CN206141652U - Crawler -type is climbed wall and is put - Google Patents
Crawler -type is climbed wall and is put Download PDFInfo
- Publication number
- CN206141652U CN206141652U CN201621063098.6U CN201621063098U CN206141652U CN 206141652 U CN206141652 U CN 206141652U CN 201621063098 U CN201621063098 U CN 201621063098U CN 206141652 U CN206141652 U CN 206141652U
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- CN
- China
- Prior art keywords
- crawler
- vacuum
- cup
- type wall
- wall climbing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Abstract
The utility model discloses a crawler -type is climbed wall and is put belongs to the robotechnology field, and for solving investigation and the clearance problem to the high -rise building thing, the device includes a plurality of vacuum chuck, sets up vacuum generator, two tracks, power transmission device, motor, electromagnetic clutch and control system on vacuum chuck. Wherein every track includes two chains and four sprockets, the problem of to the investigation and the clearance of high -rise building thing is solved, the beneficial effect who has the protection cleanup crew. Substitute the conventional operation method, when the high efficiency is accomplished apparent cleanness of high -rise building thing or the investigation problem to the high -rise building thing, liberated personnel for personnel needn't arrange the dangerous situation in.
Description
Technical field
This utility model belongs to robotics, is related to one kind and climbs wall device, and in particular to a kind of crawler-type wall climbing
Device.
Background technology
At present, it is many close in high-altitude by rope suspensions still by officers and men to the investigation tasks of high-rise in military affairs
Originally complete, the cleaning of high-rise building external wall adopts manual work mode, with rope or hang indigo plant workman is suspended in into high-altitude
Cleaning is carried out outside wall.So not only dangerous but also inefficient, this device can meet to be born the additional of constant weight and sets
Standby, such as shooting, detecting devices, high building cleaning equipment replace the mankind to complete hot mission.
The content of the invention
According to above the deficiencies in the prior art, technical problem to be solved in the utility model is to propose that a kind of crawler type is climbed
Wall device, is passed by arranging several vacuum cups, vacuum generator, two crawler belts being made up of chain staff cultivation and power
Defeated and steering control system, solves the problems, such as the investigation to high-rise and cleaning, the beneficial effect with protection cleanup crew
Really.
In order to solve above-mentioned technical problem, the technical solution adopted in the utility model is：
A kind of crawler-type wall climbing device, the device include that several vacuum cups, the vacuum being arranged on vacuum cup are sent out
Raw device, two crawler belts, dynamic transfer system, motor, electromagnetic clutch and control systems.Wherein every crawler belt includes two chains
Bar and four sprocket wheels.
The motor is provided with a driven shaft, and the middle part of driven shaft is connected with motor, and the two ends of driven shaft respectively connect
Two sprocket wheels are connect, the output shaft of motor is connected with the input shaft of dynamic transfer system, dynamic transfer system there are two output shafts,
An electromagnetic clutch is respectively provided with two output shafts of dynamic transfer system, electromagnetic clutch is provided with two sprocket wheels, electromagnetism
Two sprocket wheels on clutch constitute a crawler belt by two chain interoperations with two sprocket wheels on driven shaft.The vacuum is inhaled
Disk is arranged on crawler belt, and the vacuum cup includes rubber cup, plays reinforcement effect aluminium sheet, ball head connecting rod and is arranged on bulb company
On bar away from bulb one end fixed plate.Spring is additionally provided with the ball head connecting rod, the two ends of spring contact fixed plate respectively
And aluminium sheet.Vacuum generator is additionally provided with the vacuum cup, vacuum generator causes the air pressure in rubber cup by air-breathing
Less than atmospheric pressure, breather valve on rubber cup, is additionally provided with, causes the air pressure in rubber cup to be equal to air by opening breather valve
Pressure.On the vacuum cup, the rim of a bowl of rubber cup is provided with pressure transducer.The sprocket wheel is provided with photoelectric sensor.
This utility model beneficial effect is:The investigation to high-rise and cleaning are solved the problems, such as, with protection cleaning
The beneficial effect of personnel.Conventional method is substituted, is efficiently completed to the cleaning of high-rise appearance or to skyscraper
While the investigation problem of thing, personnel have been liberated so that personnel are not necessarily located dangerous situation.
Description of the drawings
Below the labelling in the content and figure expressed by this specification accompanying drawing is briefly described：
Fig. 1 is the general structure schematic diagram of specific embodiment crawler-type wall climbing device of the present utility model；
Fig. 2 is the vacuum generator structural representation of specific embodiment crawler-type wall climbing device of the present utility model；
Labelling in above-mentioned figure for：1st, vacuum cup；2nd, vacuum generator；3rd, chain；4th, sprocket wheel；5th, drive system；6、
Motor；7th, electromagnetic clutch；8th, rubber cup；9th, aluminium sheet；10th, ball head connecting rod；11st, fixed plate.
Specific embodiment
Below against accompanying drawing, by the description to embodiment, specific embodiment of the present utility model is each as involved by
The shape of component, the mutual alignment between construction, each several part and annexation, the effect of each several part and operation principle, manufacture work
Skill and operate with method etc., are described in further detail, to help those skilled in the art to invention of the present utility model
Design, technical scheme have more complete, accurate and deep understanding.
A kind of crawler-type wall climbing device, the device include several vacuum cups 1, the vacuum being arranged on vacuum cup 1
Generator 2, two crawler belts, dynamic transfer system 5, motor 6, electromagnetic clutch 7 and control systems.Wherein every crawler belt includes
Two chains 3 and four sprocket wheels 4.
Motor 6 is provided with a driven shaft, and the middle part of driven shaft is connected with motor 6, and the two ends of driven shaft respectively connect
Two sprocket wheels 4.The output shaft of motor 6 is connected with the input shaft of dynamic transfer system 5, and dynamic transfer system 5 has two outputs
Axle, is respectively provided with an electromagnetic clutch 7 on two output shafts of dynamic transfer system 5, electromagnetic clutch 7 is provided with two sprocket wheels
4, two on electromagnetic clutch 7 sprocket wheel coordinates composition one crawler belt by two chains 3 with two sprocket wheels on driven shaft.
Vacuum cup 1 is arranged on crawler belt, and the vacuum cup 1 includes rubber cup 8, plays reinforcement effect aluminium sheet 9, bulb
Connecting rod 10 and the fixed plate 11 of the one end being arranged on ball head connecting rod 10 away from bulb, are additionally provided with spring, bullet on ball head connecting rod 10
The two ends of spring contact fixed plate 11 and aluminium sheet 9 respectively, and the spring moment corrects, compresses aluminium sheet 9, can so cause rubber cup 8
Absorption is having in the plane of certain radian.The effect of ball head connecting rod 10 is when device is turned to, only one on inner track
1 air-breathing of individual vacuum cup, whole inner track is with 10 heart axle steer of ball head connecting rod of the sucker.It is additionally provided with vacuum cup 1 true
Empty generator, vacuum generator cause the air pressure in rubber cup 8 less than atmospheric pressure by air-breathing, are additionally provided with rubber cup 8
Breather valve, causes the air pressure in rubber cup 8 to be equal to atmospheric pressure by opening breather valve.
It is on the turn problems for climbing wall device, different using 7 action control both sides crawler belt rotating speed of electromagnetic clutch, Jin Ershi
Now turn.Vacuum cup on the crawler belt of turning curve inner side 1 retains one and is in adsorbed state, other vacuum cups 1
On breather valve all open, the Liu Yige centers sucker suction on curve inner side crawler belt, the ball head connecting rod 10 of sucker is used as turning
Curved central shaft, successfully solves the turning difficult problem for climbing wall device.
To realize the control to vacuum cup 1, on the vacuum cup 1, the rim of a bowl of rubber cup 8 is provided with pressure sensing
Device, sprocket wheel 4 are provided with photoelectric sensor, photoelectric sensor, pressure transducer, vacuum generator and breather valve all with control system
Connection, in the case that the vacuum cup 1 and pressure transducer only between crawler belt upper sprocket wheel 4 experiences pressure, this is true
Vacuum generator on suction disk 1 is just worked under control of the control system and breather valve is closed, on other vacuum cups 1
Breather valve is opened and vacuum generator does not work.When crawler-type wall climbing device is turned, in control system control turning bend
On the crawler belt of side, all pressure transducers experience the vacuum generator work of in the vacuum cup 1 of pressure, breather valve
Close, the breather valve on other vacuum cups 1 is opened and vacuum generator does not work.And then realize turning.
This utility model is exemplarily described above in conjunction with accompanying drawing, it is clear that this utility model is implemented not to be received
The restriction of aforesaid way, as long as employing changing for the various unsubstantialities that method design of the present utility model and technical scheme are carried out
Enter, or it is not improved by it is of the present utility model design and technical scheme directly apply to other occasions, in this utility model
Protection domain within.The protection domain that protection domain of the present utility model should be limited by claims is defined.
Claims (6)
1. a kind of crawler-type wall climbing device, it is characterised in that：The device includes several vacuum cups (1), is arranged on vacuum suction
Vacuum generator (2), two crawler belts, dynamic transfer system (5), motor (6), electromagnetic clutch (7) and controls on disk (1)
System；Wherein every crawler belt includes two chains (3) and four sprocket wheels (4)；The motor (6) is provided with a driven shaft,
The middle part of driven shaft is connected with motor (6), each two sprocket wheels (4) of connection in the two ends of driven shaft, the output shaft of motor (6) with
The input shaft connection of dynamic transfer system (5), dynamic transfer system (5) have two output shafts, two of dynamic transfer system (5)
An electromagnetic clutch (7) is respectively provided with output shaft, electromagnetic clutch (7) is provided with two sprocket wheels (4), electromagnetic clutch (7)
On two sprocket wheels and driven shaft on two sprocket wheels coordinated by two chains (3) and constitute a crawler belts.
2. crawler-type wall climbing device according to claim 1, it is characterised in that：The vacuum cup (1) is arranged on crawler belt
On, the vacuum cup (1) is including rubber cup (8), reinforcement effect aluminium sheet (9), ball head connecting rod (10) and is arranged on bulb
On connecting rod (10) away from bulb one end fixed plate (11).
3. crawler-type wall climbing device according to claim 2, it is characterised in that：Bullet is additionally provided with the ball head connecting rod (10)
Spring, the two ends of spring contact fixed plate (11) and aluminium sheet (9) respectively.
4. crawler-type wall climbing device according to claim 2, it is characterised in that：It is additionally provided with the vacuum cup (1) true
Empty generator, vacuum generator cause the air pressure in rubber cup (8) less than atmospheric pressure by air-breathing, on rubber cup (8) also
Breather valve is provided with, causes the air pressure in rubber cup (8) to be equal to atmospheric pressure by opening breather valve.
5. crawler-type wall climbing device according to claim 1, it is characterised in that：Rubber cup on the vacuum cup (1)
(8) the rim of a bowl is provided with pressure transducer.
6. crawler-type wall climbing device according to claim 1, it is characterised in that：The sprocket wheel (4) is provided with photoelectric sensing
Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621063098.6U CN206141652U (en) | 2016-09-19 | 2016-09-19 | Crawler -type is climbed wall and is put |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621063098.6U CN206141652U (en) | 2016-09-19 | 2016-09-19 | Crawler -type is climbed wall and is put |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206141652U true CN206141652U (en) | 2017-05-03 |
Family
ID=58618809
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621063098.6U Expired - Fee Related CN206141652U (en) | 2016-09-19 | 2016-09-19 | Crawler -type is climbed wall and is put |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206141652U (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106218743A (en) * | 2016-09-19 | 2016-12-14 | 安徽机电职业技术学院 | A kind of crawler-type wall climbing device |
| CN110397563A (en) * | 2019-08-01 | 2019-11-01 | 上海电气风电集团有限公司 | A kind of climbing robot for wind electricity blade operation |
| CN110916555A (en) * | 2019-12-03 | 2020-03-27 | 陕西科技大学 | Crawler-type mobile device and glass curtain wall cleaning robot based on vacuum chuck |
| CN115367011A (en) * | 2022-07-26 | 2022-11-22 | 山东孚岳电气有限公司 | Power equipment washs climbing robot |
-
2016
- 2016-09-19 CN CN201621063098.6U patent/CN206141652U/en not_active Expired - Fee Related
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106218743A (en) * | 2016-09-19 | 2016-12-14 | 安徽机电职业技术学院 | A kind of crawler-type wall climbing device |
| CN106218743B (en) * | 2016-09-19 | 2019-01-18 | 安徽机电职业技术学院 | A kind of crawler-type wall climbing device |
| CN110397563A (en) * | 2019-08-01 | 2019-11-01 | 上海电气风电集团有限公司 | A kind of climbing robot for wind electricity blade operation |
| CN110916555A (en) * | 2019-12-03 | 2020-03-27 | 陕西科技大学 | Crawler-type mobile device and glass curtain wall cleaning robot based on vacuum chuck |
| CN110916555B (en) * | 2019-12-03 | 2021-07-27 | 陕西科技大学 | Crawler-type mobile device and glass curtain wall cleaning robot based on vacuum chuck |
| CN115367011A (en) * | 2022-07-26 | 2022-11-22 | 山东孚岳电气有限公司 | Power equipment washs climbing robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| 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: 20170503 Termination date: 20170919 |