CN202765130U - Suction disc type wall climbing robot - Google Patents
Suction disc type wall climbing robot Download PDFInfo
- Publication number
- CN202765130U CN202765130U CN 201220253489 CN201220253489U CN202765130U CN 202765130 U CN202765130 U CN 202765130U CN 201220253489 CN201220253489 CN 201220253489 CN 201220253489 U CN201220253489 U CN 201220253489U CN 202765130 U CN202765130 U CN 202765130U
- Authority
- CN
- China
- Prior art keywords
- upper frame
- frame
- sucker
- underframe
- cylinder
- 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
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model relates to a suction disc type wall climbing robot which comprises an upper frame, a lower frame, a middle frame, suction discs, air cylinders, guide rails, slide blocks and an air channel control unit. Four lifting mechanisms are arranged at four corners of each of the upper frame and the lower frame respectively; the suction discs are mounted on extension arms of the lifting mechanisms; the extension arms can drive the suction discs to ascend and descend; the guide rails are mounted on the upper frame and the lower frame respectively; the slide blocks are mounted on the upper side and the lower side of the middle frame and can slide on the upper frame and the lower frame respectively; the air cylinders are mounted on the upper frame and the lower frame; and extension bar ends of the air cylinders are respectively connected with the middle frame. When the vacuum suction discs of the lower frame are sucked on a working face, the suction discs of the upper frame depart from the working face, and the air cylinder of the lower frame can push the middle frame and the upper frame to move transversely. When the suction discs of the upper frame are sucked on the working face, the suction discs of the lower frame depart from the working face, and the air cylinder of the upper frame can push the middle frame and the lower frame to move longitudinally. In this case, the suction discs of the upper frame and the lower frame conduct absorption alternately, the air cylinder moves alternately, and the movement of the robot on the working face can be realized.
Description
Technical field
The invention belongs to robot field's climbing robot, is a kind of device that can move at vertical surface.
Background technology
Climbing robot is a kind of equipment that can move at vertical surface, and it generally has two basic function: adsorption function and locomotive function.Adsorption function is usually by three kinds of implementation methods: vacuum suction, magnetic echo thrust absorption.Locomotive function is usually by three kinds of implementation methods: sufficient formula moves, wheel type mobile and crawler-type mobile.With regard to locomotive function, wheeled and crawler type has the characteristics such as moving velocity is fast, and it is steady to move, but obstacle crossing ability is poor.Though the foot formula is mobile slower, obstacle crossing ability is strong, and comformability is better.
?
Summary of the invention
The present invention relates to a kind of sucker type wall climbing robot, this robot is comprised of upper frame, underframe, central frame, sucker, cylinder, guide rail, slide block and gas circuit control unit etc.There are respectively four lifting mechanisms at four angles of upper frame and underframe, on the projecting shaft of lifting mechanism sucker are installed, and projecting shaft can drive sucker and lift and put down; Be separately installed with guide rail on upper frame and the underframe, the upper and lower surface of central frame is equipped with slide block, can slide at upper frame and underframe respectively; On upper frame and the underframe cylinder is housed, the rod end that stretches out of cylinder links to each other with central frame respectively.
The vacuum cup of gas circuit control unit control underframe is inhaled on driving surface during work, and the sucker on the upper frame leaves driving surface, and the cylinder on the underframe can promote central frame and upper frame along the guide rail cross motion on the underframe.After the cylinder rod on the underframe stretches out fully, sucker on the upper frame is inhaled on driving surface, then the sucker on the underframe leaves driving surface, cylinder rod retraction on the underframe, drive the underframe cross motion, so the cylinder on the underframe is repeatedly flexible, and the sucker on underframe and the upper frame alternately absorption just can be realized the transverse shifting of whole mechanism.
When mechanism need to vertically move, the vacuum cup of gas circuit control unit control upper frame was inhaled on driving surface, and the sucker on the underframe leaves driving surface, and the cylinder on the upper frame can promote central frame and underframe along the guide rail longitudinal movement on the upper frame.After the cylinder rod on the upper frame stretches out fully, sucker on the underframe is inhaled on driving surface, then the sucker on the upper frame leaves driving surface, cylinder rod retraction on the upper frame, drive the upper frame longitudinal movement, so the cylinder on the upper frame is repeatedly flexible, and the sucker on underframe and the upper frame alternately absorption just can be realized vertically moving of whole mechanism.
According to the scope of driving surface, the distance of the horizontal and vertical movement by gas circuit control unit control mechanism just can realize the motion of robot on driving surface in real work.
Description of drawings
Fig. 1 is 3 dimensional drawing of the present utility model.
Wherein, 1, upper frame, 2, cylinder, 3, slide block, 4, guide rail, 5, underframe, 6, cylinder, 7, central frame, 8, lifting mechanism, 9, sucker, 10, lifting mechanism, 11, sucker, 12, slide block, 13, guide rail.
The specific embodiment
Embodiment 1: as shown in Figure 1, a kind of sucker type wall climbing robot, its main body mechanism comprises upper frame 1, central frame 7 and underframe 5, slide block 3 is installed above the central frame 7, the below be equipped with 12, two groups of slide blocks of slide block respectively the guide rail 13 of the guide rail on upper frame 14 and underframe 5 slide.Cylinder 2 is installed, the flexible relative sliding that can realize upper frame 1 and central frame 7 of the piston rod of cylinder 2 on upper frame 1 and the central frame 7; Cylinder 6 is installed, the flexible relative sliding that can realize underframe 5 and central frame 7 of the piston rod of cylinder 6 on underframe 5 and the central frame 7; Four jiaos of upper frame 1 are equipped with lifting mechanism 8, and sucker 9 is installed on the projecting shaft of lifting mechanism 8, and it stretches and can make sucker 9 lift and fall; Four jiaos of underframe 5 are equipped with lifting mechanism 10, and sucker 11 is installed on the projecting shaft of lifting mechanism 10, and it stretches and can make sucker 11 lift and fall.
The vacuum cup 11 of gas circuit control unit control underframe is inhaled on driving surface during work, and the sucker 9 on the upper frame 1 leaves driving surface, and the cylinder 6 on the underframe can promote central frame 7 and upper frame 1 along the guide rail cross motion on the underframe 5.After cylinder 6 piston rods on the underframe 5 stretch out fully, sucker 9 on the upper frame 1 is inhaled on driving surface, then the sucker 11 on the underframe 5 leaves driving surface, the piston rod retraction of the cylinder 6 on the underframe, drive underframe 5 cross motions, so the piston rod of the cylinder 6 on the underframe 5 is repeatedly flexible, and the sucker on underframe 5 and the upper frame 1 alternately absorption just can be realized the transverse shifting of whole mechanism.
When mechanism need to vertically move, the vacuum cup 9 of gas circuit control unit control upper frame 1 is inhaled on driving surface, sucker 11 on the underframe 5 leaves driving surface, and the cylinder 6 on the upper frame 1 can promote central frame 7 and underframe 5 along guide rail 4 longitudinal movements on the upper frame.After the piston rod of the cylinder 2 on the upper frame 1 stretches out fully, sucker 11 on the underframe 5 is inhaled on driving surface, then the sucker 9 on the upper frame 1 leaves driving surface, the piston rod retraction of the cylinder 2 on the upper frame 1, drive upper frame 1 longitudinal movement, so the piston rod of the cylinder 2 on the upper frame 1 is repeatedly flexible, and the sucker on underframe 5 and the upper frame 1 alternately absorption just can be realized vertically moving of whole mechanism.
According to the scope of driving surface, the distance of the horizontal and vertical movement by gas circuit control unit control mechanism just can realize the motion of robot on driving surface in real work.
Embodiment 2: on the basis of said structure, cylinder 2 and cylinder 6 can be replaced by the horizontal and vertical motion that the driven by motor guide screw movement is realized robot, so the more horizontal and vertical miles of relative movement of control.
Claims (5)
1. sucker type wall climbing robot, it is characterized in that: described sucker type wall climbing robot is comprised of upper frame, underframe, central frame, sucker, cylinder and guide rail etc.,
On the described upper frame lifting mechanism is installed, on the projecting shaft of lifting mechanism sucker is installed;
On the described underframe lifting mechanism is installed, on the projecting shaft of lifting mechanism sucker is installed;
On the described upper frame guide rail is installed, on the one side on the central frame slide block is installed, central frame can slide mutually with upper frame;
On the described underframe guide rail is installed, on the another side on the central frame slide block is installed, central frame can slide mutually with underframe;
On the described upper frame cylinder is installed, the piston rod of cylinder links to each other with central frame;
On the described underframe cylinder is installed, the piston rod of cylinder links to each other with central frame.
2. such as the above sucker type wall climbing robot of claim 1, it is characterized in that: the lifting mechanism that sucker is installed is separately fixed on upper frame and the underframe.。
3. such as the above sucker type wall climbing robot of claim 1, it is characterized in that: sucker can lift under the drive of the lifting mechanism projecting shaft on upper frame and the underframe or descend.
4. such as the above sucker type wall climbing robot of claim 1, it is characterized in that: when the sucker of underframe is inhaled on driving surface, sucker on the upper frame leaves driving surface, cylinder on the underframe promotes central frame together with the upper frame cross motion, after upper frame and central frame stop motion, sucker on the upper frame stretches out and inhales after on the driving surface, sucker on the underframe leaves driving surface and retracts, cylinder on the upper frame promotes central frame together with the underframe longitudinal movement, so alternately absorption of the sucker on upper frame and the underframe, the cylinder alternating movement realizes the movement of robot on driving surface.
5. sucker type wall climbing robot as claimed in claim 1, it is characterized in that: the air cylinder driven mode is the replaceable horizontal and vertical motion that realizes robot for the type of drive of driven by motor guide screw movement also.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220253489 CN202765130U (en) | 2012-05-31 | 2012-05-31 | Suction disc type wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 201220253489 CN202765130U (en) | 2012-05-31 | 2012-05-31 | Suction disc type wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN202765130U true CN202765130U (en) | 2013-03-06 |
Family
ID=47771724
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 201220253489 Expired - Fee Related CN202765130U (en) | 2012-05-31 | 2012-05-31 | Suction disc type wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN202765130U (en) |
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104015830A (en) * | 2014-06-13 | 2014-09-03 | 徐州工业职业技术学院 | Active-passive combined type negative pressure adsorption continuous walking wall-climbing detecting robot |
| CN104015831A (en) * | 2014-06-13 | 2014-09-03 | 徐州工业职业技术学院 | Active-passive combined type negative pressure adsorption continuous walking wall-climbing 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 |
| CN105774935A (en) * | 2016-05-24 | 2016-07-20 | 邵萌 | Obstacle-crossing wall-climbing robot |
| CN106388690A (en) * | 2016-11-04 | 2017-02-15 | 舒丹丹 | Window-cleaning robot used for field of civic buildings |
| CN106828653A (en) * | 2017-01-18 | 2017-06-13 | 燕山大学 | A kind of controlled in wireless Pneumatic bionic crawling machine dog |
| CN106853849A (en) * | 2015-12-09 | 2017-06-16 | 核动力运行研究所 | Pressure vessel bolt hole cleans inspection equipment stepping crawling device automatically |
| CN107600216A (en) * | 2017-11-13 | 2018-01-19 | 天津职业技术师范大学 | Obstacle crossing type pneumatic wall-climbing robot |
| CN107738703A (en) * | 2016-04-01 | 2018-02-27 | 安徽理工大学 | Complete pneumatic step forward walking mechanism |
| CN109013121A (en) * | 2018-09-19 | 2018-12-18 | 安徽工程大学 | A kind of spray coating auxiliary device, a kind of spray robot |
| CN109178131A (en) * | 2018-09-18 | 2019-01-11 | 罗洋 | Multilayer leg formula climbing robot and climb wall loading system |
| CN109353423A (en) * | 2018-11-28 | 2019-02-19 | 广西科技大学 | A kind of rectangular coordinate system climbing robot |
| CN111065574A (en) * | 2017-08-21 | 2020-04-24 | 浦上合同会社 | Device capable of being adsorbed on surface of object and running along surface of object |
| CN111483528A (en) * | 2019-01-28 | 2020-08-04 | 上海识质电力科技有限公司 | Climbing robot with pneumatic control device |
| CN112401730A (en) * | 2020-10-26 | 2021-02-26 | 高空机械工程技术研究院有限公司 | Operation device of progressive window cleaning robot |
-
2012
- 2012-05-31 CN CN 201220253489 patent/CN202765130U/en not_active Expired - Fee Related
Cited By (22)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| CN104015831A (en) * | 2014-06-13 | 2014-09-03 | 徐州工业职业技术学院 | Active-passive combined type negative pressure adsorption continuous walking wall-climbing robot |
| CN104015830B (en) * | 2014-06-13 | 2016-01-13 | 徐州工业职业技术学院 | A kind of active passive compound type negative-pressure adsorption continuous walking climbs wall sniffing robot |
| CN104015831B (en) * | 2014-06-13 | 2016-04-27 | 徐州工业职业技术学院 | A kind of active passive compound type negative-pressure adsorption continuous walking climbing robot |
| CN104015830A (en) * | 2014-06-13 | 2014-09-03 | 徐州工业职业技术学院 | Active-passive combined type negative pressure adsorption continuous walking wall-climbing detecting robot |
| CN106853849A (en) * | 2015-12-09 | 2017-06-16 | 核动力运行研究所 | Pressure vessel bolt hole cleans inspection equipment stepping crawling device automatically |
| CN107738703B (en) * | 2016-04-01 | 2019-07-05 | 安徽理工大学 | Complete pneumatic step forward walking mechanism |
| CN107738703A (en) * | 2016-04-01 | 2018-02-27 | 安徽理工大学 | Complete pneumatic step forward walking mechanism |
| CN105774935B (en) * | 2016-05-24 | 2019-05-17 | 北京史河科技有限公司 | A kind of barrier-crossing wall-climbing robot |
| CN105774935A (en) * | 2016-05-24 | 2016-07-20 | 邵萌 | Obstacle-crossing wall-climbing robot |
| CN106388690A (en) * | 2016-11-04 | 2017-02-15 | 舒丹丹 | Window-cleaning robot used for field of civic buildings |
| CN106828653A (en) * | 2017-01-18 | 2017-06-13 | 燕山大学 | A kind of controlled in wireless Pneumatic bionic crawling machine dog |
| CN111065574A (en) * | 2017-08-21 | 2020-04-24 | 浦上合同会社 | Device capable of being adsorbed on surface of object and running along surface of object |
| CN107600216A (en) * | 2017-11-13 | 2018-01-19 | 天津职业技术师范大学 | Obstacle crossing type pneumatic wall-climbing robot |
| CN109178131A (en) * | 2018-09-18 | 2019-01-11 | 罗洋 | Multilayer leg formula climbing robot and climb wall loading system |
| CN109013121A (en) * | 2018-09-19 | 2018-12-18 | 安徽工程大学 | A kind of spray coating auxiliary device, a kind of spray robot |
| CN109013121B (en) * | 2018-09-19 | 2021-09-17 | 安徽工程大学 | Spraying auxiliary device and spraying robot adopting same |
| CN109353423A (en) * | 2018-11-28 | 2019-02-19 | 广西科技大学 | A kind of rectangular coordinate system climbing robot |
| CN111483528A (en) * | 2019-01-28 | 2020-08-04 | 上海识质电力科技有限公司 | Climbing robot with pneumatic control device |
| CN111483528B (en) * | 2019-01-28 | 2022-11-04 | 上海识质电力科技有限公司 | Climbing robot with pneumatic control device |
| CN112401730A (en) * | 2020-10-26 | 2021-02-26 | 高空机械工程技术研究院有限公司 | Operation device of progressive window cleaning robot |
| CN112401730B (en) * | 2020-10-26 | 2022-01-04 | 高空机械工程技术研究院有限公司 | Operation device of progressive window cleaning robot |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN202765130U (en) | Suction disc type wall climbing robot | |
| CN203581163U (en) | Wall-climbing robot | |
| CN208202469U (en) | A kind of dabbing trolley for tunnel double-lining abutment wall | |
| CN201971438U (en) | Fork type moving-loading machine with telescopic air cylinder and variable stroke | |
| CN102019247A (en) | Suspension type 3-D pneumatically operating basket | |
| CN108166434A (en) | A kind of track cleaning equipment with deicing function applied widely | |
| CN203381704U (en) | Telescopic arm of wall-climbing robot | |
| CN203807090U (en) | Lower frame leveling device for self-propelled overhead working truck | |
| CN201256931Y (en) | High building glass curtain wall cleaning device | |
| CN203738814U (en) | Novel telescopic boom of manipulator | |
| CN214169057U (en) | Pile driving device for construction engineering foundation construction | |
| CN204748611U (en) | Three degree of freedom manipulators | |
| CN102628349B (en) | Lifting platform type pumping unit | |
| CN106184457B (en) | A kind of hybrid walking mechanism of wheel leg and method | |
| CN103496575B (en) | Liner blank frames up device automatically | |
| CN202944164U (en) | Guide wheel mechanism and railway-road two-purpose car | |
| CN201809130U (en) | Hand-push type highly-efficient energy-saving forklift lifting device | |
| CN203294769U (en) | Large-stroke jacking mechanism | |
| CN107598906A (en) | A kind of robot to run at high speed | |
| CN103317103B (en) | A kind of core making machine core box trolley moving mechanism | |
| CN203959688U (en) | A kind of guide rail moves half of formula driving | |
| CN208120499U (en) | Emergency braking emergency staircase | |
| CN103466307B (en) | Big stroke lifting body | |
| CN203266022U (en) | Bottom plate assembling tool for cantilever crane production line | |
| CN108556941B (en) | Wall surface walking mechanism and wall climbing robot |
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: 20130306 Termination date: 20140531 |