CN109436120B - Wall climbing robot - Google Patents
Wall climbing robot Download PDFInfo
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- CN109436120B CN109436120B CN201811478403.1A CN201811478403A CN109436120B CN 109436120 B CN109436120 B CN 109436120B CN 201811478403 A CN201811478403 A CN 201811478403A CN 109436120 B CN109436120 B CN 109436120B
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- bolt
- vehicle body
- limiting piece
- climbing robot
- stopper
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T30/00—Transportation of goods or passengers via railways, e.g. energy recovery or reducing air resistance
Abstract
The invention discloses an anti-overturning device and a wall climbing robot with the same. The anti-overturning device comprises: a first body and a second body disposed in a first direction at a spacing; a mounting shaft; the transmission piece is rotatably sleeved on the mounting shaft; the first end part of the first elastic piece is connected with the first vehicle body, and the second end part of the first elastic piece is connected with the transmission piece; the first end of the second elastic piece is connected with the second vehicle body, the second end of the second elastic piece is connected with the transmission piece, and the mounting shaft is located between the second end of the first elastic piece and the second end of the second elastic piece in the first direction. The anti-overturning device provided by the embodiment of the invention has the advantages of preventing the wall climbing robot from overturning, improving the motion stability of the wall climbing robot and the like.
Description
Technical Field
The present invention relates to a wall climbing robot.
Background
For the wall climbing robot, the wall climbing robot can be stably adsorbed and crawled on a vertical wall surface under load, failure modes such as sliding and obstacle overturning can not be generated, and the wall climbing robot is a primary and most basic requirement for ensuring the wall climbing robot to complete tasks. When the wall climbing robot overturns, the wall climbing robot cannot normally adsorb and walk, and when no safety rope exists, the wall climbing robot can fall on the ground, so that the wall climbing robot is damaged.
Disclosure of Invention
The present invention aims to solve at least one of the technical problems in the related art to some extent. To this end, the invention proposes an anti-overturning device and a wall climbing robot with the same.
In order to achieve the above object, a first aspect of the present invention provides an anti-overturning device including: a first body and a second body disposed in a first direction at a spacing; a mounting shaft; the transmission piece is rotatably sleeved on the mounting shaft; the first end part of the first elastic piece is connected with the first vehicle body, and the second end part of the first elastic piece is connected with the transmission piece; and a second elastic member, a first end of the second elastic member being connected to the second vehicle body, a second end of the second elastic member being connected to the transmission member, wherein the mounting shaft is located between the second end of the first elastic member and the second end of the second elastic member in the first direction.
The anti-overturning device provided by the embodiment of the invention has the advantages of preventing the wall climbing robot from overturning and improving the motion stability of the wall climbing robot.
In addition, the anti-overturning device according to the above embodiment of the present invention may further have the following additional technical features:
according to one embodiment of the invention, the transmission member extends in the first direction, and the mounting shaft extends in a second direction, the second direction being perpendicular to the first direction.
According to one embodiment of the invention, each of the first and second elastic members extends in a third direction, the third direction being perpendicular to each of the first and second directions.
According to one embodiment of the invention, the anti-overturning device further comprises: a first end portion of the first stopper is rotatably provided on the mounting shaft, a second end portion of the first stopper is rotatably provided on the first vehicle body, a first end portion of the second stopper is rotatably provided on the mounting shaft, and a second end portion of the second stopper is rotatably provided on the first vehicle body, wherein each of the first vehicle body and the transmission member is located between the first stopper and the second stopper in the second direction; and a third limiting member and a fourth limiting member, a first end portion of the third limiting member is rotatably provided on the mounting shaft, a second end portion of the third limiting member is rotatably provided on the second vehicle body, a first end portion of the fourth limiting member is rotatably provided on the mounting shaft, and a second end portion of the fourth limiting member is rotatably provided on the second vehicle body, wherein each of the second vehicle body and the transmission member is located between the third limiting member and the fourth limiting member in the second direction.
According to one embodiment of the invention, the mounting shaft has a first end face and a second end face opposite in the second direction, the anti-overturning device further comprising: the first end part of the first limiting piece and the first end part of the third limiting piece are located between a nut of the first bolt and the first end face in the second direction; the first end part of the second limiting piece and the first end part of the fourth limiting piece are rotatably arranged on the screw rod of the second bolt, and the first end part of the second limiting piece and the first end part of the fourth limiting piece are positioned between the nut of the second bolt and the second end surface in the second direction; a third bolt and a fourth bolt, each of the third bolt and the fourth bolt being provided on the first vehicle body, a second end of the first stopper being rotatably provided on a screw of the third bolt, the second end of the first stopper being located between a nut of the third bolt and the first vehicle body in the second direction, the second end of the second stopper being rotatably provided on a screw of the fourth bolt, the second end of the second stopper being located between a nut of the fourth bolt and the first vehicle body in the second direction; and a fifth bolt and a sixth bolt, each of the fifth bolt and the sixth bolt being provided on the second vehicle body, a second end of the third stopper being rotatably provided on a screw of the fifth bolt, the second end of the third stopper being located between a nut of the fifth bolt and the second vehicle body in the second direction, a second end of the fourth stopper being rotatably provided on a screw of the sixth bolt, the second end of the fourth stopper being located between a nut of the sixth bolt and the second vehicle body in the second direction.
According to one embodiment of the invention, the first limiting piece is provided with a first oblong hole, and the third bolt passes through the first oblong hole; the second limiting piece is provided with a second oblong hole, and the fourth bolt penetrates through the second oblong hole; a third oblong hole is formed in the third limiting piece, and the fifth bolt penetrates through the third oblong hole; and a fourth oblong hole is formed in the fourth limiting part, and the sixth bolt penetrates through the fourth oblong hole.
According to an embodiment of the present invention, each of the first elastic member and the second elastic member is a coil spring, and the anti-overturning device further includes: the first sleeve is arranged on the first vehicle body, the second sleeve is arranged on the transmission part, a first part of the first elastic part is arranged in the first sleeve, and a second part of the first elastic part is arranged in the second sleeve; and the third sleeve is arranged on the second vehicle body, the fourth sleeve is arranged on the transmission part, the first part of the second elastic part is arranged in the third sleeve, and the second part of the second elastic part is arranged in the fourth sleeve.
According to one embodiment of the invention, each of the first and second elastic members is in a compressed state.
According to one embodiment of the invention, the first vehicle body includes: a first frame, a first end of the first elastic member being connected to the first frame; the first magnet module is arranged on the first frame; and a first roller and a second roller, each of the first roller and the second roller rotatably provided on the first carriage; the second body includes: a second frame, the first end of the second elastic member being connected to the second frame; the second magnet module is arranged on the second frame; and third and fourth rollers, each of which is rotatably provided on the second carriage, preferably, a urethane rubber layer is provided on a surface of each of the first, second, third and fourth rollers.
A second aspect of the invention provides a wall climbing robot comprising an anti-tipping device according to the first aspect of the invention.
The wall climbing robot provided by the embodiment of the invention has the advantages of no overturning and high motion stability.
Drawings
FIG. 1 is a schematic diagram of an anti-tipping device according to an embodiment of the invention;
fig. 2 is a schematic structural view of a first vehicle body (second vehicle body) of the anti-overturning device according to the embodiment of the invention;
fig. 3 is a schematic structural view of a first magnet module (a second magnet module) of the anti-overturning device according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a first magnet module (second magnet module) of the anti-overturning device according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described below by referring to the drawings are illustrative and intended to explain the present invention and should not be construed as limiting the invention.
An anti-overturning device 1 according to an embodiment of the present invention is described below with reference to the accompanying drawings. As shown in fig. 1 to 4, the anti-overturning device 1 according to the embodiment of the present invention includes a first vehicle body 110, a second vehicle body 120, a mounting shaft 210, a transmission member 220, a first elastic member 310, and a second elastic member 320.
The first body 110 and the second body 120 are disposed at intervals in the first direction. This first direction may coincide with the direction of movement of the wall climbing robot comprising the anti-tipping device 1 when the anti-tipping device 1 is in use. The transmission member 220 is rotatably sleeved on the mounting shaft 210.
The first end of the first elastic member 310 is connected to the first body 110, and the second end of the first elastic member 310 is connected to the driving member 220. The first end of the second elastic member 320 is connected to the second body 120, and the second end of the second elastic member 320 is connected to the transmission member 220. Wherein the mounting shaft 210 is located between the second end of the first elastic member 310 and the second end of the second elastic member 320 in the first direction.
In other words, the mounting shaft 210 is located between the junction of the second end of the first elastic member 310 and the transmission member 220 and the junction of the second end of the second elastic member 320 and the transmission member 220 in the first direction.
In order to make the technical solution of the present application easier to understand, the working procedure of the anti-overturning device 1 according to the embodiment of the present invention will be described below with reference to fig. 1 to 4, taking the forward direction of the anti-overturning device 1 and the wall climbing robot including the anti-overturning device 1 as an example, where the first vehicle body 110 is located in front of the second vehicle body 120 (forward direction).
The wall climbing robot can climb on a wall surface 2 made of ferromagnetic material. When first body 110 (the wall climbing robot) encounters an obstacle (e.g., a weld), first body 110 may tilt away from wall 2, which may result in the wall climbing robot tipping back (especially when wall 2 is a vertical wall) if no anti-tipping action is taken.
When the first body 110 is tilted in a direction away from the wall surface 2 so as to compress the first elastic member 310, the first body 110 further tilts the portion of the transmission member 220 connected to the first elastic member 310 in a direction away from the wall surface 2 via the first elastic member 310. Since the transmission member 220 is rotatably sleeved on the mounting shaft 210, and the mounting shaft 210 is located between the second end of the first elastic member 310 and the second end of the second elastic member 320 in the first direction, the portion of the transmission member 220 connected to the second elastic member 320 is tilted in a direction adjacent to the wall surface 2, thereby compressing the second elastic member 320.
The second elastic member 320 thereby applies an elastic force toward the wall surface 2 to the second vehicle body 120 so that the second elastic member 320 presses the second vehicle body 120 against the wall surface 2, whereby the wall climbing robot can be prevented from overturning backward. When first vehicle body 110 passes over the obstacle, (each component of first vehicle body 110) returns to the original state (the state when first vehicle body 110 is not tilted in the direction away from wall surface 2).
When the second vehicle body 120 encounters an obstacle, the operation of the anti-toppling apparatus 1 is the same as that of the anti-toppling apparatus 1 when the first vehicle body 110 encounters an obstacle, and thus will not be described in detail.
According to the anti-overturning device 1 provided by the embodiment of the invention, the rotatable transmission member 220 is arranged, and the transmission member 220 is connected with the first vehicle body 110 and the second vehicle body 120 through the elastic member, so that when the wall climbing robot encounters an obstacle, the anti-overturning device 1 can avoid the wall climbing robot from overturning by pressing the first vehicle body 110 or the second vehicle body 120 on a wall surface.
Therefore, the anti-overturning device 1 provided by the embodiment of the invention has the advantages of preventing the wall climbing robot from overturning, improving the motion stability of the wall climbing robot and the like.
As shown in fig. 1 to 4, in some embodiments of the present invention, the anti-toppling apparatus 1 may include a first vehicle body 110, a second vehicle body 120, a mounting shaft 210, a transmission member 220, a first elastic member 310, and a second elastic member 320. The anti-overturning device 1 can be mounted to the body of the wall climbing robot by a mounting shaft 210.
As shown in fig. 1 and 2, the first vehicle body 110 includes a first frame 111, a first magnet module 112, a first roller 113, and a second roller 114. The first end of the first elastic member 310 is connected to the first frame 111, and the first magnet module 112 is disposed on the first frame 111. Each of the first roller 113 and the second roller 114 is rotatably provided on the first frame 111.
The second body 120 includes a second frame 121, a second magnet module 122, a third roller 123, and a fourth roller 124. The first end of the second elastic member 320 is connected to the second frame 121, and the second magnet module 122 is disposed on the second frame 121. Each of the third roller 123 and the fourth roller 124 is rotatably provided on the second frame 121.
The wall climbing robot and the anti-overturning device 1 can be adsorbed on the wall surface 2 through the first magnet module 112 and the second magnet module 122.
Preferably, a urethane rubber layer is provided on the surface of each of the first roller 113, the second roller 114, the third roller 123, and the fourth roller 124. More preferably, the urethane rubber layer is provided on a side of each of the first roller 113, the second roller 114, the third roller 123, and the fourth roller 124. Thereby not only preventing the first roller 113, the second roller 114, the third roller 123, and the fourth roller 124 from being worn, but also increasing the contact friction of the first roller 113, the second roller 114, the third roller 123, and the fourth roller 124.
As shown in fig. 3, the first magnet module 112 includes a first yoke 1121, a first permanent magnet 1122, a second permanent magnet 1123, and a first magnetism blocking plate 1124. The first magnetic separator 1124 is located between the first permanent magnet 1122 and the second permanent magnet 1123. One of the N and S poles of the first permanent magnet 1122 is adjacent to the first yoke 1121, and the other of the N and S poles of the second permanent magnet 1123 is adjacent to the first yoke 1121.
The second magnet module 122 includes a second yoke 1221, a third permanent magnet 1222, a fourth permanent magnet 1223, and a second magnetism isolating plate 1224. The second magnetic separator 1224 is positioned between the third permanent magnet 1222 and the fourth permanent magnet 1223. One of the N pole and the S pole of the third permanent magnet 1222 is adjacent to the second yoke 1221, and the other of the N pole and the S pole of the fourth permanent magnet 1223 is adjacent to the second yoke 1221.
As shown in fig. 4, when the anti-overturning device 1 and the wall climbing robot are used, magnetic lines of force return from the N pole to the S pole through one of the first yoke 1121 (the second yoke 1221) and the wall surface 2, and magnetic lines of force return from the N pole to the S pole through the other of the first yoke 1121 (the second yoke 1221) and the wall surface 2, so that a closed loop is formed.
The first body 110 and the second body 120 are disposed at a distance in a first direction in which the transmission member 220 extends, and the mounting shaft 210 extends in a second direction perpendicular to the first direction. Each of the first and second elastic members 310 and 320 extends in a third direction perpendicular to each of the first and second directions. This makes it possible to make the structure of the anti-overturning device 1 more reasonable. Wherein the first direction is shown by arrow a in fig. 1, the second direction is shown by arrow B in fig. 1, and the third direction is shown by arrow C in fig. 1.
As shown in fig. 1, a first end of the first elastic member 310 is connected to the first frame 111, and a second end of the first elastic member 310 is connected to a first end of the driving member 220. The first end of the second elastic member 320 is connected to the second frame 121, and the second end of the second elastic member 320 is connected to the second end of the transmission member 220. This makes it possible to make the structure of the anti-overturning device 1 more reasonable.
Each of the first elastic member 310 and the second elastic member 320 is a coil spring, and the anti-overturning device 1 further includes a first sleeve, a second sleeve, a third sleeve, and a fourth sleeve. The first sleeve is provided on the first body 110, the second sleeve is provided on the transmission member 220, the third sleeve is provided on the second body 120, and the fourth sleeve is provided on the transmission member 220.
Wherein, the first portion of the first elastic member 310 is disposed in the first sleeve, the second portion of the first elastic member 310 is disposed in the second sleeve, the first portion of the second elastic member 320 is disposed in the third sleeve, and the second portion of the second elastic member 320 is disposed in the fourth sleeve. Thereby, the first elastic member 310 and the second elastic member 320 can be more firmly installed, i.e., the first elastic member 310 can be more firmly connected to the first frame 111 and the driving member 220, and the second elastic member 320 can be more firmly connected to the second frame 121 and the driving member 220.
Preferably, each of the first elastic member 310 and the second elastic member 320 is in a compressed state. Thus, when the anti-overturning device 1 and the wall climbing robot encounter an obstacle, the first elastic member 310 can more firmly press the first vehicle body 110 against the wall surface 2, and the second elastic member 320 can more firmly press the second vehicle body 120 against the wall surface 2.
In addition, by providing the first elastic member 310 and the second elastic member 320, a shock absorbing effect can be also provided.
As shown in fig. 1, in some examples of the present invention, the anti-toppling apparatus 1 may further include a first stopper 410, a second stopper 420, a third stopper 430, and a fourth stopper 440.
The first end of the first stopper 410 is rotatably provided on the mounting shaft 210, and the second end of the first stopper 410 is rotatably provided on the first body 110. The first end of the second stopper 420 is rotatably provided on the mounting shaft 210, and the second end of the second stopper 420 is rotatably provided on the first body 110. Wherein each of first body 110 and transmission member 220 is located between first stop member 410 and second stop member 420 in the second direction.
The first body 110 may thus be restrained in the second direction by the first and second stoppers 410 and 420, so that the first body 110 may be prevented from moving in the second direction or the moving distance (range) of the first body 110 in the second direction may be restricted, and the driving member 220 and the first elastic member 310 may be restrained in the second direction, so that the driving member 220 and the first elastic member 310 may be prevented from moving in the second direction or the moving distance (range) of the driving member 220 and the first elastic member 310 in the second direction may be restricted.
The first end of the third stopper 430 is rotatably disposed on the mounting shaft 210, and the second end of the third stopper 430 is rotatably disposed on the second body 120. The first end of the fourth limiter 440 is rotatably disposed on the mounting axle 210, and the second end of the fourth limiter 440 is rotatably disposed on the second body 120. Wherein each of the second vehicle body 120 and the transmission member 220 is located between the third limiter 430 and the fourth limiter 440 in the second direction.
The third and fourth stoppers 430 and 440 may thereby be used to limit the second body 120 in the second direction, so that the second body 120 may be prevented from moving in the second direction or the movement distance (range) of the second body 120 in the second direction may be limited, and the transmission member 220 and the second elastic member 320 may be further limited in the second direction, so that the transmission member 220 and the second elastic member 320 may be prevented from moving in the second direction or the movement distance (range) of the transmission member 220 and the second elastic member 320 in the second direction may be limited.
As shown in fig. 1, in one example of the invention, the mounting shaft 210 has a first end face 211 and a second end face opposite in the second direction. The anti-toppling apparatus 1 further includes a first bolt 510, a second bolt, a third bolt 520, a fourth bolt, a fifth bolt 530, and a sixth bolt.
A first bolt 510 is provided on the first end face 211 and a second bolt is provided on the second end face. For example, the first end surface 211 is provided with a first threaded hole, the second end surface is provided with a second threaded hole, a part of the screw of the first bolt 510 is in threaded engagement with the first threaded hole, and a part of the screw of the second bolt is in threaded engagement with the second threaded hole.
Wherein, the first end of the first limiting member 410 and the first end of the third limiting member 430 are rotatably provided on the shank of the first bolt 510. For example, the shank of the first bolt 510 may pass through the first end of the first stopper 410 and the first end of the third stopper 430. The first end of the first stopper 410 and the first end of the third stopper 430 are both located between the nut of the first bolt 510 and the first end surface 211 in the second direction.
The first end of the second stopper 420 and the first end of the fourth stopper 440 are both rotatably provided on the shank of the second bolt. For example, the shank of the second bolt may pass through the first end of the second stopper 420 and the first end of the fourth stopper 440. The first end of the second stopper 420 and the first end of the fourth stopper 440 are both located between the nut of the second bolt and the second end surface in the second direction.
Each of the third bolt 520 and the fourth bolt is provided on the first vehicle body 110. For example, first vehicle body 110 may be provided with a third screw hole into which a part of the shank of third bolt 520 is screw-fitted and a fourth screw hole into which a part of the shank of fourth bolt is screw-fitted.
The second end of the first stopper 410 is rotatably provided on the shank of the third bolt 520, and the second end of the second stopper 420 is rotatably provided on the shank of the fourth bolt. For example, the shank of the third bolt 520 may pass through the second end of the first stopper 410, and the shank of the fourth bolt may pass through the second end of the second stopper 420.
The second end of the first stopper 410 is located between the nut of the third bolt 520 and the first body 110 in the second direction, and the second end of the second stopper 420 is located between the nut of the fourth bolt and the first body 110 in the second direction.
Each of the fifth bolt 530 and the sixth bolt is provided on the second vehicle body 120. For example, the second body 120 may be provided with a fifth threaded hole in which a portion of the shank of the fifth bolt 530 is threadedly engaged and a sixth threaded hole in which a portion of the shank of the sixth bolt is threadedly engaged.
The second end of the third stopper 430 is rotatably provided on the shank of the fifth bolt 530, and the second end of the fourth stopper 440 is rotatably provided on the shank of the sixth bolt. For example, the shank of the fifth bolt 530 may pass through the second end of the third stopper 430, and the shank of the sixth bolt may pass through the second end of the fourth stopper 440.
The second end of the third stopper 430 is located between the nut of the fifth bolt 530 and the second body 120 in the second direction, and the second end of the fourth stopper 440 is located between the nut of the sixth bolt and the second body 120 in the second direction.
As shown in fig. 1, in a specific example of the present invention, a first oblong hole 411 is formed in the first limiting member 410, a third bolt 520 passes through the first oblong hole 411, a second oblong hole is formed in the second limiting member 420, the fourth bolt passes through the second oblong hole, a third oblong hole 431 is formed in the third limiting member 430, a fifth bolt 530 passes through the third oblong hole 431, and the fourth oblong hole is formed in the fourth limiting member 440, and the sixth bolt passes through the fourth oblong hole.
Thus, when the wall climbing robot and the anti-overturning device 1 encounter an obstacle, the first vehicle body 110 and the second vehicle body 120 can be moved away from the wall surface 2 more easily, so that the wall climbing robot and the anti-overturning device 1 can be made to cross the obstacle more easily.
The invention also provides a wall climbing robot. The wall climbing robot according to the embodiment of the present invention includes the anti-overturning device 1 according to the above-described embodiment of the present invention. Therefore, the wall climbing robot provided by the embodiment of the invention has the advantages of no overturning, high motion stability and the like.
In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the device or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and therefore should not be construed as limiting the present invention.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present invention, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present invention, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; may be mechanically connected, may be electrically connected or may be in communication with each other; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances.
In the present invention, unless expressly stated or limited otherwise, a first feature "up" or "down" a second feature may be the first and second features in direct contact, or the first and second features in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present invention. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (9)
1. A wall climbing robot comprising:
a first body and a second body disposed in a first direction at a spacing, the first body including a first magnet module, the second body including a second magnet module;
a mounting shaft;
the transmission piece is rotatably sleeved on the mounting shaft, the transmission piece extends along the first direction, the mounting shaft extends along the second direction, the second direction is perpendicular to the first direction, and the mounting shaft is provided with a first end face and a second end face which are opposite in the second direction;
the first end part of the first elastic piece is connected with the first vehicle body, and the second end part of the first elastic piece is connected with the transmission piece; and
a second elastic member, a first end of the second elastic member being connected to the second vehicle body, a second end of the second elastic member being connected to the transmission member, wherein the mounting shaft is located between the second end of the first elastic member and the second end of the second elastic member in the first direction;
a first stopper and a second stopper, a first end portion of the first stopper being rotatably provided on the mounting shaft, a second end portion of the first stopper being rotatably provided on the first vehicle body, a first end portion of the second stopper being rotatably provided on the mounting shaft, a second end portion of the second stopper being rotatably provided on the first vehicle body, wherein each of the first vehicle body and the transmission member is located between the first stopper and the second stopper in the second direction,
a first bolt and a second bolt, the first bolt is arranged on the first end face, the second bolt is arranged on the second end face, a first end of the first limiting piece is rotatably arranged on a screw rod of the first bolt, the first end of the first limiting piece is positioned between a screw cap of the first bolt and the first end face in the second direction, the first end of the second limiting piece is rotatably arranged on a screw rod of the second bolt, and the first end of the second limiting piece is positioned between a screw cap of the second bolt and the second end face in the second direction;
the first bolt and the second bolt are arranged on the first vehicle body, the second end of the first limiting piece is rotatably arranged on the screw rod of the first bolt, the second end of the first limiting piece is positioned between the screw cap of the first bolt and the first vehicle body in the second direction, the second end of the second limiting piece is rotatably arranged on the screw rod of the second bolt, the second end of the second limiting piece is positioned between the screw cap of the second bolt and the first vehicle body in the second direction, the first limiting piece is provided with a first oblong hole, the third bolt penetrates through the first oblong hole, the second limiting piece is provided with a second oblong hole, and the fourth bolt penetrates through the second oblong hole.
2. The wall climbing robot according to claim 1, wherein each of the first and second elastic members extends in a third direction that is perpendicular to each of the first and second directions.
3. The wall climbing robot of claim 1, further comprising:
the first end of the third limiting piece is rotatably arranged on the mounting shaft, the second end of the third limiting piece is rotatably arranged on the second vehicle body, the first end of the fourth limiting piece is rotatably arranged on the mounting shaft, the second end of the fourth limiting piece is rotatably arranged on the second vehicle body, and each of the second vehicle body and the transmission piece is located between the third limiting piece and the fourth limiting piece in the second direction.
4. The wall climbing robot according to claim 3, further comprising a fifth bolt and a sixth bolt,
the first end part of the third limiting piece is rotatably arranged on the screw rod of the first bolt, and the first end part of the third limiting piece is positioned between the nut of the first bolt and the first end surface in the second direction; the first end part of the fourth limiting piece is rotatably arranged on the screw rod of the second bolt, and the first end part of the fourth limiting piece is positioned between the nut of the second bolt and the second end surface in the second direction;
each of the fifth bolt and the sixth bolt is arranged on the second vehicle body, the second end of the third limiting piece is rotatably arranged on the screw rod of the fifth bolt, the second end of the third limiting piece is positioned between the nut of the fifth bolt and the second vehicle body in the second direction, the second end of the fourth limiting piece is rotatably arranged on the screw rod of the sixth bolt, and the second end of the fourth limiting piece is positioned between the nut of the sixth bolt and the second vehicle body in the second direction.
5. The wall climbing robot according to claim 4, wherein,
a third oblong hole is formed in the third limiting piece, and the fifth bolt penetrates through the third oblong hole;
and a fourth oblong hole is formed in the fourth limiting part, and the sixth bolt penetrates through the fourth oblong hole.
6. The wall climbing robot according to claim 1, wherein each of the first elastic member and the second elastic member is a coil spring, the wall climbing robot further comprising:
the first sleeve is arranged on the first vehicle body, the second sleeve is arranged on the transmission part, a first part of the first elastic part is arranged in the first sleeve, and a second part of the first elastic part is arranged in the second sleeve; and
the third sleeve is arranged on the second vehicle body, the fourth sleeve is arranged on the transmission part, the first part of the second elastic part is arranged in the third sleeve, and the second part of the second elastic part is arranged in the fourth sleeve.
7. The wall climbing robot according to claim 1, wherein each of the first resilient member and the second resilient member is in a compressed state.
8. The wall climbing robot according to claim 1, wherein,
the first vehicle body includes:
the first end part of the first elastic piece is connected with the first frame, and the first magnet module is arranged on the first frame; and
a first roller and a second roller, each of the first roller and the second roller rotatably disposed on the first carriage;
the second body includes:
the first end part of the second elastic piece is connected with the second frame, and the second magnet module is arranged on the second frame; and
and each of the third roller and the fourth roller is rotatably arranged on the second frame.
9. The wall climbing robot according to claim 8, wherein a polyurethane rubber layer is provided on a surface of each of the first roller, the second roller, the third roller, and the fourth roller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811478403.1A CN109436120B (en) | 2018-12-05 | 2018-12-05 | Wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811478403.1A CN109436120B (en) | 2018-12-05 | 2018-12-05 | Wall climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN109436120A CN109436120A (en) | 2019-03-08 |
| CN109436120B true CN109436120B (en) | 2023-06-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811478403.1A Active CN109436120B (en) | 2018-12-05 | 2018-12-05 | Wall climbing robot |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111676813B (en) * | 2020-06-19 | 2022-04-19 | 深圳市人工智能与机器人研究院 | Climbing robot |
| CN113984904A (en) * | 2021-09-22 | 2022-01-28 | 广东省科学院智能制造研究所 | Storage tank detection wall-climbing robot and flaw detection method thereof |
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| CN1229386A (en) * | 1997-02-06 | 1999-09-22 | 罗伯特·约翰·詹姆斯 | Full load-share colispring bogie suspension |
| JP2014172427A (en) * | 2013-03-06 | 2014-09-22 | Jfe Steel Corp | Wall surface traveling dolly |
| CN204701686U (en) * | 2015-04-14 | 2015-10-14 | 浙江工业大学 | A kind of running gear for climbing robot |
| CN105035202A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Derusting wall-climbing robot for ship |
| CN107933725A (en) * | 2017-11-20 | 2018-04-20 | 河北工业大学 | It is a kind of can obstacle detouring multi-functional climbing robot |
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|---|---|---|---|---|
| CN1229386A (en) * | 1997-02-06 | 1999-09-22 | 罗伯特·约翰·詹姆斯 | Full load-share colispring bogie suspension |
| JP2014172427A (en) * | 2013-03-06 | 2014-09-22 | Jfe Steel Corp | Wall surface traveling dolly |
| CN204701686U (en) * | 2015-04-14 | 2015-10-14 | 浙江工业大学 | A kind of running gear for climbing robot |
| CN105035202A (en) * | 2015-08-17 | 2015-11-11 | 深圳先进技术研究院 | Derusting wall-climbing robot for ship |
| CN107933725A (en) * | 2017-11-20 | 2018-04-20 | 河北工业大学 | It is a kind of can obstacle detouring multi-functional climbing robot |
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| CN109436120A (en) | 2019-03-08 |
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