CN101982366A - Multi-cavity negative pressure adsorption type wall-climbing robot - Google Patents
Multi-cavity negative pressure adsorption type wall-climbing robot Download PDFInfo
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- CN101982366A CN101982366A CN2010102885196A CN201010288519A CN101982366A CN 101982366 A CN101982366 A CN 101982366A CN 2010102885196 A CN2010102885196 A CN 2010102885196A CN 201010288519 A CN201010288519 A CN 201010288519A CN 101982366 A CN101982366 A CN 101982366A
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- negative pressure
- climbing robot
- depression generator
- absorbent
- sealing gasket
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Abstract
The invention discloses a multi-cavity negative pressure adsorption type wall-climbing robot, relates to a robot, and particularly relates to a robot with a multi-cavity structure and adsorbed to a wall by using negative pressure. The wall-climbing robot comprises a negative pressure generating device and a driving part. The robot is characterized in that: the negative pressure generating device comprises a main negative pressure generating device and a plurality of detachable auxiliary negative pressure generating devices, the height of the negative pressure device is adjustable, an alternating-current motor with a fan is arranged in the negative pressure device, an elastic gasket is arranged on the lower part of the negative pressure generating device, a ball (28) is arranged on the elastic gasket, and the driving part is placed outside the negative pressure generating device; and the wall-climbing robot carries one pulley.
Description
Technical field:
The present invention relates to a kind of robot, particularly a kind of robot that has the multi-cavity cell structure and utilize the negative-pressure adsorption wall.
Background technology:
Along with development of science and technology, aloft work such as anti-terrorism scouting, high-altitude building detection, high-altitude rescue, fire-fighting press for the robot that can realize climbing the wall function, the adsorption function that wherein most of climbing robot is implemented on the wall has three kinds of modes to select: molecular force absorption, magnetic echos vacuum suction.
For example, Chinese invention patent application 03134403.8, the technical scheme of disclosed a kind of " fire-fighting climbing robot " by name, this scheme is used for fire-fighting domain targetedly with climbing robot, but its used suction type is a vacuum suction mode of utilizing sucker, when wall was rough and uneven in surface, sucker leaked gas easily, and adsorption affinity decline robot can not be finished the absorption action.Utilize leg formula structure also to have the shortcoming that can not carry out continuous movement simultaneously simultaneously, not meeting fire appliance needs to arrive fast the requirement of giving directions the place.
Summary of the invention:
It is little to the object of the present invention is to provide a kind of adsorption affinity size influenced by wall surface, and motion continuity is good, and has and be easy to deposit, but the at high speed response, conveniently installs, can carry multiple rescue, the multi-functional climbing robot of instrument and equipments such as detection.
In conjunction with the accompanying drawings, be described as follows:
A kind of multi-cavity negative absorbent-type climbing robot comprises depression generator and drive part, described depression generator comprises a main depression generator and removable a plurality of auxiliary depression generator, the depression generator housing depth is adjustable and the alternating-current motor/AC motor of being with fan is installed within it, elastic sealing gasket is installed in bottom at depression generator, on elastic sealing gasket, install ball 28 additional, carry a pulley on the described climbing robot.
Described depression generator adopts drum forms, is nested by two parts up and down and forms, regulates highly by spacing hole.
Described removable a plurality of auxiliary depression generators connect with aluminium section bar.
Described elastic sealing gasket skin covers with elastic abrasion-proof material, the fluffy cotton of inner filling, and ball 28 annular arrays are on elastic sealing gasket, and spring 27 1 ends are fixed on the spring-support plate 29, and an end withstands on the ball 28.
Described driver train utilizes caterpillar belt structure, adopts two alternating current dynamos as drive motor, utilizes differential method to realize turning to.
Beneficial effect of the present invention:
1, the present invention utilizes principle of negative pressure to produce negative pressure, and adopt elastic sealing gasket to keep negative pressure, such design, it is smaller that its adsorption affinity size is influenced by wall surface, can finish stable absorption action at multiple surface of wall, packing seal below installs ball additional, is keeping leak free to reduce friction force between packing seal and the body of wall simultaneously, thereby is reducing resistance to motion.
2, the present invention adopts the multi-cavity cell structure to increase the adsorption affinity stability of robot, and connect with aluminium section bar between the depression generator, can carry the quantity of depression generator according to the actual conditions quick adjusting, and can adjust positive pressure by the quantity of opening depression generator at the robot run duration, the design of adjustment pressure just makes its better adaptability to metope in operational process like this.Can cross darker slit.
3, the present invention utilizes wheeled construction, adopts differential method to realize turning to, and it is simple in structure, and motion has solved tradition and climbed wall machinery and adopt leg formula structure can not carry out the problem of continuous movement more flexibly.
4, the present invention adopts and to carry pulley and carry out transporting of equipment, rather than directly it is carried and transport up.Reduce and to know clearly to the requirement of drive motor, drive motor only need overcome the friction drag between climbing robot self gravitation and itself and the metope, and does not need the gravity of extra reception equipment, and the hanging of equipment sent and can be carried out under the static situation of robot.
Description of drawings:
Fig. 1 is a plan structure scheme drawing of the present invention;
Fig. 2 is the structural representation of looking up of the present invention;
Fig. 3 is the scheme drawing of auxiliary depression generator of the present invention;
Fig. 4 is the scheme drawing of main depression generator of the present invention;
Fig. 5 is the birds-eye view of drive part of the present invention;
Fig. 6 is a packing seal roll structure scheme drawing of the present invention;
Fig. 7 is a packing seal roll structure partial enlarged drawing of the present invention.
Wherein: 1. elastic sealing gasket 15. main fan electric baseboards 16. crawler belts 17. driving wheels 18. drive sprocket axles 19. shaft couplings 20. bearing bracket stands 21. motor racks 22. drive motors 23. drive motors base plates 24. BOGEY WHEELs 25. driven pulleys 26. driven shafts 27. springs 28. balls 29. spring-support plates of 13. main negative pressure generation cavity bottoms, elastic sealing gasket 7. aluminium profile structure beams, 8. main fan motor 9. pulleys, 10. pulley yoke 11. assembly pulley overhanging beams, 12. main negative pressure generation cavity tops, the 14. main negative pressure generation cavitys of negative pressure generation cavitys are assisted in 5. auxiliary negative pressure generation cavity bottoms 6., auxiliary blower motor 2. motor pressing plate 3. auxiliary blower electric baseboards, 4. auxiliary negative pressure generation cavity tops
The specific embodiment:
For example the present invention is described in more detail below in conjunction with accompanying drawing
In conjunction with Fig. 1 and Fig. 2, multi-cavity negative absorbent-type climbing robot comprises depression generator and drive part.Described depression generator comprises a main depression generator and removable a plurality of auxiliary depression generator.
In conjunction with Fig. 1 and Fig. 3, auxiliary depression generator is assemblied in the outside of sleeve mechanism, additional fan motor 1 is installed on the additional fan electric baseboard 3, fix with motor pressing plate 2, drum forms is adopted with auxiliary negative pressure generation cavity bottom 5 in auxiliary negative pressure generation cavity top 4, be nested by two parts up and down and form, regulate highly by spacing hole.The elastic sealing gasket 6 of auxiliary negative pressure generation cavity is installed in the bottom of auxiliary negative pressure generation cavity bottom 5, by regulating the height of spacing hole, keeps the elastic sealing gasket of cavity identical with the wheel height, can well contact with metope simultaneously.Additional fan motor 1 drive fan is constantly extracted air out during work in cavity, discharges from fan electromotor base plate 3 tops, thereby produces negative pressure.
In conjunction with Fig. 6 and Fig. 7,12 ball annular arrays are on elastic sealing gasket, and spring 27 1 ends are fixed on the spring-support plate 29, and an end withstands on the ball 28.Elastic sealing gasket adopts high-abrasive material parcels such as asbeston, and the fluffy cotton of inner filling makes it have good deformability, and the convex-concave that can replenish metope rises and falls, thereby reaches good sealing effectiveness.On cushion, install ball additional, keeping leak free to reduce friction force between packing seal and the body of wall simultaneously, thereby reducing resistance to motion.
In conjunction with Fig. 2 and Fig. 4, main depression generator and auxiliary depression generator fit are basic identical.Main fan motor 8 drive fans are constantly extracted air out during work in cavity, discharge from main fan motor 8 sides, thereby produce negative pressure.
In conjunction with Fig. 2 and Fig. 5, drive part comprises: crawler belt 16, driving wheel 17, drive sprocket axle 18, coupler 19, bearing frame 20, motor frame 21, drive motor 22, drive motor base plate 23, BOGEY WHEEL 24, flower wheel 25, driven shaft 26.
Drive part power is by drive motor 22, and it is fixed on the motor frame 21, is connected with drive sprocket axle 18 by coupler 19, and drive sprocket axle 18 is fixed on the bearing frame 20, and drive driving wheel 17 rotates synchronously.Crawler belt 16 is the driving wheel 17 of the same side, flower wheel 25, and BOGEY WHEEL 24 is connected, and guarantees the conformability of its motion.Flower wheel 25, BOGEY WHEEL 24 all are connected with separately driven shaft 26, and are fixed on the bearing frame 20, and each bearing frame 20 is individually fixed on drive motor base plate 23 and the main fan electric baseboard 15.Same drive motor one side has identical rotating speed during work, the turning to of the rotation speed change control robot by both sides.
Each depression generator is connected with aluminium section bar structural beams 7 with drive part.Prior art all has only a depression generator, so be difficult to the size that control on a large scale produces negative pressure.Therefore present technique has the strong characteristics of adaptive capacity, and can increase the depression generator quantity of work in transporting the process of equipment, improves its transporting power.
Pulley 9 and pulley yoke 10 assemblings are connected with assembly pulley overhanging beam 11 again, are fixed on the aluminium section bar structural beams 7, as the fixed end that transports equipment.
The climbing robot that designs based on the principle of the invention has the strong characteristics of heavy burden ability, fixed end as the pulley that transports equipment, generally can be with the equipment delivery about 30kg to the incident window, it has the convenient characteristics that increase depression generator in addition, and this transporting power can also suitably increase according to actual conditions.
Be convenient to deposit based on the climbing robot that the principle of the invention designs, can assemble rapidly, in the building, can power to it by diesel-engine generator under the situation of power cut.
Claims (5)
1. a multi-cavity negative absorbent-type climbing robot comprises depression generator and drive part, it is characterized in that: described depression generator comprises a main depression generator and removable a plurality of auxiliary depression generator, the depression generator housing depth is adjustable and the alternating-current motor/AC motor of being with fan is installed within it, elastic sealing gasket is installed in bottom at depression generator, on elastic sealing gasket, install ball (28) additional, carry a pulley on the described climbing robot.
2. a kind of multi-cavity negative absorbent-type climbing robot according to claim 1 is characterized in that: described depression generator adopts drum forms, is nested by two parts up and down and forms, regulates highly by spacing hole.
3. a kind of multi-cavity negative absorbent-type according to claim 1 and 2 is climbed wall fire-fighting platform, it is characterized in that: described removable a plurality of auxiliary depression generators connect with aluminium section bar.
4. a kind of multi-cavity negative absorbent-type climbing robot according to claim 3, it is characterized in that: described elastic sealing gasket skin covers with elastic abrasion-proof material, the fluffy cotton of inner filling, ball (28) annular array is on elastic sealing gasket, spring (27) one ends are fixed on the spring-support plate (29), and an end withstands on the ball (28).
5. a kind of multi-cavity negative absorbent-type climbing robot according to claim 4, it is characterized in that: described driver train utilizes caterpillar belt structure, adopts two alternating current dynamos as drive motor, utilizes differential method to realize turning to.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102885196A CN101982366A (en) | 2010-09-21 | 2010-09-21 | Multi-cavity negative pressure adsorption type wall-climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2010102885196A CN101982366A (en) | 2010-09-21 | 2010-09-21 | Multi-cavity negative pressure adsorption type wall-climbing robot |
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| CN101982366A true CN101982366A (en) | 2011-03-02 |
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| CN2010102885196A Pending CN101982366A (en) | 2010-09-21 | 2010-09-21 | Multi-cavity negative pressure adsorption type wall-climbing robot |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068558A (en) * | 2015-08-24 | 2015-11-18 | 铜陵学院 | Single-wheeled dual-core high speed fire-fighting robot servo control system |
| CN105159323A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | Six-wheel single-core fully automated type low-speed fire-extinguishing robot servo controller |
| CN105235764A (en) * | 2015-10-30 | 2016-01-13 | 北京理工大学 | Vacuum suction wall-climbing robot and using method thereof |
| CN105904300A (en) * | 2016-04-20 | 2016-08-31 | 深圳广田机器人有限公司 | Wall grinding machine |
| CN110497978A (en) * | 2019-08-29 | 2019-11-26 | 南京禹智智能科技有限公司 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
| CN111086567A (en) * | 2019-12-20 | 2020-05-01 | 同济大学 | Rescue robot chassis capable of climbing wall |
| CN113787527A (en) * | 2020-09-29 | 2021-12-14 | 乐清市泰博恒电子科技有限公司 | A terminal clamping device that is used for iron tower automatic overhaul climbing robot |
| CN114132405A (en) * | 2021-12-07 | 2022-03-04 | 深圳市城市公共安全技术研究院有限公司 | Wall climbing robot and fire extinguishing system with same |
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| US5947051A (en) * | 1997-06-04 | 1999-09-07 | Geiger; Michael B. | Underwater self-propelled surface adhering robotically operated vehicle |
| CN2465891Y (en) * | 2001-02-23 | 2001-12-19 | 北京科林蓝宝机器人科技有限公司 | Double car body wall face moving robot |
| CN201914347U (en) * | 2010-09-21 | 2011-08-03 | 长春理工大学 | Multi-cavity negative-pressure-adsorption type wall-climbing robot |
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2010
- 2010-09-21 CN CN2010102885196A patent/CN101982366A/en active Pending
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5947051A (en) * | 1997-06-04 | 1999-09-07 | Geiger; Michael B. | Underwater self-propelled surface adhering robotically operated vehicle |
| CN2465891Y (en) * | 2001-02-23 | 2001-12-19 | 北京科林蓝宝机器人科技有限公司 | Double car body wall face moving robot |
| CN201914347U (en) * | 2010-09-21 | 2011-08-03 | 长春理工大学 | Multi-cavity negative-pressure-adsorption type wall-climbing robot |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105068558A (en) * | 2015-08-24 | 2015-11-18 | 铜陵学院 | Single-wheeled dual-core high speed fire-fighting robot servo control system |
| CN105159323A (en) * | 2015-08-24 | 2015-12-16 | 铜陵学院 | Six-wheel single-core fully automated type low-speed fire-extinguishing robot servo controller |
| CN105235764A (en) * | 2015-10-30 | 2016-01-13 | 北京理工大学 | Vacuum suction wall-climbing robot and using method thereof |
| CN105235764B (en) * | 2015-10-30 | 2017-05-17 | 北京理工大学 | Vacuum suction wall-climbing robot and using method thereof |
| CN105904300A (en) * | 2016-04-20 | 2016-08-31 | 深圳广田机器人有限公司 | Wall grinding machine |
| CN105904300B (en) * | 2016-04-20 | 2018-08-03 | 深圳广田机器人有限公司 | Wall surface grinding machine |
| CN110497978A (en) * | 2019-08-29 | 2019-11-26 | 南京禹智智能科技有限公司 | A kind of negative pressure self-adaptive regulating of negative-pressure type climbing robot |
| CN111086567A (en) * | 2019-12-20 | 2020-05-01 | 同济大学 | Rescue robot chassis capable of climbing wall |
| CN113787527A (en) * | 2020-09-29 | 2021-12-14 | 乐清市泰博恒电子科技有限公司 | A terminal clamping device that is used for iron tower automatic overhaul climbing robot |
| CN114132405A (en) * | 2021-12-07 | 2022-03-04 | 深圳市城市公共安全技术研究院有限公司 | Wall climbing robot and fire extinguishing system with same |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C53 | Correction of patent of invention or patent application | ||
| CB03 | Change of inventor or designer information |
Inventor after: Li Xiaozhou Inventor after: Zheng Long Inventor after: Jin Ge Inventor after: Wang Ling Inventor after: Gao Yi Inventor after: Liu Changyi Inventor after: Li Rongchen Inventor after: Yin Xiaoming Inventor after: Jin Zhaohui Inventor after: Cui Changlong Inventor after: Yang Xiaolong Inventor after: Wang Shuai Inventor before: Li Xiaozhou Inventor before: Zheng Long Inventor before: Jin Ge Inventor before: Wang Ling Inventor before: Gao Yi Inventor before: Liu Changyi Inventor before: Li Rongchen Inventor before: Yin Xiaoming Inventor before: Jin Zhaohui Inventor before: Cui Changlong Inventor before: Yang Xiaolong Inventor before: Wang Shuai |
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| C10 | Entry into substantive examination | ||
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| C02 | Deemed withdrawal of patent application after publication (patent law 2001) | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20110302 |