CN103507871B - A kind of climbing robot auxiliary fixing device - Google Patents
A kind of climbing robot auxiliary fixing device Download PDFInfo
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- CN103507871B CN103507871B CN201210226269.2A CN201210226269A CN103507871B CN 103507871 B CN103507871 B CN 103507871B CN 201210226269 A CN201210226269 A CN 201210226269A CN 103507871 B CN103507871 B CN 103507871B
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- foot
- fixing
- climbing robot
- internal layer
- outer layer
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Abstract
The present invention discloses and a kind of realizes the device that climbing robot auxiliary is fixing, and described device includes: wall-climbing device human agent 1, internal layer fixes foot 2, outer layer fixes foot 3, fixing foot inflator module 4, fixing foot venting module 5.Present configuration is simple, in that context it may be convenient to realizes fixing after moving to target location, and can also realize the most fixing in moving process.
Description
Technical field
The present invention relates to the auxiliary fixing device in a kind of climbing robot field, specifically one can realize climbing wall machine
The device that device people is fixing after moving to target location.
Background technology
In recent years, along with the research and development of climbing robot are increasingly paid attention to, particularly climbing robot moves to
Problem fixing behind target location.The fixed system of traditional climbing robot, is not system complex, relatively costly, it is simply that root
Originally being not provided with special fixed system, therefore in climbing robot, the application of fixed system is not the most the most ripe.
China application number CN 201110087432.7, application publication number CN 102167102A, disclose one in this patent
Planting Sucked type pneumatic wall-climbing robot, this technology is by using the propulsion cylinder side of connecing by the first sucker stand and the second sucker stand
Formula connects so that Sucked type pneumatic wall-climbing robot dynamical system realizes pure pneumatize, simplifies structure, alleviates weight, Er Qiecao
Facilitate, use flexibly.But this technology does not configure independent fixing device.
China application number CN 201020537859.3, application publication number CN 201914347U, disclose one in this patent
Plant multi-cavity negative-pressure-adsorption type wall-climbing, be specifically related to one and there is multi-chamber structure and utilize negative-pressure adsorption wall, negative pressure
The height adjustable of device and be within it provided with the ac motor of fan, can preferably realize climbing wall, but this device
And system is fixed, and aspect is the most special to be paid attention to.
To sum up, although climbing robot has obtained certain research, but has no in document that report can realize wall-climbing device
The device that people is fixing after moving to target location.
Summary of the invention
The present invention is directed to deficiencies of the prior art, it is provided that a kind of climbing robot auxiliary fixing device, permissible
Fixing after moving to target location is realized by this climbing robot.
The present invention is achieved by the following technical solutions, and the present invention includes: wall-climbing device human agent, internal layer fix foot,
Outer layer fixes foot, fixing foot inflator module, fixing foot venting module.
Described wall-climbing device human agent refers to the carrier for carrying whole each parts of climbing robot, is to climb wall
The main structure body of robot.
Described internal layer is fixed foot and is referred to for being inserted into the fixing foot creeping on wall, can fix foot with outer layer and coordinate real
Now fix and motion.
It is 2-100 that described internal layer fixes the quantity of foot.
It is 0-180 degree that described internal layer fixes the rotary angle of foot.
It is 1-10 times of its non-extended length that described internal layer fixes the length that foot can extend.
It can be mechanical that described internal layer fixes foot elongation shortening mode, it is also possible to be pneumatic type.
Described internal layer fix the rotational frequency of foot be 0.1-100 time per second.
Described outer layer is fixed foot and is referred to for being inserted into the fixing foot creeping on wall, can fix foot with internal layer and coordinate real
Now fix and motion.
It is that foot is fixed in the initiation during work of this device that described outer layer fixes foot, will fix the action of foot prior to internal layer.
It is 2-100 that described outer layer fixes the quantity of foot.
It is 0-360 degree that described outer layer fixes the rotary angle of foot.
It is 1-20 times of its non-extended length that described outer layer fixes the length that foot can extend.
It can be mechanical that described outer layer fixes foot elongation shortening mode, it is also possible to be pneumatic type.
Described outer layer fix the rotational frequency of foot be 0.1-200 time per second.
Described fixing foot inflator module refers to fix the power set of foot elongation for making internal layer fix foot and outer layer.
Described fixing foot venting module refers to fix, with outer layer, the power set that foot shortens for making internal layer fix foot.
When climbing robot is after a upper fixed position moves to target location, climbing robot is by rotating internal layer
Fixing foot is inserted on the metope creeped, it is achieved fixing, now, outer layer fixes foot contraction in length, and rotationally disengages metope, only stays
Lower internal layer fixes foot.When needs are mobile, internal layer fixes foot length elongation, and angle becomes big, it is ensured that move at climbing robot
Time also be able to preferably fixing.After arriving target location, then next circulation starts.
To sum up, present configuration is simple, it is possible to use internal layer fixes foot and outer layer is fixed foot and realized motion simply and easily
Fixing behind target location.
Accompanying drawing explanation
Fig. 1 is present configuration schematic diagram.
Detailed description of the invention
Elaborating embodiments of the invention below, the present embodiment is carried out under premised on technical solution of the present invention
Implement, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following enforcement
Example.
Embodiment 1
As it is shown in figure 1, the climbing robot auxiliary fixing device described in the present embodiment includes: wall-climbing device human agent 1, interior
The fixing foot 2 of layer, outer layer fix foot 3, fixing foot inflator module 4, fixing foot venting module 5.
In the present embodiment, described wall-climbing device human agent 1 refers to for carrying each parts of whole climbing robot
Carrier, be the main structure body of climbing robot.
In the present embodiment, described internal layer is fixed foot 2 and is referred to for being inserted into the fixing foot creeping on wall, can be with outer layer
Fixing foot coordinates realization fixing and motion.
In the present embodiment, it is 2-100 that described internal layer fixes the quantity of foot 2.
In the present embodiment, it is 0-180 degree that described internal layer fixes the rotary angle of foot 2.
In the present embodiment, it is 1-10 times of its non-extended length that described internal layer fixes the length that foot 2 can extend.
In the present embodiment, it can be mechanical that described internal layer fix foot 2 to extend shortening mode, it is also possible to be pneumatic type
's.
In the present embodiment, described internal layer fix the rotational frequency of foot 2 be 0.1-100 time per second.
In the present embodiment, described outer layer is fixed foot 3 and is referred to for being inserted into the fixing foot creeping on wall, can be with internal layer
Fixing foot coordinates realization fixing and motion.
In the present embodiment, it is that foot is fixed in the initiation during work of this device that described outer layer fixes foot 3, will fix prior to internal layer
The action of foot.
In the present embodiment, it is 2-100 that described outer layer fixes the quantity of foot 3.
In the present embodiment, it is 0-360 degree that described outer layer fixes the rotary angle of foot 3.
In the present embodiment, it is 1-20 times of its non-extended length that described outer layer fixes the length that foot 3 can extend.
In the present embodiment, it can be mechanical that described outer layer fixes the elongation shortening mode of foot 3, it is also possible to be pneumatic
Formula.
In the present embodiment, described outer layer fix the rotational frequency of foot 3 be 0.1-200 time per second.
In the present embodiment, described fixing foot inflator module 4 refers to fix foot elongation for making internal layer fix foot and outer layer
Power set.
In the present embodiment, described fixing foot venting module 5 refers to fix foot with outer layer and shorten for making internal layer fix foot
Power set.
The operation principle of the present embodiment is: when climbing robot is after a upper fixed position moves to target location, climb
Wall robot fixes foot by rotation internal layer and is inserted on the metope creeped, it is achieved fixing, and now, fixing foot venting module is put
Gas, outer layer is fixed foot contraction in length, and is rotationally disengaged metope, leaves behind internal layer and fixes foot.When needs are mobile, fixing foot fills
Gas module is inflated, and internal layer fixes foot length elongation, and angle becomes big, it is ensured that also be able to climbing robot moves when preferably
Fixing.After arriving target location, then next circulation starts.
As shown in table 1, it is as shown in the table for the application request of the present embodiment.
One group of typical design parameters of table 1 climbing robot auxiliary fixing device
| Internal layer fixes the quantity (individual) of foot | 2 |
| Internal layer fixes the rotational frequency (secondary per second) of foot | 1 |
| Internal layer fixes the multiple that the length that foot can extend is its non-extended length | 5 |
| Outer layer fixes the quantity (individual) of foot | 2 |
| Outer layer fixes the rotational frequency (secondary per second) of foot | 1 |
| Outer layer fixes the multiple that the length that foot can extend is its non-extended length | 8 |
To sum up, this climbing robot auxiliary fixing device is utilized, in that context it may be convenient to realize consolidating after moving to target location
Fixed, and can also realize the most fixing in moving process.
Although present disclosure has been made to be discussed in detail by above preferred embodiment, but it should be appreciated that above-mentioned
Description is not considered as limitation of the present invention.After those skilled in the art have read foregoing, for the present invention's
Multiple amendment and replacement all will be apparent from.Therefore, protection scope of the present invention should be limited to the appended claims.
Claims (7)
1. can realize the device that climbing robot auxiliary is fixing, described device includes: wall-climbing device human agent 1, internal layer
Fixing foot 2, outer layer fix foot 3, fixing foot inflator module 4, fixing foot venting module 5；
Described internal layer is fixed foot and is referred to for being inserted into the fixing foot creeping on wall, can fix foot with outer layer and coordinate realization solid
Determine and motion；
Described outer layer is fixed foot and is referred to for being inserted into the fixing foot creeping on wall, can fix foot with internal layer and coordinate realization solid
Determine and motion；
It is 2-100 that described internal layer fixes the quantity of foot；
It is 2-100 that described outer layer fixes the quantity of foot；
It is 1-10 times of its non-extended length that described internal layer fixes the length that foot can extend；
Described internal layer fix the rotational frequency of foot be 0.1-100 time per second.
The device that climbing robot the most according to claim 1 auxiliary is fixing, is characterized in that, described climbing robot master
Body refers to the carrier for carrying whole each parts of climbing robot, is the main structure body of climbing robot.
The device that climbing robot the most according to claim 1 auxiliary is fixing, is characterized in that, described internal layer fixes foot
Rotary angle is 0-180 degree.
The device that climbing robot the most according to claim 1 auxiliary is fixing, is characterized in that, described internal layer is fixed foot and stretched
Long shortening mode can be mechanical, it is also possible to is pneumatic type.
The device that climbing robot the most according to claim 1 auxiliary is fixing, is characterized in that, described outer layer fixes foot can
With rotate angle for 0-360 degree.
The device that climbing robot the most according to claim 1 auxiliary is fixing, is characterized in that, described outer layer fixes foot can
It it is 1-20 times of its non-extended length with the length of elongation.
The device that climbing robot the most according to claim 1 auxiliary is fixing, is characterized in that, described outer layer fixes foot
Rotational frequency be 0.1-200 time per second.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210226269.2A CN103507871B (en) | 2012-06-29 | 2012-06-29 | A kind of climbing robot auxiliary fixing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210226269.2A CN103507871B (en) | 2012-06-29 | 2012-06-29 | A kind of climbing robot auxiliary fixing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN103507871A CN103507871A (en) | 2014-01-15 |
| CN103507871B true CN103507871B (en) | 2016-12-21 |
Family
ID=49891426
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210226269.2A Active CN103507871B (en) | 2012-06-29 | 2012-06-29 | A kind of climbing robot auxiliary fixing device |
Country Status (1)
| Country | Link |
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| CN (1) | CN103507871B (en) |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS60219170A (en) * | 1984-04-14 | 1985-11-01 | Toshiba Corp | Active body |
| ATE442802T1 (en) * | 2002-09-24 | 2009-10-15 | Tohru Miyake | WINDOW WIPER SYSTEM |
| CN1569287A (en) * | 2003-07-16 | 2005-01-26 | 西安新竹防灾救生设备有限公司 | Wall climbing robot for fire-extinguishing |
| CN101092153A (en) * | 2007-07-13 | 2007-12-26 | 于复生 | Pneumatic wall-climbing robot based on cylinder |
| CN101376408A (en) * | 2007-08-31 | 2009-03-04 | 聂刚 | Wall surface walking device |
| CN100554069C (en) * | 2008-04-22 | 2009-10-28 | 北京航空航天大学 | Vibration absorbing device |
| CN100586779C (en) * | 2008-11-04 | 2010-02-03 | 中国人民解放军空军工程大学 | Wall climbing robot |
-
2012
- 2012-06-29 CN CN201210226269.2A patent/CN103507871B/en active Active
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| Publication number | Publication date |
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| CN103507871A (en) | 2014-01-15 |
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Effective date of registration: 20170420 Address after: 150060 Heilongjiang Province, Harbin City Economic Development Zone haping Road District Dalian road and Xingkai road junction Patentee after: HIT SPECIAL ROBOT CO.,LTD. Address before: Tianhe District Tong East Road Guangzhou city Guangdong province 510665 B-101 No. 5, room B-118 Patentee before: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Effective date of registration: 20170420 Address after: Tianhe District Tong East Road Guangzhou city Guangdong province 510665 B-101 No. 5, room B-118 Patentee after: GUANGDONG GAOHANG INTELLECTUAL PROPERTY OPERATION Co.,Ltd. Address before: 312500 Xinchang City, Shaoxing Province, Qixing street, Zhejiang, the Yangtze River Road, No. 1 Jiangnan tea market B3 building, 2011 Co-patentee before: Kang Xiaoyang Patentee before: Xinchang Guanyang Technology Development Co.,Ltd. |
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