CN104015830A - Active-passive combined type negative pressure adsorption continuous walking wall-climbing detecting robot - Google Patents
Active-passive combined type negative pressure adsorption continuous walking wall-climbing detecting robot Download PDFInfo
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- CN104015830A CN104015830A CN201410262875.9A CN201410262875A CN104015830A CN 104015830 A CN104015830 A CN 104015830A CN 201410262875 A CN201410262875 A CN 201410262875A CN 104015830 A CN104015830 A CN 104015830A
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Abstract
The invention discloses an active-passive combined type negative pressure adsorption continuous walking wall-climbing detecting robot which comprises a body driving part, a tail base part and a detecting part. The body driving part comprises a machine frame and a plurality of idler wheels which are arranged on the machine frame through rotating shafts. A plurality of minitype vacuum sucking discs are arranged on the surfaces of the idler wheels. A motor I is arranged on the machine frame. An output shaft of the motor I is connected with a rotating shaft of one of the idler wheels. The tail base part comprises two tail frames which are symmetrically arranged at the two ends of the machine frame. Guiding tracks are fixed on the tail frames. Sliding blocks are arranged on the guiding tracks. The sliding blocks are connected with the machine frame through connecting rods. Sucking discs are arranged on the two sides of each tail frame respectively. A vacuum pump provides negative pressure for the sucking discs. A gear-rack meshing device is arranged on each tail frame. A rack is arranged on an output shaft of a motor II. The detecting part comprises a camera which is connected with a transmission module. The robot has the advantage of being capable of replacing a person to complete a detecting task in an indoor direction.
Description
Technical field
The present invention relates to a kind of walking climbing robot, specifically a kind of active passive compound type negative-pressure adsorption continuous walking is climbed wall sniffing robot, belongs to robot field.
Background technology
Along with social progress, the up-to-dateness of urban architecture is more and more higher, need to be also more and more in the work of wall operation.Carrying out flaw detection or dangerous situation investigation for high-altitude glass curtain often need to realize the robot of climbing wall function.This some equipments of robot portability are finished the work.Climbing robot is on vertical cliff, to carry out mobile arbitrarily a kind of specialized robot, and it,, as a kind of mechanical device of high-altitude limit operation, is more and more subject to people's attention.
Summary of the invention
The problem existing for above-mentioned prior art, the invention provides a kind of active passive compound type negative-pressure adsorption continuous walking and climbs wall sniffing robot, can replace people to complete the task to indoor detection in the air at height.
The present invention realizes with following technical scheme: a kind of active passive compound type negative-pressure adsorption continuous walking is climbed wall sniffing robot, comprises main body drive part and tailstock part; Described main body drive part comprises frame and a plurality of roller, and described roller is arranged in frame by rotating shaft, is provided with a plurality of micro vacuum suckers on the surface of roller; Motor I is installed in frame, and motor I output shaft is connected with the rotating shaft of one of them roller;
Described tailstock partly comprises two tailstocks, and two described tailstock symmetries are arranged on the two ends of frame; On described tailstock, be laterally fixed with guide rail, the slide block laterally sliding along guide rail is installed on guide rail, slide block connects one end of a connecting rod, and the other end of connecting rod is fixed in frame; Both sides at tailstock are respectively provided with sucker, and described sucker connects one provides the vacuum pump of negative pressure to it; One rack and pinion engagement device is respectively installed on two tailstocks, and the gear in rack and pinion engagement device is arranged on the output shaft of a motor II;
Described probe portion comprises for gathering the camera of graphicinformation, is connected the transport module that the graphicinformation of camera collection is sent to surface receiver with camera; The rotating front end that is arranged on frame of described camera.
The invention has the beneficial effects as follows: the beneficial functional of this bionical adsorption wall climbing robot is:
1, there is continuous motion, reliable and stable, reduced the time required while driving, greatly improved serviceability.
2, simple in structure, be convenient to produce, stable practical, cost cost is low.
3 use framed structure, and it has spatial spread, the multiple instrument and equipment of portability.
4, easy-to-use, simple to operate, be easy to be extended and applied.
5, rotatable camera can multi-faceted shooting, the to the greatest extent to greatest extent the abundantest information of collection.
Accompanying drawing explanation
Fig. 1 is that the present invention overlooks the structural representation in direction;
Fig. 2 is the structural representation in the main apparent direction of the present invention.
In figure: 1, motor I, 2, frame, 3, roller, 4, sucker, 5, vacuum pump, 6, tailstock, 7, slide block, 8, guide rail, 9, tooth bar, 10, gear, 11, motor II, 12, connecting rod, 13, micro vacuum sucker, 14, camera, 15, transport module, 16, swinging mounting.
The specific embodiment
As depicted in figs. 1 and 2, a kind of active passive compound type negative-pressure adsorption continuous walking is climbed wall sniffing robot, comprises active drive part and tailstock part.Active drive partly comprises frame 2, mounted motor I 1 in frame 2, and be bolted in frame 2; A plurality of rollers 3 are installed in frame 2, and described roller 3 is arranged in frame 2 by rotating shaft, and the surface of roller 3 is provided with micro vacuum sucker 13; Motor I 1 is installed in frame 2, and the output shaft of motor I 1 is connected with the rotating shaft of one of them roller 3.Described roller has three, and the axle of one of them roller 3 is connected with the output shaft of motor I 1, and as driving wheel, two other roller 3 is as flower wheel.Densely covered micro vacuum sucker 13 on roller can rely on roller to rotate without negative pressure of vacuum source in the situation that, and micro vacuum sucker 13 distortion of extruding One's name is legion produce negative pressure, thereby make absorption or the disengaging freely of three rollers be adsorbed face.This device, under the effect of driving wheel, can be done continuous linear motion on driving surface.
Described tailstock partly comprises two tailstocks 6, and two described tailstock 6 symmetries are arranged on the two ends of frame 2; On described tailstock 6, be laterally fixed with guide rail 8, the slide block 7 laterally sliding along guide rail is installed on guide rail, slide block 7 connects one end of a connecting rod 12, and the other end of connecting rod 12 is fixed in frame; 4, four tailstock suckers 4 of sucker are respectively installed in the both sides of tailstock and by a vacuum pump 5, provide negative pressure; One rack and pinion engagement device is installed on tailstock, and tooth bar 9 is arranged on the output shaft of motor II.
Described probe portion comprises for gathering the camera 14 of graphicinformation, is connected the transport module 15 that the graphicinformation that camera 14 is gathered is sent to surface receiver with camera 14; The rotating front end that is arranged on frame 2 of described camera 14.
In the present embodiment, described sucker 4 has four, forms sucker group, and correspondence is arranged on the both sides of two tailstocks.Described rack and pinion engagement device comprises a gear 10 that is fixed on the tooth bar 9 on tailstock and is meshed with it, and described gear 10 is arranged on the output shaft of motor II 11; Described motor II 11 is arranged in frame; Described tooth bar 9 is laterally fixed on tailstock 6 by bolt.Described transport module 15 adopts wireless transport module.At the front end of frame 2, a swinging mounting 16 is installed, described camera 14 is arranged on swinging mounting.
Working process: first, rely on the micro vacuum sucker 13 of One's name is legion on three rollers to make climbing robot be adsorbed in running surface; Then start the motor I 1 in frame 2, drive three rollers 3, roller rotates, micro vacuum sucker 13 distortion of extruding One's name is legion produce negative pressure, three rollers front-seat micro vacuum sucker 13 when rotating completes extruding absorption work, rear row's micro vacuum sucker 13 completes to depart from and is adsorbed face work, thereby makes robot continuous linear motion in the vertical direction of driving surface.
When robot needs transverse shifting, stop 1 work of motor I, start vacuum pump 5, make four suckers 4 at running surface in adsorbed state, now, starter motor II 11, by the interaction of tooth bar 9 and gear 10, it makes active drive part produce in a lateral direction displacement according to application force and antagonistic force principle.Subsequently, vacuum pump 5 quits work, and sucker group can depart from absorption driving surface because sucker 4 distortion produce negative pressure at running surface, in disk stripping state.Then, motor II 11 is reversed again, and tailstock part resets gradually, and now robot completes transverse shifting task.
If carry out obstacle detouring task, only need repeat horizontal function, until away from obstacle.This part has been used rotatablely moving that motor is exported, and by the effect of gear, tooth bar, is transformed into device straight-line principle in the horizontal.The function of this part is to realize the flexible lane change of whole device, easily the effect of obstacle detouring.
Camera 14 is fixed on the front end of robot by support, can easier obtain image clearly like this, and wireless transport module is sent to surface receiver for the information that camera 1414 is collected.The function of this part is that the effect that realizes Information Monitoring and transmission information forms.
Design applicability of the present invention is strong, and motion continous-stable has higher spatial spread, easy to use, easy to utilize.
Claims (6)
1. active passive compound type negative-pressure adsorption continuous walking is climbed a wall sniffing robot, comprises main body drive part, tailstock part and probe portion; It is characterized in that: described main body drive part comprises frame (2) and a plurality of roller (3), it is upper that described roller (3) is arranged on frame (2) by rotating shaft, is provided with a plurality of micro vacuum suckers (13) on the surface of roller (3); Motor I (1) is installed in frame (2), and motor I (1) output shaft is connected with the rotating shaft of one of them roller (3);
Described tailstock partly comprises two tailstocks (6), and described two tailstocks (6) symmetry is arranged on the two ends of frame (2); On described tailstock (6), be laterally fixed with guide rail (8), the slide block (7) laterally sliding along guide rail is installed on guide rail (8), slide block (7) connects one end of a connecting rod, and the other end of connecting rod is fixed in frame; In the both sides of tailstock, sucker (4) is respectively installed, described sucker (4) connects one provides the vacuum pump (5) of negative pressure to it; One rack and pinion engagement device is respectively installed on two tailstocks, and the gear in rack and pinion engagement device is arranged on the output shaft of a motor II (11);
Described probe portion comprises the camera (14) for gathering graphicinformation, is connected the transport module (15) that the graphicinformation that camera (14) is gathered is sent to surface receiver with camera (14); The rotating front end that is arranged on frame (2) of described camera (14).
2. a kind of active passive compound type negative-pressure adsorption continuous walking according to claim 1 is climbed wall sniffing robot, it is characterized in that: described rack and pinion engagement device comprises a gear (10) that is fixed on the tooth bar (9) on tailstock and is meshed with it, and described gear (10) is arranged on the output shaft of motor II (11); Described motor II (11) is arranged in frame.
3. a kind of active passive compound type negative-pressure adsorption continuous walking according to claim 1 and 2 is climbed wall sniffing robot, it is characterized in that: described sucker (4) has four, and correspondence is arranged on the both sides of two tailstocks.
4. a kind of active passive compound type negative-pressure adsorption continuous walking according to claim 1 is climbed wall sniffing robot, it is characterized in that: described roller (3) has three.
5. a kind of active passive compound type negative-pressure adsorption continuous walking according to claim 1 is climbed wall sniffing robot, it is characterized in that: described transport module 15 adopts wireless transport module.
6. a kind of active passive compound type negative-pressure adsorption continuous walking according to claim 1 is climbed wall sniffing robot, it is characterized in that: the front end in frame (2) is installed a swinging mounting, and described camera is arranged on swinging mounting.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410262875.9A CN104015830B (en) | 2014-06-13 | 2014-06-13 | A kind of active passive compound type negative-pressure adsorption continuous walking climbs wall sniffing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410262875.9A CN104015830B (en) | 2014-06-13 | 2014-06-13 | A kind of active passive compound type negative-pressure adsorption continuous walking climbs wall sniffing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104015830A true CN104015830A (en) | 2014-09-03 |
| CN104015830B CN104015830B (en) | 2016-01-13 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410262875.9A Expired - Fee Related CN104015830B (en) | 2014-06-13 | 2014-06-13 | A kind of active passive compound type negative-pressure adsorption continuous walking climbs wall sniffing robot |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972459A (en) * | 2015-07-07 | 2015-10-14 | 华中科技大学 | Absorbing and climbing type robot for detecting bridge cracks |
| CN110576016A (en) * | 2019-10-24 | 2019-12-17 | 安阳工学院 | Solar photovoltaic panel cleaning robot and cleaning method |
| CN112728292A (en) * | 2021-02-02 | 2021-04-30 | 浙江海洋大学 | Oil tanker oil gas recovery pipeline wall climbing robot |
| CN113212580A (en) * | 2021-04-26 | 2021-08-06 | 安徽宏基建设项目管理有限公司 | Engineering is managed with building outer wall infiltration testing arrangement |
| CN113895534A (en) * | 2021-10-15 | 2022-01-07 | 北京京能电力股份有限公司 | Wall-climbing robot and control method |
| CN114458901A (en) * | 2022-02-18 | 2022-05-10 | 陈兴年 | Installation state monitoring device for peripheral auxiliary structure of super high-rise building |
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| US4940382A (en) * | 1987-12-31 | 1990-07-10 | Aerospatiale Societe Nationale Industrielle | Autonomous moving body for transporting a tool at a constant speed |
| CN202765130U (en) * | 2012-05-31 | 2013-03-06 | 王进军 | Suction disc type wall climbing robot |
| CN203255280U (en) * | 2013-04-25 | 2013-10-30 | 浙江农林大学 | Wall-climbing robot with multiple sucking discs |
| CN103434332A (en) * | 2013-09-09 | 2013-12-11 | 胡奕晅 | Wheel capable of traveling on suspended wall and device |
| CN103448826A (en) * | 2013-09-09 | 2013-12-18 | 徐州工业职业技术学院 | Two-foot type wall climbing robot |
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2014
- 2014-06-13 CN CN201410262875.9A patent/CN104015830B/en not_active Expired - Fee Related
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4940382A (en) * | 1987-12-31 | 1990-07-10 | Aerospatiale Societe Nationale Industrielle | Autonomous moving body for transporting a tool at a constant speed |
| CN202765130U (en) * | 2012-05-31 | 2013-03-06 | 王进军 | Suction disc type wall climbing robot |
| CN203255280U (en) * | 2013-04-25 | 2013-10-30 | 浙江农林大学 | Wall-climbing robot with multiple sucking discs |
| CN103434332A (en) * | 2013-09-09 | 2013-12-11 | 胡奕晅 | Wheel capable of traveling on suspended wall and device |
| CN103448826A (en) * | 2013-09-09 | 2013-12-18 | 徐州工业职业技术学院 | Two-foot type wall climbing robot |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104972459A (en) * | 2015-07-07 | 2015-10-14 | 华中科技大学 | Absorbing and climbing type robot for detecting bridge cracks |
| CN110576016A (en) * | 2019-10-24 | 2019-12-17 | 安阳工学院 | Solar photovoltaic panel cleaning robot and cleaning method |
| CN110576016B (en) * | 2019-10-24 | 2024-07-12 | 安阳工学院 | Cleaning robot and cleaning method for solar photovoltaic panel |
| CN112728292A (en) * | 2021-02-02 | 2021-04-30 | 浙江海洋大学 | Oil tanker oil gas recovery pipeline wall climbing robot |
| CN113212580A (en) * | 2021-04-26 | 2021-08-06 | 安徽宏基建设项目管理有限公司 | Engineering is managed with building outer wall infiltration testing arrangement |
| CN113895534A (en) * | 2021-10-15 | 2022-01-07 | 北京京能电力股份有限公司 | Wall-climbing robot and control method |
| CN113895534B (en) * | 2021-10-15 | 2022-07-08 | 北京京能电力股份有限公司 | Wall-climbing robot and control method |
| CN114458901A (en) * | 2022-02-18 | 2022-05-10 | 陈兴年 | Installation state monitoring device for peripheral auxiliary structure of super high-rise building |
Also Published As
| Publication number | Publication date |
|---|---|
| CN104015830B (en) | 2016-01-13 |
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