CN109466650A - A kind of climbing robot - Google Patents
A kind of climbing robot Download PDFInfo
- Publication number
- CN109466650A CN109466650A CN201811607203.1A CN201811607203A CN109466650A CN 109466650 A CN109466650 A CN 109466650A CN 201811607203 A CN201811607203 A CN 201811607203A CN 109466650 A CN109466650 A CN 109466650A
- Authority
- CN
- China
- Prior art keywords
- wheel
- climbing robot
- magnet
- rotating shaft
- walking
- 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
- 230000009194 climbing Effects 0.000 title claims abstract description 58
- 238000001727 in vivo Methods 0.000 claims 1
- 238000001179 sorption measurement Methods 0.000 description 9
- 239000003463 adsorbent Substances 0.000 description 6
- 238000010521 absorption reaction Methods 0.000 description 3
- 230000004888 barrier function Effects 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 238000005096 rolling process Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 239000013536 elastomeric material Substances 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000000034 method Methods 0.000 description 1
Classifications
-
- 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
Abstract
The invention discloses a kind of climbing robots, including robot body, the robot body includes walking unit, the walking unit includes main part and traveling wheel, the traveling wheel includes wheel body and absorbing unit, the absorbing unit is arranged on the wheel body for being adsorbed on working face, and the traveling wheel is arranged on the main part for driving the main part to walk along the working face.Climbing robot provided by the present invention, walking unit enable climbing robot to walk in working face, and absorbing unit enables climbing robot to be adsorbed on working face.The reliability that climbing robot uses can be improved in the present invention.
Description
Technical field
The present invention relates to robot field more particularly to a kind of climbing robots.
Background technique
With economic rapid development, more and more cleanings are substituted by intelligent robot.In cleaning wall, window
When the high-altitudes cleaning operation such as family, climbing robot has more and more been used.
Existing climbing robot includes main stand, adsorbent equipment and running gear, and adsorbent equipment and running gear are arranged
On main stand, adsorbent equipment is for adsorbing working face, and running gear is for driving main stand to walk on working face.
However, the bottom of main stand is usually arranged in adsorbent equipment by existing climbing robot, to guarantee walking dress
Set it is smooth walk on working face, usually exist between the main stand bottom of climbing robot and working face it is certain away from
From so that distance between adsorbent equipment and working face be made farther out, to reduce adsorbent equipment for the adsorption capacity of working face, to make
Climbing robot is easy to appear the problems such as falling, and affects the reliability that climbing robot uses.
Summary of the invention
The present invention provides a kind of climbing robot, to improve the reliability used.
Climbing robot provided by the invention, including robot body, the robot body includes walking unit, described
Walking unit includes main part and traveling wheel, and the traveling wheel includes wheel body and absorbing unit, and the absorbing unit is arranged in institute
It states for being adsorbed on working face on wheel body, the traveling wheel is arranged on the main part for driving the main part along institute
State working face walking.
Climbing robot provided by the present invention can make traveling wheel be in contact with working face when in use, to pass through row
The absorbing unit absorption working face being arranged on wheel is walked, so that climbing robot is adsorbed on working face, passes through traveling wheel later
Rolling on working face can make climbing robot walk on working face.By being arranged absorbing unit on traveling wheel,
Absorbing unit can be made closer from working face, and then be conducive to increase the adsorption capacity between absorbing unit and working face, effectively prevent
Climbing robot is fallen, and improves the reliability that climbing robot uses.
Detailed description of the invention
Fig. 1 is a kind of perspective view of climbing robot provided in an embodiment of the present invention；
Fig. 2 is a kind of structural exploded view of the traveling wheel of climbing robot provided in an embodiment of the present invention；
Fig. 3 is a kind of partial structural diagram of climbing robot provided in an embodiment of the present invention.
Specific embodiment
To keep the purpose of the present invention, feature, advantage more obvious and understandable, below in conjunction with the embodiment of the present invention
In attached drawing, technical scheme in the embodiment of the invention is clearly and completely described, it is clear that described embodiment is only
It is only a part of the embodiment of the present invention, and not all embodiments.Based on the embodiments of the present invention, those skilled in the art are not having
Every other embodiment obtained under the premise of creative work is made, shall fall within the protection scope of the present invention.
Fig. 1 is a kind of perspective view of climbing robot provided in an embodiment of the present invention；Fig. 2 is provided in an embodiment of the present invention
A kind of structural exploded view of the traveling wheel of climbing robot；
As shown in Figs. 1-2, the present invention provides a kind of climbing robot, including robot body, and robot body includes row
Unit 110 is walked, walking unit 110 includes main part 111 and traveling wheel 112, and traveling wheel 112 includes wheel body 113 and absorbing unit
114, absorbing unit 114 is arranged on wheel body 113 for being adsorbed on working face, and the setting of traveling wheel 112 is used on main part 111
It walks in drive main part 111 along working face.
Climbing robot in the embodiment of the present invention can make traveling wheel 112 be in contact with working face when in use, thus
Working face is adsorbed by the absorbing unit 114 being arranged on traveling wheel 112, climbing robot is enable to be adsorbed on working face, it
Afterwards by rolling of the traveling wheel 112 on working face, climbing robot can be made to walk on working face.By by absorbing unit
114 be arranged on traveling wheel 112, absorbing unit 114 can be made closer from working face, so be conducive to increase absorbing unit 114 with
Adsorption capacity between working face effectively prevent falling for climbing robot, improves the reliability that climbing robot uses.
In the present embodiment, it is preferred that absorbing unit 114 is magnet, and magnet is arranged in wheel body 113 and along wheel body 113
It is axially extending, magnet be it is multiple, multiple magnet are uniformly distributed along the circumferential direction of wheel body 113.Absorbing unit 114 is that magnet makes climbing robot
It can walk on magnetic or irony working face, multiple magnet are uniformly distributed along the circumferential direction of wheel body 113, make each magnet for working face
Adsorption capacity is more uniform, to keep wheel body 113 more stable when rolling on working face.Certainly, absorbing unit 114 can also be true
Suction adsorption device is simultaneously arranged in wheel body 113, and the periphery of wheel body 113 is equipped with adsorption hole, vacuum absorption device and adsorption hole phase
Connection provides negative pressure for adsorption hole, and wheel body 113 is enable to be adsorbed on working face.
In the present embodiment, it is preferred that the side of wheel body 113 is equipped with mounting hole 115, and magnet is detachably arranged in installation
In hole 115.Magnet on wheel body 113 is removably, at work, to can according to need, be selectively mounted on wheel body 113
Magnet number or model improve the versatility of climbing robot so as to adjust magnet for the adsorption capacity of working face.
In the present embodiment, it is preferred that wheel body 113 includes wheel hub 116 and tire 117, and tire 117 is set on wheel hub 116,
Mounting hole 115 is arranged on tire 117, and magnet and mounting hole 115 are interference fitted.Dismountable magnet is matched with 117 interference of tire
Close so that climbing robot at work, the setting that magnet can be stable is in mounting hole 115.Preferably, tire 117 can be used
Thus rubber elastomeric material enables mounting hole 115 generate elastic deformation, enable adaptation to the magnet without size, from
And improve the versatility of wheel body 113.
In the present embodiment, it is preferred that traveling wheel 112 further includes backplate 118, and backplate 118 and wheel hub 116 are detachably connected simultaneously
Positioned at the two sides of tire 117, magnet is folded between two backplates 118, and backplate 118 is supported with magnet to be connect.By in tire
Backplate 118 is arranged in 117 two sides, and backplate 118 is supported with magnet and is connect, and magnet further can be fixed on mounting hole 115
It is interior, prevent magnet sliding axially along mounting hole 115.
Fig. 3 is a kind of partial structural diagram of climbing robot provided in an embodiment of the present invention.
As shown in Figure 1, Figure 3, in the present embodiment, it is preferred that climbing robot further includes first driving device, robot master
Body further includes connector 120, and walking unit 110 further includes first rotating shaft 119, and first rotating shaft 119 is arranged on main part 111,
The axis perpendicular of first rotating shaft 119 and traveling wheel 112, main part 111 are connected by first rotating shaft 119 and the rotation of connector 120
It connects, first driving device is arranged on robot body, for driving walking unit 110 and connector 120 with first rotating shaft 119
For center relative rotation；Walking unit 110 be it is multiple, connector 120 is connected between multiple walking units 110.When work, lead to
Cross absorbing unit 114 for the absorption of working face can make climbing robot keep balance, when climbing robot need turn to or
When across Different Plane, it can be driven by first driving device during walking unit 110 and connector 120 with first rotating shaft 119 be
Heart relative rotation, due to the axis perpendicular of first rotating shaft 119 and traveling wheel 112, connector 120 and multiple can be made
It deflects between walking unit 110, to realize steering or cross over Different Plane.Wherein, first driving device can be set
It also can be set in walking unit 110 on connector 120.
In the present embodiment, it is preferred that traveling wheel Unit 112 is two, and connector 120 is backwards to robot body bottom surface
The arc of 130 protrusions.When work, if there are barrier or needing forming the flat of evagination turning in climbing robot track route
When walking between face, climbing robot can make barrier or turning from connection by the connector 120 backwards to working face protrusion
Pass through below part 120, and then climbing robot is made to pass through barrier or turning, improves the passability of climbing robot
Energy.
In the present embodiment, it is preferred that connector 120 include connecting rod 121 and the second shaft 122, connecting rod 121 be two, two
The first end of a connecting rod 121 is hinged by the second shaft 122, and the second end of connecting rod 121 passes through first rotating shaft 119 and main part
111 rotation connections, the axis perpendicular of the second shaft 122 and first rotating shaft 119 and traveling wheel 112.Due to two connectors 120
It can be relatively rotated centered on the second shaft 122, and the axis phase of the second shaft 122 and first rotating shaft 119 and traveling wheel 112
Vertically, it therefore can be realized the multiple degrees of freedom rotation of connector 120 and walking unit 110, exist to increase climbing robot
Turn to or cross over flexibility ratio when Different Plane.
In the present embodiment, it is preferred that further include the second driving device, the second driving device is arranged on connector 120, uses
In two connecting rods 121 of driving with the second shaft 122 for center relative rotation.Two companies are driven by the second driving device as a result,
Bar 121, for center relative rotation, can be realized the active rotation between two connecting rods 121 with the second shaft 122, to be conducive to mention
Flexibility ratio of the high climbing robot when turning to or crossing over Different Plane.Wherein, the second driving device can be set in any company
On bar 121 or it is arranged between two connecting rods 121.
In the present embodiment, it is preferred that bottom surface 130 of second shaft 122 perpendicular to robot body.As a result, when two companies
Bar 121 with the second shaft 122 be center relative rotation when, the steering of climbing robot can be directly realized by, improve and climb wall machine
The flexibility that device people turns to.In addition, since the second shaft 122 and first rotating shaft 119 are perpendicular, first rotating shaft 119 is parallel
In the bottom surface of robot body 130, when walking unit 110 is rotated centered on first rotating shaft 119 relative to connector 120,
It is mobile to upper side to can be realized walking unit 110, so that climbing robot is enable easily to cross in the plane of side,
Improve the flexibility across Different Plane of climbing robot.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.Moreover, particular features, structures, materials, or characteristics described
It may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, without conflicting with each other, this
The technical staff in field can be by the spy of different embodiments or examples described in this specification and different embodiments or examples
Sign is combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.In the description of the present invention, the meaning of " plurality " is two or more, unless otherwise
Clear specific restriction.
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 climbing robot, which is characterized in that including robot body, the robot body includes walking unit, institute
Stating walking unit includes main part and traveling wheel, and the traveling wheel includes wheel body and absorbing unit, and the absorbing unit setting exists
For being adsorbed on working face on the wheel body, the traveling wheel is arranged on the main part for driving the main part edge
The working face walking.
2. climbing robot according to claim 1, which is characterized in that the absorbing unit is magnet, and the magnet is set
Set in the wheel in vivo and along the axially extending of the wheel body, the magnet be it is multiple, multiple magnet are along the wheel body
It is circumferential uniformly distributed.
3. climbing robot according to claim 2, which is characterized in that the side of the wheel body is equipped with mounting hole, institute
Magnet is stated to be detachably arranged in the mounting hole.
4. climbing robot according to claim 3, which is characterized in that the wheel body includes wheel hub and tire, the wheel
Tire is set on the wheel hub, and the mounting hole is arranged on the tire, and the magnet and the mounting hole are interference fitted.
5. climbing robot according to claim 4, which is characterized in that the traveling wheel further includes backplate, the backplate
The two sides of the tire are detachably connected and are located at the wheel hub, and the magnet is folded between two backplates, described
Backplate is supported with magnet and is connect.
6. any climbing robot in -5 according to claim 1, which is characterized in that it further include first driving device, institute
Stating robot body further includes connector, and the walking unit further includes first rotating shaft, and the first rotating shaft is arranged in the master
In body portion, the axis perpendicular of the first rotating shaft and the traveling wheel, the main part by the first rotating shaft with it is described
Connector rotation connection, the first driving device are arranged on robot body, for driving the walking unit and described
Connector is using the first rotating shaft as center relative rotation；
The walking unit be it is multiple, the connector is connected between multiple walking units.
7. climbing robot according to claim 6, which is characterized in that the walking wheel unit is two, the connection
Part is the arc backwards to the robot body bottom surface protrusion.
8. climbing robot according to claim 7, which is characterized in that the connector includes connecting rod and the second shaft,
The connecting rod is two, and the first end of two connecting rods is hinged by second shaft, and the second end of the connecting rod passes through
The first rotating shaft and the main part are rotatablely connected, the axis of second shaft and the first rotating shaft and the traveling wheel
It is perpendicular.
9. climbing robot according to claim 8, which is characterized in that further include the second driving device, described second drives
Dynamic device is arranged on the connector, for driving two connecting rods using second shaft as center relative rotation.
10. climbing robot according to claim 8, which is characterized in that second shaft is perpendicular to the robot
The bottom surface of main body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811607203.1A CN109466650A (en) | 2018-12-27 | 2018-12-27 | A kind of climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811607203.1A CN109466650A (en) | 2018-12-27 | 2018-12-27 | A kind of climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN109466650A true CN109466650A (en) | 2019-03-15 |
Family
ID=65677614
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201811607203.1A Pending CN109466650A (en) | 2018-12-27 | 2018-12-27 | A kind of climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109466650A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941367A (en) * | 2019-04-22 | 2019-06-28 | 北京史河科技有限公司 | Climbing robot |
| CN109969280A (en) * | 2019-04-28 | 2019-07-05 | 北京史河科技有限公司 | Climbing robot |
| CN110080139A (en) * | 2019-05-08 | 2019-08-02 | 机械科学研究总院海西（福建）分院有限公司 | A kind of highway profile band automatic cleaning apparatus |
| CN110142737A (en) * | 2019-06-28 | 2019-08-20 | 北京史河科技有限公司 | Robot |
| CN110254548A (en) * | 2019-06-28 | 2019-09-20 | 北京史河科技有限公司 | A kind of climbing robot |
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| CN1702008A (en) * | 2005-06-14 | 2005-11-30 | 胡广怀 | Magnetizing walking wheel unit for magnetic adsorption type wall-climbing device |
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| CN106608307A (en) * | 2016-09-14 | 2017-05-03 | 中科新松有限公司 | Wall climbing compound robot |
| CN206485415U (en) * | 2016-12-12 | 2017-09-12 | 哈尔滨工业大学 | Climbing robot |
| CN209274759U (en) * | 2018-12-27 | 2019-08-20 | 北京史河科技有限公司 | A kind of climbing robot |
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| CN1702008A (en) * | 2005-06-14 | 2005-11-30 | 胡广怀 | Magnetizing walking wheel unit for magnetic adsorption type wall-climbing device |
| WO2006133627A1 (en) * | 2005-06-14 | 2006-12-21 | Guang Huai Hu | Magnetizing walking wheel unit for magnetic adsorption type wall-climbing device |
| JP2008081070A (en) * | 2006-09-29 | 2008-04-10 | Kansai Electric Power Co Inc:The | Crawler type wall surface suction travelling robot |
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| CN209274759U (en) * | 2018-12-27 | 2019-08-20 | 北京史河科技有限公司 | A kind of climbing robot |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109941367A (en) * | 2019-04-22 | 2019-06-28 | 北京史河科技有限公司 | Climbing robot |
| CN109969280A (en) * | 2019-04-28 | 2019-07-05 | 北京史河科技有限公司 | Climbing robot |
| CN110080139A (en) * | 2019-05-08 | 2019-08-02 | 机械科学研究总院海西（福建）分院有限公司 | A kind of highway profile band automatic cleaning apparatus |
| CN110142737A (en) * | 2019-06-28 | 2019-08-20 | 北京史河科技有限公司 | Robot |
| CN110254548A (en) * | 2019-06-28 | 2019-09-20 | 北京史河科技有限公司 | A kind of climbing robot |
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