CN202080361U - Crawling mechanism of glass curtain wall crawling robot - Google Patents
Crawling mechanism of glass curtain wall crawling robot Download PDFInfo
- Publication number
- CN202080361U CN202080361U CN2011201282825U CN201120128282U CN202080361U CN 202080361 U CN202080361 U CN 202080361U CN 2011201282825 U CN2011201282825 U CN 2011201282825U CN 201120128282 U CN201120128282 U CN 201120128282U CN 202080361 U CN202080361 U CN 202080361U
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- CN
- China
- Prior art keywords
- sucker
- cylinder
- curtain wall
- glass curtain
- sucker disk
- 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.)
- Expired - Fee Related
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- Load-Bearing And Curtain Walls (AREA)
Abstract
The utility model discloses a crawling mechanism of a glass curtain wall crawling robot, which consists of two sucker seats (1). Downward suckers (2) are fixed onto each sucker seat, the sucker seats are fixedly connected with a cylinder rod (3A) on the lower portion of a perpendicular air cylinder (3), an air channel of the air cylinder (3) is connected with a control device of the air cylinder, the top or the lateral side of the air cylinder (3) is fixedly connected with a vertical step motor (4) which is electrically connected with the control device, and a shaft of the step motor (4) arranged above the two sucker seats (1) is fixedly connected with two ends of a transverse connecting rod (5) respectively. The crawling mechanism is simple in structure, convenient in mounting and dismounting, long in moving distance, flexible and fast.
Description
Technical field
The utility model relates to a kind of mechanism of robot, relates in particular to a kind of climbing mechanism of Climbing Robot.
Background technology
Because people improve constantly quality of life and working environment requirement, as a kind of robot apparatus of high-altitude limit operation, Climbing Robot more and more is subject to people's attention, and has broad application prospects and social, economic benefit.Just need a large amount of glass curtain wall Climbing Robot as the cleaning of skyscraper glass curtain wall, spraying operation, this robot most critical be exactly its climbing mechanism.
The ZL01274743 patent disclosure a kind of " climbing robot that the single sucking disc and crawler multi-sucker combine " that is used for glass curtain wall, described climbing robot volume is big, though have higher moving velocity, but because employing is the structure of the single sucking disc, robot is with the limited shortcoming of the adsorption power of wall.For another example the ZL200720025093.9 patent disclosure a kind of " pneumatic Climbing Robot " of glass curtain wall, described Climbing Robot is by Pneumatic flexible actuator, Pneumatic flexible ball joint, vacuum cup phase composition, though manoevreability is better, the speed that moves is slower.
The utility model content
The purpose of this utility model just provides a kind of climbing mechanism of glass curtain wall Climbing Robot, and this kind climbing mechanism is simple in structure, installation and removal are convenient, miles of relative movement is big, flexibly, fast.
The utility model solves its technical matters, the technical scheme that is adopted is: a kind of climbing mechanism of glass curtain wall Climbing Robot, its composition is: two sucker disk seats, be fixed with downward sucker on each sucker disk seat, sucker disk seat links to each other with cylinder control unit with the cylinder bar captive joint of vertical cylinder bottom, the gas circuit of cylinder; The top of cylinder or side are fixedly connected with the vertical stepping motor that is electrically connected with control setup; The axle of the stepping motor on two sucker disk seats is captiveed joint with the two ends of transverse link respectively.
Working process of the present utility model and principle are:
Sucker on two sucker disk seats is adsorbed on the glass curtain wall, in the time of need creeping, allow earlier sucker inflation on one of them sucker disk seat (mobile sucker disk seat), remove adsorbed state, cylinder bar with exhaust hood upwards shrinks under the control of pneumatics, and glass curtain wall is upwards mentioned, left to this pneumatic framework and sucker thereof; Stepping motor on another sucker disk seat (fixing sucking disk seat) rotates under the control of control setup then, drives transverse link along this stepping motor rotation; And then make mobile sucker disk seat and sucker generation 180 degree forwards and oppositely directed rotation move to assigned address, motor on the fixing sucking disk seat stops the rotation then, cylinder cylinder bar on the mobile sucker disk seat stretches out downwards and drives mobile sucker disk seat and sucker thereof and move down and be adsorbed on the glass curtain wall, promptly finishes creeping of the first step.The crawling process in second step, two sucker disk seats carry out checker, are about to mobile sucker disk seat and change the fixing sucking disk seat into, and the fixing sucking disk seat changes mobile sucker disk seat into, repeats aforesaid operations and promptly finishes creeping of second step.Through alternate cycles repeatedly, can finish creeping of any step.In the crawling process in each step, the stepping motor on the travelling frame sucker can be done the contrarotation of equal angular, then can make the axis of two travelling frames remain parallel.
Compared with prior art, the beneficial effects of the utility model are:
One, the absorption framework by two symmetries is that rotation in the 180 degree scopes at center is moved mutually with the other side, framework per steps of climbing mechanism can only laterally or vertically move than four absorption, the utility model can be realized the oblique course of the polarizers of big angle scope of longer distance, its move mode is more flexible, convenient, miles of relative movement is big, mobile efficient height.
Two, climbing mechanism only is made of sucker, sucker disk seat, cylinder, stepping motor, connecting rod, and is simple in structure, transmission is effective, reliable, installation and removal convenient, cost of manufacture is low.
The quantity of fixing sucker is 3-5 on each above-mentioned sucker disk seat.A plurality of like this suckers make its absorption to glass curtain wall more firm.
Below in conjunction with the drawings and specific embodiments the utility model is described in further detail.
Description of drawings
Fig. 1 is that the cylinder cylinder bar on sucker disk seat of the utility model embodiment stretches out, the perspective view during cylinder cylinder bar indentation on another sucker disk seat.
The specific embodiment
Fig. 1 illustrates, and a kind of specific embodiment of the present utility model is, two sucker disk seats 1 are fixed with downward sucker 2 on each sucker disk seat, and sucker disk seat links to each other with cylinder control unit with the cylinder bar 3A captive joint of vertical cylinder 3 bottoms, the gas circuit of cylinder 3; The top of cylinder 3 or side are fixedly connected with the vertical stepping motor 4 that is electrically connected with control setup; The axle of the stepping motor 4 on two sucker disk seats 1 is captiveed joint with the two ends of transverse link 5 respectively.
The quantity of fixing sucker 2 is 3-5 on each sucker disk seat 1 of this example.Like this, a plurality of sucker makes its absorption to glass curtain wall more firm.
Sucker of the present utility model can adopt the sucker of the inflation of existing band, degassing function, and the gas circuit of its inflation, exhaust is linked to each other with cylinder control unit, can make its absorption more firm, and releasing is adsorbed more convenient.
Claims (2)
1. the climbing mechanism of a glass curtain wall Climbing Robot, its composition is: two sucker disk seats (1), be fixed with downward sucker (2) on each sucker disk seat, sucker disk seat links to each other with cylinder control unit with cylinder bar (3A) captive joint of vertical cylinder (3) bottom, the gas circuit of cylinder (3); The top of cylinder (3) or side are fixedly connected with the vertical stepping motor (4) that is electrically connected with control setup; The axle of the stepping motor (4) on two sucker disk seats (1) is captiveed joint with the two ends of transverse link (5) respectively.
2. the climbing mechanism of a kind of glass curtain wall Climbing Robot according to claim 1 is characterized in that: the quantity that described each sucker disk seat (1) is gone up fixing sucker (2) is 3-5.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201282825U CN202080361U (en) | 2011-04-27 | 2011-04-27 | Crawling mechanism of glass curtain wall crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011201282825U CN202080361U (en) | 2011-04-27 | 2011-04-27 | Crawling mechanism of glass curtain wall crawling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202080361U true CN202080361U (en) | 2011-12-21 |
Family
ID=45341008
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011201282825U Expired - Fee Related CN202080361U (en) | 2011-04-27 | 2011-04-27 | Crawling mechanism of glass curtain wall crawling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202080361U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104473595A (en) * | 2014-12-25 | 2015-04-01 | 哈尔滨工程大学 | Loopworm-simulated cleaning device |
| CN104648505A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Split type robot |
| CN104648506A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Method for controlling separated sucker type robot to avoid walking surface defects |
| CN106741270A (en) * | 2016-12-23 | 2017-05-31 | 南京工程学院 | Biped coordinates the wall-climbing robot of start |
| CN108382479A (en) * | 2018-04-02 | 2018-08-10 | 西南交通大学 | A kind of anti-fall climbing robot |
| CN108528559A (en) * | 2018-05-31 | 2018-09-14 | 西南交通大学 | A kind of compound foot of climbing tower robot |
| CN110371208A (en) * | 2019-07-25 | 2019-10-25 | 燕山大学 | A kind of single-degree-of-freedom Telescopic rotary climbing robot based on scissors mechanism |
-
2011
- 2011-04-27 CN CN2011201282825U patent/CN202080361U/en not_active Expired - Fee Related
Cited By (13)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104648505A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Split type robot |
| CN104648506A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Method for controlling separated sucker type robot to avoid walking surface defects |
| WO2015074564A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Split type robot |
| CN104473595B (en) * | 2014-12-25 | 2016-09-14 | 哈尔滨工程大学 | Imitative looper cleaning device |
| CN104473595A (en) * | 2014-12-25 | 2015-04-01 | 哈尔滨工程大学 | Loopworm-simulated cleaning device |
| CN106741270B (en) * | 2016-12-23 | 2019-06-28 | 南京工程学院 | The wall-climbing robot of biped coordination actuation |
| CN106741270A (en) * | 2016-12-23 | 2017-05-31 | 南京工程学院 | Biped coordinates the wall-climbing robot of start |
| CN108382479A (en) * | 2018-04-02 | 2018-08-10 | 西南交通大学 | A kind of anti-fall climbing robot |
| CN108382479B (en) * | 2018-04-02 | 2023-05-30 | 西南交通大学 | Anti-falling climbing robot |
| CN108528559A (en) * | 2018-05-31 | 2018-09-14 | 西南交通大学 | A kind of compound foot of climbing tower robot |
| CN108528559B (en) * | 2018-05-31 | 2023-06-06 | 西南交通大学 | Composite foot of climbing robot |
| CN110371208A (en) * | 2019-07-25 | 2019-10-25 | 燕山大学 | A kind of single-degree-of-freedom Telescopic rotary climbing robot based on scissors mechanism |
| CN110371208B (en) * | 2019-07-25 | 2021-04-06 | 燕山大学 | Single-degree-of-freedom telescopic rotary crawling robot based on scissor fork mechanism |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20111221 Termination date: 20140427 |