CN201062060Y - Cylinder-based pneumatic wall-climbing robot - Google Patents
Cylinder-based pneumatic wall-climbing robot Download PDFInfo
- Publication number
- CN201062060Y CN201062060Y CNU2007200250943U CN200720025094U CN201062060Y CN 201062060 Y CN201062060 Y CN 201062060Y CN U2007200250943 U CNU2007200250943 U CN U2007200250943U CN 200720025094 U CN200720025094 U CN 200720025094U CN 201062060 Y CN201062060 Y CN 201062060Y
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Abstract
The utility model relates to a pneumatic wall-climbing robot based on a pneumatic cylinder, which comprises a sucker, a double-acting pneumatic cylinder, a stepping motor, a steering gear, and a slide bar. A first group of adsorbates are composed by four suckers which are arranged on a bracket of the sucker, the two ends of a cylinder bar are fixed on the bracket of the sucker and are guided by the slide bar, the other two suckers are arranged on another bracket of the sucker and are connected with the stepping motor through the steering gear, which form a second group of adsorbates which are fixed on the cylinder body of the double-acting pneumatic cylinder. When in use, the first and the second group of adsorbates adsorb alternately and are detached from the wall surface, and finish a forward circulation by the extension and retraction of the pneumatic cylinder bar. When the robot needs to change directions, the first group of adsorbates are detached from the wall surface, and the second group of adsorbates are adsorbed on the wall surface, the stepping motor drives the steering gear to drive the first group of adsorbates do rotation action of arbitrary angles from 0 degrees to 360 degrees.
Description
Technical field
The utility model relates to a kind of robot, specifically utilizes two groups of Adsorbing matters alternately to be adsorbed on the metope, relies on a kind of Pneumatic wall-climbing robot based on cylinder of the motion alternating movement of cylinder.
Background technology
Climbing robot is the robot that can carry out operation on vertical cliff, and it more and more is subject to people's attention as a kind of robot apparatus of high-altitude limit operation.The characteristics that often have an iterative motion according to robot in the design of climbing robot adopt hydraulic actuating cylinder or cylinder as propulsion source.Like this, both be beneficial to and obtained continuous or two kinds of modes of climbing of single step, can carry out manual, automatic remote control manipulation again easily.If but adopt hydrostatic drive as power, and the acquisition that in the transmission of fluid, the layout of oil pipe and the site operation there is hydraulic pressure all is insoluble problem, in addition, the weight of hydraulic oil also can have an immense impact on to the robot overall weight.
Summary of the invention
At above-mentioned the deficiencies in the prior art, the utility model provide a kind of simple in structure, easy to operate, flexibly based on the Pneumatic wall-climbing robot of cylinder.
The utility model is realized by following technology.
A kind of Pneumatic wall-climbing robot based on cylinder, this robot is made up of sucker, double-acting cylinder, stepping motor, steering gear, sucker stand, inlet suction port, cylinder support plate, steering shaft, steering bearing, sucker stand, slide bar.Four suckers are installed in forms first group of Adsorbing matter on the sucker stand, the cylinder rod two ends of double-acting cylinder are fixed on the sucker stand, and by the slide bar guiding that is fixed on the sucker stand; Two suckers are installed on another sucker stand in addition, and the steering hardware of forming through steering shaft, steering bearing, steering gear links to each other with stepping motor, forms second group of Adsorbing matter; Second group of Adsorbing matter is fixed on the cylinder body of double-acting cylinder.
During application, first group of Adsorbing matter and second group of alternately absorption of Adsorbing matter, break away from metope, rely on the stretching out of cylinder rod, indentation to finish an advance cycle.When robot need turn to, first group of Adsorbing matter breaks away from metope, second group of Adsorbing matter is adsorbed on the metope, the steering hardware that step motor drive steering shaft, steering bearing, steering gear are formed drives first group of Adsorbing matter rotation, but the spinning movement at any angle between 0 °～360 ° is done in this robot original place.The utlity model has light weight, advantage such as simple in structure, easy to operate, flexible.
Description of drawings
Fig. 1 is a front view of the present utility model;
Fig. 2 is the birds-eye view of Fig. 1.
Wherein, 1, sucker, 2, sucker stand, 3, slide bar, 4, intake interface, 5, steering bearing, 6, double-acting cylinder, 7, steering gear, 8, steering shaft, 9, sucker stand, 10, sucker, 11, admission port, 12, the cylinder support plate, 13, stepping motor.
The specific embodiment
Embodiment: as shown in Figure 1 and Figure 2, a kind of Pneumatic wall-climbing robot based on cylinder, comprise sucker 1,10, double-acting cylinder 6, stepping motor 13, steering gear 7, this robot also comprise sucker stand 2, admission port 11, inlet suction port 4, cylinder support plate 12, steering shaft 8, steering bearing 5, sucker stand 9, slide bar 3.Four suckers 1 are installed in forms first group of Adsorbing matter on the sucker stand 2, the cylinder rod two ends of double-acting cylinder 6 are fixed on the sucker stand 2, and are connected by cylinder support plate 12; Two suckers 10 are installed on another sucker stand 9 in addition, and the steering hardware of forming through steering shaft 8, steering bearing 5, steering gear 7 links to each other with stepping motor 13, forms second group of Adsorbing matter; Second group of Adsorbing matter is fixed on the cylinder body of double-acting cylinder 6, the absorption of 3 second group of Adsorbing matters of slide bar, the directional tagging when breaking away from.
When the robot straight ahead, first group of Adsorbing matter at first is adsorbed on the metope, second group of Adsorbing matter breaks away from adsorbed state, double-acting cylinder 6 is in the left admission port air inlet shown in the accompanying drawing 1, and air cylinder base drives second group of Adsorbing matter and moves right, when arriving right-hand position, double-acting cylinder 6 stops air inlet, second group of Adsorbing matter is adsorbed on the metope, and first group of Adsorbing matter stops absorption then, breaks away from metope; Double-acting cylinder 6 right-hand air inlets, first group of Adsorbing matter moves right under the drive of cylinder rod, and when arriving right-hand position, double-acting cylinder 6 stops air inlet, and first group of Adsorbing matter is adsorbed on the metope, finishes a forward motion.The action that the robot straight line retreats realizes and advances similar.
When robot is finished handling maneuver, second group of Adsorbing matter is adsorbed on first group of Adsorbing matter disengaging adsorbed state on the metope, stepping motor 13 clickwises (from the robot top), drive steering gear 7 left-hand revolutions, second group of Adsorbing matter left-hand revolution, be adsorbed on then on the metope, finish a handling maneuver.
Claims (1)
1. Pneumatic wall-climbing robot based on cylinder, comprise sucker, double-acting cylinder, stepping motor, steering gear, it is characterized in that: also comprise sucker stand, inlet suction port, cylinder support plate, steering shaft, steering bearing, sucker stand, slide bar, four suckers are installed in forms first group of Adsorbing matter on the sucker stand, the cylinder rod two ends of double-acting cylinder are fixed on the sucker stand, and are connected by the cylinder support plate; Two suckers are installed on another sucker stand in addition, and the steering hardware of forming through steering shaft, steering bearing, steering gear links to each other with stepping motor, forms second group of Adsorbing matter; Second group of Adsorbing matter is fixed on the cylinder body of double-acting cylinder.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200250943U CN201062060Y (en) | 2007-07-13 | 2007-07-13 | Cylinder-based pneumatic wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2007200250943U CN201062060Y (en) | 2007-07-13 | 2007-07-13 | Cylinder-based pneumatic wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201062060Y true CN201062060Y (en) | 2008-05-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2007200250943U Expired - Fee Related CN201062060Y (en) | 2007-07-13 | 2007-07-13 | Cylinder-based pneumatic wall-climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN201062060Y (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167101A (en) * | 2010-12-27 | 2011-08-31 | 华东理工大学 | Polydisc non-contact-absorption type climbing robot |
| CN105416429A (en) * | 2015-12-10 | 2016-03-23 | 华南理工大学 | Walking mechanism for wall-climbing robot |
| CN107620474A (en) * | 2017-10-25 | 2018-01-23 | 浙江坤鸿新材料有限公司 | A kind of baseboard installs pretreatment unit |
| CN107752912A (en) * | 2017-10-25 | 2018-03-06 | 浙江坤鸿新材料有限公司 | A kind of floor is installed by floor cleaning device |
| CN108272188A (en) * | 2016-05-24 | 2018-07-13 | 衢州锐思机械科技有限公司 | The pearl necklace of variable appearance |
| CN111408116A (en) * | 2020-04-21 | 2020-07-14 | 杭州锐石电子科技有限公司 | Electrician is with electronic pole-climbing device of turning to function in area |
| CN114287962A (en) * | 2021-12-29 | 2022-04-08 | 福州圣泓大数据科技有限公司 | Low-frequency ultrasonic transducer device for tumor treatment |
-
2007
- 2007-07-13 CN CNU2007200250943U patent/CN201062060Y/en not_active Expired - Fee Related
Cited By (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102167101A (en) * | 2010-12-27 | 2011-08-31 | 华东理工大学 | Polydisc non-contact-absorption type climbing robot |
| CN102167101B (en) * | 2010-12-27 | 2012-09-05 | 华东理工大学 | Polydisc non-contact-absorption type climbing robot |
| CN105416429A (en) * | 2015-12-10 | 2016-03-23 | 华南理工大学 | Walking mechanism for wall-climbing robot |
| CN108272188A (en) * | 2016-05-24 | 2018-07-13 | 衢州锐思机械科技有限公司 | The pearl necklace of variable appearance |
| CN107620474A (en) * | 2017-10-25 | 2018-01-23 | 浙江坤鸿新材料有限公司 | A kind of baseboard installs pretreatment unit |
| CN107752912A (en) * | 2017-10-25 | 2018-03-06 | 浙江坤鸿新材料有限公司 | A kind of floor is installed by floor cleaning device |
| CN107752912B (en) * | 2017-10-25 | 2023-09-08 | 浙江坤鸿新材料有限公司 | Floor installation ground cleaning device |
| CN111408116A (en) * | 2020-04-21 | 2020-07-14 | 杭州锐石电子科技有限公司 | Electrician is with electronic pole-climbing device of turning to function in area |
| CN111408116B (en) * | 2020-04-21 | 2021-06-01 | 南通市濠洲船舶工程有限公司 | Electrician is with electronic pole-climbing device of turning to function in area |
| CN114287962A (en) * | 2021-12-29 | 2022-04-08 | 福州圣泓大数据科技有限公司 | Low-frequency ultrasonic transducer device for tumor treatment |
| CN114287962B (en) * | 2021-12-29 | 2024-01-30 | 福州圣泓大数据科技有限公司 | Low-frequency ultrasonic transducer device for tumor treatment |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Assignee: Dalian Like Technology Co., Ltd. Assignor: Yu Fusheng Contract fulfillment period: 2008.8.8 to 2014.8.7 Contract record no.: 2008210000114 Denomination of utility model: Pneumatic wall-climbing robot based on cylinder Granted publication date: 20080521 License type: Exclusive license Record date: 20081229 |
|
| LIC | Patent licence contract for exploitation submitted for record |
Free format text: EXCLUSIVE LICENSE; TIME LIMIT OF IMPLEMENTING CONTACT: 2008.8.8 TO 2014.8.7; CHANGE OF CONTRACT Name of requester: DALIAN LIKE TECHNOLOGY ENGINEERING CO., LTD. Effective date: 20081229 |
|
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20080521 Termination date: 20100713 |