CN205769680U - A kind of barrier-crossing wall-climbing robot - Google Patents
A kind of barrier-crossing wall-climbing robot Download PDFInfo
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- CN205769680U CN205769680U CN201620481193.1U CN201620481193U CN205769680U CN 205769680 U CN205769680 U CN 205769680U CN 201620481193 U CN201620481193 U CN 201620481193U CN 205769680 U CN205769680 U CN 205769680U
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- leading screw
- upper spider
- lower bearing
- bearing bracket
- slide block
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Abstract
This utility model relates to a kind of barrier-crossing wall-climbing robot, including upper spider, is respectively arranged with a supporting leg in the bottom at the two ends of upper spider, arranges multiple magnetic absorbing unit in the bottom of each supporting leg；The bottom of the upper spider between two supporting legs is provided with the first leading screw, and being connected by threaded engagement on the first leading screw has the first slide block, is provided with for driving the first leading screw to carry out the first motor rotated on upper spider；The lower section of upper spider is provided with lower bearing bracket, is respectively arranged with multiple magnetic absorbing unit in the bottom at the two ends of lower bearing bracket；The top of lower bearing bracket is provided with the second leading screw, and being connected by threaded engagement on the second leading screw has the second slide block, is provided with for driving the second leading screw to carry out the second motor rotated on lower bearing bracket；Connected by expansion bracket between first slide block and the second slide block.
Description
Technical field
This utility model relates to a kind of barrier-crossing wall-climbing robot, belongs to specialized robot technical field.
Background technology
In industries such as nuclear energy, boats and ships, chemical industry, wind-powered electricity generations, being widely present magnetic conductor metal outer wall, these walls are through long-term
Expose to the weather, saline and alkaline erosion, dust adhere to, gravel friction, and it is existing that or even surface there will be dirt, depainting, corrosion etc.
As.These problems not only affect attractive in appearance, and may jeopardize the safe operation of wall body, it is impossible to meet safely, clearly
Clean industrial management requirement.The existing cleaning for above-mentioned wall, rust cleaning, touch-up paint and maintenance etc. all use people to work
The mode of industry, main operational method has following several: a kind of mode being to use operating personnel hoist cable,
Topmost starting to transfer rope from building, be that operating personnel arrives specified altitude assignment and carries out operation, the method needs in advance
Determining job area, and the scope of one-stop operation is only limited to point-blank, job area is the most limited.Another
The method of kind is to use the lifting hanging basket on large engineering vehicle that operating personnel delivers to operating area to carry out operation, the method
Motility is good, but high cost.Still an alternative is that and use the mode building scaffold to carry out operation, the method
Stable and safety coefficient high, but build cycle that scaffold needs and cost is the biggest, it is not suitable for little areal extent
Job requirements.
Summary of the invention
For the problems referred to above, the purpose of this utility model is to provide a kind of barrier-crossing wall-climbing robot, this robot spirit
Live translation ability and obstacle climbing ability, coordinate multi-degree-of-freemechanical mechanical arm can complete in magnetic conductor metal outer wall clean,
The work such as rust cleaning, touch-up paint and maintenance.
For achieving the above object, this utility model is by the following technical solutions: a kind of barrier-crossing wall-climbing robot, its feature
It is: it includes upper spider, is respectively arranged with a supporting leg in the bottom at the two ends of described upper spider, in each institute
The bottom stating supporting leg arranges multiple magnetic absorbing unit；Set in the bottom of the described upper spider between two described supporting legs
Being equipped with the first leading screw, being connected by threaded engagement on described first leading screw has the first slide block, sets on described upper spider
It is equipped with for driving described first leading screw to carry out the first motor rotated；The lower section of described upper spider is provided with lower bearing bracket,
It is respectively arranged with multiple magnetic absorbing unit in the bottom at the two ends of described lower bearing bracket；It is provided with at the top of described lower bearing bracket
Second leading screw, is connected by threaded engagement on described second leading screw and has the second slide block, be provided with on described lower bearing bracket
For driving described second leading screw to carry out the second motor rotated；By flexible between described first slide block and the second slide block
Frame connects；Described magnetic absorbing unit include cylindrical permanent magnet, left yoke, right yoke, on every magnetic piece, under every magnetic piece
And steering wheel, described cylindrical permanent magnet rotate be arranged on by described left yoke, right yoke, on every magnetic piece and under every magnetic piece
In the hollow cylinder being encircled into, one end of described hollow cylinder is fastenedly connected with back shroud, and the outfan of described steering wheel is by connection
Axial organ is connected with described cylindrical permanent magnet；Described steering wheel has 0 ° and 90 ° of two angle states；At described steering wheel
When 0 ° of angle state, the N pole of described cylindrical permanent magnet is positioned at the direction parallel with wall with S pole；Described rudder
When machine is in 90 ° of states, the N pole of described cylindrical permanent magnet is positioned at the direction vertical with wall with S pole.
Be provided with bluetooth communication on the panel of described steering wheel, described panel be arranged on described upper spider or under
Controller in frame is connected by bluetooth.
Described second leading screw and described first leading screw have spatial vertical relation.
Be provided with first guide post parallel with described first leading screw in the bottom of described upper spider, described first slide block is sliding
It is automatically connected on described first guide post；Second parallel with described second leading screw it is provided with at the top of described lower bearing bracket
Guide post, described second slide block is slidably connected on described second guide post.
Arranging two power supply contacts of both positive and negative polarity on the described protecgulum of described magnetic absorbing unit, described power supply contact is with described
The in-line power circuit of steering wheel connects, and is provided with power supply rail, on each described steering wheel on described supporting leg and lower bearing bracket
Described power supply contact obtains power supply by power supply rail.
This utility model is owing to taking above technical scheme, and it has the advantage that 1, this utility model is provided with machine
Frame and lower bearing bracket, upper spider arranges magnetic absorbing unit by supporting leg, also arranges magnetic absorbing unit bottom lower bearing bracket, and
Upper spider and lower bearing bracket are respectively provided with the leading screw extended in different directions, difference threaded engagement connection sliding block on leading screw,
Being connected by expansion bracket between two slide blocks, therefore this utility model is capable of row in two mutually orthogonal directions
Enter, so that this utility model can reach the arbitrfary point on wall.2, this utility model controller can be believed by bluetooth
Control number at any time the filling of magnetic absorbing unit, erasing state, therefore can be first to it even before corresponding frame lifting
The magnetic absorbing unit connect carries out demagnetization, and implemented to magnetize when this machine frame movement to specific bit postpones and again extend out to wall behaviour
Make, be achieved in the absorption of wall and walking.By screw slider machine during the walking of 3, this utility model both direction
Structure realizes, and the step-length therefore walked can arbitrarily be arranged, and has thus possessed the ability of preferable leaping over obstacles.4、
This utility model can configure multiple degrees of freedom mechanical arm, thus realize the cleaning to wall, eliminate rust, spray paint and detection etc. is dynamic
Make.
Accompanying drawing explanation
Fig. 1 is overall structure schematic diagram of the present utility model；
Fig. 2 is the structural representation of this utility model frame；
Fig. 3 is the structural representation of this utility model magnetic absorbing unit；
Fig. 4 is the generalized section of Section A-A in Fig. 3；
Fig. 5 is the structural representation after this utility model magnetic absorbing unit omits protecgulum；
Fig. 6 is the schematic diagram that this utility model magnetic absorbing unit is in the state of magnetizing；
Fig. 7 is the schematic diagram that this utility model magnetic absorbing unit is in erasing state.
Detailed description of the invention
With embodiment, this utility model is described in detail below in conjunction with the accompanying drawings.
As shown in Figure 1 and Figure 2, this utility model includes upper spider 1, is respectively provided with in the bottom at the two ends of upper spider 1
There is a supporting leg 2, multiple magnetic absorbing unit 3 is set in the bottom of each supporting leg 2.Between two supporting legs 2
The bottom of upper spider 1 be provided with the first leading screw 4, being connected by threaded engagement on the first leading screw 4 has the first slide block 5,
Upper spider 1 is provided with for driving the first leading screw 4 to carry out the first motor (not shown) rotated.At upper machine
The lower section of frame 1 is provided with lower bearing bracket 6, is respectively arranged with multiple magnetic absorbing unit 3 in the bottom at the two ends of lower bearing bracket 6.
Be provided with the second leading screw 7 at the top of lower bearing bracket 6, being connected by threaded engagement on the second leading screw 7 has the second slide block 8,
Lower bearing bracket 6 is provided with for driving the second leading screw 7 to carry out the second motor (not shown) rotated.First is sliding
Connected by expansion bracket 9 between block 5 and the second slide block 8.
As seen in figures 3-5, magnetic absorbing unit 3 include cylindrical permanent magnet 11, left yoke 12, right yoke 13, on
Every magnetic piece 14 and under every magnetic piece 15, wherein, cylindrical permanent magnet 11 is rotatably arranged in by left yoke 12, right yoke
Ferrum 13, on every magnetic piece 14 and under in the hollow cylinder that magnetic piece 15 is encircled into, one end of hollow cylinder is fastenedly connected with bonnet
Plate 16, the other end of hollow cylinder is provided with protecgulum 17, is provided with steering wheel 18, the output of steering wheel 18 in protecgulum 17
End is connected with cylindrical permanent magnet 11 by shaft coupling 19.Steering wheel 18 has 0 ° and 90 ° of two angle states, when
When steering wheel 18 is in 0 ° of angle state, N pole and the S pole of cylindrical permanent magnet 11 are positioned at horizontal direction (such as Fig. 6
Shown in), the magnetic line of force, from N pole, reaches S pole by left yoke 12, wall 20 and right yoke 13, is formed
Guan Bi；Now, magnetic absorbing unit 3 is the state of magnetizing, and wall can be produced under the state of magnetizing by magnetic absorbing unit 3 to be inhaled
Power.When steering wheel 18 is in 90 ° of angle states, the N pole of cylindrical permanent magnet 11 and S pole vertically (as
Shown in Fig. 7), the magnetic line of force, from N pole, arrives S pole by left yoke 12 and right yoke 13 respectively, forms two
Closed-loop path；Now, magnetic absorbing unit 3 is erasing state, and flux loop gets around wall, and magnetic absorbing unit 3 is right
Wall 20 does not produce suction.The control signal that two angle states of steering wheel 18 are sent by panel 21 determines, controls
Be provided with bluetooth communication on plate 241, make panel 21 can by Bluetooth signal be arranged on upper spider 1 or under
Controller (not shown) transmission signal in frame 6, controller can need remotely to control respectively according to actual condition
Magnetic absorbing unit 3 switches between the state of magnetizing and erasing state.
In a preferred embodiment, the second leading screw 7 and the first leading screw 4 have spatial vertical relation.
In a preferred embodiment, the bottom at upper spider 1 is provided with first guiding parallel with the first leading screw 4
Bar (not shown), the first slide block 5 is slidably connected on the first guide post；Be provided with at the top of lower bearing bracket 6 with
The second guide post 10 that second leading screw 7 is parallel, the second slide block 8 is slidably connected on the second guide post 10.
In a preferred embodiment, the protecgulum 17 of magnetic absorbing unit 3 is arranged two power supply contacts of both positive and negative polarity
22, power supply contact 22 is connected with the in-line power circuit of steering wheel 18, is provided with power supply on supporting leg 2 and lower bearing bracket 6
Track (not shown), the power supply contact 22 on each steering wheel 18 obtains power supply by power supply rail.
Work process of the present utility model is as follows: start to need before climbing wall to control expansion bracket 9, make upper spider 1 and under
Magnetic absorbing unit 3 in frame 6 is in sustained height.This utility model is affixed on the magnetic conductor metal wall of work,
Controlling whole magnetic absorbing units 3 and be in the state of magnetizing, now this utility model can be attached on wall.Work as control
During this utility model motion, expansion bracket 9 first action, make the magnetic absorbing unit 3 on upper spider 1 depart from wall.It
After, the rotating and starting mobile under the effect of the second leading screw 7 at the second motor of the second slide block 8 on lower bearing bracket 6, this
Time the expansion bracket 9 that is connected with the second slide block 8, upper spider 1 all start mobile, to be moved after given position, flexible
Frame 9 action, makes upper spider 1 drop to the position that can adsorb wall, and the magnetic absorbing unit 3 of upper spider 1 is cut afterwards
Change to the state of magnetizing, it is achieved the suction to wall.Magnetic absorbing unit 3 on lower bearing bracket 6 is switched to erasing state,
Subsequently, expansion bracket 9 continues action, lifts lower bearing bracket 6, and now lower bearing bracket 6 is only by expansion bracket 9 and upper spider 1
It is connected.Now the first slide block 5 of upper spider 1 starts to slide, and the lower bearing bracket 6 and the expansion bracket 9 that are attached thereto all start
Mobile, specific bit to be arrived postpones, expansion bracket, and 9 return to original state.So circulation, it is achieved whole machine from
By moving.In moving process, the moving range of upper spider 1 and lower bearing bracket 6 is that unlimited segmentation is adjustable.Therefore, two
The step-length in individual direction is arbitrarily to arrange.When running into barrier, can clear the jumps.The barrier that can cross
Size depend primarily on the stroke of lower bearing bracket and the stroke of expansion bracket.Barrier encountered in operating mode is probably
Weld seam in wall welding process, or the ring flange etc. of seam.
This utility model only illustrates with above-described embodiment, the structure of each parts, arranges position and to connect be all can
Be varied from, on the basis of technical solutions of the utility model, all according to this utility model principle to individual part
The improvement carried out and equivalents, the most should not get rid of outside protection domain of the present utility model.
Claims (4)
1. a barrier-crossing wall-climbing robot, it is characterised in that: it includes upper spider, is respectively arranged with a supporting leg in the bottom at the two ends of described upper spider, arranges multiple magnetic absorbing unit in the bottom of supporting leg each described；The bottom of the described upper spider between two described supporting legs is provided with the first leading screw, and being connected by threaded engagement on described first leading screw has the first slide block, is provided with for driving described first leading screw to carry out the first motor rotated on described upper spider；The lower section of described upper spider is provided with lower bearing bracket, is respectively arranged with multiple magnetic absorbing unit in the bottom at the two ends of described lower bearing bracket；The top of described lower bearing bracket is provided with the second leading screw, and being connected by threaded engagement on described second leading screw has the second slide block, is provided with for driving described second leading screw to carry out the second motor rotated on described lower bearing bracket；Connected by expansion bracket between described first slide block and the second slide block；
Described magnetic absorbing unit include cylindrical permanent magnet, left yoke, right yoke, on every magnetic piece, under every magnetic piece and steering wheel, described cylindrical permanent magnet rotate be arranged on by described left yoke, right yoke, on every magnetic piece and under in the hollow cylinder that magnetic piece is encircled into, one end of described hollow cylinder is fastenedly connected with back shroud, and the outfan of described steering wheel is connected with described cylindrical permanent magnet by shaft coupling；Described steering wheel has 0 ° and 90 ° of two angle states；When described steering wheel is in 0 ° of angle state, the N pole of described cylindrical permanent magnet is positioned at the direction parallel with wall with S pole；When described steering wheel is in 90 ° of states, the N pole of described cylindrical permanent magnet is positioned at the direction vertical with wall with S pole.
2. a kind of barrier-crossing wall-climbing robot as claimed in claim 1, it is characterised in that: being provided with bluetooth communication on the panel of described steering wheel, described panel is connected by bluetooth with the controller being arranged on described upper spider or lower bearing bracket.
3. a kind of barrier-crossing wall-climbing robot as claimed in claim 1, it is characterised in that: described second leading screw and described first leading screw have spatial vertical relation.
4. a kind of barrier-crossing wall-climbing robot as claimed in claim 1, it is characterised in that: be provided with first guide post parallel with described first leading screw in the bottom of described upper spider, described first slide block is slidably connected on described first guide post；Be provided with second guide post parallel with described second leading screw at the top of described lower bearing bracket, described second slide block is slidably connected on described second guide post.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620481193.1U CN205769680U (en) | 2016-05-24 | 2016-05-24 | A kind of barrier-crossing wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620481193.1U CN205769680U (en) | 2016-05-24 | 2016-05-24 | A kind of barrier-crossing wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205769680U true CN205769680U (en) | 2016-12-07 |
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ID=58113829
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620481193.1U Expired - Fee Related CN205769680U (en) | 2016-05-24 | 2016-05-24 | A kind of barrier-crossing wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205769680U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105774935A (en) * | 2016-05-24 | 2016-07-20 | 邵萌 | Obstacle-crossing wall-climbing robot |
| CN108654842A (en) * | 2018-05-18 | 2018-10-16 | 安徽商贸职业技术学院 | A kind of trackless movement rapping machine device people's control method |
| CN110434896A (en) * | 2019-09-10 | 2019-11-12 | 河北工业大学 | Barrier-crossing wall-climbing robot combined type variable magnetic force adsorption module |
-
2016
- 2016-05-24 CN CN201620481193.1U patent/CN205769680U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105774935A (en) * | 2016-05-24 | 2016-07-20 | 邵萌 | Obstacle-crossing wall-climbing robot |
| CN105774935B (en) * | 2016-05-24 | 2019-05-17 | 北京史河科技有限公司 | A kind of barrier-crossing wall-climbing robot |
| CN108654842A (en) * | 2018-05-18 | 2018-10-16 | 安徽商贸职业技术学院 | A kind of trackless movement rapping machine device people's control method |
| CN108654842B (en) * | 2018-05-18 | 2019-08-02 | 安徽商贸职业技术学院 | A kind of mobile rapping machine device people's control method of trackless |
| CN110434896A (en) * | 2019-09-10 | 2019-11-12 | 河北工业大学 | Barrier-crossing wall-climbing robot combined type variable magnetic force adsorption module |
| CN110434896B (en) * | 2019-09-10 | 2024-02-02 | 河北工业大学 | Combined type variable magnetic force adsorption module of obstacle-surmounting wall-climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170915 Address after: 102206 Beijing city Changping District Shahe Nanfeng Road No. 9 Mega home building 1 unit 704 Patentee after: Beijing history river Technology Co., Ltd. Address before: 100084 0821A, building 14, Bauhinia, Tsinghua University, Beijing, Haidian District Patentee before: Shao Meng |
|
| 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: 20161207 Termination date: 20210524 |