CN215155130U

CN215155130U - Foot device of wall-climbing robot

Info

Publication number: CN215155130U
Application number: CN202120459261.5U
Authority: CN
Inventors: 谭智锋
Original assignee: Fujian Zhongke Ruitai Robot Co ltd
Current assignee: Fujian Zhongke Ruitai Robot Co ltd
Priority date: 2021-03-03
Filing date: 2021-03-03
Publication date: 2021-12-14
Anticipated expiration: 2031-03-03

Abstract

The utility model discloses a wall climbing robot foot device, including roof, sensor ejector pin and truckle device, the upper end of roof is provided with universal joint, the lower extreme of roof is provided with the intermediate lamella, the surface cover of erection column upper end is equipped with sliding sleeve top spring, the lower extreme fixedly connected with hypoplastron of fixed sliding sleeve, the lower fixed surface of intermediate lamella is connected with sensor top spring, and the movable end fixedly connected with sensor seat of sensor top spring, the truckle device is installed to angles such as the lower extreme of hypoplastron. This wall climbing robot foot device is convenient for realize the power transmission of disalignment to the device, and the convenience plays the cushioning effect to the atress of equidirectional, can judge the position relation of sucking disc and actuation wall, carries out the actuation in good time, avoids apart from too far too big impact that the actuation in-process produced to and the in-process that sucking disc and wall are close to bumps with the wall and damages equipment, plays the guard action to the device.

Description

Foot device of wall-climbing robot

Technical Field

The utility model relates to a relevant technical field of robot specifically is a wall climbing robot foot device.

Background

Along with the development of mechanized intelligence, dangerous manual work such as the washing of a lot of perpendicular wall, installation and monitoring is gradually replaced by wall climbing robot, and wall climbing robot especially foot formula, connecting rod formula and slide rail formula wall climbing robot's adsorption structure needs steady actuation, and the foot of robot adsorbs on the actuation wall to remove through truckle mechanism gyro wheel, reach appointed position, it is very convenient to use.

However, the foot device of the general wall-climbing robot is inconvenient to realize the power transmission of different axes, is inconvenient to buffer the collection in different directions, is inconvenient to judge the position relation between the sucker and the attraction wall surface, and attracts in good time, so that the impact generated in the attraction process is too large when the distance is too far, and the sucker collides with the wall surface in the process of approaching the wall surface to damage equipment.

SUMMERY OF THE UTILITY MODEL

An object of the utility model is to provide a wall climbing robot foot device to solve the inconvenient power transfer to the device realization disalignment of general wall climbing robot foot device that proposes in the above-mentioned background art, inconvenient buffering the collection of equidirectional not, inconvenient judgement sucking disc and the position relation of actuation wall, in good time carry out the actuation, the impact that leads to producing apart from too far actuation in-process is too big, and the sucking disc collides and damages the problem of equipment with the wall in the in-process that the wall is close to.

In order to achieve the above object, the utility model provides a following technical scheme: a foot device of a wall-climbing robot comprises a top plate, a sensor mandril and a caster device, wherein the upper end of the top plate is provided with a universal joint, a sucker is arranged in the middle of the lower end of the top plate, a middle plate is arranged at the lower end of the top plate, an installation column is penetratingly connected to one side of the middle plate, which is far away from the vertical central axis of the top plate, a sliding sleeve top spring is sleeved on the outer surface of the upper end of the installation column, and the outer side of the sliding sleeve top spring is provided with a fixed sliding sleeve, the lower end of the fixed sliding sleeve is fixedly connected with a lower plate, the upper surface of the lower plate is fixedly connected with a connecting column, the upper end of the connecting column is fixedly connected with a sensor ejector rod, the lower surface of the middle plate is fixedly connected with a sensor top spring, the movable end of the sensor top spring is fixedly connected with a sensor seat, and the middle part of the sensor seat is provided with a pressure sensor, and the lower end of the lower plate is provided with a caster device at an equal angle.

Preferably, the universal joint is connected with the top plate in a rolling manner, and a vertical central axis of the universal joint coincides with a vertical central axis of the top plate.

Preferably, the connection mode of the mounting columns and the middle plate is through connection, and the mounting columns are arranged at equal angles at the lower end of the middle plate.

Preferably, the sensor seat is connected with the connecting column in a sliding manner, and the sensor seat is vertically arranged on the connecting column.

Preferably, the truckle device includes truckle fork, truckle apical room, erection bolt, gyro wheel and connecting rod, and the middle part fixedly connected with truckle apical room of truckle fork upper end, the lower extreme through connection of truckle fork have the erection bolt, and the mid-mounting of truckle fork lower extreme has the gyro wheel, the equal fixedly connected with connecting rod in both ends about truckle fork upper surface, truckle apical room and hypoplastron threaded connection, connecting rod and hypoplastron through connection.

Preferably, the connection mode of the roller and the mounting bolt is through connection, and the left end of the mounting bolt is in threaded connection with the caster fork.

Compared with the prior art, the beneficial effects of the utility model are that: the foot device of the wall-climbing robot is convenient for realizing the power transmission of different axes of the device, plays a role in buffering the stress in different directions, can judge the position relation between the sucker and the attraction wall surface, carries out attraction in due time, avoids overlarge impact generated in the attraction process when the distance is too far away and avoids equipment damage caused by collision between the sucker and the wall surface in the process of approaching the sucker and the wall surface, and plays a role in protecting the device;

1. the universal joint and the sucker are arranged, so that the device is adsorbed on the wall of an object when in use, and the power transmission with different axes can be realized through the arrangement of the universal joint, so that the device can reach more places, and the practicability of the device is improved;

2. the device is provided with the mounting column and the fixed sliding sleeve, when the device moves, the universal joint transmits power to the device and extrudes the middle plate, so that the sliding sleeve top spring is elastically deformed, the mounting column slides on the middle plate, and the mounting column is arranged at the lower end of the middle plate at equal angles and can buffer the force applied in different directions;

3. the device is provided with the sensor ejector rod and the sensor seat, when the device runs, the position relation between the sucker and the attraction wall surface can be judged through the arrangement of the pressure sensor, attraction is carried out timely, and the phenomenon that the sucker collides with the wall surface in the process of being close to the wall surface and damages equipment due to overlarge impact generated in the process of attracting too far is avoided.

Drawings

FIG. 1 is a schematic front view of the present invention;

FIG. 2 is a schematic view of the caster device of the present invention;

FIG. 3 is a schematic view of the top view of the connection between the suction cup and the lower plate;

FIG. 4 is an enlarged schematic view of the structure at A in FIG. 3 according to the present invention;

fig. 5 is a schematic view of the connection of the suction cup, the lower plate and the caster fork of the present invention.

In the figure: 1. a top plate; 2. a universal joint; 3. a suction cup; 4. a middle plate; 5. mounting a column; 6. a sliding sleeve top spring; 7. fixing the sliding sleeve; 8. a lower plate; 9. connecting columns; 10. a sensor ejector rod; 11. a sensor top spring; 12. a sensor seat; 13. a pressure sensor; 14. a caster device; 1401. a caster fork; 1402. A caster wheel top house; 1403. installing a bolt; 1404. a roller; 1405. a connecting rod.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely 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.

Referring to fig. 1-5, the present invention provides a technical solution: a foot device of a wall climbing robot comprises a top plate 1, universal joints 2, suckers 3, a middle plate 4, mounting columns 5, sliding sleeve top springs 6, a fixed sliding sleeve 7, a lower plate 8, a connecting column 9, sensor ejector pins 10, a sensor top spring 11, a sensor seat 12, a pressure sensor 13 and a caster device 14, wherein the universal joints 2 are arranged at the upper end of the top plate 1, the suckers 3 are arranged in the middle of the lower end of the top plate 1, the middle plate 4 is arranged at the lower end of the top plate 1, the mounting columns 5 are connected to one side, away from the vertical central axis of the top plate 1, of the middle plate 4 in a penetrating mode, the sliding sleeve top springs 6 are sleeved on the outer surface of the upper ends of the mounting columns 5, the fixed sliding sleeve 7 is arranged on the outer side of the sliding sleeve top springs 6, the lower plate 8 is fixedly connected to the lower end of the fixed sliding sleeve 7, the connecting column 9 is fixedly connected to the upper surface of the lower plate 8, and the sensor ejector pins 10 are fixedly connected to the upper ends of the connecting column 9, a sensor top spring 11 is fixedly connected to the lower surface of the middle plate 4, a sensor seat 12 is fixedly connected to the movable end of the sensor top spring 11, a pressure sensor 13 is installed in the middle of the sensor seat 12, and a caster device 14 is installed at the lower end of the lower plate 8 at an equal angle.

As shown in figure 1, the universal joint 2 is connected with the top plate 1 in a rolling way, and the vertical central axis of the universal joint 2 is coincident with the vertical central axis of the top plate 1, so that the power transmission of different axes of the device is realized conveniently.

As shown in FIG. 1, the connection mode of the mounting posts 5 and the middle plate 4 is through connection, and the mounting posts 5 are arranged at equal angles at the lower end of the middle plate 4, so that the mounting posts can buffer the force applied in different directions.

As shown in fig. 1, the sensor base 12 is connected to the connecting column 9 in a sliding manner, and the sensor base 12 is vertically arranged on the connecting column 9, so that the pressure sensor 13 can sense forces in different directions.

As in fig. 2 the caster device 14 includes the caster wheel fork 1401, the caster wheel house 1402, the installation bolt 1403, the gyro wheel 1404 and the connecting rod 1405, the middle part fixedly connected with caster wheel house 1402 on the upper end of caster wheel fork 1401, the lower extreme through connection of caster wheel fork 1401 has installation bolt 1403, the mid-mounting of caster wheel fork 1401 lower extreme has gyro wheel 1404, the equal fixedly connected with connecting rod 1405 in both ends about the upper surface of caster wheel fork 1401, caster wheel house 1402 and hypoplastron 8 threaded connection, connecting rod 1405 and hypoplastron 8 through connection, be convenient for carry out dismouting to caster device 14 and overhaul.

As shown in FIG. 1, the connection mode between the roller 1404 and the mounting bolt 1403 is through connection, and the left end of the mounting bolt 1403 is in threaded connection with the caster wheel fork 1401, which is convenient for disassembling and replacing the mounting bolt 1403.

The working principle is as follows: when the foot device of the wall climbing robot is used, the device is firstly adsorbed on an adsorption wall surface through the sucker 3, power transmission with different axes can be realized through the arrangement of the universal joint 2, so that the device can reach more places, when the device moves, the universal joint 2 transmits power to the device and extrudes the middle plate 4, so that the sliding sleeve top spring 6 generates elastic deformation, the mounting column 5 slides on the middle plate 4, the mounting column 5 is arranged at the lower end of the middle plate 4 in an equal angle, the device can play a role of buffering the force applied in different directions, and when the device runs, the sensor seat 12 extrudes the sensor top spring 11 in the adsorption process, so that the sensor top spring 11 generates elastic deformation, the sensor seat 12 slides in the middle of the connecting column 9, when the pressure sensor 13 is contacted with the sensor ejector rod 10, through pressure sensor 13 feedback signal, thereby can judge the position relation of sucking disc 3 and actuation wall, in good time carry out the actuation, avoid apart from too far too big the impact that the actuation in-process produced, and the sucking disc 3 bumps with the wall in the in-process that is close to with the wall and damages equipment, and when gyro wheel 1404 damages, can dismantle the change to gyro wheel 1404 through rotating installation bolt 1403, still can carry out the dismouting maintenance to truckle fork 1401 through rotating truckle roof room 1402, this is exactly the whole process that wall climbing robot foot device used.

Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the invention, the scope of which is defined in the appended claims and their equivalents.

Claims

1. A foot device of a wall climbing robot comprises a top plate (1), a sensor ejector rod (10) and a caster device (14), and is characterized in that: the upper end of the top plate (1) is provided with a universal joint (2), the middle of the lower end of the top plate (1) is provided with a sucker (3), the lower end of the top plate (1) is provided with a middle plate (4), one side, far away from the vertical central axis of the top plate (1), of the middle plate (4) is connected with an installation column (5) in a penetrating manner, the outer surface of the upper end of the installation column (5) is sleeved with a sliding sleeve top spring (6), the outer side of the sliding sleeve top spring (6) is provided with a fixed sliding sleeve (7), the lower end of the fixed sliding sleeve (7) is fixedly connected with a lower plate (8), the upper surface of the lower plate (8) is fixedly connected with a connecting column (9), the upper end of the connecting column (9) is fixedly connected with a sensor ejector rod (10), the lower surface of the middle plate (4) is fixedly connected with a sensor top spring (11), and the movable end of the sensor top spring (11) is fixedly connected with a sensor seat (12), and the middle part of the sensor seat (12) is provided with a pressure sensor (13), and the lower end of the lower plate (8) is provided with a caster device (14) at an equal angle.

2. The foot device of a wall-climbing robot as claimed in claim 1, wherein: the universal joint (2) is connected with the top plate (1) in a rolling mode, and the vertical middle axis of the universal joint (2) is coincided with the vertical middle axis of the top plate (1).

3. The foot device of a wall-climbing robot as claimed in claim 1, wherein: the mounting columns (5) are connected with the middle plate (4) in a penetrating mode, and the mounting columns (5) are arranged at the lower end of the middle plate (4) at equal angles.

4. The foot device of a wall-climbing robot as claimed in claim 1, wherein: the sensor seat (12) is connected with the connecting column (9) in a sliding manner, and the sensor seat (12) is vertically arranged on the connecting column (9).

5. The foot device of a wall-climbing robot as claimed in claim 1, wherein: the caster device (14) comprises a caster wheel fork (1401), a caster wheel top room (1402), an installation bolt (1403), a roller (1404) and a connecting rod (1405), the middle part of the upper end of the caster wheel fork (1401) is fixedly connected with the caster wheel top room (1402), the lower end of the caster wheel fork (1401) is in through connection with the installation bolt (1403), the middle part of the lower end of the caster wheel fork (1401) is provided with the roller (1404), the connecting rod (1405) is fixedly connected with the left end and the right end of the upper surface of the caster wheel fork (1401), the caster wheel top room (1402) is in threaded connection with the lower plate (8), and the connecting rod (1405) is in through connection with the lower plate (8).

6. The wall-climbing robot foot device according to claim 5, characterized in that: the connection mode of the roller (1404) and the mounting bolt (1403) is through connection, and the left end of the mounting bolt (1403) is in threaded connection with the caster wheel fork (1401).