CN205345106U - Pneumatic wall climbing robot of walking - Google Patents
Pneumatic wall climbing robot of walking Download PDFInfo
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- CN205345106U CN205345106U CN201520871803.4U CN201520871803U CN205345106U CN 205345106 U CN205345106 U CN 205345106U CN 201520871803 U CN201520871803 U CN 201520871803U CN 205345106 U CN205345106 U CN 205345106U
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Abstract
The utility model provides a pneumatic wall climbing robot of walking, it belongs to wall climbing robot. It is solved that current wall climbing robot structure is complicated, the power consumption is big, bearing force is weak and manipulates technical problem such as difficulty. Its technical scheme main points are: it includes mechanical device, pneumatic system and adsorption equipment, pneumatic system includes air compressor and cylinder, adsorption equipment includes the sucking disc for the function realizes adsorbing, mechanical device mainly includes frame (2), a pair of long limb leg and at least one manomelia leg, and is provided with adsorption equipment on long limb leg and the manomelia leg respectively, frame and long limb leg and manomelia leg adopt the structural style of guide rail and slider to cooperate respectively to be connected, long limb leg and manomelia leg become the clearance fit respectively to be installed in the lower part of frame (2), and is connected with the promotion cylinder of installing in frame (2) respectively. Simple structure, it is reliable, the adsorption energy reinforce. Dust removal and washing and detection that it mainly can be used to the high building wall.
Description
Technical field
This utility model relates to a kind of climbing robot, particularly a kind of walking Pneumatic wall-climbing robot.
Background technology
Along with the robot miscellaneous extensive use in every field with develop rapidly, climbing robot can substitute artificial a kind of robot apparatus in vertical wall limit superior operation with it, is increasingly subject to people's attention.
At present, having been developed that various climbing robot both at home and abroad, its type of drive has motor to drive and air pressure driving etc., is generally adopted electric energy and provides the energy, is converted electrical energy into gas internal energy or mechanical energy by motor.And there is certain mechanical noise and electromagnetic noise in the rotation of motor.In addition, for motor-driven climbing robot, motor not only quality is big, adds the quality of robot, and opposing torque is less, and anti-load-carrying ability is low, and power consumption is big.
The wall adsorption mode of domestic and international existing climbing robot specifically includes that the absorption of negative-pressure adsorption, vac sorb, magnetic suck, thrust gas, viscosity absorption and bionics absorption etc..Move mode specifically includes that magnetic crawler type, the single sucking disc are wheeled, the sufficient formula of multi-sucker, rotor are wheeled, multi-sucker frame-type, imitative wall gecko type etc..But all kinds of climbing robots still also exist many problems, for instance: negative pressure and vac sorb mode have features such as not limited, applied widely by wall surface material.But when wall is uneven, sucker is susceptible to gas excessive leakage, causes that absorption affinity is not enough, lower the bearing capacity of climbing robot, even make climbing robot fall from wall；The adaptability of uneven wall relatively by force but is required that wall must be permeability magnetic material by magnetic suck.Though two foot climbing robot obstacle-overpass abilities are strong, but heavy burden ability is weak；Rotary wind type climbing robot not only direction controlling is difficult, and power lost efficacy after disappearing at once；Bionics absorption (imitative Gekko Swinhonis) although their motility is strong, and volume is little, but their adsorptivity difference has much room for improvement, so be doomed loading capacity little,
Therefore, climbing robot technology still suffers from weak point in many aspects, especially adsorb unreliable, motion torque is less, anti-load-carrying ability is low, turn to the technical problems such as dumb.
Summary of the invention
For problem above, needs in conjunction with modern climbing robot development trend and social production life, this utility model purpose is to provide one and can take action on multiple wall, there is craspedodrome, laterally walk, fall back and across obstacle function and ability of bearing a heavy burden is strong, motion torque is big, direction controlling is convenient, without Planar Mechanisms, low energy consumption, low noise walking Pneumatic wall-climbing robot.
This utility model solves its technical problem and be the technical scheme is that it includes machinery, pneumatic system and adsorbent equipment；Described pneumatic system includes air compressor and cylinder, to provide required source of the gas；Described adsorbent equipment includes sucker, is used for realizing adsorption function；
Described machinery mainly includes frame 2, long a pair limb lower limb and at least one manomelia lower limb, and is respectively arranged with adsorbent equipment on long limb lower limb and manomelia lower limb；
The version that frame is respectively adopted guide rail and slide block with long limb lower limb and manomelia lower limb is in mating connection；
The bottom that described long limb lower limb becomes clearance fit to be arranged on frame 2 with manomelia lower limb respectively, and be connected with the lifting cylinder being arranged in frame 2 respectively；
2 long limb lower limbs one-tenth are slidably matched and are longitudinally mounted to the left and right sides of frame 2, and in mating connection with the long limb walking cylinder 10 being arranged in frame 2 respectively；
Manomelia lower limb becomes to be slidably matched between 2 the long limb lower limbs being transversely mounted in the middle part of frame 2, and in mating connection with the manomelia walking cylinder 20 being arranged in frame 2；
Long limb walking cylinder 10, manomelia walking cylinder 20 are connected with pneumatic system respectively with lifting cylinder.
Described long limb lower limb can be include the identical right long limb lower limb 1 of structure, left long limb lower limb 4, and adopts symmetrical layout type, the parallel longitudinal left and right sides being arranged on frame 2.
Described long limb lower limb can also be include the identical left long limb lower limb 4 of structure and right long limb lower limb 1；Left long limb lower limb 4 includes long leg and connects support 14, long limb lifting bracket 15, long limb slide block 13 and long limb guide rail 16；Connect at long leg and support 14 is set with adsorbent equipment；
Being provided with long limb walking cylinder 10 in frame 2, long limb walking cylinder 10 is connected support 14 and is connected with long leg, and the telescopic drive long limb guide rail 16 of long limb walking cylinder 10 slides up and down along the long limb slide block 13 being packed in frame 2；
Connect at long leg and long limb lifting cylinder 11 installed by support 14, being connected with long limb lifting bracket 15 of long limb lifting cylinder 11, the flexible drive of long limb lifting cylinder 11 is provided with moving up and down of the long limb lifting bracket 15 of adsorbent equipment, namely realizes the Telescopic of long limb lower limb.
This utility model also can connect support 14 at long leg and be arranged below long limb support 18, long limb support 18 connects below support 14 by the fixing long leg that is bolted to of long limb guide rail 16, being provided with long limb cylinder linking arm 19 on long limb support 18, long limb walking cylinder 10 is connected with long limb cylinder linking arm 19.
Described manomelia lower limb can be include the identical front manomelia lower limb 3 of structure and rear manomelia lower limb 6, front manomelia lower limb 3 and rear manomelia lower limb 6 one-tenth are slidably matched the horizontally-parallel both sides up and down being arranged on frame 2.
Described manomelia lower limb can be constituted by including manomelia guide rail 21, manomelia linkage support 24, short-leg connection support 23, manomelia lifting bracket 5 and manomelia walking cylinder 20 etc.；
In the middle part of frame 2, both sides are provided with manomelia slide block 22, are respectively arranged with manomelia guide rail 21 in the both sides of manomelia linkage support 24, and 21 one-tenth of manomelia guide rail is slidably matched and is set in manomelia slide block 22；
Being provided with manomelia driving arm 26 in manomelia linkage support 24, coordinate and be provided with manomelia lifting cylinder 28 on manomelia driving arm 26, manomelia lifting cylinder 28 is connected with manomelia lifting bracket 5；
Being provided with manomelia cylinder linking arm 27 on manomelia driving arm 26, manomelia cylinder linking arm 27 is connected with the manomelia walking cylinder 20 being transversely mounted in frame 2；
Short-leg connects support 23 cooperation and is arranged on manomelia linkage support 24 bottom, and it is in mating connection that manomelia lifting bracket 5 is connected support 23 with short-leg, and the bottom connecting support 23 at short-leg coordinates clip suit adsorbent equipment.
This utility model can also arrange 2 identical manomelia lower limbs of structure in manomelia linkage support 24, namely the front manomelia lower limb 3 being connected with manomelia linkage support 24, rear manomelia lower limb 6, manomelia lifting bracket 5 is for fork configuration and is connected with front manomelia lower limb 3 and rear manomelia lower limb 6 respectively.
Long limb lower limb described in the utility model and manomelia lower limb can adopt compression limb lower limb.
This utility model also can at long limb lifting cylinder 11 and long limb lifting bracket 15 or and be connected between support 14 and long limb lifting bracket 15 at long leg and be provided with long limb buffer unit 8；It is provided with manomelia buffer unit 7 between manomelia lifting cylinder 28 and manomelia lifting bracket 5 or manomelia linkage support 24 and manomelia lifting bracket 5；Described manomelia buffer unit 7 and long limb buffer unit 8 include guide rod and spring, and spring housing is contained on guide rod.
Described pneumatic system includes air compressor and gas path pipe, gas path pipe is provided with pressure regulation filter, flow speed control valve, solenoid directional control valve, electromagnetism check valve, adopts pressure regulation filter, flow speed control valve, solenoid directional control valve, electromagnetism check valve to realize controlling to gas path pipe；Described adsorbent equipment adopts vacuum suction system, and vacuum suction system is connected with pneumatic system, and the air-flow of pneumatic system, after flow speed control valve speed governing, introduces vacuum suction system through multiple-pass joint, adopts electromagnetism check valve and vacuum generator to manufacture vacuum to vacuum cup.
The beneficial effects of the utility model are: it is a kind of walking Pneumatic wall-climbing robot adopting the driving of stride reptile fashion, full air pressure, vacuum adsorption type, can realize keeping straight on, laterally, fall back, across compound actions such as obstacles, and in motor process without Planar Mechanisms, absorption property reliably, heavy burden ability is strong, motion torque is big, direction controlling is simple, low energy consumption, low noise.It mainly can be widely used for dedusting and the field such as cleaning and various detection, rescue of high building wall.
Accompanying drawing explanation
Fig. 1 is 3-D view of the present utility model.
Fig. 2 is machinery top view of the present utility model.
Fig. 3 is machinery front view of the present utility model.
Fig. 4 is long leg installation diagram of the present utility model.
Fig. 5 is short-leg installation diagram of the present utility model.
Fig. 6 is manomelia lower limb buffer unit installation diagram of the present utility model.
Fig. 7 is the schematic diagram that moves ahead of the present utility model.
Fig. 8 is horizontal schematic diagram of the present utility model.
In figure: the right long limb lower limb of 1-, 2-frame, manomelia lower limb before 3-, the left long limb lower limb of 4-, 5-manomelia lifting bracket, manomelia lower limb after 6-, 7-manomelia buffer unit, the long limb buffer unit of 8-, the long limb walking cylinder of 10-, the long limb lifting cylinder of 11-, 12-sucker, the long limb slide block of 13-, the long limb of 14-connects support, the long limb lifting bracket of 15-, the long limb guide rail of 16-, 17-clip, the long limb support of 18-, the long limb cylinder linking arm of 19-, 20-manomelia walking cylinder, 21-manomelia guide rail, 22-manomelia slide block, 23-manomelia connects support, 24-manomelia linkage support, 25-bolt, 26-manomelia driving arm, 27-manomelia cylinder linking arm, 28-manomelia lifting cylinder, 29-spring, 30-guide rod, 31-cylinder connects support, 32-base.
Detailed description of the invention
Below in conjunction with drawings and Examples, this utility model is described in further details.
It includes machinery, pneumatic system and adsorbent equipment；Described pneumatic system includes air compressor and cylinder, to provide required source of the gas；Described adsorbent equipment includes sucker, is used for realizing adsorption function；
Described machinery mainly includes frame 2, long a pair limb lower limb and at least one manomelia lower limb, and is respectively arranged with adsorbent equipment on long limb lower limb and manomelia lower limb；
The version that frame is respectively adopted guide rail and slide block with long limb lower limb and manomelia lower limb is in mating connection；
The bottom that described long limb lower limb becomes clearance fit to be arranged on frame 2 with manomelia lower limb respectively, and be connected with the lifting cylinder being arranged in frame 2 respectively；
2 long limb lower limbs one-tenth are slidably matched and are longitudinally mounted to the left and right sides of frame 2, and in mating connection with the long limb walking cylinder 10 being arranged in frame 2 respectively；
Manomelia lower limb becomes to be slidably matched between 2 the long limb lower limbs being transversely mounted in the middle part of frame 2, and in mating connection with the manomelia walking cylinder 20 being arranged in frame 2；
Long limb walking cylinder 10, manomelia walking cylinder 20 are connected with pneumatic system respectively with lifting cylinder.
Described long limb lower limb can be include the identical right long limb lower limb 1 of structure, left long limb lower limb 4, and adopts symmetrical layout type, the parallel longitudinal left and right sides being arranged on frame 2.
Described long limb lower limb can also be include the identical left long limb lower limb 4 of structure and right long limb lower limb 1；Left long limb lower limb 4 includes long leg and connects support 14, long limb lifting bracket 15, long limb slide block 13 and long limb guide rail 16；Connect at long leg and support 14 is set with adsorbent equipment；
Being provided with long limb walking cylinder 10 in frame 2, long limb walking cylinder 10 is connected support 14 and is connected with long leg, and the telescopic drive long limb guide rail 16 of long limb walking cylinder 10 slides up and down along the long limb slide block 13 being packed in frame 2；
Connect at long leg and long limb lifting cylinder 11 installed by support 14, being connected with long limb lifting bracket 15 of long limb lifting cylinder 11, the flexible drive of long limb lifting cylinder 11 is provided with moving up and down of the long limb lifting bracket 15 of adsorbent equipment, namely realizes the Telescopic of long limb lower limb.
This utility model also can connect support 14 at long leg and be arranged below long limb support 18, long limb support 18 connects below support 14 by the fixing long leg that is bolted to of long limb guide rail 16, being provided with long limb cylinder linking arm 19 on long limb support 18, long limb walking cylinder 10 is connected with long limb cylinder linking arm 19.
Described manomelia lower limb can be include the identical front manomelia lower limb 3 of structure and rear manomelia lower limb 6, front manomelia lower limb 3 and rear manomelia lower limb 6 one-tenth are slidably matched the horizontally-parallel both sides up and down being arranged on frame 2.
Described manomelia lower limb can be constituted by including manomelia guide rail 21, manomelia linkage support 24, short-leg connection support 23, manomelia lifting bracket 5 and manomelia walking cylinder 20 etc.；
In the middle part of frame 2, both sides are provided with manomelia slide block 22, are respectively arranged with manomelia guide rail 21 in the both sides of manomelia linkage support 24, and 21 one-tenth of manomelia guide rail is slidably matched and is set in manomelia slide block 22；
Being provided with manomelia driving arm 26 in manomelia linkage support 24, coordinate and be provided with manomelia lifting cylinder 28 on manomelia driving arm 26, manomelia lifting cylinder 28 is connected with manomelia lifting bracket 5；
Being provided with manomelia cylinder linking arm 27 on manomelia driving arm 26, manomelia cylinder linking arm 27 is connected with the manomelia walking cylinder 20 being transversely mounted in frame 2；
Short-leg connects support 23 cooperation and is arranged on manomelia linkage support 24 bottom, and it is in mating connection that manomelia lifting bracket 5 is connected support 23 with short-leg, and the bottom connecting support 23 at short-leg coordinates clip suit adsorbent equipment.
This utility model can also be arranged below 2 identical manomelia lower limbs of structure in manomelia linkage support 24, namely the front manomelia lower limb 3 being connected with manomelia linkage support 24, rear manomelia lower limb 6, manomelia lifting bracket 5 is for fork configuration and is connected with front manomelia lower limb 3 and rear manomelia lower limb 6 respectively.
Long limb lower limb described in the utility model and manomelia lower limb can adopt compression limb lower limb.
This utility model also can at long limb lifting cylinder 11 and long limb lifting bracket 15 or and be connected between support 14 and long limb lifting bracket 15 at long leg and be provided with long limb buffer unit 8；It is provided with manomelia buffer unit 7 between manomelia lifting cylinder 28 and manomelia lifting bracket 5 or manomelia linkage support 24 and manomelia lifting bracket 5；Described manomelia buffer unit 7 and long limb buffer unit 8 include guide rod and spring, and spring housing is contained on guide rod.
Described pneumatic system includes air compressor and gas path pipe, gas path pipe is provided with pressure regulation filter, flow speed control valve, solenoid directional control valve, electromagnetism check valve, adopts pressure regulation filter, flow speed control valve, solenoid directional control valve, electromagnetism check valve to realize controlling to gas path pipe；Described adsorbent equipment adopts vacuum suction system, and vacuum suction system is connected with pneumatic system, and the air-flow of pneumatic system, after flow speed control valve speed governing, introduces vacuum suction system through multiple-pass joint, adopts electromagnetism check valve and vacuum generator to manufacture vacuum to vacuum cup.
Embodiment 1, this utility model includes frame for movement, pneumatic system and vacuum suction system, adopt air compressor to provide source of the gas for pneumatic system, it is to avoid motor rotational noise.Thered is provided power resources by air compressor, adopt air pressure to drive paired long limb lower limb and the manomelia lower limb of the motion of relative frame 2, i.e. right long limb lower limb 1, left long limb lower limb 4 and front manomelia lower limb 3, rear manomelia lower limb 6, control vacuum cup 12 alternating sorbent on length limb lower limb simultaneously and climb wall；Machinery mainly includes frame 2, long a pair limb lower limb and right long limb lower limb 1, left long limb lower limb 4 and a pair manomelia lower limb i.e. front manomelia lower limb 3, rear manomelia lower limb 6；Right long limb lower limb 1, left long limb lower limb 4 adopt symmetrical layout type, can parallel walls upper and lower translation, can move up and down by vertical frames 2 within a certain height, it is achieved obstacle detouring simultaneously.Front manomelia lower limb 3, rear manomelia lower limb 6 are arranged in the middle of frame, can drive frame 2 parallel walls upper and lower translation.Can move up and down by vertical frames 2 within a certain height, it is achieved obstacle detouring simultaneously.Simple in construction, reliably, high adsorption capacity.Consult Fig. 1 to Fig. 8.
Embodiment 2, right long limb lower limb 1 described in the utility model, left long limb lower limb 4, front manomelia lower limb 3, rear manomelia lower limb 6 have compressibility, right long limb lower limb 1, left long limb lower limb 4 can move up and down by vertical frames 2 within a certain height, it includes again long limb and connects support 14, long limb lifting bracket 15, long limb slide block 13 and long limb guide rail 16,8 four parts of long limb buffer unit, long leg connects support 14 fixing sucking disk 12, frame 2 drives right long limb lower limb 1, left long limb lower limb 4 parallel walls upper and lower translation equipped with long limb walking cylinder 10, adopts bolt 25 connected mode to fix；Wherein long limb lifting cylinder 11 be arranged on long leg connect the upper and lower translation of the sucker 12 driving on support 14 long limb buffer unit 8 to drive long limb lifting bracket 15 to be connected to realize right long limb lower limb 1, left long limb lower limb 4 can move up and down by vertical frames 2 within a certain height, it is achieved obstacle detouring.Long limb slide block 13, long limb guide rail 16 are connected with frame 2, it is achieved the upper and lower translation of parallel walls each other.Front manomelia lower limb 3, rear manomelia lower limb 6 include again short-leg and connect support 23, manomelia lifting bracket 5, manomelia buffer unit 7, manomelia guide rail 21 and 22 4 parts of manomelia slide block.Short-leg connects support 23 fixing sucking disk 12, wherein the upper and lower translation of the sucker 12 that manomelia lifting cylinder 28 is arranged on manomelia driving arm 26 to drive manomelia buffer unit 7 to drive manomelia lifting bracket 5 to be connected to realize front manomelia lower limb 3, rear manomelia lower limb 6 can move up and down by vertical frames 2 within a certain height, it is achieved obstacle detouring.Manomelia guide rail 21, manomelia slide block 22 are connected with frame 2, it is achieved the left and right translation of parallel walls each other. climbing robot is kept straight on, laterally, fall back, play an important role across the execution of obstacle.Consulting Fig. 1 to Fig. 8, all the other are with above-described embodiment 1.
Embodiment 3, described manomelia buffer unit 7, long limb buffer unit 8 include spring, guide rod.For manomelia buffer unit 7, base 32 is arranged on manomelia lifting bracket 5 lower surface, one end of fixing spring 29, and guide rod 30 is arranged on cylinder and connects on support 31, and spring 29 is enclosed within guide rod 30, and spring 29 other end is connected with manomelia lifting bracket 5.Cylinder is connected support 31 and manomelia lifting bracket 5 and is connected by spring 29 and has cushioning effect.Consulting Fig. 1 to Fig. 8, all the other are with above-described embodiment 1.
Embodiment 4, as shown in Figure 7, this utility model straight manner is as follows: climbing robot is positioned at initial position, right long limb lower limb 1, left long limb lower limb 4, front manomelia lower limb 3, rear manomelia lower limb 6 are adsorbed on metope, the first step: release left long limb lower limb 4 and the vac sorb of right long limb lower limb 1, the long limb lifting cylinder 11 controlling above two limb lower limbs shrinks whole stroke, and right long limb lower limb 1, left long limb lower limb 4 lift certain altitude and keep；Second step: control right long limb lower limb 1, the long limb walking cylinder 10 of left long limb lower limb 4 shrinks whole process, and right long limb lower limb 1, left long limb lower limb 4 are all moved along a segment distance；3rd step: control to stretch out whole stroke with the long limb lifting cylinder 11 of upper right long limb lower limb 1, left long limb lower limb 4, right long limb lower limb 1, left long limb lower limb are pressed for 4 times, make sucker be adjacent to metope, use vacuum generating device to manufacture vacuum simultaneously, make to be adsorbed on metope with upper right long limb lower limb 1, left long limb lower limb 4；4th step: release front manomelia lower limb 3 and the vac sorb of rear manomelia lower limb 6, controls to shrink whole stroke with the manomelia lifting cylinder 8 of manomelia lower limb 3 of going forward, rear manomelia lower limb 6, and front manomelia lower limb 3, rear manomelia lower limb 6 lift certain altitude and keep；5th step: the long limb walking cylinder 10 controlling long limb lower limb stretches out whole process, front manomelia lower limb 3, rear manomelia lower limb 6 entirety are all moved along same distance；6th step: control to stretch out whole stroke with the manomelia lifting cylinder 28 of manomelia lower limb 3 of going forward, rear manomelia lower limb 6, front manomelia lower limb 3, rear manomelia lower limb are pressed for 6 times, making sucker be adjacent to metope, use vacuum generating device to manufacture vacuum simultaneously, the manomelia lower limb 3 that makes to go forward, rear manomelia lower limb 6 are adsorbed on metope；Rectilinear creeping action afterwards all can adopt intersection to change the front line mode of lower limb absorption.Consulting Fig. 1 to Fig. 8, all the other are with above-described embodiment 1.
Embodiment 5, as shown in Figure 8, this utility model transverse translation mode is as follows: climbing robot is positioned at initial position, right long limb lower limb 1, left long limb lower limb 4, front manomelia lower limb 3, rear manomelia lower limb 6 are adsorbed on metope, the first step: release front manomelia lower limb 3 and the vac sorb of rear manomelia lower limb 6, controlling to shrink whole stroke with the manomelia lifting cylinder 28 of manomelia lower limb 3 of going forward, rear manomelia lower limb 6, front manomelia lower limb 3, rear manomelia lower limb 6 lift certain altitude and keep；Second step: control manomelia walking cylinder 20 and stretch out whole stroke, make front manomelia lower limb 3, rear manomelia lower limb 6 entirety move to left；3rd step: control to stretch out whole stroke with the manomelia lifting cylinder 28 of manomelia lower limb 3 of going forward, rear manomelia lower limb 6, front manomelia lower limb 3, rear manomelia lower limb are pressed for 6 times, making sucker be adjacent to metope, use vacuum generating device to manufacture vacuum simultaneously, the manomelia lower limb 3 that makes to go forward, rear manomelia lower limb 6 are adsorbed on metope；4th step: release left long limb lower limb 4 and the vac sorb of right long limb lower limb 1, controls to shrink whole stroke with the long limb lifting cylinder 10 of upper right long limb lower limb 1, left long limb lower limb 4, and right long limb lower limb 1, left long limb lower limb 4 lift certain altitude and keep；5th step: control manomelia walking cylinder 20 and shrink whole stroke, make right long limb lower limb 1, left long limb lower limb 4 integral left phase shift same distance；6th step: controlling to stretch out whole stroke with the long limb lifting cylinder 11 of upper right long limb lower limb 1, left long limb lower limb 4, right long limb lower limb 1, left long limb lower limb are pressed for 4 times, make sucker be adjacent to metope, uses vacuum generating device to manufacture vacuum simultaneously, makes above two limb lower limbs be adsorbed on metope；The enforcement of left-hand rotation action is then contrary.Consulting Fig. 1 to Fig. 8, all the other are with above-described embodiment 1.
Embodiment 6, this utility model is because having compressible right long limb lower limb 1, left long limb lower limb 4, front manomelia lower limb 3, rear manomelia lower limb 6 and manomelia buffer unit 7, long limb buffer unit 8, ensure that climbing robot can perform more compound action, and constraint will not be produced, or Special controlling good not in metope condition may be used without each limb lower limb single movement when requiring, the mode of another limb lower limb absorption is advanced.Consulting Fig. 1 to Fig. 8, all the other are with above-described embodiment 1.
Embodiment 7, pneumatic system described in the utility model is provided high-pressure air source by air compressor, and air compressor provides high-pressure air source, and air compressor is connected with pressure regulation filter, the other end is connected with solenoid directional control valve by multiple-pass joint, and solenoid directional control valve is arranged on cylinder manifold and is fixed on frame end.Air-flow is by leading to cylinder after solenoid directional control valve.Cylinder action is controlled by controlling solenoid directional control valve.Consulting Fig. 1 to Fig. 8, all the other are with embodiment 1.
Embodiment 8, the source of the gas of vacuum system described in the utility model is from pneumatic system, and air-flow is by, after pneumatic system flow speed control valve, introducing vacuum suction system by multiple-pass joint.Vacuum is manufactured in vacuum cup group by electromagnetism check valve and vacuum generator.Consulting Fig. 1 to Fig. 8, all the other are with above-described embodiment 1.
Claims (10)
1. a walking Pneumatic wall-climbing robot, is characterized in that: it includes machinery, pneumatic system and adsorbent equipment；
Described pneumatic system includes air compressor and cylinder, to provide required source of the gas；
Described adsorbent equipment includes sucker, is used for realizing adsorption function；
Described machinery mainly includes frame (2), long a pair limb lower limb and at least one manomelia lower limb, and is respectively arranged with adsorbent equipment on long limb lower limb and manomelia lower limb；
The version that frame is respectively adopted guide rail and slide block with long limb lower limb and manomelia lower limb is in mating connection；
The bottom that described long limb lower limb becomes clearance fit to be arranged on frame (2) with manomelia lower limb respectively, and be connected with the lifting cylinder being arranged in frame (2) respectively；
2 long limb lower limbs one-tenth are slidably matched and are longitudinally mounted to the left and right sides of frame (2), and in mating connection with long limb walking cylinder (10) being arranged in frame (2) respectively；
Manomelia lower limb becomes to be slidably matched between 2 the long limb lower limbs being transversely mounted on frame (2) middle part, and in mating connection with manomelia walking cylinder (20) being arranged in frame (2)；
Long limb walking cylinder (10), manomelia walking cylinder (20) are connected with pneumatic system respectively with lifting cylinder.
2. walking Pneumatic wall-climbing robot according to claim 1, it is characterized in that: described long limb lower limb includes the identical right long limb lower limb (1) of structure, left long limb lower limb (4), and adopt symmetrical layout type, the parallel longitudinal left and right sides being arranged on frame (2).
3. walking Pneumatic wall-climbing robot according to claim 1, is characterized in that: described long limb lower limb includes the identical left long limb lower limb (4) of structure and right long limb lower limb (1)；
Left long limb lower limb (4) includes long leg and connects support (14), long limb lifting bracket (15), long limb slide block (13) and long limb guide rail (16)；Connect at long leg and support (14) is set with adsorbent equipment；
Frame (2) is provided with long limb walking cylinder (10), long limb walking cylinder (10) is connected support (14) and is connected with long leg, and the telescopic drive long limb guide rail (16) of long limb walking cylinder (10) slides up and down along the long limb slide block (13) being packed in frame (2)；
Support (14) the long limb lifting cylinder (11) of upper installation is connected at long leg, being connected with long limb lifting bracket (15) of long limb lifting cylinder (11), the flexible drive of long limb lifting cylinder (11) is provided with moving up and down of long limb lifting bracket (15) of adsorbent equipment, namely realizes the Telescopic of long limb lower limb.
4. walking Pneumatic wall-climbing robot according to claim 3, it is characterized in that: connect support (14) at long leg and be arranged below long limb support (18), long limb support (18) connects support (14) lower section by the fixing long leg that is bolted to of long limb guide rail (16), being provided with long limb cylinder linking arm (19) on long limb support (18), long limb walking cylinder (10) is connected with long limb cylinder linking arm (19).
5. walking Pneumatic wall-climbing robot according to claim 1, it is characterized in that: described manomelia lower limb includes the identical front manomelia lower limb (3) of structure and rear manomelia lower limb (6), front manomelia lower limb (3) and rear manomelia lower limb (6) become to be slidably matched horizontally-parallel both sides up and down being arranged on frame (2).
6. walking Pneumatic wall-climbing robot according to claim 1, is characterized in that: manomelia lower limb includes manomelia guide rail (21), manomelia linkage support (24), short-leg connection support (23), manomelia lifting bracket (5) and manomelia walking cylinder (20)；
Both sides, frame (2) middle part being provided with manomelia slide block (22), is respectively arranged with manomelia guide rail (21) in the both sides of manomelia linkage support (24), manomelia guide rail (21) one-tenth is slidably matched and is set in manomelia slide block (22)；
Being provided with manomelia driving arm (26) in manomelia linkage support (24), be provided with manomelia lifting cylinder (28) in the upper cooperation of manomelia driving arm (26), manomelia lifting cylinder (28) is connected with manomelia lifting bracket (5)；
Being provided with manomelia cylinder linking arm (27) on manomelia driving arm (26), manomelia cylinder linking arm (27) is connected with manomelia walking cylinder (20) being transversely mounted in frame (2)；
Short-leg connects support (23) cooperation and is arranged on manomelia linkage support (24) bottom, and it is in mating connection that manomelia lifting bracket (5) is connected support (23) with short-leg, and the bottom connecting support (23) at short-leg coordinates clip suit adsorbent equipment.
7. walking Pneumatic wall-climbing robot according to claim 6, it is characterized in that: be arranged below 2 identical manomelia lower limbs of structure in manomelia linkage support (24), namely the front manomelia lower limb (3) that is connected with manomelia linkage support (24), rear manomelia lower limb (6), manomelia lifting bracket (5) is for fork configuration and is connected with front manomelia lower limb (3) and rear manomelia lower limb (6) respectively.
8. walking Pneumatic wall-climbing robot according to claim 1, is characterized in that: described long limb lower limb and manomelia lower limb adopt compression limb lower limb.
9. the walking Pneumatic wall-climbing robot according to claim 3 or 6, is characterized in that: long limb lifting cylinder (11) and long limb lifting bracket (15) or and be connected between support (14) and long limb lifting bracket (15) at long leg and be provided with long limb buffer unit (8)；It is provided with manomelia buffer unit (7) between manomelia lifting cylinder (28) and manomelia lifting bracket (5) or manomelia linkage support (24) and manomelia lifting bracket (5)；Described manomelia buffer unit (7) and long limb buffer unit (8) include guide rod and spring, and spring housing is contained on guide rod.
10. walking Pneumatic wall-climbing robot according to claim 1, it is characterized in that: described pneumatic system includes air compressor and gas path pipe, gas path pipe is provided with pressure regulation filter, flow speed control valve, solenoid directional control valve, electromagnetism check valve, adopts pressure regulation filter, flow speed control valve, solenoid directional control valve, electromagnetism check valve to realize controlling to gas path pipe；Described adsorbent equipment adopts vacuum suction system, and vacuum suction system is connected with pneumatic system, and the air-flow of pneumatic system, after flow speed control valve speed governing, introduces vacuum suction system through multiple-pass joint, adopts electromagnetism check valve and vacuum generator to manufacture vacuum to vacuum cup.
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| CN201520871803.4U CN205345106U (en) | 2015-11-04 | 2015-11-04 | Pneumatic wall climbing robot of walking |
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| CN201520871803.4U CN205345106U (en) | 2015-11-04 | 2015-11-04 | Pneumatic wall climbing robot of walking |
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| CN205345106U true CN205345106U (en) | 2016-06-29 |
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