CN212529855U

CN212529855U - Multifunctional climbing vehicle

Info

Publication number: CN212529855U
Application number: CN202020418033.9U
Authority: CN
Inventors: 陆勇峰; 张萍
Original assignee: Shanghai Xiaodao Intelligent Technology Co ltd
Current assignee: Shanghai Xiaodao Intelligent Technology Co ltd
Priority date: 2020-03-27
Filing date: 2020-03-27
Publication date: 2021-02-12
Anticipated expiration: 2030-03-27

Abstract

The utility model discloses a multi-functional climbing car, the face of waiting to climb of climbing car is any one of following: the vertical surface, the cambered surface, the horizontal surface and the plane forming a certain included angle with the horizontal surface; the climbing car comprises: the climbing vehicle chassis is arranged opposite to the surface to be climbed, at least one part of which is made of metal, and a plurality of magnet blocks for adsorbing the surface to be climbed are arranged on the climbing vehicle chassis; the driving wheels are respectively positioned at two sides of the creeper and driven by the first driving motors at the corresponding sides connected with the driving wheels to operate; and the at least two driven wheels are respectively in transmission connection with the driving wheels on the corresponding sides and driven by the running driving wheels to rotate so as to enable the creeper to move up and down along the vertical surface. The utility model is a remote control automatic creeper which can move up, down, left and right stably in the vertical direction; the functions of detecting, cleaning and paint repairing of the tower drum of the fan, detecting the surface of the blade and overhauling of a large oil pipe are realized by adding different components on the climbing vehicle.

Description

Multifunctional climbing vehicle

Technical Field

The utility model relates to a machinery and vehicle field, in particular to multi-purpose remote control automatic crawling car that can control about vertical direction.

Background

The wall climbing device can climb on the horizontal wall surface and the vertical wall surface of the equipment to assist and replace operators to carry out operation, so that the equipment is convenient to maintain and overhaul, and the wall climbing device is widely applied to large-scale equipment in the fields of electric power, chemical engineering, ships and the like.

Present climb wall device can't guarantee sufficient adsorption affinity when crawling on vertical wall, takes place to fall easily, should climb the wall device to the wall of different radians moreover, has the limitation of function. For the above reasons, it is actually necessary to develop a remote control automatic creeper capable of stably moving up and down, left and right in the vertical direction.

SUMMERY OF THE UTILITY MODEL

The utility model aims at providing a multifunctional creeper, which is a remote control automatic creeper capable of moving up and down, left and right in the vertical direction; the utility model discloses still realize the detection, clearance, the touch-up paint of fan tower section of thick bamboo and to the detection on blade surface and large-scale oil pipe's maintenance function through increasing different subassemblies on the climbing car.

In order to achieve the above purpose, the utility model discloses a following technical scheme realizes:

a creeper, the surface to be climbed of the creeper being any one of: the vertical surface, the cambered surface, the horizontal surface and the plane forming a certain included angle with the horizontal surface; the climbing car comprises: the climbing vehicle chassis is arranged opposite to the surface to be climbed, at least one part of which is made of metal, and a plurality of magnet blocks for adsorbing the surface to be climbed are arranged on the climbing vehicle chassis; the driving wheels are respectively positioned on two sides of the creeper and driven by the first driving motors connected with the driving wheels and on the corresponding sides to rotate; and the at least two driven wheels are respectively in transmission connection with the driving wheels on the corresponding sides and driven by the running driving wheels to rotate so as to enable the climbing vehicle to move up and down along the vertical surface.

Preferably, the driven wheel is connected with the driving wheel through a belt, and the first driving motor is a belt pulley driving motor.

Preferably, a plurality of friction blocks are distributed on the belt and are in contact with the surface to be climbed.

Preferably, the action wheel connects gradually a plurality of driving gear, the driving gear with first driving motor connects, through first driving motor drive pivoted the driving gear drives the action wheel rotates, the radius of driving gear is less than the radius of action wheel.

Preferably, the number of the transmission teeth is equal to or more than two, and the radiuses of the transmission teeth connected with the driving wheel are sequentially reduced from the position close to the driving wheel to the position far away from the driving wheel.

Preferably, the creeper comprises a roller driving motor, and a plurality of rolling wheels are respectively arranged on two sides of the creeper; the roller driving motor is connected with the upper end of the transmission chain, the lower end of the transmission chain is in transmission connection with the central rotating shaft of the rolling wheels, so that the roller driving motor drives the transmission chain to drive the central rotating shaft of the rolling wheels to rotate when rotating, and each rolling wheel connected to the central rotating shaft is driven to rotate.

Preferably, the creeper is provided with an automatic angle inclination adjusting mechanism, comprising: the adjusting motor is arranged on an end plate of the climbing vehicle; one or more adjusting gears arranged on the end plate of the creeper and connected with the transmission chain; by the track that the adjustment motor drive removed, it sets up adjust gear below and drive and be connected with it adjust gear, so that adjust gear drives the tie point translation of drive chain lower extreme, through central pivot makes the belt to be close to wait to climb face one side or keep away from waiting to climb face one side slope to the size of the centripetal angle that the adjustment both sides belt and the contact point formed on waiting to climb the face.

Preferably, the automatic angle inclination adjusting mechanism further comprises a tension spring which is used for preventing the transmission chain from moving inwards in a translation manner by propping against the transmission chain, and the tension spring is arranged on an end plate of the climbing vehicle.

Preferably, an external interface of the working tool is reserved on the creeper.

Preferably, the distance between the surface of the magnet block and the surface to be climbed is 3 mm.

Compared with the prior art, the beneficial effects of the utility model reside in that: (1) the climbing vehicle of the utility model realizes the fixation of the upper surface in the vertical direction through enough adsorption force to prevent falling; (2) the utility model realizes the vertical movement from top to bottom and from left to right through the driving motor with enough driving force and the proper friction between the creeper and the contact surface besides enough adsorption force; (3) the utility model can realize different operation functions, such as detection, cleaning and paint repair of a fan tower, detection of the surface of a blade, maintenance of a large-scale oil pipe and the like; (4) the utility model discloses a climbing car can be applicable to the working face of different radians, can realize making the climbing car still hug closely the plane motion under different radians.

Drawings

Fig. 1 is a schematic perspective view of a creeper of the present invention;

fig. 2 is a side view of the creeper of the present invention;

fig. 3 is a bottom view of the present invention;

fig. 4 is a schematic view of the crawling state of the creeper on the vertical surface.

Detailed Description

In order to make the objects, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

As shown in fig. 1-4, the utility model provides a multifunctional creeper 100, which comprises a creeper chassis, a driving wheel 6, a driven wheel 2, a transmission gear 5, a rolling wheel 3, a transmission chain 7, a belt wheel driving motor 4, a roller driving motor 8 and a belt 9. The X-axis shown in fig. 1-2 represents the left-right lateral direction of the creeper, the Y-axis represents the fore-and-aft direction of the movement of the creeper, i.e., the up-and-down direction of the vertical metal surface 200 to be climbed, and the Z-axis represents the height direction of the creeper itself. It is worth explaining, the utility model discloses a climbing car is not only limited to climb on foretell vertical face, can also climb on the horizontal plane or personally submit the plane of certain contained angle with the horizontal plane or the cambered surface on the same way, the utility model discloses do not do the restriction to this, the following mainly explains with the vertical face of metal as the example.

As shown in fig. 1 and 2, two driving wheels 6 are respectively located at the left and right sides of the creeper, and two pulley driving motors 4 are respectively located at the left and right sides of the creeper. The driving wheel 6 on each side is connected with the corresponding driven wheel 2 through a belt 9, and the driving wheel 6 on the corresponding side is driven by the belt wheel driving motor 4 to rotate to drive the belt 9 to rotate, so that the belt 9 drives the driven wheel 2 to operate, and the climbing vehicle can move up and down on a vertical metal surface. The central axis direction of the drive pulley 6 and the driven pulley 2 is along the X-axis direction.

The utility model discloses a two belt wheel driving motor 4 provide power and make corresponding belt 9 and rotate for the action wheel 6 of the correspondence of the creeper left and right sides respectively, because the load is great, belt wheel driving motor 4's volume should not be too big again, in order to satisfy the requirement of these two contradictions of each other, the mode of having taken the increase to rotate the ratio realizes, adopt the hard joint simultaneously, action wheel 6 connects gradually one or more driving gear 5 promptly, driving gear 5 and belt wheel driving motor 4's output shaft, utilize belt wheel driving motor 4 drive driving gear 5, rethread pivoted driving gear 5 drives action wheel 6 and rotates, the effect has been promoted. Wherein, the radius of the transmission gear 5 is smaller than that of the driving wheel 6. Illustratively, the radius of each transmission tooth 5 connected with the driving wheel 6 decreases in sequence from the side close to the driving wheel 6 to the side far from the driving wheel 6.

Illustratively, the chassis of the creeper is provided with a plurality of magnet blocks 13, and the surface of the magnet blocks 13 is large enough, as shown in fig. 3; preferably, the distance between the surface of the magnet block 13 and the adsorption surface (i.e., the above-described vertical metal surface) is set to 3mm to ensure an optimum adsorption effect.

The utility model discloses a polylith magnet 13 ensures that the climbing car can firmly adsorb on vertical metal covering, avoids falling in the course of the work. The utility model discloses in, to the adsorption affinity requirement of difference, dispose the magnet piece 13 of different quantity to guarantee that the climbing car can firmly adsorb on vertical metal covering, simultaneously, the removal of climbing car in large-scale oil pipe can be ensured to the belt pulley (action wheel 6 promptly and from driving wheel 2).

The utility model discloses a belt 9 is not direct and adsorption plane (be above-mentioned vertical metal covering) contact, but through a plurality of clutch blocks 10 and the adsorption plane contact that distributes on it, ensures suitable frictional force between the two, realizes the climbing car steadily at the upper and lower left and right sides motion of vertical direction.

The left side and the right side of the climbing vehicle are respectively provided with a plurality of rolling wheels 3, one roller driving motor 8 provides power for each rolling wheel 3 on the left side and the right side of the climbing vehicle through the transmission chains 7 on the left side and the right side which are in transmission connection with the roller driving motor, sufficient driving force is ensured, chain teeth on the upper end of each transmission chain 7 are in meshing connection with corresponding connecting gears on the output shaft of the roller driving motor 8, and the roller driving motor 8 drives the transmission chains 7; the rolling wheels 3 are in transmission connection with the lower end of the transmission chain 7, and the central axial direction of each rolling wheel 3 is opposite along Y. The lower end of the transmission chain 7 is in transmission connection with a central rotating shaft 201 of the rolling wheels 3 (the central rotating shaft 201 penetrates through an end plate 101 of the creeper), so that when the roller driving motor 8 drives the transmission chain 7, the transmission chain 7 drives the central rotating shaft of the rolling wheels 3 to rotate, each rolling wheel 3 connected with the central rotating shaft is made to rotate, and the creeper moves left and right.

Therefore, the utility model discloses a for two belt wheel drive motor 4 that the action wheel 6 of vertical direction provided power and provide power for belt 9, ensured the climbing force of climbing car, a gyro wheel drive motor 8 provides power for gyro wheel 3, can let the climbing car remove about, as shown in fig. 4.

The utility model discloses a reserve on the multi-functional climbing car and have external interface 12 to possess angle slope automatic regulating mechanism (inclination automatic regulating function).

In an example, through the reserved external interface 12, tools such as a mechanical arm, a camera, a paint sprayer and the like can be installed, so that detection, paint supplementation and cleaning of the fan tower can be realized; the detection of the surface of the blade and the maintenance of the large-scale oil pipe.

In another example, when waiting to climb the face and be the cambered surface, the belt 9 of climbing car both sides probably can't laminate completely with this cambered surface, leads to the unable normal motion of belt pulley, for overcoming this technical problem, the utility model discloses a climbing car is equipped with the automatic guiding mechanism of angle slope, and it contains adjusting motor 14, adjusting gear 15 and rises and tightly spring 16. Wherein, the adjusting motor 14 and the adjusting gear 15 are both arranged on the end plate 101 of the creeper, a track 141 with teeth is arranged below the adjusting gear 14, the adjusting motor 14 drives the track 141 to move left and right for a certain distance, the moving track 141 drives the adjusting gear 14 connected with the moving track 141, and continuously drives other adjusting gears which are meshed and connected to rotate until the connecting gears on the output shafts of the roller driving motors 8 are driven, so that the connecting points at the lower ends of the corresponding transmission chains 7 horizontally move left and right, the belt 9 is inclined a little toward the side close to the vertical surface or away from the vertical surface by the center rotation shaft 201, so as to adjust the size of the centripetal angle formed by the contact points of the belts at the two sides and the cambered surface to be contacted and ensure that the belt 9 can be always attached to the cambered surface through the friction block 10, therefore, to the cambered surface of difference, the utility model discloses can make belt 9 laminate on the cambered surface always through the automatic guiding mechanism of angle slope.

Illustratively, a tension spring 16 is mounted on an end plate of the creeper, and is used for preventing the transmission chain 7 from loosening due to the adjustment of the angle, so that the transmission chain 7 can still normally rotate under the condition of the change of the angle. Each tension spring 16 props against each transmission chain 7, when the lower end of each transmission chain 7 on each side translates inwards, the distance between the two outer end connecting points of the transmission chains 7 on the two sides is shortened, the tension spring 16 acts as a support in the middle of the two transmission chains 7 to form an inflection point, the stroke of the transmission chain 7 is enlarged, and the transmission chain 7 is prevented from loosening.

In addition, for different functional requirements, the utility model can realize mechanical arm control, camera control, paint supplementing device control and the like by matching different external devices and control modes, so as to meet different requirements; for example, the electrical slip ring 1 in fig. 1 is an electrical component responsible for communicating with a rotating body, and transmitting energy and signals; the utility model discloses be not limited to above-mentioned sliding ring, need adjust according to the functional requirement of reality.

To sum up, when the creeper is adsorbed on a vertical surface, the creeper can be controlled by the remote controller to move up and down in the vertical direction, and meanwhile, the creeper can move left and right through the roller, so that the upper surface of the creeper is fixed in the vertical direction through enough adsorption force to prevent falling; the climbing vehicle can be suitable for working surfaces with different radians, and the climbing vehicle can still closely move on the plane under different radians.

While the present invention has been described in detail with reference to the preferred embodiments thereof, it should be understood that the above description should not be taken as limiting the present invention. Numerous modifications and alterations to the present invention will become apparent to those skilled in the art upon reading the foregoing description. Accordingly, the scope of the invention should be limited only by the attached claims.

Claims

1. A climbing vehicle, characterized in that the surface to be climbed of the climbing vehicle is any one of the following: the vertical surface, the cambered surface, the horizontal surface and the plane forming a certain included angle with the horizontal surface; the climbing car comprises:

the climbing vehicle chassis is arranged opposite to the surface to be climbed, at least one part of which is made of metal, and a plurality of magnet blocks (13) for adsorbing the surface to be climbed are arranged on the climbing vehicle chassis;

at least two driving wheels (6) which are respectively positioned at two sides of the climbing vehicle and driven by a first driving motor at the corresponding side connected with the driving wheels to operate;

and the at least two driven wheels (2) are respectively in transmission connection with the driving wheels (6) on the corresponding sides and driven by the running driving wheels (6) to rotate the driven wheels (2), so that the creeper moves up and down along the vertical surface.

2. The creeper of claim 1,

the driven wheel (2) is connected with the driving wheel (6) through a belt (9), and the first driving motor is a belt wheel driving motor (4).

3. The creeper of claim 2,

a plurality of friction blocks (10) are distributed on the belt (9), and the friction blocks (10) are in contact with the surface to be climbed.

4. The creeper of claim 1,

the driving wheel (6) is sequentially connected with a plurality of transmission teeth (5), the transmission teeth (5) are connected with the first driving motor, the first driving motor drives the transmission teeth (5) to drive the driving wheel (6) to rotate, and the radius of the transmission teeth (5) is smaller than that of the driving wheel (6).

5. The creeper of claim 4,

the number of the transmission teeth (5) is equal to or more than two, and the radiuses of the transmission teeth (5) connected with the driving wheel (6) are sequentially reduced from the approach of the driving wheel (6) to the distance of one side of the driving wheel (6).

6. The creeper of claim 2 or 3,

the creeper comprises a roller driving motor (8), and a plurality of rolling wheels (3) are respectively arranged on two sides of the creeper;

the utility model discloses a rolling wheel, including roller driving motor (8), driving chain (7), the lower extreme of driving chain (7) with central pivot (201) transmission of rolling wheel (3) is connected, makes roller driving motor (8) drive when driving chain (7) rotate the central pivot (201) of rolling wheel (3) rotate, in order to drive each rolling wheel (3) of connecting rotate in the central pivot.

7. The creeper of claim 6,

the climbing vehicle is provided with an angle inclination automatic adjusting mechanism, and comprises:

the adjusting motor (14) is arranged on an end plate of the climbing vehicle;

one or more adjusting gears (15) arranged on the end plates of the creeper and in transmission connection with the transmission chain (7);

by track (141) that accommodate motor (14) drive removed, it sets up accommodate gear (15) below and drive and be connected with it accommodate gear (15), so that accommodate gear (15) drive the tie point translation of driving chain (7) lower extreme, through center pivot (201) make belt (9) to be close to the one side of waiting to climb the face or keep away from one side slope of waiting to climb the face to the size of the centripetal angle that contact point formed on adjustment both sides belt and the face of waiting to climb.

8. The creeper of claim 7,

the automatic angle inclination adjusting mechanism further comprises a tension spring (16) which is used for preventing the transmission chain (7) from moving inwards in a translation manner by propping against the transmission chain (7), and the tension spring (16) is arranged on an end plate of the climbing vehicle.

9. The creeper of claim 1,

an external interface (12) of the working tool is reserved on the climbing vehicle.

10. The creeper of claim 1,

the distance between the surface of the magnet block (13) and the surface to be climbed is 3 mm.