is wound between sprocket wheel 18, chain I6 is also engaged with three minor sprockets 21, and 3 center of distance rod is connected with by bolt
Triangular fixing frame 19, as shown in figure 8,19 center of triangular fixing frame offer pin shaft hole 25 by pin shaft I23 connect another three
Corner steady 19, another triangular fixing frame 19 are located on the outside of transmission mechanism, and solid by bolt at surface bolt hole 24
It is scheduled on compression bar 20, three minor sprockets 21 are located between two triangular fixing frames 19, and are fixed on two triangles by pin
The triangle of fixed frame 19, three minor sprockets 21 can be rotated around pin.
Also affixed auxiliary mounting shell 13 on each distance rod 3 assists affixed linear motor 12 in 13 inner tip of mounting shell,
The opposite two sides of auxiliary mounting shell 13 are provided with groove 14, pull rod 11 are placed in groove 14, the axis and distance rod 3 of pull rod 11 are flat
Row, pull rod 11 are threadedly coupled by threaded hole 37 with linear motor lead screw shaft 15.
As shown in figure 9, the center of pull rod 11 is provided with corresponding boss with the place of the mating connection of groove 14, pull rod 11 it is interior
Portion is provided in the axial direction with concave through-hole, and through-hole both ends are provided with cambered surface track 27, and through-hole interior surface removed the ground at both ends
Side is in planar tracks 28.
As shown in Figure 10, adsorbing mechanism 17 includes circular sucker shell 34,34 central space connecting sucker of sucker shell
Bar 31,34 surface of sucker shell are located at the symmetrical affixed one group of sucker boss 32 in 31 two sides of sucking disk bar, between every group of sucker boss 32
The pin shaft II29 being parallel to each other by two is connected on chain I6 and chain II10, and sucker boss is located on sucker shell 34
32 outside is also connected with roller supporting platform 36, and roller supporting platform 36 connects idler wheel 33 by pin shaft, and one end of sucking disk bar 31 is solid
Connect one perpendicular to sucking disk bar 31 cross bar, cross bar both ends be respectively interference fitted connection one bearing I I30 inner ring, the outer ring bearing I I30 exists
It is rolled in cambered surface track 27 and in planar tracks 28, the other end of sucking disk bar 31 connects butyl rubber 35, butyl rubber by nut
Glue connection is on the circumference of sucker shell 34.
Sliding plate underbeam 51 is connect by guide rod 50 with sliding plate underbeam motor 56.
The wall surface crawling device of the rotatable and obstacle detouring of one kind of the utility model, the course of work are as follows: device put wall surface it
Before, starting linear motor 12 moves down, and makes linear motor lead screw shaft 15 that pull rod 11 be driven to move down, is close to 35 glue of butyl rubber of sucker
Wall surface (bearing I I30 has been introduced into planar tracks 28 by cambered surface track 27), when whole crawling device is put on wall surface,
Linear motor 12 is moved up, makes linear motor lead screw shaft 15 that 11 pull rods be driven to move up, keeps 35 middle part pull-up of butyl rubber remote
From wall surface, then, start 5 motor I5, pinion gear 8 is driven to rotate, pinion gear 8 drives gear wheel 1 to rotate, and gear wheel 1 drives chain
Wheel group I4 and chain wheel set II16 are rotated (three is coaxial), and entire crawling device is advanced forward (to retreat, motor I5 is anti-
Turn；To stop, turning off motor I5).
Main two parts of this crawling device: absorption and movement.Absorption is mainly characterized by when sucker does not enter pull rod 11, no
Adsorption capacity is generated, (is at this time all towards wall surface after the end cambered surface track and planar tracks that it enters in 11 structure of pull rod
Sucker be all tightly adsorbed on wall surface).During advance, this is similar to the crawling device of caterpillar drive, and the sucker of front is successively
Enter adsorbed state by pull rod, the last one sucker of tail portion, respectively successively by Tiebar structure median-plane orbit (sucker
It is pull-up in the middle part of butyl rubber 35 far from wall surface state) (butyl rubber 35 of sucker is gradually close to wall with end cambered surface track
Face), i.e., it would not be adsorption-like when sucker leaves wall surface that sucker is gradually become by adsorbed state, which is adjacent to wall surface without adsorption capacity state,
State just will not move ahead to crawling device and cause resistance.
When encountering obstacle:
1) chain wheel set obstacle detouring: after motor I5 stops, both sides chain wheel set I4 and chain wheel set II16 is made to halt, turntable straight line
Motor 46 starts, and turntable sucker 39 is moved down close to wall surface；Meanwhile starting vacuum pump 41 keeps generation in all turntable suckers 39 enough
Negative-pressure adsorption on wall surface (at this point, whole device is firmly adsorbed on wall surface).Then, starting linear motor 12 moves down, and makes
Linear motor lead screw shaft 15 drives pull rod 11 to move down, and so that the butyl rubber 35 on sucker shell 34 is close to wall surface, does not adsorb wall
Face.Starting screw motor 61 moves up chain wheel set I4 and chain wheel set II16 integrally, leaves wall surface certain altitude；Start sliding plate underbeam
Motor 56, under the action of ball-screw 53, sliding plate upper beam 49 is moved forward, while driving chain wheel set I4 and chain wheel set II16 whole
Body moves forward (chain wheel set I4 and chain wheel set II16 surmount obstacles)；After surmounting obstacles, stop sliding plate underbeam motor 56, at this point, opening again
Dynamic screw motor 61, moves down chain wheel set I4 and chain wheel set II16 integrally, after chain wheel set is close to wall surface, starts linear motor 12,
Make linear motor lead screw shaft 15 that pull rod 11 be driven to move up, so that butyl rubber 35 and wall surface on sucker shell 34 is formed cavity, produce
Raw negative pressure, so that sucker just adsorbs wall surface；
Then, when the crawler type mechanism of chain wheel set I4 and chain wheel set II16 is adsorbed on wall surface, turntable can be stopped at this time
(i.e. stopping vacuum pump 41 makes to generate negative pressure disappearance in all turntable suckers 39, then starts turntable linear motor 46 for mechanism work
Reversion, makes to be moved away from wall surface certain distance (turntable top plate 44 is motionless at this time) on turntable sucker 39).Start sliding plate underbeam motor
56, sliding plate underbeam 49 is moved forward, after driving the Forward of turntable sucker to surmount obstacles, stops sliding plate underbeam motor.
At this point, crawling device can continue to move along.
2) original place 3600 rotates: during crawling device is moving ahead, when needing to carry out original place to rotate in place, stopping electricity
Machine I5 makes both sides chain wheel set I4 and chain wheel set II16 halt, turntable linear motor 46 start, turntable sucker 39 move down close to
Wall surface；Meanwhile starting vacuum pump 41 makes all turntable suckers 39 are interior to generate enough negative-pressure adsorptions on wall surface (at this point, entire dress
It sets and is firmly adsorbed on wall surface).Then, starting screw motor 61 moves up chain wheel set I4 and chain wheel set II16 integrally, leaves
Wall surface certain altitude；At this point, starting turntable pinion gear motor, drives turntable pinion gear 38 to rotate, turntable pinion gear 38 and then band
Turn disk gear wheel 63 rotates, turntable gear wheel 63 and then drive turntable straight-line electric arbor 45, then turntable top plate 44 is driven to rotate,
Turntable top plate 44 drives sliding plate underbeam 51 to rotate, and sliding plate underbeam 51 drives sliding plate upper beam 49 to rotate, and sliding plate upper beam 49 drives both sides
Chain wheel set I4 and chain wheel set II16 are moved up, final to realize whole device rotation.After turning to designated position, start screw motor
61, chain wheel set I4 and chain wheel set II16 are integrally moved down, and are adjacent to wall surface.Starting linear motor 12 moves up, and makes linear motor lead screw shaft
15 drive pull rods 11 move up, and so that butyl rubber 35 is left wall surface, adsorb wall surface.It can stop the work of turntable sucker 39 at this time.
At this point, crawling device can continue the movement that moves ahead after rotation.
Claims (10)
1. a kind of rotatable and obstacle detouring wall surface crawling device, which is characterized in that including distance rod (3), transmission mechanism, several suctions
Random structure (17) and rotating disk mechanism, the transmission mechanism are symmetrically mounted on the distance rod (3) of the left and right sides, each described
Adsorbing mechanism (17) is installed in the surface of the transmission mechanism, the rotating disk mechanism be located at the left and right sides transmission mechanism it
Between, and by being fixedly connected between screw rod and the left and right sides transmission mechanism, for driving transmission mechanism to rotate in place and turning over
Obstacle-overpass.
2. a kind of rotatable and obstacle detouring wall surface crawling device as described in claim 1, which is characterized in that the rotating disk mechanism
Including circular turntable top plate (44), turntable top plate (44) face center is opened there are four bolt hole II (43), the bolt
It has been bolted to connection at hole II (43) sliding plate underbeam (51), (51) the two lateral edge axis of sliding plate underbeam is connected with guide rod
(50), the guide rod (50) connect with sliding plate upper beam (49), and the axis of the sliding plate upper beam (49) has and the sliding plate underbeam
(51) axis is vertical, and sliding plate upper beam (49) intermediate symmetry is connected with sliding plate upper beam boss (59), and the sliding plate upper beam is convex
Platform (59) is connect and is fixed by screw (52), the sliding plate with the guide rod (50) by bolt at bolt hole III (57)
Axially connection ball-screw (53), one end of the ball-screw (53) are connected to motor underbeam (51) by shaft coupling, motor
The ball-screw (53) are driven to rotate, the sliding plate underbeam (51) is as the rotation of the ball-screw (53) is along the rolling
The axial movement of ballscrew (53), the sliding plate upper beam (49) pass through screw motor axis at the screw hole II (58) that both ends open up
(60) it is fixedly connected on the distance rod (3) of the left and right sides, the screw motor axis (60) is fixedly connected with screw motor (61)
As a whole, to drive transmission mechanism to move.
3. a kind of rotatable and obstacle detouring wall surface crawling device as claimed in claim 2, which is characterized in that the turntable top plate
(44) both ends connect circular sucker fixed disk (48), the turntable straight-line electric arbor (45) by turntable straight-line electric arbor (45)
One end is connected with turntable linear motor (46) and the rotating disk mechanism is driven to move as a whole；The turntable top plate (44) and described
It is provided with turntable gear wheel (63) among sucker fixed disk (48), turntable straight-line electric arbor (45) other end passes through described turn
The both ends of disk gear wheel (63) are simultaneously fixed in sucker fixed disk (48) surface, and turntable gear wheel (63) the engagement turntable is small
The center of gear (38), the turntable pinion gear (38) and the turntable gear wheel (63) is keyed respectively in gear shaft one end,
The gear shaft other end is connect with the sucker fixed disk (48) by bearing, and is connect with the turntable pinion gear (38)
Gear shaft driving motor is connected with by shaft coupling.
4. a kind of rotatable and obstacle detouring wall surface crawling device as claimed in claim 3, which is characterized in that the sucker is fixed
Disk (48) surface is circumferentially uniformly connected with turntable sucker (39) by several sucking disk bar intervals, and each sucking disk bar passes through institute
It states sucker fixed disk (48) surface to be threadedly coupled with the sucker fixed disk (48), and fixed by nut (40), it is each described
Sucking disk bar inner hollow, each sucking disk bar are located at the affixed butyl rubber II in one end of sucker fixed disk (48) bottom surface
(62), one end positioned at sucker fixed disk (48) surface connects vacuum pump line (47), and vacuum pump line (47) connection is true
Sky pump (41), the vacuum pump (41) are fixed in sucker fixed disk (48) surface.
5. a kind of rotatable and obstacle detouring wall surface crawling device as described in claim 1, which is characterized in that the transmission mechanism
Including being connected to the gear wheel being parallel to each other two-by-two between the distance rod (3) of the left and right sides by bearing I (22) interference fit
Axis (2), pinion shaft (7) and axis (9), the Large Gear Shaft (2) and axis (9) are located at the both ends of the distance rod (3), described small
Gear shaft (7) is located at the centre of the Large Gear Shaft (2) and axis (9), is keyed gear wheel (1) among the Large Gear Shaft (2),
Pinion gear (8) are keyed among the pinion shaft (7), gear wheel (1) pinion mate (8), the pinion shaft (7)
One end motor I (5) are connected by shaft coupling, the motor I (5) is fixed on the distance rod (3)；The Large Gear Shaft
(2) it both passes through the distance rod (3) with the axis (9) both ends and is connected through a screw thread chain wheel set I (4) and chain wheel set II respectively
(16), it is wound with chain I (6) and chain II (10), the chain wheel set I respectively on the chain wheel set I (4) and chain wheel set II (16)
(4) identical with the structure of the chain wheel set II (16).
6. a kind of rotatable and obstacle detouring wall surface crawling device as claimed in claim 5, which is characterized in that the chain wheel set I
It (4) include being threadedly attached in two big sprocket wheels (18) of the Large Gear Shaft (2) and the axis (9) one end respectively, two
Engagement chain I (6) are wound between the big sprocket wheel (18), the chain I (6) is also engaged with three minor sprockets (21), described fixed
It is connected with triangular fixing frame (19) away from bar (3) center by bolt, triangular fixing frame (19) center offers pin shaft hole
(25) another triangular fixing frame (19) is connected by pin shaft I (23), another described triangular fixing frame (19) is located at the biography
On the outside of motivation structure, and it is bolted on compression bar (20) at surface bolt hole (24), three minor sprockets (21)
The three of two triangular fixing frames (19) are fixed between two triangular fixing frames (19), and through pin
Angle, three minor sprockets (21) can rotate around the pin.
7. a kind of rotatable and obstacle detouring wall surface crawling device as claimed in claim 5, which is characterized in that each spacing
Also affixed auxiliary mounting shell (13) on bar (3), affixed linear motor (12) in auxiliary mounting shell (13) inner tip are described
The opposite two sides of auxiliary mounting shell (13) are provided with groove (14), are placed with pull rod (11), the pull rod in the groove (14)
(11) axis is parallel with the distance rod (3), and the pull rod (11) passes through threaded hole (37) and linear motor lead screw shaft (15)
It is threadedly coupled.
8. a kind of rotatable and obstacle detouring wall surface crawling device as claimed in claim 7, which is characterized in that the pull rod (11)
Center with the groove (14) mating connection place be provided with corresponding boss, pull rod (11) axially inside open up
There is concave through-hole, the through-hole both ends are provided with cambered surface track (27), and the through-hole interior surface removed the place at both ends
In planar tracks (28).
9. a kind of rotatable and obstacle detouring wall surface crawling device as claimed in claim 8, which is characterized in that each absorption
Mechanism (17) includes circular sucker shell (34), sucker shell (34) the central space connecting sucker bar (31), the suction
Disk shell (34) surface is located at the symmetrical affixed two groups of sucker boss (32) in the sucking disk bar (31) two sides, sucker boss described in every group
(32) it is connected on the chain I (6) and chain II (10) between by two pin shaft II (29) being parallel to each other, the sucker
Outside on shell (34) positioned at the sucker boss (32) is also connected with roller supporting platform (36), the roller supporting platform (36)
Idler wheel (33) are connected by pin shaft, cross bar of the one end affixed one of the sucking disk bar (31) perpendicular to the sucking disk bar (31), institute
It states cross bar both ends and is respectively interference fitted one bearing I I (30) inner ring of connection, (30) outer ring bearing I I is in the cambered surface track (27)
It is rolled on the interior and described planar tracks (28), the other end of the sucking disk bar (31) connects butyl rubber (35) by nut, institute
Butyl rubber is stated to be connected on the circumference of the sucker shell (34).
10. a kind of rotatable and obstacle detouring wall surface crawling device as claimed in claim 2, which is characterized in that under the sliding plate
Beam (51) is connect by the guide rod (50) with sliding plate underbeam motor (56).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821434034.1U CN209008722U (en) | 2018-09-03 | 2018-09-03 | A kind of rotatable and obstacle detouring wall surface crawling device |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821434034.1U CN209008722U (en) | 2018-09-03 | 2018-09-03 | A kind of rotatable and obstacle detouring wall surface crawling device |
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| Publication Number | Publication Date |
|---|---|
| CN209008722U true CN209008722U (en) | 2019-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821434034.1U Expired - Fee Related CN209008722U (en) | 2018-09-03 | 2018-09-03 | A kind of rotatable and obstacle detouring wall surface crawling device |
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| CN (1) | CN209008722U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111137368A (en) * | 2020-01-21 | 2020-05-12 | 金陵科技学院 | Wheeled vacuum chuck structure for glass curtain wall climbing trolley |
| CN113017516A (en) * | 2021-04-07 | 2021-06-25 | 济南富和建材有限公司 | Indoor eminence removes clean equipment on wall |
-
2018
- 2018-09-03 CN CN201821434034.1U patent/CN209008722U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN113017516A (en) * | 2021-04-07 | 2021-06-25 | 济南富和建材有限公司 | Indoor eminence removes clean equipment on wall |
| CN113017516B (en) * | 2021-04-07 | 2022-04-15 | 杭州智邀科技有限公司 | Indoor eminence removes clean equipment on wall |
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