CN205952112U - Climb wall robot - Google Patents
Climb wall robot Download PDFInfo
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- CN205952112U CN205952112U CN201620680043.3U CN201620680043U CN205952112U CN 205952112 U CN205952112 U CN 205952112U CN 201620680043 U CN201620680043 U CN 201620680043U CN 205952112 U CN205952112 U CN 205952112U
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- upper machine
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- organism
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Abstract
The utility model provides a climb wall robot belongs to the wall loading attachment field of climbing, including last organism and lower organism, go up the organism and pass through the connecting piece connection with lower organism, go up and to take place the relative slip between organism and lower organism and the connecting piece, upward be equipped with the power unit that organism and lower organism and connecting piece relative slip were gone up in the drive on organism and the lower organism, it is equipped with lift leg or stationary leg with lower organism lower surface to go up the organism, lift leg and stationary leg one end are equipped with the absorption foot, upward be equipped with obstacle detecting device on organism and the lower organism, upward be equipped with controlling means in organism or the lower organism, controlling means receives the signal that obstacle detecting device detected, controlling means controls power unit, the lift leg is done with the absorption foot -propelled, portability preservative treatment equipment climbs up the jar and closes and carry out anticorrosive clearance, can three -dimensional the removal, cross the obstacle on the oil tank wall.
Description
Technical field
The utility model provides a kind of Pan Bi robot, belongs to and climbs wall loading attachment field.
Background technology
, need to be stored in oil storage tank, oil tank is typically using patch due to after crude oil extraction before providing and delivering to next stage
Ferrous casings, occur the situation of corrosion, and in crude oil, have corrosive elements, can accelerate the interior of oil tank after long-time use
Wall erosion, so needing periodically to do preservative treatment in inner wall of oil tank, to ensure normally using for a long time of oil tank, existing in oil tank
Preservative treatment mode is to carry out preservative treatment by being manually entered oil tank, but operation in oil tank, and light is bad, very dangerous, with
When, there are a lot of toxic gases in oil tank, staff can be made to be poisoned at work, existing robot only can go in the plane
Walk, because the restriction of its running gear is so as to cannot in the vertical direction walk, equally also just cannot carry anticorrosion equipment climbing tank
Close and carry out preservative treatment, in the moving process that climbing tank closes, the obstacle on oil tank wall can be crossed.
Utility model content
The utility model purpose is to provide a kind of Pan Bi robot, can carry antiseptic treatment equipment and climb up tank and close and be prevented
Rotten cleaning, can be moved with 3 D stereo, cross the obstacle on oil tank wall.
Pan Bi robot described in the utility model, including upper machine body and lower body, upper machine body and lower body pass through to connect
Part connects, can occur between upper machine body and lower body and connector relative slide, upper machine body and lower body are provided with driving
The actuating unit of body slip relative with connector with lower body, upper machine body and lower body lower surface are provided with lifting leg or fixation
Leg, lifting leg and Convenient table one end are provided with absorption pin, and upper machine body and lower body are provided with Obstacle Detection Device, upper machine body or lower machine
It is provided with control device in vivo, control device receives the signal that Obstacle Detection Device detects, control device controls actuating unit, liter
Fall leg and absorption foot-propelled are made.
Pan Bi robot described in the utility model, the number of lifting leg and Convenient table is respectively four, and is distributed in
On four angles of body or lower body, realize firm support, upper machine body and lower body are linked together it is impossible to divide by connector
From, upper machine body can occur relative slip along track and connector with lower body, but the direction that upper machine body and lower body slide
It is orthogonal, form a transportable two-dimensional coordinate system, any position in two-dimensional coordinate system can be moved to,
In movement, using the absorption pin on lifting leg, walking surface is fixed, and the absorption pin of Convenient table decontrols adsorption plane, lift leg
Upper machine body, lower body and connector are together lifted, realize the motion on z-axis direction, then upper machine body and lower body be connected
Part occurs relatively to slide, and realizes the movement that x-axis and y-axis become plane coordinates to fasten altogether, is so achieved that on three-dimensional coordinate system
3 D stereo moves, and so that the utility model can be moved, and when running into obstacle, enterprising in any one direction in space
Row is crossed over, and in moving process, remains that what four absorption pin consolidated adsorbs walking surface, can achieve firm walking,
The utility model can also be made to carry out Pan Bi, actuating unit, lifting leg and absorption pin are all controlled by control device, can simultaneously
Assigning a task makes control device automatically control this structure to move to target location, also can connect with control device, directly control manually
Make this structure to move, when Obstacle Detection Device detects obstacle, control device stretches out by controlling lifting leg, improves this structure
Height, to surmount obstacles.
Described Pan Bi robot, upper machine body lower surface is provided with lifting leg, and lower body lower surface is provided with Convenient table.Only go up
Lifting leg is installed on body, the mobile energy consuming of this structure can be made to reduce.
Described Pan Bi robot, upper machine body and lower body surface are provided with slide rail, and connector upper and lower is equipped with and upper machine
The slide block of the slide rail cooperation on body and lower body, the movement locus of upper machine body and lower body is mutually perpendicular to.Make upper machine body and lower machine
Body can move towards any direction and optional position in the plane coordinate system of X-axis and Y-axis composition.
Described Pan Bi robot, lifting leg is ball-screw or servo-cylinder, the control of ball-screw or servo-cylinder
Device is connected to the communication ends of control device.Make controller that the length of lifting leg depths can be accurately controlled.
Described Pan Bi robot, actuating unit includes tooth bar and motor, and the rotating shaft of motor is provided with gear, and tooth bar is installed
On upper machine body or lower body, motor is arranged on connector, and drags upper machine body or lower machine by the engagement of wheel and rack
Body, the controller of motor is connected to control device.Worked by control device controlled motor, motor is moved by gear driven tooth bar
Dynamic, thus realizing occurring relative motion between upper machine body or lower body and connector, simultaneously herein motor select stepper motor or
Servomotor, makes control device can accurately control the relative movement distance between upper machine body or lower body and connector.
Described Pan Bi robot, actuating unit includes linear motor rotor and linear motor stator electric, linear motor stator electric
It is fixed on upper machine body and lower body, linear motor rotor is arranged on connector, linear electric motors are provided with electric machine controller, control
Device passes through motor controller controls linear electric motors action.Mover is fixed by this process, using the linear motor stator electric as track
Be arranged on upper machine body and lower body so as between occur relative movement so that linear motor stator electric drive upper machine body and under
Body movement.
Described Pan Bi robot, absorption pin includes permanent magnetic chuck and motor, and the rotating shaft of permanent magnetic chuck is provided with drive
Moving gear, driving gear is passed through chain and is coordinated with the driving gear in motor rotating shaft, and the controller of motor is connected to
Control device.Motor drives driving gear to rotate by driving gear, and driving gear rotates the rotating shaft of permanent magnetic chuck, makes forever
Switching between adsorbed state and release conditions for the magnetic-disc, makes absorption pin can adsorb climbing surface and decontrol climbing surface,
Absorption pin is made to coordinate lifting leg and Convenient table walking.
Described Pan Bi robot, sets communicator in upper machine body or lower body, control device passes through communicator and control
Background communication processed.Make control device can carry out data exchange with background server, control device can be by running state information
Background server is fed back to by communicator, background work personnel can by background server by running status by automatically becoming
For manual, this structure of Non-follow control movement.
Described Pan Bi robot, Obstacle Detection Device includes optical camera, acoustic detection device and feeler.
And Obstacle Detection Device is installed on four sides of upper machine body and lower body, thus detect the obstacle in all directions.
Described Pan Bi robot, when lifting leg reaches long status, obstacle detection information still detects obstacle
During signal, control device sends alarm signal.When running into special circumstances, that is, when being difficult to the obstacle crossed over, can be actively to backstage
Server push alarm signal, makes staff process in time.
The utility model compared with prior art has the beneficial effect that：
Pan Bi robot described in the utility model, the number of lifting leg and Convenient table is respectively four, and is distributed in
On four angles of body or lower body, realize firm support, upper machine body and lower body are linked together it is impossible to divide by connector
From, upper machine body can occur relative slip along track and connector with lower body, but the direction that upper machine body and lower body slide
It is orthogonal, form a transportable two-dimensional coordinate system, any position in two-dimensional coordinate system can be moved to,
In movement, using the absorption pin on lifting leg, walking surface is fixed, and the absorption pin of Convenient table decontrols adsorption plane, lift leg
Upper machine body, lower body and connector are together lifted, realize the motion on z-axis direction, then upper machine body and lower body be connected
Part occurs relatively to slide, and realizes the movement that x-axis and y-axis become plane coordinates to fasten altogether, is so achieved that on three-dimensional coordinate system
3 D stereo moves, and so that the utility model can be moved, and when running into obstacle, enterprising in any one direction in space
Row is crossed over, and in moving process, remains that what four absorption pin consolidated adsorbs walking surface, can achieve firm walking,
The utility model can also be made to carry out Pan Bi, actuating unit, lifting leg and absorption pin are all controlled by control device, can simultaneously
Assigning a task makes control device automatically control this structure to move to target location, also can connect with control device, directly control manually
Make this structure to move, when Obstacle Detection Device detects obstacle, control device stretches out by controlling lifting leg, improves this structure
Height, to surmount obstacles.
Brief description
Fig. 1 is the utility model structural representation；
Fig. 2 is absorption leg structure schematic diagram.
In figure：1st, upper machine body；2nd, tooth bar；3rd, track；4th, slide block A；5th, motor；6th, gear；7th, control device；8th, communication dress
Put；9th, Obstacle Detection Device；10th, slide block B；11st, lower body；12nd, Convenient table；13rd, connector；14th, adsorb pin；15th, lift leg；
16th, the rotating shaft of permanent magnetic chuck；17th, driving gear；18th, permanent magnetic chuck；19th, chain；20th, reduction box；21st, driving gear；22nd, drive
Dynamic motor.
Specific embodiment
It is described further to climbing wall robotic embodiment with reference to the utility model：
Embodiment 1：As depicted in figs. 1 and 2, Pan Bi robot described in the utility model, including upper machine body 1 and lower body
11, upper machine body 1 and lower body 11 are connected by connector 13, can occur between upper machine body 1 and lower body 11 and connector 13
Relatively slide, upper machine body 1 is provided with the power driving upper machine body 1 and lower body 11 and the relative slip of connector 13 with lower body 11
Mechanism, upper machine body 1 and lower body 11 lower surface are provided with lifting leg 15 or Convenient table 12, and lifting leg 15 and Convenient table 12 one end are provided with
Absorption pin 14, upper machine body 1 and lower body 11 are provided with Obstacle Detection Device 9, are provided with control device in upper machine body 1 or lower body 11
7, control device 7 receives the signal that Obstacle Detection Device 9 detects, and control device 7 controls actuating unit, lifting leg 15 and inhales
The action of attached pin 14, the number of lifting leg 15 and Convenient table 12 is respectively four, and is distributed in four of upper machine body 1 or lower body 11
On angle, realize firm support, upper machine body 1 and lower body 11 are linked together it is impossible to separate by connector 13, upper machine body 1 and under
Body 11 can along track 3 and connector 13 occur relative slide, but the direction that upper machine body 1 and lower body 11 slide is mutual
Vertical, form a transportable two-dimensional coordinate system, any position in two-dimensional coordinate system can be moved to, moving
In, using the absorption pin 14 on lifting leg 15, walking surface is fixed, and the absorption pin 14 of Convenient table 12 decontrols adsorption plane, rise
Upper machine body 1, lower body 11 and connector 13 are together lifted by fall leg 15, realize the motion on z-axis direction, then upper machine body 1 He
Lower body 11 and connector 13 occur relative slide, realize the movement that x-axis and y-axis become plane coordinates to fasten altogether, thus realize
The 3 D stereo that spatial coordinate is fastened moves, and so that the utility model can be moved.
Described 3 D stereo all-around mobile structure, connector 13 is rectangular configuration, and connector 13 top surface and bottom surface are divided
It is not provided with slide block A4 and slide block B 10, slide block A4 and slide block B 10 are mutually perpendicular to, slide block A4 and slide block B 10 rail with upper machine body respectively
The track cooperation of road and lower body 11, makes upper machine body and the motion track of lower body 11 be mutually perpendicular to.
Described Pan Bi robot, upper machine body 1 lower surface is provided with lifting leg 15, and lower body 11 lower surface is provided with Convenient table
12.
Described Pan Bi robot, upper machine body 1 and lower body 11 surface are provided with slide rail, and connector 13 upper and lower is equipped with
The slide block coordinating with the slide rail on upper machine body 1 and lower body 11, the movement locus of upper machine body 1 and lower body 11 is mutually perpendicular to.
Described Pan Bi robot, lifting leg 15 is ball-screw or servo-cylinder, the control of ball-screw or servo-cylinder
Device processed is connected to the communication ends of control device 7.
Described Pan Bi robot, actuating unit includes tooth bar 2 and motor 5, and the rotating shaft of motor 5 is provided with gear 6, tooth bar
2 are arranged on upper machine body 1 or lower body 11, and motor 5 is arranged on connector 13, and engage dragging by gear 6 and tooth bar 2
Upper machine body 1 or lower body 11, the controller of motor 5 is connected to control device 7.
Described Pan Bi robot, absorption pin 14 includes permanent magnetic chuck 18 and motor 22, the rotating shaft 16 of permanent magnetic chuck
It is provided with driving gear 17, driving gear 17 is coordinated with driving gear 21 by chain 19, and driving gear 21 is arranged on reduction box
On 20 power output shafts, the power input shaft of reduction box 20 is connected by shaft coupling with the rotating shaft of motor 22, motor
22 controller is connected to control device 7.
Communicator 8 is set, control device 7 passes through communicator in described Pan Bi robot, upper machine body 1 or lower body 11
8 with control background communication.
Described Pan Bi robot, Obstacle Detection Device 9 includes optical camera, acoustic detection device and sensing contact
Device.
Described Pan Bi robot, when lifting leg 15 reaches long status, obstacle detection information still detects barrier
When hindering signal, control device 7 sends alarm signal.
Described Pan Bi robot, using explosion-proof material, to ensure intensity of the present utility model.
With reference to the utility model, robot movement control method embodiment is described further：
Operating procedure and operation principle：
Control device 7 controls power set motion, controls the suction of absorption pin 14, puts, and also controls the flexible of lifting leg 15, tool
Body controlling means are：
(1) the absorption pin 14 of Convenient table 12 discharges, and the absorption pin 14 of lifting leg 15 adsorbs, the lower machine being connected with Convenient table 12
Body 11 is fixed with the wall relative position climbed；
(2) lifting leg 15 stretches out, by upper machine body 1, lower body 11 and connector 13 jack-up；
(3) there is relative movement with connector 13 in upper machine body 1 and lower body 11, makes upper machine body 1 and lower body 11 and is connected
The relative position relation of part 13 changes；
(4) after upper machine body 1 and lower body 11 move into place, lifting leg 15 is retracted, and makes the absorption pin 14 of Convenient table 12 and climbs
Climb wall to combine and adsorb, now the absorption pin 14 on lifting leg 15 discharges, and lifting leg 15 continues retraction；
(5) there is relative movement with connector 13 in upper machine body 1 and lower body 11, makes upper machine body 1 and lower body 11 and is connected
The relative position relation of part 13 changes, and moves again；
(6) after the completion of mobile, lifting leg 15 stretches out, and makes the absorption pin 14 on lifting leg 15 adsorb climbing wall, meanwhile, fixing
Absorption pin 14 release climbing wall on leg 12, lifting leg 15 continues to stretch out, and with this reciprocation cycle.
With reference to the utility model, robot movement control method embodiment is described further：
Described robot obstacle-overpass control method, the stroke of lifting leg 15 is more than the twice of barrier height, fixes simultaneously
Leg 12 height is higher than obstacle, and its concrete grammar is：
(1) the absorption pin 14 that lifting leg 15 rises to lifting leg 15 is higher than obstacle, and upper machine body 1 and connector 13 occur relative
Slide so as in two lifting legs 15 surmount obstacles；
(2) lifting leg 15 drops to climbing wall, and makes absorption pin 14 thereon adsorb climbing wall, simultaneously on Convenient table 12
Absorption pin 14 decontrol climbing wall, then lifting leg 15 continue raise, by upper machine body 1, connector 13 and lower body 11 and under
Convenient table 12 on body 11 all lifts, until the absorption pin 14 on Convenient table 12 is higher than obstacle；
(3) lower body 11 and connector 13 occur relative slide, so that four Convenient tables 12 is surmounted obstacles；
(4) lifting leg 15 shrinks, and makes the absorption pin 14 of Convenient table 12 contact climbing wall, the absorption pin 14 of Convenient table 12 holds
Climbing wall, the absorption pin 14 relieving climbing wall of lifting leg 15 simultaneously, lifting leg 15 continues to shrink the absorption pin 14 making lifting leg 15
Higher than obstacle；
(5) upper machine body 1 and connector 13 occur relative slide, so that remaining two Convenient tables 12 is surmounted obstacles；
(6) complete obstacle-overpass.
Claims (8)
1. a kind of Pan Bi robot is it is characterised in that include upper machine body (1) and lower body (11), upper machine body (1) and lower body
(11) pass through connector (13) connect, can occur between upper machine body (1) and lower body (11) and connector (13) relative slide,
Upper machine body (1) is provided with lower body (11) and drives the dynamic of the relative slip of upper machine body (1) and lower body (11) and connector (13)
Force mechanisms, upper machine body (1) and lower body (11) lower surface are provided with lifting leg (15) or Convenient table (12), lift leg (15) and fix
Leg (12) one end is provided with absorption pin (14), and upper machine body (1) and lower body (11) are provided with Obstacle Detection Device (9), upper machine body (1)
Or in lower body (11), it is provided with control device (7), control device (7) receives the signal that Obstacle Detection Device (9) detects, and controls
Device (7) controls actuating unit, lifting leg (15) and absorption pin (14) action.
2. Pan Bi robot according to claim 1 lifts leg (15) it is characterised in that upper machine body (1) lower surface is provided with,
Lower body (11) lower surface is provided with Convenient table (12).
3. Pan Bi robot according to claim 1 and 2 is it is characterised in that upper machine body (1) and lower body (11) surface set
There is slide rail, connector (13) upper and lower is equipped with the slide block with the slide rail cooperation on upper machine body (1) and lower body (11), upper machine
The movement locus of body (1) and lower body (11) is mutually perpendicular to.
4. Pan Bi robot according to claim 3 is it is characterised in that lifting leg (15) is ball-screw or servo oil
The controller of cylinder, ball-screw or servo-cylinder is connected to the communication ends of control device (7).
5. Pan Bi robot according to claim 4 is it is characterised in that actuating unit includes tooth bar (2) and motor (5),
The rotating shaft of motor (5) is provided with gear (6), and tooth bar (2) is arranged on upper machine body (1) or lower body (11), and motor (5) is arranged on
On connector (13), and upper machine body (1) or lower body (11) are dragged with engaging of tooth bar (2) by gear (6), motor (5)
Controller is connected to control device (7).
6. Pan Bi robot according to claim 5 is it is characterised in that absorption pin (14) includes permanent magnetic chuck (18) and drives
Dynamic motor (22), the rotating shaft (16) of permanent magnetic chuck (18) is provided with driving gear (17), and driving gear (17) passes through chain (19)
Coordinate with the driving gear (21) in motor (22) rotating shaft, the controller of motor (22) is connected to control device (7).
7. Pan Bi robot according to claim 6 is it is characterised in that set communication in upper machine body (1) or lower body (11)
Device (8), control device (7) passes through communicator (8) and controls background communication.
8. Pan Bi robot according to claim 7 is it is characterised in that Obstacle Detection Device (9) includes optical camera
Head, acoustic detection device and feeler.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620680043.3U CN205952112U (en) | 2016-06-30 | 2016-06-30 | Climb wall robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620680043.3U CN205952112U (en) | 2016-06-30 | 2016-06-30 | Climb wall robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205952112U true CN205952112U (en) | 2017-02-15 |
Family
ID=57970199
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620680043.3U Active CN205952112U (en) | 2016-06-30 | 2016-06-30 | Climb wall robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN205952112U (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080824A (en) * | 2016-06-30 | 2016-11-09 | 山东聚天工工业自动化有限公司 | Pan Bi robot and robot movement control method and robot obstacle-overpass control method |
| CN110466636A (en) * | 2019-08-27 | 2019-11-19 | 徐州鑫科机器人有限公司 | A kind of intelligence adjusts the climbing robot of suction and Support Position |
| CN111746678A (en) * | 2019-03-29 | 2020-10-09 | 杭州萤石软件有限公司 | Wall surface cleaning robot and control method thereof |
| CN112569557A (en) * | 2019-09-30 | 2021-03-30 | 固特房车（青岛）营地装备有限公司 | Movable rock climbing vehicle |
| CN112916450A (en) * | 2021-01-29 | 2021-06-08 | 上海之恒新能源有限公司 | Sweeping device and method suitable for tiled photovoltaic power station |
-
2016
- 2016-06-30 CN CN201620680043.3U patent/CN205952112U/en active Active
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106080824A (en) * | 2016-06-30 | 2016-11-09 | 山东聚天工工业自动化有限公司 | Pan Bi robot and robot movement control method and robot obstacle-overpass control method |
| CN111746678A (en) * | 2019-03-29 | 2020-10-09 | 杭州萤石软件有限公司 | Wall surface cleaning robot and control method thereof |
| CN110466636A (en) * | 2019-08-27 | 2019-11-19 | 徐州鑫科机器人有限公司 | A kind of intelligence adjusts the climbing robot of suction and Support Position |
| CN112569557A (en) * | 2019-09-30 | 2021-03-30 | 固特房车（青岛）营地装备有限公司 | Movable rock climbing vehicle |
| CN112569557B (en) * | 2019-09-30 | 2021-09-07 | 固特房车（青岛）营地装备有限公司 | Movable rock climbing vehicle |
| CN112916450A (en) * | 2021-01-29 | 2021-06-08 | 上海之恒新能源有限公司 | Sweeping device and method suitable for tiled photovoltaic power station |
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