CN204077842U - All-around mobile climbing robot - Google Patents
All-around mobile climbing robot Download PDFInfo
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- CN204077842U CN204077842U CN201420478528.5U CN201420478528U CN204077842U CN 204077842 U CN204077842 U CN 204077842U CN 201420478528 U CN201420478528 U CN 201420478528U CN 204077842 U CN204077842 U CN 204077842U
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- wall
- wheel
- around mobile
- climbing robot
- wheel carrier
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- 230000009194 climbing Effects 0.000 title claims abstract description 27
- 230000007246 mechanism Effects 0.000 claims abstract description 22
- 230000006835 compression Effects 0.000 description 3
- 238000007906 compression Methods 0.000 description 3
- 230000000694 effects Effects 0.000 description 3
- 230000033001 locomotion Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 231100001261 hazardous Toxicity 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 230000001105 regulatory effect Effects 0.000 description 1
- 238000001179 sorption measurement Methods 0.000 description 1
- 238000005507 spraying Methods 0.000 description 1
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Abstract
The all-around mobile climbing robot that the utility model provides, is adsorbed on wall and carries out all-around mobile, it is characterized in that, comprising: framework, comprise: press close to the subsurface of wall and the upper aspect away from wall; A plurality of absorbing unit, is fixed on subsurface, can be adsorbed on wall; And a plurality of traveling wheel mechanism, mutual rotational symmetry is arranged in pairs in the edge of aspect, and each traveling wheel mechanism comprises: wheel carrier, wheel hub, a plurality of roller and motor, wherein, wheel carrier, is arranged on the edge of aspect, be connected with upper aspect wheel hub, is fixed on wheel carrier; A plurality of roller, is arranged on wheel hub circumferentially at a predetermined angle; And motor driving wheel hub rotates.
Description
Technical field
The utility model relates to a kind of robot device, is particularly a kind ofly adsorbed on wall and the all-around mobile climbing robot of all-around mobile.
Background technology
Climbing robot is mainly used in carrying out on the wall in extreme, severe or hazardous environment as polished, spraying paint, clean or the automation system of the operations specific such as detection.Have a wide range of applications in industries such as nuclear power, shipbuilding, petrochemical compleies at present.
Traditional climbing robot generally adopts crawler type and the common version such as wheeled, the transverse shifting of robot system and any radius rotary motion cannot be realized, for in narrow crowded or wall space that obstacle is more, can not flexibly and easily and fast speed complete various particular task.
Utility model content
The utility model carries out to solve the problem, and object is to provide a kind of and can be adsorbed on wall, the all-around mobile climbing robot of all-around mobile.
The all-around mobile climbing robot that the utility model provides, is adsorbed on wall and carries out all-around mobile, it is characterized in that, comprising: framework, comprise: press close to the subsurface of wall and the upper aspect away from wall; A plurality of absorbing unit, is fixed on subsurface, can be adsorbed on wall; And a plurality of traveling wheel mechanism, mutual rotational symmetry is arranged in pairs in the edge of aspect, and each traveling wheel mechanism comprises: wheel carrier, wheel hub, a plurality of roller and motor, wherein, wheel carrier, is arranged on the edge of aspect, be connected with upper aspect wheel hub, is fixed on wheel carrier; A plurality of roller, is arranged on wheel hub circumferentially at a predetermined angle; And motor driving wheel hub rotates.
The all-around mobile climbing robot that the utility model provides, also has such feature: wherein, and each traveling wheel mechanism also comprises: wheel adapter plate and a plurality of spring; Wheel adapter plate, is arranged on the edge of aspect, is connected with upper aspect; Spring, is arranged between wheel adapter plate and wheel carrier, is connected, makes a plurality of roller be close to wall with wheel adapter plate with wheel carrier.
The all-around mobile climbing robot that the utility model provides, also has such feature: wherein, and each traveling wheel mechanism also comprises: a plurality of bearing; Bearing, is arranged between lower layer part and wheel carrier, regulates the distance between wheel carrier and framework.
Utility model effect
All-around mobile climbing robot involved by the utility model, be adsorbed on wall, utilize a plurality of traveling wheel mechanisms with a plurality of roller in predetermined angular, all-around mobile climbing robot can be spinned etc. to transverse shifting and original place and moves in all directions.Therefore, all-around mobile climbing robot of the present utility model achieves transverse shifting and spin in original place, freely can move flexibly, effectively can improve the operating efficiency of robot manipulating task on narrow crowded wall.
Accompanying drawing explanation
Fig. 1 is the structural representation of the utility model all-around mobile climbing robot in an embodiment; And
Fig. 2 is the structural representation of the utility model traveling wheel mechanism in an embodiment.
Detailed description of the invention
Referring to accompanying drawing reality and execute example the all-around mobile climbing robot involved by the utility model is explained in detail.
Embodiment
Fig. 1 is the structural representation of the utility model all-around mobile climbing robot in an embodiment.
As shown in Figure 1, all-around mobile climbing robot 100 has framework 10, absorbing unit 20 and four traveling wheel mechanisms 30.
Framework 10, comprises: subsurface 11 and upper aspect 12.
Subsurface 11 is near wall.Upper aspect 12 is away from wall.
Absorbing unit 20 adopts permanent magnetic suck, and can arrange the quantity of absorbing unit 20 according to the actual size of subsurface 11, the quantity in the present embodiment is two front and back being arranged on subsurface 11, for being adsorbed on wall.
Four traveling wheel mechanisms 30 are adjacent with absorbing unit 10 respectively, the axisymmetric edge being arranged in pairs in aspect 12.In addition, the quantity of traveling wheel mechanism 30 can be set according to the actual size of upper aspect 12.
Fig. 2 is the structural representation of the utility model traveling wheel mechanism in an embodiment.
Each traveling wheel mechanism 30 comprises: take turns the reductor do not shown in the motor and figure do not shown in adapter plate 31, wheel carrier 32, four bearings 33, four springs 34, wheel hub 35, roller 36, figure.
Wheel adapter plate 31 is arranged on the outer both sides of upper layer part 12.Wheel carrier 32, base is uniformly distributed by four with wheel adapter plate 31, and the bearing 33 perpendicular to base connects, and wheel adapter plate 31 and wheel carrier 32 are fixed on upper layer part 12 through wheel adapter plate 31 by bearing 33.The distance between traveling wheel mechanism 30 and framework 20 is adjusted by adjustment bearing 33.Four springs 34 parallel with four bearings 33, are evenly distributed between wheel adapter plate 31 and wheel carrier 32.Wheel hub 35 is embedded in the groove of wheel carrier 32.Roller 36 is arranged on wheel hub 35 circumferentially in angle of eccentricity ± 45 °, and the roller 36 on diagonal traveling wheel mechanism adopts identical angle of eccentricity.Motor adopts servomotor by power transmission to reductor, and wheel hub 35 is connected with reductor, is rotated by the rotating band runner hub 35 of reductor.The friction force that the roller 36 contacted with wall around wheel hub 35 is subject to can be decomposed into along roller 36 axis and the friction force perpendicular to roller 36 axis both direction, traveling wheel mechanism 30 not only can move along the direction perpendicular to wheel hub 35 axis, also can around the rotation of roller 36 axis with along roller 36 axes normal direction translational, by to these four motor speeds and the cooperation that turns to, the moment of any direction can be synthesized, thus drive all-around mobile climbing robot 100 to realize laterally, longitudinally, around its center rotate and movement on any direction such as oblique.
The adsorption affinity of absorbing unit 20 makes to produce mutual attractive force between framework 10 and wall, and Compress Spring 34 makes roller 36 effectively contact with wall, thus produce the self gravitation that enough positive pressures overcome all-around mobile climbing robot 100, make it to move on wall.When wall injustice causes roller 36 unsettled, the spring 34 of compression automatically extends and roller 36 is remained effectively to contact with wall.
The effect of embodiment and effect
All-around mobile climbing robot involved by the present embodiment, be adsorbed on wall, utilize a plurality of traveling wheel mechanisms with a plurality of roller in predetermined angular, all-around mobile climbing robot can be spinned etc. to transverse shifting and original place and moves in all directions.Therefore, all-around mobile climbing robot of the present utility model achieves transverse shifting and spin in original place, freely can move flexibly, effectively can improve the operating efficiency of robot manipulating task on narrow crowded wall.
Climbing robot device involved by the present embodiment, due to tool wheel adapter plate and spring, therefore by the compression of spring, roller is effectively contacted with wall, and can run into wall not at ordinary times, the spring of compression automatically extends and roller is remained effectively to contact with wall.
Climbing robot device involved by the present embodiment, owing to having bearing, therefore, it is possible to by regulating bearing, the distance between adjustment traveling wheel mechanism and framework.
Above-mentioned embodiment is preferred case of the present utility model, is not used for limiting protection domain of the present utility model.
Claims (3)
1. an all-around mobile climbing robot, is adsorbed on wall and carries out all-around mobile, it is characterized in that, comprising:
Framework, comprises: press close to the subsurface of described wall and the upper aspect away from described wall;
A plurality of absorbing unit, is fixed on described subsurface, can be adsorbed on described wall; And
A plurality of traveling wheel mechanism, mutual rotational symmetry is arranged in pairs in the edge of described upper aspect, and each described traveling wheel mechanism comprises: wheel carrier, wheel hub, a plurality of roller and motor,
Wherein, described wheel carrier, is arranged on the edge of described upper aspect, is connected with described upper aspect;
Described wheel hub, is fixed on described wheel carrier;
Described a plurality of roller, is arranged on described wheel hub circumferentially at a predetermined angle; And
Described motor drives described wheel hub to rotate.
2. all-around mobile climbing robot according to claim 1, is characterized in that:
Wherein, each described traveling wheel mechanism also comprises: wheel adapter plate and a plurality of spring;
Describedly take turns adapter plate, be arranged on the edge of described upper aspect, be connected with described upper aspect;
Described spring, is arranged on and describedly takes turns between adapter plate and described wheel carrier, be connected, make described a plurality of roller be close to described wall with described adapter plate of taking turns with described wheel carrier.
3. all-around mobile climbing robot according to claim 1, is characterized in that:
Wherein, each described traveling wheel mechanism also comprises: a plurality of bearing;
Described bearing, is arranged between described lower layer part and described wheel carrier, regulates the distance between described wheel carrier and described framework.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420478528.5U CN204077842U (en) | 2014-08-22 | 2014-08-22 | All-around mobile climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201420478528.5U CN204077842U (en) | 2014-08-22 | 2014-08-22 | All-around mobile climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204077842U true CN204077842U (en) | 2015-01-07 |
Family
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201420478528.5U Active CN204077842U (en) | 2014-08-22 | 2014-08-22 | All-around mobile climbing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN204077842U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960589A (en) * | 2014-08-22 | 2015-10-07 | 中科新松有限公司 | Omni-directional mobile robot device |
| CN108674512A (en) * | 2018-06-04 | 2018-10-19 | 北京航空航天大学 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
| CN109291783A (en) * | 2018-08-30 | 2019-02-01 | 宁波史河机器人科技有限公司 | A kind of climbing robot |
-
2014
- 2014-08-22 CN CN201420478528.5U patent/CN204077842U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104960589A (en) * | 2014-08-22 | 2015-10-07 | 中科新松有限公司 | Omni-directional mobile robot device |
| CN108674512A (en) * | 2018-06-04 | 2018-10-19 | 北京航空航天大学 | A kind of climbing robot for climbing wall end equipment and wall end equipment is climbed including this |
| CN109291783A (en) * | 2018-08-30 | 2019-02-01 | 宁波史河机器人科技有限公司 | A kind of climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20230317 Address after: 201306 No. 299, Xueyang Road, Lingang New District, pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: SHANGHAI XINSONG ROBOT CO.,LTD. Address before: 201206 rooms 101 and 201, West building 11, 351 jinzang Road, Pudong New Area, Shanghai Patentee before: SIASUN Co.,Ltd. |
|
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20231024 Address after: 201206 rooms 101 and 201, west of building 11, 351 jinzang Road, China (Shanghai) pilot Free Trade Zone, Pudong New Area, Shanghai Patentee after: SIASUN Co.,Ltd. Address before: 201306 No. 299, Xueyang Road, Lingang New District, pilot Free Trade Zone, Pudong New Area, Shanghai Patentee before: SHANGHAI XINSONG ROBOT CO.,LTD. |
|
| TR01 | Transfer of patent right |