CN104443102A - Simple robot achieving special surface movement - Google Patents
Simple robot achieving special surface movement Download PDFInfo
- Publication number
- CN104443102A CN104443102A CN201410690358.1A CN201410690358A CN104443102A CN 104443102 A CN104443102 A CN 104443102A CN 201410690358 A CN201410690358 A CN 201410690358A CN 104443102 A CN104443102 A CN 104443102A
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- hydraulic telescopic
- frame mechanism
- special surface
- steering hardware
- surface movement
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a simple robot achieving special surface movement. The simple robot comprises a frame mechanism and a steering mechanism. The steering mechanism is installed below the frame mechanism and drives the frame mechanism to rotate through the steering mechanism. Two symmetrically-arranged middle longitudinal hydraulic telescopic devices are fixedly connected to the bottom of the steering mechanism. The front end and the rear end of the frame mechanism are each connected with two transverse hydraulic telescopic devices, the other end of each transverse hydraulic telescopic device is connected with a longitudinal hydraulic telescopic device through a hinge shaft, and the bottoms of the four longitudinal hydraulic telescopic devices at the front end and the rear end and the bottoms of the middle longitudinal hydraulic telescopic devices are each provided with a sucking device. The simple robot is simple in structure, convenient to operate and maintain, capable of achieving special surface movement, and capable of meeting working requirements of special occasions.
Description
Technical field:
The present invention relates to special surface climbing robot field, specifically a kind of simple machine people realizing special surface movement.
Background technology:
Machine man-based development, one to being the topic that people pay close attention to.The kind of robot is varied, the technology required is to the greatest extent not identical yet, wherein, special surface mobile robot refers to the robot that can move freely on the materials such as irony, glass, timber, can be applicable to maintenance of the vessel, electric tower climbing, the special occasions such as glass metope carry out work, thus avoid manual operation and easily produce accident, personal safety can not get the problems such as guarantee and occurs.
Summary of the invention:
Technical matters to be solved by this invention is to provide a kind of simple machine people realizing special surface movement, can be convenient for people to carry out work at special occasions, both reduce the cost of manufacture of robot, ensured again the safety of staff.
The present invention solves the problems of the technologies described above with following technical scheme:
A kind of simple machine people realizing special surface movement of the present invention, it comprises frame mechanism 1 and steering hardware 2, described steering hardware 2 is arranged on the below of frame mechanism 1, frame mechanism 1 is driven to rotate by steering hardware 2, the below of steering hardware 2 is fixedly connected with two longitudinal hydraulic telescopic devices 6 in symmetrically arranged centre, the rear and front end of frame mechanism 1 connects two transverse hydraulic retractor devices respectively, the other end of transverse hydraulic retractor device connects longitudinal hydraulic telescopic device through hinge axis respectively, the bottom of the longitudinal hydraulic telescopic device in the bottom of four the longitudinal hydraulic telescopic devices in front and back and centre is all provided with adsorption plant.
Adsorption plant of the present invention is vacuum cap type adsorption plant or permanent magnet adsorption plant.
Described steering hardware 2 is made up of steering gear 11 and motor 12, and motor 12 is arranged on the housing of steering hardware 2, and the axle of steering gear 11 is fixedly connected with frame mechanism 1, the output shaft of motor 12 is equipped with and steering gear 11 gears in mesh.
A kind of simple machine people realizing special surface movement of the present invention has following beneficial effect:
The present invention utilizes the alternation of hydraulic efficiency gear to realize the movement of robot and the absorption of special surface and detachment function, and for high technology robot, it is simple and compact for structure, and process and assemble requires low, and low cost of manufacture, is easy to operations and maintenance.
Accompanying drawing illustrates:
Fig. 1 is the structural representation that the present invention realizes the simple machine people of special surface movement.
Fig. 2 is the structural representation of steering hardware 2.
In figure: 1-frame mechanism, 2-steering hardware, transverse hydraulic retractor device before 3-, longitudinal hydraulic telescopic device before 4-, adsorption plant before 5-, longitudinal hydraulic telescopic device in the middle of 6-, 7-intermediate adsorbent device, transverse hydraulic retractor device after 8-, longitudinal hydraulic telescopic device after 9-, adsorption plant after 10-, 11-steering gear, 12-motor.
Detailed description of the invention:
Below in conjunction with accompanying drawing, technical scheme of the present invention is further described.
Contrast Fig. 1, the present invention realizes the simple machine people of special surface movement, it comprises frame mechanism 1 and steering hardware 2, frame mechanism 1 is as center, steering hardware 2 is arranged on the below of frame mechanism 1, steering hardware 2 can adopt the steering hardware of prior art, as long as it can realize driving frame mechanism 1 to do the rotation of horizontal direction, thus realizes turning to of robot.The steering hardware 2 that this example adopts is made up of steering gear 11 and motor 12, motor 12 is arranged on the housing of steering hardware 2, the axle of steering gear 11 is fixedly connected with frame mechanism 1, the output shaft of motor 12 is equipped with and steering gear 11 gears in mesh, thus realize motor 12 and drive frame mechanism 1 to rotate, as shown in Figure 2.
The below of steering hardware 2 is fixedly connected with two longitudinal hydraulic telescopic devices 6 in symmetrically arranged centre, and the bottom of middle longitudinal hydraulic telescopic device 6 is provided with intermediate adsorbent device 7; The front end of frame mechanism 1 connects two front transverse hydraulic retractor devices 3, the other end longitudinal hydraulic telescopic device 4 before hinge axis connects of front transverse hydraulic retractor device 3, and the bottom of front longitudinal hydraulic telescopic device 4 connects front adsorption plant 5; Transverse hydraulic retractor device 8 after the rear end of frame mechanism 1 connects two, the other end longitudinal hydraulic telescopic device 9 after hinge axis connects of rear transverse hydraulic retractor device 8, adsorption plant 10 after the bottom of rear longitudinal hydraulic telescopic device 9 connects.
The adsorption plant that the present invention adopts is vacuum cap type adsorption plant or permanent magnet adsorption plant.
During work, coordinated with intermediate adsorbent device 7 by the longitudinal hydraulic telescopic device 6 in centre, intermediate adsorbent device 7 is firmly adsorbed on special surface, form safety locking motion.When rear longitudinal hydraulic telescopic device 9 elongates or shortens, rear adsorption plant 10 is also followed absorption or is lifted.When rear transverse hydraulic retractor device 8 elongates or shortens, rear longitudinal hydraulic telescopic device 9 can be made to make parallel motion with rear adsorption plant 10.When each hydraulic telescopic device and adsorption plant alternation, just the movement of robot can be realized, its detailed work steps is: by rear adsorption plant 10, front adsorption plant 5 upwards lifts, rear transverse hydraulic retractor device 8 elongates or shortens, front transverse hydraulic retractor device 3 shortens or extends, rear adsorption plant 10, front adsorption plant 5 adsorbs downwards, now, there is the rear adsorption plant 10 of adsorption function, front adsorption plant 5 can serve as safety locking motion, therefore intermediate adsorbent device 7 is liftable, by rear transverse hydraulic retractor device 8, elongating or shortening of front transverse hydraulic retractor device 3, just the movement of walking frame mechanism can be realized.So repeatedly, robot just can realize the locomotive function of special surface.When robot needs to turn to, starter motor 12, steering gear 11 is driven to rotate, intermediate adsorbent device 7 absorption is fixed on special surface, all the other adsorption plants lift, and the frame mechanism 1 that steering hardware 2 rotarily drives top rotates, after reaching desired location, all the other adsorption plants adsorb special surface downwards again, just can repeat locomotive function.
Claims (3)
1. one kind realizes the simple machine people of special surface movement, comprise frame mechanism (1) and steering hardware (2), it is characterized in that, described steering hardware (2) is arranged on the below of frame mechanism (1), frame mechanism (1) is driven to rotate by steering hardware (2), the below of steering hardware (2) is fixedly connected with two the longitudinal hydraulic telescopic device in symmetrically arranged centres (6), the rear and front end of frame mechanism (1) connects two transverse hydraulic retractor devices respectively, the other end of transverse hydraulic retractor device connects longitudinal hydraulic telescopic device through hinge axis respectively, the bottom of the longitudinal hydraulic telescopic device in the bottom of four the longitudinal hydraulic telescopic devices in front and back and centre is all provided with adsorption plant.
2. realize the simple machine people of special surface movement according to claim 1, it is characterized in that, described adsorption plant is vacuum cap type adsorption plant or permanent magnet adsorption plant.
3. according to claim 1 or 2, realize the simple machine people of special surface movement, it is characterized in that, described steering hardware (2) is made up of steering gear (11) and motor (12), motor (12) is arranged on the housing of steering hardware (2), the axle of steering gear (11) is fixedly connected with frame mechanism (1), the output shaft of motor (12) is equipped with and steering gear (11) gears in mesh.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410690358.1A CN104443102A (en) | 2014-11-25 | 2014-11-25 | Simple robot achieving special surface movement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410690358.1A CN104443102A (en) | 2014-11-25 | 2014-11-25 | Simple robot achieving special surface movement |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN104443102A true CN104443102A (en) | 2015-03-25 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201410690358.1A Pending CN104443102A (en) | 2014-11-25 | 2014-11-25 | Simple robot achieving special surface movement |
Country Status (1)
| Country | Link |
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| CN (1) | CN104443102A (en) |
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105122981A (en) * | 2015-10-15 | 2015-12-09 | 黑龙江八一农垦大学 | Hydraulic rotary cultivator with climbing function |
| CN105416429A (en) * | 2015-12-10 | 2016-03-23 | 华南理工大学 | Walking mechanism for wall-climbing robot |
| CN105539627A (en) * | 2015-12-25 | 2016-05-04 | 谭春升 | Travel tool |
| CN105835974A (en) * | 2016-04-27 | 2016-08-10 | 华北科技学院 | Multifunctional level and step carrier |
| CN107150730A (en) * | 2017-03-24 | 2017-09-12 | 广西大学 | A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN108464776A (en) * | 2016-03-16 | 2018-08-31 | 烟台民望机电技术有限公司 | A kind of workshop automatic cleaning equipment |
| CN108476766A (en) * | 2018-05-26 | 2018-09-04 | 安徽工程大学 | A kind of robot for the trimming of bamboo branches and leaves |
| CN109013121A (en) * | 2018-09-19 | 2018-12-18 | 安徽工程大学 | A kind of spray coating auxiliary device, a kind of spray robot |
| CN110315506A (en) * | 2019-05-21 | 2019-10-11 | 黄建龙 | A kind of climbing robot |
| CN111348116A (en) * | 2019-11-22 | 2020-06-30 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia |
| CN112372195A (en) * | 2021-01-18 | 2021-02-19 | 泛海海工(山东)智能装备有限公司 | Automatic welding equipment for ship production |
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| DE10219740A1 (en) * | 2002-05-02 | 2003-11-27 | Martin Christoph Schwaiger | Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis |
| CN202121257U (en) * | 2011-07-26 | 2012-01-18 | 哈尔滨佳泰达科技有限公司 | Intelligent patrol robot for power transmission circuits |
| CN202400191U (en) * | 2011-11-28 | 2012-08-29 | 大连鑫铠锐工业技术有限公司 | Permanent-magnet attraction wheel type iron-wall crawling robot |
| CN102806952A (en) * | 2012-08-15 | 2012-12-05 | 南通市海鸥救生防护用品有限公司 | Adjustable magnetic absorption mechanism |
| CN203263305U (en) * | 2013-03-14 | 2013-11-06 | 青岛大学 | Wall robot cleaner |
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2014
- 2014-11-25 CN CN201410690358.1A patent/CN104443102A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10219740A1 (en) * | 2002-05-02 | 2003-11-27 | Martin Christoph Schwaiger | Device for moving apparatus in any direction over inclined surface has support frame and robot with two independently movable systems supported by vacuum and with one have free rotational axis |
| CN202121257U (en) * | 2011-07-26 | 2012-01-18 | 哈尔滨佳泰达科技有限公司 | Intelligent patrol robot for power transmission circuits |
| CN202400191U (en) * | 2011-11-28 | 2012-08-29 | 大连鑫铠锐工业技术有限公司 | Permanent-magnet attraction wheel type iron-wall crawling robot |
| CN102806952A (en) * | 2012-08-15 | 2012-12-05 | 南通市海鸥救生防护用品有限公司 | Adjustable magnetic absorption mechanism |
| CN203263305U (en) * | 2013-03-14 | 2013-11-06 | 青岛大学 | Wall robot cleaner |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105122981A (en) * | 2015-10-15 | 2015-12-09 | 黑龙江八一农垦大学 | Hydraulic rotary cultivator with climbing function |
| CN105416429A (en) * | 2015-12-10 | 2016-03-23 | 华南理工大学 | Walking mechanism for wall-climbing robot |
| CN105539627B (en) * | 2015-12-25 | 2018-01-26 | 谭春升 | A kind of walking-replacing tool |
| CN105539627A (en) * | 2015-12-25 | 2016-05-04 | 谭春升 | Travel tool |
| CN108464776A (en) * | 2016-03-16 | 2018-08-31 | 烟台民望机电技术有限公司 | A kind of workshop automatic cleaning equipment |
| CN105835974A (en) * | 2016-04-27 | 2016-08-10 | 华北科技学院 | Multifunctional level and step carrier |
| CN107150730A (en) * | 2017-03-24 | 2017-09-12 | 广西大学 | A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN108476766A (en) * | 2018-05-26 | 2018-09-04 | 安徽工程大学 | A kind of robot for the trimming of bamboo branches and leaves |
| CN109013121A (en) * | 2018-09-19 | 2018-12-18 | 安徽工程大学 | A kind of spray coating auxiliary device, a kind of spray robot |
| CN110315506A (en) * | 2019-05-21 | 2019-10-11 | 黄建龙 | A kind of climbing robot |
| CN110315506B (en) * | 2019-05-21 | 2023-09-22 | 黄建龙 | Crawling robot |
| CN111348116A (en) * | 2019-11-22 | 2020-06-30 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia |
| CN111348116B (en) * | 2019-11-22 | 2021-07-02 | 深圳怪虫机器人有限公司 | Bridge type continuity of operation's photovoltaic cleaning machines people is crossed to tripodia |
| CN112372195A (en) * | 2021-01-18 | 2021-02-19 | 泛海海工(山东)智能装备有限公司 | Automatic welding equipment for ship production |
| CN112372195B (en) * | 2021-01-18 | 2021-10-29 | 泛海海工(山东)智能装备有限公司 | Automatic welding equipment for ship production |
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Legal Events
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| C06 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20150325 |
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| WD01 | Invention patent application deemed withdrawn after publication |