CN207644506U - Robot and working equipment - Google Patents
Robot and working equipment Download PDFInfo
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- CN207644506U CN207644506U CN201721924986.7U CN201721924986U CN207644506U CN 207644506 U CN207644506 U CN 207644506U CN 201721924986 U CN201721924986 U CN 201721924986U CN 207644506 U CN207644506 U CN 207644506U
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Abstract
The utility model provides a kind of robot and working equipment, belongs to robotic technology field.Robot includes ontology, the first actuator and at least two running gears that can climb wall, at least one running gear includes connector and walking component, walking component is connect with connector, connector is rotatablely connected with ontology, first actuator is for driving at least two running gears to relatively rotate, so that at least two running gears are located in approximately the same plane, or in two planes of intersection.The robot during climbing wall, can pass through corner by least two running gears of relative rotation so that it can be respectively acting in different planes.The robot architecture is simple, and cost is relatively low, highly practical.Working equipment includes robot, the repertoire with the robot.
Description
Technical field
The utility model is related to robotic technology fields, in particular to a kind of robot and working equipment.
Background technology
Climbing robot, the automatic machinery people that can be climbed and fulfil assignment in perpendicular walls.Climbing robot is again
Referred to as wall-surface mobile robot because vertical walls operation exceeds the limit of people, therefore is also known as limit operation machine in foreign countries
People.
Climbing robot must have absorption and mobile two basic functions, and common suction type has negative-pressure adsorption and forever
Two kinds of magnetic suck.Wherein negative pressure mode can be adsorbed in by generating negative pressure in sucker on wall surface, not limited by wall surface material
System；Permanent magnetic suck mode then has permanent magnet and electromagnet two ways, is only applicable to absorption magnetic conductivity wall surface.
Climbing robot is mainly used for petroleum chemical enterprise and carries out defect detecting test or spray painting processing to cylindrical big tank, or is built
Build the cleaning and spraying of object.It is used for checking thickness measuring etc. in nuclear industry, can be also used for the industries such as fire-fighting and shipbuilding.
Inventor has found under study for action, existing at least to have the following disadvantages in the related technology：
It can only adapt to single road conditions；
If selecting the robot that can adapt to slightly complex road condition, cost is higher.
Utility model content
The purpose of this utility model is to provide a kind of robots, improve the deficiencies in the prior art, can pass through phase
At least two running gears to rotation are so that it can be respectively acting in different planes, during climbing wall, Neng Goushun
Profit passes through corner.The robot architecture is simple, and cost is relatively low, highly practical.
The another object of the utility model is the provision of a kind of working equipment comprising robot mentioned above,
Repertoire with the robot.
What the embodiments of the present invention were realized in：
The embodiments of the present invention provide a kind of robot comprising ontology, the first actuator and can climb wall
At least two running gears, at least one running gear include connector and walking component, the walking component with it is described
Connector connects, and the connector is rotatablely connected with the ontology, and first actuator is for driving at least two institutes
Running gear relative rotation is stated, so that at least two running gears are located in approximately the same plane, or positioned at the two of intersection
In a plane.
Specifically, the robot can be by least two running gears of relative rotation so that it can be respectively acting on
In different planes, during climbing wall, corner can be passed through.The robot architecture is simple, and cost is relatively low, practicability
By force.
Optionally, the robot further includes revolution driving, and first actuator is integrated in the revolution driving, institute
It states revolution driving to connect with the ontology and the connector respectively, the revolution driving is for driving at least two walkings
Device relatively rotates.
Optionally, the robot further includes multiple adsorbent equipments, and the walking component includes transmission belt and at least two
First driving wheel, first driving wheel are rotatablely connected with the connector, and the both ends of the connector are distributed with institute
State the first driving wheel, described at least two first driving wheels are sequentially connected by the transmission belt, multiple adsorbent equipments with
The transmission band connection and along the circumferentially distributed of the transmission belt.
Optionally, the robot further includes support device, and the support device includes support element and multiple first supports
Wheel, the support element are connect with the connector, and first support wheel is rotatablely connected with the support element, the support
The both sides of part are distributed with first support wheel, and the transmission belt is between two opposite first support wheels, phase
To two first support wheels correspond to the transmission belt both sides.
Optionally, the robot further includes the second actuator, and the support element is telescopic to be connected to the connector
And enabling the transmission belt closer or far from the connector, second actuator connect with the connector and for driving
It is flexible to move the support element.
Optionally, the axial line that the connector is rotated relative to the ontology is the first rotational axis line, described first
The axial line that driving wheel is rotated relative to the connector is the second rotational axis line, first rotational axis line and described the
Two rotational axis lines are parallel.
Optionally, the robot further includes multiple adsorbent equipments, and the walking component includes the second driving wheel, and described the
Two driving wheels are rotatablely connected with the connector, and multiple adsorbent equipments are connect and with second driving wheel along described
Second driving wheel it is circumferentially distributed.
Optionally, the adsorbent equipment is at least one of magnetic attracting device or negative pressure adsorption equipment.
Optionally, the both sides of the ontology be respectively connected with the running gear or the ontology the same side be connected with to
The quantity of few two running gears or the ontology is at least two, is connected between adjacent two ontologies
State running gear.
Optionally, the robot further includes equipment, and the equipment is connect with the ontology.
The embodiments of the present invention additionally provide a kind of robot, and the robot is provided at least two and is used for and waits for
The attached attaching face of face paste is attached, at least two attaching faces can relatively rotate, so that at least two attaching faces have
The first state of coincidence, and the second state with intersection.
Optionally, the robot includes ontology, the first actuator and at least two running gears that can climb wall, described
At least two running gears are connected to the ontology, and the attaching face is located on the running gear, and first actuator is used
It is relatively rotated at least two running gear of driving, so that at least two running gears are located in approximately the same plane,
Or in two planes of intersection.
The embodiments of the present invention additionally provide a kind of robot comprising ontology, the first actuator, connector and energy
At least two running gears of wall are enough climbed, at least one running gear is connect with the connector, and the connector can turn
Dynamic is connected to the ontology, and first actuator is for driving at least two running gears to relatively rotate, so that extremely
Few two running gears are located in approximately the same plane, or in two planes of intersection.
The embodiments of the present invention additionally provide a kind of working equipment comprising robot mentioned above has
The repertoire of the robot.
Compared with prior art, the advantageous effect of the utility model embodiment includes：
The robot can be by least two running gears of relative rotation so that it can be respectively acting on different put down
On face, during climbing wall, corner can be passed through.The robot architecture is simple, and cost is relatively low, highly practical.
Description of the drawings
It, below will be to required use in embodiment in order to illustrate more clearly of the technical solution of the utility model embodiment
Attached drawing be briefly described, it should be understood that the following drawings illustrates only some embodiments of the utility model, therefore should not be by
Regard the restriction to range as, for those of ordinary skill in the art, without creative efforts, may be used also
To obtain other relevant attached drawings according to these attached drawings.
Fig. 1 is the overall structure diagram for the robot that the utility model embodiment provides；
Fig. 2 is the schematic diagram of the first running gear of robot shown in FIG. 1；
Fig. 3 is the close-up schematic view at A shown in Fig. 2；
Fig. 4 is the structural schematic diagram under a kind of visual angle of running gear shown in Fig. 2；
Fig. 5 is the structural schematic diagram under another visual angle of running gear shown in Fig. 2；
Fig. 6 is the schematic diagram of second of running gear of robot shown in FIG. 1；
Fig. 7 is the structural schematic diagram for the first robot that the utility model embodiment provides；
Fig. 8 is the structural schematic diagram for second of robot that the utility model embodiment provides；
Fig. 9 is the structural schematic diagram for the third robot that the utility model embodiment provides；
Figure 10 is the structural schematic diagram for the 4th kind of robot that the utility model embodiment provides；
Figure 11 is the structural schematic diagram for the 5th kind of robot that the utility model embodiment provides；
Figure 12 is the structural schematic diagram for the 6th kind of robot that the utility model embodiment provides；
Figure 13 is the structural schematic diagram for the 7th kind of robot that the utility model embodiment provides；
Figure 14 is the schematic diagram that the robot that the utility model embodiment provides is under the first working condition；
Figure 15 is the schematic diagram that the robot that the utility model embodiment provides is under second of working condition；
Figure 16 is the schematic diagram that the robot that the utility model embodiment provides is under the third working condition；
Figure 17 is the schematic diagram that the robot that the utility model embodiment provides is under the 4th kind of working condition；
Figure 18 is the schematic diagram that the robot that the utility model embodiment provides is under the 5th kind of working condition；
Figure 19 is the schematic diagram that the robot that the utility model embodiment provides is under the 6th kind of working condition；
Figure 20 is the schematic diagram that the robot that the utility model embodiment provides is under the 7th kind of working condition；
Figure 21 is the schematic diagram that the robot that the utility model embodiment provides is under the 8th kind of working condition；
Figure 22 is the schematic diagram that the robot that the utility model embodiment provides is under the 9th kind of working condition.
Icon：100- robots；10- ontologies；20- revolution drivings；The first running gears of 30-；31- connectors；32- first
Driving wheel；33- transmission belts；The second running gears of 40-；50- support devices；51- support elements；The first support wheels of 52-；53- second
Support wheel；54- third support wheels；60- magnetic attracting devices；70- negative pressure adsorption equipments；80- equipments；The first faces 200-；300-
Second face.
Specific implementation mode
It is new below in conjunction with this practicality to keep the purpose, technical scheme and advantage of the utility model embodiment clearer
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is the utility model a part of the embodiment, instead of all the embodiments.Usually here described in attached drawing and
The component of the utility model embodiment shown can be arranged and be designed with a variety of different configurations.
Therefore, the detailed description of the embodiments of the present invention to providing in the accompanying drawings is not intended to limit requirement below
The scope of the utility model of protection, but it is merely representative of the selected embodiment of the utility model.Based in the utility model
Embodiment, the every other embodiment that those of ordinary skill in the art are obtained without creative efforts, all
Belong to the range of the utility model protection.
It should be noted that：Similar label and letter indicate similar terms in following attached drawing, therefore, once a certain Xiang Yi
It is defined, then it further need not be defined and explained in subsequent attached drawing in a attached drawing.
In the description of the present invention, it should be noted that term "upper", "lower", "left", "right", "inner", "outside" etc.
The orientation or positional relationship of instruction be based on the orientation or positional relationship shown in the drawings or the utility model product use when
The orientation or positional relationship usually put, is merely for convenience of describing the present invention and simplifying the description, rather than instruction or dark
Show that signified device or element must have a particular orientation, with specific azimuth configuration and operation, therefore should not be understood as pair
The limitation of the utility model.
In addition, term " first ", " second ", " third " etc. are only used for distinguishing description, it is not understood to indicate or imply
Relative importance.
In the description of the present invention, it should also be noted that, unless otherwise clearly defined and limited, term " is set
Set ", " installation ", " connection " shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integrally
Connection；It can be mechanical connection, can also be electrical connection；Can be directly connected, can also indirectly connected through an intermediary,
It can be the connection inside two elements.For the ordinary skill in the art, it can understand above-mentioned art with concrete condition
The concrete meaning of language in the present invention.
Embodiment 1
Please refer to Fig.1-Figure 13, present embodiments provide a kind of robot 100 comprising ontology 10, the first actuator and
Can climb at least two running gears of wall, at least one running gear includes connector 31 and walking component, walking component with
Connector 31 connects, and connector 31 is rotatablely connected with ontology 10, and the first actuator is for driving at least two running gears
It relatively rotates, so that at least two running gears are located in approximately the same plane, or in two planes of intersection.
In conjunction with Fig. 2 and Fig. 6, it is possible to understand that, running gear is equipped with adsorbent equipment, and wall is climbed so as to realize, absorption
Device can be magnetic attracting device 60, negative pressure adsorption equipment 70 or the wind turbine etc. reversely dried.
In Fig. 2, magnetic attracting device 60 can be permanent magnet, can also be electromagnet, it is preferred that it is electromagnet, Ke Yitong
Size of the control by electric current is crossed, so as to realize the size for the magnetic adsorptive power for controlling magnetic attracting device 60, to walk.It adopts
With this adsorbent equipment, general walking is on the surface of metal (steel).
In Fig. 6, negative pressure adsorption equipment 70 can select the sucker structure with constant adsorption capacity, it is preferred that by inhaling
Disk carries out vacuumizing generation adsorption capacity, and it is controllable to reach adsorption capacity in this way, to walk.Using this adsorbent equipment, generally
Walking is on the surface of relative smooth.
In Fig. 1, the both sides of ontology 10 are respectively connected with running gear, respectively the first running gear 30 and the second running gear
40, two running gears are rotatablely connected with ontology 10, and the position relatively rotated is located at the same end of ontology 10, passes through in this way
Both first running gear 30 and the second running gear 40 relatively rotate, and to realize, realization turns in two planes of intersection
It changes.
First actuator selects motor, it is possible to understand that, shell is mounted on ontology 10, and output shaft is mounted on connector
On 31 or shell be mounted on connector 31 on, output shaft be mounted on ontology 10 on, then realize drive connection part 31 relative to
Ontology 10 rotates, to realize the relative rotation of two running gears.
It of courses, the first actuator can also select cylinder, oil cylinder etc., be translatable and converted by realizations such as rack and pinion mechanisms
For rotation.
Similarly, the first actuator can also have the diversified forms such as connecting rod, worm and gear, motor to be driven.
It is therefore to be understood that, the first actuator provides driving force, to drive at least two running gears to relatively rotate, because
As long as this can realize that the structure of these effects can be selected.
What needs to be explained here is that one of running gear can be integrated on ontology 10, that is to say, that one of them
The position of running gear and ontology 10 is relatively-stationary, another running gear is rotated relative to ontology 10, to realize
The relative rotation of two running gears.
Similarly, one of running gear can be rotated relative to ontology 10, and another running gear is relative to ontology
10 slidings, can also realize that two running gears can relatively rotate.
As long as therefore can realize, it can be relatively rotated there are two running gear in robot 100, then may be implemented to work as machine
After device people 100 is in a plane of intersection, two running gears can be made to relatively rotate, make running gear successively from intersection
A plane conversion to another plane, and entire robot 100 is not fallen out.
It is also equipped with equipment 80 on ontology 10 in Fig. 1, which of courses, select not for welding
Same equipment 80, may be implemented the functions such as cleaning, mopping.
The robot 100 can be by least two running gears of relative rotation so that it can be respectively acting on difference
Plane on, during climbing wall, corner can be passed through.The robot 100 is simple in structure, and cost is relatively low, practicability
By force.
Robot 100 further includes revolution driving 20, and the first actuator is integrated in revolution driving 20, and revolution driving 20 is distinguished
It is connect with ontology 10 and connector 31, revolution driving 20 is for driving at least two running gears to relatively rotate.
In conjunction with Fig. 1, there are two revolution driving 20, the first running gears 30 to pass through revolution driving 20 and this for the tool of robot 100
Body 10 connects, and the second running gear 40 is connect by revolution driving 20 with ontology 10, by revolution driving 20, has both realized walking
Device is connect with ontology 10, also achieves included driving structure, and driving running gear is rotated relative to ontology 10.
In conjunction with Fig. 2, robot 100 further includes multiple adsorbent equipments, and walking component includes transmission belt 33 and at least two the
One driving wheel 32, the first driving wheel 32 are rotatablely connected with connector 31, and the both ends of connector 31 are distributed with the first driving
Wheel 32, at least two first driving wheels 32 are sequentially connected by transmission belt 33, and multiple adsorbent equipments are connect with transmission belt 33 and edge
Transmission belt 33 it is circumferentially distributed.
Respectively there are one the first driving wheels 32 for distribution at the both ends of connector 31 in Fig. 2, are passed power by the first driving wheel 32
It is handed to transmission belt 33, multiple adsorbent equipments are evenly distributed on transmission belt 33, to realize that running gear can preferably recline
On wall.
Transmission belt 33 can be crawler belt, can also select chain, or other drive mechanisms.
First driving wheel 32 can automatic driving structure, that is to say, that the first driving wheel 32 is built-in with motor, driving the
One driving wheel 32 is rotated relative to connector 31.It can also be that connector 31 is built-in with motor, drive 32 phase of the first driving wheel
Connector 31 is rotated.
When it is implemented, the quantity of the first driving wheel 32 on connector 31 does not limit, can be three, four, five
Deng.
In conjunction with Fig. 2-Fig. 4, robot 100 further includes support device 50, and support device 50 includes support element 51 and multiple the
One support wheel 52, support element 51 are connect with connector 31, and the first support wheel 52 is rotatablely connected with support element 51, support element 51
Both sides be distributed with the first support wheel 52, transmission belt 33 is between two opposite the first support wheels 52, opposite two
First support wheel 52 corresponds to the both sides of transmission belt 33.
First support wheel 52 can be understood as lateral support wheel, when wall is laterally climbed by robot 100, the first support wheel
52 can resist the side of transmission belt 33, effectively the gravity of ontology 10 is transmitted on transmission belt 33 and adsorbent equipment, while energy
It is enough to lower abrasion.
Similarly, support device 50 further includes the second support wheel 53, and the second support wheel 53 is rotatablely connected with support element 51,
Second support wheel 53 is for Contact Transmission band 33 close to the side of connector 31.
Similarly, support device 50 further includes third support wheel 54, and third support wheel 54 is rotatablely connected with support element 51,
Third support wheel 54 is used for side of the Contact Transmission band 33 far from connector 31.
It is described with the relative position in Fig. 3, the top of transmission belt 33 is provided with the second support wheel 53, under transmission belt 33
Side is provided with third support wheel 54, and the side of transmission belt 33 is provided with the first support wheel 52.
In conjunction with Fig. 5, robot 100 further includes the second actuator, and support element 51 is telescopic to be connected to connector 31 and make
Transmission belt 33 can be closer or far from connector 31, and the second actuator connect with connector 31 and stretched for driving support member 51
Contracting.
Second actuator is set in connector 31, can is motor, be converted rotation to by rack and pinion mechanism
Translation, in this way, when running gear walking is in cambered surface, can make branch to realize that driving support member 51 carries out stretching motion
Support member 51 is stretched out or is retracted relative to connector 31, so that transmission belt 33 can adapt in the cambered surface of walking so that walking dress
Set has contact area as big as possible with wall, with the firm effect of enhancing contact, improves the adsorption capacity of robot 100.
It should be understood that when robot 100 needed corner, generally requiring, which reduces running gear, is adsorbed on wall
Adsorption capacity disengages to be conducive to running gear with wall, in general, can be filled by controlling magnetic attracting device 60 or negative-pressure adsorption
70 are set, to control adsorption capacity, and general magnetic attracting device 60 selects electromagnet.
After support element 51 can stretch, when needing robot 100 to need corner, the second driving of control can be passed through
Part, the transmission belt 33 that will be close on wall retract, to make corresponding adsorbent equipment far from wall, finally make adsorbent equipment one by one
It is detached from wall.In this way, when needing to drive running gear revolution, the adsorption capacity of 2/3-3/4 can be reduced, to more
Be conducive to robot 100 and cross corner.
At this point, magnetic attracting device 60 can select permanent magnet, when needing corner, it is only necessary to which the second actuator controls support element
51 pull transmission belt 33, and magnetic attracting device 60 is made to be detached from wall, are more advantageous to running gear revolution in this way.
Meanwhile under this mode, the second actuator can select electromagnet, and control is different by sense of current, from
And the magnetic pole for making electromagnet be showed is different, in this way, when the second actuator side magnetic pole opposite with permanent magnet is identical, table
It is now to repel, then realizes transmission belt 33 far from connector 31, when the second actuator side magnetic pole opposite with permanent magnet is opposite,
It shows as attracting, then realizes transmission belt 33 close to connector 31.In this embodiment, it is close that adsorbent equipment equally may be implemented
Or far from wall.
Connector 31 is the first rotational axis line relative to the axial line that ontology 10 rotates, and the first driving wheel 32 is relative to even
The axial line that fitting 31 rotates is the second rotational axis line, and the first rotational axis line is parallel with the second rotational axis line.
What needs to be explained here is that " parallel " here be not required for it is absolute parallel, but it is opposite parallel, allow to have
Certain deviation.
In other embodiments, robot 100 further includes multiple adsorbent equipments, and walking component includes the second driving wheel, the
Two driving wheels are rotatablely connected with connector 31, and multiple adsorbent equipments connect with the second driving wheel and along the week of the second driving wheel
To distribution.
In general, multiple second driving wheels can be distributed on a connector 31, absorption dress is installed on the second driving wheel
It sets, in this way, when the second driving wheel is walked on wall, can preferably stick on wall.
Adsorbent equipment is at least one of magnetic attracting device 60 or negative pressure adsorption equipment 70.
What needs to be explained here is that after thering is running gear to be integrated on ontology 10, then absorption can be installed on ontology 10
Device, then this adsorbent equipment can select the wind turbine reversely dried, by generate negative pressure so that robot 100 is sticked on wall
On.
Optionally, the both sides of ontology 10 are respectively connected with running gear or the same side of ontology 10 is connected at least two rows
The quantity of walking apparatus or ontology 10 is at least two, and running gear is connected between adjacent two ontologies 10.
Structure in conjunction with Fig. 7, the first robot 100 is：One ontology 10 and two running gears, during ontology 10 is located at
Portion, left side are connected with running gear, and right side is also connected with running gear, and 20 phase of revolution driving of two running gears connection
To positioned at the same end of ontology 10.
In conjunction with Fig. 8, the structure of second of robot 100 is：One ontology 10 and two running gears, during ontology 10 is located at
Portion, left side are connected with running gear, and right side is also connected with running gear, and 20 phase of revolution driving of two running gears connection
To positioned at the both ends of ontology 10.
Structure in conjunction with Fig. 9, the third robot 100 is：One ontology 10 and three running gears, during ontology 10 is located at
Portion, left side are connected with running gear, and right side connection is there are two running gear, and the revolution driving of the running gear in left side 20
In one end of ontology 10, the revolution driving 20 of two running gears on right side is located at the both ends of ontology 10.
In conjunction with Figure 10, the structure of the 4th kind of robot 100 is：One ontology 10 and four running gears, ontology 10 are located at
Middle part, left side connection is there are two running gear, and right side connection is there are two running gear, and two running gears in left side return
Turn the both ends that driving 20 is located at ontology 10, the revolution driving 20 of two running gears on right side is located at the two of ontology 10
End.
In conjunction with Figure 11, the structure of the 5th kind of robot 100 is：One ontology 10 and two running gears, one of row
Ontology 10 is connected on the left of walking apparatus, right side is connected with another running gear, and two revolution drivings 20 correspond to ontology
10 one end.
In conjunction with Figure 12, the structure of the 6th kind of robot 100 is：Two ontologies 10 and two running gears, two ontologies 10
Positioned at both sides, two running gears are distributed in side by side between two ontologies 10, and three revolution drivings 20 correspond to two ontologies
10 one end.
In conjunction with Figure 13, the structure of the 7th kind of robot 100 is：Two ontologies 10 and two running gears, two ontologies 10
It positioned at both sides, is distributed in before and after two running gears between two ontologies 10, two revolution drivings of one of running gear
20 correspond to one end of two ontologies 10, and two revolution drivings 20 of another running gear correspond to the another of two ontologies 10
End.
Similarly, as long as there are two running gears for robot 100, and two running gears can relatively rotate, this knot
Structure can be selected.
According to a kind of robot 100 that the utility model embodiment provides, the operation principle of robot 100 is：
By the way that there are two the running gears that can be relatively rotated, when needing corner, robot 100 is integrally located at intersection
One of on face, one of running gear rotates the another side for sticking on intersection under the action of revolution driving 20 at this time
On, then so that another running gear is converted to another side by the face by revolution driving 20, turn it is thus achieved that robot 100 is crossed
Angle, while ensure that at least one running gear of robot 100 always sticks on wall.
Embodiment 2
The present embodiment additionally provides a kind of robot 100, and robot 100 is provided at least two and is used for and face paste to be attached
Attached attaching face, at least two attaching faces can relatively rotate, so that at least two attach first state of the face with coincidence, with
And the second state with intersection.
Robot 100 is attached to by making two attaching faces exchange in two planes of intersection, it is thus achieved that crossing corner.
Attaching face can be understood as the part attached with wall in robot 100.
Robot 100 includes ontology 10, the first actuator and at least two running gears that can climb wall, at least two rows
Walking apparatus is connected to ontology 10, and the face of attaching is located on running gear, and the first actuator is for driving at least two running gear phases
To rotation, so that at least two running gears are located in approximately the same plane, or in two planes of intersection.
It is relatively rotated by least two running gears, may be implemented can be successively from the one of intersection there are two running gear
It converts to another face in a face.
Dependency structure in the present embodiment can be with the structure in reference implementation example 1.
Embodiment 3
The present embodiment additionally provides a kind of robot 100 comprising ontology 10, the first actuator, connector 31 and can
At least two running gears of wall are climbed, at least one running gear is connect with connector 31, and connector 31 is rotatablely connected with
Ontology 10, the first actuator is for driving at least two running gears to relatively rotate, so that at least two running gears are located at together
In one plane, or in two planes of intersection.
Similarly, the quantity of running gear does not limit, if it can be relatively rotated there are two running gear, and can be successively
It is converted from a face of intersection to another face.
Dependency structure in the present embodiment can be with the structure in reference implementation example 1.
Embodiment 4
The present embodiment also provides a kind of working equipment comprising robot 100 mentioned above has the robot
100 repertoire.
The structure of robot 100 can be with reference implementation example 1 or 2.
Working equipment further includes remote controler, and remote controler is connected with ontology 10 by wireless signal, and such user can lead to
Cross remote control control robot 100.
Embodiment 5
4- Figure 22 is please referred to Fig.1, the working method that example additionally provides a kind of robot 100 is originally applied, for realizing robot
100 convert in two planes of intersection, use above-mentioned robot 100, two of which running gear is respectively the first row
Two planes of walking apparatus 30 and the second running gear 40, intersection are respectively the first face 200 and the second face 300, and method includes：
The first running gear 30 is set to be rotated relative to the second running gear 40, so that the first running gear 30 is from the first face
On 200 conversion to the second faces 300；
The second running gear 40 is set to be rotated relative to the first running gear 30, so that the second running gear 40 is from the first face
On 200 conversion to the second faces 300.
Specifically, in conjunction with Figure 14, when robot 100 is run on the first face 200, needs conversion to the second face 300,
Entirety of first advancing makes robot 100 be in the state shown in Figure 15 close to the junction in the first face 200 and the second face 300；
So that the first running gear 30 is rotated relative to ontology 10, makes the first running gear 30 from the conversion of the first face 200 to the
On two faces 300, and it is made to be adsorbed on the second face 300, robot 100 is made to be in the state shown in Figure 16；
So that the second running gear 40 is rotated relative to ontology 10, makes the second running gear 40 from the conversion of the first face 200 to the
On two faces 300, and it is made to be adsorbed on the second face 300, robot 100 is made to be in the state shown in Figure 17；
So that ontology 10 is rotated relative to the first running gear 30, makes ontology 10 from the conversion of the first face 200 to the second face 300
On, so that robot 100 is in the state shown in Figure 18；
Make the first running gear 30 and the second running gear 40 be attached on the second face 300 to move ahead, ontology 10 is made to stick on
On second face 300, robot 100 is made to be in the state in Figure 19；
So that the first running gear 30 is rotated relative to ontology 10, the first running gear 30 made to correspond in the side of ontology 10,
Robot 100 is set to be in the state in Figure 20；
So that the second running gear 40 is rotated relative to ontology 10, the second running gear 40 made to correspond in the side of ontology 10,
So that robot 100 is in the state in Figure 21, completes the state shown in reset state, that is, Figure 14.
At this point, equipment 80 can be rotated relative to ontology 10, so that equipment 80 can be from the first face 200 and
Continue to weld at the position of two faces 300 connection, robot 100 is in the state shown in Figure 22 at this time.
In conclusion the utility model provides a kind of robot 100, which can pass through relative rotation
At least two running gears are so that it can be respectively acting in different planes, during climbing wall, can pass through and turn
Angle.The robot 100 is simple in structure, and cost is relatively low, highly practical.
It should be noted that in the absence of conflict, the feature in the embodiments of the present invention can be combined with each other.
The above descriptions are merely preferred embodiments of the present invention, is not intended to limit the utility model, for this
For the technical staff in field, various modifications and changes may be made to the present invention.It is all in the spirit and principles of the utility model
Within, any modification, equivalent replacement, improvement and so on should be included within the scope of protection of this utility model.
Industrial applicibility：
In conclusion the utility model provides a kind of robot, simple in structure, manufacturing cost is low.
Claims (14)
1. a kind of robot (100), which is characterized in that including ontology (10), the first actuator and at least two of wall can be climbed
Running gear, at least one running gear include connector (31) and walk component, the walking component and the connection
Part (31) connects, and the connector (31) is rotatablely connected with the ontology (10), and first actuator is for driving extremely
Few two running gears relatively rotate, so that at least two running gears are located in approximately the same plane, or are located at
In two planes of intersection.
2. robot (100) according to claim 1, which is characterized in that the robot (100) further includes revolution driving
(20), first actuator is integrated in the revolution driving (20), the revolution driving (20) respectively with the ontology
(10) turn relatively at least two running gears of driving with the connector (31) connection, the revolution driving (20)
It is dynamic.
3. robot (100) according to claim 1, which is characterized in that the robot (100) further includes multiple absorption
Device, the walking component include transmission belt (33) and at least two first driving wheels (32), and first driving wheel (32) can
Rotation is connected to the connector (31), and the both ends of the connector (31) are distributed with first driving wheel (32), institute
It states at least two first driving wheels (32) to be sequentially connected by the transmission belt (33), multiple adsorbent equipments and the transmission
Band (33) connects and along the circumferentially distributed of the transmission belt (33).
4. robot (100) according to claim 3, which is characterized in that the robot (100) further includes support device
(50), the support device (50) includes support element (51) and multiple first support wheels (52), the support element (51) with it is described
Connector (31) connects, and first support wheel (52) is rotatablely connected with the support element (51), the support element (51)
Both sides be distributed with first support wheel (52), the transmission belt (33) is located at two opposite first support wheels
(52) between, opposite two first support wheels (52) correspond to the both sides of the transmission belt (33).
5. robot (100) according to claim 4, which is characterized in that the robot (100) further includes the second driving
Part, the support element (51) is telescopic to be connected to the connector (31) and makes the transmission belt (33) can be closer or far from
The connector (31), second actuator connect with the connector (31) and for driving the support element (51) to stretch
Contracting.
6. robot (100) according to claim 3, which is characterized in that the connector (31) is relative to the ontology
(10) axial line rotated is the first rotational axis line, what first driving wheel (32) rotated relative to the connector (31)
Axial line is the second rotational axis line, and first rotational axis line is parallel with second rotational axis line.
7. robot (100) according to claim 1, which is characterized in that the robot (100) further includes multiple absorption
Device, the walking component include the second driving wheel, and second driving wheel is rotatablely connected with the connector (31), more
A adsorbent equipment connect with second driving wheel and along the circumferentially distributed of second driving wheel.
8. according to claim 3-7 any one of them robot (100), which is characterized in that the adsorbent equipment fills for magnetic
Set at least one of (60) or negative pressure adsorption equipment (70).
9. according to claim 1-7 any one of them robot (100), which is characterized in that the both sides of the ontology (10) are equal
The same side for being connected with the running gear or the ontology (10) is connected at least two running gears or described
The quantity of body (10) is at least two, and the running gear is connected between adjacent two ontologies (10).
10. according to claim 1-7 any one of them robot (100), which is characterized in that the robot (100) is also wrapped
Equipment (80) is included, the equipment (80) connect with the ontology (10).
11. a kind of robot (100), which is characterized in that the robot (100) is provided at least two and is used for and face to be attached
The attaching face of attaching, at least two attaching faces can relatively rotate, so that at least two attaching faces have coincidence
First state, and the second state with intersection.
12. robot (100) according to claim 11, which is characterized in that the robot (100) includes ontology
(10), the first actuator and at least two running gears of wall can be climbed, at least two running gear is connected to described
Body (10), the attaching face are located on the running gear, and first actuator is for driving at least two walking dresses
Relative rotation is set, so that at least two running gears are located in approximately the same plane, or in two planes of intersection.
13. a kind of robot (100), which is characterized in that including ontology (10), the first actuator, connector (31) and can climb
At least two running gears of wall, at least one running gear are connect with the connector (31), the connector (31)
It is rotatablely connected with the ontology (10), first actuator is for driving at least two running gears are opposite to turn
It is dynamic, so that at least two running gears are located in approximately the same plane, or in two planes of intersection.
14. a kind of working equipment, which is characterized in that including claim 1-13 any one of them robot (100).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721924986.7U CN207644506U (en) | 2017-12-29 | 2017-12-29 | Robot and working equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721924986.7U CN207644506U (en) | 2017-12-29 | 2017-12-29 | Robot and working equipment |
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| Publication Number | Publication Date |
|---|---|
| CN207644506U true CN207644506U (en) | 2018-07-24 |
Family
ID=62877205
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721924986.7U Expired - Fee Related CN207644506U (en) | 2017-12-29 | 2017-12-29 | Robot and working equipment |
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| Country | Link |
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| CN (1) | CN207644506U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163069A (en) * | 2017-12-29 | 2018-06-15 | 湖南三快而居住宅工业有限公司 | The method of work of robot, working equipment and robot |
| CN112429103A (en) * | 2020-12-10 | 2021-03-02 | 北方工业大学 | Compound passive climbing of absorbent crawler-type constructs |
-
2017
- 2017-12-29 CN CN201721924986.7U patent/CN207644506U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108163069A (en) * | 2017-12-29 | 2018-06-15 | 湖南三快而居住宅工业有限公司 | The method of work of robot, working equipment and robot |
| CN112429103A (en) * | 2020-12-10 | 2021-03-02 | 北方工业大学 | Compound passive climbing of absorbent crawler-type constructs |
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