CN209395913U - Climbing robot - Google Patents
Climbing robot Download PDFInfo
- Publication number
- CN209395913U CN209395913U CN201920064802.7U CN201920064802U CN209395913U CN 209395913 U CN209395913 U CN 209395913U CN 201920064802 U CN201920064802 U CN 201920064802U CN 209395913 U CN209395913 U CN 209395913U
- Authority
- CN
- China
- Prior art keywords
- fixed frame
- running gear
- climbing robot
- target
- framework
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Manipulator (AREA)
Abstract
The utility model provides a kind of climbing robot, including fixed frame and at least one running gear, and the fixed frame is used to the running gear being fixed on target；The fixed frame includes framework and clamp device, and the framework is annular framework, for around the target；The clamp device is arranged in the framework, and the clamp device is used to the running gear and fixed frame being integrally attached to the target；The running gear has driving part and ground-engaging element, the walkway surface of the ground-engaging element with the surface of the target for contacting, the driving part drives the ground-engaging element work, to drive the running gear and fixed frame to move integrally on the target.
Description
Technical field
The utility model relates to robot field more particularly to a kind of climbing robots.
Background technique
With the continuous social and economic development, the height of building is continuously increased in city, and high altitude operation is extremely dangerous, because
This, needs climbing robot to replace the aloft work of the mankind.
Existing climbing robot generally includes mobile unit and absorbing unit, and mobile unit enables climbing robot being capable of court
Direction initialization is mobile, and absorbing unit is adsorbed in wall, to guarantee that climbing robot is not fallen from wall while mobile.
However, existing climbing robot has very high requirement to conditions such as surface roughness, the shapes of wall, when climbing
When tube body or cylinder are climbed by wall robot, since the surface of tube body or cylinder is curved surface, it can largely influence to inhale
The adsorption capacity of coupon member, and then climbing robot is made to be easy to fall from the surface of tube body or cylinder, reduce climbing robot
The reliability used.
Utility model content
In order to solve the above technical problems, the utility model provides a kind of climbing robot.
The utility model provides a kind of climbing robot, which is characterized in that including fixed frame and at least one walking dress
It sets, the fixed frame is used to the running gear being fixed on target；The fixed frame includes framework and fastening
Device, the framework is annular framework, for around the target；The clamp device is arranged in the framework, institute
Clamp device is stated for the running gear and fixed frame to be integrally attached to the target；The running gear tool
There are driving part and ground-engaging element, the walkway surface of the ground-engaging element is described for contacting with the surface of the target
Driving part drives the ground-engaging element work, to drive the running gear and fixed frame whole on the target
It is mobile.
It further include at least one guiding device in an embodiment, the guiding device is arranged in the fixed frame
On frame, the guiding device includes guiding connector and directive wheel, and the first end of the guiding connector connects the fixed frame
Frame, second end connect the rotation axis of the directive wheel, and the spacing of the second end of the guiding connector and the fixed frame
It is adjustable.
In an embodiment, multiple guiding devices are with multiple running gears along the ring of the annular framework
It is arranged alternately to direction.
In an embodiment, the clamp device includes fastening connection piece and fastening casting die, the fastening connection piece
First end connect the fixed frame, second end connects the fastening casting die, and the second end of the fastening connection piece and institute
The spacing for stating fixed frame is adjustable；The fastening casting die is used to press the bearing surface of the running gear, fills the walking
The walkway surface set is in contact with the surface of the target.
In an embodiment, the annular framework includes that the first half ring frame bodies, the second half ring frame bodies are connected with framework
Part, the first end of the connection frame-connecting member of the first end rotation of the first half ring frame body, the frame-connecting member
The first end of the connection of second end rotation the second half ring frame body；Based on the first half ring frame body, the second half ring frame bodies and
Rotation connection relationship between frame-connecting member is set in the work when annular framework is opened convenient for the annular framework
On object, when the annular framework closure, the second end of the second end of the first half ring frame body and the second half ring frame body
Close to each other or contact.
In an embodiment, the quantity of the fixed frame be it is multiple, what multiple fixed frames were parallel to each other
Setting, and the setting plane of the fixed frame is perpendicular to the direction of travel of the running gear.
In an embodiment, the ground-engaging element is crawler belt or wheel.
In an embodiment, the crawler belt around the running gear main body, the surface of the crawler belt with it is described
The surface of target contacts, and the fastening casting die of the clamp device has recessing groove, when the fastening casting die is pressed in institute
When stating the bearing surface of running gear, the recessing groove allows the crawler belt to pass through, and the bearing surface is located at the running gear
Body surfaces.
It is removably to connect between the clamp device of the fixed frame and the running gear in an embodiment
It connects, is removably to connect between the clamp device and the framework.
It is removably to connect between the guiding device and the framework of the fixed frame in an embodiment.
Running gear is fixed on work pair by fixed frame by climbing robot provided by the utility model embodiment
As upper, target can be cylindrical body or gengon, and climbing robot can be set in work to upper.When work, walking dress
The driving part set can drive the ground-engaging element in running gear to walk on the surface of target, and then drive walking dress
It sets and the whole entire surface along target of fixed frame i.e. climbing robot moves.Clamp device can by running gear and
Fixed frame is integrally attached on target so that climbing robot will not be from target when moving along target
It falls off, increases the reliability of climbing robot work.
Detailed description of the invention
Fig. 1 is a kind of working state schematic representation of climbing robot provided by the embodiment of the utility model；
Fig. 2 is a kind of another working state schematic representation of climbing robot provided by the embodiment of the utility model；
Fig. 3 is a kind of side view of climbing robot provided by the embodiment of the utility model；
Fig. 4 is a kind of another side view of climbing robot provided by the embodiment of the utility model.
Specific embodiment
It is practical new below in conjunction with this to keep the purpose of this utility model, feature, advantage more obvious and understandable
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is only the utility model a part of the embodiment, and not all embodiments.Based on the implementation in the utility model
Example, those skilled in the art's every other embodiment obtained without making creative work, belongs to this reality
With novel protected range.
Fig. 1 is a kind of working state schematic representation of climbing robot provided by the embodiment of the utility model；Fig. 2 is that this is practical
A kind of another working state schematic representation for climbing robot that new embodiment provides；Fig. 3 is that the utility model embodiment provides
A kind of climbing robot side view；Fig. 4 is a kind of another side view of climbing robot provided by the embodiment of the utility model
Figure.
According to Fig. 1-4, the utility model embodiment provides a kind of climbing robot, including fixed frame 100 and extremely
A few running gear 200, fixed frame 100 are used to running gear 200 being fixed on target 400；Fixed frame 100
Including framework 110 and clamp device 120, framework 110 is annular framework 110, for around target 400；Clamp device 120
It is arranged in framework 110, clamp device 120 is used to running gear 200 and fixed frame 100 being integrally attached to target
On 400；Running gear 200 has driving part and ground-engaging element 210, and the walkway surface of ground-engaging element 210 is used for and work pair
As 400 surface contact, driving part drives ground-engaging element 210 to work, to drive running gear 200 and fixed frame 100 to exist
It is moved integrally on target 400.
Running gear 200 is fixed on by climbing robot provided by the utility model embodiment by fixed frame 100
On target 400, target 400 can be cylindrical body or gengon, and climbing robot can be set in target 400
On.When work, the driving part in running gear 200 can drive the ground-engaging element 210 in running gear 200 in target
400 surface walking, and then drive running gear 200 and fixed frame 100 i.e. climbing robot whole along target 400
Entire surface is mobile.Running gear 200 and fixed frame 100 can be integrally attached on target 400 by clamp device 120
So that climbing robot will not fall off when moving along target 400 from target 400, it is artificial to increase wall-climbing device
The reliability of work.
It as shown in Figs 1-4, further include at least one guiding device 300, guiding device 300 in the utility model embodiment
It is arranged on fixed frame 100, guiding device 300 includes guiding connector 320 and directive wheel 310, and the of guiding connector 320
One end is connected and fixed frame 100, and second end connects the rotation axis 330 of directive wheel 310, and the second end of guiding connector 320 with
The spacing of fixed frame 100 is adjustable.When climbing robot is moved along 400 surface of target, guiding device 300 can pass through
Along 330 rotary caster 310 of rotation axis, so that climbing robot be made to move along a straight line along the direction that directive wheel 310 rotates.Work as work
When the shape of object 400 and climbing robot contact surface changes, guiding device 300 can be by changing guiding connector
Spacing between 320 second ends and fixed frame 100 is to adapt to 400 surface of target of different shapes, to improve
The popularity of climbing robot usage scenario.Such as: the part between the second end and fixed frame 100 of guiding connector 320
It can be arranged with spring, in this way, when spring generates different compressive deformations, the second end and fixed frame of guiding connector 320
Spacing can be changed therewith between frame 100, thus make guiding device 300 can adapt to fixed frame 100 and 400 surface of target it
Between different distance change.
As shown in Fig. 2, multiple guiding devices 300 and multiple running gears 200 are along ring frame in the utility model embodiment
The circumferential direction of body 110 is arranged alternately.Guiding device 300 in climbing robot can be multiple with running gear 200, be used for
Improve the mobile efficiency that climbing robot is walked on target 400.Guiding device 300 is for making running gear 200 along straight
Line walking, therefore, guiding device 300 and running gear 200 can be arranged alternately, and the quantity and walking of guiding device 300
The quantity of device 200 is identical, to guarantee the reliability that guiding device 300 works.It include two in embodiment shown in Fig. 2
A guiding device 300 and two running gears 200, two guiding devices 300 are oppositely arranged, likewise, two running gears 200
Also it is oppositely arranged.Two running gears 200 being oppositely arranged for entire climbing robot for providing along 400 surface of operation object
Walking power, two guiding devices 300 being oppositely arranged climbing robot along 400 surface of operation object walk during
Good guiding role is played, prevents from generating when climbing robot is mobile relative to operation object 400 in addition on its direction of travel
Other displacement, such as: prevent climbing robot during traveling left and right offset, etc..
As shown in Figs. 1-2, in the utility model embodiment, clamp device 120 includes fastening connection piece 121 and fastening casting die
122, the first end of fastening connection piece 121 is connected and fixed frame 100, second end connection fastening casting die 122, and fastening connection piece
121 second end and the spacing of fixed frame 100 are adjustable；Fastening casting die 122 is used to press the bearing surface of running gear 200
220, so that the walkway surface of running gear 200 and the surface of target 400 is in contact.It fastens casting die 122 and presses running gear
200 bearing surface 220, makes clamp device 120 that the walkway surface of running gear 200 to be adjacent to the surface of target 400, from
And running gear 200 is enable to walk always along 400 surface of target in wall-climbing device man-hour.Fastening connection piece 121
Second end and fixed frame 100 between spacing it is adjustable, enable adaptation to different 400 sizes of target, work as work
When becoming large-sized of object 400 can turn the second end of fastening connection piece 121 and the spacing of fixed frame 100 down, when work pair
When becoming smaller as 400 size, the second end of fastening connection piece 121 and the spacing of fixed frame 100 can be tuned up, to make to climb wall
Robot is able to use various sizes of target 400, increases the popularity of climbing robot used.
As shown in Figs. 1-2, in the utility model embodiment, annular framework 110 includes the first half ring frame bodies 111, the second half
Ring frame body 112 and frame-connecting member 113, the first of the connection frame-connecting member 113 of the first end rotation of the first half ring frame bodies 111
End, the first end of the second half ring frame body 112 of connection of the second end rotation of frame-connecting member 113；Based on the first half ring frame bodies
111, the second half rotation connection relationship between ring frame body 112 and frame-connecting member 113, is convenient for ring when annular framework 110 is opened
Shape framework 110 is set on target 400, when annular framework 110 is closed, the second end and second of the first half ring frame bodies 111
The second end of half ring frame body 112 is close to each other or contacts.The first half ring frame bodies 111, the second half ring frame bodies 112 pass through framework and connect
Part 113 connects, while frame-connecting member 113 is also connected with running gear 200, so that so that running gear 200 is crossed passes through ring frame
Body 110 is arranged on target 400.By the first half ring frame bodies 111, the second half ring frame bodies 112 and frame-connecting member 113 it
Between be arranged to the connection relationship of rotation can be in order to climbing robot be installed to work when the length of target 400 is too long
On object 400, the installation convenience of climbing robot is improved.
As shown in Figs 1-4, in the utility model embodiment, the quantity of fixed frame 100 is multiple, multiple fixed frames
100 settings being parallel to each other, and the setting plane of fixed frame 100 is perpendicular to the direction of travel of running gear 200.Along perpendicular to
Multiple groups fixed frame 100 is arranged in parallel in the plane of the direction of travel of running gear 200, can prevent only having one group of fixed frame
100 climbing robot when walking, generation along fixed frame 100 the deflection that occurs of axis planar, improve
The job stability of climbing robot.
As shown in 1-4, in the utility model embodiment, ground-engaging element 210 is crawler belt or wheel.Crawler belt is around running gear
The surface of 200 main body 230, crawler belt is contacted with the surface of target 400, and the fastening casting die 122 of clamp device 120 has
Recessing groove 123, when the fastening pressing of casting die 122 is in the bearing surface 220 of running gear 200, recessing groove 123 allows the crawler belt to wear
It crosses, bearing surface 220 is located at 230 surface of main body of running gear 200.The main body 230 of running gear 200, for fixed walking
Component 210 and driving part.Crawler belt or wheel are arranged for one week along 210 main body of ground-engaging element, 230 outside, when 210 edge of ground-engaging element
When target 400 is walked, crawler belt or wheel positioned at 400 side of target will be located at target 400 and running gear
Between 200, crawler belt or wheel connection 400 surface of target to make running gear 200 400 surface of target walk,
And then keep climbing robot mobile in walking subject surface.In the side that fastening casting die 122 is connected with running gear 200, row
Crawler belt or wheel on walking apparatus 200 is by the recessing groove 123 on fastening casting die 122, to wear from one end in recessing groove 123
It crosses to the other end, to make fastening casting die 122 consolidate running gear 200 on 400 surface of target by recessing groove 123
While determining, the crawler belt or wheel not influenced in running gear 200 are rotated around running gear 200, enable to fasten 122 position of casting die
The volume that fastening casting die 122 is reduced in the top of crawler belt or wheel, further decreases the use space of climbing robot.And
Recessing groove also can be set in frame-connecting member 113 and 200 contact surface of running gear in framework 110, makes on running gear 200
Crawler belt or wheel can pass through the recessing groove of frame-connecting member 113.
As shown in Figs. 1-2, in the utility model embodiment, the clamp device 120 and running gear 200 of fixed frame 100
Between be removably to connect, be removably to connect between clamp device 120 and framework 110.Fixed frame 100 is facilitated to tear open
It unloads, consequently facilitating climbing robot is dismounted from target 400.
As shown in Figure 1-3, in the utility model embodiment, between the framework 110 of guiding device 300 and fixed frame 100
Removably to connect.To facilitate fixed frame 100 to dismantle, consequently facilitating climbing robot is dismounted from target 400.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the utility model.Moreover, description specific features, structure, material or
Feature may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, in not conflicting situation
Under, those skilled in the art can be by different embodiments or examples described in this specification and different embodiments or examples
Feature be combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.The meaning of " plurality " is two or more in the description of the present invention, unless
Separately there is clearly specific restriction.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replacement, it should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with the power
Subject to the protection scope that benefit requires.
Claims (10)
1. a kind of climbing robot, which is characterized in that including fixed frame and at least one running gear, the fixed frame is used
It is fixed on target in by the running gear；
The fixed frame includes framework and clamp device, and the framework is annular framework, for around the target；Institute
It states clamp device to be arranged in the framework, the clamp device is for the running gear and fixed frame to be integrally attached to
On the target；
The running gear has driving part and ground-engaging element, and the walkway surface of the ground-engaging element is used for and the work pair
The surface of elephant contacts, and the driving part drives the ground-engaging element work, to drive the running gear and fixed frame to exist
It is moved integrally on the target.
2. climbing robot according to claim 1, which is characterized in that it further include at least one guiding device, it is described to lead
It is arranged on the fixed frame to device, the guiding device includes guiding connector and directive wheel, the guiding connector
First end connect the fixed frame, second end connects the rotation axis of the directive wheel, and the second of the guiding connector
It holds adjustable with the spacing of the fixed frame.
3. climbing robot according to claim 2, which is characterized in that multiple guiding devices and multiple walkings
Device is arranged alternately along the circumferential direction of the annular framework.
4. climbing robot according to claim 1, which is characterized in that the clamp device includes fastening connection piece and tight
Solid pressure part, the first end of the fastening connection piece connect the fixed frame, and second end connects the fastening casting die, and described tight
The second end of connected fitting and the spacing of the fixed frame are adjustable；The fastening casting die is for pressing holding for the running gear
Surface is pressed, the walkway surface of the running gear and the surface of the target is made to be in contact.
5. climbing robot according to claim 1, which is characterized in that the annular framework include the first half ring frame bodies,
The second half ring frame body and frame-connecting members, the of the connection frame-connecting member of the first end rotation of the first half ring frame body
One end, the first end of connection the second half ring frame body of the second end rotation of the frame-connecting member；Based on described the first half
The rotation connection relationship of ring frame body, the second half between ring frame body and frame-connecting member, convenient for described when the annular framework is opened
Annular framework is set on the target, when the annular framework closure, the second end of the first half ring frame body and institute
State the second half ring frame bodies second end is close to each other or contact.
6. climbing robot according to any one of claims 1 to 5, which is characterized in that the quantity of the fixed frame is
Settings multiple, that multiple fixed frames are parallel to each other, and the setting plane of the fixed frame is filled perpendicular to the walking
The direction of travel set.
7. climbing robot according to any one of claims 1 to 5, which is characterized in that the ground-engaging element be crawler belt or
Wheel.
8. climbing robot according to claim 7, which is characterized in that master of the crawler belt around the running gear
Body, the surface of the crawler belt are contacted with the surface of the target, and the fastening casting die of the clamp device has recessing groove,
When fastening casting die pressing is in the bearing surface of the running gear, the recessing groove allows the crawler belt to pass through, described to hold
Pressure surface is located at the body surfaces of the running gear.
9. climbing robot according to any one of claims 1 to 5, which is characterized in that the fastening of the fixed frame fills
Setting is removably to connect between the running gear, is removably to connect between the clamp device and the framework.
10. climbing robot according to claim 2 or 3, which is characterized in that the guiding device and the fixed frame
Framework between be removably to connect.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920064802.7U CN209395913U (en) | 2019-01-15 | 2019-01-15 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920064802.7U CN209395913U (en) | 2019-01-15 | 2019-01-15 | Climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209395913U true CN209395913U (en) | 2019-09-17 |
Family
ID=67898292
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920064802.7U Active CN209395913U (en) | 2019-01-15 | 2019-01-15 | Climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209395913U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109572837A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN111845976A (en) * | 2020-08-13 | 2020-10-30 | 广东电网有限责任公司梅州供电局 | Climbing rod device |
-
2019
- 2019-01-15 CN CN201920064802.7U patent/CN209395913U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109572837A (en) * | 2019-01-15 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN111845976A (en) * | 2020-08-13 | 2020-10-30 | 广东电网有限责任公司梅州供电局 | Climbing rod device |
| CN111845976B (en) * | 2020-08-13 | 2022-04-12 | 广东电网有限责任公司梅州供电局 | Climbing rod device |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN209395913U (en) | Climbing robot | |
| CN107351012A (en) | Positioner and the localization method using the device | |
| CN207437669U (en) | A kind of engineering management tool box | |
| CN207325670U (en) | A kind of horizontal type can molding angle tubing apparatus for bending | |
| CN106002955B (en) | A kind of construction transfer robot Three Degree Of Freedom running gear | |
| CN109572837A (en) | Climbing robot | |
| CN110170408A (en) | Spray robot | |
| CN206966647U (en) | A kind of steel band sealing device of formation cylinder | |
| CN204329924U (en) | A kind of crawler type measuring wheel | |
| Sell et al. | Kinematics and dynamics of configurable wheel-leg | |
| CN206843917U (en) | A kind of hand push guide type curb stone cementation of fissures device | |
| CN203853129U (en) | Corrugated grading lining plate | |
| CN207723223U (en) | A kind of metal plate levelling machine | |
| CN205439035U (en) | Polytetrafluoroethylene base takes calender with adjustable | |
| CN203712604U (en) | Manual compaction device for bearing cover of guide wheel | |
| CN104386154B (en) | One efficiently turns to crawler belt and platform thereof | |
| CN206245197U (en) | A kind of single shaft variable dispenser of roadmarking reflectorized material | |
| CN108556941B (en) | Wall surface walking mechanism and wall climbing robot | |
| CN108626411A (en) | It is a kind of can it is convenient change irrigation method agricultural special valve | |
| CN205744432U (en) | A kind of pneumatics assembly of vortex air compressor machine | |
| CN203853134U (en) | Grading lining plate for ball grinder | |
| CN209067226U (en) | A kind of all-hydraulic cable duct trolley | |
| CN215441305U (en) | Road roller | |
| CN204395553U (en) | Vertical type pressure filter press cloth deviation correcting device | |
| CN208866364U (en) | A kind of traction roller for cast iron profile material production |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |