CN107487391A - A kind of adjustable crawler-type wall climbing robot of suction - Google Patents
A kind of adjustable crawler-type wall climbing robot of suction Download PDFInfo
- Publication number
- CN107487391A CN107487391A CN201710727975.8A CN201710727975A CN107487391A CN 107487391 A CN107487391 A CN 107487391A CN 201710727975 A CN201710727975 A CN 201710727975A CN 107487391 A CN107487391 A CN 107487391A
- Authority
- CN
- China
- Prior art keywords
- road wheel
- connecting rod
- sleeve
- installation cavity
- robot
- 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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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
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
-
- 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
- B62D55/12—Arrangement, location, or adaptation of driving sprockets
Abstract
The present invention relates to a kind of adjustable crawler-type wall climbing robot of suction, including robot body, crawler belt and road wheel, robot body is provided with road wheel, is connected between crawler belt and multiple road wheels by neck, the gear teeth, multiple road wheels support a crawler belt；It is characterized in that：A number of mounting groove is along the circumferential direction uniformly offered on the outer wall of the road wheel, electromagnet is embedded with each mounting groove；Road wheel is connected centrally through corresponding axle with robot body, installation cavity is provided with the inside of road wheel, the inside of installation cavity is provided with slide rheostat body, slide rheostat body is provided with metal bar, slide plate is slidably connected on metal bar, connected between one end of slide plate and a side wall of slide rheostat body by the first spring, the other end of slide plate is connected with sleeve, the lower end of sleeve offers first through hole, and the metal bar between slide rheostat body opposite side and slide plate passes through the first through hole of sleeve.
Description
Technical field
The present invention relates to climbing robot technical field, more particularly to a kind of adjustable crawler-type wall climbing robot of suction.
Background technology
The large steel such as weld grinding and ship of large-size spherical tank surface derusting, spray painting operation are always manual works, both
Danger, efficiency are again low.Replace manually carrying out above-mentioned operation using climbing robot, danger can be greatly reduced.Existing steel
All it is mostly that with the addition of heterogeneity, the alloy of different proportion, permeability is incomplete same, but existing climbing robot
Magnetic force size is immutable, such as runs into the relatively low steel of magnetic conductivity, it is possible to the contingency that climbing robot falls occurs,
Even if will not damage completely, also the performance of robot is had an impact, greatly reduces the life-span of robot.Patent No.
ZL200920247834.7 Chinese patent discloses a kind of wall-climbing robot for removing rust on wall surfaces of ships, Patent No.
ZL201010191649.8 Chinese patent discloses a kind of magnetic-gap wall-climbing robot for Wet or dry condition, both machines
Permanent magnetism and vacuum mixing and absorption mode and permanent magnetism gap and vacuum mixing and absorption mode is respectively adopted in device people, but both climb wall machine
In the course of the work, absorption affinity is all uncontrollable to device people, for different walls, during different working environments, and adaptability
It is poor.
The content of the invention
The invention aims to solve shortcoming present in prior art, and the adjustable crawler belt of a kind of suction proposed
Formula climbing robot.The robot by the slide rheostat structure of designed, designed come change access series circuit in resistance it is big
It is small, realized with two springs and change resistance in real time, poised state is under two spring natures, (screwed in after applying external force
Screw rod) balance be broken, slide plate is pulled, and changes resistance, so as to change suction, realizes the adjustable purpose of suction, can
For different walls, different working environments, suitable absorption affinity is adjusted, reduce robot falling risk.
To achieve these goals, present invention employs following technical scheme：
A kind of adjustable crawler-type wall climbing robot of suction, including robot body, crawler belt and road wheel, robot body
Road wheel is provided with, is connected between crawler belt and multiple road wheels by neck, the gear teeth, multiple road wheels support a shoe
Band；It is characterized in that：
Along the circumferential direction uniformly offer a number of mounting groove on the outer wall of the road wheel, in each mounting groove
Embedded with electromagnet；Road wheel is connected centrally through corresponding axle with robot body, and installation cavity is provided with the inside of road wheel, peace
The inside behaveing affectedly is provided with slide rheostat body, and slide rheostat body is provided with metal bar, cunning is slidably connected on metal bar
Piece, is connected between one end of slide plate and a side wall of slide rheostat body by the first spring, and the other end of slide plate is connected with
Sleeve, the lower end of sleeve offer first through hole, and the metal bar between slide rheostat body opposite side and slide plate passes through set
The first through hole of cylinder, and sleeve can move back and forth along metal bar, and connection first is tilted between the interior bottom wall and side wall of sleeve
Connecting rod, the minimum point of the first connecting rod movable sleeve in slide plate side, head rod are connected to the collar, the outer ring of the collar
It is connected with the second connecting rod, limiting plate is run through on the top of the second connecting rod, is fixedly mounted in the second connecting rod below limiting plate
Limited location block, and it is socketed second spring in the second connecting rod between limited block and limiting plate；The limiting plate is fixed on installation
On the inwall of chamber；Pulley, one end connection of second connecting rod away from the collar are installed in the installation cavity on the top of the second connecting rod
There is connecting line, and the one end of connecting line away from the second connecting rod is connected around pulley and with screw rod；The threaded one end of the screw rod
The side wall of installation cavity is connected, the other end runs through installation cavity and stretches out road wheel to be fixed by nut；Electricity is further fixed in installation cavity
Source, power supply, a number of electromagnet, slide plate and slide rheostat body form series circuit by wire.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention is simple in construction, by adding slide rheostat body, metal bar, slide plate, the first spring and sleeve etc., rotation
Enter screw rod, connecting line is moved, connecting line drives the second connecting rod to rise or fall, and makes the collar sliding on head rod
Dynamic, in the presence of the first spring, slide plate is moved, and the size of resistance is changed, and is driven the change of size of current, is made electromagnetism
The magnetic force size of iron changes, and this combining structure is simple to operate, by size the changing with streaming current for changing resistance
Become, reach the purpose for changing electromagnet magnetic force size, to adapt to the wall of different magnetic conductivity, make robot stabilized operation, reduce
Damage, lift the life-span.
Rising or falling for second connecting rod is realized by controlling screw rod to screw in rotation direction in the present invention, and then is made corresponding
Absorption affinity strengthens or reduced；When wall magnetic conductivity is stronger, if wheel absorption affinity is too big, the resistance of walking can be increased, it is necessary to
It is appropriate to reduce absorption affinity.
Brief description of the drawings
Fig. 1 is a kind of right side structural representation of embodiment of the adjustable crawler-type wall climbing robot of suction of the present invention；
Fig. 2 is the schematic enlarged-scale view of part A in Fig. 1；
Fig. 3 is a kind of figure of the road wheel 2 of embodiment of the adjustable crawler-type wall climbing robot of suction of the present invention.
In figure：Robot body 1, road wheel 2, mounting groove 3, electromagnet 4, installation cavity 5, slide rheostat body 6, metal
Rod 7, slide plate 8, the first spring 9, sleeve 10, head rod 11, the collar 12, limited block 13, second spring 14, the second connecting rod
15th, connecting line 16, pulley 17, screw rod 18, limiting plate 19, power supply 20.
Embodiment
Technical scheme is clearly and completely described below in conjunction with embodiment and accompanying drawing, it is clear that retouched
The embodiment stated is only part of the embodiment of the present invention, rather than whole embodiments.
The adjustable crawler-type wall climbing robot of suction (abbreviation robot, referring to Fig. 1-3) of the present invention includes robot body
1st, crawler belt (not marked in figure) and road wheel 2, robot body 1 are provided with road wheel 2, passed through between crawler belt and multiple road wheels
Neck, the gear teeth are connected, and multiple road wheels support a crawler belt；
A number of mounting groove 3 is along the circumferential direction uniformly offered on the outer wall of the road wheel 2, in each mounting groove
Electromagnet is embedded with, the mounting groove is shaped as cylinder；Road wheel 2 connects centrally through corresponding axle and robot body 1
Connect, installation cavity 5 is provided with the inside of road wheel, the inside of installation cavity 5 is provided with slide rheostat body 6, slide rheostat body 6
Be provided with metal bar 7, slidably connect slide plate 8 on metal bar 7, one end of slide plate 8 and a side wall of slide rheostat body 6 it
Between connected by the first spring 9, the other end of slide plate 8 is connected with sleeve 10, and the lower end of sleeve 10 offers first through hole, in cunning
Dynamic metal bar between rheostat body opposite side and slide plate passes through the first through hole of sleeve, and sleeve can be along metal bar back and forth
It is mobile, connection head rod 11 is tilted between the interior bottom wall and side wall of sleeve 10, the minimum point of first connecting rod is close to slide plate 8
Side, movable sleeve is connected to the collar 12 on head rod 11, and the outer ring of the collar 12 is connected with the second connecting rod 15, and second connects
Limiting plate 19 is run through on the top of extension bar 15, and limited block 13 is installed with the second connecting rod 15 below limiting plate, and spacing
Second spring 14 is socketed in the second connecting rod between block 13 and limiting plate 19；The limiting plate 19 is fixed on the inwall of installation cavity
On；Pulley 17, one end connection of second connecting rod 15 away from the collar 12 are installed in the installation cavity on the top of the second connecting rod 15
There is connecting line 16, and the one end of connecting line 16 away from the second connecting rod 15 is connected around pulley 17 and with screw rod 18；The screw rod
The side wall of 18 threaded one end connection installation cavity 5, the other end runs through installation cavity 5 and stretches out road wheel 2 to be fixed by nut, can be prevented
The screw rod 18 in walking of robot body 1 comes off；Power supply 20, power supply 20, a number of electromagnetism are further fixed in installation cavity 5
Iron 4, slide plate 8 and slide rheostat body 6 form series circuit by wire.
When slide plate 8 and slide rheostat body 6 are in the side of sleeve 10 access series circuit, slide plate 8 moves to right, then
Resistance in series circuit reduces, and electric current increase, should be able to mutually increase absorption affinity；When slide plate 8 moves to left, then the electricity in series circuit
Resistance increase, electric current reduce, and should be able to mutually reduce absorption affinity.When string is accessed in the side of slide plate 8 and slide rheostat body 6 away from sleeve
When joining in circuit, when slide plate 8 moves to right, then the resistance increase in series circuit, electric current reduce, and should be able to mutually reduce absorption affinity；When
When slide plate 8 moves to left, then the resistance in series circuit reduces, and electric current increase, should be able to mutually increase absorption affinity.Therefore by controlling screw rod
Rotate screw-in direction and slide rheostat body access circuit endpoint location difference, can control absorption affinity be enhancing or
Reduce.
Further characteristic of the invention is that the road wheel 2 shares four, symmetrical centered on robot body,
Robot body can be kept to be in balance, the quantity of the mounting groove 3 on each road wheel 2 is 24,24
Mounting groove forms annular, ensures that road wheel well, can be adsorbed equably in rotation process, makes electromagnet 4 and ferromagnetism wall
Face absorption is more firm.
Further characteristic of the invention is that the angle between the side wall of head rod 11 and sleeve 10 is 30-45 degree.
The angle can balance the first spring and the elastic force of second spring, ensure that spring does not produce movement under external force, so as to not
Suction can be changed；If angle is excessive, the first spring will pull sleeve to be moved to the left, work as angle too small in its natural state
When, even if there is external force to pull second spring, the pulling force of the first spring is also not enough to pull sleeve to be moved to the left.
Further characteristic of the invention is that the installation cavity 5 is cuboid, is respectively upper wall and lower wall up and down, the four of surrounding
Individual face is all side wall, and the one end of screw rod 18 is connected a side wall, and the other end runs through the side wall on opposite.
The installation site of limiting plate 19 is depending on the length of second spring 14 and connecting rod 15 in robot of the present invention；
Premised on the layout overall on multiple road wheels will ensure that robot body be in poised state, specific space layout and individual
Number can be designed according to the effect for actually wanting to reach, and the quantity of road wheel can be four, three, six etc., cloth
Office's mode can also be selected according to the different operating modes of required adaptation.
The operation principle of robot of the present invention is：In original state, two spring (the first spring and second spring) places
Under nature, i.e. poised state, one end side wall that now sleeve 10 is not connected with slide plate 8 and slide rheostat body 6
There is certain interval between the other end, ensure that sleeve can move a certain distance on metal bar when being adjusted, so as to
Reach the purpose of regulation resistance.
Robot body 1 is connected with external control cabinet first, taken action by electric wire remote control robot body 1, machine
Device human body 1 is by electromagnet 4 and ferromagnetism wall adsorption, so as to realize wall climbing function.Then the big of wall magnetic conductivity is judged
It is small, if magnetic conductivity is smaller, screw rod 18 is screwed in, second connecting rod 15 is increased by controlling screw rod to screw in rotation direction, Jin Erzeng
Strong corresponding absorption affinity；If magnetic conductivity is stronger, control screw rod reversely screws in, and declines second connecting rod 15, and then reduces corresponding
Absorption affinity；
Screw rod 18 is screwed in, be intertwined and connected line 16, connecting line 16 is moved, and connecting line 16 is driven in the second connecting rod 15
Rise or decline, the collar 12 is slided on head rod 11, in the presence of the first spring 9, slide plate 8 is moved, and makes to connect
The size for entering the resistance in series circuit is changed, and drives the change of size of current, and then the magnetic force size of electromagnet 4 occurs
Change, this combining structure is simple to operate, by changing change of the size with streaming current of resistance, reaches and changes electromagnet 4
The purpose of magnetic force size, to adapt to the wall of different magnetic conductivity, make robot stabilized operation, reduce damage, lift the life-span.
The foregoing is only a preferred embodiment of the present invention, but protection scope of the present invention be not limited thereto,
Any one skilled in the art the invention discloses technical scope in, technique according to the invention scheme and its
Inventive concept is subject to equivalent substitution or change, should all cover within the protection domain of the claims in the present invention.
The present invention does not address part and is applied to prior art.
Claims (5)
1. a kind of adjustable crawler-type wall climbing robot of suction, including robot body, crawler belt and road wheel, on robot body
Provided with road wheel, it is connected between crawler belt and multiple road wheels by neck, the gear teeth, multiple road wheels support a crawler belt；
It is characterized in that：
A number of mounting groove is along the circumferential direction uniformly offered on the outer wall of the road wheel, is embedded with each mounting groove
Electromagnet；Road wheel is connected centrally through corresponding axle with robot body, and installation cavity, installation cavity are provided with the inside of road wheel
Inside be provided with slide rheostat body, slide rheostat body is provided with metal bar, slide plate is slidably connected on metal bar, sliding
Being connected between one end of piece and a side wall of slide rheostat body by the first spring, the other end of slide plate is connected with sleeve,
The lower end of sleeve offers first through hole, the metal bar between slide rheostat body opposite side and slide plate through sleeve the
One through hole, and sleeve can move back and forth along metal bar, and connection head rod is tilted between the interior bottom wall and side wall of sleeve,
The minimum point of first connecting rod movable sleeve in slide plate side, head rod is connected to the collar, and the outer ring of the collar is connected with
Limiting plate is run through on second connecting rod, the top of the second connecting rod, and limited location is fixedly mounted in the second connecting rod below limiting plate
Block, and it is socketed second spring in the second connecting rod between limited block and limiting plate；The limiting plate is fixed on the interior of installation cavity
On wall；Pulley is installed, the one end of the second connecting rod away from the collar is connected with connection in the installation cavity on the top of the second connecting rod
Line, and the one end of connecting line away from the second connecting rod is connected around pulley and with screw rod；The threaded one end connection peace of the screw rod
The side wall behaveing affectedly, the other end runs through installation cavity and stretches out road wheel to be fixed by nut；Power supply is further fixed in installation cavity, electricity
Source, a number of electromagnet, slide plate and slide rheostat body form series circuit by wire.
2. the adjustable crawler-type wall climbing robot of suction according to claim 1, it is characterised in that the shape of the mounting groove
Shape is cylinder.
3. the adjustable crawler-type wall climbing robot of suction according to claim 1, it is characterised in that the road wheel shares
It is four, symmetrical centered on robot body；The quantity of mounting groove on each road wheel is 24, and 20
Four mounting grooves form annular.
4. the adjustable crawler-type wall climbing robot of suction according to claim 1, it is characterised in that head rod and set
Angle between the side wall of cylinder is 30-45 degree.
5. the adjustable crawler-type wall climbing robot of suction according to claim 1, it is characterised in that the installation cavity is length
Cube.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710727975.8A CN107487391B (en) | 2017-08-23 | 2017-08-23 | Suction-adjustable crawler-type wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710727975.8A CN107487391B (en) | 2017-08-23 | 2017-08-23 | Suction-adjustable crawler-type wall climbing robot |
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| Publication Number | Publication Date |
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| CN107487391A true CN107487391A (en) | 2017-12-19 |
| CN107487391B CN107487391B (en) | 2023-09-15 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710727975.8A Active CN107487391B (en) | 2017-08-23 | 2017-08-23 | Suction-adjustable crawler-type wall climbing robot |
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| Country | Link |
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| CN (1) | CN107487391B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108657298A (en) * | 2018-05-18 | 2018-10-16 | 江苏省特种设备安全监督检验研究院 | A kind of climbing robot based on electromagnetic adsorption |
| CN110861722A (en) * | 2019-10-29 | 2020-03-06 | 河北工业大学 | Wall-climbing robot |
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| CN110861722A (en) * | 2019-10-29 | 2020-03-06 | 河北工业大学 | Wall-climbing robot |
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| CN107487391B (en) | 2023-09-15 |
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