CN111377003A - Prevent toppling wall climbing robot - Google Patents
Prevent toppling wall climbing robot Download PDFInfo
- Publication number
- CN111377003A CN111377003A CN202010235718.4A CN202010235718A CN111377003A CN 111377003 A CN111377003 A CN 111377003A CN 202010235718 A CN202010235718 A CN 202010235718A CN 111377003 A CN111377003 A CN 111377003A
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- frame
- wheel
- robot
- main
- climbing robot
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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
Abstract
The invention discloses an overturn-preventing wall-climbing robot, which comprises a robot main frame, wherein wheel frames are arranged on the lower sides of four corners of the robot main frame, the lower surfaces of the wheel frames are connected with wheel carriers, traveling wheels are arranged on the inner sides of the wheel carriers, a control seat is arranged in the middle of the upper surface of the robot main frame, a main pushing fan is arranged on the upper surface of the control seat, and the main pushing fan is fixedly arranged on the upper surface of the control seat through a protection frame; according to the wall climbing robot, the designed angle-pushing fan and the main-pushing fan are adopted, when the wall climbing robot works, the wall climbing robot is enabled to be tightly attached to the vertical wall surface through the thrust generated by the operation of the angle-pushing fan and the main-pushing fan, when the irregular wall surface occurs, the wall climbing robot tilts on one side to influence adsorption, the stable movement of the wall climbing robot can be ensured through the thrust of the angle-pushing fan and the main-pushing fan, the overturning phenomenon is prevented, and the main-pushing fan is arranged on the outer surface of the control seat, so that the heat dissipation effect of the control seat can be accelerated.
Description
Technical Field
The invention relates to the technical field of wall-climbing robots, in particular to an overturn-preventing wall-climbing robot.
Background
The wall climbing robot can climb on a vertical wall and complete the operation, and is an automatic robot. The wall climbing robot is also called a wall moving robot, and is also called a limit operation robot abroad because the vertical wall operation exceeds the limit of people. The wall-climbing robot has two basic functions of adsorption and movement, and the common adsorption modes include negative pressure adsorption and permanent magnet adsorption. The negative pressure mode can be absorbed on the wall surface by generating negative pressure in the sucking disc and is not limited by the wall surface material; the permanent magnet adsorption mode has two modes of a permanent magnet and an electromagnet and is only suitable for adsorbing the magnetic conductivity wall surface.
When the existing wall climbing robot is used, the phenomenon of continuous adsorption instability due to the irregular surface of the vertical wall and the material causes the phenomenon of toppling of the wall climbing robot when the wall climbing robot walks, and therefore, the overturn prevention wall climbing robot is needed to be designed to solve the problems.
Disclosure of Invention
The invention aims to solve the defects in the prior art and provides an overturn-preventing wall-climbing robot.
In order to achieve the purpose, the invention adopts the following technical scheme:
the utility model provides an anti-overturning wall-climbing robot, includes the robot body frame, the downside in robot body frame four corners is provided with the wheel frame, the lower surface of wheel frame is connected with the wheel carrier, the inboard of wheel carrier is provided with the walking wheel, the upper surface middle part of robot body frame is provided with the control seat, the upper surface of control seat is provided with main promotion fan, main promotion fan passes through the upper surface of protection frame fixed mounting at the control seat, the upper surface in robot body frame four corners is provided with the angle and promotes the fan, the angle promotes the fan and passes through protection frame fixed mounting on the robot body frame.
Furthermore, the lower surfaces of the four corners of the robot main frame are fixedly connected with buffering columns through screws, buffering grooves are formed in the upper surfaces of the wheel frames, buffering plates are arranged on the inner sides of the buffering grooves in a sliding mode, the lower ends of the buffering columns are inserted into the buffering grooves and fixedly connected with main buffering springs through screws, the middle portions of the inner sides of the buffering grooves are fixedly connected with main buffering springs through screws, and the upper ends of the main buffering springs are fixedly connected with the buffering plates through screws.
Further, buffer spring is assisted through screw fixedly connected with to the inner wall of dashpot, screw fixedly connected with diversion slider is passed through to the one end of assisting buffer spring, the lower surface of buffer board and the bottom of dashpot all pass through screw fixedly connected with clamping ring, and the position of clamping ring corresponds with the position of diversion slider.
Further, the side face of the pressing ring is in contact with the direction-changing sliding block, and the face, in contact with the direction-changing sliding block, of the pressing ring is an inclined face of forty-five degrees.
Furthermore, a protective corrugated sleeve is arranged outside the main buffer spring, and the upper end and the lower end of the protective corrugated sleeve are fixedly connected with the bottom of the buffer plate and the bottom of the buffer groove through screws respectively.
Further, a driving wheel is arranged on one side of the wheel frame and fixedly connected with a rotating shaft of the walking wheel through a bolt, a driving toothed belt is sleeved on the outer side of the driving wheel, a moving motor is fixedly connected to the lower surface of the robot main frame through a bolt, and an output shaft of the moving motor is in transmission connection with the walking wheel through the driving wheel and the driving toothed belt.
Further, the lower surface of robot body frame corresponds the position of drive wheel and has the alignment jig through the bolt fastening, the inboard of alignment jig is connected with the pinch roller through the carriage, the pinch roller sticiss on the driving toothed belt, the upper end of alignment jig is closed with the knob screw soon, the one end of knob screw is passed the alignment jig and is connected with the carriage of pinch roller.
Further, one side of the wheel frame is provided with an anti-collision frame, the inner side of the anti-collision frame is rotatably connected with an anti-collision roller through a bearing, and the outer side of the anti-collision roller is sleeved with an anti-collision belt.
Further, the anti-collision roller that the anticollision frame lower extreme is connected is located the outside of walking wheel.
The invention has the beneficial effects that:
1. according to the wall climbing robot, the designed angle-pushing fan and the main-pushing fan are adopted, when the wall climbing robot works, the wall climbing robot is enabled to be tightly attached to the vertical wall surface through the thrust generated by the operation of the angle-pushing fan and the main-pushing fan, when the irregular wall surface occurs, the wall climbing robot tilts at one side to influence adsorption, the stable movement of the wall climbing robot can be ensured through the thrust of the angle-pushing fan and the main-pushing fan, the overturning phenomenon is prevented, and the main-pushing fan is arranged on the outer surface of the control seat, so that the effect of accelerating the heat dissipation of the control seat can be achieved.
2. Through the buffering post of design between wheel frame and robot body frame, main buffer spring with assist buffer spring, can cushion the walking wheel that corresponds through main buffer spring's compression when climbing the arch of wall robot process wall, reduce and climb the holistic vibration of wall robot, thereby it is more stable when making the operation of wall robot remove, and become transverse force and compress and assist buffer spring supplementary buffering through the clamping ring and the relative slip between the assistance buffer spring a part of vertical force, make the buffering effect better.
3. Through the knob screw of design, alignment jig and sticis the wheel, drive the drive wheel and remove the phenomenon that can make the transmission toothed belt cross loose appearance skid when walking wheel buffering reciprocates, can prevent the phenomenon that the transmission toothed belt skidded through the promotion and the extrusion of sticising the wheel to the transmission toothed belt, and through closing knob screw promotion sticis the wheel and carry out position control, can be better compress tightly the transmission toothed belt.
4. Through crashproof frame, crashproof roller and the anticollision area of design, it is preceding to have foreign matter or arch to move at wall climbing robot, can push away or rotate through the anticollision area and go up the process from foreign matter or arch to prevent that foreign matter and arch from striking the walking wheel on, lead to the long-term use of walking wheel to appear fatigue damage.
Drawings
Fig. 1 is a schematic top view of a robot for preventing a wall from toppling over according to the present invention;
fig. 2 is a schematic view of a mounting structure of a road wheel of the overturn-preventing wall-climbing robot provided by the invention;
fig. 3 is a schematic view of a buffer spring mounting structure of an overturn-preventing wall-climbing robot provided by the present invention;
fig. 4 is a schematic side view of an anti-collision frame of the overturn-preventing wall-climbing robot according to the present invention.
In the figure: the robot comprises a wheel frame 1, a robot main frame 2, a moving motor 3, a 4-corner pushing fan, a driving wheel 5, a main pushing fan 6, a control seat 7, an anti-collision frame 8, an anti-collision roller 9, an anti-collision belt 10, a traveling wheel 11, a wheel frame 12, a buffer column 13, a knob screw 14, an adjusting frame 15, a pressing wheel 16, a driving toothed belt 17, a buffer groove 18, a main buffer spring 19, a buffer plate 20, a pressing ring 21, an auxiliary buffer spring 22, a direction-changing sliding block 23 and a protective corrugated sleeve 24.
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.
It will be understood that when an element is referred to as being "secured to" another element, it can be directly on the other element or intervening elements may also be present. When a component is referred to as being "connected" to another component, it can be directly connected to the other component or intervening components may also be present. When a component is referred to as being "disposed on" another component, it can be directly on the other component or intervening components may also be present. The terms "vertical," "horizontal," "left," "right," and the like as used herein are for illustrative purposes only.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. The terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
Referring to fig. 1 to 4, an overturn-preventing wall-climbing robot includes a main robot frame 2, wheel frames 1 are disposed at lower sides of four corners of the main robot frame 2, wheel frames 12 are connected to a lower surface of the wheel frames 1, traveling wheels 11 are disposed at inner sides of the wheel frames 12, a control base 7 is disposed at a middle portion of an upper surface of the main robot frame 2, a main driving fan 6 is disposed at an upper surface of the control base 7, the main driving fan 6 is fixedly mounted on an upper surface of the control base 7 through a protection frame, corner driving fans 4 are disposed at upper surfaces of the four corners of the main robot frame 2, the corner driving fans 4 are fixedly mounted on the main robot frame 2 through the protection frame, the wall-climbing robot moves while being adsorbed and permanently adsorbed on a wall surface by negative pressure provided on the main robot frame 2, and when an adsorption instability occurs in a bump or other object, the wall-climbing robot is pushed to be attached to the wall surface by operation of the corner driving fans 4 and the main driving fan 6, thereby reducing the phenomenon that the wall climbing robot overturns.
Further, the lower surface in 2 four corners of robot owner frame is through screw fixedly connected with buffering post 13, buffer slot 18 has been seted up to the upper surface of wheel frame 1, the inboard slip of buffer slot 18 is provided with buffer board 20, the lower extreme of buffering post 13 inserts in buffer slot 18 and passes through screw fixed connection with main buffer spring 19, screw fixedly connected with main buffer spring 19 is passed through at the inboard middle part of buffer slot 18, screw and buffer board 20 fixed connection are passed through to main buffer spring 19's upper end, walking wheel 11 presses when protruding when climbing wall robot removes, make walking wheel 11 rise, buffer board 20 slides in buffer slot 18 and compresses main buffer spring 19 and cushion.
Further, buffer spring 22 is assisted through screw fixedly connected with to the inner wall of buffer slot 18, and screw fixedly connected with diversion slider 23 is passed through to the one end of assisting buffer spring 22, and screw fixedly connected with clamping ring 21 is all passed through to the lower surface of buffer board 20 and the bottom of buffer slot 18, and the position of clamping ring 21 corresponds with diversion slider 23's position, drives clamping ring 21 and slides extrusion diversion slider 23 when the buffering, assists buffer spring 22 buffering through diversion slider 23 compression.
Further, the side surface of the pressing ring 21 is in contact with the direction-changing slider 23, and the surface where the pressing ring 21 and the direction-changing slider 23 are in contact with each other is a forty-five degree inclined surface, so that when the pressing ring 21 pushes the direction-changing slider 23, the vertical force is changed to the lateral force by the sliding of the forty-five degree inclined surface.
Further, the outside of main buffer spring 19 is provided with protection ripple cover 24, and the upper and lower both ends of protection ripple cover 24 pass through screw fixed connection with the bottom of buffer board 20 and buffer slot 18 respectively, through the protection of protection ripple cover 24 during the buffering, prevents that diversion slider 23 from touchhing main buffer spring 19.
Further, one side of wheel carrier 12 is provided with drive wheel 5, drive wheel 5 passes through bolt fixed connection with the axis of rotation of walking wheel 11, drive tooth belt 17 has been cup jointed in the outside of drive wheel 5, the lower surface of robot body frame 2 passes through bolt fixed connection and removes motor 3, the output shaft of removing motor 3 passes through drive wheel 5 with the transmission tooth belt 17 transmission with walking wheel 11 and is connected, it moves to drive walking wheel 11 through the drive of removing motor 3 and the transmission of drive wheel 5 and transmission tooth belt 17 and rotate when using the wall climbing robot.
Further, the position that the lower surface of robot body frame 2 corresponds drive wheel 5 has alignment jig 15 through the bolt fastening, alignment jig 15's inboard is connected with pinch roller 16 through the carriage, pinch roller 16 sticiss on transmission cingulum 17, can prevent transmission cingulum 17 to appear the phenomenon of loosing and skidding through sticising of taking turns 16 when walking wheel 11 rocks, make the wall climbing robot can steady removal, the upper end of alignment jig 15 is closed soon knob screw 14, the one end of knob screw 14 is passed alignment jig 15 and is sticis taken turns the carriage of 16 and be connected, make things convenient for rotatory knob screw 14 to drive pinch roller 16 and remove and adjust.
Further, one side of wheel frame 1 is provided with anticollision frame 8, and anticollision frame 8 is inboard to be connected with crashproof roller 9 through the bearing rotation, and crashproof area 10 has been cup jointed in the outside of crashproof roller 9, when the portable the place ahead of climbing wall robot appears protruding, can protect through crashproof area 10, prevents that walking wheel 11 from appearing damaging because of the collision.
Further, the anticollision roller 9 that 8 lower extremes of anticollision frame were connected is located the outside of walking wheel 11, makes anticollision roller 9 and anticollision area 10 conveniently protect walking wheel 11.
The working principle is as follows: when the wall climbing robot is used, the traveling wheels 11 are driven to rotate through the operation of the movable motor 3 and the transmission of the transmission wheel 5 and the transmission toothed belt 17 and move on the wall surface, when the robot main frame 2 or the wheel frame 1 is lifted and unstably adsorbed when a bulge or other obstacles are met, the wall climbing robot can be attached to the wall surface to move through the operation promotion of the angle-pushing fan 4 and the main-pushing fan 6, so that the phenomenon that the wall climbing robot topples is reduced, the buffer plate 20 at the lower end of the buffer column 13 slides in the buffer groove 18 to compress the main buffer spring 19 for buffering, the compression ring 21 is driven to push the diversion slide block 23 to compress the auxiliary buffer spring 22 for auxiliary buffering, the buffering effect is better, the shaking of the wall climbing robot during moving is reduced, the anti-collision belt 10 firstly contacts with an object when the traveling wheels 11 collide with the front object, the anti-collision belt 10 rotates through the anti-collision roller 9, and the wall climbing robot can climb over the object, and prevents the traveling wheels 11 from colliding against an object and being damaged.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art should be considered to be within the technical scope of the present invention, and the technical solutions and the inventive concepts thereof according to the present invention should be equivalent or changed within the scope of the present invention.
Claims (9)
1. The utility model provides an anti-overturning wall-climbing robot, includes robot body frame (2), the downside in robot body frame (2) four corners is provided with wheel frame (1), the lower surface of wheel frame (1) is connected with wheel carrier (12), the inboard of wheel carrier (12) is provided with walking wheel (11), its characterized in that, the upper surface middle part of robot body frame (2) is provided with control seat (7), the upper surface of control seat (7) is provided with main push fan (6), main push fan (6) are through protection frame fixed mounting at the upper surface of control seat (7), the upper surface in robot body frame (2) four corners is provided with angle push fan (4), angle push fan (4) are through protection frame fixed mounting on robot body frame (2).
2. The overturn-preventing wall-climbing robot is characterized in that buffering columns (13) are fixedly connected to the lower surfaces of four corners of a main robot frame (2) through screws, a buffering groove (18) is formed in the upper surface of the wheel frame (1), a buffering plate (20) is slidably arranged on the inner side of the buffering groove (18), the lower end of each buffering column (13) is inserted into the buffering groove (18) and fixedly connected with a main buffering spring (19) through a screw, the middle portion of the inner side of the buffering groove (18) is fixedly connected with the main buffering spring (19) through a screw, and the upper end of the main buffering spring (19) is fixedly connected with the buffering plate (20) through a screw.
3. The overturn-preventing wall-climbing robot is characterized in that an auxiliary buffer spring (22) is fixedly connected to the inner wall of the buffer groove (18) through a screw, a turning sliding block (23) is fixedly connected to one end of the auxiliary buffer spring (22) through a screw, a pressing ring (21) is fixedly connected to the lower surface of the buffer plate (20) and the bottom of the buffer groove (18) through a screw, and the position of the pressing ring (21) corresponds to the position of the turning sliding block (23).
4. The overturn-preventing wall-climbing robot is characterized in that the side face of the pressing ring (21) is in contact with the direction-changing slide block (23), and the face, in contact with each other, of the pressing ring (21) and the direction-changing slide block (23) is a forty-five-degree inclined face.
5. The overturn-preventing wall-climbing robot is characterized in that a protective corrugated sleeve (24) is arranged outside the main buffer spring (19), and the upper end and the lower end of the protective corrugated sleeve (24) are fixedly connected with the buffer plate (20) and the bottom of the buffer groove (18) through screws respectively.
6. The overturn-preventing wall-climbing robot is characterized in that a driving wheel (5) is arranged on one side of the wheel carrier (12), the driving wheel (5) is fixedly connected with a rotating shaft of a walking wheel (11) through a bolt, a driving toothed belt (17) is sleeved on the outer side of the driving wheel (5), a moving motor (3) is fixedly connected to the lower surface of the robot main frame (2) through a bolt, and an output shaft of the moving motor (3) is in transmission connection with the walking wheel (11) through the driving wheel (5) and the driving toothed belt (17).
7. The overturn-preventing wall-climbing robot is characterized in that an adjusting frame (15) is fixed on the lower surface of the robot main frame (2) corresponding to the position of the driving wheel (5) through a bolt, a pressing wheel (16) is connected to the inner side of the adjusting frame (15) through a sliding frame, the pressing wheel (16) is tightly pressed on the driving toothed belt (17), a knob screw (14) is screwed at the upper end of the adjusting frame (15), and one end of the knob screw (14) penetrates through the adjusting frame (15) to be connected with the sliding frame of the pressing wheel (16).
8. The overturn-preventing wall-climbing robot is characterized in that an anti-collision frame (8) is arranged on one side of the wheel frame (1), an anti-collision roller (9) is rotatably connected to the inner side of the anti-collision frame (8) through a bearing, and an anti-collision belt (10) is sleeved on the outer side of the anti-collision roller (9).
9. The overturn-preventing wall-climbing robot is characterized in that an anti-collision roller (9) connected with the lower end of the anti-collision frame (8) is positioned on the outer side of a travelling wheel (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010235718.4A CN111377003A (en) | 2020-03-30 | 2020-03-30 | Prevent toppling wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010235718.4A CN111377003A (en) | 2020-03-30 | 2020-03-30 | Prevent toppling wall climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN111377003A true CN111377003A (en) | 2020-07-07 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010235718.4A Pending CN111377003A (en) | 2020-03-30 | 2020-03-30 | Prevent toppling wall climbing robot |
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| CN (1) | CN111377003A (en) |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2111259U (en) * | 1991-10-26 | 1992-07-29 | 郑得绪 | Hand stress application mechanism of bicycle |
| JPH08310461A (en) * | 1995-05-19 | 1996-11-26 | Hitachi Zosen Corp | Suction device |
| CN1895712A (en) * | 2005-07-11 | 2007-01-17 | 小伦纳德·R·克拉克 | Wall racer toy vehicles |
| CN205215135U (en) * | 2015-12-06 | 2016-05-11 | 成都大学 | Cleaning device of mill with buffer function |
| CN105599736A (en) * | 2016-01-22 | 2016-05-25 | 褚裕凤 | Worm gear self-locking type auxiliary trolley |
| CN108713411A (en) * | 2018-03-08 | 2018-10-30 | 南京太司德智能科技有限公司 | A kind of screen of trees cleaning air-robot of duct structure |
| CN109095061A (en) * | 2018-06-26 | 2018-12-28 | 芜湖广智天和信息技术有限公司 | A kind of system integrated chip transport device |
| CN109381133A (en) * | 2018-10-13 | 2019-02-26 | 鼎宸建设科技有限公司 | A kind of glass-wall cleaning robot |
-
2020
- 2020-03-30 CN CN202010235718.4A patent/CN111377003A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN2111259U (en) * | 1991-10-26 | 1992-07-29 | 郑得绪 | Hand stress application mechanism of bicycle |
| JPH08310461A (en) * | 1995-05-19 | 1996-11-26 | Hitachi Zosen Corp | Suction device |
| CN1895712A (en) * | 2005-07-11 | 2007-01-17 | 小伦纳德·R·克拉克 | Wall racer toy vehicles |
| CN205215135U (en) * | 2015-12-06 | 2016-05-11 | 成都大学 | Cleaning device of mill with buffer function |
| CN105599736A (en) * | 2016-01-22 | 2016-05-25 | 褚裕凤 | Worm gear self-locking type auxiliary trolley |
| CN108713411A (en) * | 2018-03-08 | 2018-10-30 | 南京太司德智能科技有限公司 | A kind of screen of trees cleaning air-robot of duct structure |
| CN109095061A (en) * | 2018-06-26 | 2018-12-28 | 芜湖广智天和信息技术有限公司 | A kind of system integrated chip transport device |
| CN109381133A (en) * | 2018-10-13 | 2019-02-26 | 鼎宸建设科技有限公司 | A kind of glass-wall cleaning robot |
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Application publication date: 20200707 |