CN104923507B - A kind of convertible agent structure for climbing robot - Google Patents
A kind of convertible agent structure for climbing robot Download PDFInfo
- Publication number
- CN104923507B CN104923507B CN201510011335.8A CN201510011335A CN104923507B CN 104923507 B CN104923507 B CN 104923507B CN 201510011335 A CN201510011335 A CN 201510011335A CN 104923507 B CN104923507 B CN 104923507B
- Authority
- CN
- China
- Prior art keywords
- erecting device
- upset
- main body
- framework
- upset erecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B3/00—Cleaning by methods involving the use or presence of liquid or steam
- B08B3/02—Cleaning by the force of jets or sprays
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B08—CLEANING
- B08B—CLEANING IN GENERAL; PREVENTION OF FOULING IN GENERAL
- B08B9/00—Cleaning hollow articles by methods or apparatus specially adapted thereto
- B08B9/08—Cleaning containers, e.g. tanks
- B08B9/093—Cleaning containers, e.g. tanks by the force of jets or sprays
-
- 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
Abstract
The invention discloses a kind of convertible agent structure for climbing robot, including framework, upset erecting device and washer main body, the upset erecting device is without bottom surface box like structure, the upset erecting device one end is connected by folding with frame front end, the upset erecting device other end is provided with bending body, the position for corresponding to bending body on the framework is provided with supporter, and the bending body complements each other to form retractable connection with supporter；The washer main body is arranged at upset erecting device center；I.e. upset erecting device drives washer main body to carry out the flip-flop movement relative to framework by rotary shaft of folding connecting place, change traditional integral structure, the jet degree and stream range of washer main body reclaimed water are adjusted by adjusting the flip angle of upset erecting device, make the device more flexible, and cleaning scope is wide, high working efficiency, has broad application prospects in terms of hull and large tank cleaning.
Description
Technical field
The invention belongs to climbing robot technical field, more particularly, to a kind of convertible main body for climbing robot
Structure.
Background technology
With the development of science and technology industrial robot has obtained widely using in every field, wherein, climbing robot with
It is increasingly paid close attention in the outstanding advantages of the industries such as nuclear industry, building, fire-fighting by people.With control and mechanical ＆ electrical technology
People is solved releasing by development, the appearance that can substitute the wall surface cleaning robot of work by hand from heavy, dangerous cleaning
Come.But the cleaning agent structure of climbing robot is integral structure in the prior art, and this structure makes it in the course of the work
Underaction, and cleaning blind area or cleaning dead angle can be produced, reduce work quality and operating efficiency.
The content of the invention
The problem to be solved in the present invention is to provide a kind of flexibly steady, wide cleaning scope, high working efficiency, suitable for hull
With the convertible agent structure for climbing robot of large tank.
In order to solve the above technical problems, the technical solution adopted by the present invention is：It is a kind of to be used for the convertible of climbing robot
Agent structure, including framework, upset erecting device and washer main body, the upset erecting device be without bottom surface box like structure,
The upset erecting device one end is connected by folding with frame front end, and the upset erecting device other end is provided with bending body, institute
State the position on framework corresponding to bending body and be provided with supporter, the bending body complements each other to form retractable company with supporter
Connect；The washer main body is arranged at upset erecting device center.
The framework is each side provided with two driver elements.
The quantity of the folding is two.
The bending body is each provided with two with supporter.
The upset erecting device is square.
Due to using above-mentioned technical proposal, the upset erecting device one end is connected by folding with frame front end, and cleaning
Device main body is arranged at upset erecting device center, that is, overturns erecting device and washer is driven by rotary shaft of folding connecting place
Main body carries out the flip-flop movement relative to framework, changes traditional integral structure, and turning over for erecting device is overturn by adjusting
Gyration adjusts the flow angle and stream range of washer main body reclaimed water, makes the device more flexible；The number of the folding
Measure as two and the bending body is each provided with two with supporter, make the device more steady, and cleaning scope is wide, work effect
Rate is high, has broad application prospects in terms of hull and large tank cleaning.
The beneficial effects of the invention are as follows：Have the advantages that flexibly steady, cleaning scope is wide, high working efficiency.
Brief description of the drawings
The present invention is specifically described below with reference to accompanying drawing and with reference to example, advantages of the present invention and implementation will
More obvious, wherein content is only used for explanation of the present invention shown in accompanying drawing, without constituting to the present invention in all senses
On limitation, in the accompanying drawings：
Fig. 1 is dimensional structure diagram of the present invention
Fig. 2 is overall structure top view of the present invention
In figure：
1st, framework 2, upset erecting device 3, washer main body
4th, folding 5, bending body 6, supporter
7th, driver element
Embodiment
As depicted in figs. 1 and 2, a kind of convertible agent structure for climbing robot of the invention, including framework 1, turn over
Turn erecting device 2 and washer main body 3, the upset erecting device 2 is without bottom surface box like structure, the upset erecting device 2 one
End is connected by folding 4 with the front end of framework 1, and the other end of upset erecting device 2 is provided with correspondence on bending body 5, the framework 1
The position of bending body 5 is provided with supporter 6, the bending body 5 complements each other to form retractable connection with supporter 6；It is described
Washer main body 3 is arranged at upset erecting device 2 center；The framework 1 is each side provided with two driver elements
7；The quantity of the folding 4 is two；The bending body 5 is each provided with two with supporter 6；It is described upset erecting device 2 be in
It is square.
The course of work of this example：The one end of upset erecting device 2 is connected by folding 4 with the front end of framework 1, and washer
Main body 3 is arranged at upset erecting device 2 center, that is, overturns erecting device 2 and cleaning is driven by rotary shaft of the connecting place of folding 4
Device main body 3 carries out the flip-flop movement relative to framework 1, changes traditional integral structure, by adjusting upset erecting device 2
Flip angle adjust the flow angle and stream range of the reclaimed water of washer main body 3, make the device more flexible；The folding
4 quantity is that two and the bending body 5 are each provided with two with supporter 6, makes the device more steady, and cleaning scope
Extensively, high working efficiency, has broad application prospects in terms of hull and large tank cleaning.
Embodiments of the invention are described in detail above, but the content is only presently preferred embodiments of the present invention,
It is not to be regarded as the practical range for limiting the present invention.All impartial changes made according to the scope of the invention and improvement etc., all should
Still belong within this patent covering scope.
Claims (5)
1. a kind of convertible agent structure for climbing robot, it is characterised in that：Including framework, overturn erecting device and clear
Device main body is washed, the upset erecting device is without bottom surface box like structure, before the upset erecting device one end is by folding and framework
End is connected, and the upset erecting device other end is provided with bending body, the framework and the position of bending body is provided with branch
Support body, the bending body complements each other to form retractable connection with supporter；The washer main body is arranged at upset and installs dress
Put center.
2. the convertible agent structure according to claim 1 for climbing robot, it is characterised in that：The framework is left
Right both sides are respectively provided with two driver elements.
3. the convertible agent structure according to claim 1 for climbing robot, it is characterised in that：The folding
Quantity is two.
4. the convertible agent structure according to claim 1 for climbing robot, it is characterised in that：The bending body
Two are each provided with supporter.
5. the convertible agent structure according to claim 1 for climbing robot, it is characterised in that：The upset peace
Assembling device is square.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510011335.8A CN104923507B (en) | 2015-01-09 | 2015-01-09 | A kind of convertible agent structure for climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510011335.8A CN104923507B (en) | 2015-01-09 | 2015-01-09 | A kind of convertible agent structure for climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN104923507A CN104923507A (en) | 2015-09-23 |
| CN104923507B true CN104923507B (en) | 2017-07-18 |
Family
ID=54111115
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510011335.8A Active CN104923507B (en) | 2015-01-09 | 2015-01-09 | A kind of convertible agent structure for climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN104923507B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105945997B (en) * | 2016-07-12 | 2018-07-03 | 浙江工业大学 | A kind of adjustable bilateral transfer wall surface docking facilities |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4890567A (en) * | 1987-12-01 | 1990-01-02 | Caduff Edward A | Robotic ultrasonic cleaning and spraying device for ships' hulls |
| JPH11123659A (en) * | 1997-10-21 | 1999-05-11 | Yuu Technology:Kk | Self-travling blast device |
| CN100383007C (en) * | 2005-12-21 | 2008-04-23 | 哈尔滨工程大学 | Permanent-magnet adsorption type double-track robot for ship hull surface cleaning and brushing |
| CN201692966U (en) * | 2009-12-18 | 2011-01-05 | 武汉若比特机器人有限公司 | Oily fume exhaust pipeline cleaning robot |
| CN102556196A (en) * | 2011-12-22 | 2012-07-11 | 北京理工大学 | Magnetic absorption type wall climbing robot |
| CN102897241B (en) * | 2012-11-09 | 2015-05-20 | 哈尔滨工业大学 | Magnetic adsorption principle based small wheel-type wall-climbing robot platform |
| CN103935485B (en) * | 2014-02-28 | 2016-05-18 | 浙江海洋学院 | A kind of high pressure water derusting device |
-
2015
- 2015-01-09 CN CN201510011335.8A patent/CN104923507B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN104923507A (en) | 2015-09-23 |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CP02 | Change in the address of a patent holder | ||
| CP02 | Change in the address of a patent holder |
Address after: No.15, Xinghua second branch road, economic and Technological Development Zone, Xiqing District, Tianjin Patentee after: TIANJIN TONGJIE HIGH PRESSURE PUMP Co.,Ltd. Address before: 300385 building B, No.10 Saida Industrial Park, Xiqing Economic and Technological Development Zone, Tianjin Patentee before: TIANJIN TONGJIE HIGH PRESSURE PUMP Co.,Ltd. |