CN206701576U - A kind of elastic wheel structure for being applied to climb wall paint-spray robot - Google Patents
A kind of elastic wheel structure for being applied to climb wall paint-spray robot Download PDFInfo
- Publication number
- CN206701576U CN206701576U CN201720292903.0U CN201720292903U CN206701576U CN 206701576 U CN206701576 U CN 206701576U CN 201720292903 U CN201720292903 U CN 201720292903U CN 206701576 U CN206701576 U CN 206701576U
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- spring
- connecting plate
- support base
- wheel
- wall paint
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- Spray Control Apparatus (AREA)
Abstract
A kind of elastic wheel structure for being applied to climb wall paint-spray robot for being related to climbing robot field, includes wheel body, connecting plate, spring connecting rod and support base；The road wheel end outer side of lid Middle face of wheel body is fixedly connected with one end of connecting plate, and the other end of connecting plate is corresponding with car body be hinged by bearing pin；The middle part of connecting plate is hinged by axle and a side end of spring connecting rod, the opposite side shaft of the spring connecting rod is provided with annular groove, pivot bush unit spring A, the bottom of support base and spring B, and spring A and the diameter of spring B are more than the aperture of support base bottom through hole successively in annular groove groove；The top of support base is corresponding with car body to be fixedly connected；Described structure can ensure that four driving wheels of climbing robot are effectively attached in the irregular scope of operation, so as to avoid its driving force and adhesive force from being affected.
Description
【Technical field】
Climbing robot field is the utility model is related to, more particularly, to a kind of elasticity for being applied to climb wall paint-spray robot
Car wheel structure.
【Background technology】
Known, climbing robot is also known as wall-surface mobile robot, its be it is a kind of can be in vertical wall climbing simultaneously
The automatic machinery people of related operation is completed, because vertical walls operation belongs to the category of limit operation, therefore climbing robot
Also referred to as limit operation robot, among these just comprising for carrying out spraying work to the surface of the objects such as bulk storage tank or ship
Industry climbs wall paint-spray robot；At present, found in long-term practical application, by traditional wall paint-spray robot of climbing is used
Body construction, be all the rigid body structure with four-wheel drive, i.e., four driving wheels being connected with car body are all solid with rigidity
Surely connect, therefore it is that there is no problem to climb wall paint-spray robot walking operations stable on leveling operation face, but one
Denier its surfaces such as oil storage tank, large ship carry out spray painting operation when, by holding vessel, the irregular outer surface of ship and climb
The influence of wall paint-spray robot rigid body, different adhesive force can be produced by climbing four driving wheels of wall paint-spray robot, so as to
Easily occur climbing the phenomenon being attached in the scope of operation that some driving wheel of wall paint-spray robot can not be stablized, and then not only influence
To the driving force for climbing wall paint-spray robot, and its overall adhesion in the scope of operation, and it is serious when also result in and climb wall
There is deviation in the route and the route of planning that paint-spray robot is advanced in operation, finally make using side by corresponding economy
Loss.
【The content of the invention】
In order to overcome the shortcomings of in background technology, the utility model discloses a kind of bullet for being applied to climb wall paint-spray robot
Property car wheel structure, described structure can ensure that four driving wheels of climbing robot are effectively attached to the irregular scope of operation
On, so as to avoid its driving force and adhesive force from being affected.
For achieving the above object, the utility model adopts the following technical scheme that：
It is a kind of to be applied to climb the elastic wheel structure of wall paint-spray robot, described structure include wheel body, connecting plate,
Spring connecting rod and support base；The road wheel end outer side of lid Middle face of the wheel body is fixedly connected with one end of connecting plate, even
The other end of fishplate bar is corresponding with car body be hinged by bearing pin；The middle part of the connecting plate passes through axle and a side of spring connecting rod
Portion is hinged, and the opposite side shaft of the spring connecting rod is provided with annular groove, pivot bush unit spring A, the support successively in annular groove groove
The bottom of seat and spring B, and spring A and the diameter of spring B are more than the aperture of support base bottom through hole；The top of described support base
End is corresponding with car body to be fixedly connected.
Further, described wheel end cap is fixedly connected with connecting plate by the multiple screws circumferentially arranged.
Further, described connecting plate is in the small water-drop-shaped in the big one end in one end or Pear-Shaped structure.
Due to using technical scheme as described above, the utility model has the advantages that：
The elastic wheel structure described in the utility model for being applied to climb wall paint-spray robot is easily installed, and is easy to safeguard,
Described structure is linked together wheel and car body by the way of flexible connection, and this connected mode makes each drive car
Wheel is provided with respective elastic floating section, and wall paint-spray robot is climbed in irregular outer surface progress spray painting operation so as to work as
When, each of which driving wheel can using respective elastic floating section come effective guarantee adhesive force unaffected, Jin Erye
Effective avoid is climbed the overall driving force of wall paint-spray robot and is affected, and has been finally reached and makes to climb wall paint-spray robot
Driving four-wheel can effectively be attached to the purpose in the irregular scope of operation；Because described structure makes to climb wall paint-spray robot
Driving force, adhesive force can be also not fully exerted in operation in the irregular scope of operation, therefore it not only makes to climb wall spray painting
The spray painting work quality and efficiency of robot are improved, but also effectively reduce application side and born because operation is slipped up
The risk of financial burden.
【Brief description of the drawings】
Fig. 1 is schematic diagram of the present utility model；
Fig. 2 is installation car body schematic diagram of the present utility model.
In figure：1st, wheel body；2nd, wheel end cap；3rd, connecting plate；4th, bearing pin；5th, car body；6th, axle；7th, spring connecting rod；
8th, spring A；9th, support base；10th, spring B.
【Embodiment】
The present invention can be explained in more detail by the following examples, open the purpose of this utility model is intended to protection originally
All changes and improvements in the range of utility model, the utility model are not limited to the following examples：
The elastic wheel structure for being applied to climb wall paint-spray robot with reference to described in accompanying drawing 1~2, described structure include car
Take turns body 1, connecting plate 3, spring connecting rod 7 and support base 9；With connecting in the middle part of the lateral surface of wheel end cap 2 in the wheel body 1
One end of fishplate bar 3 is fixedly connected, and as needed, can pass through corresponding multiple screws around the arrangement in one week of 2 center of wheel end cap
Wheel end cap 2 and connecting plate 3 are fixed together；The other end of the connecting plate 3 passes through the hinge corresponding with car body 5 of bearing pin 4
Connect, i.e., connecting plate 3 can be that the center of circle is rotated with bearing pin 4；As needed, connecting plate 3 can be arranged to the big one end in one end
Small water-drop-shaped or Pear-Shaped structure, its big end is corresponding to be connected with wheel end cap 2, and small end is corresponding to be connected with car body 5；The connection
The middle part of plate 3 is hinged by axle 6 and a side end of spring connecting rod 7, i.e., connecting plate 3 action when, can timing belt move
The corresponding actions of spring connecting rod 7；
The opposite side shaft of the spring connecting rod 7 is provided with annular groove, the pivot bush unit spring A successively in annular groove groove
8th, the bottom of support base 9 and spring B 10, and spring A 8 and the diameter of spring B 10 are more than the aperture of the bottom through hole of support base 9,
The top of the support base 9 is corresponding with car body 5 to be fixedly connected, that is, ensure that the spring connecting rod 7 that connected plate 3 drives can prop up
Support and smoothly moved left and right under the position-limiting action of seat 9, due to the corresponding left and right for being distributed in support base 9 of spring A 8 and spring B 10,
And support base 9 is fixed on car body 5, therefore when wheel body 1 is being advanced in the irregular scope of operation, drive can connect accordingly
Fishplate bar 3 carries out a certain amount of rotary motion centered on bearing pin 4, and drives spring connecting rod 7 to carry out left and right shifting accordingly simultaneously
Dynamic, now, it is left that the corresponding conflict power between spring A 8 or spring B 10 and support base 9 can just play control spring connecting rod 7
The effect of momentum is moved to right, so as to reach the rotation amount of control wheel body 1 and connecting plate 3, ensures that wheel body 1 can be with respect to car
Body 5 carries out left and right or the up and down purpose of resilient movement；
When practicing, four driving wheels for climbing wall paint-spray robot need to only be connected with described structure type respectively
In the relevant position of car body 5, it is then able to during carrying out climbing wall operation, each driving wheel is utilized each
From elastic floating section carry out its overall driving force of effective guarantee and its adhesive force is unaffected, ensure to climb wall spray painting so as to reach
Four driving wheels of robot can effectively be attached to the purpose in the irregular scope of operation.
The non-detailed portion of the utility model is prior art, therefore the utility model is not described in detail.
Claims (3)
1. a kind of elastic wheel structure for being applied to climb wall paint-spray robot, it is characterized in that：Described structure includes wheel body
(1), connecting plate (3), spring connecting rod (7) and support base (9)；In the middle part of wheel end cap (2) lateral surface of the wheel body (1)
It is fixedly connected with one end of connecting plate (3), the other end of connecting plate (3) is corresponding with car body (5) be hinged by bearing pin (4)；It is described
The middle part of connecting plate (3) is hinged by axle (6) and a side end of spring connecting rod (7), the opposite side of the spring connecting rod (7)
Shaft is provided with annular groove, pivot bush unit spring A (8), the bottom through hole of support base (9) and spring B successively in annular groove groove
(10), and spring A (8) and the diameter of spring B (10) are more than the aperture of support base (9) bottom through hole；Described support base (9)
Top is corresponding with car body (5) to be fixedly connected.
2. the elastic wheel structure according to claim 1 for being applied to climb wall paint-spray robot, it is characterized in that：Described car
Wheel end cap (2) is fixedly connected with connecting plate (3) by the multiple screws circumferentially arranged.
3. the elastic wheel structure according to claim 1 for being applied to climb wall paint-spray robot, it is characterized in that：Described company
Fishplate bar (3) is in the small water-drop-shaped in the big one end in one end or Pear-Shaped structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292903.0U CN206701576U (en) | 2017-03-24 | 2017-03-24 | A kind of elastic wheel structure for being applied to climb wall paint-spray robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720292903.0U CN206701576U (en) | 2017-03-24 | 2017-03-24 | A kind of elastic wheel structure for being applied to climb wall paint-spray robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206701576U true CN206701576U (en) | 2017-12-05 |
Family
ID=60470831
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720292903.0U Active CN206701576U (en) | 2017-03-24 | 2017-03-24 | A kind of elastic wheel structure for being applied to climb wall paint-spray robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206701576U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111644285A (en) * | 2020-06-12 | 2020-09-11 | 刘伦宇 | Hull rust removal paint spraying apparatus |
-
2017
- 2017-03-24 CN CN201720292903.0U patent/CN206701576U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111644285A (en) * | 2020-06-12 | 2020-09-11 | 刘伦宇 | Hull rust removal paint spraying apparatus |
| CN111644285B (en) * | 2020-06-12 | 2021-10-29 | 刘伦宇 | Hull rust removal paint spraying apparatus |
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