CN114454979A - Wall crawling device - Google Patents
Wall crawling device Download PDFInfo
- Publication number
- CN114454979A CN114454979A CN202210129610.6A CN202210129610A CN114454979A CN 114454979 A CN114454979 A CN 114454979A CN 202210129610 A CN202210129610 A CN 202210129610A CN 114454979 A CN114454979 A CN 114454979A
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- China
- Prior art keywords
- rack
- frame
- hydraulic cylinder
- wall
- 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.)
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- 230000009193 crawling Effects 0.000 title claims abstract description 24
- 230000007246 mechanism Effects 0.000 claims abstract description 82
- 230000009194 climbing Effects 0.000 claims description 18
- 238000002347 injection Methods 0.000 claims description 15
- 239000007924 injection Substances 0.000 claims description 15
- 238000009434 installation Methods 0.000 claims description 2
- 238000007664 blowing Methods 0.000 claims 1
- 239000000243 solution Substances 0.000 description 8
- 238000005516 engineering process Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 241001640558 Cotoneaster horizontalis Species 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 239000000463 material Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000000750 progressive effect Effects 0.000 description 1
Images
Classifications
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D15/00—Steering not otherwise provided for
Abstract
The invention discloses a wall surface crawling device, which comprises a rack; the jet fan mechanism is arranged on one side of the rack and can provide pressure for the rack through jet power; the traveling mechanism is arranged on one side of the frame, which is far away from the jet fan mechanism; the traveling mechanism is rotationally connected with the frame; the driving mechanism is arranged on one side of the frame, which faces the jet fan mechanism, and is used for driving the travelling mechanism to rotate; the hydraulic cylinder group is arranged at the edge of the frame and is vertically fixed with the frame; the telescopic end of the hydraulic cylinder group faces one side of the traveling mechanism. The device provided by the invention adopts the idea of separating walking and turning, the jet fan mechanism provides jet pressure to be attached to the wall surface, the jet fan mechanism is driven by the walking mechanism during normal crawling, when the device needs to turn, the hydraulic cylinder group jacks up the rack to separate the walking mechanism from the wall surface, the walking mechanism is rotated to turn, and then the hydraulic cylinder group is retracted. The turning control precision is higher, the control is more stable, and the problem of difficulty in turning of the wall crawling robot is solved.
Description
Technical Field
The invention relates to the technical field of crawling robots, in particular to a wall crawling device.
Background
At present, the design of the wall climbing robot includes electronics technology, communication technology, sensor technology, automatic control technology, mechanical principle, materials, science and the like in disciplines, and the wall climbing robot is a system formed by cross convergence of multiple disciplines.
The application field of the current wall climbing robot mainly comprises: glass curtain wall washs, high wall and bridge detect, pipeline are surveyed, are investigated, high-risk area is explored, the wall sprays paint etc. in the abluent high-risk trade of glass curtain wall, not only with low costs, dangerous low, efficiency also is higher than the manual work. In inspection and detection tasks, such as crack detection of bridges and high walls. Exploration in high-risk areas, such as tasks of high-radiation areas in the nuclear industry, etc. Although the existing wall crawling device can realize the function of wall crawling, a plurality of defects still exist in the using effect, such as poor control precision of turning.
Therefore, how to provide a wall surface crawling device with better control effect is a problem that needs to be solved urgently by the technical personnel in the field.
Disclosure of Invention
In view of the above, the present invention provides a wall surface crawling device, which aims to solve the above technical problems.
In order to achieve the purpose, the invention adopts the following technical scheme:
a wall climbing device comprising:
a frame;
a jet fan mechanism; the jet fan mechanism is arranged on one side of the rack and can provide pressure for the rack through jet power;
a traveling mechanism; the travelling mechanism is arranged on one side of the rack, which is far away from the jet fan mechanism; the traveling mechanism is rotationally connected with the rack;
a drive mechanism; the driving mechanism is arranged on one side of the rack facing the jet fan mechanism and is used for driving the travelling mechanism to rotate;
a hydraulic cylinder group; the hydraulic cylinder group is arranged on the edge of the frame and is vertically fixed with the frame; the telescopic end of the hydraulic cylinder group faces one side of the travelling mechanism.
According to the technical scheme, the wall crawling device provided by the invention adopts the idea of walking and turning separation operation, the jet fan mechanism provides jet pressure to be attached to the wall, the jet fan mechanism drives the wall crawling device to normally crawl, when turning is needed, the hydraulic cylinder group jacks up the rack to separate the walking mechanism from the wall, the walking mechanism is rotated to turn, and then the hydraulic cylinder group is retracted. The turning control precision is higher, the control is more stable, and the problem of difficulty in turning of the wall crawling robot is solved.
Preferably, in the wall climbing device, the frame has a rectangular plate structure, and four corners of the frame are provided with hydraulic cylinder mounting holes for mounting the hydraulic cylinder groups; and a rotating hole which is rotatably connected with the travelling mechanism is formed in the middle of the rack. The frame provides a foundation for the installation of other mechanisms.
Preferably, in the wall surface climbing device, the traveling mechanism includes a traveling frame and a traveling crawler; a walking driving system is installed inside the walking frame, a rotating part which is rotatably connected with the rotating hole is arranged on one side of the walking frame, which faces the rack, the rotating part is connected with the rotating hole through a bearing, and the driving mechanism is used for driving the rotating part to rotate; the walking crawler belt is installed on the walking frame. The walking mechanism provided by the invention is of an independent structure, is rotatably connected with the rack and can realize rotation at different angles.
Preferably, in the wall climbing device, the walking crawler is made of rubber and has friction lines. The friction between the wall surface and the wall surface can be further improved, and the crawling stability is improved.
Preferably, in the wall climbing device, the driving mechanism comprises a bracket and a steering engine; the bracket is fixed on one side of the rack facing the jet fan mechanism; the steering engine is installed on the support, and the power output end of the steering engine is fixedly connected with the rotating part. The steering wheel can realize the rotation drive to running gear, and the rotation angle controllability is strong.
Preferably, in the wall climbing device, the hydraulic cylinder group includes four hydraulic cylinders; the four hydraulic cylinders are respectively fixed in the hydraulic cylinder mounting holes at the four corners of the frame; the telescopic end of the hydraulic cylinder faces one side of the travelling mechanism; and a hydraulic driving system for driving the hydraulic cylinder to act is fixed on the bracket. The hydraulic cylinder has stable driving effect, unified and coordinated action and large power.
Preferably, in the wall climbing device, a suction cup is fixed to a telescopic end of the hydraulic cylinder. The hydraulic cylinder can be supported more stably through the arrangement of the suction cups.
Preferably, in the wall climbing device, a pressure sensor is installed in the middle of the inner side of the suction cup. According to the invention, the pressure sensor is arranged on the hydraulic cylinder supporting structure, the pressure value is monitored during supporting, the pressure and the gravity of the device can be compared in real time, and the device is prevented from falling.
Preferably, in the wall climbing device, the air injection fan mechanism includes a support rod, a mounting plate, an air injection fan and a power supply system; the number of the support rods is multiple, and the support rods are vertically fixed on the rack; the mounting plate is fixed on the plurality of support rods; the number of the air injection fans is multiple, and the air injection fans are arranged on the plate surface of the mounting plate, which deviates from the rack; the power supply system is installed the mounting panel orientation on one side face of frame, and be used for the jet-propelled fan provides power. The structure of the jet fan mechanism is simple and reliable, and the layout is reasonable.
Preferably, in the above-mentioned wall climbing device, the mounting panel is the triangular plate of radius angle, the quantity of bracing piece is three, the quantity of air injection fan is three. The structure stability is strong, and the problem of power incongruity after direction switching can be reduced.
According to the technical scheme, compared with the prior art, the wall surface crawling device has the following beneficial effects that:
1. the wall surface crawling device provided by the invention adopts the idea of walking and turning separation operation, the jet fan mechanism provides jet pressure to be attached to the wall surface, the jet fan mechanism is driven by the walking mechanism during normal crawling, when turning is needed, the hydraulic cylinder group jacks up the rack to separate the walking mechanism from the wall surface, the walking mechanism is rotated to turn, and then the hydraulic cylinder group is retracted. The turning control precision is higher, the control is more stable, and the problem of difficulty in turning of the wall crawling robot is solved.
2. According to the invention, the pressure sensor is arranged on the hydraulic cylinder supporting structure, the pressure value is monitored during supporting, the pressure and the gravity of the device can be compared in real time, and the device is prevented from falling.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
FIG. 1 is a schematic structural view illustrating a creeping state of a wall surface creeping device according to the present invention;
FIG. 2 is a schematic view of a wall climbing device according to the present invention in a turning state;
fig. 3 is a front view of the wall surface crawling apparatus according to the present invention.
Wherein:
1-a frame;
2-a jet fan mechanism;
21-a support bar; 22-a mounting plate; 23-an air-jet fan; 24-a power supply system;
3-a traveling mechanism;
31-a walking frame; 32-a walking track;
4-a drive mechanism;
41-a bracket; 42-a steering engine;
5-hydraulic cylinder group;
51-hydraulic cylinder; 52-a hydraulic drive system; 53-suction cup.
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 to 3, an embodiment of the present invention discloses a wall surface crawling device, including:
a frame 1;
a jet fan mechanism 2; the jet fan mechanism 2 is arranged on one side of the frame 1 and can provide pressure to the frame 1 through jet power;
a traveling mechanism 3; the traveling mechanism 3 is arranged on one side of the frame 1, which is far away from the jet fan mechanism 2; the traveling mechanism 3 is rotationally connected with the frame 1;
a drive mechanism 4; the driving mechanism 4 is arranged on one side of the frame 1 facing the air injection fan mechanism 2 and is used for driving the travelling mechanism 3 to rotate;
a hydraulic cylinder group 5; the hydraulic cylinder group 5 is arranged at the edge of the frame 1 and is vertically fixed with the frame 1; the telescopic end of the hydraulic cylinder group 5 faces one side of the traveling mechanism 3.
In order to further optimize the technical scheme, the frame 1 is of a rectangular plate structure, and four corners of the frame 1 are provided with hydraulic cylinder mounting holes for mounting the hydraulic cylinder groups 5; the middle part of the frame 1 is provided with a rotating hole which is rotationally connected with the traveling mechanism 3.
In order to further optimize the above technical solution, the traveling mechanism 3 includes a traveling frame 31 and a traveling crawler 32; a walking driving system is arranged in the walking frame 31, a rotating part which is rotatably connected with the rotating hole is arranged on one side of the walking frame 31 facing the rack 1, the rotating part is connected with the rotating hole through a bearing, and the driving mechanism 4 is used for driving the rotating part to rotate; the traveling crawler 32 is mounted on the traveling frame 31.
In order to further optimize the above technical solution, the walking track 32 is made of rubber and has friction lines.
In order to further optimize the technical scheme, the driving mechanism 4 comprises a bracket 41 and a steering engine 42; the bracket 41 is fixed on one side of the frame 1 facing the jet fan mechanism 2; steering wheel 42 is installed on support 41, and its power take off end and rotation portion fixed connection.
In order to further optimize the above technical solution, the hydraulic cylinder group 5 comprises four hydraulic cylinders 51; the four hydraulic cylinders 51 are respectively fixed in hydraulic cylinder mounting holes at four corners of the frame 1; the telescopic end of the hydraulic cylinder 51 faces one side of the travelling mechanism 3; a hydraulic drive system 52 for driving the hydraulic cylinder 51 is fixed to the bracket 41.
In order to further optimize the above technical solution, a suction cup 53 is fixed to the telescopic end of the hydraulic cylinder 51.
In order to further optimize the above technical solution, a pressure sensor is installed in the middle of the inner side of the suction cup 53.
In order to further optimize the technical scheme, the jet fan mechanism 2 comprises a support rod 21, a mounting plate 22, a jet fan 23 and a power supply system 24; the number of the support rods 21 is multiple, and the support rods are vertically fixed on the rack 1; the mounting plate 22 is fixed on the plurality of support rods 21; the number of the air injection fans 23 is multiple, and the air injection fans are arranged on the plate surface of the mounting plate 22 departing from the rack 1; the power supply system 24 is mounted on a side of the mounting plate 22 facing the rack 1 and is used to power the jet fan 23.
In order to further optimize the above technical solution, the mounting plate 22 is a rounded triangular plate, the number of the support rods 21 is three, and the number of the air injection fans 23 is three.
In the present specification, the embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A wall crawling device is characterized by comprising:
a frame (1);
a jet fan mechanism (2); the jet fan mechanism (2) is arranged on one side of the rack (1) and can provide pressure for the rack (1) through jet power;
a traveling mechanism (3); the travelling mechanism (3) is arranged on one side of the rack (1) departing from the air injection fan mechanism (2); the travelling mechanism (3) is rotationally connected with the rack (1);
a drive mechanism (4); the driving mechanism (4) is installed on one side, facing the air injection fan mechanism (2), of the rack (1) and is used for driving the travelling mechanism (3) to rotate;
a hydraulic cylinder group (5); the hydraulic cylinder group (5) is installed at the edge of the rack (1) and is vertically fixed with the rack (1); the telescopic end of the hydraulic cylinder group (5) faces one side of the travelling mechanism (3).
2. The wall crawling device according to claim 1, wherein the frame (1) is of a rectangular plate structure, and four corners of the frame (1) are provided with hydraulic cylinder mounting holes for mounting the hydraulic cylinder groups (5); the middle part of the frame (1) is provided with a rotating hole which is rotationally connected with the traveling mechanism (3).
3. A wall-climbing device according to claim 2, wherein the traveling mechanism (3) comprises a traveling carriage (31) and a traveling crawler (32); a walking driving system is installed inside the walking frame (31), a rotating part which is rotatably connected with the rotating hole is arranged on one side, facing the rack (1), of the walking frame (31), the rotating part is connected with the rotating hole through a bearing, and the driving mechanism (4) is used for driving the rotating part to rotate; the walking crawler belt (32) is arranged on the walking frame (31).
4. A wall climbing device according to claim 3, wherein the walking track (32) is made of rubber and has friction lines.
5. A wall climbing device according to claim 3, wherein the driving mechanism (4) comprises a bracket (41) and a steering engine (42); the bracket (41) is fixed on one side of the frame (1) facing the air injection fan mechanism (2); the steering engine (42) is installed on the support (41), and the power output end of the steering engine is fixedly connected with the rotating part.
6. A wall-climbing device according to claim 3, wherein the hydraulic cylinder group (5) comprises four hydraulic cylinders (51); the four hydraulic cylinders (51) are respectively fixed in the hydraulic cylinder mounting holes at the four corners of the frame (1); the telescopic end of the hydraulic cylinder (51) faces one side of the travelling mechanism (3); and a hydraulic driving system (52) for driving the hydraulic cylinder (51) to act is fixed on the bracket (41).
7. A wall climbing device according to claim 6, wherein the suction cups (53) are fixed to the telescopic ends of the hydraulic cylinders (51).
8. A wall-climbing device according to claim 7, wherein a pressure sensor is installed at the inner center of the suction cup (53).
9. A wall surface crawling device according to claim 1, wherein said jet fan mechanism (2) comprises a support bar (21), a mounting plate (22), a jet fan (23) and an electric power supply system (24); the number of the support rods (21) is multiple, and the support rods are vertically fixed on the rack (1); the mounting plate (22) is fixed on the plurality of support rods (21); the number of the air injection fans (23) is multiple, and the air injection fans are installed on the plate surface of the installation plate (22) deviating from the rack (1); the power supply system (24) is arranged on one side plate surface of the mounting plate (22) facing the rack (1) and is used for providing power for the air injection fan (23).
10. A wall climbing device according to claim 9, wherein the mounting plate (22) is a rounded triangular plate, the number of the supporting rods (21) is three, and the number of the air blowing fans (23) is three.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210129610.6A CN114454979A (en) | 2022-02-11 | 2022-02-11 | Wall crawling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210129610.6A CN114454979A (en) | 2022-02-11 | 2022-02-11 | Wall crawling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN114454979A true CN114454979A (en) | 2022-05-10 |
Family
ID=81413800
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210129610.6A Pending CN114454979A (en) | 2022-02-11 | 2022-02-11 | Wall crawling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114454979A (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115233943A (en) * | 2022-07-22 | 2022-10-25 | 重庆市巴岳建筑安装工程有限公司 | Spraying device for high-rise building |
Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105832254A (en) * | 2016-05-26 | 2016-08-10 | 贵州大学 | Glass curtain wall cleaner |
| CN108979183A (en) * | 2018-07-20 | 2018-12-11 | 深圳聚纵科技有限公司 | Robot is used in a kind of cleaning of Multifunctional curtain-wall |
| CN210175019U (en) * | 2019-03-27 | 2020-03-24 | 上海光赢能源科技有限公司 | Hanging flower basket intelligent robot loading platform |
| CN111907613A (en) * | 2019-12-20 | 2020-11-10 | 宁波大学 | Intelligent robot |
| CN212447843U (en) * | 2020-01-14 | 2021-02-02 | 广西科技大学 | Multi-cavity rotational flow adsorption type wall climbing vehicle |
| CN212605717U (en) * | 2020-09-22 | 2021-02-26 | 天津科技大学 | Adsorption type underwater cleaning robot |
| CN112998568A (en) * | 2021-01-29 | 2021-06-22 | 山东大学 | High-altitude glass curtain wall scrubbing robot |
| CN215583993U (en) * | 2021-07-21 | 2022-01-21 | 安徽大汉机器人集团有限公司 | Novel window cleaning machine |
-
2022
- 2022-02-11 CN CN202210129610.6A patent/CN114454979A/en active Pending
Patent Citations (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105832254A (en) * | 2016-05-26 | 2016-08-10 | 贵州大学 | Glass curtain wall cleaner |
| CN108979183A (en) * | 2018-07-20 | 2018-12-11 | 深圳聚纵科技有限公司 | Robot is used in a kind of cleaning of Multifunctional curtain-wall |
| CN210175019U (en) * | 2019-03-27 | 2020-03-24 | 上海光赢能源科技有限公司 | Hanging flower basket intelligent robot loading platform |
| CN111907613A (en) * | 2019-12-20 | 2020-11-10 | 宁波大学 | Intelligent robot |
| CN212447843U (en) * | 2020-01-14 | 2021-02-02 | 广西科技大学 | Multi-cavity rotational flow adsorption type wall climbing vehicle |
| CN212605717U (en) * | 2020-09-22 | 2021-02-26 | 天津科技大学 | Adsorption type underwater cleaning robot |
| CN112998568A (en) * | 2021-01-29 | 2021-06-22 | 山东大学 | High-altitude glass curtain wall scrubbing robot |
| CN215583993U (en) * | 2021-07-21 | 2022-01-21 | 安徽大汉机器人集团有限公司 | Novel window cleaning machine |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN115233943A (en) * | 2022-07-22 | 2022-10-25 | 重庆市巴岳建筑安装工程有限公司 | Spraying device for high-rise building |
| CN115233943B (en) * | 2022-07-22 | 2023-12-05 | 重庆市巴岳建筑安装工程有限公司 | Spraying device for high-rise building |
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| PB01 | Publication | ||
| PB01 | Publication | ||
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| RJ01 | Rejection of invention patent application after publication | ||
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Application publication date: 20220510 |