CN106608307A - Wall climbing compound robot - Google Patents
Wall climbing compound robot Download PDFInfo
- Publication number
- CN106608307A CN106608307A CN201610826692.4A CN201610826692A CN106608307A CN 106608307 A CN106608307 A CN 106608307A CN 201610826692 A CN201610826692 A CN 201610826692A CN 106608307 A CN106608307 A CN 106608307A
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- China
- Prior art keywords
- road wheel
- magnetic
- wall
- wall climbing
- climbed
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- 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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Classifications
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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 provides a wall climbing compound robot. The wall climbing compound robot is characterized by comprising a wall climbing unit for climbing on a working surface, a driving unit for providing power to the wall climbing unit, a multi-shaft joint arm robot arranged on the wall climbing unit and a tool mounting end arranged at the front end of the multi-shaft joint arm robot, wherein the wall climbing unit has a magnetic walking wheel; and the magnetic walking wheel is absorbed on the working surface by magnetic force. The wall climbing compound robot is excellent in passing performance; and as the walking wheel has magnetism, the walking wheel always can be bonded with the working surface, and even if the working surface has a more abrupt projection, the walking wheel can effectively cross through. Similarly, the wall climbing compound robot also can pass through intersecting surfaces with different slopes; and the wall climbing compound robot can synchronously operate different surfaces.
Description
Technical field
The present invention relates to one kind climbs wall composite machine people, belong to robot field.
Background technology
The conventional adsorption structure of existing climbing robot, there is two kinds of vac sorb and magnetic absorption, both adsorption structures
The bottom of climbing robot is generally arranged at, work surface is adsorbed.Walked in the enterprising every trade of work surface using road wheel simultaneously,
The shortcoming of this set is can only to walk in large-scale plane and curved surface, it is impossible to walked on groove, crowning.
In addition, existing climbing robot, can only adapt in single flat general work, it is impossible in complicated many planes
Operation.Which limits the working range of climbing robot.
The content of the invention
It is an object of the invention to provide one kind climbs wall composite machine people, to adapt to wider landform, wall machine is climbed in lifting
The working range of device people.
Present invention employs following technical scheme：
One kind climbs wall composite machine people, it is characterised in that include：Wall unit is climbed, is climbed on work surface；Drive single
Unit, to climb wall unit power is provided；Multiaxial joint arm robot, is arranged on and climbs on wall unit；Instrument installation end, is arranged on multiaxis
The front end of articulated arm robots, wherein, to climb wall unit and there is magnetic road wheel, magnetic road wheel is by magnetic-adsorption in work surface
On.
Further, it is of the invention to climb wall composite machine people, can also have the feature that：Wherein, the magnetic walking
Wheel has：Hub, inner hollow；Magnet, is arranged in the hub by bearing.
Further, it is of the invention to climb wall composite machine people, can also have the feature that：Wherein, driver element includes：
Motor, upper driving belt and lower driving belt；Magnetic road wheel includes front magnetic road wheel and rear magnetic road wheel；Upper drive
Dynamic belt is driven between motor and front walking wheel, and lower driving belt is in front magnetic road wheel and rear magnetic road wheel
Between be driven.
Further, it is of the invention to climb wall composite machine people, can also have the feature that：Wherein, front magnetic road wheel
Two are respectively with rear magnetic road wheel, four-wheel drive.
Further, it is of the invention to climb wall composite machine people, can also have the feature that, also include：Video camera, is arranged
On the top for climbing wall unit.
Further, it is of the invention to climb wall composite machine people, can also have the feature that：Multiaxial joint arm unit is many
Axis joint arm robot, the number of axle be four axles and more than.
The beneficial effect of the invention
The present invention's climbs the good by performance of wall composite machine people, and because road wheel inherently has magnetic, road wheel begins
Can fit with work surface eventually, even if therefore there is more lofty projection also can effectively cross on work surface.Equally, wall is climbed
Composite machine people can also pass through the interface of different gradients.
Further, because the wall composite machine people that climbs of the present invention has multiaxial joint arm robot, therefore, it is possible in complexity
Surface on be operated, such as can be reached by multiaxial joint arm robot on each side of one bulge-structure.
Climbing robot carries out operation to not coplanar simultaneously.
Moreover, it is achieved that climbing robot a tractor serves several purposes, after changing different work instrument, not coplanar can be simultaneously completed automatically
The operations such as polishing, spraying.
Description of the drawings
Fig. 1 is the overall structure diagram for climbing wall composite machine people of the present invention；
Fig. 2 is the structural representation for climbing wall unit and driver element for climbing wall composite machine people of the present invention；
Fig. 3 is the profile of road wheel；
Fig. 4 is the schematic diagram of road wheel leaping over obstacles.
Specific embodiment
The specific embodiment of the present invention is illustrated below in conjunction with accompanying drawing.
As shown in figure 1, climb wall composite machine people having：Climb wall unit, driver element, multiaxial joint arm unit and instrument
Installation end.
Climbing wall unit includes：Four magnetic road wheels, magnetic road wheel is by magnetic-adsorption on work surface.Magnetic is walked
Wheel is divided into magnetic road wheel 22 after two front magnetic road wheels 21 and two.The structure of magnetic road wheel is as shown in figure 3, magnetic row
It is hollow hub 25 to walk to take turns outermost layer, and Magnet 27 is installed in hub 25 by bearing 26.Due to the effect of magnetic force, Magnet 27 is pasted
Nearly work surface side, when hub 25 is rotated, due to the presence of bearing 26 so that Magnet 27 is relatively rotated with hub 25, Magnet
27 keep powerful magnetic attraction with work surface all the time.Magnetic road wheel is enabled to cross over sharp projection 50 as shown in Figure 4.Four
The magnetic attraction that individual wheel is produced is more than 4 times of integral device weight.
Driver element, as shown in Fig. 2 having two motors 11, upper driving belt 23, lower driving belt 24.Drive
Motor 11 drives respectively the upper driving belt 23 of bilateral to move, and upper driving belt 23 drives two front magnetic road wheels 21 to rotate.
Lower driving belt 24 is enclosed between front magnetic road wheel 21 and rear magnetic road wheel 22, when front magnetic road wheel 21 is rotated, is passed through
Magnetic road wheel 22 is rotated after lower driving belt 24 drives.After two-side motor drives, four road wheels are dynamic, realize four-wheel
Drive.
Body rack 12 is used to install other each components.Video camera 41 is arranged on the top of body rack 12.
Multiaxial joint arm unit, multiaxial joint arm robot 30, in the present embodiment using five axis joint arm robots
30.There is instrument installation end 31 in the front end of multiaxial joint arm robot 30.Instrument installation end 31 can as needed install many
The instrument of kind, such as Spray painting tool 32.Because 5 axis joint arm robots can be stretched, be swung, not coplanar can be painted or
Polishing.In other embodiments, multiaxial joint arm robot can adopt the joint arm of four axles or the four axle above number of axle
Robot.
Present embodiment climbs wall composite machine people, and because road wheel inherently has magnetic, road wheel all the time can be with
Work surface is fitted, even if remaining able to firmly adsorb on work surface at the sharp projection 50 of work surface as shown in Figure 4,
So as to effective leaping over obstacles.
Further, because the wall composite machine people that climbs of the present invention has multiaxial joint arm robot, therefore, it is possible in complexity
Surface on be operated, such as each side for enough reaching a large-scale bulge-structure by multiaxial joint arm robot is enterprising
Row work.
Claims (6)
1. one kind climbs wall composite machine people, it is characterised in that include：
Wall unit is climbed, is climbed on work surface；
Driver element, wall unit is climbed for described in and provides power；
Multiaxial joint arm unit, is arranged on described climbing on wall unit；
Instrument installation end, is arranged on the front end of the multiaxial joint arm unit,
Wherein, the wall unit of climbing has magnetic road wheel, and magnetic road wheel is by magnetic-adsorption on work surface.
2. wall composite machine people is climbed as claimed in claim 1, it is characterised in that：
Wherein, the magnetic road wheel has：
Hub, inner hollow；
Magnet, is arranged in the hub by bearing.
3. wall composite machine people is climbed as claimed in claim 1, it is characterised in that：
Wherein, the driver element includes：Motor, upper driving belt and lower driving belt；
The magnetic road wheel includes front magnetic road wheel and rear magnetic road wheel；
The upper driving belt is driven between motor and the front walking wheel, and the lower driving belt is in front magnetic
It is driven between road wheel and rear magnetic road wheel.
4. wall composite machine people is climbed as claimed in claim 3, it is characterised in that：
Wherein, the front magnetic road wheel and rear magnetic road wheel are respectively two, and four-wheel drives simultaneously.
5. wall composite machine people is climbed as claimed in claim 1, it is characterised in that also included：
Video camera, is arranged on the top for climbing wall unit.
6. wall composite machine people is climbed as claimed in claim 1, it is characterised in that：
The multiaxial joint arm unit be multiaxial joint arm robot, the number of axle be four axles and more than.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610826692.4A CN106608307A (en) | 2016-09-14 | 2016-09-14 | Wall climbing compound robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610826692.4A CN106608307A (en) | 2016-09-14 | 2016-09-14 | Wall climbing compound robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106608307A true CN106608307A (en) | 2017-05-03 |
Family
ID=58614999
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610826692.4A Pending CN106608307A (en) | 2016-09-14 | 2016-09-14 | Wall climbing compound robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106608307A (en) |
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106975580A (en) * | 2017-05-24 | 2017-07-25 | 钦州学院 | Hull outer wall spray-painting plant |
| CN107117223A (en) * | 2017-05-10 | 2017-09-01 | 深圳市行知行机器人技术有限公司 | Ship wall-climbing robot for removing rust |
| CN107140151A (en) * | 2017-05-10 | 2017-09-08 | 深圳市行知行机器人技术有限公司 | Hull cleans climbing robot |
| CN107489854A (en) * | 2017-07-17 | 2017-12-19 | 上海交通大学 | A kind of contactless magnetic adsorption wall climbing robot for adapting to complicated wall operation |
| CN107983560A (en) * | 2018-01-26 | 2018-05-04 | 柳州市锈保材料有限公司 | Color steel tile face automatic paint-spraying machine |
| CN109291783A (en) * | 2018-08-30 | 2019-02-01 | 宁波史河机器人科技有限公司 | A kind of climbing robot |
| CN109466650A (en) * | 2018-12-27 | 2019-03-15 | 北京史河科技有限公司 | A kind of climbing robot |
| CN109533053A (en) * | 2018-12-29 | 2019-03-29 | 北京史河科技有限公司 | Clear up robot |
| CN109572845A (en) * | 2019-01-09 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN109990167A (en) * | 2019-02-21 | 2019-07-09 | 焦杨 | A kind of wheeled detecting robot of pipe using magnetic absorption |
| CN111376230A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Robot |
| CN111505009A (en) * | 2020-04-21 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | Power transformer internal fault detection system based on wall-climbing robot |
| CN113155859A (en) * | 2020-01-07 | 2021-07-23 | 山东大学 | Tunnel lining structure disease detection device and method based on wall climbing robot |
| CN113756579A (en) * | 2020-06-02 | 2021-12-07 | 东营鑫博瑞智能科技有限公司 | Metal facade operation platform |
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| CN101565063A (en) * | 2009-05-21 | 2009-10-28 | 上海交通大学 | Permanent magnetic adsorption wheel-type wall-climbing robot |
| CN102897242A (en) * | 2012-11-09 | 2013-01-30 | 哈尔滨工业大学 | Suspended magnetic adsorption wheel |
| CN103171640A (en) * | 2013-04-15 | 2013-06-26 | 山东科技大学 | Wall-climbing robot based on permanent magnet adsorption structure |
| CN104097502A (en) * | 2013-04-11 | 2014-10-15 | 苏州科瓴精密机械科技有限公司 | Robot travelling mechanism |
| CN204019526U (en) * | 2014-09-05 | 2014-12-17 | 郑州电力高等专科学校 | Multi-function robot |
| JP2016068702A (en) * | 2014-09-29 | 2016-05-09 | 株式会社移動ロボット研究所 | Mobile device for wall surface, and steering method thereof |
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2016
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Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN101565063A (en) * | 2009-05-21 | 2009-10-28 | 上海交通大学 | Permanent magnetic adsorption wheel-type wall-climbing robot |
| CN102897242A (en) * | 2012-11-09 | 2013-01-30 | 哈尔滨工业大学 | Suspended magnetic adsorption wheel |
| CN104097502A (en) * | 2013-04-11 | 2014-10-15 | 苏州科瓴精密机械科技有限公司 | Robot travelling mechanism |
| CN103171640A (en) * | 2013-04-15 | 2013-06-26 | 山东科技大学 | Wall-climbing robot based on permanent magnet adsorption structure |
| CN204019526U (en) * | 2014-09-05 | 2014-12-17 | 郑州电力高等专科学校 | Multi-function robot |
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Cited By (16)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107117223A (en) * | 2017-05-10 | 2017-09-01 | 深圳市行知行机器人技术有限公司 | Ship wall-climbing robot for removing rust |
| CN107140151A (en) * | 2017-05-10 | 2017-09-08 | 深圳市行知行机器人技术有限公司 | Hull cleans climbing robot |
| CN106975580A (en) * | 2017-05-24 | 2017-07-25 | 钦州学院 | Hull outer wall spray-painting plant |
| CN107489854A (en) * | 2017-07-17 | 2017-12-19 | 上海交通大学 | A kind of contactless magnetic adsorption wall climbing robot for adapting to complicated wall operation |
| CN107983560A (en) * | 2018-01-26 | 2018-05-04 | 柳州市锈保材料有限公司 | Color steel tile face automatic paint-spraying machine |
| CN109291783A (en) * | 2018-08-30 | 2019-02-01 | 宁波史河机器人科技有限公司 | A kind of climbing robot |
| CN111376230A (en) * | 2018-12-27 | 2020-07-07 | 沈阳新松机器人自动化股份有限公司 | Robot |
| CN109466650A (en) * | 2018-12-27 | 2019-03-15 | 北京史河科技有限公司 | A kind of climbing robot |
| CN109533053A (en) * | 2018-12-29 | 2019-03-29 | 北京史河科技有限公司 | Clear up robot |
| CN109572845A (en) * | 2019-01-09 | 2019-04-05 | 北京史河科技有限公司 | Climbing robot |
| CN109990167A (en) * | 2019-02-21 | 2019-07-09 | 焦杨 | A kind of wheeled detecting robot of pipe using magnetic absorption |
| CN109990167B (en) * | 2019-02-21 | 2020-10-30 | 诸暨市秀珠建材有限公司 | Wheel type pipeline detection robot utilizing magnetic adsorption |
| CN113155859A (en) * | 2020-01-07 | 2021-07-23 | 山东大学 | Tunnel lining structure disease detection device and method based on wall climbing robot |
| CN113155859B (en) * | 2020-01-07 | 2022-08-16 | 山东大学 | Tunnel lining structure disease detection device and method based on wall climbing robot |
| CN111505009A (en) * | 2020-04-21 | 2020-08-07 | 国网河南省电力公司电力科学研究院 | Power transformer internal fault detection system based on wall-climbing robot |
| CN113756579A (en) * | 2020-06-02 | 2021-12-07 | 东营鑫博瑞智能科技有限公司 | Metal facade operation platform |
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| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170503 |