CN208947446U - Climbing robot - Google Patents
Climbing robot Download PDFInfo
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- CN208947446U CN208947446U CN201821411834.1U CN201821411834U CN208947446U CN 208947446 U CN208947446 U CN 208947446U CN 201821411834 U CN201821411834 U CN 201821411834U CN 208947446 U CN208947446 U CN 208947446U
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- wheel
- climbing robot
- hub motor
- stator axis
- magnetic sleeve
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Abstract
The utility model relates to a kind of climbing robots, including body and the traveling wheel group of organism bottom is set, traveling wheel group includes wheel support, hub motor and wheel body, wheel support is connect with body, hub motor includes revolving part and stator axis, and wheel body is set on revolving part, and stator axis is fixedly connected with wheel support, revolving part can be rotated centered on the axis of stator axis relative to stator axis, to drive wheel body to rotate relative to wheel support.The climbing robot of the utility model can drive wheel body to rotate by hub motor, so that climbing robot be driven to walk in work wall surface uplink.Due to directly being connect with wheel body between hub motor and wheel body, transmission system that no setting is required, therefore installation difficulty can be reduced, installation error is avoided, the use reliability of climbing robot is improved.
Description
Technical field
The utility model relates to a kind of walking arrangement more particularly to a kind of climbing robots.
Background technique
In industries such as nuclear energy, ship, wind-powered electricity generation, chemical industry, it is widely present magnetic conductive metal outer wall, these wall surfaces pass through long-term wind
Phenomena such as solarization, saline and alkaline erosion, dust adherency, gravel friction, surface will appear dirt, depainting or even corrosion.Therefore, to these
The wall surface maintenances such as regularly derusted, cleaned are particularly important.Traditional wall surface maintenance operation usually by a people or
More people, which cooperate, to carry out, and not only working efficiency is low, corporate payments are at high cost, and for operating personnel, working environment is severe
And subsidiary very high risk.In this case, the application of extraordinary climbing robot is gradually risen and is widely noticed.Magnetic force
Adsorption wall climbing robot is an important class in extraordinary climbing robot, and suction type includes permanent magnetic suck, electromagnetism suction
It is accompanied by and the adjustable permanent magnetic suck of magnetic pole.
Existing magnetic-adsorption climbing robot includes body, traveling wheel, universal wheel, motor and transmission system, and motor is set
It sets on body, motor is connect by transmission system with traveling wheel, so that traveling wheel be driven to rotate, climbing robot is enable to exist
Work wall surface uplink is walked.
However, in said structure, since motor needs to connect by transmission system with traveling wheel, and transmission system is usual
Structure is complicated, components are more, and is easy to appear failure, therefore, leads to the use reliability of magnetic-adsorption climbing robot
It reduces.
Utility model content
In view of the above-mentioned problems, the utility model provides a kind of higher climbing robot of use reliability.
Including body and the traveling wheel group of organism bottom is arranged in climbing robot provided by the utility model, described
Traveling wheel group includes wheel support, hub motor and wheel body, and the wheel support is connect with the body, and the hub motor includes rotation
Turn part and stator axis, the wheel body is set on the revolving part, and the stator axis is fixedly connected with the wheel support, the rotation
Turning part can be rotated centered on the axis of stator axis relative to stator axis, to drive wheel body to rotate relative to wheel support.
The climbing robot, preferential, the wheel support is U-shaped frame body, and the hub motor is two, the U
Two support arms of shape frame body are fixedly connected with the stator axis of a hub motor respectively.
The climbing robot, preferential, the first end and second end of the stator axis stretches out the revolving part respectively
Both ends, two hub motors are arranged between two support arms of the U-shaped frame body, set between two hub motors
It is equipped with magnetic sleeve, two support arms of the U-shaped frame body are fixed with the first end of the stator axis of a hub motor respectively to be connected
It connects, the both ends of the magnetic sleeve are fixedly connected with the second end of the stator axis of a hub motor respectively.
The climbing robot, preferential, the wheel support is magnetic sleeve, and the hub motor is two, described
The both ends of magnetic sleeve are fixedly connected with the stator axis of a hub motor respectively.
The climbing robot, preferential, the magnetic sleeve includes cylinder and is fixed at the interior of the cylinder
Magnetic part on wall.
The climbing robot, preferential, the magnetic part is permanent magnet and the bottom for being arranged in the cylinder.
The climbing robot, preferential, it further include the universal wheel that the organism bottom is set.
The climbing robot, preferential, the traveling wheel group is two, and the universal wheel is one, described universal
Wheel and the traveling wheel group distribution triangular in shape.
The climbing robot, preferential, it further include cleaning device, the cleaning device includes being mounted on the body
On oscillating motor, the output end of the oscillating motor passes through swing arm connection cleaning execution unit.
The climbing robot, preferential, the magnetic sleeve has coaxial pass with the revolving part of the hub motor
System, the outer diameter of the magnetic sleeve are less than the outer diameter of the wheel body.
Climbing robot in the utility model, when in use, during the revolving part of hub motor with the axis of stator axis is
The heart is rotated relative to stator axis, wheel body can be driven to rotate by revolving part, to drive climbing robot on work wall surface
Walking.Due to directly being connect with wheel body between hub motor and wheel body, transmission system that no setting is required, therefore it is difficult to reduce installation
Degree, avoids installation error, improves the use reliability of climbing robot.
Detailed description of the invention
Fig. 1 is the overall structure diagram of the utility model；
Fig. 2 is the structural schematic diagram of traveling wheel group in the utility model one embodiment；
Fig. 3 is the cross-sectional view of traveling wheel group in the utility model one embodiment；
Fig. 4 is the structural schematic diagram of another embodiment of the utility model；
Fig. 5 is the structural schematic diagram of traveling wheel group in another embodiment of the utility model；
Fig. 6 is the cross-sectional view of traveling wheel group in another embodiment of the utility model.
Specific embodiment
The utility model is described in detail with reference to the accompanying drawings and examples.It should be appreciated, however, that attached drawing mentions
For only for more fully understanding the utility model, they should not be interpreted as limitations of the present invention.
As shown in Figure 1-3, climbing robot provided in this embodiment, including body 1 and the row of 1 bottom of body is set
Wheel group 2 is walked, traveling wheel group 2 includes wheel support 21, hub motor 22 and wheel body 23, and wheel support 21 is connect with body 1, wheel hub electricity
Machine 22 includes revolving part 221 and stator axis 222, and wheel body 23 is set on revolving part 221, and stator axis 222 and wheel support 21 are fixed
Connection, revolving part 221 can be rotated centered on the axis of stator axis 222 relative to stator axis 222, to drive wheel body 23 opposite
It is rotated in wheel support 21.
Climbing robot in the present embodiment, when in use, the revolving part 221 of hub motor 22 is with the axis of stator axis 222
It is rotated centered on line relative to stator axis 222, wheel body 23 can be driven to rotate by revolving part 221, to drive wall-climbing device
People walks in work wall surface uplink.Due to directly being connect with wheel body 23 between hub motor 22 and wheel body 23, power train that no setting is required
System, therefore installation difficulty can be reduced, installation error is avoided, the use reliability of climbing robot is improved.
In the present embodiment, it is preferable that wheel support 21 is U-shaped frame body, and hub motor 22 is two, two support arms of U-shaped frame body
It is fixedly connected respectively with the stator axis 222 of a hub motor 22.The first end and second end of stator axis 222 stretches out rotation respectively
The both ends of part 221, two hub motors 22 are arranged between two support arms of U-shaped frame body, are arranged between two hub motors 22
Be magnetic sleeve 24, and two support arms of U-shaped frame body are fixedly connected with the first end of the stator axis 222 of a hub motor 22 respectively,
The both ends of magnetic sleeve 24 are fixedly connected with the second end of the stator axis 222 of a hub motor 22 respectively.Magnetic sleeve 24 is used
In providing adsorption capacity, climbing robot is firmly adsorbed on work wall surface.Since magnetic sleeve 24 is folded in two
Between a hub motor 22, therefore, magnetic sleeve 24 is folded between two wheel bodys 23, the adsorption capacity energy that magnetic sleeve 24 generates
It is enough to be uniformly transferred on two wheel bodys 23, keep climbing robot walking more stable.
In another preferred embodiment, as Figure 4-Figure 6, directly using magnetic sleeve as wheel support 21, wheel hub electricity
Machine 22 is two, and the both ends of magnetic sleeve are fixedly connected with the stator axis 222 of a hub motor 22 respectively.Due to magnetic sleeve
24 are folded between two hub motors 22, and therefore, magnetic sleeve 24 is folded between two wheel bodys 23, and magnetic sleeve 24 produces
Raw adsorption capacity can be uniformly transferred on two wheel bodys 23, keep climbing robot walking more stable.
In the present embodiment, it is preferable that magnetic sleeve 24 includes cylinder 241 and is fixed on the inner wall of cylinder 241
Magnetic part 242.It is conducive to keep the structure of magnetic sleeve 24 simplified and absorption stabilization as a result,.
In the present embodiment, it is preferable that magnetic part 242 can be permanent magnet or electromagnet, and magnetic part 242 is arranged in cylinder
241 bottom.It is conducive to improve the adsorption capacity of magnetic sleeve 24 as a result,.
In the present embodiment, it is preferable that further include the universal wheel 3 that 1 bottom of body is set.Universal wheel 3 is matched with traveling wheel group 2
It amounts to support climbing robot, when two traveling wheel groups 2 rotate at the same speed, climbing robot can be driven to move forward or back,
When two traveling wheel 2 differential speed rotations of group, climbing robot can be driven to turn.
In the present embodiment, it is preferable that traveling wheel group 2 is two, and universal wheel 3 is one, and universal wheel 3 and traveling wheel group 2 are in
Triangle-Profile determines a plane using 3 points to realize the adaptation to non-planar environment.
In the present embodiment, it is preferable that climbing robot further includes cleaning device 4, and cleaning device 4 includes being mounted on body 1
On oscillating motor 41, the output end of oscillating motor 41 passes through the connection cleaning execution unit 43 of swing arm 42.Clean execution unit
43 can be brush, sponge etc., and in order to promote cleaning capacity, the mechanism of output cleaning solution can also be equipped on body 1 (in figure
It is not shown).
In the present embodiment, it is preferable that magnetic sleeve 24 and the revolving part 221 of hub motor 22 have coaxial relation, magnetic
The outer diameter of sleeve is less than the outer diameter of wheel body 23.As a result, magnetic sleeve 24 will not with work wall surface joint, thus will not be with work
Wall surface generates interference, keeps the movement of climbing robot more smoothly.
The various embodiments described above are merely to illustrate the utility model, wherein the structure of each component, connection type and manufacture craft
Etc. may be changed, all equivalents and improvement carried out on the basis of technical solutions of the utility model,
It should not exclude except the protection scope of the utility model.
Claims (10)
1. a kind of climbing robot, which is characterized in that including body (1) and setting body (1) bottom traveling wheel group
(2), the traveling wheel group (2) includes wheel support (21), hub motor (22) and wheel body (23), the wheel support (21) with it is described
Body (1) connection, the hub motor (22) includes revolving part (221) and stator axis (222), and the wheel body (23) is set in institute
It states on revolving part (221), the stator axis (222) is fixedly connected with the wheel support (21), and the revolving part (221) can be with
It is rotated centered on the axis of stator axis (222) relative to stator axis (222), to drive wheel body (23) to revolve relative to wheel support (21)
Turn.
2. a kind of climbing robot as described in claim 1, which is characterized in that the wheel support (21) is U-shaped frame body, described
Hub motor (22) is two, two support arms of the U-shaped frame body stator axis (222) with a hub motor (22) respectively
It is fixedly connected.
3. a kind of climbing robot as claimed in claim 2, which is characterized in that the first end of the stator axis (222) and the
The both ends of the revolving part (221) are stretched out at two ends respectively, and two of the U-shaped frame body are arranged in two hub motors (22)
Between arm, be provided with magnetic sleeve (24) between two hub motors (22), two support arms of the U-shaped frame body respectively with
The first end of the stator axis (222) of one hub motor (22) is fixedly connected, the both ends difference of the magnetic sleeve (24)
It is fixedly connected with the second end of the stator axis (222) of a hub motor (22).
4. a kind of climbing robot as described in claim 1, which is characterized in that the wheel support (21) is magnetic sleeve, institute
Stating hub motor (22) is two, the both ends of the magnetic sleeve stator axis with a hub motor (22) respectively
(222) it is fixedly connected.
5. a kind of climbing robot as described in claim 3 or 4, which is characterized in that the magnetic sleeve (24) includes cylinder
(241) and the magnetic part (242) that is fixed on the inner wall of the cylinder (241).
6. a kind of climbing robot as claimed in claim 5, which is characterized in that the magnetic part (242) is permanent magnet and cloth
Set the bottom in the cylinder (241).
7. such as a kind of described in any item climbing robots of Claims 1-4, which is characterized in that further include being arranged in the machine
The universal wheel (3) of body (1) bottom.
8. a kind of climbing robot as claimed in claim 7, which is characterized in that the traveling wheel group (2) is two, described ten thousand
It is one to wheel (3), the universal wheel (3) and the traveling wheel group (2) distribution triangular in shape.
9. such as a kind of described in any item climbing robots of Claims 1-4, which is characterized in that it further include cleaning device (4),
The cleaning device (4) includes the oscillating motor (41) being mounted on the body (1), the output end of the oscillating motor (41)
Cleaning execution unit (43) is connected by swing arm (42).
10. a kind of climbing robot as described in claim 3 or 4, which is characterized in that the magnetic sleeve (24) and the wheel
The revolving part (221) of hub motor (22) has coaxial relation, and the outer diameter of the magnetic sleeve is less than the outer diameter of the wheel body (23).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821411834.1U CN208947446U (en) | 2018-08-30 | 2018-08-30 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821411834.1U CN208947446U (en) | 2018-08-30 | 2018-08-30 | Climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208947446U true CN208947446U (en) | 2019-06-07 |
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ID=66736383
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821411834.1U Active CN208947446U (en) | 2018-08-30 | 2018-08-30 | Climbing robot |
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| Country | Link |
|---|---|
| CN (1) | CN208947446U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291783A (en) * | 2018-08-30 | 2019-02-01 | 宁波史河机器人科技有限公司 | A kind of climbing robot |
-
2018
- 2018-08-30 CN CN201821411834.1U patent/CN208947446U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109291783A (en) * | 2018-08-30 | 2019-02-01 | 宁波史河机器人科技有限公司 | A kind of climbing robot |
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