CN203766927U - Rotary mobile type wall-climbing robot - Google Patents
Rotary mobile type wall-climbing robot Download PDFInfo
- Publication number
- CN203766927U CN203766927U CN201420121011.0U CN201420121011U CN203766927U CN 203766927 U CN203766927 U CN 203766927U CN 201420121011 U CN201420121011 U CN 201420121011U CN 203766927 U CN203766927 U CN 203766927U
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- CN
- China
- Prior art keywords
- sucker
- climbing robot
- support rod
- mobile type
- type wall
- Prior art date
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- Expired - Fee Related
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Abstract
The utility model discloses a rotary mobile type wall-climbing robot, which relates to the technical field of wall-climbing robots, and comprises a connecting rod, a drive gear and a transmission gear which is engaged with the drive gear, wherein the connecting rod is respectively hinged with the drive gear and a rotating shaft of the transmission gear. The rotary mobile type wall-climbing robot further comprises a support rod II and a support rod I, wherein a servo motor is fixed on the support rod II, a sucker II is arranged on the lower end of the support rod II, the servo motor is connected with the drive gear, the upper end of the support rod I is fixedly connected with the rotating shaft of the transmission gear, a sucker I is arranged on the lower end of the support rod I, the support rod I is further fixed with a miniature vacuum pump and a solenoid valve, the mini-pump is used to control the sucker I and the sucker II, and the solenoid valve is used to control the miniature vacuum pump. The rotary mobile type wall-climbing robot has the beneficial effects that the rotary mobile type wall-climbing robot is high in transmission efficiency, high in energy utilization rate and high in space expansibility, and can carry various appliance instruments. The rotary mobile type wall-climbing robot is simple in structure, simple and convenient to operate and low in cost.
Description
Technical field
The utility model relates to climbing robot technical field, specifically a kind of rotary moving climbing robot.
Technical background
The transition that the development of science and technology is promoting labour power, some operation or detection missions that possess high risk must replace manpower to go to carry out by robot.It is respectively that magnetic is attached, thrust is adsorbed and vacuum suction that the vertical surface suction type of common robot has three kinds of forms.Vacuum suction is with respect to the advantage of first two mode: without medium, limit, as long as smooth flat all can, avoided so the attached defect that needs adsorbing medium to limit of magnetic; Cost is low, alleviates heavy burden, has avoided like this thrust absorption to want the angle of rake defect of load; Simple to operate, conveniently moving.
Summary of the invention
The utility model provides a kind of rotary moving climbing robot, moves, for completing operation or the detection mission of some high risks so that two foots are rotating mutually on vertical surface.
The utility model is achieved through the following technical solutions: rotary moving climbing robot, comprises connecting rod, driven wheel and the transmission gear being engaged with; Described connecting rod is hinged with the rotating shaft of driven wheel and transmission gear respectively;
Also comprise cradling piece II and cradling piece I; In described cradling piece II, be fixed with servomotor, cradling piece II lower end is provided with sucker II; Described servomotor is connected with driven wheel;
Described cradling piece I upper end is fixedly connected with the rotating shaft of transmission gear, and cradling piece I lower end is provided with sucker I; In cradling piece I, be also fixed with for controlling the minipump of sucker I, II and the electromagnetic valve of control minipump.
First start minipump, electromagnetic valve is in off state, and at this moment sucker II is adsorbed on running surface.Restart servomotor, be partly subject to antagonistic force be sent to when top servomotor and quit work until transmission gear, now, electromagnetic valve energising starts, and sucker I is adsorbed on running surface, and sucker II is in loose plate-like state.Servomotor starts again.Driven wheel is partly subject to antagonistic force and moves to transmission gear top.Motion repeats with suction type like this.Thereby make rotating climbing robot persistent movement on the face of working just.
The beneficial effects of the utility model are:
1, driving efficiency is high, and energy utilization rate is high;
2, spatial spread is high, and class carries multiple application instrument;
3, simple in structure, easy and simple to handle, cost is low.
Accompanying drawing explanation
Fig. 1 is the structural representation of rotary moving climbing robot;
Fig. 2 is the birds-eye view of Fig. 1.
In figure: 1, connecting rod; 2, transmission gear; 3, cradling piece I; 4, minipump; 5, electromagnetic valve; 6, sucker I; 7, sucker II; 8 cradling piece II; 9 servomotors; 10, driven wheel.
The specific embodiment
Be below a specific embodiment of the present utility model, existing the utility model is described in further detail by reference to the accompanying drawings.
As depicted in figs. 1 and 2, rotary moving climbing robot comprises connecting rod 1, driven wheel 10 and the transmission gear 2 being engaged with; Connecting rod 1 two ends are hinged with the rotating shaft of driven wheel 10 and transmission gear 2 respectively, reach the effect of constraint driven wheel 10 and transmission gear 2 relative positions; Also comprise cradling piece II 8 and cradling piece I 3; In cradling piece II 8, be fixed with servomotor 9, cradling piece II 8 lower ends are provided with sucker II 7; Servomotor 9 is connected with driven wheel 10; Cradling piece I 3 upper ends are fixedly connected with the rotating shaft of transmission gear 2, and cradling piece I 3 lower ends are provided with sucker I 6; In cradling piece I 3, be also fixed with for controlling the minipump 4 of sucker I, II 6,7 and the electromagnetic valve 5 of control minipump 4.
When work, servomotor 9 by S. A. transmission of power to driven wheel 10.Together with driven wheel 10 being constrained in mutually with transmission gear 2 by connecting rod 1.Driven wheel 10 is transmission of power to transmission gear 2, and under the effect of absorbed portion, the alternately absorption of the sucker of two gear belows, according to the principle of application force and antagonistic force, is converted into the straight-line motion of whole device servomotor 9 rotatablely moving of output.The function of this part is to realize the effect of persistent movement.Absorbed portion is comprised of minipump 4, electromagnetic valve 5, sucker I 6, sucker II 7.Minipump 4 continuous firings during work, when electromagnetic valve 5 energisings start, sucker I 6 is adsorbed on running surface.When electromagnetic valve power-off, sucker II 7 is adsorbed on running surface, and now sucker I 6 is in loose plate-like state, and sucker alternately adsorbs like this, and under the cooperation of drive part, whole device is done stability line motion in vertical surface.The function of this part is to realize the effect of robot stable absorption on driving surface.
Claims (1)
1. a rotary moving climbing robot, is characterized in that: comprise connecting rod (1), driven wheel (10) and the transmission gear (2) being engaged with; Described connecting rod (1) is hinged with the rotating shaft of driven wheel (10) and transmission gear (2) respectively;
Also comprise cradling piece II (8) and cradling piece I (3); In described cradling piece II (8), be fixed with servomotor (9), cradling piece II (8) lower end is provided with sucker II (7); Described servomotor (9) is connected with driven wheel (10);
Described cradling piece I (3) upper end is fixedly connected with the rotating shaft of transmission gear (2), and cradling piece I (3) lower end is provided with sucker I (6); In cradling piece I (3), be also fixed with for controlling the minipump (4) of sucker I, II (6,7) and the electromagnetic valve (5) of control minipump (4).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420121011.0U CN203766927U (en) | 2014-03-14 | 2014-03-14 | Rotary mobile type wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420121011.0U CN203766927U (en) | 2014-03-14 | 2014-03-14 | Rotary mobile type wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN203766927U true CN203766927U (en) | 2014-08-13 |
Family
ID=51284151
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420121011.0U Expired - Fee Related CN203766927U (en) | 2014-03-14 | 2014-03-14 | Rotary mobile type wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN203766927U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105644645A (en) * | 2015-12-29 | 2016-06-08 | 燕山大学 | Dual-drive rotating and swinging type wall-climbing robot provided with permanent magnetic chucks |
| CN106043485A (en) * | 2016-06-24 | 2016-10-26 | 苏州塞默机械有限公司 | Rotary type steel plate wall-climbing robot |
-
2014
- 2014-03-14 CN CN201420121011.0U patent/CN203766927U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105644645A (en) * | 2015-12-29 | 2016-06-08 | 燕山大学 | Dual-drive rotating and swinging type wall-climbing robot provided with permanent magnetic chucks |
| CN105644645B (en) * | 2015-12-29 | 2017-08-29 | 燕山大学 | Dual drive rotation-swing type permanent magnetic chuck climbing robot |
| CN106043485A (en) * | 2016-06-24 | 2016-10-26 | 苏州塞默机械有限公司 | Rotary type steel plate wall-climbing robot |
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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: 20140813 Termination date: 20150314 |
|
| EXPY | Termination of patent right or utility model |