CN205417840U - On -plane surface wall climbing robot adsorbs laminating mechanism - Google Patents
On -plane surface wall climbing robot adsorbs laminating mechanism Download PDFInfo
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- CN205417840U CN205417840U CN201521007770.5U CN201521007770U CN205417840U CN 205417840 U CN205417840 U CN 205417840U CN 201521007770 U CN201521007770 U CN 201521007770U CN 205417840 U CN205417840 U CN 205417840U
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- steel cylinder
- climbing robot
- radial bearing
- plain radial
- plane surface
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Abstract
The utility model discloses an on -plane surface wall climbing robot adsorbs laminating mechanism, including last even board entad joint, entad joint, telescopic machanism, spring, connecting plate, top nut, lower nut down on, on entad the joint include entad joint bearing, bolster bearing housing, lower entad joint including down entad joint bearing, step, telescopic machanism includes interior steel cylinder and outer steel cylinder, expanding spring cover is outside on the steel cylinder, the connecting plate is fixed in on the wall climbing robot bottom plate down, the upper junction plate constructs with adsorption apparatus to be connected. The utility model discloses simple structure, part are mostly hollow structure, and the quality is light, have adapted to the light principle of wall climbing robot matter.
Description
Technical field
The invention belongs to climbing robot adsorbing domain, more particularly, to one for nonplanar climbing robot wall laminating absorption adaptive structure.
Background technology
The hull of large ship, large-size chemical pressure vessel, blower fan etc. are owing to working for a long time under height corrosion and high pressure conditions, need periodically to carry out wall detection, these wall detection work at present are all by being accomplished manually, workload is big, danger coefficient is high, and the most each colleges and universities and scientific research institutions have studied numerous climbing robot and replace manually carrying out operation.These walls are all to be welded by plurality of steel plates, therefore magnetic suck it is generally selected, numerous weld seam wall, projection etc. is had to cause the injustice of wall on wall, additionally these walls are generally the most all the curved surfaces that there is certain curvature, robot cannot fit tightly with wall as walking on the ground, greatly reducing magnetic suck efficiency, the absorption problem therefore solving climbing robot is the important step of climbing robot design, and it is to solve absorption laminating problem that absorption problem is made a thorough investigation.
Climbing robot currently for the steel wall such as hull, pressure vessels for the chemical industry rests on conceptual phase mostly, wall can be attached adsorb to realize climbing robot, generally make adsorbing mechanism and bottom surface angled, to adapt to the wall of certain radius of curvature, but cannot realize automatically adapting to the wall of various radius of curvature, therefore allow the adsorbing mechanism of climbing robot and robot base plate hinge coordinate, make adsorbing mechanism can overturn around base plate, to adapt to wall.The laminating effect of robot and wall directly determines the safety work of adsorption efficiency and climbing robot, and the research therefore adsorbing fit body has very important Research Significance and application prospect.
Summary of the invention
For disadvantages described above or the Improvement requirement of prior art, the invention provides a kind of simple in construction, the most stable wall adsorption fit body, with the problem solving existing climbing robot wall laminating weak effect, adsorption efficiency is low.
For achieving the above object, according to one aspect of the present invention, provide a kind of on-plane surface climbing robot absorption fit body, it is characterized in that: include upper junction plate, upper centripetal joint, telescoping mechanism, spring, under centripetal joint, lower connecting plate, top nut, lower nut, described lower connecting plate is fixed on climbing robot base plate, and described upper junction plate is connected with adsorbing mechanism.Wherein, described centripetal joint includes plain radial bearing, top chock, described under centripetal joint include that lower plain radial bearing, step, described telescoping mechanism include interior steel cylinder and outer steel cylinder, described coil tension spring overlaps outside on steel cylinder；Described upper junction plate is connected with the adsorbing mechanism of climbing robot, and described lower connecting plate is arranged on climbing robot base plate, climbing robot adsorption module and climbing robot base plate chain connection.Climbing robot is on nonplanar wall during operation, described telescoping mechanism realizes adsorption module around base plate upset by elongating or shortening, by elastic force, the spring of described set steel cylinder outside ensure that the stable adjustment of adsorption module finally realizes fitting tightly of adsorption module and wall, improve magnetic suck efficiency with this, increase absorption affinity.
Described telescoping mechanism includes interior steel cylinder and outer steel cylinder, is hollow ladder shaft-like；3 elastic steel sheets, the dop that installation bottom, steel disc bottom arc transition, top flush uniformly are installed in described interior steel cylinder lower end；Described outer steel cylinder upper end hollow parts plays outer steel cylinder effect, and outer steel cylinder inwall has the three vertical grooves in road being evenly distributed, and is slidably matched with the dop of interior steel cylinder lower end, and outer steel cylinder inwall upper end, equipped with back-up ring, is characterized by the concordant shape of upper end arc transition, lower end.The arc transition position, dop lower end and the described outer steel cylinder back-up ring arc transition position that utilize described interior steel cylinder during assembling interact, and elastic steel sheet deforms, steel cylinder in adjusting, and slide in making the groove of interior steel cylinder dop steel cylinder outside, and assembling completes；Outer steel cylinder back-up ring described in during the elongation of described telescoping mechanism flushes position and has an effect, and in stopping, steel cylinder dop flushes position, to reach secure fit effect.
Described centripetal joint includes plain radial bearing and top chock, upper plain radial bearing outer ring and top chock interference fits, and upper plain radial bearing inner ring is enclosed within inner cylinder tube and is fixed by interior steel cylinder step and top nut；Under described, centripetal joint includes lower plain radial bearing and step, lower plain radial bearing outer ring and step interference fits, and lower plain radial bearing inner ring is enclosed within outer cylinder and is fixed by outer steel cylinder step and lower nut；When described telescoping mechanism stretches, upper centripetal joint and under centripetal joint achieve described interior steel cylinder and carry out pose adjustment around top chock, described outer steel cylinder around step, and inner cylinder tube and outer cylinder remain straight sliding mode, and then adjusting climbing robot adsorption module and the angle of climbing robot base plate, it is achieved wall fits tightly.
Described interior steel cylinder and described outer steel cylinder are hollow ladder shaft-like, and at described step, diameter is greater than described spring diameter, and step plays the effect of spring bearer plate, make simple in construction, reduce cost.
In general, by the technical scheme of patent of the present invention compared with prior art, it is possible to obtain following effect:
Achieve on-plane surface climbing robot to fit with wall adsorbed close, improve adsorption efficiency, in particular for steel wall magnetic suck.
Achieve the automatic attaching absorption on different curvature wall of on-plane surface climbing robot, and transition when moving on different curvature radius wall, can be stablized.
Simple in construction, light weight, stable flexibly.
Accompanying drawing illustrates:
Fig. 1 is this utility model overall structure schematic diagram；
Fig. 2 is telescoping mechanism schematic diagram of the present invention；
Fig. 3 is specific embodiment one climbing robot adsorption effect schematic diagram under pressure vessels for the chemical industry outer wall naturalness；
Fig. 4 is specific embodiment one climbing robot adsorption effect schematic diagram after pressure vessels for the chemical industry outer wall adds the present invention；
Fig. 5 is that specific embodiment two climbing robot is at pressure vessels for the chemical industry inwall adsorption effect schematic diagram.
Detailed description of the invention:
In order to make the purpose of the present invention, technical scheme and advantage clearer, specific embodiment describes technical scheme in detail below in conjunction with the accompanying drawings.
Embodiment one
With reference to Fig. 1, a kind of on-plane surface climbing robot absorption fit body, it is characterized in that: include upper junction plate 10, upper centripetal joint 20, telescoping mechanism, spring 70, under centripetal joint 50, lower connecting plate 60, top nut 81, lower nut 82, described lower connecting plate 60 is fixed on climbing robot base plate 91, and described upper junction plate 10 is connected with adsorbing mechanism 93.Wherein, described centripetal joint 20 includes plain radial bearing 21, top chock 22, under described, centripetal joint 50 includes lower plain radial bearing 51, step 52, and described telescoping mechanism includes that interior steel cylinder 30 and outer steel cylinder 40, described coil tension spring 70 overlap outside on steel cylinder 40；Described upper junction plate 10 is connected with the adsorbing mechanism 93 of climbing robot, and described lower connecting plate 60 is arranged on climbing robot base plate 91, climbing robot adsorption module 93 and climbing robot base plate 91 chain connection.
With reference to Fig. 2, described telescoping mechanism includes interior steel cylinder 30 and outer steel cylinder 40, is hollow ladder shaft-like；Described interior steel cylinder 30 interior lower end uniformly installs 3 elastic steel sheets 31, the dop 32 that installation bottom, steel disc bottom arc transition, top flush；Described outer steel cylinder 40 upper end hollow parts plays cylinder barrel effect, outer steel cylinder 40 inwall has the three vertical grooves in road 41 being evenly distributed, being slidably matched with the dop 32 of interior steel cylinder 30 lower end, outer steel cylinder 40 inwall upper end, equipped with back-up ring 42, is characterized by the concordant shape of upper end arc transition, lower end.The arc transition position, dop 32 lower end and the described outer steel cylinder 40 back-up ring 42 arc transition position that utilize described interior steel cylinder 30 during assembling interact, elastic steel sheet 31 deforms, steel cylinder 30 in adjusting, slides in making the groove 41 of interior steel cylinder dop 32 steel cylinder 40 outside, and assembling completes；Outer steel cylinder back-up ring 42 described in during the elongation of described telescoping mechanism flushes position and has an effect, and in stopping, steel cylinder dop 32 flushes position, to reach secure fit effect.
Upper the most centripetal joint 20 and under centripetal joint 50 provide described outer steel cylinder 40 and the flexible rotating of described interior steel cylinder 30, upper the most centripetal joint 20 and under centripetal joint 50 be respectively mounted and interior steel cylinder 30 upper end and the lower end of outer steel cylinder 40, according to wall needs, climbing robot adsorption module is when climbing robot base plate overturns, outer steel cylinder 40 and interior steel cylinder 30 remain centripetal joint 20 and under the straight line of centripetal joint 50 point-to-point transmission, interior steel cylinder 30 can slide in steel cylinder 40 mobile outside, it is achieved upper centripetal joint 20 and under distance change between centripetal joint 50.
Described spring 70, it is characterized in that: select stretching spring, bottom is installed on outer steel cylinder 40 step, spring 70 top and the Flange joint on interior steel cylinder 30 top, under natural adsorbed state, during telescoping mechanism elongation, stretching spring plays its elastic force, to its counteracting force, adsorption module 93 is made to fit tightly with wall 92.
With reference to Fig. 3, climbing robot is when vertical type cylinder shape pressure vessel outer wall operation, under naturalness, by under adsorption module 93 gravity and magnetic field force combined influence, adsorption module 93 is turned-out, wall 92 only out conductor with adsorption module 93 contacts, after increasing the present invention, stretching spring 70 plays a role, to the pulling force that upper junction plate 10 is downward, make adsorption module 93 and wall 92 fit tightly, strengthen adsorption effect.
Embodiment two
With reference to Fig. 4, present embodiment is compared with embodiment one, and the mainly spring 70 between outer steel cylinder 40 and interior steel cylinder 30 changes: spring 70 is replaced by compression spring by stretching spring.
Climbing robot in vertical type cylinder shape internal pressure vessel walls operation is, under naturalness, by under adsorption module 93 gravity and magnetic field force combined influence, adsorption module 93 varus, wall 92 only inside cord with adsorption module 93 contacts, after increasing the present invention, compression spring 70 plays a role, to upper junction plate 10 thrust upwards, and then make adsorption module 93 and wall 92 fit tightly, strengthen adsorption effect.
Claims (5)
1. an on-plane surface climbing robot absorption fit body, it is characterized in that: include upper junction plate, upper centripetal joint, under centripetal joint, telescoping mechanism, spring, lower connecting plate, top nut, lower nut, wherein, described centripetal joint includes plain radial bearing, top chock, under described, centripetal joint includes lower plain radial bearing, step, described telescoping mechanism includes interior steel cylinder and outer steel cylinder, described coil tension spring overlaps outside on steel cylinder, described upper junction plate is connected with the adsorbing mechanism of climbing robot, described lower connecting plate is arranged on climbing robot base plate, climbing robot adsorption module and climbing robot base plate chain connection.
A kind of on-plane surface climbing robot absorption fit body the most according to claim 1, it is characterized in that: described interior steel cylinder is the ladder shaft-like of hollow, 3 elastic steel sheets are uniformly installed in interior steel cylinder lower end, and dop is installed in steel disc end, described dop its be bottom circular arc, top flush state.
A kind of on-plane surface climbing robot absorption fit body the most according to claim 1, it is characterized in that: described outer steel cylinder is hollow ladder shaft-like, upper end hollow parts plays outer steel cylinder effect, and outer steel cylinder inwall has the three vertical grooves in road being evenly distributed, and is slidably matched with the dop of interior steel cylinder lower end；Outer steel cylinder inwall upper end, equipped with back-up ring, is characterized by the concordant shape of upper end arc transition, lower end.
A kind of on-plane surface climbing robot absorption fit body the most according to claim 1, it is characterized in that: described centripetal joint includes plain radial bearing, top chock, described upper plain radial bearing is arranged on described top chock, described upper joint bearing and interior steel cylinder coaxial cooperation, described upper plain radial bearing lower end coordinates with interior steel cylinder step upper end, and upper plain radial bearing lower end top nut is fixed；Under described, centripetal joint includes lower plain radial bearing, step, described lower plain radial bearing is arranged on described step, described lower plain radial bearing and outer steel cylinder coaxial cooperation, described lower plain radial bearing upper end coordinates with outer steel cylinder step lower end, and lower plain radial bearing lower end lower nut is fixed.
A kind of on-plane surface climbing robot absorption fit body the most according to claim 1, it is characterised in that: described upper junction plate is connected with adsorbing mechanism, and described lower connecting plate is fixed on climbing robot base plate.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521007770.5U CN205417840U (en) | 2015-12-08 | 2015-12-08 | On -plane surface wall climbing robot adsorbs laminating mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201521007770.5U CN205417840U (en) | 2015-12-08 | 2015-12-08 | On -plane surface wall climbing robot adsorbs laminating mechanism |
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| Publication Number | Publication Date |
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| CN205417840U true CN205417840U (en) | 2016-08-03 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201521007770.5U Expired - Fee Related CN205417840U (en) | 2015-12-08 | 2015-12-08 | On -plane surface wall climbing robot adsorbs laminating mechanism |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106404232A (en) * | 2016-11-23 | 2017-02-15 | 华南理工大学 | Three-dimensional force sensor with shock absorption function for robot walking mechanisms |
| CN114684284A (en) * | 2020-12-29 | 2022-07-01 | 中国科学院沈阳自动化研究所 | Rolling adsorption wall-climbing robot with curved surface adaptability |
-
2015
- 2015-12-08 CN CN201521007770.5U patent/CN205417840U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106404232A (en) * | 2016-11-23 | 2017-02-15 | 华南理工大学 | Three-dimensional force sensor with shock absorption function for robot walking mechanisms |
| CN106404232B (en) * | 2016-11-23 | 2022-07-26 | 华南理工大学 | Three-dimensional force sensor with damping function for robot walking mechanism |
| CN114684284A (en) * | 2020-12-29 | 2022-07-01 | 中国科学院沈阳自动化研究所 | Rolling adsorption wall-climbing robot with curved surface adaptability |
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| 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: 20160803 Termination date: 20161208 |