CN202156471U - Sucked type pneumatic wall-climbing robot - Google Patents
Sucked type pneumatic wall-climbing robot Download PDFInfo
- Publication number
- CN202156471U CN202156471U CN2011202411537U CN201120241153U CN202156471U CN 202156471 U CN202156471 U CN 202156471U CN 2011202411537 U CN2011202411537 U CN 2011202411537U CN 201120241153 U CN201120241153 U CN 201120241153U CN 202156471 U CN202156471 U CN 202156471U
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- China
- Prior art keywords
- sucker support
- climbing robot
- type pneumatic
- sucked type
- cylinder
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- 241000252254 Catostomidae Species 0.000 claims abstract description 88
- 230000002493 climbing Effects 0.000 description 7
- 238000010521 absorption reaction Methods 0.000 description 3
- 238000004140 cleaning Methods 0.000 description 3
- 238000010586 diagram Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 239000011521 glass Substances 0.000 description 2
- 230000032683 aging Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000012530 fluid Substances 0.000 description 1
- 230000002706 hydrostatic Effects 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000006011 modification reaction Methods 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model provides a sucked type pneumatic wall-climbing robot, comprising a front sucker rack, a rear sucker rack, a connecting base which is rotatably connected to the rear sucker rack, and suckers which are respectively disposed at the bottom face of the front sucker rack and at the bottom face of the rear sucker rack. The sucked type pneumatic wall-climbing robot also comprises a propelling cylinder. One end of the propelling cylinder is connected to the connecting base, and the other end is connected to the front sucker rack. The sucked type pneumatic wall-climbing robot also comprises a connecting piece which is fixed with respect to the connecting base, a fixing piece fixed to the rear sucker rack, and a steering cylinder. One end of the steering cylinder is rotatably connected to the connecting piece, and the other end is rotatably connected to the fixing piece. Capable of moving forward and backward and rotating in any angles from 0-180DEG, the sucked type pneumatic wall-climbing robot is light in weight, simple in structure, convenient in operation and flexible in use.
Description
Technical field
The utility model relates to a kind of climbing robot, particularly with the wall climbing robot of vacuum cup as Adsorbing matter.
Background technology
Along with the up-to-dateness of urban construction is increasingly high, the wall operation that needs is also just more and more.For example, the glass metope cleaning of a lot of high buildings is accomplished by the people that both inconvenience was also dangerous, and climbing robot just can replace the people to accomplish the work of this danger.Climbing robot is the robot that can on vertical cliff, carry out operation, and it more and more receives people's attention as a kind of robot apparatus of high-altitude limit operation.
The sucked type Pneumatic wall-climbing robot; A kind of as climbing robot; Just can realize different action functions through loading different actuating units, for example: the interim monitoring at large-scale shell welding, the cleaning of higher smooth metope paint, high building cleaning glass, crossing, street and the aging inspection of electric wire of information collection, the communication of robot cubic network, high building or elevator etc.In the design of climbing robot, often having the characteristics that move in circles predetermined according to robot adopts hydraulic actuating cylinder or gas as propulsion source.If adopt hydrostatic drive as power, the weight of fluid also can have an immense impact on to the robot overall weight, thereby relatively more has superiority as propulsion source with gas.But existing robots all can not realize pure pneumatic operation, and some climbing robots still need some heavier apparatuses such as motor to realize turning etc.
The utility model content
To the deficiency of above-mentioned prior art, the utility model technical matters to be solved provides a kind of fully with the sucked type Pneumatic wall-climbing robot of gas as propulsion source.
The technical scheme that the utility model adopted is: a kind of sucked type Pneumatic wall-climbing robot; Comprise anterior sucker support, posterior sucker support, be rotatably connected on the Connection Block on the posterior sucker support, be arranged at the sucker of said anterior sucker support bottom surface and posterior sucker support bottom surface respectively; Propulsion cylinder, an end of said propulsion cylinder is connected in Connection Block, the other end is connected in the anterior sucker support; Relatively Connection Block is fixedly coupled sheet, is fixed on fixed plate on the posterior sucker support, turns to cylinder, saidly turns to an end and the connecting strap of cylinder to be rotationally connected, the other end and fixed plate be rotationally connected.
Preferably, said anterior sucker support, posterior sucker support bottom surface are respectively arranged with three suckers, and three suckers equidistantly distribute along three summits of equilateral triangle.
Preferably, the bottom surface of said anterior sucker support is provided with cardan wheel, is connected for elasticity between said cardan wheel and the anterior sucker support.The bottom surface of said posterior sucker support is provided with cardan wheel, is connected for elasticity between said cardan wheel and the posterior sucker support.
Preferably, be fixed with fixedly slide block on the said anterior sucker support, the expansion link of said propulsion cylinder is captiveed joint with fixing slide block, and the cylinder body and the Connection Block of propulsion cylinder are rotationally connected.Be fixed with guide rail on the said Connection Block, said guide rail slides and is plugged in the said fixedly slide block.Said guide rail is two, and said connecting strap is two, is separately fixed on two guide rails; Said fixed plate is two, and two fixed plates all are fixed on the posterior sucker support; The said cylinder that turns to is two also, is respectively that cylinder body is rotatably connected on a slice fixed plate, expansion link is rotatably connected on a slice connecting strap.
The beneficial effect that the utility model reached is: this robot can be realized advancing, retreating, and can the arbitrarily angled rotation between 0 °～180 ° in the original place.The utility model also has light weight, advantage such as simple in structure, easy to operate, flexible.
Description of drawings
The more specifically explanation of the preferred embodiment through the utility model shown in the accompanying drawing, above-mentioned and other purpose, characteristic and the advantage of the utility model will be more clear.Reference numeral identical in whole accompanying drawings is indicated identical part.Painstakingly do not press actual size equal proportion convergent-divergent and draw accompanying drawing, focus on illustrating the purport of the utility model.
Fig. 1 is a kind of block diagram of direction from top to bottom of sucked type Pneumatic wall-climbing robot, and pneumatic line slightly;
Fig. 2 is the block diagram of the direction from bottom to top of robot shown in Figure 1, and pneumatic line slightly;
Fig. 3 is a scheme drawing, has shown that the relative posterior sucker support of anterior sucker support is positioned at first angle;
Fig. 4 is a scheme drawing, has shown that the relative posterior sucker support of anterior sucker support is positioned at second angle;
Fig. 5 is a scheme drawing, has shown that the relative posterior sucker support of anterior sucker support is positioned at angular.
The specific embodiment
Referring to Fig. 1 and sucked type Pneumatic wall-climbing robot shown in Figure 2, mainly comprise anterior sucker support 1, posterior sucker support 2, be rotatably connected on the Connection Block 3 on the posterior sucker support 2; And thrust power source: propulsion cylinder 4, an end of said propulsion cylinder is connected in Connection Block 3, the other end is connected in anterior sucker support 1; Also comprise steering power source: Connection Block 3 is fixedly coupled sheet 61, is fixed on fixed plate 63 on the posterior sucker support 2, turns to cylinder 62 relatively, saidly turns to that an end of cylinder 62 and connecting strap 61 are rotationally connected, the other end and fixed plate 63 be rotationally connected.
Referring to Fig. 2, said anterior sucker support 1, posterior sucker support 2 bottom surfaces are respectively arranged with 7, three suckers 7 of three suckers and equidistantly distribute along three summits of equilateral triangle.The bottom surface of said anterior sucker support 1 is provided with a cardan wheel 8, between cardan wheel 8 and the anterior sucker support 1 for elasticity is connected, when sucker 7 is positioned at adsorbed state; Cardan wheel 8 is compressed; When sucker 7 was positioned at releasing orientation, cardan wheel 8 ejected, and sucker 7 and wall are broken away from; Reduce the friction force between sucker 7 and the wall thus, be more conducive to the operation of robot.The bottom surface of said posterior sucker support 2 also can be provided with same cardan wheel 8.
Referring to Fig. 1; Be fixed with fixedly slide block 5 on the said anterior sucker support 1; The expansion link of said propulsion cylinder 4 is captiveed joint with fixing slide block 5, and the cylinder body of propulsion cylinder 4 and Connection Block 3 are rotationally connected, and prevents anterior sucker support 1 relative posterior sucker support 2 relative walls' high infraversion malposition and losing heart of causing.
Be fixed with guide rail 64 on the said Connection Block 3, said guide rail 64 slides and is plugged in the said fixedly slide block 5, to play the effect of guiding.Consider that from stressed uniform angle said guide rail 64 is for being evenly distributed on two of propulsion cylinder 4 both sides.
Said connecting strap 61 is two also, is separately fixed on two guide rails 64, and said fixed plate 63 is two, all is fixed on the posterior sucker support.Accordingly, the said cylinder 62 that turns to is two also, is respectively that cylinder body is rotatably connected on a slice fixed plate 63, expansion link is rotatably connected on a slice connecting strap 61.
The motion principle of this sucked type Pneumatic wall-climbing robot is following:
Ahead running: (a) the 7 absorption walls of the sucker on the posterior sucker support 2, the sucker 7 on the anterior sucker support 1 unclamps, cardan wheel 8 contact walls; (b) expansion link of propulsion cylinder 4 stretches out, promotes anterior sucker support 1 and advances; (c) the 7 absorption walls of the sucker on the anterior sucker support 1, the sucker 7 on the posterior sucker support 2 unclamps, cardan wheel 8 contact walls; (d) expansion link of propulsion cylinder 4 withdrawal, pulling posterior sucker support 2 advance; Return (a).
Divertical motion: keep the sucker 7 absorption walls on the posterior sucker support 2, the sucker 7 on the anterior sucker support 1 unclamps, cardan wheel 8 contact walls; Two turn to one of the expansion link of cylinder 62 to stretch out, another withdrawal, rotate thereby drive the relative posterior sucker support 2 of parts such as anterior sucker support 1, propulsion cylinder 4, Connection Block 3.Referring to Fig. 3, Fig. 4, Fig. 5, visible when two expansion links that turn to cylinder 62 have different length, anterior sucker support 1 relative posterior sucker support 2 has different angles.
Though the utility model with preferred embodiment openly as above; But it is not to be used for limiting claim; Any those skilled in the art are in spirit that does not break away from the utility model and scope; Can make possible change and modification, so the protection domain of the utility model should be as the criterion with the scope that the utility model claim is defined.
Claims (7)
1. a sucked type Pneumatic wall-climbing robot is characterized in that: comprise anterior sucker support, posterior sucker support, be rotatably connected on the Connection Block on the posterior sucker support, be arranged at the sucker of anterior sucker support bottom surface and posterior sucker support bottom surface respectively; Propulsion cylinder, an end of said propulsion cylinder is connected in Connection Block, the other end is connected in the anterior sucker support; Relatively Connection Block is fixedly coupled sheet, is fixed on fixed plate on the posterior sucker support, turns to cylinder, saidly turns to an end and the connecting strap of cylinder to be rotationally connected, the other end and fixed plate be rotationally connected.
2. sucked type Pneumatic wall-climbing robot as claimed in claim 1 is characterized in that: the bottom surface of said anterior sucker support, posterior sucker support is respectively arranged with three suckers, and three suckers equidistantly distribute along three summits of equilateral triangle.
3. sucked type Pneumatic wall-climbing robot as claimed in claim 1 is characterized in that: the bottom surface of said anterior sucker support is provided with cardan wheel, is connected for elasticity between said cardan wheel and the anterior sucker support.
4. sucked type Pneumatic wall-climbing robot as claimed in claim 1 is characterized in that: the bottom surface of said posterior sucker support is provided with cardan wheel, is connected for elasticity between said cardan wheel and the posterior sucker support.
5. sucked type Pneumatic wall-climbing robot as claimed in claim 1 is characterized in that: be fixed with fixedly slide block on the said anterior sucker support, the expansion link of said propulsion cylinder is captiveed joint with fixing slide block, and the cylinder body and the Connection Block of propulsion cylinder are rotationally connected.
6. sucked type Pneumatic wall-climbing robot as claimed in claim 5 is characterized in that: be fixed with guide rail on the said Connection Block, said guide rail slides and is plugged in the said fixedly slide block.
7. sucked type Pneumatic wall-climbing robot as claimed in claim 6 is characterized in that: said guide rail is two, and said connecting strap is two, is separately fixed on two guide rails; Said fixed plate is two, and two fixed plates all are fixed on the posterior sucker support; The said cylinder that turns to is two also, is respectively that cylinder body is rotatably connected on a slice fixed plate, expansion link is rotatably connected on a slice connecting strap.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202411537U CN202156471U (en) | 2011-07-08 | 2011-07-08 | Sucked type pneumatic wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011202411537U CN202156471U (en) | 2011-07-08 | 2011-07-08 | Sucked type pneumatic wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202156471U true CN202156471U (en) | 2012-03-07 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN2011202411537U Expired - Fee Related CN202156471U (en) | 2011-07-08 | 2011-07-08 | Sucked type pneumatic wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202156471U (en) |
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102922527A (en) * | 2012-11-01 | 2013-02-13 | 江苏大学 | Robot for sweeping top of greenhouse |
| CN103381860A (en) * | 2012-05-04 | 2013-11-06 | 武汉伊万博格科技有限公司 | Robot running mechanism with dual purpose of overwater and underwater operations |
| CN104207733A (en) * | 2014-08-04 | 2014-12-17 | 南京信息工程大学 | Negative-pressure adsorption type corridor cleaning robot |
| CN104644066A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Absorptive self-moving device |
| CN107616755A (en) * | 2017-09-25 | 2018-01-23 | 南京律智诚专利技术开发有限公司 | A kind of intelligent control working robot |
| CN108488539A (en) * | 2018-03-12 | 2018-09-04 | 西安交通大学 | Actively all cloth Track-wheel type detecting robot of pipe of adaptive caliber change |
| CN110466637A (en) * | 2019-08-30 | 2019-11-19 | 燕山大学 | Single shaft-driven four feet all directions climbing robot and its control method |
| CN110539821A (en) * | 2019-09-06 | 2019-12-06 | 燕山大学 | small pneumatic quadruped robot with automatic tracking function |
| CN112372195A (en) * | 2021-01-18 | 2021-02-19 | 泛海海工(山东)智能装备有限公司 | Automatic welding equipment for ship production |
-
2011
- 2011-07-08 CN CN2011202411537U patent/CN202156471U/en not_active Expired - Fee Related
Cited By (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103381860A (en) * | 2012-05-04 | 2013-11-06 | 武汉伊万博格科技有限公司 | Robot running mechanism with dual purpose of overwater and underwater operations |
| CN102922527A (en) * | 2012-11-01 | 2013-02-13 | 江苏大学 | Robot for sweeping top of greenhouse |
| CN104644066B (en) * | 2013-11-20 | 2019-06-11 | 科沃斯商用机器人有限公司 | Absorption type self-moving device |
| CN104644066A (en) * | 2013-11-20 | 2015-05-27 | 苏州科沃斯商用机器人有限公司 | Absorptive self-moving device |
| WO2015074531A1 (en) * | 2013-11-20 | 2015-05-28 | 苏州科沃斯商用机器人有限公司 | Suction-type auto-moving apparatus |
| CN104207733A (en) * | 2014-08-04 | 2014-12-17 | 南京信息工程大学 | Negative-pressure adsorption type corridor cleaning robot |
| CN107616755A (en) * | 2017-09-25 | 2018-01-23 | 南京律智诚专利技术开发有限公司 | A kind of intelligent control working robot |
| CN108488539A (en) * | 2018-03-12 | 2018-09-04 | 西安交通大学 | Actively all cloth Track-wheel type detecting robot of pipe of adaptive caliber change |
| CN108488539B (en) * | 2018-03-12 | 2020-04-28 | 西安交通大学 | All-cloth crawler wheel type pipeline detection robot capable of actively and adaptively adapting to pipe diameter change |
| CN110466637A (en) * | 2019-08-30 | 2019-11-19 | 燕山大学 | Single shaft-driven four feet all directions climbing robot and its control method |
| CN110466637B (en) * | 2019-08-30 | 2020-06-12 | 燕山大学 | Single-shaft-driven four-foot all-directional climbing robot and control method thereof |
| CN110539821A (en) * | 2019-09-06 | 2019-12-06 | 燕山大学 | small pneumatic quadruped robot with automatic tracking function |
| CN112372195A (en) * | 2021-01-18 | 2021-02-19 | 泛海海工(山东)智能装备有限公司 | Automatic welding equipment for ship production |
| CN112372195B (en) * | 2021-01-18 | 2021-10-29 | 泛海海工(山东)智能装备有限公司 | Automatic welding equipment for ship production |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20120307 Termination date: 20140708 |
|
| EXPY | Termination of patent right or utility model |