CN106043485A - Rotary type steel plate wall-climbing robot - Google Patents
Rotary type steel plate wall-climbing robot Download PDFInfo
- Publication number
- CN106043485A CN106043485A CN201610471995.9A CN201610471995A CN106043485A CN 106043485 A CN106043485 A CN 106043485A CN 201610471995 A CN201610471995 A CN 201610471995A CN 106043485 A CN106043485 A CN 106043485A
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- China
- Prior art keywords
- steel plate
- climbing robot
- ecu
- rotary steel
- propeller
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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)
- Toys (AREA)
Abstract
The invention discloses a rotary type steel plate wall-climbing robot and belongs to the field of robots. The rotary type steel plate wall-climbing robot comprises a supporting plate, drive motors, propellers and an electric control unit, wherein the drive motors, the propellers and the electric control unit are fixedly arranged on the supporting plate. The two drive motors are symmetrically distributed on the left side and the right side of the electric control unit. The propellers are arranged right behind the electric control unit. Drive gears connected with the drive motors are arranged below the supporting plate, and the two drive gears are engaged with each other. The drive gears are provided with climbing rods. Magnetic pins are arranged at the bottom ends of the climbing rods. The drive motors and the propellers are controlled by the electric control unit to be connected. By the adoption of the rotary type steel plate wall-climbing robot, the drive motors are matched with the drive gears, the transmission efficiency is high, the structure is simple, and operation is convenient; and meanwhile the robot further has the beneficial effects of being high in stability, long in service life and the like.
Description
Technical field
The present invention relates to robotics, a kind of rotary steel plate climbing robot.
Background technology
At present, various forms of robots are all actively being researched and developed in countries in the world, extensively application and military affairs, scientific research, industry, the people
With etc. field.Climbing robot, is widely used, wherein at boats and ships because people can be replaced to be engaged in the high-risk operations of various outer wall for it
Field, the use of climbing robot, can make hull-rust extraction, clean, the technique such as spray paint is significantly improved, workman's working condition obtains
To improving, at present, at ship domain, relatively widely used climbing robot mainly uses wheeled, crawler-type permanent magnet absorption, but
Such climbing robot is primarily present more following problems:
1, traditional wheeled, track structure during creeping due to overall own wt, under gravity, it is impossible to
Ensure even running, lack propulsion plant.
2, many permanent magnets of crawler-type permanent magnet suction type are arranged on crawler belt, and assembly difficulty is big, and polylith permanent magnet passes through
Caterpillar drive adsorbs in turn or departs from steel plate, i.e. consumed energy limits again the raising of the speed of service.
3, wheeled climbing robot uses bulk permanent magnet to provide absorption affinity, and weight is big, and absorption affinity is not as good as electric magnet,
Reduce attached wall function and load capacity.Along with the expansion of task scope, carry the increase of instrument, it is desirable to robot is in deadweight to the greatest extent
On the premise of may reducing, improve load capacity further.
4, wheeled, crawler-type permanent magnet adsorption wall climbing robot uses permanent magnet material, and physicochemical properties are unstable, material
Crisp, corrosion-resistant, easily demagnetize, manufacture and maintenance cost is high.
Therefore, the climbing robot that a kind of novel stable is good, applied widely, simple in construction, acquisition cost are low is needed badly
Meet the demand of contemporary society.
Summary of the invention
The purpose of invention: in order to overcome above deficiency, the present invention discloses a kind of rotary steel plate climbing robot, has knot
The advantages such as structure is simple, reasonable in design, length in service life, and also it can be avoided that occur toppling over phenomenon in crawling process, structure
Stable.
Technical scheme: in order to realize object above, the invention discloses a kind of rotary steel plate climbing robot, including propping up
Fagging and the driving motor, propeller and the ECU that are fixed in gripper shoe；Described driving motor is provided with two, symmetrical
It is distributed in the left and right sides of ECU；Described propeller is located at the dead astern of ECU；The lower section of described gripper shoe is provided with
With the driving gear driving motor to be connected, two described driving gears engage each other；Described driving gear is provided with bar of creeping；Institute
The bottom stating bar of creeping is provided with magnetic foot；Described driving motor and propeller are controlled to connect by ECU.
One of the present invention rotary steel plate climbing robot, controls to drive motor to replace work by ECU
Make, and then by driving driven by motor to drive gear alternate rotation, it is achieved the advance of structure entirety is creeped；Meanwhile, in order to ensure
Not havinging layback in crawling process and topple over phenomenon, the rear position being positioned at ECU in gripper shoe is provided with propeller, it is provided that
Opposition, for the weight that supporting construction is overall, it is ensured that the balance of structure, stable；It addition, two driving motors drive two
Individual intermeshing driving gear alternation, simple in construction, reasonable in design, and be controlled connecting by ECU,
Ensure that running precision, there is the biggest market prospect.
Further, one of the present invention rotary steel plate climbing robot, described gripper shoe is provided with one group
Jack；Its device of described propelling is provided with the pin matched with jack.By coordinating of jack and pin, can be according to concrete
Working condition increases or reduces angle of rake quantity, applied widely and convenient to operation, shortens the replacement cycle.
Further, one of the present invention rotary steel plate climbing robot, on the inwall of described jack uniformly
Connection copper sheet is distributed；Described connection copper sheet is connected with ECU.Ensure good energising effect, it is ensured that angle of rake effectively
Run.
Further, one of the present invention rotary steel plate climbing robot, described propeller includes: rotate horse
Reach and fan；Described fan is located on the main shaft of rotation motor.By using rotation motor to advance work with the realization that coordinates of fan
With, save cost, and quick and easy for installation.
Further, one of the present invention rotary steel plate climbing robot, the inside of described bar of creeping is provided with
The micro electromagnetic relay being connected with magnetic foot；Described micro electromagnetic relay is controlled to connect by ECU.Electromagnetic relay phase
For permanent magnet material, physicochemical properties are stable, and structural strength is big, good corrosion resistance, and convenient control magnetic foot, will not
Demagnetization phenomenon occur, service life is long.
Further, one of the present invention rotary steel plate climbing robot, the described conical round plate-like of magnetic foot.
Increase contact area, it is ensured that the stability of structure.
Further, one of the present invention rotary steel plate climbing robot, described ECU includes: PLC
Controller, electromagnetic valve.Can control accurately and effectively to drive motor, rotation motor and the work of micro electromagnetic relay, protect
The operating of card structure entirety is carried out in order.
It addition, the specific works of a kind of rotary steel plate climbing robot of the present invention is crossed referred to as: first connect electricity
Source, by PLC, by electromagnetic valve control on the left of micro electromagnetic relay be energized so that left side magnetic foot has magnetic, inhales
Being attached to surface of steel plate, meanwhile, control propeller by ECU and work, right side drive motors works, and drives tooth on the right side of drive
Wheel rotates, and bar of creeping on the right side of drive moves forward, now, and micro electromagnetic relay work, left side micro electromagnetic on the right side of electromagnetic valve control
Relay power-off so that right side magnetic foot adsorbs, left side magnetic foot demagnetizes；Then right side drive motors stops, left side drive motor work
Make, drive and drive gear to rotate so that creeping bar reach in left side, in the same fashion, creep bar alternating forward in left and right, it is achieved
Crawling process.
It addition, in order to ensure the steady of structure entirety, angle of rake number can be increased or decreased according to different working conditions
Amount, is installed with coordinating of jack by pin, convenient to operation.
Technique scheme, it can be seen that one of the present invention rotary steel plate climbing robot, has and has as follows
Benefit effect:
1, transmission efficiency is high, energy utilization rate is big；By driving driven by motor to drive gear, alternately work, it is to avoid many
The level abrasion that causes of transmission and energy waste, improve transmission efficiency.
2, control accurately, good stability of creeping；Drive motor and micro electromagnetic relay by ECU collocation, protect
The accuracy of card action, and then improve the stability of entirety.
3, by increasing propeller, by propeller and control counteracting force, positive structure the most difficult to understand in crawling process
Overall stability, on the other hand, reduces the resistance creeped, improves the service life of equipment.
4, simple in construction, easy to operate, low cost of manufacture；And replace traditional permanent magnet by micro electromagnetic relay
Material, does not haves demagnetization phenomenon, and physical chemistry is stable, high adsorption capacity.
Accompanying drawing explanation
Fig. 1 is the front view of a kind of rotary steel plate climbing robot of the present invention；
Fig. 2 is the left view of a kind of rotary steel plate climbing robot of the present invention
Fig. 3 is the top view of a kind of rotary steel plate climbing robot of the present invention
Fig. 4 is angle of rake structural representation of the present invention；
In figure: 1-gripper shoe, 2-drive motor, 3-propeller, 31-rotation motor, 32-fan, 4-ECU, 5-to drive tooth
Take turns, 6-creeps bar, 7-magnetic foot, 8-jack, 9-pin, 10-micro electromagnetic relay.
Detailed description of the invention
Below in conjunction with the accompanying drawings, the specific embodiment of the invention is described in detail.
Embodiment:
One of the present invention rotary steel plate climbing robot, as shown in Figures 1 to 3, including gripper shoe 1 and be fixed at
Driving motor 2, propeller 3 and ECU 4 in gripper shoe 1；Described driving motor 2 is provided with two, is symmetrically distributed in automatically controlled
The left and right sides of unit 4；Described propeller 3 is located at the dead astern of ECU 4, and as shown in Figure 4, propeller 3 includes rotating horse
Reach 31 and fan 32；Described fan 32 is located on the main shaft of rotation motor 31, by the counteracting force of fan 32 with air, it is provided that
Progradation, it is ensured that Stability Analysis of Structures；The lower section of described gripper shoe 1 is provided with and the driving gear 5 driving motor 2 to be connected, two institutes
State driving gear 5 to engage each other；Described driving gear 5 is provided with bar 6 of creeping；In order to realize the adsorption effect of robot, in institute
The bottom stating bar 6 of creeping is provided with magnetic foot 7, and the inside of bar 6 of creeping is provided with the micro electromagnetic relay 10 being connected with magnetic foot 7；Described
Micro electromagnetic relay 10 is controlled to connect by ECU 4.Wherein, the described conical round plate-like of magnetic foot 7；Continued by micro electromagnetic
The alternation of electrical equipment 10, it is achieved creep the absorption of bar 6 in left and right, it is ensured that the realization of overall structure running.Electricity is driven it addition, described
Machine 2 and propeller 3 are controlled to connect by ECU 4, and ECU 4 is internal includes PLC, electromagnetic valve, it is ensured that overall
The accurate operating of action.
Preferably, one of the present invention rotary steel plate climbing robot, as it is shown on figure 3, gripper shoe 1 is provided with one
Group jack 8；Described propeller 3 is provided with the pin 9 matched with jack 8；It is evenly distributed with connection on the inwall of described jack 8
Copper sheet；Described connection copper sheet is connected with ECU 4.According to different handling situations, propeller 3 can be increased or decreased in right amount
Quantity, during installation, only need to coordinate pin 9 with interfix with jack 8, convenient to operation.
The specific works of a kind of rotary steel plate climbing robot the most of the present invention is crossed referred to as: first connect electricity
Source, by PLC, by electromagnetic valve control on the left of micro electromagnetic relay be energized so that left side magnetic foot has magnetic, inhales
Being attached to surface of steel plate, meanwhile, control propeller by ECU and work, right side drive motors works, and drives tooth on the right side of drive
Wheel rotates, and bar of creeping on the right side of drive moves forward, now, and micro electromagnetic relay work, left side micro electromagnetic on the right side of electromagnetic valve control
Relay power-off so that right side magnetic foot adsorbs, left side magnetic foot demagnetizes；Then right side drive motors stops, left side drive motor work
Make, drive and drive gear to rotate so that creeping bar reach in left side, in the same fashion, creep bar alternating forward in left and right, it is achieved
Crawling process.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For Yuan, under the premise without departing from the principles of the invention, it is also possible to make some improvement, these improvement also should be regarded as the present invention's
Protection domain.
Claims (7)
1. a rotary steel plate climbing robot, it is characterised in that: including: gripper shoe (1) and be fixed at gripper shoe (1)
On driving motor (2), propeller (3) and ECU (4)；Described driving motor (2) is provided with two, is symmetrically distributed in automatically controlled
The left and right sides of unit (4)；Described propeller (3) is located at the dead astern of ECU (4)；The lower section of described gripper shoe (1) sets
The driving gear (5) having and drive motor (2) to be connected, two described driving gears (5) engage each other；Described driving gear (5)
It is provided with bar of creeping (6)；The bottom of described bar of creeping (6) is provided with magnetic foot (7)；Described driving motor (2) and propeller (3) are by electricity
Control unit (4) controls to connect.
One the most according to claim 1 rotary steel plate climbing robot, it is characterised in that: in described gripper shoe (1)
It is provided with one group of jack (8)；Described propeller (3) is provided with the pin (9) matched with jack (8).
One the most according to claim 2 rotary steel plate climbing robot, it is characterised in that: described jack (8) interior
Connection copper sheet it is evenly distributed with on wall；Described connection copper sheet is connected with ECU (4).
One the most according to claim 1 rotary steel plate climbing robot, it is characterised in that: described propeller (3) wraps
Include: rotation motor (31) and fan (32)；Described fan (32) is located on the main shaft of rotation motor (31).
One the most according to claim 1 rotary steel plate climbing robot, it is characterised in that bar (6) of creeping described in:
Inside is provided with the micro electromagnetic relay (10) being connected with magnetic foot (7)；Described micro electromagnetic relay (10) is by ECU (4)
Control to connect.
One the most according to claim 1 rotary steel plate climbing robot, it is characterised in that: described magnetic foot (7) is in cone
Shape is discoid.
One the most according to claim 1 rotary steel plate climbing robot, it is characterised in that: described ECU (4)
Including: PLC, electromagnetic valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610471995.9A CN106043485A (en) | 2016-06-24 | 2016-06-24 | Rotary type steel plate wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610471995.9A CN106043485A (en) | 2016-06-24 | 2016-06-24 | Rotary type steel plate wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106043485A true CN106043485A (en) | 2016-10-26 |
Family
ID=57165629
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610471995.9A Pending CN106043485A (en) | 2016-06-24 | 2016-06-24 | Rotary type steel plate wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106043485A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102826138A (en) * | 2012-08-24 | 2012-12-19 | 华南理工大学 | Negative-pressure adsorption module with automatic altitude detection capacity and self-adaptive capacity to adsorbed surface |
| CN103056881A (en) * | 2013-01-01 | 2013-04-24 | 许博 | Vertical plane exploration robot |
| US20130140801A1 (en) * | 2011-12-02 | 2013-06-06 | Helical Robotics, Llc | Mobile robot |
| CN202987325U (en) * | 2012-07-24 | 2013-06-12 | 华南理工大学 | Bionic climbing robot |
| CN203766927U (en) * | 2014-03-14 | 2014-08-13 | 徐州工业职业技术学院 | Rotary mobile type wall-climbing robot |
| CN205675124U (en) * | 2016-06-24 | 2016-11-09 | 苏州塞默机械有限公司 | A kind of rotary climbing robot |
-
2016
- 2016-06-24 CN CN201610471995.9A patent/CN106043485A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20130140801A1 (en) * | 2011-12-02 | 2013-06-06 | Helical Robotics, Llc | Mobile robot |
| CN202987325U (en) * | 2012-07-24 | 2013-06-12 | 华南理工大学 | Bionic climbing robot |
| CN102826138A (en) * | 2012-08-24 | 2012-12-19 | 华南理工大学 | Negative-pressure adsorption module with automatic altitude detection capacity and self-adaptive capacity to adsorbed surface |
| CN103056881A (en) * | 2013-01-01 | 2013-04-24 | 许博 | Vertical plane exploration robot |
| CN203766927U (en) * | 2014-03-14 | 2014-08-13 | 徐州工业职业技术学院 | Rotary mobile type wall-climbing robot |
| CN205675124U (en) * | 2016-06-24 | 2016-11-09 | 苏州塞默机械有限公司 | A kind of rotary climbing robot |
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| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20161026 |