CN204355189U - For the vacuum type climbing robot of column - Google Patents
For the vacuum type climbing robot of column Download PDFInfo
- Publication number
- CN204355189U CN204355189U CN201520009843.8U CN201520009843U CN204355189U CN 204355189 U CN204355189 U CN 204355189U CN 201520009843 U CN201520009843 U CN 201520009843U CN 204355189 U CN204355189 U CN 204355189U
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- pedestal
- jig arm
- vacuum
- climbing robot
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Abstract
The utility model provides a kind of vacuum type climbing robot for column; the guide pillar comprising the first pedestal, the second pedestal, lift cylinder and match with two pedestals; the cylinder body of lift cylinder is fixed on the first pedestal, and the power element of this lift cylinder is fixedly connected on the second pedestal; Comprise first pair of arc jig arm and second pair of arc jig arm in addition, the inner of first pair of arc jig arm is articulated with the first pedestal respectively, and outer end is respectively equipped with the first vacuum suction element; The inner of second pair of arc jig arm is articulated with the second pedestal respectively, and outer end is respectively equipped with the second vacuum suction element; First vacuum suction element and the second vacuum suction element be respectively equipped be connected with vacuum generating device vacuumize interface.It is high that the utility model vacuum type climbing robot is applicable to climb job execution safety on column especially pillar type column, handled easily, controls stable, and avoids the restriction be subject to because of power lead length.
Description
Technical field
The utility model relates to a kind of climbing robot, specifically, relates to a kind of vacuum type climbing robot being suitable for climbing on column, for aerological ascent and clean etc.
Background technology
Detecting a flaw and detect by artificial carrying implement in the junction of existing bridge column and crossbeam, need climb paramount vacancy and detect; In addition, some are similar to the clean of the column road facilitys such as light pole is also climbed by artificial carrying implement to complete cleaning from top to bottom to top, and work hazard level is high, and poor working environment.
Since entering for 21st century, robot is obtained for application and development widely in all trades and professions, and its research and apply level has become the important symbol of a national economic strength and Sci-Tech Level.Along with the development of pneumatics, the application of pneumatic robot is also extensive gradually, in the application scenario that some are special, as safety, building, national defence etc.
Climbing robot (wall climbing robot) is a kind of can climbing in perpendicular walls and the automatic machinery people fulfiled assignment.Climbing robot is also called wall-surface mobile robot, because vertical walls operation exceeds the limit of people, is therefore also called limit operation robot abroad.Climbing robot must possess absorption and mobile two basic function, and common suction type has negative-pressure adsorption and permanent magnetic suck two kinds.Wherein negative pressure mode can be adsorbed on wall by producing negative pressure in sucker, not by the restriction of wall surface material; Permanent magnetic suck mode then has permanent magnet and electromagnet two kinds of modes, is only applicable to absorption magnet conductivity wall.Climbing robot is mainly used in petroleum chemical enterprise and carries out defect detecting test or process of spraying paint to cylindrical large tank, or carries out the clean of building and spraying.Be used for checking thickness measuring etc. in nuke industry, the industry such as fire-fighting and shipbuilding can also be used for.
But existing climbing robot is only applicable to climb in perpendicular walls, and is not suitable for climbing on column.Therefore, be necessary to design a kind of robot being suitable for carrying out climbing on column.
Utility model content
Technical problem to be solved in the utility model is the above-mentioned defect for prior art, provides that a kind of reliable operation, volume are little, the vacuum type climbing robot for column of flexible movements.
For solving the problems of the technologies described above; the utility model have employed following technical scheme: design a kind of vacuum type climbing robot for column; the guide pillar comprising the first pedestal, the second pedestal, lift cylinder and match with described two pedestals; the cylinder body of described lift cylinder is fixed on described first pedestal, and the power element of this lift cylinder is fixedly connected on described second pedestal; Comprise first pair of arc jig arm and second pair of arc jig arm in addition, the inner of described first pair of arc jig arm is articulated with described first pedestal respectively, and outer end is respectively equipped with the first vacuum suction element; The inner of described second pair of arc jig arm is articulated with described second pedestal respectively, and outer end is respectively equipped with the second vacuum suction element; Described first vacuum suction element and the second vacuum suction element be respectively equipped be connected with vacuum generating device vacuumize interface.
From such scheme, the utility model vacuum type climbing robot, by arranging upper and lower two pairs of arc jig arm, is applicable to and climbs operation on column especially pillar type column.The propulsion source of this climbing robot all adopts pneumatic, effectively improves the safety of construction; All power control systems are all arranged at ground, handled easily, signal stabilization; Vacuum suction element on climbing robot is connected by tracheae with the vacuum generating device on ground, adopt spiral tube or external pipeline can increase arbitrarily the climbing height of robot, avoid the restriction be subject to because of power lead length, need only need extend or external tracheae when increasing.In addition, this climbing robot itself, therefore can effective waterproof not containing any electric elements, and not water funk, substantially increases safety performance.
Further technical scheme is, described vacuum suction element comprises vacuum cup and sucker fixed seat.Preferably, the adsorption plane of described vacuum cup is cambered surface.
Further technical scheme is, described power element is piston rod.
Further technical scheme is, described first pedestal is bottom base, and described second pedestal is top base; Described first pair of arc jig arm is arc lower jig arm, and described second pair of arc jig arm is upper arc jig arm.
Accompanying drawing explanation
Fig. 1 is the using state figure of a kind of embodiment of the utility model vacuum type climbing robot.
Fig. 2 is the front elevation of using state shown in Fig. 1.
Fig. 3 is the right elevation of using state shown in Fig. 1.
Fig. 4 is the birds-eye view of using state shown in Fig. 1.
Detailed description of the invention
To describe various embodiment of the present utility model below in detail, embodiment wherein in conjunction with the accompanying drawings and describe hereinafter.Although the utility model will be described in conjunction with illustrative embodiments, be to be understood that the utility model is not limited to these illustrative embodiments.On the contrary, the utility model not only comprises these embodiments, but also comprises various distortion, improvement.
See Fig. 1, according to the vacuum type climbing robot for column of a kind of embodiment of the utility model, the guide pillar 6 comprising bottom base 1, top base 2, the upper arc jig arm 5 of lift cylinder 3, two arc lower jig arm 4, two and match with two pedestals 1,2, bottom base 1 is fixed in the lower end of guide pillar 6, and top base 2 can slide along guide pillar 6 and be elevated.The cylinder body 31 of lift cylinder 3 is fixed on bottom base 1, and the piston rod 32 of this lift cylinder 3 is fixedly connected on top base 2.The inner of described arc lower jig arm 4 is articulated with the both sides of bottom base 1 respectively, and outer end is respectively equipped with lower vacuum suction element 7; The inner of upper arc jig arm 5 is articulated with the both sides of top base 2 respectively, and outer end is respectively equipped with vacuum suction element 8.Arc lower jig arm 4 and upper arc jig arm 5 can rotate relative to bottom base 1 and top base 2 respectively around its jointed shaft separately, and position-limiting action is played in the side sealing of bottom base 1 and top base 2, the rotation of arc lower jig arm 4 and upper arc jig arm 5 is limited within the scope of certain angle.Lower vacuum suction element 7 is substantially identical with the structure of upper vacuum suction element 8, form by vacuum cup 9 and sucker fixed seat 10, sucker fixed seat 10 be provided be connected with unshowned vacuum generating device vacuumize interface 11, the adsorption plane of vacuum cup 9 is cambered surface, and the peripheral shape being convenient to circular abutment is suitable.
The vacuum type climbing robot of said structure can be used as the carrier of power tools such as detecting or clean, and can carry some power tools at bottom base 1 and top base 2 place as required, its working process is briefly described as follows:
1) climbing robot of above-described embodiment is placed on the column 12 needing to detect or clean.Carry out detecting or cleaning operation time, respectively arc lower jig arm 4 and upper arc jig arm 5 are opened, insert column 12 in integral finish direction, arc lower jig arm 4 and upper arc jig arm 5 are tightened up on the periphery being attached to column 12 after putting into column 12.Now by vacuum generating device with vacuumize interface 11 and be connected, the vacuum cup 9 be fixed on sucker fixed seat 10 is made to act on and be adsorbed on the periphery of column 12, open and close upper and lower two groups of vacuum cups 9 respectively, whether test climbing robot is stable is adsorbed on periphery.
2) operation is climbed.After being completed, open the vacuum cup of lower vacuum suction element 7, make arc lower jig arm 4 hold column 12 tightly, now close the vacuum cup closing vacuum suction element 8, open the control cock of lift cylinder 3, promote top base 2 rising by the piston rod 32 of lift cylinder 3 and put in place; Then open the vacuum cup of upper vacuum suction element 8, make arc jig arm 5 hold column 12 tightly, after holding tightly, close the vacuum cup of lower vacuum suction element 7, shrink lift cylinder 3, now the piston rod 32 of lift cylinder drives bottom base 1 to promote simultaneously; To be hoisted put in place after, again open the vacuum cup of lower vacuum suction element 7, circulation is until arrive after control position successively, opens the vacuum cup of lower vacuum suction element 7 and upper vacuum suction element 8, starts to carry out operations such as detecting or clean.
3) decline operation is contrary with climbing operation sequence of operation.
From such scheme, the utility model vacuum type climbing robot, by arranging upper and lower two pairs of arc jig arm, is applicable to and climbs operation on column especially pillar type column.The propulsion source of this climbing robot all adopts pneumatic, effectively improves the safety of construction; All power control systems are all arranged at ground, handled easily, signal stabilization; Vacuum suction element on climbing robot is connected by tracheae with the vacuum generating device on ground, adopt spiral tube or external pipeline can increase arbitrarily the climbing height of robot, avoid the restriction be subject to because of power lead length, need only need extend or external tracheae when increasing.In addition, this climbing robot itself, therefore can effective waterproof not containing any electric elements, and not water funk, substantially increases safety performance.
Above-described is only preferred implementation of the present utility model; it should be pointed out that for the person of ordinary skill of the art, under the prerequisite not departing from the present utility model design; can also make some distortion and improvement, these all belong to protection domain of the present utility model.
Claims (5)
1. for the vacuum type climbing robot of column, the guide pillar comprising the first pedestal, the second pedestal, lift cylinder and match with described two pedestals, the cylinder body of described lift cylinder is fixed on described first pedestal, the power element of this lift cylinder is fixedly connected on described second pedestal, it is characterized in that, also comprise first pair of arc jig arm and second pair of arc jig arm, the inner of described first pair of arc jig arm is articulated with described first pedestal respectively, and outer end is respectively equipped with the first vacuum suction element; The inner of described second pair of arc jig arm is articulated with described second pedestal respectively, and outer end is respectively equipped with the second vacuum suction element; Described first vacuum suction element and the second vacuum suction element be respectively equipped be connected with vacuum generating device vacuumize interface.
2. vacuum type climbing robot according to claim 1, is characterized in that, described vacuum suction element comprises vacuum cup and sucker fixed seat.
3. vacuum type climbing robot according to claim 2, is characterized in that, the adsorption plane of described vacuum cup is cambered surface.
4. vacuum type climbing robot according to claim 1, is characterized in that, described power element is piston rod.
5. vacuum type climbing robot according to claim 1, is characterized in that, described first pedestal is bottom base, and described second pedestal is top base; Described first pair of arc jig arm is arc lower jig arm, and described second pair of arc jig arm is upper arc jig arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520009843.8U CN204355189U (en) | 2015-01-04 | 2015-01-04 | For the vacuum type climbing robot of column |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520009843.8U CN204355189U (en) | 2015-01-04 | 2015-01-04 | For the vacuum type climbing robot of column |
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| Publication Number | Publication Date |
|---|---|
| CN204355189U true CN204355189U (en) | 2015-05-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201520009843.8U Expired - Fee Related CN204355189U (en) | 2015-01-04 | 2015-01-04 | For the vacuum type climbing robot of column |
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Cited By (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105000079A (en) * | 2015-08-06 | 2015-10-28 | 中国林业科学研究院林业新技术研究所 | Climbing robot |
| GB2531893A (en) * | 2014-08-29 | 2016-05-04 | Reece Innovation Centre Ltd | Improvement in or relating to crawlers |
| CN105710887A (en) * | 2016-04-29 | 2016-06-29 | 中国矿业大学 | Hooped mine elevator patrol robot mechanism based on electromagnetic chucks |
| CN105729487A (en) * | 2016-04-29 | 2016-07-06 | 中国矿业大学 | Holding type mine hoist inspection robot |
| CN106426220A (en) * | 2016-12-03 | 2017-02-22 | 叶强 | Intelligent streetlamp repairing robot |
| CN106677497A (en) * | 2017-01-11 | 2017-05-17 | 唐山学院 | High-rise building outer wall spraying device |
| CN106711854A (en) * | 2017-02-07 | 2017-05-24 | 国网浙江新昌县供电公司 | Pole-climbing robot with transmission line insulator cleaning function |
| CN106741269A (en) * | 2016-12-13 | 2017-05-31 | 北京时代天工科技发展有限公司 | A kind of gait clamped-in style climbing robot |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN107226145A (en) * | 2017-04-05 | 2017-10-03 | 山东建筑大学 | Diagonal-bracing type clamp system and the climbing robot suitable for shaft |
| CN108674511A (en) * | 2018-05-31 | 2018-10-19 | 杭州展翔智能科技有限公司 | It is a kind of can frame carry application device autonomous climbing device |
| CN109331431A (en) * | 2018-09-21 | 2019-02-15 | 合肥尚伍信息科技有限公司 | A kind of automatic climbing device for stablizing transport of climbing for vertical bar |
| CN109455241A (en) * | 2018-04-09 | 2019-03-12 | 国家电网公司 | A kind of indexing pole-climbing mechanism |
| WO2019205419A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Robot |
| CN111055945A (en) * | 2020-01-19 | 2020-04-24 | 温州兰犹网络科技有限公司 | Lantern linkage based on data identification control |
| CN112869669A (en) * | 2021-01-12 | 2021-06-01 | 张祥海 | Dry-hanging marble curtain wall cleaning method |
| CN114132404A (en) * | 2021-11-26 | 2022-03-04 | 国网河南省电力公司卢氏县供电公司 | Electric power climbing device with structure of preventing falling |
| CN114234018A (en) * | 2021-12-20 | 2022-03-25 | 河北大唐国际王滩发电有限责任公司 | Disconnect-type pipeline inspection robot |
| CN114803966A (en) * | 2022-06-30 | 2022-07-29 | 山西省安装集团股份有限公司 | Tower cylinder climbing device for wind driven generator |
| US11590543B2 (en) | 2016-07-19 | 2023-02-28 | Kongsberg Ferrotech As | Pipeline maintenance and inspection vehicle |
| CN116142340A (en) * | 2023-01-04 | 2023-05-23 | 南通星球石墨股份有限公司 | Climbing type leakage detection equipment for hydrogen chloride graphite absorption tower |
-
2015
- 2015-01-04 CN CN201520009843.8U patent/CN204355189U/en not_active Expired - Fee Related
Cited By (31)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB2531893A (en) * | 2014-08-29 | 2016-05-04 | Reece Innovation Centre Ltd | Improvement in or relating to crawlers |
| CN105000079A (en) * | 2015-08-06 | 2015-10-28 | 中国林业科学研究院林业新技术研究所 | Climbing robot |
| CN105710887B (en) * | 2016-04-29 | 2018-02-09 | 中国矿业大学 | Formula mining elevator inspection robot mechanism is embraced based on magnechuck |
| CN105710887A (en) * | 2016-04-29 | 2016-06-29 | 中国矿业大学 | Hooped mine elevator patrol robot mechanism based on electromagnetic chucks |
| CN105729487A (en) * | 2016-04-29 | 2016-07-06 | 中国矿业大学 | Holding type mine hoist inspection robot |
| US11590543B2 (en) | 2016-07-19 | 2023-02-28 | Kongsberg Ferrotech As | Pipeline maintenance and inspection vehicle |
| CN106426220A (en) * | 2016-12-03 | 2017-02-22 | 叶强 | Intelligent streetlamp repairing robot |
| CN106426220B (en) * | 2016-12-03 | 2018-09-18 | 哈工大机器人集团（广州）知识产权投资控股有限公司哈尔滨分公司 | A kind of intelligent maintaining street lamp robot |
| CN106741269A (en) * | 2016-12-13 | 2017-05-31 | 北京时代天工科技发展有限公司 | A kind of gait clamped-in style climbing robot |
| CN106677497A (en) * | 2017-01-11 | 2017-05-17 | 唐山学院 | High-rise building outer wall spraying device |
| CN106711854A (en) * | 2017-02-07 | 2017-05-24 | 国网浙江新昌县供电公司 | Pole-climbing robot with transmission line insulator cleaning function |
| CN106711854B (en) * | 2017-02-07 | 2018-12-04 | 国网浙江新昌县供电公司 | A kind of climbing level robot with electric transmission line isolator cleaning function |
| CN107226145A (en) * | 2017-04-05 | 2017-10-03 | 山东建筑大学 | Diagonal-bracing type clamp system and the climbing robot suitable for shaft |
| CN107226145B (en) * | 2017-04-05 | 2019-10-15 | 山东建筑大学 | Diagonal-bracing type clamp system and climbing robot suitable for shaft |
| CN107140050A (en) * | 2017-05-11 | 2017-09-08 | 哈尔滨工程大学 | A kind of Pneumatic pole-climbing robot based on biomimetic peristaltic principle |
| CN109455241A (en) * | 2018-04-09 | 2019-03-12 | 国家电网公司 | A kind of indexing pole-climbing mechanism |
| WO2019205419A1 (en) * | 2018-04-25 | 2019-10-31 | 深圳市大疆创新科技有限公司 | Robot |
| CN108674511A (en) * | 2018-05-31 | 2018-10-19 | 杭州展翔智能科技有限公司 | It is a kind of can frame carry application device autonomous climbing device |
| CN108674511B (en) * | 2018-05-31 | 2024-04-09 | 杭州展翔智能科技有限公司 | Autonomous climbing device capable of carrying application device |
| CN109331431A (en) * | 2018-09-21 | 2019-02-15 | 合肥尚伍信息科技有限公司 | A kind of automatic climbing device for stablizing transport of climbing for vertical bar |
| CN111055945B (en) * | 2020-01-19 | 2020-09-08 | 南京溧水高新创业投资管理有限公司 | Lantern linkage based on data identification control |
| CN111055945A (en) * | 2020-01-19 | 2020-04-24 | 温州兰犹网络科技有限公司 | Lantern linkage based on data identification control |
| CN112869669A (en) * | 2021-01-12 | 2021-06-01 | 张祥海 | Dry-hanging marble curtain wall cleaning method |
| CN112869669B (en) * | 2021-01-12 | 2022-07-26 | 安徽科望建设工程有限公司 | Dry-hanging marble curtain wall cleaning method |
| CN114132404A (en) * | 2021-11-26 | 2022-03-04 | 国网河南省电力公司卢氏县供电公司 | Electric power climbing device with structure of preventing falling |
| CN114132404B (en) * | 2021-11-26 | 2024-02-13 | 国网河南省电力公司卢氏县供电公司 | Electric power climbing device with prevent structure of falling |
| CN114234018A (en) * | 2021-12-20 | 2022-03-25 | 河北大唐国际王滩发电有限责任公司 | Disconnect-type pipeline inspection robot |
| CN114803966A (en) * | 2022-06-30 | 2022-07-29 | 山西省安装集团股份有限公司 | Tower cylinder climbing device for wind driven generator |
| CN114803966B (en) * | 2022-06-30 | 2022-11-11 | 山西省安装集团股份有限公司 | Tower cylinder climbing device for wind driven generator |
| CN116142340A (en) * | 2023-01-04 | 2023-05-23 | 南通星球石墨股份有限公司 | Climbing type leakage detection equipment for hydrogen chloride graphite absorption tower |
| CN116142340B (en) * | 2023-01-04 | 2023-08-08 | 南通星球石墨股份有限公司 | Climbing type leakage detection equipment for hydrogen chloride graphite absorption tower |
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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 | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20150527 Termination date: 20170104 |