CN105729499B - Adjustable vertical walls docking facilities - Google Patents
Adjustable vertical walls docking facilities Download PDFInfo
- Publication number
- CN105729499B CN105729499B CN201610283265.6A CN201610283265A CN105729499B CN 105729499 B CN105729499 B CN 105729499B CN 201610283265 A CN201610283265 A CN 201610283265A CN 105729499 B CN105729499 B CN 105729499B
- Authority
- CN
- China
- Prior art keywords
- track
- screw rod
- docking
- docking mechanism
- vertical walls
- 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.)
- Active
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J3/00—Manipulators of master-slave type, i.e. both controlling unit and controlled unit perform corresponding spatial movements
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a kind of adjustable vertical walls docking facilities, including left docking mechanism and right docking mechanism, wall moving cart is provided between left docking mechanism and right docking mechanism, the left and right wheel of wall moving cart is respectively erected in left docking mechanism and right docking mechanism；Left docking mechanism and right docking mechanism include the first track, the second track and the 3rd track, the first track, the second track and the 3rd track length respectively；One end connection wedged interface of first track, the other end are coupled by Hinge mechanism with one end of the second track, and the other end of the second track is coupled by Hinge mechanism with one end of the 3rd track, and the 3rd track installation is in aluminium section bar frame；The lower end of second track is coupled by Hinge mechanism with a screw rod telescoping mechanism.The stroke for the vertical direction that the present invention passes through adjusting bolt telescoping mechanism and horizontal displacement, the angle between three tracks is adjusted, so as to change the docking angle of docking mechanism and the gradient, adapt to the needs of different wall docking.
Description
Technical field
The present invention relates to a kind of adjustable vertical walls docking facilities, belong to wall and mechanically dock field.
Background technology
In the present age, robotics development is rapid, and various robots emerge in an endless stream.Increasing robot constantly replaces
People are applied in the career field that various environment are complicated, degree of danger is high, labor intensity is big, realize automatic high-efficiency operation.
In the factory, after machine operation a period of time, factory's wall can gather many dusts, in some works higher to environmental requirement
In industry environment, it is required for putting into substantial amounts of human and material resources every year and the dust of factory building wall is cleaned.For some large-scale factories
Room, worker need to climb to very high wall operation, and degree of danger is high, labor intensity is big and efficiency is low.
It is accordingly required in particular to develop a kind of cleaning robot, the cleaning to complex plant wall is realized.Due to some
Factory building wall structure is complicated, and robot, which climbs to wall and realized, to be moved up and down and cleaning, also to be realized horizontal obstacle detouring, be improved and make
Industry area.It is for some complicated wall environment, the structure for making robot is especially complex, so that it cannot realize.Therefore it is right
In the cleaning of complicated wall, proposition uses primary-secondary type robot, and child robot is adsorbed in wall by permanent magnet magnet-wheel,
Wall realization is creeped up and down and cleaning, and Female Robot improves working area in ground moving, drive child robot.Due to son
Robot is adsorbed in wall by permanent magnet magnet-wheel, and is four-wheel moving cart, it is necessary to realizes handset device by a docking mechanism
Conversion of the people between wall and Female Robot.
Therefore this project proposes a kind of novel adjustable vertical walls docking facilities, is divided into three-stage and docks, adjustable angle,
Different walls are can adapt to, realize conversion of the permanent magnetic adsorption-type wall robot between wall and ground.Through consulting related text
Offer, the species of docking mechanism is a lot, has no the docking mechanism for departing from wall for such permanent magnetic adsorption-type wall-surface mobile robot.
The content of the invention
In order to overcome the problem of departing from wall existing for existing magneto wall robot, the present invention provides a kind of adjustable
Vertical walls docking facilities.
The technical solution adopted by the present invention is：
Adjustable vertical walls docking facilities, it is characterised in that：Including left docking mechanism and right docking mechanism, a described left side
Wall moving cart, the left and right wheel difference of described wall moving cart are provided between docking mechanism and right docking mechanism
It is erected at left docking mechanism and right docking mechanism；
Described left docking mechanism and right docking mechanism include the first track, the second track and the 3rd track respectively, described
The first track, the length of the second track and the 3rd track；One end connection wedged interface of the first described track, it is another
End is coupled by Hinge mechanism with one end of the second track, and the other end of the second described track passes through Hinge mechanism and the 3rd rail
One end connection in road, the 3rd described track installation is in aluminium section bar frame；
The lower end of the second described track is coupled by Hinge mechanism with a screw rod telescoping mechanism；Described screw rod telescopic machine
Structure includes upper screw rod, screwed pipe and lower screw rod, and the upper end of described upper screw rod is coupled by bolt with Hinge mechanism, and described is upper
The lower end of screw rod and the upper end of screwed pipe are coordinated by screw thread, and the thread rotary orientation of described upper screw rod and described screwed pipe
It is identical；The lower end of described screwed pipe and the upper end of described lower screw rod are coordinated by screw thread, and described screwed pipe is with
Screw flight rotation direction is identical；Described upper screw rod and lower screw flight are oppositely oriented；The lower end and one of described lower screw rod
Mounting base couples, and offers mounting hole on described mounting base, the lower end of described lower screw rod passes through described mounting hole
And it is locked at by locking nut on mounting base.
And buffer is installed in the top of the 3rd described track by buffer mounting bracket；Described buffer is in dolly
When deviation or failure occurs in control system, good buffering effect can be played.
Guide roller is separately installed with described the first track, the second track and the 3rd track；Guide roller can rise
To guide effect, while there is certain cushioning effect.
The material of described the first track, the second track and the 3rd track is ferromagnetic material, passes through permanent magnetism magnet-wheel and rail
The attraction and self gravitation in road, dolly is assisted to overcome the attraction of permanent magnetism magnet-wheel and wall, it is steady to depart from wall injection
On；The material of described guide roller is rubber plastic, avoids permanent magnetism magnet-wheel with guide roller by magnetic-adsorption, in permanent-magnet magnetic
Take turns the moment contacted with guide roller and play preferably rolling and guide effect, there is preferable benefit.
The limit switch of limitation wall moving cart shift position is installed in described aluminium section bar frame.When wall moves
Robot is moved to ground mobile robot platform specified location by docking mechanism, the signal detected by limit switch,
Realize that the control standard to wall moving cart is stopped by control system.
Between described the first track and the second track and the junction between the second track and the 3rd track is arranged to
Wedge structure, makes wall moving cart operate steadily in junction and adapts to certain swing angle not produce interference.
In the present invention, the distance of left docking mechanism and right docking mechanism between the two ensures wall moving cart left and right wheelses
Laterally there is certain surplus on the track of both sides, but in extreme position, any single wheel in both sides is all without departing from track.
The present invention passes through rotated threaded tubular, thus it is possible to vary the stroke in the vertical direction of screw rod telescoping mechanism；Pass through installation
Mounting hole on bottom plate, thus it is possible to vary the horizontal displacement of screw rod telescoping mechanism.Therefore, the vertical of adjusting bolt telescoping mechanism is passed through
The stroke in direction and horizontal displacement, the angle between three tracks can be adjusted, so as to change the docking angle of docking mechanism and
The gradient, adapt to the needs of different wall docking.
Screw rod expansion link mechanism of the present invention, screw rod and the cooperation of lower screw thread between screw rod and screwed pipe, coordinate thereon
Screw thread has auto-lock function.Described screw telescopic mechanism has within the specific limits by changing stroke, realizes to docking machine
The adjustment of structure angle.
Beneficial effects of the present invention are mainly manifested in：
1st, three sections of rail mounted docking mechanisms, the angle and the gradient of docking are adjusted by screw rod telescoping mechanism, can be according to dolly
Load and different walls are adjusted, and have good adaptability.
2nd, the present apparatus is symmetrically arranged using docking mechanism, ensures that car wheel orbits all the time, on track
Guide roller is installed, there is good guide effect.
3rd, the docking mechanism, track use ferromagnetic material, by assisting wall with the magnetic force and self gravitation of permanent magnetism magnet-wheel
Moving cart overcomes the magnetic adsorbability with wall, steadily departs from wall.
Brief description of the drawings
Fig. 1 is adjustable vertical walls docking facilities structural representation.
Fig. 2 is screw rod telescoping mechanism assembling structure sectional view.
Fig. 3 is adjustable vertical walls docking facilities and aluminium section bar installation frame installation diagram.
Fig. 4 is adjustable vertical walls docking facilities and ground mobile robot platform general assembly drawing.
Embodiment
Referring to figs. 1 to Fig. 4, adjustable vertical walls docking facilities, including left docking mechanism 15 and right docking mechanism 14, institute
It is provided with wall moving cart between the left docking mechanism 15 and right docking mechanism 14 stated, a left side for described wall moving cart,
Right wheel is respectively erected in left docking mechanism 15 and right docking mechanism 14；
Described left docking mechanism 15 and right docking mechanism 14 include the first track 4, the second track 7 and the 3rd track respectively
9, the length of the first described track 4, the second track 7 and the 3rd track 9；One end connecting wedge of the first described track 4
Shape interface 5, the other end are coupled by Hinge mechanism 8 with one end of the second track 7, and the other end of the second described track 7 passes through
Hinge mechanism 8 couples with one end of the 3rd track 9, and the 3rd described track 9 is arranged in aluminium section bar frame 13；
The lower end of the second described track 7 is coupled by Hinge mechanism 8 with a screw rod telescoping mechanism 3；Described screw rod is stretched
Contracting mechanism 3 includes upper screw rod 301, screwed pipe 302 and lower screw rod 303, and the upper end of described upper screw rod 301 passes through bolt and hinge
Mechanism 8 couples, and the lower end and the upper end of screwed pipe 302 of described upper screw rod 301 are coordinated by screw thread, and described upper screw rod
301 is identical with the thread rotary orientation of described screwed pipe 302；The lower end of described screwed pipe 302 is upper with described lower screw rod 303
End is coordinated by screw thread, and described screwed pipe 302 is identical with the thread rotary orientation of lower screw rod 303；Described upper screw rod 301 with
The thread rotary orientation of lower screw rod 303 is opposite；The lower end of described lower screw rod 303 couples with a mounting base 2, described mounting base
Mounting hole is offered on 2, the lower end of described lower screw rod 303 is locked at through described mounting hole and by locking nut 1
On mounting base 2.
And buffer 10 is installed in the top of the 3rd described track 9 by buffer mounting bracket 11；Described buffer
10, when deviation or failure occurs in trolley control system, can play good buffering effect.
Guide roller 6 is separately installed with described the first track 4, the second track 7 and the 3rd track 9；Guide roller 6 was both
Guide effect can be played, while there is certain cushioning effect.
The material of described the first track 4, the second track 7 and the 3rd track 9 is ferromagnetic material, by permanent magnetism magnet-wheel with
The attraction and self gravitation of track, assist dolly to overcome the attraction of permanent magnetism magnet-wheel and wall, and the steady wall that departs from enters to enter the orbit
On road；The material of described guide roller 6 is rubber plastic, avoids permanent magnetism magnet-wheel with guide roller by magnetic-adsorption, forever
The moment that magnetic magnet-wheel contacts with guide roller plays preferably rolling and guide effect, has preferable benefit.
The limit switch 12 of limitation wall moving cart shift position is installed in described aluminium section bar frame 13.Work as wall
Mobile robot is moved to ground mobile robot platform specified location by docking mechanism, is detected by limit switch 12
Signal, realize that the control standard to wall moving cart is stopped by control system.
Between described the first track 4 and the second track 7 and the junction between the second track 7 and the 3rd track 9 is set
Wedge structure is set to, makes wall moving cart operate steadily in junction and adapt to certain swing angle not produce interference.
In the present invention, the distance of left docking mechanism 15 and right docking mechanism 14 between the two ensures wall moving cart or so
Wheel laterally has certain surplus on the track of both sides, but in extreme position, any single wheel in both sides is all without departing from track.
The present invention passes through rotated threaded tubular 302, thus it is possible to vary the stroke in the vertical direction of screw rod telescoping mechanism 3；Pass through
Mounting hole on mounting base 2, thus it is possible to vary the horizontal displacement of screw rod telescoping mechanism 3.Therefore, adjusting bolt telescoping mechanism is passed through
The stroke of 3 vertical direction and horizontal displacement, the angle between three tracks can be adjusted, so as to change the docking of docking mechanism
Angle and the gradient, adapt to the needs of different wall docking.
Screw rod expansion link mechanism 3 of the present invention, thereon screw thread between screw rod 301 and lower screw rod 303 and screwed pipe 302
Coordinate, matching thread has auto-lock function.Described screw telescopic mechanism has within the specific limits by changing stroke, realizes
Adjustment to docking mechanism angle.
Content described in this specification embodiment is only enumerating to the way of realization of inventive concept, protection of the invention
Scope is not construed as being only limitted to the concrete form that embodiment is stated, protection scope of the present invention is also and in art technology
Personnel according to present inventive concept it is conceivable that equivalent technologies mean.
Claims (6)
1. adjustable vertical walls docking facilities, it is characterised in that：Including left docking mechanism and right docking mechanism, described is left right
Wall moving cart, the left and right wheel difference frame of described wall moving cart are provided between connection mechanism and right docking mechanism
It is located on left docking mechanism and right docking mechanism；
Described left docking mechanism and right docking mechanism include the first track, the second track and the 3rd track respectively, and described
The length of one track, the second track and the 3rd track；One end connection wedged interface of the first described track, the other end lead to
One end that Hinge mechanism is crossed with the second track couples, and the other end of the second described track passes through Hinge mechanism and the 3rd track
One end couples, and the 3rd described track installation is in aluminium section bar frame；
The lower end of the second described track is coupled by Hinge mechanism with a screw rod telescoping mechanism；Described screw rod telescoping mechanism bag
Screw rod, screwed pipe and lower screw rod are included, the upper end of described upper screw rod is coupled by bolt with Hinge mechanism, described upper screw rod
Lower end and the upper end of screwed pipe coordinated by screw thread, and the thread rotary orientation phase of described upper screw rod and described screwed pipe
Together；The lower end of described screwed pipe and the upper end of described lower screw rod are coordinated by screw thread, and described screwed pipe and lower spiral shell
The thread rotary orientation of bar is identical；Described upper screw rod and lower screw flight are oppositely oriented；The lower end of described lower screw rod and a peace
Bottom plate connecting is filled, mounting hole is offered on described mounting base, the lower end of described lower screw rod passes through described mounting hole simultaneously
And it is locked at by locking nut on mounting base.
2. adjustable vertical walls docking facilities as claimed in claim 1, it is characterised in that：And the 3rd described track
Top buffer is installed by buffer mounting bracket.
3. adjustable vertical walls docking facilities as claimed in claim 2, it is characterised in that：Described the first track, second
Guide roller is separately installed with track and the 3rd track.
4. adjustable vertical walls docking facilities as claimed in claim 3, it is characterised in that：Described the first track, second
The material of track and the 3rd track is ferromagnetic material, and the material of described guide roller is rubber plastic.
5. adjustable vertical walls docking facilities as claimed in claim 4, it is characterised in that：Pacify in described aluminium section bar frame
Limit switch equipped with limitation wall moving cart shift position.
6. adjustable vertical walls docking facilities as claimed in claim 5, it is characterised in that：The first described track and second
Junction between track and between the second track and the 3rd track is arranged to wedge structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610283265.6A CN105729499B (en) | 2016-04-29 | 2016-04-29 | Adjustable vertical walls docking facilities |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610283265.6A CN105729499B (en) | 2016-04-29 | 2016-04-29 | Adjustable vertical walls docking facilities |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105729499A CN105729499A (en) | 2016-07-06 |
| CN105729499B true CN105729499B (en) | 2018-02-09 |
Family
ID=56288764
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610283265.6A Active CN105729499B (en) | 2016-04-29 | 2016-04-29 | Adjustable vertical walls docking facilities |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105729499B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110328676B (en) * | 2019-07-23 | 2022-08-12 | 广州科智电力科技有限公司 | Full-automatic inspection robot for high-voltage line |
Family Cites Families (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2902230B2 (en) * | 1992-10-21 | 1999-06-07 | 三菱重工業株式会社 | Vertical wall elevating guide |
| KR20130001841A (en) * | 2011-06-28 | 2013-01-07 | 삼성전자주식회사 | Step overpassing device for moving robot, step overpassing system for moving robot and step overpassing method for moving robot |
| CN102847979A (en) * | 2012-03-21 | 2013-01-02 | 北京航空航天大学 | Flexible railway attaching to plane surface and used for carrying drilling end effector |
| CN203391891U (en) * | 2013-08-05 | 2014-01-15 | 华北电力大学 | Wall-climbing device for automatically switching wall surfaces |
| CN104229007A (en) * | 2014-09-06 | 2014-12-24 | 邓明君 | Bicycle lifting seat post device |
| CN204489006U (en) * | 2015-01-07 | 2015-07-22 | 上海新松机器人自动化有限公司 | Magnetic adsorption type draws section apparatus |
| CN205704277U (en) * | 2016-04-29 | 2016-11-23 | 浙江工业大学 | Adjustable vertical walls docking facilities |
-
2016
- 2016-04-29 CN CN201610283265.6A patent/CN105729499B/en active Active
Also Published As
| Publication number | Publication date |
|---|---|
| CN105729499A (en) | 2016-07-06 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101947777B (en) | Wheel-foot combined obstacle detouring non-contact magnetic absorption type wall climbing robot system | |
| CN103987619B (en) | Walking mechanism for robot | |
| CN110919625B (en) | Three-dimensional orbital transfer device and method for rail-mounted robot | |
| WO2018028707A1 (en) | Wall cleaning machine | |
| CN104890760B (en) | A kind of imitative dinosaur robot | |
| CN107020614A (en) | A kind of all-around mobile transportation robot | |
| CN106429149A (en) | Manipulator of intelligent warehousing roadway robot | |
| CN110919624B (en) | Three-dimensional orbital transfer type track robot system and method | |
| CN101947778A (en) | Wheel-type obstacle detouring mechanism for wall climbing robot with adjustable magnetic adsorption force | |
| WO2017193802A1 (en) | Moving platform and suitcase comprising same | |
| CN106131390B (en) | Straight and curved rail trolley and positioning device thereof | |
| CN204750348U (en) | Imitative dinosaur robot | |
| CN103846649A (en) | Two-stage parallel robot device applied to precision assembly | |
| CN105729499B (en) | Adjustable vertical walls docking facilities | |
| CN206285067U (en) | A kind of high-altitude equipment for washing external wall | |
| CN107867344A (en) | A kind of permanent magnetic suck climbing robot of achievable right angle wall transition | |
| CN111071362A (en) | Climbing robot and system for overhead line pole tower | |
| CN108675086B (en) | Device with corridor automatic article transporting function | |
| CN105835618A (en) | Four-wheeler mechanism with adjustable eccentric distance | |
| CN204601603U (en) | The dynamic rail system of a kind of suspension roller-coaster | |
| CN103648711A (en) | Assembly work conveyor device | |
| CN103318735A (en) | Horizontally movable elevator car assembly | |
| CN205704277U (en) | Adjustable vertical walls docking facilities | |
| CN105522568A (en) | Seven-shaft robot with transverse moving mechanism | |
| CN203359733U (en) | Lift car assembly capable of moving horizontally |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |