CN106218743A - A kind of crawler-type wall climbing device - Google Patents
A kind of crawler-type wall climbing device Download PDFInfo
- Publication number
- CN106218743A CN106218743A CN201610831488.1A CN201610831488A CN106218743A CN 106218743 A CN106218743 A CN 106218743A CN 201610831488 A CN201610831488 A CN 201610831488A CN 106218743 A CN106218743 A CN 106218743A
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- China
- Prior art keywords
- crawler
- type wall
- wall climbing
- climbing device
- cup
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/065—Multi-track vehicles, i.e. more than two tracks
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
- B62D55/18—Tracks
- B62D55/26—Ground engaging parts or elements
- B62D55/265—Ground engaging parts or elements having magnetic or pneumatic adhesion
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Hooks, Suction Cups, And Attachment By Adhesive Means (AREA)
- Handcart (AREA)
Abstract
The invention discloses a kind of crawler-type wall climbing device, belong to robotics, for solving the investigation of high-rise and cleaning problem, this device includes several vacuum cups, the vacuum generator being arranged on vacuum cup, two crawler belts, dynamic transfer system, motor, electromagnetic clutch and control system.Wherein every crawler belt includes two chains and four sprocket wheels；Solve the investigation to high-rise and cleaning problem, there is the beneficial effect of protection cleanup crew.Substitute conventional method, efficiently complete high-rise appearance is cleaned or while investigation problem to high-rise, liberating personnel so that personnel are not necessarily located dangerous situation.
Description
Technical field
The invention belongs to robotics, relate to one and climb wall device, be specifically related to a kind of crawler-type wall climbing device.
Background technology
At present, a lot of still close in high-altitude by rope suspensions by officers and men to the investigation tasks of high-rise in military affairs
Completing from the beginning, the cleaning of high-rise building external wall all uses manual work mode, with rope or hang and blue workman is suspended in high-altitude
Work it is carried out outside wall.The most dangerous but also inefficient, this device can meet to be born the additional of constant weight and sets
Standby, such as shooting, detecting devices, high building cleaning equipment, replace the mankind to complete hot mission.
Summary of the invention
According to above the deficiencies in the prior art, the technical problem to be solved is to propose a kind of crawler-type wall climbing dress
Put, by arranging several vacuum cups, vacuum generator, two crawler belts being made up of chain staff cultivation and power transmit and
Steering control system, solves the investigation to high-rise and cleaning problem, has the beneficial effect of protection cleanup crew.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is:
A kind of crawler-type wall climbing device, this device includes that several vacuum cups, the vacuum being arranged on vacuum cup are sent out
Raw device, two crawler belts, dynamic transfer system, motor, electromagnetic clutch and control system.Wherein every crawler belt includes two chains
Bar and four sprocket wheels.
Described motor is provided with a driven shaft, and the middle part of driven shaft is connected with motor, and the two ends of driven shaft respectively connect
Connecing two sprocket wheels, the output shaft of motor is connected with the power shaft of dynamic transfer system, and dynamic transfer system has two output shafts,
Being respectively provided with an electromagnetic clutch on two output shafts of dynamic transfer system, electromagnetic clutch is provided with two sprocket wheels, electromagnetism
Two sprocket wheels on clutch constitute a crawler belt with two sprocket wheels on driven shaft by two chain interoperation.Described vacuum is inhaled
Dish is arranged on crawler belt, and described vacuum cup includes rubber cup, plays reinforcement effect aluminium sheet, ball head connecting rod and be arranged on bulb even
Away from the fixed plate of one end of bulb on bar.Being additionally provided with spring on described ball head connecting rod, the two ends of spring contact fixed plate respectively
And aluminium sheet.Being additionally provided with vacuum generator on described vacuum cup, vacuum generator makes the air pressure in rubber cup by air-breathing
Less than atmospheric pressure, rubber cup is additionally provided with breather valve, makes the air pressure in rubber cup equal to air by opening breather valve
Pressure.On described vacuum cup, the rim of a bowl of rubber cup is provided with pressure transducer.Described sprocket wheel is provided with photoelectric sensor.
The medicine have the advantages that and solve the investigation to high-rise and cleaning problem, there is protection cleanup crew
Beneficial effect.Substitute conventional method, high-rise appearance is cleaned or to high-rise efficiently completing
While investigation problem, personnel are liberated so that personnel are not necessarily located dangerous situation.
Accompanying drawing explanation
Below the content expressed by this specification accompanying drawing and the labelling in figure are briefly described:
Fig. 1 is the population structure schematic diagram of the detailed description of the invention crawler-type wall climbing device of the present invention；
Fig. 2 is the vacuum generator structural representation of the detailed description of the invention crawler-type wall climbing device of the present invention；
Being labeled as in above-mentioned figure: 1, vacuum cup；2, vacuum generator；3, chain；4, sprocket wheel；5, drive system；6、
Motor；7, electromagnetic clutch；8, rubber cup；9, aluminium sheet；10, ball head connecting rod；11, fixed plate.
Detailed description of the invention
Below against accompanying drawing, by the description to embodiment, each component that the detailed description of the invention of the present invention is the most involved
Shape, structure, mutual alignment between each several part and annexation, the effect of each several part and operation principle, manufacturing process and
Operate with method etc., be described in further detail, to help those skilled in the art to the inventive concept of the present invention, technology
Scheme has more complete, accurate and deep understanding.
A kind of crawler-type wall climbing device, the vacuum that this device includes several vacuum cups 1, is arranged on vacuum cup 1
2, two crawler belts of generator, dynamic transfer system 5, motor 6, electromagnetic clutch 7 and control system.Wherein every crawler belt includes
Article two, chain 3 and four sprocket wheels 4.
Motor 6 is provided with a driven shaft, and the middle part of driven shaft is connected with motor 6, and the two ends of driven shaft respectively connect
Two sprocket wheels 4.The output shaft of motor 6 is connected with the power shaft of dynamic transfer system 5, and dynamic transfer system 5 has two outputs
Axle, two output shafts of dynamic transfer system 5 are respectively provided with an electromagnetic clutch 7, and electromagnetic clutch 7 is provided with two sprocket wheels
4, two sprocket wheels on electromagnetic clutch 7 coordinate one crawler belt of composition with two sprocket wheels on driven shaft by two chains 3.
Vacuum cup 1 is arranged on crawler belt, and described vacuum cup 1 includes rubber cup 8, plays reinforcement effect aluminium sheet 9, bulb
Connecting rod 10 and be arranged on ball head connecting rod 10 fixed plate 11 of one end away from bulb, ball head connecting rod 10 is additionally provided with spring, bullet
The two ends of spring contact fixed plate 11 and aluminium sheet 9 respectively, and the spring moment corrects, compresses aluminium sheet 9, so so that rubber cup 8
Absorption is in the plane having certain radian.The effect of ball head connecting rod 10 is device turns to when, and inner track only has one
Individual vacuum cup 1 air-breathing, whole inner track turns to ball head connecting rod 10 mandrel of this sucker.It is additionally provided with true on vacuum cup 1
Empty generator, vacuum generator makes the air pressure in rubber cup 8 less than atmospheric pressure by air-breathing, rubber cup 8 is additionally provided with
Breather valve, makes the air pressure in rubber cup 8 equal to atmospheric pressure by opening breather valve.
On the turn problems climbing wall device, utilize electromagnetic clutch 7 action control both sides crawler belt rotating speed different, Jin Ershi
Now turn.Vacuum cup on the crawler belt of turning curve inner side 1 retains one and is in adsorbed state, other vacuum cup 1
On breather valve all open, the Liu Yige center sucker suction on curve inner side crawler belt, the ball head connecting rod 10 of sucker as turn
Curved central shaft, successfully solves this turning difficult problem climbing wall device.
For realizing the control to vacuum cup 1, on described vacuum cup 1, the rim of a bowl of rubber cup 8 is provided with pressure sensing
Device, sprocket wheel 4 is provided with photoelectric sensor, photoelectric sensor, pressure transducer, vacuum generator and breather valve all with control system
Connecting, in the case of the vacuum cup 1 being only between crawler belt upper sprocket wheel 4 and pressure transducer experience pressure, this is true
Vacuum generator on suction dish 1 works the most under control of the control system and breather valve is closed, on other vacuum cups 1
Breather valve is opened and vacuum generator does not works.When crawler-type wall climbing device is turned, control system controls in turning bend
The vacuum generator work of during all pressure transducers experience the vacuum cup 1 of pressure on the crawler belt of side, breather valve
Closing, the breather valve on other vacuum cups 1 opens and vacuum generator does not works.And then realize turning.
Above in conjunction with accompanying drawing, the present invention is exemplarily described, it is clear that the present invention implements not by aforesaid way
Restriction, as long as have employed the method design of the present invention and the improvement of various unsubstantialities that technical scheme is carried out, or without changing
Enter and design and the technical scheme of the present invention are directly applied to other occasion, all within protection scope of the present invention.This
Bright protection domain should be as the criterion with the protection domain that claims are limited.
Claims (7)
1. a crawler-type wall climbing device, it is characterised in that: this device includes several vacuum cups (1), is arranged on vacuum suction
Vacuum generator (2) on dish (1), two crawler belts, dynamic transfer system (5), motor (6), electromagnetic clutchs (7) and control
System.Wherein every crawler belt includes two chains (3) and four sprocket wheels (4).
Crawler-type wall climbing device the most according to claim 1, it is characterised in that: described motor (6) be provided with one from
Moving axis, the middle part of driven shaft is connected with motor (6), and the two ends of driven shaft respectively connect two sprocket wheels (4), motor (6) defeated
Shaft is connected with the power shaft of dynamic transfer system (5), and dynamic transfer system (5) has two output shafts, dynamic transfer system (5)
Two output shafts on be respectively provided with an electromagnetic clutch (7), electromagnetic clutch (7) is provided with two sprocket wheels (4), electromagnetic clutch
Two sprocket wheels on device (7) coordinate one crawler belt of composition with two sprocket wheels on driven shaft by two chains (3).
Crawler-type wall climbing device the most according to claim 1, it is characterised in that: described vacuum cup (1) is arranged on crawler belt
On, described vacuum cup (1) includes rubber cup (8), plays reinforcement effect aluminium sheet (9), ball head connecting rod (10) and be arranged on bulb
Away from the fixed plate (11) of one end of bulb on connecting rod (10).
Crawler-type wall climbing device the most according to claim 3, it is characterised in that: described ball head connecting rod is additionally provided with bullet on (10)
Spring, the two ends of spring contact fixed plate (11) and aluminium sheet (9) respectively.
Crawler-type wall climbing device the most according to claim 3, it is characterised in that: it is additionally provided with true on described vacuum cup (1)
Empty generator, vacuum generator makes the air pressure in rubber cup (8) less than atmospheric pressure by air-breathing, and rubber cup (8) is upper also
It is provided with breather valve, makes the air pressure in rubber cup (8) equal to atmospheric pressure by opening breather valve.
Crawler-type wall climbing device the most according to claim 1, it is characterised in that: the upper rubber cup of described vacuum cup (1)
(8) the rim of a bowl is provided with pressure transducer.
Crawler-type wall climbing device the most according to claim 1, it is characterised in that: described sprocket wheel (4) is provided with photoelectric sensing
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610831488.1A CN106218743B (en) | 2016-09-19 | 2016-09-19 | A kind of crawler-type wall climbing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610831488.1A CN106218743B (en) | 2016-09-19 | 2016-09-19 | A kind of crawler-type wall climbing device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106218743A true CN106218743A (en) | 2016-12-14 |
| CN106218743B CN106218743B (en) | 2019-01-18 |
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ID=58075619
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610831488.1A Active CN106218743B (en) | 2016-09-19 | 2016-09-19 | A kind of crawler-type wall climbing device |
Country Status (1)
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| CN (1) | CN106218743B (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106985792A (en) * | 2017-04-07 | 2017-07-28 | 华东交通大学 | A kind of crawler belt sucker for cleaning device |
| CN110453895A (en) * | 2019-08-05 | 2019-11-15 | 广东博智林机器人有限公司 | Paint finishing |
| CN110916555A (en) * | 2019-12-03 | 2020-03-27 | 陕西科技大学 | Crawler-type mobile device and glass curtain wall cleaning robot based on vacuum chuck |
| CN112441151A (en) * | 2020-10-26 | 2021-03-05 | 广州力多机器人智能科技有限公司 | Sucking disc, running gear and operation equipment |
| CN113184074A (en) * | 2021-04-28 | 2021-07-30 | 北京航空航天大学 | Variable-freedom-degree sucker structure suitable for wall-climbing robot |
| CN114748814A (en) * | 2022-05-17 | 2022-07-15 | 西南大学 | Climbing formula fire-fighting robot |
Citations (7)
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|---|---|---|---|---|
| EP0395489A1 (en) * | 1989-04-28 | 1990-10-31 | Commissariat A L'energie Atomique | Endless-track vehicle capable of turning easily |
| JPH07277237A (en) * | 1994-04-11 | 1995-10-24 | Hitachi Ltd | Crawler travel device |
| CN1474765A (en) * | 2000-09-25 | 2004-02-11 | �������ֿ� | Apparatus and method for traversing curred surfaces by adhesion |
| CN201405948Y (en) * | 2009-02-16 | 2010-02-17 | 西北工业大学 | Motion adsorption device |
| CN103373405A (en) * | 2012-04-23 | 2013-10-30 | 朱志强 | Passive vacuum absorption and walking device for wall-climbing robot |
| CN204197093U (en) * | 2014-11-23 | 2015-03-11 | 吉林大学 | A kind of multi-sucker mobile robot with gas circuit distribution device |
| CN206141652U (en) * | 2016-09-19 | 2017-05-03 | 安徽机电职业技术学院 | Crawler -type is climbed wall and is put |
-
2016
- 2016-09-19 CN CN201610831488.1A patent/CN106218743B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| EP0395489A1 (en) * | 1989-04-28 | 1990-10-31 | Commissariat A L'energie Atomique | Endless-track vehicle capable of turning easily |
| JPH07277237A (en) * | 1994-04-11 | 1995-10-24 | Hitachi Ltd | Crawler travel device |
| CN1474765A (en) * | 2000-09-25 | 2004-02-11 | �������ֿ� | Apparatus and method for traversing curred surfaces by adhesion |
| CN201405948Y (en) * | 2009-02-16 | 2010-02-17 | 西北工业大学 | Motion adsorption device |
| CN103373405A (en) * | 2012-04-23 | 2013-10-30 | 朱志强 | Passive vacuum absorption and walking device for wall-climbing robot |
| CN204197093U (en) * | 2014-11-23 | 2015-03-11 | 吉林大学 | A kind of multi-sucker mobile robot with gas circuit distribution device |
| CN206141652U (en) * | 2016-09-19 | 2017-05-03 | 安徽机电职业技术学院 | Crawler -type is climbed wall and is put |
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106985792A (en) * | 2017-04-07 | 2017-07-28 | 华东交通大学 | A kind of crawler belt sucker for cleaning device |
| CN110453895A (en) * | 2019-08-05 | 2019-11-15 | 广东博智林机器人有限公司 | Paint finishing |
| CN110916555A (en) * | 2019-12-03 | 2020-03-27 | 陕西科技大学 | Crawler-type mobile device and glass curtain wall cleaning robot based on vacuum chuck |
| CN110916555B (en) * | 2019-12-03 | 2021-07-27 | 陕西科技大学 | Crawler-type mobile device and glass curtain wall cleaning robot based on vacuum chuck |
| CN112441151A (en) * | 2020-10-26 | 2021-03-05 | 广州力多机器人智能科技有限公司 | Sucking disc, running gear and operation equipment |
| CN112441151B (en) * | 2020-10-26 | 2023-11-07 | 广州力多机器人智能科技有限公司 | Sucking disc, running gear and operation equipment |
| CN113184074A (en) * | 2021-04-28 | 2021-07-30 | 北京航空航天大学 | Variable-freedom-degree sucker structure suitable for wall-climbing robot |
| CN114748814A (en) * | 2022-05-17 | 2022-07-15 | 西南大学 | Climbing formula fire-fighting robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106218743B (en) | 2019-01-18 |
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Effective date of registration: 20201130 Address after: 215400 417, building 1, No. 168, Shanghai East Road, Loudong street, Taicang City, Suzhou City, Jiangsu Province Patentee after: TAICANG ZHETAITIAN PRODUCT DESIGN Co.,Ltd. Address before: Anhui province Wuhu City Road 241000 Wenjin College Park No. 16 Patentee before: ANHUI TECHNICAL College OF MECHANICAL AND ELECTRICAL ENGINEERING |
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