CN206243291U - A kind of crawler-type wall climbing robot for being suitable for various curved surfaces - Google Patents
A kind of crawler-type wall climbing robot for being suitable for various curved surfaces Download PDFInfo
- Publication number
- CN206243291U CN206243291U CN201621195050.0U CN201621195050U CN206243291U CN 206243291 U CN206243291 U CN 206243291U CN 201621195050 U CN201621195050 U CN 201621195050U CN 206243291 U CN206243291 U CN 206243291U
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- China
- Prior art keywords
- axle
- crawler
- carriage
- climbing robot
- curved surfaces
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Abstract
The utility model is related to a kind of crawler-type wall climbing robot for being suitable for various curved surfaces, it is characterised in that：Including vehicle frame and crawler belt；The crawler belt is two, is separately positioned on the left and right sides of the vehicle frame；Each crawler belt includes belt body, driving wheel and driven pulley；The vehicle frame includes sinistral carriage and dextral carriage, is connected through the hinge between the sinistral carriage and dextral carriage；The hinge includes first axle and the second axle, and one end of the first axle rotates with one end of second axle and is connected, and rotating shaft is perpendicular to the first axle, the second axle；The first axle is rotated with the sinistral carriage and is connected；Second axle is fixedly connected with the dextral carriage.
Description
Technical field
The utility model is related to a kind of crawler-type wall climbing robot for being suitable for various curved surfaces, belongs to specialized robot technology
Field.
Background technology
In industries such as nuclear energy, ship, chemical industry, wind-powered electricity generations, magnetic conductor metal outer wall is widely present.These walls are through long-term wind
Exposure to Sunlight, saline and alkaline erosion, dust adhesion, gravel friction, surface occur dirt, depainting, or even the phenomenon such as corrosion.These problems are not
Only influence attractive in appearance, and the safe operation of wall body may be jeopardized, it is impossible to meet safe and clean industrial management requirement.Mesh
Before, the work such as the cleaning of above-mentioned wall, rust cleaning, touch-up paint and maintenance mostly uses manual work mode, there is high-risk, poorly efficient, height
The problems such as cost.Climbing robot is an important class in specialized robot, can be widely applied to the fortune in said circumstances
Dimension and service work, instead of manual work, improve operating efficiency, reduce operating cost.Absorption and walking are climbing robots
Two big basic functions, widely used suction type has magnetic-adsorption and negative-pressure adsorption, conventional walking manner in current industry
Comprising crawler type, wheeled and sufficient formula.The various combination of above-mentioned suction type and walking manner, can form various climbing robots
Design.In view of operating mode is special, the climbing robot being applied under aforementioned circumstances is, it is necessary to possess adaptation working surface, flexibly
Steering, appropriate obstacle climbing ability, while also having needed relatively large load ability.And existing climbing robot only adapts to climbing for plane mostly
OK, do not possess the adaptability to conical surface, Cylinder Surface and sphere etc., therefore be of limited application.
The content of the invention
Regarding to the issue above, the purpose of this utility model is to provide one kind and can be crawled in plane and various curved surfaces
And the crawler-type wall climbing robot of implementation effect.
To achieve the above object, the utility model uses following technical scheme：A kind of crawler type for being suitable for various curved surfaces
Climbing robot, it is characterised in that：Including vehicle frame and crawler belt；The crawler belt is two, is separately positioned on the left and right of the vehicle frame
Both sides；Each crawler belt includes belt body, driving wheel and driven pulley；The vehicle frame includes sinistral carriage and dextral carriage, described
It is connected through the hinge between sinistral carriage and dextral carriage；The hinge includes first axle and the second axle, the one of the first axle
Hold to be rotated with one end of second axle and be connected, and rotating shaft is perpendicular to the first axle, the second axle axle；The first axle with it is described
Sinistral carriage rotates connection；Second axle is fixedly connected with the dextral carriage.
A motor, the output of each motor have also been respectively fixedly connected with the sinistral carriage and dextral carriage
The input with a decelerator is held to be connected, the output end of each decelerator is connected with a driving wheel.
Magnetic suck part has been evenly arranged on the belt body of the crawler belt.
The magnetic suck part uses electromagnet or permanent magnet.
Due to taking above technical scheme, it has advantages below to the utility model：1st, the utility model has two certainly
By spending, one of free degree is the rotational freedom between sinistral carriage and first axle, another free degree be first axle with
Rotational freedom between second axle, under two cooperations of the free degree, the utility model is adapted to various curved surfaces and creeps.2、
The utility model passes through decelerator and one due to being respectively provided with a motor, each motor in sinistral carriage and dextral carriage
Driving wheel is connected, and therefore, it can realize turning function by controlling the speed difference of left and right crawler belt, specifically, when left track
Speed of advancement less than right side track speed of advancement when, climbing robot will march forward direction left side turn, when left track
When speed of advancement is more than the speed of advancement of right side track, climbing robot turns the right side in direction of marching forward.
Brief description of the drawings
Fig. 1 is overall structure diagram of the present utility model；
Fig. 2 is the structural representation of the utility model hinge.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and examples.
As shown in Fig. 1~2, the utility model includes vehicle frame 10 and crawler belt 20.Wherein, crawler belt 20 is two, is respectively provided with
In the left and right sides of vehicle frame 10.Crawler belt 20 includes belt body 21, driving wheel 22 and driven pulley 23, and belt body 21 passes through certain tensile force
Coordinate with driving wheel 22, driven pulley 23.Vehicle frame 10 includes sinistral carriage 11 and dextral carriage 12, sinistral carriage 11 and dextral carriage
Connected by hinge 13 between 12.Hinge 13 includes axle 131 and axle 132, and one end of axle 131 rotates with one end of axle 132 and is connected,
And rotating shaft 133 is perpendicular to axle 131, axle 132.Axle 131 is rotated with sinistral carriage 11 and is connected.Axle 132 is fixed with dextral carriage 12 and connected
Connect.The utility model has two frees degree, and one of free degree is rotatably mounted between sinistral carriage 11 and axle 131
Degree, another free degree is the rotational freedom between axle 131 and axle 132.Under two cooperations of the free degree, the utility model
Various curved surfaces are adapted to creep.By taking circular conical surface as an example, when the utility model is creeped on circular conical surface, sinistral carriage 11 with it is right
Crawler belt 20 and the contact point of conical surface on the vehicle frame of both sides can be made to be crawler belt adaptive into a space angle between side vehicle frame 12
20 geometric center.
In above-described embodiment, a motor 30 is also respectively fixedly connected with sinistral carriage 11 and dextral carriage 12, often
Input of the output end of one motor 30 with a decelerator 40 is connected, and the output end of each decelerator 40 is driven with one
Driving wheel 22 is connected.The crawler belt 20 of the utility model climbing robot arranged on left and right sides is carried out by the motor 30 being independently arranged respectively
Drive, turning function can be realized by controlling the speed difference of left and right crawler belt 20.When the speed of advancement of left track 20 is less than the right side
During the speed of advancement of side crawler belt 20, climbing robot will march forward direction left side turn；When the speed of advancement of left track 20 is big
When the speed of advancement of right side track 20, climbing robot turns the right side in direction of marching forward.
In above-described embodiment, magnetic suck part is evenly arranged on the belt body 21 of crawler belt 20, magnetic suck part can be adopted
With electromagnet or permanent magnet.
The utility model is only illustrated with above-described embodiment, and the structure of each part, set location and its connection are all can
It is all individual part is carried out according to the utility model principle on the basis of technical solutions of the utility model with what is be varied from
Improvement and equivalents, should not exclude outside protection domain of the present utility model.
Claims (4)
1. a kind of crawler-type wall climbing robot for being suitable for various curved surfaces, it is characterised in that：Including vehicle frame and crawler belt；The crawler belt
It is two, is separately positioned on the left and right sides of the vehicle frame；Each crawler belt includes belt body, driving wheel and driven pulley；It is described
Vehicle frame includes sinistral carriage and dextral carriage, is connected through the hinge between the sinistral carriage and dextral carriage；The hinge bag
First axle and the second axle are included, one end of the first axle rotates with one end of second axle and is connected, and rotating shaft is perpendicular to described
First axle, the second axle；The first axle is rotated with the sinistral carriage and is connected；Second axle is fixed with the dextral carriage and connected
Connect.
2. a kind of crawler-type wall climbing robot for being suitable for various curved surfaces as claimed in claim 1, it is characterised in that：Described
A motor is also respectively fixedly connected with sinistral carriage and dextral carriage, the output end of each motor is slowed down with one
The input connection of device, the output end of each decelerator is connected with a driving wheel.
3. a kind of crawler-type wall climbing robot for being suitable for various curved surfaces as claimed in claim 1 or 2, it is characterised in that：
Magnetic suck part has been evenly arranged on the belt body of the crawler belt.
4. a kind of crawler-type wall climbing robot for being suitable for various curved surfaces as claimed in claim 3, it is characterised in that：The magnetic
Adsorption element uses electromagnet or permanent magnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621195050.0U CN206243291U (en) | 2016-11-07 | 2016-11-07 | A kind of crawler-type wall climbing robot for being suitable for various curved surfaces |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201621195050.0U CN206243291U (en) | 2016-11-07 | 2016-11-07 | A kind of crawler-type wall climbing robot for being suitable for various curved surfaces |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206243291U true CN206243291U (en) | 2017-06-13 |
Family
ID=59000460
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201621195050.0U Expired - Fee Related CN206243291U (en) | 2016-11-07 | 2016-11-07 | A kind of crawler-type wall climbing robot for being suitable for various curved surfaces |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206243291U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107804384A (en) * | 2017-11-20 | 2018-03-16 | 河北工业大学 | The adaptive crawler belt climbing robot of wall four |
| CN108622219A (en) * | 2018-03-26 | 2018-10-09 | 浙江大学 | A kind of propeller side compression type adsorption wall climbing robot |
-
2016
- 2016-11-07 CN CN201621195050.0U patent/CN206243291U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107804384A (en) * | 2017-11-20 | 2018-03-16 | 河北工业大学 | The adaptive crawler belt climbing robot of wall four |
| CN107804384B (en) * | 2017-11-20 | 2023-08-04 | 河北工业大学 | Self-adaptive wall surface four-crawler wall climbing robot |
| CN108622219A (en) * | 2018-03-26 | 2018-10-09 | 浙江大学 | A kind of propeller side compression type adsorption wall 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 |
Granted publication date: 20170613 Termination date: 20211107 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |