CN111267988A

CN111267988A - Climbing robot with adsorption structure

Info

Publication number: CN111267988A
Application number: CN202010218544.0A
Authority: CN
Inventors: 何海忠
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-03-25
Filing date: 2020-03-25
Publication date: 2020-06-12

Abstract

The invention discloses a climbing robot with an adsorption structure in the technical field of robots, which comprises a central disc, four tentacles are distributed on the central disc, the end part of each group of tentacles is connected with an adsorption mechanism, the middle parts of the front side and the rear side of the central disc are symmetrically provided with telescopic pieces, the movable ends of the telescopic pieces are provided with connectors, two ends of each connector are hinged with a connecting rod, the other ends of the connecting rods are hinged with tentacles, and the hinge point position of the connecting rod and the tentacle is close to the central disc, the invention can realize the movement of the device body through the two groups of telescopic pieces and the tentacle connected with the telescopic pieces, through the arranged central disc, the construction tool can be installed, the moving direction of the device can be adjusted, the device can move more accurately, and the elastic roller assembly arranged by the device can effectively reduce the friction resistance in the moving process.

Description

Climbing robot with adsorption structure

Technical Field

The invention relates to the technical field of robots, in particular to a climbing robot with an adsorption structure.

Background

A Robot (Robot) is a machine device that automatically performs work. It can accept human command, run the program programmed in advance, and also can operate according to the principle outline action made by artificial intelligence technology. The task of which is to assist or replace human work, such as production, construction, or dangerous work. From the application environment, the robot experts in China divide robots into two major categories, namely industrial robots and special robots. Industrial robots are multi-joint robots or multi-degree-of-freedom robots for industrial applications. .

Patent number CN201910941412.8 discloses a climbing robot with adsorption structure relates to the technical field of marine engineering auxiliary instrument, and it includes the organism, sets up the cleaning device who is used for polishing the boats and ships surface on the organism and sets up the adsorption equipment of drive organism and the laminating of boats and ships surface on the organism, the inner chamber has been seted up on the organism, adsorption equipment including set up in inner chamber opening border towards the sucking disc on boats and ships surface side, with the pipe of inner chamber intercommunication, with the negative pressure source of pipe intercommunication and with the pressure stabilizing valve that is used for stabilizing inner chamber atmospheric pressure of inner chamber intercommunication, cleaning device clearance boats and ships surperficial old coat with lacquer when sucking disc and the laminating of boats and ships surface. The invention has the effect of reducing the pollution to the environment so as to reduce the workload of later cleaning.

However, the climbing robot has the problems of being not firm in adsorption and not adjustable in moving direction.

Based on the technical scheme, the invention designs the climbing robot with the adsorption structure to solve the problems.

Disclosure of Invention

The invention aims to provide a climbing robot with an adsorption structure to solve the problems in the background technology.

In order to achieve the purpose, the invention provides the following technical scheme: the utility model provides a climbing robot with adsorption structure, this robot is including the center disk, it has tentacle to distribute on the center disk, tentacle is total four, and the end connection of every group tentacle has adsorption apparatus to construct, the side mid-mounting in the front and back of center disk has the extensible member, the expansion end of extensible member is equipped with the connector, the both ends of connector articulate has the connecting rod, the other end of connecting rod articulates tentacle, and the pin joint position of connecting rod and tentacle is close to the center disk.

Preferably, the adsorption mechanism comprises a strip-shaped plate, a first adsorption element is arranged in the middle of the top end of the strip-shaped plate, a tentacle sucker is arranged in the middle of the bottom end of the strip-shaped plate and connected with the first adsorption element, and elastic roller assemblies are symmetrically arranged at the left end and the right end of the strip-shaped plate.

Preferably, the elastic roller assembly comprises a fixed sleeve, an I-shaped rod is slidably mounted in an inner cavity of the fixed sleeve, the bottom end of the I-shaped rod penetrates through the strip-shaped plate and is connected with a roller, and a reset spring is arranged between the bottom plate of the I-shaped rod and the bottom end of the strip-shaped plate.

Preferably, the center plate comprises an upper side plate and a lower side plate, a steering motor is arranged in the middle of the top end of the lower side plate, a rotating shaft is arranged at the output end of the steering motor, the other end of the center plate is fixedly connected with the upper side plate, the telescopic piece is fixedly connected to the bottom end of the upper side plate, the tentacle is hinged to the upper side plate, a second adsorption element is arranged at the bottom end of the lower side plate, and the output side of the second adsorption element is connected with a steering positioning sucker.

Preferably, the telescopic part is an electric control telescopic push rod.

Preferably, the top end of the central disc is provided with a connecting hole.

Compared with the prior art, the invention has the beneficial effects that: according to the invention, the device body can be moved through the two groups of telescopic parts and the tentacles connected with the telescopic parts, the construction tools can be installed through the arranged center plate, the moving direction of the device can be adjusted, the device can be moved more accurately, and the elastic roller wheel assembly arranged in the device can effectively reduce the friction resistance in the moving process.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.

FIG. 1 is a schematic structural view of the present invention;

FIG. 2 is a schematic view of the structure of the center plate of the present invention;

FIG. 3 is a schematic view of the structure of the adsorption mechanism of the present invention.

In the drawings, the components represented by the respective reference numerals are listed below:

1-center plate, 2-tentacle, 3-adsorption mechanism, 4-telescopic piece, 5-connector, 6-connecting rod, 7-connecting hole, 11-upper side plate, 12-lower side plate, 13-steering motor, 14-rotating shaft, 15-second adsorption element, 16-steering positioning sucker, 31-strip-shaped plate, 32-first adsorption element, 33-tentacle sucker, 34-fixing sleeve, 35-I-shaped rod and 36-reset spring.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-3, the present invention provides a technical solution: the utility model provides a climbing robot with adsorption structure, this robot is including center plate 1, it has tentacle 2 to distribute on the center plate 1, tentacle 2 is total four, the end connection of every group tentacle 2 has adsorption apparatus 3, side middle part symmetry installs extensible member 4 around the center plate 1, the expansion end of extensible member 4 is equipped with connector 5, the both ends of connector 5 articulate there is connecting rod 6, the articulated tentacle 2 of the other end of connecting rod 6, and connecting rod 6 is close to center plate 1 with tentacle 2's pin joint position.

Further, the adsorption mechanism 3 comprises a strip-shaped plate 31, a first adsorption element 32 is arranged in the middle of the top end of the strip-shaped plate 31, a tentacle sucker 33 is arranged in the middle of the bottom end of the strip-shaped plate 31, the tentacle sucker 33 is connected with the first adsorption element 32, and elastic roller assemblies are symmetrically arranged at the left end and the right end of the strip-shaped plate 31.

Furthermore, the elastic roller assembly comprises a fixed sleeve 34, an I-shaped rod 35 is slidably mounted in an inner cavity of the fixed sleeve 34, the bottom end of the I-shaped rod 35 penetrates through the strip-shaped plate 31 to be connected with a roller 37, and a return spring 36 is arranged between the bottom plate of the I-shaped rod 35 and the bottom end of the strip-shaped plate 31.

Furthermore, the central disc 1 comprises an upper side disc 11 and a lower side disc 12, a steering motor 13 is arranged in the middle of the top end of the lower side disc 12, a rotating shaft 14 is arranged at the output end of the steering motor 13, the other end of the rotating shaft 14 is fixedly connected with the upper side disc 11, the telescopic part 4 is fixedly connected with the bottom end of the upper side disc 4, the tentacle 2 is hinged with the upper side disc 4, a second adsorption element 15 is arranged at the bottom end of the lower side disc 12, and a steering positioning suction disc 16 is connected to the output side of the second adsorption element 15.

Furthermore, the telescopic part 4 is an electric control telescopic push rod.

Furthermore, the top end of the central disk 1 is provided with a connecting hole 7.

When the device needs to be moved upwards, the first adsorption element 32 on the lower side is started, the tentacle sucker 33 stably sucks the wall surface, the first adsorption element 32 on the upper side is closed, the telescopic part 4 on the upper side is started to extend, the two tentacles 2 on the upper side are pulled to be close through the connecting rod 6, then the first adsorption element 32 on the upper side is started, the tentacle sucker 33 sucks the wall surface, then the first adsorption element 32 on the lower side is closed, the telescopic part 4 on the upper side is started to be shortened, and at the moment, the device moves upwards integrally and moves downwards; when the moving direction needs to be adjusted, the steering motor 13 is started, the upper side disc 11 can be driven to rotate, the tentacle angle is changed, and the effect of adjusting the moving direction can be achieved.

In the description herein, references to the description of "one embodiment," "an example," "a specific example" or the like are intended to mean 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 invention. In this specification, the schematic representations of the terms used above do not necessarily refer 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.

The preferred embodiments of the invention disclosed above are intended to be illustrative only. The preferred embodiments are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention. The invention is limited only by the claims and their full scope and equivalents.

Claims

1. The utility model provides a climbing robot with adsorption structure which characterized in that: this robot is including center plate (1), it has tentacle (2) to distribute on center plate (1), tentacle (2) is total four, and the end connection that every group tentacle (2) has adsorption apparatus to construct (3), side middle part symmetry installs extensible member (4) around center plate (1), the expansion end of extensible member (4) is equipped with connector (5), the both ends of connector (5) articulate there is connecting rod (6), the articulated tentacle (2) of the other end of connecting rod (6), and connecting rod (6) and the pin joint position of tentacle (2) are close to center plate (1).

2. The climbing robot with the adsorption structure as claimed in claim 1, wherein: adsorption equipment constructs (3) including strip shaped plate (31), the top middle part of strip shaped plate (31) is provided with first adsorption element (32), the bottom middle part of strip shaped plate (31) is provided with tentacle sucking disc (33), tentacle sucking disc (33) are connected with first adsorption element (32), both ends symmetry is provided with the elastic roller subassembly about strip shaped plate (31).

3. The climbing robot with the adsorption structure as claimed in claim 2, wherein: elastic roller subassembly is including fixed cover (34), slidable mounting has I shape pole (35) in the inner chamber of fixed cover (34), I shape pole (35) bottom is run through bar shaped plate (31) and is connected with gyro wheel (37), be provided with reset spring (36) between the bottom plate of I shape pole (35) and bar shaped plate (31) bottom.

4. The climbing robot with the adsorption structure as claimed in claim 1, wherein: center plate (1) is including last side dish (11) and downside dish (12), downside dish (12) top middle part is provided with steering motor (13), the output that turns to motor (13) is equipped with pivot (14), pivot (14) other end rigid coupling goes up side dish (11), extensible member (4) rigid coupling is in the bottom of last side dish (4), tentacle (2) are articulated with last side dish (4), downside dish (12) bottom is equipped with second adsorption element (15), the output side of second adsorption element (15) is connected with and turns to location sucking disc (16).

5. The climbing robot with the adsorption structure as claimed in claim 1, wherein: the telescopic part (4) is an electric control telescopic push rod.

6. The climbing robot with the adsorption structure as claimed in claim 1, wherein: the top end of the central disc (1) is provided with a connecting hole (7).