CN104071247A - Crawler belt sucker type wall-climbing robot - Google Patents
Crawler belt sucker type wall-climbing robot Download PDFInfo
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- CN104071247A CN104071247A CN201410204990.0A CN201410204990A CN104071247A CN 104071247 A CN104071247 A CN 104071247A CN 201410204990 A CN201410204990 A CN 201410204990A CN 104071247 A CN104071247 A CN 104071247A
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Abstract
The invention discloses a crawler belt sucker type wall-climbing robot which is mainly used for cleaning wall surfaces of high-level buildings and transferring relief supplies. The wall-climbing robot is provided with 16 groups of suckers which are uniformly fixed on crawler belts. In the working process of the wall-climbing robot, the suckers move along with the crawler belts. The vacuum adsorbing manner of the suckers and the movement manner of the crawler belts are combined. The crawler belts are respectively meshed and joined with a driving wheel and driven wheels through racks, and the crawler belts do not directly come into contact with the wall surfaces, so that the damage of unsmooth wall surfaces to the crawler belts is reduced, and the service life of the crawler belts is prolonged; at the same time, the crawler belts are respectively meshed and joined with the driving wheel and the driven wheels through the racks, so that the robot can move on the wall surfaces smoothly and quickly. A manner that the driving wheel is positioned in the middle and the driven wheels are symmetrically arranged enables the largest stressed positions of the crawler belts to avoid the bending positions of the crawler belts, the damage to the crawler belts is reduced, and the service life of the crawler belts is further prolonged, so that the operating stability and the working efficiency of the robot are improved.
Description
Technical field
The present invention relates to the field of cable external member, particularly relate to a kind of crawler belt sucker type wall climbing robot.
Background technology
Along with scientific and technological progress, industrial robot has obtained using widely in every field.Wherein, with it, the outstanding advantages in industries such as nuke industry, building, fire-fightings more and more receives people's concern to climbing robot.
The application of climbing robot (claiming again " wall-climbing machine ") on clean high-rise building wall surface, can find out the development along with control and mechanical & electrical technology, this can instead of manual the appearance of wall surface cleaning robot of work people is freed from heavy, dangerous high building cleaning, reduce the cleaning cost of skyscraper, enhance productivity, also promote the development of cleaning industry, bring suitable social benefit, economic benefit simultaneously.But this is only an application of climbing robot, in recent years, along with widespread use and the development of multi-form robot in every field, climbing robot is as can carry out the robot of operation on steep slope, the good characteristic that can become a kind of robot apparatus of high-altitude limit operation with it, is more and more subject to people's attention.Sum up, climbing robot mainly can be applied to following field:
(1) at construction trade, can be applicable to spray huge metope, installation ceramic tile, wall flaw detection, wall reparation lift face, wall cleaning, cleaning glass window wall etc.;
(2) at fire department, can be applicable to carry fire-fighting equipment, transmit relief goods, carry out height rescue work;
(3) at nuke industry, can be used for nuclear waste storage tank to carry out the dangerous work such as sight control, thickness measuring and seam inspection;
(4) the inside and outside wall that can be used for vertical metal can or spherical tank in petroleum chemical enterprise checks or sand blasting, spray paint anticorrosion;
(5) ship building industry can be used for spraying hull inside and outside wall, to the inside and outside wall of hull check, hull inside and outside wall is clean etc.;
(6) in rescue and relief work, can be applicable to transport escape apparatus, transmit food water provisions etc. to high-altitude trapped personnel;
(7), in aerospace, can be used for space probation, Aerospace Satellite maintenance etc.
As can be seen here, the application of climbing robot relates generally to the people's livelihood, nuke industry, shipbuilding industry etc., and in these fields, is serving as very important work, can promote the raising of productive force, the life that improves the people and service conditions.The research and development of climbing robot structural principle can be instructed and the effect promoting for the manufacturing and progressive the playing of upgrading of wall robot; In addition, the research scientific findings of climbing robot correlation technique can directly apply to or drive the progress of relevant chain industry, promotes on the whole the development of productive force, improves the people's quality of life.
In a word, active research and development climbing robot technology, making great efforts exploitation is the needs of productive force development with manufacturing and designing the climbing robot that can be converted into reality potential productivity, is that people's living standard and service conditions are improved and the needs that improve, and Ye Shi China rejuvenates China by applying scientific and technological advances, the needs of technological advance.
In prior art, climbing robot realizes that the absorption of wall is had to three kinds of modes is that vacuum suction, magnetic echo thrust absorption.What vacuum suction was comparatively conventional is sucker absorption method, utilizes bar pressure that robot is adsorbed on wall, and this method is used for creeping on the robot of glass wall, and vacuum suction method is divided into again the single sucking disc and two kinds of versions of multi-sucker.When wall is more coarse, the robot of vacuum suction mode easily produces the phenomenon of gas leakage, therefore change the attached mode of magnetic of using into more, magnetic absorption method can be divided into two kinds of electromagnet and permanent magnets, the convex-concave strong adaptability of magnetic suction type to wall, but magnetic adsorption type robot is only applicable to permeability magnetic material wall.The thrust that mode of thrust absorption utilizes robot self to produce is adsorbed on wall it, this mode structure comparatively complexity and functional reliability lower.
Summary of the invention
The technical matters that the present invention mainly solves is to provide a kind of crawler belt sucker type wall climbing robot, be mainly used in high-rise building wall surface and clean and rescue material Transfer, have 16 groups of suckers, sucker is evenly fixed on crawler belt, in the process of climbing robot work, sucker moves with crawler belt, the vacuum suction mode of sucker and crawler-type mobile mode are combined, crawler belt meshes linking crawler belt with driving wheel and flower wheel respectively by tooth bar and does not directly contact with wall, reduced the infringement of unsmooth wall to crawler belt, improved the service life of crawler belt, crawler belt is meshed and is connected with driving wheel and flower wheel respectively by tooth bar simultaneously, robot can steadily be moved rapidly on wall, during driving wheel is put, the mode that flower wheel is arranged symmetrically with makes the stressed maximum of crawler belt avoid crawler belt knee, reduced the infringement to crawler belt, further improved the service life of crawler belt, thereby operation stability and the work efficiency of robot have been improved.
For solving the problems of the technologies described above, the technical scheme that the present invention adopts is: a kind of crawler belt sucker type wall climbing robot is provided, comprise car body, crawler belt, sucker, driving wheel, flower wheel, described car body is rectangle structure, described crawler belt is the symmetrical both sides that are arranged on length over ends of body direction respectively, the quantity of described sucker is 16 groups, sucker described in every 8 groups is evenly fixed on respectively the outside face of a crawler belt, described driving wheel and flower wheel are arranged on the inside of crawler belt, described driving wheel is arranged on the midway location of crawler belt inside, described flower wheel is arranged on respectively the left and right sides of crawler belt inside, on the inwall of described crawler belt, be also provided with tooth bar, described crawler belt is meshed and is connected with driving wheel and flower wheel respectively by tooth bar.
In a preferred embodiment of the present invention, the material of described sucker adopts soft rubber; The material of described crawler belt adopts rubber.
In a preferred embodiment of the present invention, described climbing robot also comprises gas distribution plate, and described gas distribution plate is arranged on respectively the outside of crawler belt.
In a preferred embodiment of the present invention, described crawler belt and gas distribution plate are oval structure.
In a preferred embodiment of the present invention, described climbing robot also comprises back of the body storehouse and cleaning assemblies, and described back of the body storehouse and cleaning assemblies are all arranged on the inside of car body.
In a preferred embodiment of the present invention, described driving wheel and flower wheel all adopt Double-wheel structure.
The invention has the beneficial effects as follows: crawler belt sucker type wall climbing robot of the present invention, be mainly used in high-rise building wall surface and clean and rescue material Transfer, have 16 groups of suckers, sucker is evenly fixed on crawler belt, in the process of climbing robot work, sucker moves with crawler belt, the vacuum suction mode of sucker and crawler-type mobile mode are combined, crawler belt meshes linking crawler belt with driving wheel and flower wheel respectively by tooth bar and does not directly contact with wall, reduced the infringement of unsmooth wall to crawler belt, improved the service life of crawler belt, crawler belt is meshed and is connected with driving wheel and flower wheel respectively by tooth bar simultaneously, robot can steadily be moved rapidly on wall, during driving wheel is put, the mode that flower wheel is arranged symmetrically with makes the stressed maximum of crawler belt avoid crawler belt knee, reduced the infringement to crawler belt, further improved the service life of crawler belt, thereby operation stability and the work efficiency of robot have been improved.
Accompanying drawing explanation
In order to be illustrated more clearly in the technical scheme in the embodiment of the present invention, below the accompanying drawing of required use during embodiment is described is briefly described, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skills, do not paying under the prerequisite of creative work, can also according to these accompanying drawings, obtain other accompanying drawing, wherein:
Fig. 1 is the birds-eye view of crawler belt sucker type wall climbing robot one preferred embodiment of the present invention;
Fig. 2 is the inner structure schematic diagram of crawler belt in Fig. 1;
In accompanying drawing, the mark of each parts is as follows: 1, car body, 2, crawler belt, 3, sucker, 4, driving wheel, 5, flower wheel, 21, tooth bar.
The specific embodiment
Below the technical scheme in the embodiment of the present invention is clearly and completely described, obviously, described embodiment is only a part of embodiment of the present invention, rather than whole embodiment.Embodiment based in the present invention, those of ordinary skills, not making all other embodiment that obtain under creative work prerequisite, belong to the scope of protection of the invention.
Climbing robot is walked and is completed clean and transmission rescue material work in the vertical walls of skyscraper, in order to prevent robot landing vertical walls, climbing robot must and wall between keep enough adsorption affinity, and thering is certain resistance to capsizing, the climbing robot of crawler belt sucked type can provide larger adsorption affinity.
As depicted in figs. 1 and 2, the embodiment of the present invention comprises:
A kind of crawler belt sucker type wall climbing robot, comprise car body 1, crawler belt 2, sucker 3, driving wheel 4, flower wheel 5, described car body 1 is rectangle structure, described crawler belt 2 is the symmetrical both sides that are arranged on car body 1 length direction respectively, the quantity of described sucker 3 is 16 groups, and the sucker 3 described in every 8 groups is evenly fixed on respectively the outside face of a crawler belt 2.In the process of climbing robot work, sucker 3 moves with crawler belt 2, the vacuum suction mode of sucker 3 and crawler-type mobile mode are combined, because sucker 3 is fixed on the outside face of crawler belt 2, crawler belt 2 does not directly contact with wall, reduce the infringement of unsmooth wall to crawler belt 2, improved the service life of crawler belt 2.
In above-mentioned, described driving wheel 4 and flower wheel 5 are arranged on the inside of crawler belt 2, described driving wheel 4 is arranged on the midway location of crawler belt 2 inside, described flower wheel 5 is arranged on respectively the left and right sides of crawler belt 2 inside, on the inwall of described crawler belt 2, be also provided with tooth bar 21, described crawler belt 2 is meshed and is connected with driving wheel 4 and flower wheel 5 respectively by tooth bar 21.Wherein, described driving wheel 4 and flower wheel 5 all adopt Double-wheel structure, robot can steadily be moved rapidly on wall, during driving wheel 4 is put, the mode that flower wheel 5 is arranged symmetrically with, can enlarge active surface and make stressed concentrated place on crawler belt 2 away from crawler belt 2 knees, reduce the infringement to crawler belt 2, further improved the service life of crawler belt 2.
Because the engagement of wheel and rack has been simulated in the connection of driving wheel 4 and flower wheel 5, the parameters such as modulus of both teeth are identical.In order to guarantee that crawler belt 2 can not killed with driving wheel 4 and flower wheel 5 when moving, the relative thin that the thickness of the tooth of crawler belt 2 inwall upper racks 21 is done a bit, ensures enough engagement spaces.
Further, described climbing robot also comprises gas distribution plate (figure does not look), and described gas distribution plate is arranged on respectively the outside of crawler belt 2.Wherein, described crawler belt 2 and gas distribution plate is oval structure.When wall-climbing device man-hour, crawler belt 2, in slew mode, when corresponding sucker 3 enters or deactivates state, reliablely and stablely completes bleeding of sucker 3 by gas distribution plate and works with air inlet, produces or destroys vacuum environment and make sucker 3 absorption or decontrol wall.In climbing robot working process, always there are 4 groups of suckers 3 in running order, 16 groups of suckers 3 enter mode of operation in turn, complete climbing robot in absorption and the movement of wall.
Further, described climbing robot also comprises back of the body storehouse (figure depending on) and cleaning assemblies (scheming not look), and described back of the body storehouse and cleaning assemblies are all arranged on the inside of car body 1.Climbing robot can move reposefully up and down on the more smooth wall such as glass, by carrying cleaning assemblies, completes the cleaning to wall at self in the process moving.Back of the body storehouse or the clamping of fire-fighting or rescue apparatus, article being put into climbing robot move with climbing robot on the corresponding interface, can complete the work of transmitting rescue material, being applied to wall cleans, carries fire-fighting equipment, transmits relief goods, on the more smooth walls such as skyscraper glass, complete wall clean, transmit the climbing robot of the functions such as fire-fighting equipment.
In the present invention, the material of described sucker 3 adopts soft rubber; The material of described crawler belt 2 adopts rubber.The crawler belt 2 that rubber is made has that grounding pressure is little, tractive force is large, it is little to vibrate, noise is low, wet field is good by performance, do not damage road surface, fireballing advantage.The flexibility of the discrete characteristic distributions of sucker 3 on crawler belt 2 and crawler belt 2 self makes the obstacle of going beyond that climbing robot can be relatively easy.
Compared to existing technology, tool has the following advantages crawler belt sucker type wall climbing robot provided by the invention:
(1) flexibility of the discrete characteristic distributions of sucker 2 on crawler belt 3 and crawler belt self makes to climb the obstacle of going beyond that wall machine can be relatively easy, as glass gap, metope kick etc.Crawler belt does not directly contact with wall, has reduced the infringement of unsmooth wall to crawler belt, has improved the work life of climbing robot;
(2) sucker vacuum type suction type is applicable to non-magnetic wall, has overcome the shortcoming that magnetic absorption principle is had relatively high expectations to wall character, has expanded the operating range of climbing robot;
(3) gas distribution plate can reliablely and stablely complete bleeding of sucker 3 and air inlet work, has effectively solved the problem being mutually wound around at 2 breather pipes of crawler belt that rotate;
(4) crawler belt 2 can steadily move climbing robot with the bind mode of driving wheel 4 and flower wheel 5 simulation rack and pinion engagements rapidly on wall; During driving wheel is put, the mode that flower wheel is arranged symmetrically with makes the stressed maximum of crawler belt 2 avoid crawler belt 2 knees, has reduced the infringement to crawler belt 2, has improved the service life of crawler belt 2.
The foregoing is only embodiments of the invention; not thereby limit the scope of the claims of the present invention; every equivalent structure or conversion of equivalent flow process that utilizes description of the present invention to do; or be directly or indirectly used in other relevant technical field, be all in like manner included in scope of patent protection of the present invention.
Claims (6)
1. a crawler belt sucker type wall climbing robot, it is characterized in that, comprise car body, crawler belt, sucker, driving wheel, flower wheel, described car body is rectangle structure, described crawler belt is the symmetrical both sides that are arranged on length over ends of body direction respectively, the quantity of described sucker is 16 groups, sucker described in every 8 groups is evenly fixed on respectively the outside face of a crawler belt, described driving wheel and flower wheel are arranged on the inside of crawler belt, described driving wheel is arranged on the midway location of crawler belt inside, described flower wheel is arranged on respectively the left and right sides of crawler belt inside, on the inwall of described crawler belt, be also provided with tooth bar, described crawler belt is meshed and is connected with driving wheel and flower wheel respectively by tooth bar.
2. crawler belt sucker type wall climbing robot according to claim 1, is characterized in that, the material of described sucker adopts soft rubber; The material of described crawler belt adopts rubber.
3. crawler belt sucker type wall climbing robot according to claim 1, is characterized in that, described climbing robot also comprises gas distribution plate, and described gas distribution plate is arranged on respectively the outside of crawler belt.
4. crawler belt sucker type wall climbing robot according to claim 3, is characterized in that, described crawler belt and gas distribution plate are oval structure.
5. crawler belt sucker type wall climbing robot according to claim 1, is characterized in that, described climbing robot also comprises back of the body storehouse and cleaning assemblies, and described back of the body storehouse and cleaning assemblies are all arranged on the inside of car body.
6. crawler belt sucker type wall climbing robot according to claim 1, is characterized in that, described driving wheel and flower wheel all adopt Double-wheel structure.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201410204990.0A CN104071247A (en) | 2014-05-15 | 2014-05-15 | Crawler belt sucker type wall-climbing robot |
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| CN201410204990.0A CN104071247A (en) | 2014-05-15 | 2014-05-15 | Crawler belt sucker type wall-climbing robot |
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Cited By (7)
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| CN104058017A (en) * | 2014-05-28 | 2014-09-24 | 苏州工业园区职业技术学院 | Three crawler wheel parallel crawler for wall climbing robot |
| CN104648637A (en) * | 2015-03-18 | 2015-05-27 | 重庆交通大学 | Manipulator carrier for underwater operation |
| CN108556944A (en) * | 2017-12-28 | 2018-09-21 | 江苏集萃智能制造技术研究所有限公司 | A kind of leak detection climbing robot and its system |
| CN108583714A (en) * | 2018-07-16 | 2018-09-28 | 河南科技大学 | A kind of smooth surface climbing cleaning machine |
| CN110104084A (en) * | 2019-05-21 | 2019-08-09 | 上海海洋大学 | A kind of climbing robot with mechanical pneumatic sucker |
| CN114030536A (en) * | 2021-11-17 | 2022-02-11 | 兰州理工大学 | Mixed double-adsorption wall-climbing robot capable of realizing multiple wall surface transitions |
| CN114455023A (en) * | 2022-01-19 | 2022-05-10 | 中船澄西船舶修造有限公司 | Wall-climbing robot and control method thereof |
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| CN104058017A (en) * | 2014-05-28 | 2014-09-24 | 苏州工业园区职业技术学院 | Three crawler wheel parallel crawler for wall climbing robot |
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| CN110104084B (en) * | 2019-05-21 | 2021-04-20 | 上海海洋大学 | Wall-climbing robot with mechanical pneumatic sucker |
| CN114030536A (en) * | 2021-11-17 | 2022-02-11 | 兰州理工大学 | Mixed double-adsorption wall-climbing robot capable of realizing multiple wall surface transitions |
| CN114455023A (en) * | 2022-01-19 | 2022-05-10 | 中船澄西船舶修造有限公司 | Wall-climbing robot and control method thereof |
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Application publication date: 20141001 |