CN208576621U - The climbing robot of hybrid movement - Google Patents
The climbing robot of hybrid movement Download PDFInfo
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- CN208576621U CN208576621U CN201821109082.3U CN201821109082U CN208576621U CN 208576621 U CN208576621 U CN 208576621U CN 201821109082 U CN201821109082 U CN 201821109082U CN 208576621 U CN208576621 U CN 208576621U
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Abstract
The utility model provides a kind of climbing robot of hybrid movement, mechanism that the climbing robot includes: planar motion mechanism and connecting rod strides；Planar motion mechanism is two concentrics and axisymmetric Suction cup assembly, can carry out linear motion and divertical motion in plane；There are motor, motor cabinet and leg connecting rod in the connecting rod mechanism that strides, can be reduced to a four-bar mechanism, can carry out stepping movement.Compared with existing climbing robot, the climbing robot of hybrid movement based on combined sucking disc component and with the function that strides is while ensure that movement velocity, also with the ability of leaping over obstacles, can also be moved in complicated wall surface, wall surface better adaptability.
Description
Technical field
The utility model belongs to field of automation technology, in particular to based on the hybrid of combined sucking disc component
The climbing robot of movement.
Background technique
In climbing robot field, the climbing mechanism based on vacuum suction is commonly divided into frame-type, multi-sucker formula, carries out
Belt, leg formula etc..Under actual environment, wall surface is complex, needs the speed of service, needs the energy in across obstacle and gap
Power, and the ability that can be crawled in the wall surface of different angle, existing mechanism are difficult to meet all the cases above, cause every
A kind of mechanism usable range is limited, it is difficult to realize really practical.
Utility model content
The purpose of this utility model is to provide a kind of wall-climbing devices of hybrid movement based on combined sucking disc component
People.
The climbing robot of hybrid movement in the utility model, including planar motion mechanism and the mechanism that strides are described flat
Face movement mechanism includes the first Suction cup assembly and the second Suction cup assembly of axial symmetry setting, and the mechanism that strides includes the first company
Bar, second connecting rod, first motor seat, the second motor cabinet, intermediate motor, the first motor seat are installed on the first sucker group
Part, second motor cabinet are installed on second Suction cup assembly, and the first connecting rod and the first motor seat are rotatablely connected,
The first connecting rod and the intermediate motor are rotatablely connected, the second connecting rod and the intermediate motor rotation connection, and described the
Two connecting rods and second motor cabinet are rotatablely connected, and the rotation connection is non-dismountable formula rotation connection or detachable rotation
Connection, the first connecting rod and the second connecting rod are the connecting rod or length-adjustable connecting rod of regular length.
Since two connecting rods are connect via respective motor cabinet with Suction cup assembly respectively, so two in the mechanism that strides company
For bar when carrying out pendulum motion, the movement of two connecting rods of the mechanism that strides can drive two in planar motion mechanism respectively
Suction cup assembly moves together.To realize stable stride motion.
In climbing robot as described above, two Suction cup assembly mirror settings, structure is identical.Preferably, first inhales
Disk component and the second Suction cup assembly respectively include main body frame, sliding equipment and adsorbing mechanism, and the sliding equipment is with being capable of edge
The mode of the periphery sliding of the main body frame is uniformly distributed in the periphery of the main body frame, and the adsorbing mechanism is fixed on institute
State sliding equipment.
In said structure, when adsorbing mechanism works, it can either be adsorbed in working face, it also can be as needed without adsorbing
In working face.When adsorbing mechanism is adsorbed in working face, adsorbing mechanism is combined closely with working face, is not readily separated.Work as adsorption machine
When structure is not adsorbed in working face, adsorbing mechanism can easily fall off working face.In climbing robot as described above, preferably
, the main body frame has the upper support frame being spaced apart and lower bracing frame, along the upper support frame and the lower bracing frame
Periphery be respectively arranged with annular guide part, the sliding equipment and the upper and lower two annular guide parts company of sliding respectively
It connects.
According to above-mentioned structure, the sliding equipment of the climbing robot of the utility model can be more stable along body frame
Frame sliding, and it is not likely to produce radial wave.
In climbing robot as described above, it is preferred that the Suction cup assembly further includes transmission mechanism, the driver
Structure has power source, driving wheel and a transmission chain, the driving wheel be fixedly installed on the upper support frame and the lower bracing frame it
Between, using the power from the power source, the transmission chain is driven to rotate.
In climbing robot as described above, it is preferred that the sliding equipment have fixed frame, the two of the fixed frame
The annular guide part of the end respectively with the annular guide part of the upper support frame and the lower bracing frame is slidably connected.
In climbing robot as described above, it is preferred that the fixed frame passes through bogie, steering shaft and V-type bearing,
It is connect with the ring-shaped guide rail, V-type bearing is close to the inner circumferential of the ring-shaped guide rail along the arranged radially of the ring-shaped guide rail respectively
Face and outer peripheral surface setting.
In climbing robot as described above, it is preferred that the inside of the first motor seat and second motor cabinet
Equipped with motor, the bottom of the first motor seat and second motor cabinet is fixedly connected with the Suction cup assembly respectively, described
The head end of the head end of first connecting rod and the second connecting rod respectively with the electricity in the first motor seat and second motor cabinet
The connection of machine output end, the intermediate motor are mounted in the end of first connecting rod, the output end of the intermediate motor and second connecting rod
Other end connection.
In climbing robot as described above, it is preferred that the annular guide part has straight line portion and curved portion, described
Sliding equipment can be moved along the annular guide part around the main body frame.
In climbing robot as described above, it is preferred that the annular guide part is annular projection or groove.
In climbing robot as described above, it is preferred that the sliding equipment also has adapter, the sliding equipment
Via the adapter and the transmission chain link.
Climbing robot according to the present utility model, Suction cup assembly more stable closely can be adsorbed in working face, lead to
The cooperation for crossing stride mechanism and planar motion mechanism can either guarantee robot in the steady movement of smooth working face, and having can
Has the function of across obstacle.Also, when length of connecting rod can timing, can also have across the barrier of different height
Ability.
Detailed description of the invention
Fig. 1 is a kind of climbing robot of the hybrid movement based on Suction cup assembly provided by the embodiment of the utility model
The schematic diagram of stereochemical structure；
Fig. 2 is a kind of structure chart of part Suction cup assembly provided by the embodiment of the utility model；
Fig. 3 is a kind of structure chart of main body frame provided by the embodiment of the utility model；
Fig. 4 is a kind of structure chart of annular guide part provided by the embodiment of the utility model；
Fig. 5 is a kind of structure chart of sliding equipment provided by the embodiment of the utility model；
Fig. 6 is a kind of structure chart of adsorbing mechanism provided by the embodiment of the utility model；
Fig. 7 is that a kind of leg formula provided by the embodiment of the utility model strides the structure chart of mechanism (original state)；
Schematic diagram when Fig. 8 is a kind of linear motion provided by the embodiment of the utility model；
Fig. 9 is a kind of schematic diagram of divertical motion provided by the embodiment of the utility model；
Figure 10 is a kind of schematic diagram for the posture one that strides provided by the embodiment of the utility model；
Figure 11 is a kind of schematic diagram for the posture two that strides provided by the embodiment of the utility model；
Figure 12 is a kind of schematic diagram for the posture three that strides provided by the embodiment of the utility model；
Figure 13 is a kind of schematic diagram for the posture four that strides provided by the embodiment of the utility model；
Figure 14 is a kind of schematic diagram for the posture five that strides provided by the embodiment of the utility model；
Figure 15 is a kind of schematic diagram for the posture six that strides provided by the embodiment of the utility model；
Figure 16 is a kind of schematic diagram for the posture seven that strides provided by the embodiment of the utility model；
Label is described as follows in figure: planar motion mechanism, the first Suction cup assembly of 1A-, the second Suction cup assembly of 1B-, 2- stride
Mechanism, 3- main body frame, 4- sliding equipment, 5- adsorbing mechanism, 6- upper support frame, 7- lower bracing frame, 8- power source, 9- main transmission
Sprocket wheel, 10- auxiliary driving sprocket wheel, 11- transmission chain (band mounting hole), 12- support column, 13- motor fixing frame, 14- shaft coupling, 15-
Main shaft, 16- counter drive shaft, 17- adjusting screw rod, 18- slide fixed frame, 19- steering shaft, 20- bogie, 21-V profile shaft
It holds, 22- adapter, 23- cylinder, 24- vacuum chuck, 25- air cylinder supporting structure, 26- sucker snorkel, 27- snorkel A, 28-
Snorkel B, 29- first motor seat, the second motor cabinet of 30-, 31- first connecting rod, 32- second connecting rod, the centre 33- motor, 101-
Straight line portion, 202- curved portion, annular guide part G.
Specific embodiment
Fig. 1 instantiates a kind of climbing robot of hybrid movement comprising planar motion mechanism 1 and the mechanism 2 that strides.It is flat
Face movement mechanism 1 includes that the Suction cup assembly of two axial symmetry setting (is referred to as the first Suction cup assembly 1A, the second Suction cup assembly
1B, the statement to first, second is merely for convenience and purposes of illustration of herein).First Suction cup assembly 1A is with the second Suction cup assembly 1B
Mirror settings, structure are identical.
The mechanism that strides 2 be link mechanism, the both ends of the mechanism that strides 2 respectively with the first Suction cup assembly 1A, the second Suction cup assembly
1B connection, when the mechanism 2 that strides acts, both ends can drive the first Suction cup assembly 1A, the second Suction cup assembly 1B together respectively
Movement, to realize the function of leap.
As shown in Fig. 2, the first Suction cup assembly 1A, the second Suction cup assembly 1B structure are identical, by taking the first Suction cup assembly 1A as an example,
It includes main body frame 3, sliding equipment 4, adsorbing mechanism 5.Sliding equipment 4 and the periphery of main body frame 3 are slidably connected, can
Movement is slided around the periphery of main body frame 3.Adsorbing mechanism 5 is set to sliding equipment 4, is fixedly connected with sliding equipment 4.Sucker
Component can be adsorbed in working face using the absorption movement of adsorbing mechanism.
As shown in figure 3, main body frame 3 includes the upper support frame 6 being arranged separated by a distance, lower bracing frame 7, in upper support frame 6
The periphery of lower bracing frame 7 is provided with annular guide part G, sliding equipment 4 is realized and main body frame 3 via annular guide part G
It is slidably connected.Sliding equipment 4 and annular guide part G being capable of opposite slidings.
As shown in figure 4, annular guide part G has straight line portion 101 and curved portion 202.Straight line portion 101 and curved portion 202 are flat
Slip enables sliding equipment 4 to carry out sliding along the complete cycle of annular guide part G in the clear and moves, passes through sliding
Mechanism 4 carries out opposite sliding along the complete cycle of annular guide part G, can be realized sliding equipment 4 around the entire outer of main body frame 3
The sliding in week is mobile.
Suction cup assembly (the first Suction cup assembly 1A, the second Suction cup assembly 1B) can also include transmission mechanism, the transmission mechanism
With sprocket for main drive 9 and auxiliary driving sprocket wheel 10, transmission chain 11 and power source 8 (such as driving motor).
In the present embodiment, sprocket for main drive 9 and auxiliary driving sprocket wheel 10 are respectively via main shaft 15 and counter drive shaft 16
It is set between upper support frame 6 and lower bracing frame 7.Sprocket for main drive 9 and auxiliary driving sprocket wheel 10 are sheathed on main shaft 15 respectively
On counter drive shaft 16.Sprocket for main drive 9 and main shaft 15 can be connected by key, and upper branch is run through in one end of main shaft 15
Support 6 and connect with the motor shaft of driving motor (also referred to as output shaft) by shaft coupling 14.Driving motor is fixed by motor
Frame 13 is fixed on upper support frame 6.The other end of main shaft 15 is connect by bearing with lower bracing frame 7.Auxiliary driving sprocket wheel 10
It is connected by bearing and counter drive shaft 16, is rotatably arranged in auxiliary driving sprocket wheel 10 on counter drive shaft 16.Counter drive shaft 16
It is located between upper support frame 6 and lower bracing frame 7 by the shaft shoulder at both ends in the axial direction, axis both ends and upper support frame 6 and lower branch
Adjusting screw rod 17 in strainer on support 7 connects.
Sprocket for main drive 9 and auxiliary driving sprocket wheel 10 can be engaged with transmission chain 11 respectively.8 output power of power source utilizes
Main shaft 15 drives sprocket for main drive 9 to rotate, to drive transmission chain 11 to rotate, so that auxiliary driving sprocket wheel 10 be driven to rotate.
Between upper support frame 6 and lower bracing frame 7, there can also be several support columns 12, pass through screw and upper support
Frame 6 is fixedly connected with lower bracing frame 7, for fixing and supporting upper support frame 6 and lower bracing frame 7, limits upper support frame 6 and lower branch
The distance between support 7.
As shown in figure 5, sliding equipment 4 include sliding fixed frame 18, slide fixed frame 18 both ends respectively with upper support frame 6
It is slidably connected with the annular guide part G of lower bracing frame 7, the two-end structure for sliding fixed frame 18 is consistent, and every one end all turns with a pair
Hinged to axis 19, steering shaft 19 is fixedly connected with bogie 20, and the both ends of bogie 20 are connect with V-type bearing 21 respectively.It turns to
The V-type bearing 21 of one end connection of frame 20 is close to the annular outside in the radial direction guide part G, the other end connection of bogie 20
V-type bearing 21 is close to the annular inside in the radial direction guide part G, to prevent the movement in the radial direction of fixed frame 18, passes through V
Profile shaft holds the V-groove on 21 and matches with the V-structure on annular guide part, to prevent fixed frame 18 in 21 axis of V-type bearing
Upward movement, so that fixed frame 18 can only be slided along annular guide part G.Thereby, it is possible to ensure sliding equipment 4 relative to
The stability of main body frame 3.
When sliding equipment 4 passes through the transition portion of straight line portion 101 and curved portion 201 on annular guide part G, due to turning
Partial turn from bogie 20 to axis 19 that can be hinged around fixed frame 18 and steering shaft 19 together with, so bogie 20 can be according to difference
Annular guide part G radius of curvature carry out adaptability rotation, the annular guide part G of different curvature radius can be passed through.
Adapter 22 is fixed on sliding fixed frame 18, and is connected by screw to the mounting hole on transmission chain 11, then when
When transmission chain 11 moves, sliding equipment 4 is driven to move.
Adapter 22 can also be connect by modes such as hinged, welding, engaging or even magnetic connections with transmission chain 11, from
And it realizes sliding equipment and is fixed relative to the position of transmission chain.When being driven chain movement, sliding equipment is driven to move synchronously.
As shown in fig. 6, adsorbing mechanism 5 includes cylinder 23, vacuum chuck 24, connector 25, sucker snorkel 26, snorkel
A27, snorkel B28.Cylinder 23 is that integral type connects with vacuum chuck 24, passes through sucker snorkel 26, snorkel A27, ventilation
Pipe B28 is connect with atmospheric control, realize cylinder 23 piston rod 24 inner vacuum of movement and vacuum chuck generation with
It releases.Cylinder 23 is fixedly connected by connector 25 with the fixed frame 18 in sliding equipment 2.
When adsorbing mechanism 5 is adsorbed, by the way that compressed air to be filled in snorkel A27, snorkel B28 is connected to
Atmosphere releases the piston rod in cylinder 23, and sucker snorkel 26 is connected to vacuum, and vacuum chuck 24 is made to generate vacuum,
And then it is adsorbed；When adsorbing mechanism 3 does not need to be adsorbed, by the way that compressed air to be filled in snorkel B28, by snorkel
A27 is connected to atmosphere, withdraws the piston rod in cylinder 23, and sucker snorkel 26 is connected to atmosphere, solves vacuum chuck 24
Except vacuum, and then without absorption.
As shown in fig. 7, the mechanism 2 that strides includes first motor seat 29, the second motor cabinet 30, first connecting rod 31, second connecting rod
32 and intermediate motor 33.The bottom of first motor seat 29 is connect with Suction cup assembly 1A, is preferably fixedly connected, or be threadedly coupled etc.
Detachable is fixedly connected.Motor output end inside first motor seat 29 is connect with the head end of first connecting rod 31, and can
Mutually rotation, such as the two can be rotated around connecting shaft.The bottom of second motor cabinet 30 is connect with Suction cup assembly 1B, preferably
It is fixedly connected, or is threadedly coupled etc. and detachable be fixedly connected.Motor output end and second inside second motor cabinet 30 connect
The head end of bar 32 connects, and can mutually rotate, such as rotates around the connecting shaft of the two.The end of first connecting rod 31 is equipped with centre
Motor 33, motor output end are connect with the end of second connecting rod 32, the structure of the link position of first connecting rod and intermediate motor
And the structure of second connecting rod and the link position of intermediate motor may each be rotation connection, such as can do shaft type between the two
Rotation.
As can seen above, there are three freedom degrees for the mechanism that strides 2.Be respectively at the motor output end of first motor seat 29, second
At the motor output end of motor cabinet 30, at the motor output end of intermediate motor 33.
In the present invention, as shown in fig. 7, the original state of climbing robot are as follows: the motor in first motor seat 29
With the motor movement in the second motor cabinet 30 to same axis, and two Suction cup assemblies 1A and 1B are generally aligned in the same plane.
The principle of the linear motion of climbing robot in the utility model are as follows: as shown in Figure 7 and Figure 8, entirely climb wall machine
Device people is first in original state, and then all adsorbing mechanisms 5 on the straight line portion 101 of planar motion mechanism 1 are adsorbed on working face
On, make all adsorbing mechanisms 5 in curved portion 202 without absorption.It is respectively arranged at two drivings electricity of two Suction cup assemblies
The reversed constant velocity rotation of machine drives sprocket for main drive 9 to rotate, so that transmission chain 11 be made to move by driving main shaft 15 to rotate.
It is fixed since the adsorbing mechanism 5 of straight line portion 101 adsorbs working face, so the rotation of transmission chain 11 makes entirely to climb wall machine
Device people moves along a straight line relative to working face.In motion process, can ceaselessly there be adsorbing mechanism 5 to enter straight line portion 101 and arc
Shape portion 202 is constantly adsorbed the adsorbing mechanism 5 into straight line portion 101, makes the suction into curved portion 202 by control
Random structure 5 so recycles without absorption, realizes the linear motion of entire climbing robot.
That is, when sprocket for main drive 9 drives the adsorbing mechanism 5 of the rotation of transmission chain 11 and straight line portion 101 to be adsorbed in work
When face, since transmission chain 11 is engaged with the adapter 22 of fixed frame 18 always, so, transmission chain 11 can be via sprocket for main drive
9, main shaft 15, auxiliary driving sprocket wheel 10 drive main body frame 3 is whole to move linearly relative to working face, meanwhile, it has and is located at
The adsorbing mechanism 5 of curved portion 202 enters straight line portion 101, and the adsorbing mechanism 5 having positioned at straight line portion 101 is gradually converted into
The state of curved portion 202 will be entered.At this point, passing through so that the adsorbing mechanism 5 into straight line portion 101 is adsorbed in working face, make
The disengaging working face of adsorbing mechanism 5 that will enter camber line portion 202 is obtained, the adsorbing mechanism 5 that will enter camber line portion 202 can be made suitable
Benefit relatively moves to camber line portion 202.So circulation enables transmission chain 11 to continue to rotate, and realizes continuous linear motion.
By reversing the steering of two driving motors respectively, the switching of the forward or backward of climbing robot can be realized.
The principle of the divertical motion of the climbing robot of hybrid movement in the utility model are as follows: such as Fig. 7 and Fig. 9 institute
Show, entire climbing robot is first in original state, then inhales the adsorbing mechanism 5 of the curved portion 202 in main body frame 3
It is attached on working face, makes all adsorbing mechanisms 5 of straight line portion 101 without absorption.Two driving motor constant velocity rotations in the same direction,
By driving the rotation of main shaft 15, sprocket for main drive 9 is driven to rotate, and move transmission chain 11, due to curved portion 202
Adsorbing mechanism 5 is adsorbed in working face, fixed, so the rotation of transmission chain 11 makes entire climbing robot relative to work
Face generates the divertical motion around the center of circle of two semicircle main body frames 3, in motion process, can ceaselessly have adsorbing mechanism 5 into
Enter straight line portion 101 and curved portion 202, by control, constantly adsorbed the adsorbing mechanism 5 into curved portion 202, make into
Enter the adsorbing mechanism 5 of straight line portion 101 without absorption, so recycles, realize the divertical motion of entire climbing robot.It is logical
The rotation direction for crossing adjustment driving motor, can adjust the direction that climbing robot turns to the left or to the right.
Realize Acetabula device divertical motion, two main body frames 3 of two Suction cup assemblies are both needed to as semicircular structure, and
Concentric setting because when the adsorbing mechanism 5 in curved portion 202 is adsorbed, be relative to working face it is fixed, work as drive
When dynamic motor work, entire mechanism is started turning, only when curved portion is semicircle and it is concentric when be just able to rotate.
The conversion process of linear motion and rotational motion are as follows: when linear motion will be converted to divertical motion, two driving electricity
Machine stops operating, and then entire climbing robot stop motion.Then so that whole adsorbing mechanisms 5 is adsorbed on working face, then make
The adsorbing mechanism 5 of straight line portion 101 starts turning movement without absorption.When rotational motion will be converted to linear motion, two
A driving motor stops operating, and then entire climbing robot stop motion, and whole adsorbing mechanisms 5 is then made to be adsorbed on work
Then face makes the adsorbing mechanism 5 in curved portion 202 without absorption, and then starts to move along a straight line.
The principle of the stepping movement of the climbing robot of hybrid movement in the utility model are as follows: when movement encounters obstacle
When, entire climbing robot stop motion makes the adsorbing mechanism 5 on the first Suction cup assembly 1A be adsorbed on working face, makes the second suction
Disk component 1B without absorption, then by control first motor seat 29 in motor, the motor in the second motor cabinet 30 and
The movement of intermediate motor 33 lifts the second Suction cup assembly 1B across the adsorption machine after obstacle, made on the second Suction cup assembly 1B
Structure 5 is adsorbed on working face, makes the adsorbing mechanism 5 on the first Suction cup assembly 1A without absorption, then passes through control first motor seat
The movement of motor in 29, the motor in the second motor cabinet 30 and intermediate motor 33, lifts leap for the first Suction cup assembly 1A
Obstacle is crossed, the change procedure of athletic posture is as shown in Figure 10-16, and after completing leaping over obstacles, it is next to return to original state progress
The movement of step.
Other embodiments
Furthermore it is above-mentioned to have been carried out in such a way that driving motor is set to upper support frame for example, still driving motor
Also it can be set in lower bracing frame 7, or driving motor is set between upper lower bracing frame according to size.For example, working as
When selecting minitype motivation source (size of power source is less than the interval between upper lower bracing frame), power source can be set to up and down
Between support frame, to further realize the miniaturization and beautyization of Suction cup assembly.
Furthermore as shown in Fig. 2, Fig. 7, for ease of description, in the present embodiment, main body frame 3 is set in the horizontal direction
It sets, the extending direction of sliding equipment 4 and adsorbing mechanism 5 is vertical with the plane where main body frame 3, the sucker setting of adsorbing mechanism
In the lower section of Suction cup assembly.But in actual use, sucker can also be located at Suction cup assembly top, thus realize from it is lower to
On absorption.
Furthermore first connecting rod or second connecting rod and its respectively rotation connection between motor, can be non-dismountable formula and turn
Dynamic connection is also possible to detachable rotation connection.When can be freely disassembled between connecting rod and motor, it can guarantee each portion
Substitutability between part, to lower maintenance cost.And detachable connection can also increase such as following pairs of differences
The selection space of connecting rod.
In addition, first connecting rod 31 and second connecting rod 32 can according to circumstances select the connecting rod of regular length, can also use
Length-adjustable connecting rod.
When climbing robot advances along same straight line direction, if the length of the first connecting rod for the mechanism that strides and second connecting rod
Difference, two Suction cup assembly can also move in the same direction in different horizontal planes.Such as when along two-stage step formula planar movement,
First Suction cup assembly is in first order step, and the second sucker is in second level step, as long as then in plan view, two suctions
Disk component keeps axial symmetry and concentric structure setting, then climbing robot also can be realized linear movement.
In conclusion having the beneficial effect that of can be realized of climbing robot provided by the utility model:
1, easy for installation, do not need the structures such as installation frame；
2, high-efficient, because making its travel speed be guaranteed using circulation multi-sucker formula structure；
3, there is obstacle climbing ability, stride mechanism due to using leg formula, certain obstacle can be crossed over, there is stronger work
Make face adaptability.
Claims (10)
1. a kind of climbing robot of hybrid movement, which is characterized in that
Including planar motion mechanism and stride mechanism,
The planar motion mechanism includes the first Suction cup assembly and the second Suction cup assembly of concentric and axial symmetry setting,
The mechanism that strides includes first motor seat, the second motor cabinet, first connecting rod, second connecting rod, intermediate motor,
The first motor seat is installed on first Suction cup assembly, and second motor cabinet is installed on the second sucker group
Part,
The first connecting rod and the first motor seat, the first connecting rod and the intermediate motor, the second connecting rod and institute
Stating between intermediate motor, the second connecting rod and second motor cabinet is rotation connection,
The rotation connection is that non-dismountable formula rotation connection or detachable rotation connect,
The first connecting rod and the second connecting rod are the connecting rod or length-adjustable connecting rod of regular length.
2. the climbing robot of hybrid movement according to claim 1, which is characterized in that
First Suction cup assembly and second Suction cup assembly include main body frame, sliding equipment and adsorbing mechanism,
The sliding equipment is uniformly distributed in the main body frame in a manner of it can slide along the periphery of the main body frame
Periphery,
The adsorbing mechanism is fixed on the sliding equipment.
3. climbing robot according to claim 2, which is characterized in that
The main body frame has the upper support frame being spaced apart and lower bracing frame,
Periphery along the upper support frame and the lower bracing frame is respectively arranged with annular guide part,
The sliding equipment is slidably connected respectively with the upper and lower two annular guide parts.
4. climbing robot according to claim 3, which is characterized in that
First Suction cup assembly and second Suction cup assembly respectively further comprise transmission mechanism, and the transmission mechanism has power
Source, driving wheel and transmission chain,
The driving wheel is fixedly installed between the upper support frame and the lower bracing frame, utilizes moving from the power source
Power drives the transmission chain to rotate.
5. climbing robot according to claim 3, which is characterized in that
The sliding equipment has fixed frame,
The both ends of the fixed frame annular guide part with the annular guide part of the upper support frame and the lower bracing frame respectively
It is slidably connected.
6. climbing robot according to claim 5, which is characterized in that
The fixed frame is connect, V-type bearing is along the annular by bogie, steering shaft and V-type bearing with the ring-shaped guide rail
Inner peripheral surface and the outer peripheral surface setting of the ring-shaped guide rail are close in the arranged radially of guide rail respectively.
7. climbing robot according to claim 1, which is characterized in that
The inside of the first motor seat and second motor cabinet is equipped with motor, the first motor seat and second motor
The bottom of seat is fixedly connected with first Suction cup assembly with second Suction cup assembly respectively,
The head end of the head end of the first connecting rod and the second connecting rod respectively with the first motor seat and second motor
Motor output end connection in seat,
The intermediate motor is mounted in the end of first connecting rod, and the output end of the intermediate motor and the other end of second connecting rod connect
It connects.
8. climbing robot according to claim 3, which is characterized in that
The annular guide part has straight line portion and curved portion,
The sliding equipment can be moved along the annular guide part around the main body frame.
9. climbing robot according to claim 3, which is characterized in that
The annular guide part is annular projection or groove.
10. climbing robot according to claim 4, which is characterized in that the sliding equipment also has adapter, described
Sliding equipment is via the adapter and the transmission chain link.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821109082.3U CN208576621U (en) | 2018-07-13 | 2018-07-13 | The climbing robot of hybrid movement |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821109082.3U CN208576621U (en) | 2018-07-13 | 2018-07-13 | The climbing robot of hybrid movement |
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| CN208576621U true CN208576621U (en) | 2019-03-05 |
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| CN201821109082.3U Active CN208576621U (en) | 2018-07-13 | 2018-07-13 | The climbing robot of hybrid movement |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639178A (en) * | 2018-07-13 | 2018-10-12 | 中国电子科技集团公司第二十研究所 | The climbing robot of hybrid movement |
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2018
- 2018-07-13 CN CN201821109082.3U patent/CN208576621U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108639178A (en) * | 2018-07-13 | 2018-10-12 | 中国电子科技集团公司第二十研究所 | The climbing robot of hybrid movement |
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