CN108481335A - The Detecting Robot that can be adsorbed on metope - Google Patents
The Detecting Robot that can be adsorbed on metope Download PDFInfo
- Publication number
- CN108481335A CN108481335A CN201810329702.2A CN201810329702A CN108481335A CN 108481335 A CN108481335 A CN 108481335A CN 201810329702 A CN201810329702 A CN 201810329702A CN 108481335 A CN108481335 A CN 108481335A
- Authority
- CN
- China
- Prior art keywords
- driving
- external extension
- telescopic
- metope
- absorption
- 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.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- G—PHYSICS
- G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
- G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
- G03B17/00—Details of cameras or camera bodies; Accessories therefor
- G03B17/56—Accessories
- G03B17/561—Support related camera accessories
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of Detecting Robots that can be adsorbed on metope, are related to public security investigative technique field, and it is difficult the technical issues of investigating the interior with suspicion place to solve public security officer existing in the prior art.The device includes body supports portion, adsorbing mechanism, driving mechanism, telescopic monitor control mechanism and control device, wherein, adsorbing mechanism and telescopic monitor control mechanism are connect with body supports portion, adsorbing mechanism can drive body supports portion to walk along metope under the driving of driving mechanism, telescopic monitor control mechanism can change the length of telescopic monitor control mechanism under the driving of driving mechanism, and telescopic monitor control mechanism includes the monitoring device monitored, driving mechanism is connect with control device.The present invention is used for there is the place of suspicion and danger to carry out indoor investigation.
Description
Technical field
The present invention relates to public security investigative technique fields, more particularly, to a kind of Detecting Robot that can be adsorbed on metope.
Background technology
With economic and science and technology fast development, technology investigation equipment has application to public security investigation, engineering sounding, disappears
Anti- rescue etc., solves high-leveled and difficult, high-risk work in special circumstances.It is non-combat for police, fire-fighting, agricultural, electric power etc.
Change industry, mostly carried out investigations using unmanned plane, for example, rescue and relief work, forest fire protection, investigation evidence obtaining, arrest suspicion of crime
Police services such as people, large-scale activity security management and control etc., unmanned plane during flying device plays prodigious effect, still, for indoor situations (prison
The case where surveying suspect indoors), it is difficult to realize by the way of the investigation of unmanned plane during flying device technology, unmanned plane during flying device
Use easily found by offender, cause the vigilance of offender.
Applicants have discovered that at least there is following technical problem in the prior art：
The prior art exists when public security officer executes task, and public security officer is difficult that investigation is indoor with suspicion place
Situation executes task to public security officer and brings inconvenience.
Invention content
The purpose of the present invention is to provide the Detecting Robots that can be adsorbed on metope, solve existing in the prior art
Public security officer, which is difficult investigation, has a case that the technical issues of interior in suspicion place.In many technical solutions provided by the invention
The many technique effects elaboration as detailed below that can be generated of optimal technical scheme.
To achieve the above object, the present invention provides following technical schemes：
A kind of Detecting Robot that can be adsorbed on metope provided by the invention, including body supports portion, adsorbing mechanism, drive
Motivation structure, telescopic monitor control mechanism and control device, wherein
The adsorbing mechanism and the telescopic monitor control mechanism are connect with the body supports portion, the adsorbing mechanism
The body supports portion can be driven to walk along metope under the driving of the driving mechanism, the telescopic monitor control mechanism is in institute
The length of the telescopic monitor control mechanism can be changed by stating under the driving of driving mechanism, and the telescopic monitor control mechanism includes
To the monitoring device monitored, the driving mechanism is connect with the control device；
The number of the adsorbing mechanism is four, and the cross sectional shape in the body supports portion is rectangle, the adsorption machine
Structure is arranged on the bottom face in the body supports portion and corresponding there are one the suctions for four sides in the body supports portion
Random structure when the Detecting Robot is walked along metope, is adsorbed on there are two the adsorbing mechanism on the metope, and institute always
State keeping strokes for two adsorbing mechanisms opposite in body supports portion；
The driving mechanism includes absorption driving mechanism, of the number and the adsorbing mechanism of the absorption driving mechanism
Number is consistent, and each adsorbing mechanism is connected with the corresponding absorption driving mechanism；The adsorbing mechanism includes transmission
Portion and adsorption section, the absorption driving mechanism are connected by the driving section with the adsorption section, the absorption driving mechanism
It can rotate relative to the body supports portion under the drive of the driving section；
Corresponding two adsorbing mechanisms drive for first travels structure, adsorbing mechanism described in corresponding another two
When being adsorbed on the metope for two adsorption sections of the second driving traveling mechanism, the first driving traveling structure, institute
Two adsorption sections for stating the second driving traveling mechanism can be under the driving of the absorption driving mechanism relative to the main body
Support portion rotates；Two adsorption sections of the second driving traveling mechanism, which are turned to, to be contacted and adsorbs with the metope
When on the metope, two adsorption sections of the first driving traveling structure are in the state being detached from the metope,
The absorption driving mechanism continues to drive two driving section rotations of the second driving traveling mechanism can be so that the master
Body support portion rotates relative to two adsorption sections of the second driving traveling mechanism；
The driving section includes two transmission connecting rod mechanisms, and the transmission connecting rod mechanism includes the first drive link, the second biography
Lever and third drive link, second drive link are connect with first drive link and the third drive link, and described
One drive link and the third drive link are vertical with second drive link, first drive link and the absorption driving machine
Structure is connected, and the third drive link is connected with the adsorbing mechanism, two kinematic links of the same driving section
Mechanism keeps strokes；
The telescopic monitor control mechanism includes telescopic device, and the telescopic device is arranged in the body supports portion,
The free end of the telescopic device is connect with the monitoring device, and the monitoring device is connect with the control system；
The telescopic device includes interior telescopic mast, external extension column, pedestal and telescopic transmission device, and the driving device includes
Retractable driving device, the external extension column set on the base and are connect with the base rotation, and the interior telescopic mast is arranged
In the external extension column, the top of the interior telescopic mast is fixedly connected with the top of the external extension column, the external extension column
Including at least two external extension thread barrels, two external extension thread barrels are threadedly coupled, and are located at external extension column bottom end
The external extension thread barrel connect with the base rotation, be located at the external extension top end the external extension thread barrel with
The interior telescopic mast is fixedly connected, and the retractable driving device can drive and the bottom under the drive of the telescopic transmission device
The external extension screwed pipe and the external extension column of seat connection rotate in the opposite direction, and the external extension screwed pipe and institute
It can change the length of the telescopic device in axial direction when stating interior telescopic mast rotation；
The interior telescopic mast is the adjustable in length of ladder tubular structure and the interior telescopic mast, and the interior telescopic mast includes
At least two interior telescoping tubes, an interior telescoping tube are set in the interior telescoping tube of adjacent another one；It is described outer
Telescopic mast is the adjustable in length of ladder tubular structure and the external extension column；
The retractable driving device is motor, and the number of the retractable driving device is one；The flexible transmission dress
It sets including interior telescopic transmission device and external extension transmission device, the retractable driving device is stated with the interior telescopic mast by described
Interior telescopic transmission device connection, the retractable driving device are connect with the external extension column by the external extension transmission device；
The external extension transmission device is gear assembly.
Preferably, the absorption driving mechanism includes a driving motor, and the absorption driving mechanism is driven by driving
Device is connected with the driving section；The driving transmission device includes two gears and transmission shaft, a gear and institute
The output axis connection of absorption driving mechanism is stated, another described gear is arranged on the transmission shaft and two gears are mutually nibbled
Close, the output shaft of the absorption driving mechanism and corresponding one first drive link connection, the transmission shaft with it is corresponding
Another described first drive link downlink connection, the transmission shaft are connect with the base rotation.
Preferably, the absorption driving mechanism includes two driving motors, each driving motor respectively with it is corresponding
The first drive link connection.
Preferably, the adsorption section includes several absorption pedipulators and connecting seat, and all absorption pedipulator settings exist
It is connect on the connecting seat and with the connecting seat, the connecting seat is connect with the driving section；
The absorption pedipulator includes sucker and sucker suction driving device, and there are inner cavity, the suckers for the sucker
When on adsorption plane, form air chamber between the inner wall of the inner cavity and the adsorption plane, the inner cavity of the sucker with
The sucker suction driving device is connected, and the sucker suction driving device can evacuate the air in the air chamber so that institute
Sucker suction is stated in the adsorption plane；When the sucker suction driving device injects air into the air chamber, the sucker
It adsorbs and releases between the adsorption plane；The sucker suction driving device is connect with the control device.
Preferably, the adsorption section further includes Linear scaling mechanism, and the Linear scaling mechanism is screw mechanism, described straight
Line telescoping mechanism can drive the connecting seat linearly to move, and the Linear scaling mechanism can drive the sucker to remote
From or close to the adsorption plane direction movement.
Preferably, the interior telescopic transmission device is conveyer belt, and the shape of the interior telescopic transmission device is " 8 " font；
The external extension transmission device includes the first pinion gear and secondary annulus, and first pinion gear is arranged described
On the output shaft of retractable driving device, the secondary annulus is arranged on the madial wall of the external extension thread barrel, and described
One pinion gear and the secondary annulus are meshed.
Preferably, be provided on the output shaft of the retractable driving device and on the interior telescopic mast with it is described interior flexible
The matched conveying trough of transmission device.
Preferably, the interior telescopic transmission device is the output shaft of the retractable driving device；The external extension transmission dress
It sets including pinion gear, intermediate gear and internal gear, the pinion gear is arranged on the output shaft of the retractable driving device, described
Internal gear is arranged on the madial wall of the external extension thread barrel, the intermediate gear with the pinion gear and the internal gear
It is meshed.
Preferably, the external extension thread barrel is connect with the pedestal by bearing.
Preferably, the adjacent two external extension thread barrels are connected through a screw thread.
The present invention provides a kind of Detecting Robot that can be adsorbed on metope, adsorbing mechanism energy under the driving of driving mechanism
Body supports portion is driven to walk along metope, telescopic monitor control mechanism can push to monitoring device at the glass of window, realize
Interior is monitored, it is difficult to investigate to have a case that the indoor of suspicion place to solve public security officer existing in the prior art
The technical issues of.
Description of the drawings
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention for those of ordinary skill in the art without creative efforts, can be with
Obtain other attached drawings according to these attached drawings.
Fig. 1 is the structural schematic diagram provided in an embodiment of the present invention that can be adsorbed in the Detecting Robot on metope；
Fig. 2 is the partial enlarged view A of Fig. 1 provided in an embodiment of the present invention；
Fig. 3 is the knot of driving transmission device provided in an embodiment of the present invention (absorption driving mechanism includes a driving motor)
Structure schematic diagram；
Fig. 4 is telescopic device provided in an embodiment of the present invention (interior telescopic transmission device is the output shaft of retractable driving device)
Structural schematic diagram；
Fig. 5 is that (interior telescopic transmission device is retractable driving device to external extension transmission device provided in an embodiment of the present invention
Output shaft) structural schematic diagram；
Fig. 6 is the structural schematic diagram of telescopic device provided in an embodiment of the present invention (interior telescopic transmission device is conveyer belt)；
Fig. 7 is that the structure of interior telescopic transmission device provided in an embodiment of the present invention (interior telescopic transmission device is conveyer belt) is shown
It is intended to.
1- body supports portion in figure；The driving sections 2-；The first drive links of 21-；The second drive links of 22-；23- third drive links；
3- telescopic devices；Telescopic mast in 31-；Telescoping tube in 311-；32- external extension columns；321- external extension thread barrels；33- pedestals；34-
Telescopic transmission device；Telescopic transmission device in 341-；342- external extension transmission devices；The first pinion gears of 3421-；3422- second
Internal gear；3423- pinion gears；3424- intermediate gears；3425- internal gears；4- driving transmission devices；41- gears；42- is driven
Axis；The adsorption sections 5-；51- adsorbs pedipulator；52- connecting seats.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, technical scheme of the present invention will be carried out below
Detailed description.Obviously, described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.Base
Embodiment in the present invention, those of ordinary skill in the art are obtained all without making creative work
Other embodiment belongs to the range that the present invention is protected.
The present invention provides a kind of Detecting Robot that can be adsorbed on metope, including body supports portion 1, adsorbing mechanism,
Driving mechanism, telescopic monitor control mechanism and control device, wherein
Adsorbing mechanism and telescopic monitor control mechanism are connect with body supports portion 1, drive of the adsorbing mechanism in driving mechanism
Body supports portion 1 can be driven to walk along metope under dynamic, telescopic monitor control mechanism can change under the driving of driving mechanism to be stretched
The length of the monitor control mechanism of contracting, and telescopic monitor control mechanism includes the monitoring device monitored, driving mechanism is filled with control
Set connection；Public security officer can be adsorbed in metope when being not easy into the interior in suspicion place using provided by the invention
On Detecting Robot, which can walk along metope, the metope can with perpendicular, when Detecting Robot climb to by
When nearly near windows, it can be parked in movement, be adsorbed on metope, pass through the variation of telescopic monitor control mechanism length so that can
The top of flexible monitor control mechanism can extend at the glass of window, and the extending direction of telescopic monitor control mechanism can be with main body branch
The upper and lower end face of support part 1 is parallel, and monitoring device is provided on telescopic monitor control mechanism, may be implemented to be monitored interior,
It is difficult the technical issues of investigating the interior with suspicion place to solve public security officer existing in the prior art so that
The Detecting Robot provided through the invention can safely grasp the indoor situations in suspicion place very much.
The number of adsorbing mechanism is four, and the cross sectional shape in body supports portion 1 is rectangle, and adsorbing mechanism is arranged in main body
Four sides on the bottom face of support portion 1 and body supports portion 1 are corresponding, and there are one adsorbing mechanisms, and Detecting Robot is along metope
When walking, it is adsorbed on metope there are two adsorbing mechanism always, and the action of two adsorbing mechanisms opposite in body supports portion 1
Unanimously；
Driving mechanism includes absorption driving mechanism, and the number for adsorbing driving mechanism is consistent with the number of adsorbing mechanism, and every
A adsorbing mechanism is connected with corresponding absorption driving mechanism；Adsorbing mechanism includes driving section 2 and adsorption section 5, adsorbs driving machine
Structure is connected by driving section 2 with adsorption section 5, and absorption driving mechanism can be relative to body supports portion 1 under the drive of driving section 2
It rotates；
Corresponding two adsorbing mechanisms are that the first driving travels structure, and corresponding another two adsorbing mechanism is the second drive
When two adsorption sections 5 of dynamic traveling mechanism, the first driving traveling structure are adsorbed on metope, two of the second driving traveling mechanism
Adsorption section 5 can rotate under the driving of absorption driving mechanism relative to body supports portion 1；The two of second driving traveling mechanism
A adsorption section 5 turns to when contacting and be adsorbed on metope with metope, two adsorption sections 5 of the first driving traveling structure be in
The state (the first driving traveling structure can move under the drive of screw mechanism to far from metope volume direction) that metope is detached from, inhales
Two driving sections 2 rotation that attached driving mechanism continues driving the second driving traveling mechanism can make body supports portion 1 relative to the
Two adsorption sections 5 of two driving traveling mechanisms rotate；Two adsorption sections, 5 rotation direction one in first driving traveling structure
It causes, the rotation direction of two adsorption sections 5 of the second driving traveling structure is consistent, and where the rotation direction of each adsorption section 5
Face is parallel with the side in corresponding body supports portion 1, so, at the first driving traveling structure rotation, the second driving traveling mechanism
When non-rotary state, 1 moving direction of body supports portion vertically moves (or moving left and right), and the second driving traveling structure turns
When dynamic, the first driving traveling mechanism is in non-rotary state, 1 moving direction of body supports portion edge moves left and right (to be moved down on or
It is dynamic).
Driving section 2 includes two transmission connecting rod mechanisms, and transmission connecting rod mechanism includes the first drive link 21, the second drive link 22
With third drive link 23, the second drive link 22 is connect with the first drive link 21 and third drive link 23,21 He of the first drive link
Third drive link 23 is vertical with the second drive link 22, and the first drive link 21 is connected with absorption driving mechanism, third drive link
23 are connected with adsorbing mechanism, and two transmission connecting rod mechanisms of same driving section 2 are kept strokes；Driving section 2 includes two biographies
Dynamic link mechanism, the position of two transmission connecting rod mechanisms and the structure of transmission connecting rod mechanism make the bottom end of adsorbing mechanism always
Downward.
Telescopic monitor control mechanism includes telescopic device 3, and telescopic device 3 is arranged in body supports portion 1, telescopic device 3
Free end connect with monitoring device, monitoring device is connect with control system；
Telescopic device 3 includes interior telescopic mast 31, external extension column 32, pedestal 33 and telescopic transmission device 34, driving device packet
Retractable driving device is included, external extension column 32 is located on pedestal 33 and is rotatablely connected with pedestal 33, and interior telescopic mast 31 is set in overhanging
In contracting column 32, the top of interior telescopic mast 31 is fixedly connected with the top of external extension column 32, and external extension column 32 includes at least outside two
Flexible thread barrel 321, two external extension thread barrels 321 are threadedly coupled, and positioned at the external extension thread barrel of 32 bottom end of external extension column
321 are rotatablely connected with pedestal 33, and the external extension thread barrel 321 positioned at 32 top of external extension column is fixedly connected with interior telescopic mast 31,
Retractable driving device can drive the external extension screwed pipe and external extension being connect with pedestal 33 under the drive of telescopic transmission device 34
Column 32 rotates in the opposite direction, and can change the side in an axial direction of telescopic device 3 when external extension screwed pipe and the rotation of interior telescopic mast 31
To length；
Interior telescopic mast 31 is the adjustable in length of ladder tubular structure and interior telescopic mast 31, and interior telescopic mast 31 includes at least two
Telescoping tube 311 in root, an interior telescoping tube 311 are set in adjacent another one in telescoping tube 311；External extension column 32 is ladder
The adjustable in length of tubular structure and external extension column 32；
Retractable driving device is motor, and the number of retractable driving device is one；Telescopic transmission device 34 includes interior stretches
Contracting transmission device 341 and external extension transmission device 342, retractable driving device is with interior telescopic mast 31 by stating interior telescopic transmission device
341 connections, retractable driving device are connect with external extension column 32 by external extension transmission device 342；Interior telescopic transmission device 341 is
Conveyer belt, external extension transmission device 342 are gear assembly.When retractable driving device rotates forward (or reversion), interior telescopic mast 31
It is rotated in the opposite direction relative to external extension column 32, the length of interior telescopic mast 31 and external extension column 32 increases at this time, wants here
Illustrate, two adjacent interior telescoping tubes 311 of interior telescopic mast 31 be without departing from, external extension column 32 adjacent two is overhanging
Contracting thread barrel 321 be without departing from；When retractable driving device reversion (or rotating forward), interior telescopic mast 31 is relative to external extension column
32 rotate in the opposite direction, and the length of interior telescopic mast 31 and external extension column 32 reduces at this time.In the present invention, interior telescopic mast 31 with
External extension column 32 rotates simultaneously, speed when can improve retractable driving device elongation or shrink.
As the embodiment of the present invention, optionally embodiment, absorption driving mechanism include a driving motor, absorption driving
Mechanism is connected by driving transmission device 4 with driving section 2；Driving transmission device 4 include two gears 41 and transmission shaft 42, one
The output axis connection of a gear 41 and absorption driving mechanism, another gear 41 is arranged on transmission shaft 42 and two 41 phases of gear
Engagement, the output shaft for adsorbing driving mechanism connects with corresponding one the first drive link 21, transmission shaft 42 with it is corresponding another
First drive link, 21 downlink connection, transmission shaft 42 are rotatablely connected with pedestal 33.Realize that a driving motor drives corresponding two biographies
Dynamic link mechanism rotation.
As the embodiment of the present invention, optionally embodiment, absorption driving mechanism include two driving motors, each driving
Motor is connected with corresponding first drive link 21 respectively, and two driving motor rotating speeds are consistent.
As the embodiment of the present invention, optionally embodiment, adsorption section 5 include several absorption pedipulators 51 and connecting seat 52,
All absorption pedipulators 51 are arranged on connecting seat 52 and are connect with connecting seat 52, and connecting seat 52 is connect with driving section 2；
It includes sucker 311 and sucker suction driving device to adsorb pedipulator 51, and there are inner cavity, 311, suckers for sucker 311
When on adsorption plane, air chamber is formed between the inner wall and adsorption plane of inner cavity, inner cavity and the sucker suction of sucker 311 drive
Device is connected, and sucker suction driving device can evacuate the air in air chamber so that sucker 311 is adsorbed on adsorption plane；Sucker is inhaled
It adsorbs and releases when attached driving device injects air into air chamber, between sucker 311 and adsorption plane；Sucker suction driving device with
Control device connects.
As the embodiment of the present invention, optionally embodiment, adsorption section 5 further include Linear scaling mechanism, Linear scaling mechanism
For screw mechanism, Linear scaling mechanism can drive connecting seat 52 linearly to move, and Linear scaling mechanism can drive sucker
311 move to away from or approaching the direction of adsorption plane.
As the embodiment of the present invention, optionally embodiment, interior telescopic transmission device 341 are conveyer belt, interior flexible transmission dress
The shape for setting 341 is " 8 " font, and the steering of the output shaft of retractable driving device is opposite with the steering of interior telescopic mast 31；External extension
Transmission device 342 includes the first pinion gear 3421 and secondary annulus 3422, and the setting of the first pinion gear 3421 is filled in telescopic drive
On the output shaft set, secondary annulus 3422 is arranged on the madial wall of external extension thread barrel 321, the first pinion gear 3421 and
Two internal gears 3422 are meshed, and the steering of the output shaft of retractable driving device is identical as the steering of external extension column 32 so that inside stretches
Contracting column 31 is opposite with the steering of external extension column 32.
As optionally embodiment of the embodiment of the present invention, on the output shaft of retractable driving device and on interior telescopic mast 31
It is provided with and 341 matched conveying trough of interior telescopic transmission device.
As the embodiment of the present invention, optionally embodiment, interior telescopic transmission device 341 are the output of retractable driving device
Axis, external extension transmission device 342 include pinion gear 3423, intermediate gear 3424 and internal gear 3425, and the setting of pinion gear 3423 exists
On the output shaft of retractable driving device, internal gear 3425 is arranged on the madial wall of external extension thread barrel 321, intermediate gear 3424
It is meshed with pinion gear 3423 and internal gear 3425.The steering of the steering and interior telescopic mast 31 of the output shaft of retractable driving device
Identical, the steering of the output shaft of retractable driving device is opposite with the steering of external extension column 32 so that interior telescopic mast 31 and external extension
The steering of column 32 is opposite.
As the embodiment of the present invention, optionally embodiment, external extension thread barrel 321 are connect with pedestal 33 by bearing.
As the embodiment of the present invention, optionally embodiment, adjacent two external extension thread barrels 321 are connected through a screw thread.
The above description is merely a specific embodiment, but scope of protection of the present invention is not limited thereto, any
Those familiar with the art in the technical scope disclosed by the present invention, can easily think of the change or the replacement, and should all contain
Lid is within protection scope of the present invention.Therefore, protection scope of the present invention should be based on the protection scope of the described claims.
Claims (10)
1. a kind of Detecting Robot that can be adsorbed on metope, which is characterized in that including body supports portion (1), adsorbing mechanism, drive
Motivation structure, telescopic monitor control mechanism and control device, wherein
The adsorbing mechanism and the telescopic monitor control mechanism are connect with the body supports portion (1), the adsorbing mechanism
The body supports portion (1) can be driven to walk along metope under the driving of the driving mechanism, the telescopic monitor control mechanism
The length of the telescopic monitor control mechanism, and the telescopic monitor control mechanism can be changed under the driving of the driving mechanism
Include the monitoring device monitored, the driving mechanism is connect with the control device；
The number of the adsorbing mechanism is four, and the cross sectional shape of the body supports portion (1) is rectangle, the adsorbing mechanism
It is arranged on the bottom face of the body supports portion (1) and corresponding there are one institutes for four sides in the body supports portion (1)
Adsorbing mechanism is stated, when the Detecting Robot is walked along metope, is adsorbed on the metope there are two the adsorbing mechanism always,
And opposite two adsorbing mechanisms are kept strokes on the body supports portion (1)；
The driving mechanism includes absorption driving mechanism, the number one of the number and the adsorbing mechanism of the absorption driving mechanism
It causes, and each adsorbing mechanism is connected with the corresponding absorption driving mechanism；The adsorbing mechanism includes driving section (2)
With adsorption section (5), the absorption driving mechanism is connected by the driving section (2) with the adsorption section (5), and the absorption is driven
Motivation structure can rotate under the drive of the driving section (2) relative to the body supports portion (1)；
Corresponding two adsorbing mechanisms are that the first driving travels structure, and adsorbing mechanism described in corresponding another two is the
It is described when two adsorption sections (5) of two driving traveling mechanisms, the first driving traveling structure are adsorbed on the metope
Two adsorption sections (5) of the second driving traveling mechanism can be under the driving of the absorption driving mechanism relative to the main body
Support portion (1) rotates；Two adsorption sections (5) of the second driving traveling mechanism turn to be contacted with the metope
And when being adsorbed on the metope, two adsorption sections (5) of the first driving traveling structure are in de- with the metope
From state, the absorption driving mechanism continues to drive two driving sections (2) rotations of the second driving traveling mechanism
It can be so that the body supports portion (1) rotates relative to two adsorption sections (5) of the second driving traveling mechanism；
The driving section (2) includes two transmission connecting rod mechanisms, and the transmission connecting rod mechanism includes the first drive link (21), second
Drive link (22) and third drive link (23), second drive link (22) with first drive link (21) and the third
Drive link (23) connects, and first drive link (21) and the third drive link (23) hang down with second drive link (22)
Directly, first drive link (21) is connected with the absorption driving mechanism, the third drive link (23) and the adsorption machine
Structure is connected, and two transmission connecting rod mechanisms of the same driving section (2) are kept strokes；
The telescopic monitor control mechanism includes telescopic device (3), and the telescopic device (3) is arranged in the body supports portion
(1) on, the free end of the telescopic device (3) is connect with the monitoring device, and the monitoring device connects with the control system
It connects；
The telescopic device (3) includes interior telescopic mast (31), external extension column (32), pedestal (33) and telescopic transmission device (34),
The driving device includes retractable driving device, the external extension column (32) be located on the pedestal (33) and with the pedestal
(33) it is rotatablely connected, the interior telescopic mast (31) is set in the external extension column (32), the top of the interior telescopic mast (31)
It is fixedly connected with the top of the external extension column (32), the external extension column (32) includes at least two external extension thread barrels
(321), two external extension thread barrels (321) are threadedly coupled, and positioned at the described overhanging of external extension column (32) bottom end
Contracting thread barrel (321) is rotatablely connected with the pedestal (33), is located at the external extension screw thread on external extension column (32) top
Cylinder (321) is fixedly connected with the interior telescopic mast (31), band of the retractable driving device in the telescopic transmission device (34)
The external extension screwed pipe being connect with the pedestal (33) and the external extension column (32) can be driven under dynamic in the opposite direction
Rotation, and can change the telescopic device (3) side in an axial direction when the external extension screwed pipe and interior telescopic mast (31) rotation
To length；
The interior telescopic mast (31) is the adjustable in length of ladder tubular structure and the interior telescopic mast (31), the interior telescopic mast
(31) including at least two interior telescoping tubes (311), an interior telescoping tube (311) is set in described in adjacent another one
In interior telescoping tube (311)；The external extension column (32) is the adjustable in length of ladder tubular structure and the external extension column (32)；
The retractable driving device is motor, and the number of the retractable driving device is one；The telescopic transmission device
(34) include interior telescopic transmission device (341) and external extension transmission device (342), the retractable driving device with it is described interior flexible
Column (31) states interior telescopic transmission device (341) connection by described, and the retractable driving device is logical with the external extension column (32)
Cross external extension transmission device (342) connection；The external extension transmission device (342) is gear assembly.
2. the Detecting Robot according to claim 1 that can be adsorbed on metope, which is characterized in that the absorption driving machine
Structure includes a driving motor, and the absorption driving mechanism is connected by driving transmission device (4) with the driving section (2)；
The driving transmission device (4) includes two gears (41) and transmission shaft (42), and a gear (41) is driven with the absorption
The output axis connection of motivation structure, another described gear (41) is arranged on the transmission shaft (42) and two gears (41)
It is meshed, the output shaft of the absorption driving mechanism is connected with corresponding one first drive link (21), the transmission shaft
(42) with another corresponding described first drive link (21) downlink connection, the transmission shaft (42) rotates with the pedestal (33) to be connected
It connects.
3. the Detecting Robot according to claim 1 that can be adsorbed on metope, which is characterized in that the absorption driving machine
Structure includes two driving motors, and each driving motor is connected with corresponding first drive link (21) respectively.
4. the Detecting Robot according to claim 1 that can be adsorbed on metope, which is characterized in that the adsorption section (5)
Including several absorption pedipulators (51) and connecting seat (52), all absorption pedipulators (51) are arranged in the connecting seat (52)
It above and with the connecting seat (52) connect, the connecting seat (52) connect with the driving section (2)；
The absorption pedipulator (51) includes sucker (311) and sucker suction driving device, and there are indents for the sucker (311)
Chamber forms air chamber, institute when the sucker (311) is located on adsorption plane between the inner wall of the inner cavity and the adsorption plane
The inner cavity for stating sucker (311) is connected with the sucker suction driving device, and the sucker suction driving device can evacuate institute
The air in air chamber is stated so that the sucker (311) is adsorbed on the adsorption plane；The sucker suction driving device is to described
It adsorbs and releases in air chamber when injection air, between the sucker (311) and the adsorption plane；The sucker suction driving device
It is connect with the control device.
5. the Detecting Robot according to claim 4 that can be adsorbed on metope, which is characterized in that the adsorption section (5)
Further include Linear scaling mechanism, the Linear scaling mechanism is screw mechanism, and the Linear scaling mechanism can drive the connection
Seat (52) linearly moves, and the Linear scaling mechanism can drive the sucker (311) to away from or approaching the suction
It moves in the direction in attached face.
6. the Detecting Robot according to claim 1 that can be adsorbed on metope, which is characterized in that the interior flexible transmission
Device (341) is conveyer belt, and the shape of the interior telescopic transmission device (341) is " 8 " font；
The external extension transmission device (342) includes the first pinion gear (3421) and secondary annulus (3422), and described first is small
Gear (3421) is arranged on the output shaft of the retractable driving device, and the secondary annulus (3422) is arranged described overhanging
On the madial wall of contracting thread barrel (321), first pinion gear (3421) and the secondary annulus (3422) are meshed.
7. the Detecting Robot according to claim 6 that can be adsorbed on metope, which is characterized in that the telescopic drive dress
It is provided on the output shaft set and on the interior telescopic mast (31) and the matched transmission of the interior telescopic transmission device (341)
Trough of belt.
8. the Detecting Robot according to claim 1 that can be adsorbed on metope, which is characterized in that the interior flexible transmission
Device (341) is the output shaft of the retractable driving device；
The external extension transmission device (342) includes pinion gear (3423), intermediate gear (3424) and internal gear (3425), described
Pinion gear (3423) is arranged on the output shaft of the retractable driving device, and the internal gear (3425) is arranged in the external extension
On the madial wall of thread barrel (321), the intermediate gear (3424) with the pinion gear (3423) and the internal gear
(3425) it is meshed.
9. the Detecting Robot according to claim 1 that can be adsorbed on metope, which is characterized in that the external extension screw thread
Cylinder (321) is connect with the pedestal (33) by bearing.
10. the Detecting Robot according to claim 1 that can be adsorbed on metope, which is characterized in that two adjacent institutes
External extension thread barrel (321) is stated to be connected through a screw thread.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810329702.2A CN108481335A (en) | 2018-04-13 | 2018-04-13 | The Detecting Robot that can be adsorbed on metope |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810329702.2A CN108481335A (en) | 2018-04-13 | 2018-04-13 | The Detecting Robot that can be adsorbed on metope |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN108481335A true CN108481335A (en) | 2018-09-04 |
Family
ID=63316073
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810329702.2A Pending CN108481335A (en) | 2018-04-13 | 2018-04-13 | The Detecting Robot that can be adsorbed on metope |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108481335A (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202120111U (en) * | 2011-06-23 | 2012-01-18 | 俞亚峰 | All-weather movable monitoring robot |
| CN103613044A (en) * | 2013-12-17 | 2014-03-05 | 哈尔滨工业大学 | Multistage screw drive large-stroke automatic underprop tool |
| CN204567835U (en) * | 2015-05-05 | 2015-08-19 | 杨云涛 | Climbing robot |
| CN106913277A (en) * | 2017-04-17 | 2017-07-04 | 河北工业大学 | A kind of double leval jib glass-cleaning robot |
| US20170209798A1 (en) * | 2016-01-27 | 2017-07-27 | Genius Toy Taiwan Co., Ltd. | Wall climbing toy |
| CN107414859A (en) * | 2017-08-30 | 2017-12-01 | 海安科大机器人科技有限公司 | Wall spray robot is climbed based on mechanical arm |
-
2018
- 2018-04-13 CN CN201810329702.2A patent/CN108481335A/en active Pending
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202120111U (en) * | 2011-06-23 | 2012-01-18 | 俞亚峰 | All-weather movable monitoring robot |
| CN103613044A (en) * | 2013-12-17 | 2014-03-05 | 哈尔滨工业大学 | Multistage screw drive large-stroke automatic underprop tool |
| CN204567835U (en) * | 2015-05-05 | 2015-08-19 | 杨云涛 | Climbing robot |
| US20170209798A1 (en) * | 2016-01-27 | 2017-07-27 | Genius Toy Taiwan Co., Ltd. | Wall climbing toy |
| CN106913277A (en) * | 2017-04-17 | 2017-07-04 | 河北工业大学 | A kind of double leval jib glass-cleaning robot |
| CN107414859A (en) * | 2017-08-30 | 2017-12-01 | 海安科大机器人科技有限公司 | Wall spray robot is climbed based on mechanical arm |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103972816B (en) | Obstacle-crossing mechanical arm suitable for power transmission line inspection robot | |
| CN103895035B (en) | Based on the collapsible explorer mechanical arm of triangle configuration link transmission | |
| CN106882377A (en) | A kind of unmanned plane for glass cleaning | |
| CN203142829U (en) | Multifunctional hydraulic rescue robot | |
| CN110466636B (en) | Wall-climbing robot capable of intelligently adjusting suction force and supporting position | |
| CN114275065B (en) | High-reliability adsorption type climbing robot and control method thereof | |
| CN104875176B (en) | A kind of omnidirectional's train and vacuum leak hunting machine people | |
| CN106510563A (en) | High-altitude robot cleaner | |
| CN111821623A (en) | Fire control reconnaissance robot | |
| CN109357105A (en) | A kind of wheel-track combined pipe robot | |
| CN113800359A (en) | Mine steel wire rope dust and dirt removing robot and working method | |
| CN206285386U (en) | A kind of emergent fire extinguishing dolly of high building | |
| CN108481335A (en) | The Detecting Robot that can be adsorbed on metope | |
| CN108445918A (en) | A kind of solar energy Internet-based is from trend day tracks of device | |
| CN112894185A (en) | Automatic welding machine for machining pipe of assembly machine room | |
| CN211306959U (en) | Building construction wall perforating device | |
| CN205713041U (en) | A kind of building hanging basket device being automatically positioned | |
| CN105212843B (en) | A kind of curtain cleaning device | |
| CN208731085U (en) | Modular track and robot | |
| CN105288911A (en) | Elevated fire engine getting-on structure having puncture function | |
| KR101856652B1 (en) | High place works vehicles having twist prevention structure of power cable | |
| CN206060938U (en) | Photographic head is patrolled and examined in oil field drill high-altitude | |
| CN206105896U (en) | Intelligent production line machinery manual control system | |
| CN210446884U (en) | Window cleaning robot system | |
| CN213884832U (en) | Fire engine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| 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 |
Application publication date: 20180904 |
|
| WD01 | Invention patent application deemed withdrawn after publication |