CN205704277U - Adjustable vertical walls docking facilities - Google Patents
Adjustable vertical walls docking facilities Download PDFInfo
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- CN205704277U CN205704277U CN201620382217.8U CN201620382217U CN205704277U CN 205704277 U CN205704277 U CN 205704277U CN 201620382217 U CN201620382217 U CN 201620382217U CN 205704277 U CN205704277 U CN 205704277U
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- track
- screw rod
- docking
- wall
- vertical walls
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Abstract
The utility model discloses a kind of adjustable vertical walls docking facilities, including left docking mechanism and right docking mechanism, being provided with wall between left docking mechanism and right docking mechanism and move dolly, wall moves the left and right wheel of dolly and is respectively erected in left docking mechanism and right docking mechanism；Left docking mechanism and right docking mechanism include the first track, the second track and the 3rd track, the first track, the second track and the 3rd track length respectively；One end of first track couples wedged interface, and the other end is coupled by one end of Hinge mechanism and the second track, and the other end of the second track is coupled by one end of Hinge mechanism and the 3rd track, and the 3rd track installation is in aluminium section bar frame；The lower end of the second track is coupled by Hinge mechanism and a screw rod telescoping mechanism.This utility model, by adjusting stroke and the horizontal displacement of the vertical direction of screw rod telescoping mechanism, adjusts the angle between three tracks, thus changes docking angle and the gradient of docking mechanism, adapts to the needs of different wall docking.
Description
Technical field
This utility model relates to a kind of adjustable vertical walls docking facilities, belongs to wall mechanical type
Docking field.
Background technology
In the present age, robotics development is rapid, and various robots emerge in an endless stream.More and more
Robot constantly replace people to be applied to various circumstance complication, degree of danger be high, labor intensity
In big career field, it is achieved automatic high-efficiency operation.In the factory, when machine runs one section
After between, factory's wall can gather a lot of dust, at the operation ring that some are higher to environmental requirement
In border, it is required for putting into substantial amounts of human and material resources every year and the dust of Factory Building wall is carried out.
For some large-sized workshops, workman needs to climb to the highest wall operation, and degree of danger is high, labor
Fatigue resistance is big and efficiency is low.
It is accordingly required in particular to develop a kind of cleaning robot, it is achieved clear to complex plant wall
Wash work.Owing to some Factory Building wall structures are complicated, robot climbs to wall and realizes moving up and down
And cleaning, also to realize horizontal obstacle detouring, improve working area.Wall for some complexity
Face environment, by especially complex for the structure making robot, to such an extent as to cannot realize.Therefore for multiple
The cleaning of miscellaneous wall, proposes to use primary-secondary type robot, and child robot passes through permanent magnet magnetic
Wheel is adsorbed in wall, realizes creeping up and down and cleaning at wall, and Female Robot moves on ground
Dynamic, drive child robot to improve working area.Owing to child robot relies on the absorption of permanent magnet magnet-wheel
In wall, and move dolly for four-wheel, it is necessary to realize child robot at wall by a docking mechanism
Conversion between face and Female Robot.
Therefore this project proposes a kind of novel adjustable vertical walls docking facilities, is divided into syllogic
Docking, adjustable angle, it is possible to adapt to different wall, it is achieved permanent magnetic adsorption-type wall robot exists
Conversion between wall and ground.Through consulting pertinent literature, the kind of docking mechanism is a lot, and
Needleless departs from the docking mechanism of wall to this type of permanent magnetic adsorption-type wall-surface mobile robot.
Summary of the invention
For the problem departing from wall overcoming existing magneto wall robot to exist, this practicality
A kind of adjustable vertical walls docking facilities of novel offer.
The technical solution adopted in the utility model is:
Adjustable vertical walls docking facilities, it is characterised in that: include that left docking mechanism and the right side are right
Connection mechanism, is provided with wall between described left docking mechanism and right docking mechanism and moves dolly,
Described wall moves the left and right wheel of dolly and is respectively erected in left docking mechanism and right docking machine
Structure；
Described left docking mechanism and right docking mechanism include respectively the first track, the second track and
3rd track, described the first track, the second track and the length of the 3rd track；Described
One end of the first track couple wedged interface, the other end is by Hinge mechanism and the second track
One end couples, and the other end of the second described track passes through Hinge mechanism and one end of the 3rd track
Coupling, the 3rd described track installation is in aluminium section bar frame；
The lower end of the second described track is coupled by Hinge mechanism and a screw rod telescoping mechanism；Institute
The screw rod telescoping mechanism stated includes screw rod, corrugated tubing and lower screw rod, described upper screw rod upper
End is coupled with Hinge mechanism by bolt, and the lower end of described upper screw rod leads to the upper end of corrugated tubing
Cross threaded engagement, and described upper screw rod is contrary with the thread rotary orientation of described corrugated tubing；Institute
The lower end of the corrugated tubing stated is by threaded engagement and described with the upper end of described lower screw rod
Corrugated tubing is oppositely oriented with lower screw flight；Described upper screw rod and lower screw flight rotation direction
Identical；The lower end of described lower screw rod couples with a mounting base, and described mounting base is opened
Being provided with mounting hole, the lower end of described lower screw rod is through described mounting hole and passes through locking screw
Mother is locked on mounting base.
And buffer is installed by buffer installing rack in the top of the 3rd described track；Described
Buffer trolley control system occur deviation or malfunctioning time, it is possible to play good buffering effect
Really.
It is separately installed with guide roller on described the first track, the second track and the 3rd track；
Guide roller can play guide effect, has certain cushioning effect simultaneously.
The material of described the first track, the second track and the 3rd track is ferromagnetic material, logical
Cross permanent magnetism magnet-wheel and the captivation of track and self gravitation, assist dolly to overcome permanent magnetism magnet-wheel and wall
The captivation in face, steadily departs from wall injection；The material of described guide roller is rubber
Glue plastics, it is to avoid permanent magnetism magnet-wheel and guide roller are by magnetic-adsorption, in permanent magnetism magnet-wheel and guiding
The moment of roller contact plays and preferably rolls and guide effect, has preferable benefit.
Restriction wall is installed in described aluminium section bar frame and moves the spacing of dolly shift position
Switch.Refer to when wall-surface mobile robot moves to ground mobile robot platform by docking mechanism
Determine position, the signal detected by limit switch, realize wall is moved by control system
The control standard of dolly is stopped.
Between the first described track and the second track and between the second track and the 3rd track
Junction be arranged to wedge structure, make wall move dolly and operate steadily in junction and adapt to
Certain pendulum angle does not produce interference.
In this utility model, left docking mechanism and right docking mechanism distance between the two ensures wall
Dolly left and right wheels is moved in face laterally certain surplus on the track of both sides, but at extreme position
Time, any single wheel in both sides is all without departing from track.
This utility model passes through rotated threaded tubular, thus it is possible to vary the vertical direction of screw rod telescoping mechanism
On stroke；By the mounting hole on mounting base, thus it is possible to vary the level of screw rod telescoping mechanism
Displacement.Therefore, by adjusting stroke and the horizontal displacement of the vertical direction of screw rod telescoping mechanism,
The angle between three tracks can be adjusted, thus change docking angle and the slope of docking mechanism
Degree, adapts to the needs of different wall docking.
Screw rod expansion link mechanism described in the utility model, screw rod and lower screw rod and corrugated tubing on it
Between threaded engagement, matching thread has auto-lock function.Described screw telescopic mechanism has
By changing stroke in certain limit, it is achieved the adjustment to docking mechanism angle.
The beneficial effects of the utility model are mainly manifested in:
1, three sections of rail mounted docking mechanisms, by screw rod telescoping mechanism adjust docking angle and
The gradient, can be adjusted according to dolly load and different wall, have good adaptability.
2, this device uses docking mechanism to be symmetrically arranged, it is ensured that car wheel is the most in-orbit
Run on road, track is installed guide roller, there is good guide effect.
3, this docking mechanism, track uses ferromagnetic material, by with the magnetic force of permanent magnetism magnet-wheel and
Self gravitation assistance wall moves dolly and overcomes the magnetic adsorbability with wall, steadily departs from wall.
Accompanying drawing explanation
Fig. 1 is adjustable vertical walls docking facilities structural representation.
Fig. 2 is that screw rod telescoping mechanism assembles structure sectional view.
Fig. 3 is adjustable vertical walls docking facilities and aluminium section bar installation frame installation diagram.
Fig. 4 is adjustable vertical walls docking facilities and ground mobile robot platform general assembly drawing.
Detailed description of the invention
Referring to figs. 1 through Fig. 4, adjustable vertical walls docking facilities, including left docking mechanism 15
With right docking mechanism 14, arrange between described left docking mechanism 15 and right docking mechanism 14
Have wall to move dolly, described wall move the left and right wheel of dolly be respectively erected in left right
Connection mechanism 15 and right docking mechanism 14；
Described left docking mechanism 15 and right docking mechanism 14 include respectively the first track 4,
Two track 7 and the 3rd tracks 9, the first described track the 4, second track 7 and the 3rd track
The length of 9；One end of the first described track 4 couples wedged interface 4, and the other end leads to
Cross Hinge mechanism 8 to couple with one end of the second track 7, the other end of the second described track 7
Being coupled by one end of Hinge mechanism 8 with the 3rd track 9, the 3rd described track 9 is arranged on
In aluminium section bar frame 13；
Hinge mechanism 8 and a screw rod telescoping mechanism 3 are passed through in the lower end of the second described track 7
Connect；Described screw rod telescoping mechanism 3 includes screw rod 301, corrugated tubing 302 and lower screw rod 303,
The upper end of described upper screw rod 301 is coupled with Hinge mechanism 8 by bolt, described upper screw rod
The upper end of the lower end of 301 and corrugated tubing 302 is by threaded engagement, and described upper screw rod 301
Contrary with the thread rotary orientation of described corrugated tubing 302；The lower end of described corrugated tubing 302 and institute
Threaded engagement is passed through in the upper end of the lower screw rod 303 stated, and described corrugated tubing 302 and lower spiral shell
The thread rotary orientation of bar 303 is contrary；Described upper screw rod 301 and the thread rotary orientation of lower screw rod 303
Identical；The lower end of described lower screw rod 303 couples with a mounting base 2, at the bottom of described installation
Offering mounting hole on plate 2, the lower end of described lower screw rod 303 is through described mounting hole also
And be locked on mounting base 2 by locking nut 1.
And buffer is installed by buffer installing rack 11 in the top of the 3rd described track 9
10；Described buffer 10 trolley control system occur deviation or malfunctioning time, it is possible to play
Good buffering effect.
It is separately installed with guiding on first described track the 4, second track 7 and the 3rd track 9
Roller 6；Guide roller 6 can play guide effect, has certain cushioning effect simultaneously.
First described track the 4, second track 7 and the material of the 3rd track 9 are ferromagnetic material
Material, by permanent magnetism magnet-wheel and the captivation of track and self gravitation, assists dolly to overcome permanent-magnet magnetic
Wheel and the captivation of wall, steadily depart from wall injection；Described guide roller 6
Material is rubber plastic, it is to avoid permanent magnetism magnet-wheel and guide roller are by magnetic-adsorption, at permanent-magnet magnetic
The moment that wheel contacts with guide roller plays and preferably rolls and guide effect, has preferably effect
Benefit.
Restriction wall is installed in described aluminium section bar frame 13 and moves the limit of dolly shift position
Bit switch 12.When wall-surface mobile robot moves to ground mobile robot by docking mechanism
Platform specified location, the signal detected by limit switch 12, realized by control system
The control standard that wall moves dolly is stopped.
Between described the first track 4 and the second track 7 and the second track 7 and the 3rd track
Junction between 9 is arranged to wedge structure, makes wall move dolly and operates steadily in junction
And adapt to certain pendulum angle and do not produce interference.
In this utility model, left docking mechanism 15 and right docking mechanism 14 distance between the two
Ensure that wall moves dolly left and right wheels and laterally has certain surplus on the track of both sides, but in the limit
During position, any single wheel in both sides is all without departing from track.
This utility model passes through rotated threaded tubular 302, thus it is possible to vary hanging down of screw rod telescoping mechanism 3
Nogata stroke upwards；By the mounting hole on mounting base 2, thus it is possible to vary screw rod telescopic machine
The horizontal displacement of structure 3.Therefore, by adjusting the stroke of the vertical direction of screw rod telescoping mechanism 3
And horizontal displacement, the angle between three tracks can be adjusted, thus change the right of docking mechanism
Connect angle and the gradient, adapt to the needs of different wall docking.
Screw rod expansion link mechanism 3 described in the utility model, screw rod 301 and lower screw rod 303 on it
And threaded engagement between corrugated tubing 302, matching thread has auto-lock function.Described screw thread is stretched
Contracting mechanism has within the specific limits by changing stroke, it is achieved the tune to docking mechanism angle
Whole.
Content described in this specification embodiment is only the row of the way of realization to inventive concept
Lifting, protection domain of the present utility model is not construed as being only limitted to that embodiment stated is concrete
Form, protection domain of the present utility model is also and in those skilled in the art according to this utility model
Design it is conceivable that equivalent technologies means.
Claims (6)
- The most adjustable vertical walls docking facilities, it is characterised in that: include left docking mechanism and Right docking mechanism, is provided with wall between described left docking mechanism and right docking mechanism and moves little Car, described wall moves the left and right wheel of dolly and is respectively erected in left docking mechanism and the right side is right Connection mechanism；Described left docking mechanism and right docking mechanism include respectively the first track, the second track and 3rd track, described the first track, the second track and the length of the 3rd track；Described One end of the first track couple wedged interface, the other end is by Hinge mechanism and the second track One end couples, and the other end of the second described track passes through Hinge mechanism and one end of the 3rd track Coupling, the 3rd described track installation is in aluminium section bar frame；The lower end of the second described track is coupled by Hinge mechanism and a screw rod telescoping mechanism；Institute The screw rod telescoping mechanism stated includes screw rod, corrugated tubing and lower screw rod, described upper screw rod upper End is coupled with Hinge mechanism by bolt, and the lower end of described upper screw rod leads to the upper end of corrugated tubing Cross threaded engagement, and described upper screw rod is contrary with the thread rotary orientation of described corrugated tubing；Institute The lower end of the corrugated tubing stated is by threaded engagement and described with the upper end of described lower screw rod Corrugated tubing is oppositely oriented with lower screw flight；Described upper screw rod and lower screw flight rotation direction Identical；The lower end of described lower screw rod couples with a mounting base, and described mounting base is opened Being provided with mounting hole, the lower end of described lower screw rod is through described mounting hole and passes through locking screw Mother is locked on mounting base.
- Adjustable vertical walls docking facilities the most as claimed in claim 1, it is characterised in that: And buffer is installed by buffer installing rack in the top of the 3rd described track.
- Adjustable vertical walls docking facilities the most as claimed in claim 2, it is characterised in that: It is separately installed with guide roller on described the first track, the second track and the 3rd track.
- Adjustable vertical walls docking facilities the most as claimed in claim 3, it is characterised in that: The material of described the first track, the second track and the 3rd track is ferromagnetic material, described The material of guide roller is rubber plastic.
- Adjustable vertical walls docking facilities the most as claimed in claim 4, it is characterised in that: Restriction wall is installed in described aluminium section bar frame and moves the limit switch of dolly shift position.
- Adjustable vertical walls docking facilities the most as claimed in claim 5, it is characterised in that: Company between the first described track and the second track and between the second track and the 3rd track The place of connecing is arranged to wedge structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620382217.8U CN205704277U (en) | 2016-04-29 | 2016-04-29 | Adjustable vertical walls docking facilities |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620382217.8U CN205704277U (en) | 2016-04-29 | 2016-04-29 | Adjustable vertical walls docking facilities |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205704277U true CN205704277U (en) | 2016-11-23 |
Family
ID=57332755
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620382217.8U Withdrawn - After Issue CN205704277U (en) | 2016-04-29 | 2016-04-29 | Adjustable vertical walls docking facilities |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205704277U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729499A (en) * | 2016-04-29 | 2016-07-06 | 浙江工业大学 | Adjustable type vertical wall surface butting device |
-
2016
- 2016-04-29 CN CN201620382217.8U patent/CN205704277U/en not_active Withdrawn - After Issue
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105729499A (en) * | 2016-04-29 | 2016-07-06 | 浙江工业大学 | Adjustable type vertical wall surface butting device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| AV01 | Patent right actively abandoned | ||
| AV01 | Patent right actively abandoned |
Granted publication date: 20161123 Effective date of abandoning: 20180209 |