CN207631368U - A kind of climbing robot rotated in place - Google Patents
A kind of climbing robot rotated in place Download PDFInfo
- Publication number
- CN207631368U CN207631368U CN201721742728.7U CN201721742728U CN207631368U CN 207631368 U CN207631368 U CN 207631368U CN 201721742728 U CN201721742728 U CN 201721742728U CN 207631368 U CN207631368 U CN 207631368U
- Authority
- CN
- China
- Prior art keywords
- climbing robot
- erecting bed
- bar
- turning
- cylinder
- 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
A kind of climbing robot rotated in place, including erecting bed, erecting bed are square plate, driving wheel, driven wheel are mounted on the both sides of square plate, crawler belt connects driving wheel, driven wheel, and holder is four, and holder is fixed on the corner of the lower section of erecting bed, it is symmetric, permanent magnet is rack-mount, and steering mechanism is fixed on the side of erecting bed, including cylinder, the cylinder axis of cylinder is connect by plane bearing with turning-bar, and steering magnet is fixed under turning-bar；Drive climbing robot to move in the straight direction by driving wheel, when needing to turn to, PLC controls cylinder movement, and cylinder axis moves down so that the steering below turning-bar is pull-in on magnet on bulkhead, and robot side is lifted and is completed to turn to centered on turning-bar usually；Device is uniformly controlled by PLC, compact-sized, light-weight, and handling is good.
Description
Technical field
The utility model is related to a kind of climbing robots rotated in place.
Background technology
Extraordinary climbing robot of many countries all in research for particular job, especially climbs wall spray painting side in ship
Face, the country starts late to the research of climbing robot, but quickly grows, and has been achieved for great successes at present, still
On the Steering of control climbing robot, also fails to obtain ideal effect, have the wall-climbing device for rotating in place function
People is usually complicated, size is larger, it is difficult to be securely adsorbed on bulkhead, how to design it is a it is simple in structure, can original place rotation
The climbing robot turned is significant in the research field of climbing robot.
Utility model content
Shortcoming present in regarding to the issue above, the utility model provide a kind of wall-climbing device rotated in place
People.
To achieve the above object, the utility model provides a kind of climbing robot rotated in place, including：
Erecting bed, the erecting bed are square plate, and driving wheel, driven wheel are mounted on the both sides of the square plate, and crawler belt connects
Connect the driving wheel, the driven wheel；
Holder, the holder are four, and the holder is fixed on the corner of the lower section of the erecting bed, is symmetric,
Permanent magnet is installed on the bracket；
Steering mechanism, the steering mechanism are fixed on the side of the erecting bed, including cylinder, the cylinder axis of the cylinder
It is connect with turning-bar by plane bearing, steering magnet is fixed under the turning-bar.
It is further improved as the utility model, the driving wheel is circumscribed with actuating unit.
It is further improved as the utility model, working equipment is further fixed on above the erecting bed.
It is further improved as the utility model, the working equipment is spray-painting plant, photographic device or detection device.
It is further improved as the utility model, the turning-bar is located at the inside of crawler belt described in side.
It is further improved as the utility model, the steering is electromagnet with magnet.
The beneficial effects of the utility model are：
Device is uniformly controlled by PLC, compact-sized, light-weight, while ensureing that climbing robot is adsorbed on bulkhead,
It can more conveniently be rotated around turning-bar, the control of climbing robot becomes more perfect, adapts to practical various working environments
It needs, handling is good.
Description of the drawings
Fig. 1 is a kind of climbing robot vertical view rotated in place of the utility model；
Fig. 2 is a kind of climbing robot side view rotated in place of the utility model.
In figure：1, bulkhead；2, driving wheel；3, driven wheel；4, erecting bed；5, steering mechanism；51, cylinder；511, cylinder axis；
52, plane bearing；53, turning-bar；54, steering magnet；6, working equipment；7, holder；8, permanent magnet；9, crawler belt.
Specific implementation mode
As shown in Figure 1 and Figure 2, a kind of climbing robot rotated in place described in the utility model embodiment, including：
Erecting bed 4 is square plate, and driving wheel 2, driven wheel 3 are mounted on the both sides of square plate, and crawler belt 9 connects driving wheel 2, driven wheel 3, main
Driving wheel 2 is circumscribed with actuating unit, and the top of erecting bed 4 is further fixed on working equipment 6, and working equipment 6 is spray-painting plant, camera shooting dress
It sets or detection device；Holder 7 is four, and holder 7 is fixed on the corner of the lower section of erecting bed 4, is symmetric, permanent magnet 8
On holder 7；Steering mechanism 5 is fixed on the side of erecting bed 4, including cylinder 51, and the cylinder axis 511 of cylinder 51, which passes through, puts down
Spherical bearing 52 is connect with turning-bar 53, and steering magnet 54 is fixed under turning-bar 53, and steering magnet 54 is electromagnet, is turned to
Bar 53 is located at the inside of the crawler belt 9 of side.
Device is uniformly controlled by PLC, compact-sized, light-weight, while ensureing that climbing robot is adsorbed on bulkhead,
It can more conveniently be rotated around turning-bar, the control of climbing robot becomes more perfect, adapts to practical various working environments
It needs, handling is good.
When specifically used, the utility model is understood for convenience, is described in conjunction with attached drawing；
PLC controls actuating unit action, drives driving wheel to rotate forward or invert, shows as in climbing robot rectilinear direction
Movement, when climbing robot need turn to when, PLC sends a command to steering mechanism, cylinder movement, and cylinder axis moves down so that
Steering below turning-bar is tightly adsorbed on bulkhead with magnet, is powered and is generated strong magnetic force, and the side of climbing robot is lifted,
Driving wheel continues under drive, climbing robot point centered at turning-bar, and the deflection that appropriate angle occurs is completed to turn to, it
Afterwards, PLC controls cylinder and resets, and the side for the climbing robot being lifted is attracted on bulkhead, continues to move along a straight line again.
The preferred embodiment that these are only the utility model, is not intended to limit the utility model, for this field
Technical staff for, various modifications and changes may be made to the present invention.Within the spirit and principle of the utility model,
Any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Claims (6)
1. a kind of climbing robot rotated in place, which is characterized in that including：
Erecting bed (4), the erecting bed (4) are square plate, and driving wheel (2), driven wheel (3) are mounted on the two of the square plate
Side, crawler belt (9) connect the driving wheel (2), the driven wheel (3)；
Holder (7), the holder (7) are four, and the holder (7) is fixed on the corner of the lower section of the erecting bed (4), are in pair
Distribution, permanent magnet (8) is claimed to be mounted on the holder (7)；
Steering mechanism (5), the steering mechanism (5) are fixed on the side of the erecting bed (4), including cylinder (51), the gas
The cylinder axis (511) of cylinder (51) is connect by plane bearing (52) with turning-bar (53), is fixed with and is turned under the turning-bar (53)
To with magnet (54).
2. a kind of climbing robot rotated in place according to claim 1, it is characterised in that：The driving wheel (2)
It is circumscribed with actuating unit.
3. a kind of climbing robot rotated in place according to claim 1, it is characterised in that：The erecting bed (4)
Top be further fixed on working equipment (6).
4. a kind of climbing robot rotated in place according to claim 3, it is characterised in that：The working equipment
(6) it is spray-painting plant, photographic device or detection device.
5. a kind of climbing robot rotated in place according to claim 1, it is characterised in that：The turning-bar (53)
Inside positioned at crawler belt described in side (9).
6. a kind of climbing robot rotated in place according to claim 1, it is characterised in that：The steering magnet
(54) it is electromagnet.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721742728.7U CN207631368U (en) | 2017-12-14 | 2017-12-14 | A kind of climbing robot rotated in place |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721742728.7U CN207631368U (en) | 2017-12-14 | 2017-12-14 | A kind of climbing robot rotated in place |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN207631368U true CN207631368U (en) | 2018-07-20 |
Family
ID=62862877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721742728.7U Expired - Fee Related CN207631368U (en) | 2017-12-14 | 2017-12-14 | A kind of climbing robot rotated in place |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN207631368U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436117A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Crawler attachment and climbing robot |
-
2017
- 2017-12-14 CN CN201721742728.7U patent/CN207631368U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109436117A (en) * | 2018-12-21 | 2019-03-08 | 北京史河科技有限公司 | Crawler attachment and 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: 20180720 Termination date: 20181214 |