CN208665375U - A kind of wall surface crawling device - Google Patents
A kind of wall surface crawling device Download PDFInfo
- Publication number
- CN208665375U CN208665375U CN201821433347.5U CN201821433347U CN208665375U CN 208665375 U CN208665375 U CN 208665375U CN 201821433347 U CN201821433347 U CN 201821433347U CN 208665375 U CN208665375 U CN 208665375U
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- CN
- China
- Prior art keywords
- sucker
- wheel set
- chain wheel
- wall surface
- crawling device
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Abstract
A kind of wall surface crawling device disclosed by the utility model, including distance rod, transmission mechanism and several adsorbing mechanisms, transmission mechanism is symmetrically mounted on the distance rod of the left and right sides, and transmission mechanism includes chain wheel set I and chain wheel set II, and each adsorbing mechanism, which passes through, to be arranged on chain wheel set I and chain wheel set II.A kind of wall surface crawling device disclosed by the utility model, solving existing crawling device, structure is complicated, ineffective problem, the crawling device has absorption and two effects of creeping, sucker generates adsorption capacity when entering pull rod, during creeping, the sucker of front passes sequentially through pull rod and enters adsorbed state, the last one sucker of tail portion, respectively successively by pull rod median-plane orbit and end cambered surface track, it realizes that sucker is gradually become by adsorbed state and is adjacent to wall surface without adsorption capacity state, sucker would not be adsorbed state when leaving wall surface, just it will not move ahead to crawling device and cause resistance.
Description
Technical field
The utility model belongs to high-altitude glass washing device technical field, is related to a kind of wall surface crawling device.
Background technique
Wall surface mechanically moving Genus Homo is in limit operation robot.So-called limit operation refers to the operating condition of some danger
The operations such as detection, maintenance, the rescue carried out under (such as radioactivity, high temperature, high pressure, vertical walls, space environment etc.).These are made
It is also to be not easy to realize that industry, which is dangerous for the mankind, and multiple piston cylinders or electricity are generally used in crawling device used at present
Machine and associated mechanisms are connected with vacuum chuck, realize straight trip, turning and static, overall mechanism of the crawling device on hydraulically smooth surface
Complicated, heavy, overweight quality is unfavorable for its absorption on hydraulically smooth surface, and complicated mechanism also increases crawling device manufacture
Cost reduces the reliability of whole device.
Utility model content
The purpose of the utility model is to provide a kind of wall surface crawling devices, and solving existing crawling device, structure is complicated, work
The problem of making low efficiency.
The utility model the technical scheme adopted is that a kind of wall surface crawling device, if including distance rod, transmission mechanism and
Dry adsorbing mechanism, transmission mechanism are symmetrically mounted on the distance rod of the left and right sides, and transmission mechanism includes being separately mounted to left and right two
The chain wheel set I and chain wheel set II, each adsorbing mechanism in 3 outside of side distance rod are arranged on chain wheel set I and chain wheel set II.
Other features of the utility model also reside in,
Transmission mechanism include by bearing I interference fit be connected to the left and right sides distance rod between be parallel to each other two-by-two it is big
Gear shaft, pinion shaft and axis, Large Gear Shaft and axle position are located in Large Gear Shaft and axis in the both ends of distance rod, pinion shaft
Between, it is keyed gear wheel among Large Gear Shaft, is keyed pinion gear, gear wheel pinion mate, pinion gear among pinion shaft
One end of axis connects motor I by shaft coupling, and motor I is fixed on distance rod；Large Gear Shaft and axis both ends both pass through distance rod
It is separately connected chain wheel set I and chain wheel set II, is wound with chain I and chain II, chain wheel set I respectively on chain wheel set I and chain wheel set II
It is identical with the structure of chain wheel set II.
Chain wheel set I includes two big sprocket wheels for being threadedly attached in Large Gear Shaft and axis one end respectively, two big sprocket wheels
Between wind engagement chain I, chain I also engages with three minor sprockets, and distance rod center is connected with triangular fixing frame by bolt,
Triangular fixing frame center offers pin shaft hole and connects another triangular fixing frame by pin shaft I, another triangular fixing frame is located at
It on the outside of transmission mechanism, and is bolted on compression bar at the bolt hole of surface, it is solid that three minor sprockets are located at two triangles
Determine between frame, and be fixed on the triangle of two triangular fixing frames by pin, three minor sprockets can be rotated around pin.
Also affixed auxiliary mounting shell on each distance rod assists affixed linear motor in mounting shell inner tip, auxiliary peace
The two sides of dress shell phase pair are provided with groove, pull rod are placed in groove, the axis of pull rod is parallel with distance rod, and pull rod passes through threaded hole
It is threadedly coupled with linear motor lead screw shaft.
The center of pull rod is provided with corresponding boss with the place that groove is cooperatively connected, and pull rod axially inside offers
Concave through-hole, through-hole both ends are provided with cambered surface track, and through-hole interior surface removed the place at both ends in planar tracks.
Each adsorbing mechanism includes circular sucker shell, sucker shell central space connecting sucker bar, sucker shell table
Face is located at the symmetrical affixed two groups of sucker boss in sucking disk bar two sides, passes through two pin shaft II being parallel to each other between every group of sucker boss
It is connect with chain I and chain II.
Outside on sucker shell positioned at sucker boss is also connected with roller supporting platform, and roller supporting platform is connected by pin shaft
Idler wheel, perpendicular to the cross bar of sucking disk bar, cross bar both ends, which are respectively interference fitted, connects a bearing I I inner ring for one end of sucking disk bar affixed one,
The outer ring bearing I I rolls in cambered surface track and in planar tracks, and the other end of sucking disk bar connects butyl rubber, fourth by nut
Base rubber is connected on the circumference of sucker shell.
The utility model has the beneficial effects that a kind of wall surface crawling device, solving existing crawling device, structure is complicated, work
The problem of making low efficiency.The crawling device can replace manually in some extreme environment operations, in high-intensitive, high-risk work
It has a good application prospect in environment.And crawling device applies also for those and cleans with the wall surface of ground at an angle
In mobile mechanism.There is the crawling device absorption and two effects of creeping, sucker to generate adsorption capacity when entering pull rod, creep
During, the sucker of front passes sequentially through pull rod and enters adsorbed state, the last one sucker of tail portion, respectively successively by drawing
Bar median-plane orbit and end cambered surface track realize that sucker is gradually become by adsorbed state and are adjacent to wall surface without adsorption capacity state, inhale
Disk would not be adsorbed state when leaving wall surface, just will not move ahead to crawling device and cause resistance.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of wall surface crawling device of the utility model；
Fig. 2 is the schematic diagram of drive mechanism in a kind of wall surface crawling device of the utility model；
Fig. 3 is the structural schematic diagram of triangular fixing frame；
Fig. 4 is the structural scheme of mechanism of pull rod；
Fig. 5 is the structural schematic diagram of sucker.
In figure, 1. gear wheels, 2. Large Gear Shafts, 3. distance rods, 4. chain wheel set I, 5. motor I, 6. chain I, 7. pinion gears
Axis, 8. pinion gears, 9. axis, 10. chain II, 11. pull rods, 12. linear motors, 13. auxiliary mounting shells, 14. grooves, 15. straight lines
Motor lead screw shaft, 16. chain wheel set II, 17. adsorbing mechanisms, 18. big sprocket wheels, 19. triangular fixing frames, 20. compression bars, 21. minor sprockets,
22. bearing I, 23. pin shaft I, 24. bolts hole, 25. pin shaft holes, 27. cambered surface tracks, 28. planar tracks, 29. pin shaft II, 30. axis
Hold II, 31. sucking disk bars, 32. sucker boss, 33. idler wheels, 34. sucker shells, 35. butyl rubbers, 36. roller supporting platforms, 37.
Threaded hole.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and detailed description.
A kind of wall surface crawling device of the utility model, as depicted in figs. 1 and 2, if including distance rod 3, transmission mechanism and
Dry adsorbing mechanism 17, transmission mechanism are symmetrically mounted on the distance rod 3 of the left and right sides, and transmission mechanism includes being separately mounted to left and right
The chain wheel set I4 and chain wheel set II16, each adsorbing mechanism 17 in 3 outside of two sides distance rod are arranged at chain wheel set I4 and chain wheel set
On II16.
Transmission mechanism includes being connected between the distance rod 3 of the left and right sides to be parallel to each other two-by-two by the interference fit of bearing I 22
Large Gear Shaft 2, pinion shaft 7 and axis 9, Large Gear Shaft 2 and axis 9 be located at the both ends of distance rod 3, and pinion shaft 7 is located at canine tooth
The centre of wheel shaft 2 and axis 9 is keyed gear wheel 1 among Large Gear Shaft 2, is keyed pinion gear 8, gear wheel among pinion shaft 7
One end of 1 pinion mate 8, pinion shaft 7 connects motor I5 by shaft coupling, and motor I5 is fixed on distance rod 3；Gear wheel
Axis 2 and 9 both ends of axis both pass through distance rod 3 and are connected through a screw thread chain wheel set I4 and chain wheel set II16, chain wheel set I4 and sprocket wheel respectively
Group II16 is wound with chain I6 and chain II10 respectively, and chain wheel set I4 is identical with the structure of chain wheel set II16.
Chain wheel set I4 includes two big sprocket wheels 18 for being threadedly attached in 9 one end of Large Gear Shaft 2 and axis respectively, two big
Engagement chain I6 is wound between sprocket wheel 18, chain I6 is also engaged with three minor sprockets 21, and 3 center of distance rod is connected with by bolt
Triangular fixing frame 19, as shown in figure 3,19 center of triangular fixing frame offer pin shaft hole 25 by pin shaft I23 connect another three
Corner steady 19, another triangular fixing frame 19 is located on the outside of transmission mechanism, and passes through bolt at the bolt hole on surface 24
It is fixed on compression bar 20, three minor sprockets 21 are located between two triangular fixing frames 19, and are fixed on two three by pin
The triangle of corner steady 19, three minor sprockets 21 can be rotated around pin.
Also affixed auxiliary mounting shell 13 on each distance rod 3 assists affixed linear motor 12 in 13 inner tip of mounting shell,
The opposite two sides of auxiliary mounting shell 13 are provided with groove 14, pull rod 11 are placed in groove 14, the axis and distance rod 3 of pull rod 11 are flat
Row, pull rod 11 are threadedly coupled by threaded hole 37 with linear motor lead screw shaft 15.
As shown in figure 4, the center of pull rod 11 is provided with corresponding boss with the place of the mating connection of groove 14, pull rod 11 it is interior
Portion is provided in the axial direction with concave through-hole, and through-hole both ends are provided with cambered surface track 27, and through-hole interior surface is in planar tracks 28,
Removed the place at both ends.
As shown in figure 5, adsorbing mechanism 17 includes circular sucker shell 34,34 central space connecting sucker bar of sucker shell
31,34 surface of sucker shell is located at the symmetrical affixed one group of sucker boss 32 in 31 two sides of sucking disk bar, leads between every group of sucker boss 32
It crosses the pin shaft II29 that two are parallel to each other to be connected on chain I6 and chain II10, positioned at sucker boss 32 on sucker shell 34
Outside is also connected with roller supporting platform 36, and roller supporting platform 36 connects idler wheel 33 by pin shaft, and when front, dishwashing is affixed to glass surface
When (entering adsorbed state), idler wheel 33 is just close to compression bar 20, can enable 35 face of sucker butyl rubber and glass surface in this way
In parallel, sucker is preferably made to be adjacent to glass surface, cross bar of the one end of sucking disk bar 31 affixed one perpendicular to sucking disk bar 31, cross bar both ends
By interference fit one bearing I I30 inner ring of connection, the outer ring bearing I I30 is rolled in cambered surface track 27 and in planar tracks 28
Dynamic, the other end of sucking disk bar 31 connects butyl rubber 35 by nut, and butyl rubber 35 is connected on the circumference of sucker shell 34.
A kind of wall surface crawling device of the utility model, the course of work are as follows: before device puts wall surface, start linear motor
12 move down, and make linear motor lead screw shaft 15 that pull rod 11 be driven to move down, and 35 glue of butyl rubber of adsorbing mechanism 17 is made to be close to wall surface (bearing
II30 has been introduced into planar tracks 28 by cambered surface track 27), when whole crawling device is put on wall surface, make linear motor
12 move up, and make linear motor lead screw shaft 15 that 11 pull rods be driven to move up, make 35 middle part pull-up of butyl rubber far from wall surface, so
Afterwards, start motor I5, pinion gear 8 is driven to rotate, pinion gear 8 drives gear wheel 1 to rotate, and gear wheel 1 drives chain wheel set I4 and chain
Wheel group II16 is rotated (three is coaxial), and entire crawling device, which is advanced forward, (to retreat, motor I5 to be inverted；If
Stop, turning off motor I5).
Main two parts of this crawling device: absorption and movement.Absorption is mainly characterized by when sucker does not enter pull rod 11,
Adsorption capacity is not generated, (is at this time all towards wall after the end cambered surface track and planar tracks that it enters in 11 structure of pull rod
The sucker in face is all tightly adsorbed on wall surface).During advance, this similar to caterpillar drive crawling device, the sucker of front according to
Secondary to enter adsorbed state by pull rod, the last one sucker of tail portion successively passes through Tiebar structure median-plane orbit (sucker respectively
Butyl rubber 35 in the middle part of for pull-up far from wall surface state) (butyl rubber 35 of sucker is gradually close to wall with end cambered surface track
Face), i.e., it would not be adsorption-like when sucker leaves wall surface that sucker is gradually become by adsorbed state, which is adjacent to wall surface without adsorption capacity state,
State just will not move ahead to crawling device and cause resistance.
Claims (7)
1. a kind of wall surface crawling device, which is characterized in that including distance rod (3), transmission mechanism and several adsorbing mechanisms (17), institute
It states transmission mechanism to be symmetrically mounted on the distance rod (3) of the left and right sides, the transmission mechanism includes being separately mounted to left and right
Chain wheel set I (4) and chain wheel set II (16) on the outside of distance rod described in two sides (3), each adsorbing mechanism are arranged at described
On chain wheel set I (4) and chain wheel set II (16).
2. a kind of wall surface crawling device as described in claim 1, which is characterized in that the transmission mechanism includes passing through bearing I
(22) interference fit is connected to the Large Gear Shaft (2) being parallel to each other two-by-two between the distance rod (3) of the left and right sides, pinion shaft
(7) and axis (9), the Large Gear Shaft (2) and axis (9) are located at the both ends of the distance rod (3), and the pinion shaft (7) is located at
The centre of the Large Gear Shaft (2) and axis (9), the Large Gear Shaft (2) is intermediate to be keyed gear wheel (1), the pinion shaft
(7) intermediate to be keyed pinion gear (8), one end of gear wheel (1) pinion mate (8), the pinion shaft (7) passes through connection
Axis device connects motor I (5), and the motor I (5) is fixed on the distance rod (3)；The Large Gear Shaft (2) and the axis (9)
Both ends both pass through the distance rod (3) and are separately connected the chain wheel set I (4) and the chain wheel set II (16), the chain wheel set I
(4) and on chain wheel set II (16) it is wound with chain I (6) and chain II (10), the chain wheel set I (4) and the chain wheel set respectively
The structure of II (16) is identical.
3. a kind of wall surface crawling device as claimed in claim 2, which is characterized in that the chain wheel set I (4) includes passing through respectively
Be threaded in two big sprocket wheels (18) of the Large Gear Shaft (2) and the axis (9) one end, two big sprocket wheels (18) it
Between wind engagement chain I (6), the chain I (6) also engages with three minor sprockets (21), and distance rod (3) center passes through spiral shell
Bolt is connected with triangular fixing frame (19), and triangular fixing frame (19) center offers pin shaft hole (25) and connected by pin shaft I (23)
Another triangular fixing frame (19) is connect, another described triangular fixing frame (19) is located on the outside of the transmission mechanism, and in table
It is bolted at face bolt hole (24) on compression bar (20), three minor sprockets (21) are located at two triangles and fix
Between frame (19), and it is fixed on by pin the triangle of two triangular fixing frames (19), three minor sprockets
(21) it can be rotated around the pin.
4. a kind of wall surface crawling device as claimed in claim 2, which is characterized in that also affixed on each distance rod (3)
It assists mounting shell (13), affixed linear motor (12) in auxiliary mounting shell (13) inner tip, the auxiliary mounting shell
(13) opposite two sides are provided with groove (14), are placed with pull rod (11) in the groove (14), the axis of the pull rod (11) with
In parallel, the pull rod (11) is threadedly coupled by threaded hole (37) with linear motor lead screw shaft (15) distance rod (3).
5. a kind of wall surface crawling device as claimed in claim 4, which is characterized in that the center of the pull rod (11) with it is described recessed
The place that slot (14) is cooperatively connected is provided with corresponding boss, and the concave that axially inside offers of the pull rod (11) is led to
Hole, the through-hole both ends are provided with cambered surface track (27), and the through-hole interior surface removed the place at both ends in planar tracks
(28)。
6. a kind of wall surface crawling device as claimed in claim 5, which is characterized in that each adsorbing mechanism (17) includes circle
The sucker shell (34) of shape, sucker shell (34) the central space connecting sucker bar (31), sucker shell (34) surface
Positioned at the symmetrical affixed two groups of sucker boss (32) in the sucking disk bar (31) two sides, pass through two between sucker boss (32) described in every group
A pin shaft II (29) being parallel to each other is connect with the chain I (6) and chain II (10).
7. a kind of wall surface crawling device as claimed in claim 6, which is characterized in that be located on the sucker shell (34) described
The outside of sucker boss (32) is also connected with roller supporting platform (36), and the roller supporting platform (36) connects idler wheel by pin shaft
(33), cross bar of the one end affixed one of the sucking disk bar (31) perpendicular to the sucking disk bar (31), each interference in cross bar both ends
Be cooperatively connected bearing I I (30) inner ring, and (30) outer ring bearing I I is in the cambered surface track (27) and the planar tracks
(28) it is rolled on, the other end of the sucking disk bar (31) connects butyl rubber (35) by nut, and the butyl rubber (35) is even
It connects on the circumference of the sucker shell (34).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821433347.5U CN208665375U (en) | 2018-09-03 | 2018-09-03 | A kind of wall surface crawling device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821433347.5U CN208665375U (en) | 2018-09-03 | 2018-09-03 | A kind of wall surface crawling device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208665375U true CN208665375U (en) | 2019-03-29 |
Family
ID=65841473
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821433347.5U Expired - Fee Related CN208665375U (en) | 2018-09-03 | 2018-09-03 | A kind of wall surface crawling device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN208665375U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109263741A (en) * | 2018-09-03 | 2019-01-25 | 延安大学 | A kind of crawling device suitable for glass wall |
-
2018
- 2018-09-03 CN CN201821433347.5U patent/CN208665375U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109263741A (en) * | 2018-09-03 | 2019-01-25 | 延安大学 | A kind of crawling device suitable for glass wall |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20190329 Termination date: 20190903 |
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| CF01 | Termination of patent right due to non-payment of annual fee |