CN110861722A

CN110861722A - Wall-climbing robot

Info

Publication number: CN110861722A
Application number: CN201911035950.7A
Authority: CN
Inventors: 赵智浩; 陶友瑞; 胡俊宇
Original assignee: Hebei University of Technology
Current assignee: Tianjin Hegong University advanced equipment Research Institute Co.,Ltd.
Priority date: 2019-10-29
Filing date: 2019-10-29
Publication date: 2020-03-06
Anticipated expiration: 2039-10-29
Also published as: CN110861722B

Abstract

The application provides a wall climbing robot, includes: the supporting frame is provided with a pair of tracks with the cross section in a runway shape; a track is arranged between the pair of tracks; the track comprises a working area and an idle area, and the track is arranged in the inner side areas of the working area and the idle area; a symmetrical shaft of the track parallel to the travelling direction of the track is set as a first symmetrical shaft, a symmetrical shaft of the track parallel to the travelling direction of the track is set as a second symmetrical shaft, the first symmetrical shaft is parallel to the second symmetrical shaft, and the vertical distance between the second symmetrical shaft and the working area is greater than that between the second symmetrical shaft and the idle area; a slidable guide wheel is clamped in the track; a plurality of magnetic adsorption units are arranged between the pair of tracks; an elastic connecting piece is connected between the guide wheel and the magnetic adsorption unit. The beneficial effect of this application is: due to the fact that the working area and the idle area are different in distance from the rail, the elastic connecting piece is stretched when the guide wheel moves to the corresponding working area, and therefore the robot load is applied to the working area.

Description

Wall-climbing robot

Technical Field

The disclosure relates to the technical field of robots, in particular to a wall-climbing robot.

Background

The application way of the crawler-type robot is more and more wide at present, and the requirement on the crawler-type robot is more and more high, and the crawler-type robot mostly does not have a load dispersing mechanism at present, and most of load weight of robot load can concentrate on a small amount of partial crawler belts, and this will influence the stability of climbing the wall of the wall climbing robot, causes hidden danger to the security of the wall climbing robot.

Disclosure of Invention

The object of the present application is to solve the above problems, and to provide a wall-climbing robot.

In a first aspect, the present application provides a wall climbing robot, comprising: the driving mechanism drives the pair of tracks to move synchronously, and the cross section of each track is in a runway shape; a track fixed on the support frame is arranged between the pair of tracks, and the cross section shape of the track is consistent with that of the track; the tracks comprise working areas, idle areas and arc areas connected between the working areas and the idle areas, and the tracks are correspondingly arranged in the areas between the working areas and the idle areas of the pair of tracks; a symmetrical shaft of the crawler belt, which is parallel to the travelling direction of the crawler belt, is set as a first symmetrical shaft, a symmetrical shaft of the crawler belt, which is parallel to the travelling direction of the crawler belt, is set as a second symmetrical shaft, the first symmetrical shaft is parallel to the second symmetrical shaft, and the vertical distance between the second symmetrical shaft and the working area is greater than that between the second symmetrical shaft and the idle area; a slidable guide wheel is clamped in the track; a plurality of magnetic adsorption units are uniformly arranged between the pair of tracks; and an elastic connecting piece is connected between the guide wheel and the magnetic adsorption unit.

According to the technical scheme provided by the embodiment of the application, the magnetic adsorption unit is rotatably connected to the surfaces of the pair of crawler belts through the movable assembly.

According to the technical scheme that this application embodiment provided, the movable assembly is including fixing a pair of connecting seat on a pair of track surface, first through-hole has been seted up on the connecting seat, magnetism adsorbs the unit bottom surface and is fixed with the correspondence the inserted bar of connecting seat, the inserted bar passes through first through-hole rotationally pegs graft between a pair of the connecting seat.

According to the technical scheme that this application embodiment provided, correspond on the inserted bar the guide pulley sets up a pair of engaging lug, and is a pair of be connected with on the engaging lug with the parallel round pin axle of guide pulley extending direction, elastic component's both ends are connected respectively the guide pulley with sell epaxial.

According to the technical scheme that this application embodiment provided, elastic component is the double-end extension spring.

According to the technical scheme provided by the embodiment of the application, the crawler belt is arranged as a chain.

According to the technical scheme provided by the embodiment of the application, the connecting seat is fixed on the track through a bolt.

According to the technical scheme that this application embodiment provided, magnetism adsorbs unit bottom surface and a pair of be connected with the jump ring between the connecting seat.

The invention has the beneficial effects that: the application provides a wall climbing robot, includes: the driving mechanism drives the pair of tracks to move synchronously, and the cross section of each track is in a runway shape; a track fixed on the support frame is arranged between the pair of tracks, and the cross section shape of the track is consistent with that of the track; the tracks comprise working areas, idle areas and arc areas connected between the working areas and the idle areas, and the tracks are correspondingly arranged in the areas between the working areas and the idle areas of the pair of tracks; a symmetrical shaft of the crawler belt, which is parallel to the travelling direction of the crawler belt, is set as a first symmetrical shaft, a symmetrical shaft of the crawler belt, which is parallel to the travelling direction of the crawler belt, is set as a second symmetrical shaft, the first symmetrical shaft is parallel to the second symmetrical shaft, and the vertical distance between the second symmetrical shaft and the working area is greater than that between the second symmetrical shaft and the idle area; a slidable guide wheel is clamped in the track; a plurality of magnetic adsorption units are uniformly arranged between the pair of tracks; and an elastic connecting piece is connected between the guide wheel and the magnetic adsorption unit.

Because the orbital distance of workspace is greater than idle zone and orbital distance, make the elastic connecting piece that the magnetism adsorption unit on the workspace is connected elongated, thereby make the load weight of track and idle zone exerted on the magnetism adsorption unit on the workspace through the elastic connecting piece that is elongated, consequently the load of robot is dispersed on each magnetism adsorption unit on the workspace, reduced the risk that wall climbing robot peeled off from the working face, and then increased wall climbing robot job stabilization nature.

Drawings

FIG. 1 is a schematic structural diagram of a first embodiment of the present application;

FIG. 2 is a schematic side view of the first embodiment of the present application;

FIG. 3 is a schematic view of a movable assembly according to a first embodiment of the present application;

the text labels in the figures are represented as: 100. a support frame; 200. a crawler belt; 210. a working area; 220. an idle area; 230. an arc-shaped area; 240. a first axis of symmetry; 300. a track; 310. a second axis of symmetry; 400. a guide wheel; 500. a magnetic adsorption unit; 600. an elastic connecting member; 710. a connecting seat; 720. inserting a rod; 730. connecting lugs; 740. and (7) a pin shaft.

Detailed Description

In order that those skilled in the art will better understand the technical solutions of the present invention, the following detailed description of the present invention is provided in conjunction with the accompanying drawings, and the description of the present section is only exemplary and explanatory, and should not be construed as limiting the scope of the present invention in any way.

Fig. 1 and fig. 2 are schematic diagrams illustrating a first embodiment of the present application, including: the supporting frame 100, be equipped with actuating mechanism on the supporting frame 100, be equipped with a pair of track 200 on the supporting frame 100, actuating mechanism drive is a pair of track 200 synchronous motion, the cross sectional shape of track 200 sets up to the runway type. Preferably, the caterpillar tracks 200 are configured as chains, in this embodiment, a pair of driving wheels drives a pair of chains to move synchronously, and since the driving wheels are fixedly connected with the supporting frame 100, the supporting frame 100 and the driving mechanism are driven to move synchronously during the movement of the pair of caterpillar tracks 200.

A rail 300 fixed to the support frame 100 is provided between the pair of caterpillars 200, and the cross-sectional shape of the rail 300 is a raceway type. In the present embodiment, the cross-sectional shape of the rail 300 is identical to that of the crawler 200, but the size is smaller than that of the cross-section of the crawler 200.

The crawler belt 200 comprises a working area 210, an idle area 220 and an arc area 230 connected between the working area 210 and the idle area 220, in this embodiment, the outer surfaces of the working area 210, the idle area 220 and the arc area 230 of the crawler belt 200 are uniformly provided with magnetic adsorption units 500, the magnetic adsorption units 500 on the working area 210 are adsorbed on the working surface when the crawler belt 200 is on the working surface, and the magnetic adsorption units 500 on the idle area 220 and the arc area 230 do not work and are in an idle state. In the present embodiment, only one magnetic adsorption unit 500 is schematically shown on the crawler belt, and in practical use of the present embodiment, a plurality of magnetic adsorption units 500 are uniformly disposed on the crawler belt 200, and preferably, widened chain clamps are disposed on both sides of the crawler belt 200, and one magnetic adsorption unit 500 is disposed at intervals of the width of one chain clamp.

The track 300 is disposed in a region between the working area 210 and the idle area 220 of the pair of crawler belts 200. In the present embodiment, since the size of the track 300 is smaller than that of the crawler 200, the track 300 is disposed between the working area 210 and the vacant area 220 with respect to the crawler 200, and the track 300 is disposed in the middle of the pair of crawlers 200 so that the horizontal spacing of the track 300 from the pair of crawlers 200 is uniform in order to ensure balance.

A symmetry axis of the crawler 200 parallel to the traveling direction thereof is set as a first symmetry axis 240, a symmetry axis of the track 300 parallel to the traveling direction of the crawler 200 is set as a second symmetry axis 310, the first symmetry axis 240 is parallel to the second symmetry axis 310, and a vertical distance between the second symmetry axis 310 and the working area 210 is greater than a vertical distance between the second symmetry axis 310 and the idle area 220. In this embodiment, the second axis of symmetry 310 of the track 300 is not coincident with the first axis of symmetry 240 of the crawler 200 and the second axis of symmetry 310 is disposed at a side close to the idle zone 220 of the crawler 200, i.e., the vertical distance between the working zone 210 and the surface of the track 300 at the same side is greater than the vertical distance between the idle zone 220 and the surface of the track 300 at the same side.

A slidable guide wheel 400 is clamped in the rail 300; a plurality of magnetic adsorption units 500 are uniformly arranged between the pair of caterpillar tracks 200; an elastic connection member 600 is connected between the guide wheel 400 and the magnetic adsorption unit 500. In this embodiment, in order to ensure the balance of the movement of guide wheel 400, both ends of elastic connection member 600 are connected to the middle of guide wheel 400 and the middle of magnetic adsorption unit 500, respectively.

In a preferred embodiment, the magnetic adsorption unit 500 is rotatably coupled to the surfaces of a pair of the caterpillars 200 by a movable assembly. In this embodiment, the magnetic attraction unit 500 is rotatably movable with respect to the surface of the crawler 200 to adapt to the contour of different working surfaces, so that the magnetic attraction unit 500 is better and more stably attracted to the working surfaces.

In the above preferred embodiment, as shown in fig. 3, the movable assembly includes a pair of connecting seats 710 fixed on the surfaces of a pair of crawlers 200, the connecting seats 710 are fixed on the crawlers 200 by bolts, a first through hole is formed on the connecting seats 710, an inserting rod 720 corresponding to the connecting seats 710 is fixed on the bottom surface of the magnetic adsorption unit 500, and the inserting rod 720 is rotatably inserted between the pair of connecting seats 710 through the first through hole. In the preferred embodiment, the insertion rod 720 is a hollow round tube type insertion rod 720.

Preferably, a pair of engaging lugs 730 is disposed on the insertion rod 720 corresponding to the guide wheel 400, a pin 740 parallel to the extending direction of the guide wheel 400 is connected to the pair of engaging lugs 730, and two ends of the elastic component are respectively connected to the guide wheel 400 and the pin 740. Preferably, the elastic component is a double-ended tension spring. In the preferred embodiment, guide wheel 400 is connected to magnetic attraction unit 500 by a tension spring, that is, rail 300 is connected to magnetic attraction unit 500 of crawler 200 by a tension spring.

Preferably, in order to make the magnetic adsorption unit 500 not exceed a certain angle when rotating on the caterpillar 200 to ensure the stability of the connection of the magnetic adsorption unit 500, so a limit is provided between the magnetic adsorption unit 500 and the connection seat 710: a clamp spring is connected between the bottom surface of the magnetic adsorption unit 500 and the pair of connecting seats 710.

The working principle of the present embodiment for dispersing the load of the robot to the respective magnetic adsorption units 500 on the working area 210 is: use the top surface that wall climbing robot adsorbs in the operating mode as an example, the magnetism of workspace 210 adsorbs on the work top surface 500, because track 200 is hinged joint, consequently track 200 has the flexibility, when track 200 adsorbs at the work top surface, because it is flexible and non-rigid itself, consequently each magnetism adsorbs the load capacity of unit 500 to the robot load in track 200's workspace 210 is inconsistent, the hoist and mount are when the top surface this moment in the robot, on the main workspace 210 of gravity of robot goes up the magnetism of the track 200 at both ends, and then appear on the robot gravity can not disperse to the magnetism of each workspace 210 adsorbs the unit 500. However, through the arrangement of this embodiment, the elastic connection member 600 is elongated in the working area 210, and a traction force is generated between the guide wheel 400 and the magnetic adsorption unit 500, so that the magnetic adsorption unit 500 located in the middle section of the working area 210 can better pull the guide wheel 400 and the gravity load of the rail 300 to which the load guide wheel 400 is connected and other parts under the tensile force of the elongated elastic component, and therefore the gravity and other loads of the robot can be better dispersed to the magnetic adsorption unit 500 on each working area 210, so that the wall climbing robot has higher stability during the upside-down hanging adsorption work, and the problem of falling off is not easy to occur.

The principles and embodiments of the present application are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts of the present application. The foregoing is only a preferred embodiment of the present application, and it should be noted that there are objectively infinite specific structures due to the limited character expressions, and it will be apparent to those skilled in the art that a plurality of modifications, decorations or changes may be made without departing from the principle of the present application, and the technical features described above may be combined in a suitable manner; such modifications, variations, combinations, or adaptations of the invention using its spirit and scope, as defined by the claims, may be directed to other uses and embodiments, or may be learned by practice of the invention.

Claims

1. A wall climbing robot, comprising: the supporting frame (100) is provided with a driving mechanism, the supporting frame (100) is provided with a pair of crawler belts (200), the driving mechanism drives the pair of crawler belts (200) to move synchronously, and the cross section of each crawler belt (200) is in a runway shape;

a track (300) fixed on the support frame (100) is arranged between the pair of crawler belts (200), and the cross section shape of the track (300) is consistent with that of the crawler belts (200); the crawler belt (200) comprises a working area (210), an idle area (220) and an arc area (230) connected between the working area (210) and the idle area (220), and the track (300) is correspondingly arranged in an area between the working area (210) and the idle area (220) of a pair of crawler belts (200);

a symmetry axis of the crawler (200) parallel to the traveling direction of the crawler is set as a first symmetry axis (240), a symmetry axis of the track (300) parallel to the traveling direction of the crawler (200) is set as a second symmetry axis (310), the first symmetry axis (240) is parallel to the second symmetry axis (310), and the vertical distance between the second symmetry axis (310) and the working area (210) is larger than the vertical distance between the second symmetry axis (310) and the idle area (220);

a slidable guide wheel (400) is clamped in the track (300); a plurality of magnetic adsorption units (500) are uniformly arranged between the pair of caterpillar bands (200); an elastic connecting piece (600) is connected between the guide wheel (400) and the magnetic adsorption unit (500).

2. The wall-climbing robot according to claim 1, wherein the magnetic adsorption unit (500) is rotatably connected to surfaces of a pair of the caterpillars (200) by a movable assembly.

3. The wall-climbing robot as claimed in claim 2, wherein the movable assembly comprises a pair of connecting seats (710) fixed on the surfaces of the pair of crawlers (200), the connecting seats (710) are provided with first through holes, the bottom surface of the magnetic adsorption unit (500) is fixed with insertion rods (720) corresponding to the connecting seats (710), and the insertion rods (720) are rotatably inserted between the pair of connecting seats (710) through the first through holes.

4. A wall-climbing robot as claimed in claim 3, wherein the insertion rod (720) is provided with a pair of engaging lugs (730) corresponding to the guide wheel (400), a pin (740) parallel to the extending direction of the guide wheel (400) is connected to the pair of engaging lugs (730), and two ends of the elastic component are respectively connected to the guide wheel (400) and the pin (740).

5. A wall-climbing robot as claimed in any one of claims 1 to 4, wherein the resilient assembly is a double-ended tension spring.

6. A wall climbing robot according to claim 1, characterized in that the crawler (200) is provided as a chain.

7. A wall climbing robot according to claim 3, characterized in that the connecting seat (710) is fixed on the crawler (200) by bolts.

8. The wall climbing robot according to claim 3, wherein a clamp spring is connected between the bottom surface of the magnetic adsorption unit (500) and the pair of connecting seats (710).