CN204750344U - Wall climbing robot - Google Patents
Wall climbing robot Download PDFInfo
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- CN204750344U CN204750344U CN201520470497.3U CN201520470497U CN204750344U CN 204750344 U CN204750344 U CN 204750344U CN 201520470497 U CN201520470497 U CN 201520470497U CN 204750344 U CN204750344 U CN 204750344U
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- negative pressure
- expansion link
- wall
- fixed
- housing
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Abstract
The utility model relates to a wall climbing robot, inhale wall subassembly, the flexible subassembly that removes including remote controller, central processing unit, negative pressure, it is two sets of for what correspond from top to bottom that the wall subassembly is inhaled to the negative pressure, the flexible subassembly both ends of removing are connected respectively on the wall subassembly is inhaled to two sets of negative pressure, and central processing unit is fixed in the negative pressure inhale in the casing of wall subassembly with the sensor connection of wall subassembly is inhaled to the negative pressure, and the realization is adsorbed in the friendship of inhaling the wall subassembly through the flexible of flexible removal subassembly and two sets of negative pressure at a distance from the formula wall climbing robot's wriggling gos forward. The utility model has the advantages of simple structure, convenient operation removes in a flexible way, not restricted by the wall material.
Description
Technical field
The utility model relates to a kind of robot, specifically the simple climbing robot of a kind of structure.
Background technology
Climbing robot, as a special branch of robot, is characterized in overcoming Action of Gravity Field free motion on wall, top ceiling.Due to the particularity of climbing robot work, receive the concern of countries in the world researcher.From 20th century the mid-80s, each developed country of the world develops the climbing robot differed from one another in succession.How realizing effective absorption, is the most key research contents of climbing robot.Mainly adopt negative-pressure adsorption, magnetic suck and bionical absorption three kinds of adsorption technologies at present.Bionical suction type climbing robot: some insects can be resisted at smooth surface the separating force exceeding their self gravitations hundred times and also freely be walked on these surfaces, bring enlightenment to the design of the adsorbing mechanism of climbing robot.As " mythimna separata " climbing robot stickybot of Stanford Univ USA's development, man-made hair is equipped with in its vola, can guarantee that vola and body of wall area of contact increase.Magnetic suck mode climbing robot: magnetically adsorbed wall-climbing robot, can produce very large adsorption affinity, but is only suitable for absorption work on magnetic conduction face.Negative-pressure adsorption mode climbing robot: negative-pressure adsorption climbing robot is by Negative Pressure Difference effect inside and outside sucker, produce adsorption affinity at wall, but the type of depression generator has variety, its mechanism is also different.Carry out the research climbing robot having external connecting negative pressure source comparatively early, the NINJA series 4 podarthrum formula climbing robots of Tokyo polytechnical university exploitation, the Skycleaner3 robot etc. of BJ University of Aeronautics & Astronautics's development, robot realizes motion by the alternating sorbent of sucker group and the relative motion of arm.Vacuum pump application robot in the body be generally microminiature reciprocating vacuum pump, because vacuum pump can produce higher degree of vacuum, the adsorption affinity that the less sucker of area produces just is enough to robot is adsorbed on smooth wall.The microminiature Inchworm type robot model machine of Michiganite U.S.A university, Harbin Institute of Technology's development all takes minipump and adsorbs sufficient mechanism.The climbing robot of application centrifugal fan utilizes electric machine rotation to drive fan High Rotation Speed, and the air extracted out in robot negative pressure cavity forms negative pressure and provides adsorption affinity.Hydraulically rough surface has larger adsorption affinity and good locomitivity.In addition venturi-type and simulation tornado etc. is also had.
Also there is similar climbing robot in the market, have and adopt magneto structure and magnetic suck mode wall must be permeability magnetic material, or bio-robot, be similar to hook etc., or suction type but structure is all comparatively complicated.
Summary of the invention
Problem to be solved in the utility model is: provide a kind of structure simple, moves flexible, easy to operate and is not subject to the robot that wall surface material limits.
The technical scheme of the climbing robot described in the application is: comprise remote controller, central process unit, two groups of corresponding up and down negative pressure suction wall assemblies and telescopic moving assembly, described negative pressure is inhaled wall assembly and is comprised housing 1, expansion link sleeve 14 is fixedly connected with described housing 1, expansion link 13 one end embeds negative pressure portion 12 and is connected with suction type termination 2 end thread, described expansion link 13 other end is stretched into described housing 1 through described expansion link sleeve 14 and is connected with servomotor 16 by coupler 15, and rang sensor and pressure sensor are equipped with successively in suction type termination 2 place, described telescopic moving assembly comprises two fixed bearings 8, it is separately fixed on the relative sidewall of two described housings 1, telescopic shaft 5 with expansion link 4 one end is mobilizable be linked in together with, the screw rod bushing 9 of the other end respectively with two on described fixed bearing 8 is connected and fixed, an attaching parts 10 is respectively had to be connected on described housing 1 before and after described fixed bearing 8, described screw mandrel 7 is linked in described attaching parts 10, described screw mandrel 7 is connected with the servomotor 11 be fixed on housing 1 by bearing 3, two the slender rod piece 6 of bending can be placed in the front and back of telescopic shaft 5 and expansion link 4 respectively, corresponding with on two housings 1 respectively attaching parts 10 in its two ends connects, described central process unit is fixed in described housing 1 and is connected with described rang sensor and pressure sensor.
Further improvement, described servomotor 11 rotating campaign, screw mandrel 7 is driven to rotate by bearing 3, described attaching parts 10 can realize along with the rotation of 7 moving up and down, thus drives the variable angle of slender rod piece 6, and telescopic shaft 5 and expansion link 4 stretch, and at this moment, feeding back to central processing unit by sensor detection makes the telescoping rod 13 on two housings 1 realize alternative expression motion, and described negative pressure termination 2 is handed over every formula absorption, thus the creeping motion type realizing machine advances.
Further improvement, described suction type termination 2 is the rubber tube of horn.
The advantages such as compared with the prior art, the utility model utilizes principle of negative pressure, adopts multiple adsorption structure, has wall structure shape adaptable, good stability, does not limit by wall surface material, mobile flexible; Meanwhile, robot controlling utilizes remote controller operation, controls flexible, has good application prospect.
Accompanying drawing explanation
Fig. 1 is the back view that the utility model negative pressure suction wall assembly is connected with telescopic moving assembly one end.
Fig. 2 is that the utility model negative pressure inhales wall unit construction schematic diagram.
Fig. 3 is that the utility model negative pressure inhales wall assembly and telescopic moving assembly joint face schematic diagram.
The utility model block diagram during Fig. 4.
Wherein: 1-housing, 2-suction type termination, 3-bearing, 4-expansion link, 5-telescopic shaft, 6-slender rod piece, 7-screw mandrel, 8-fixed bearing, 9-screw rod bushing, 10-attaching parts, 11-servomotor, 12-negative pressure portion, 13-expansion link, 14-telescopic shaft, 15-coupler, 16-servomotor.
Detailed description of the invention
As shown in the figure, two negative pressure that a kind of climbing robot described in the application is up and down corresponding are inhaled that wall assemblies comprise housing 1, expansion link sleeve 14 is fixedly connected with described housing 1, expansion link 13 one end embeds negative pressure portion 12 and are connected with suction type termination 2 end thread, described expansion link 13 other end is stretched into described housing 1 through described expansion link sleeve 14 and is connected with servomotor 16 by coupler 15, and rang sensor and pressure sensor are equipped with successively in suction type termination 2 place, described telescopic moving assembly comprises two fixed bearings 8 and is fixed on the relative sidewall of two described housings 1, telescopic shaft 5 with expansion link 4 one end is mobilizable be linked in together with, the screw rod bushing 9 of the other end respectively with two on described fixed bearing 8 is connected and fixed, an attaching parts 10 is respectively had to be connected on described housing 1 before and after described fixed bearing 8, described screw mandrel 7 is linked in described attaching parts 10, described screw mandrel 7 is connected with the servomotor 11 be fixed on housing 1 by bearing 3, two bent slender rod pieces 6 are placed on the front and back of telescopic shaft 5 and expansion link 4 respectively, the attaching parts 10 that the two ends of slender rod piece 6 are corresponding with on upper and lower two housings 1 respectively connects.Central process unit is fixed in housing 1 and is connected with described rang sensor and pressure sensor.
Remote controller sends control command, servomotor 11 rotating campaign, screw mandrel 7 is driven to rotate by bearing 3, described attaching parts 10 can realize along with the rotation of 7 moving up and down, elongate rod 6 variable angle be connected on attaching parts 10 produces motion, telescopic shaft 5 and expansion link 4 stretch, simultaneously, distance between rang sensor detection and wall, pressure sensor detects internal pressure and feeds back to central process unit, central process unit guarantees pressure needed for the work between machine and wall by calculating, make upper and lower two expansion links 13 realize friendship to move every formula, negative pressure termination 2 is handed over and is adsorbed every formula, when adsorbing above, here is unclamped, unclamp above when adsorbing below, thus the creeping motion type realizing machine advances.
More than show and describe groundwork of the present utility model, principal character and advantage.The technical personnel of the industry should be understood; the utility model is not restricted to the described embodiments; what describe in above-described embodiment and specification sheets just illustrates principle of the present utility model; under the prerequisite not departing from the utility model spirit and scope; the utility model also has various changes and modifications, and these changes and improvements all fall within the scope of claimed the utility model.
Claims (3)
1. a climbing robot, is characterized in that, comprises remote controller, central process unit, negative pressure suction wall assembly, telescopic moving assembly;
It is corresponding up and down 2 groups that described negative pressure inhales wall assembly, described negative pressure is inhaled wall assembly and is comprised housing (1), expansion link sleeve (14) is fixedly connected with described housing (1), expansion link (13) one end embeds negative pressure portion (12) and is connected with suction type termination (2) end thread, described expansion link (13) other end is stretched into described housing (1) through described expansion link sleeve (14) and is connected with servomotor (16) by coupler (15), and rang sensor and pressure sensor are equipped with successively in suction type termination (2) place;
Described telescopic moving assembly comprises two fixed bearings (8), it is separately fixed on the relative sidewall of two described housings (1), telescopic shaft (5) and expansion link (4) one end is mobilizable is linked in together, the other end is connected and fixed with the screw rod bushing (9) on described two fixed bearings (8) respectively, an attaching parts (10) is respectively had to be connected on described housing (1) before and after described fixed bearing (8), screw mandrel (7) is linked in described attaching parts (10), described screw mandrel (7) is connected with the servomotor (11) be fixed on housing (1) by bearing (3), two the slender rod piece (6) of bending can be placed in the front and back of described telescopic shaft (5) and expansion link (4) respectively, described slender rod piece (6) two ends respectively corresponding attaching parts (10) upper with two housings (1) connect,
Described central process unit is fixed in housing (1) and is connected with described rang sensor and pressure sensor.
2. a kind of climbing robot according to claim 1, it is characterized in that, described servomotor (11) rotating campaign drives the motion of slender rod piece (6) angle, simultaneously, expansion link (13) on described two housings (1) is handed over every motion, and described suction type termination (2) is handed over every formula absorption on the wall.
3. a kind of climbing robot according to claim 2, is characterized in that, the rubber tube that described suction type termination (2) is horn.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520470497.3U CN204750344U (en) | 2015-07-03 | 2015-07-03 | Wall climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520470497.3U CN204750344U (en) | 2015-07-03 | 2015-07-03 | Wall climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204750344U true CN204750344U (en) | 2015-11-11 |
Family
ID=54465079
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520470497.3U Expired - Fee Related CN204750344U (en) | 2015-07-03 | 2015-07-03 | Wall climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204750344U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741270A (en) * | 2016-12-23 | 2017-05-31 | 南京工程学院 | Biped coordinates the wall-climbing robot of start |
| CN109606496A (en) * | 2018-12-18 | 2019-04-12 | 上海交通大学 | Climbing robot and method based on dielectric elastomer driver and Electrostatic Absorption |
| CN114802517A (en) * | 2022-06-08 | 2022-07-29 | 长春工业大学 | Wall climbing robot based on single chip microcomputer control |
-
2015
- 2015-07-03 CN CN201520470497.3U patent/CN204750344U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106741270A (en) * | 2016-12-23 | 2017-05-31 | 南京工程学院 | Biped coordinates the wall-climbing robot of start |
| CN106741270B (en) * | 2016-12-23 | 2019-06-28 | 南京工程学院 | The wall-climbing robot of biped coordination actuation |
| CN109606496A (en) * | 2018-12-18 | 2019-04-12 | 上海交通大学 | Climbing robot and method based on dielectric elastomer driver and Electrostatic Absorption |
| CN109606496B (en) * | 2018-12-18 | 2020-06-12 | 上海交通大学 | Wall-climbing robot and method based on dielectric elastomer driver and electrostatic adsorption |
| CN114802517A (en) * | 2022-06-08 | 2022-07-29 | 长春工业大学 | Wall climbing robot based on single chip microcomputer control |
| CN114802517B (en) * | 2022-06-08 | 2023-03-17 | 长春工业大学 | Wall climbing robot based on single chip microcomputer control |
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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: 20151111 Termination date: 20160703 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |