CN208947448U - Leveling style climbing robot and climb wall loading system - Google Patents
Leveling style climbing robot and climb wall loading system Download PDFInfo
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- CN208947448U CN208947448U CN201821527674.7U CN201821527674U CN208947448U CN 208947448 U CN208947448 U CN 208947448U CN 201821527674 U CN201821527674 U CN 201821527674U CN 208947448 U CN208947448 U CN 208947448U
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- climbing robot
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- moving frame
- leveling style
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Abstract
The utility model discloses a kind of leveling style climbing robots, including moving frame, being arranged side by side on the moving frame from top surface to bottom surface has at least two layers of slideway, the support leg mechanism for keeping spacing between moving frame and working face is slidably mounted in every layer of slideway, execution unit on working face and non-interference can be puted forth effort by being provided on each support leg mechanism.One kind climbing wall loading system, and including hoist engine and above-mentioned leveling style climbing robot, the hoist engine is connected by cable wire with moving frame.Using leveling style climbing robot provided by the utility model and climb wall loading system, structure novel, it is ingenious in design, it is easy to accomplish, components are few, it is reliable and stable, highly-safe, the rack of leveling style climbing robot can control the spacing between working face during entire mobile transposition, provide a stable working environment for operating equipment, application range is substantially increased, application scenarios are enriched.
Description
Technical field
The utility model belongs to alien invasion running gear technical field, and in particular to a kind of leveling style climbing robot and climbs
Wall loading system.
Background technique
Climbing robot can be widely applied to the fields such as petroleum chemical enterprise, building high building, shipbuilding.Climbing robot passes through carrying
Different instrument and equipments can replace manually carrying out operation on the working face of building or equipment, complete some simple operations and appoint
Business, such as washing and cleaning operation.
Due to the Structure Designing Problem of existing climbing robot, climbing robot will appear in mobile transposition inclination or compared with
Big jolts, and operating equipment cannot be given to provide stable working environment, thus existing climbing robot can not execute it is high-precision
The job tasks such as the spraying and flaw detection of degree.
Solving problem above becomes the task of top priority.
Utility model content
To solve the technical issues of existing climbing robot cannot provide stable working environment to operating equipment, this is practical
It is novel that a kind of leveling style climbing robot is provided and climbs wall loading system.
To achieve the above object, technical solutions of the utility model are as follows:
A kind of leveling style climbing robot, including moving frame, are characterized by: from top surface the bottom of on the moving frame
Face, which is arranged side by side, at least two layers of slideway, be slidably mounted in every layer of slideway for keep moving frame and working face it
Between spacing support leg mechanism, execution list on working face and non-interference can be puted forth effort by being provided on each support leg mechanism
Member.
Using the above structure, any one support leg mechanism is puted forth effort when on working face, can support entire steady
Type climbing robot, enabling moving frame, in one plane the opposite support leg mechanism puted forth effort go up and down or left and right is flat
Move, in place after, the support leg mechanism separated with working face is puted forth effort on working face, and moving frame can be moved along the support leg mechanism
It is dynamic, while the mobile preceding support leg mechanism just puted forth effort on working face is then separated with working face, can be translated along moving frame, such as
This alternately control the rack of leveling style climbing robot can during entire mobile transposition and keeps and work
Make the spacing between face, provides a stable working environment for operating equipment.
As preferred: the support leg mechanism includes can be along the balladeur train of corresponding slideway sliding, and the balladeur train is from moving machine
The two sides of frame are respectively connected with the execution unit after stretching out, between two execution units on the balladeur train of moving frame top surface
Spacing be greater than close to moving frame bottom surface balladeur train on two execution units between spacing.Using the above structure, mobile
The two sides of rack are each provided with a column execution unit, have not only imitated the design of insect leg, but also make each balladeur train when alternately mobile
Execution unit will not interfere.
As preferred: being provided with the sledge drive component for driving balladeur train to slide, the cunning on the moving frame
Frame driving assembly includes the chain group for driving corresponding balladeur train sliding and the chain group actuating motor for driving chain group.
Using the above structure, structure is simple, reliable and stable.
As preferred: the motor shaft of the chain group actuating motor passes through the drive chain of electromagnetic clutch and corresponding chain group
Wheel connection.Using the above structure, the start and stop that can more precisely control balladeur train accurately control the stroke of each balladeur train.
As preferred: including installing frame and the translation being slidably mounted on installing frame at least one described balladeur train
Frame, the installing frame are sleeved on shiftable frame, and are slidably mounted in corresponding slideway, and the shiftable frame can drive in translation
It is slided under the drive of dynamic component to two side direction of slideway.It using the above structure, is telescopic by part or all of sliding carriage design
Be slidably matched design, and structure is simple, reliable and stable, and leveling style climbing robot is made to realize movement in the horizontal direction.
As preferred: the driven in translation component include screw rod, with screw rod be adapted nut and for driving nut
The nut driving part of rotation, the screw rod are fixedly mounted on shiftable frame, when the nut driving part drives nut rotation,
The screw rod drives shiftable frame to slide along installing frame.Using the above structure, the translation distance of balladeur train can accurately be controlled.
As preferred: the execution unit includes the extensible member being mounted on corresponding balladeur train and at least one is mounted on and stretches
The execution unit at contracting component activity end, the extensible member is for driving each corresponding execution unit close or far from mobile
The bottom surface of rack, the execution unit can be puted forth effort on working face.Using the above structure, execution unit can either work hard
Face, and capable of being separated with working face, to make to support leg mechanism can support entire leveling style climbing robot and flat
The movement of steady type climbing robot；Also, it can be by the barrier on building or equipment working face, significantly by extensible member
Improve the passability of leveling style climbing robot.
As preferred: the extensible member is telescopic cylinder, and the cylinder body of telescopic cylinder is fixedly connected with corresponding balladeur train, institute
Stating execution unit is negative pressure sucker, and is separately mounted on the piston rod of corresponding telescopic cylinder；It is arranged on the moving frame
The vacuum pump for having the air compressor machine being connected with each telescopic cylinder and being connected with each negative pressure sucker.Using the above structure, negative pressure is inhaled
Disk can be reliablely and stablely adsorbed on the working face of building or equipment, and telescopic cylinder can then control the position of negative pressure sucker,
Meanwhile piston rod it is protruding when, can apply certain pressure to negative pressure sucker, improve negative pressure sucker and be adsorbed on working face
Reliability.
One kind climbing wall loading system, is characterized by: including hoist engine and above-mentioned leveling style climbing robot, the volume
Machine is raised to be connected by cable wire with moving frame.
Using the above structure, hoist engine had not only been able to cooperate leveling style climbing robot and had climbed, but also can climb wall in leveling style
Its starting protection is acted on when robot translation or lifting, prevents from falling, substantially increases the safety of leveling style climbing robot
Property.
As preferred: the hoist engine installation is on a mobile platform.Using the above structure, it can quickly and easily move and change
Position, substantially increases and climbs the flexibility that wall loading system uses.
Compared with prior art, the utility model has the beneficial effects that
Using leveling style climbing robot provided by the utility model and wall loading system is climbed, structure novel is ingenious in design,
It is easily achieved, components are few, and reliable and stable, highly-safe, the rack of leveling style climbing robot is in the entire mobile mistake to replace
The spacing between working face can be controlled and kept in journey, provide a stable working environment for operating equipment, significantly
Application range is improved, application scenarios are enriched.
Detailed description of the invention
Fig. 1 is the use state diagram for climbing wall loading system on facade；
Fig. 2 is the schematic perspective view of leveling style climbing robot；
Fig. 3 is the planar structure schematic diagram of leveling style climbing robot；
Fig. 4 is the right view of Fig. 3；
Fig. 5 is the operation schematic diagram that leveling style climbing robot is in climb mode；
Fig. 6 is the operation schematic diagram that leveling style climbing robot is in translational mode.
Specific embodiment
The utility model is described in further detail with attached drawing with reference to embodiments.
As shown in Figure 1 to 4, a kind of leveling style climbing robot, including moving frame 1, from pushing up on the moving frame 1
Being arranged side by side towards bottom surface has at least two layers of slideway 11, is slidably mounted in every layer of slideway 11 for keeping moving frame
The support leg mechanism 2 of spacing between 1 and working face, being provided on each support leg mechanism 2 can put forth effort on working face and mutually
The execution unit 22 that do not interfere.By the mutual cooperation of rack 1 and each support leg mechanism 2, enable leveling style climbing robot
It is enough to carry out vertical climbing on building or the working face of equipment and move horizontally, it is provided simultaneously with the ability of across obstacle.And
And spacing suitably can be adjusted or be remained unchanged as needed between moving frame 1 and working face, provide one for operating equipment
A stable working environment, substantially increases application range, enriches application scenarios.
Fig. 2~Fig. 4 is referred to, the support leg mechanism 2 includes the balladeur train 21 that can be slided along corresponding slideway 11, the cunning
Frame 21 is respectively connected with the execution unit 22 after stretching out from the two sides of moving frame 1, on the balladeur train 21 of 1 top surface of moving frame
Two execution units 22 between spacing be greater than close to 1 bottom surface of moving frame balladeur train 21 on two execution units 22 between
Spacing.It should be pointed out that being provided with the sledge drive component for driving balladeur train 21 to slide on the moving frame 1
3, cooperate rack 1 and each support leg mechanism 2, realization carries out vertical climbing on building or the working face of equipment.
Fig. 3 and Fig. 4 are referred to, the sledge drive component 3 can be using the dress such as cylinder, oil cylinder, electric putter, linear motor
It sets, is slided as long as being able to drive balladeur train 21 along slideway 11.In the present embodiment, the sledge drive component 3 is preferably used for
The chain group 31 for driving corresponding balladeur train 21 to slide and the chain group actuating motor 32 for driving chain group 31.The chain group
The motor shaft of actuating motor 32 is connected by electromagnetic clutch 33 with the drive sprocket of corresponding chain group 31.Motor drives chain group
31 drive sprocket rotation, the drive sprocket of chain group 31 drive the chain rotation of chain group, and the chain-driving of chain group 31 is sliding
Frame 21 is slided along corresponding slideway 11.
Fig. 2 is referred to, at least one described balladeur train 21 includes installing frame 211 and is slidably mounted on installing frame 211
Shiftable frame 212, specifically, to avoid interfering, the length of each balladeur train 21 from the top surface of moving frame 1 to bottom surface by
It is tapered short, a longest balladeur train 21 (i.e. near a balladeur train 21 of 1 top surface of moving frame) design is chosen in the present embodiment
To be made of installing frame 211 and shiftable frame 212, remaining balladeur train 21 is a fixed frame.
The installing frame 211 is sleeved on shiftable frame 212, and is slidably mounted in corresponding slideway 11, the translation
Frame 212 can be under the drive of driven in translation component 4 to 11 liang of side direction slidings of slideway.It is pointed out that the shiftable frame
The telescopic direction of 212 glide direction, the glide direction of installing frame 211 and execution unit 22 is mutually perpendicular to two-by-two.
Fig. 2 is referred to, the driven in translation component 4 includes screw rod 41, the nut 42 being adapted with screw rod 41 and is used for
The nut driving part 43 for driving nut 42 to rotate, the screw rod 41 are fixedly mounted on shiftable frame 212, the nut driving
When component 43 drives nut 42 to rotate, the screw rod 41 drives shiftable frame 212 to slide along installing frame 211.The nut driving portion
Part 43 includes control motor 431, retarder 432 and worm screw 433, is machined on the outer wall of the nut 42 suitable with 433 phase of worm screw
The helical teeth answered, when control motor 431 drives worm screw 433 to rotate by retarder 432, worm screw 433 drives nut 42 to rotate, spiral shell
Mother 42 drives screw rod 41 to translate, and screw rod 41 drives the synchronous movement of shiftable frame 212, i.e. shiftable frame 212 is sliding along installing frame 211
It is dynamic.
Refer to Fig. 2~Fig. 4, the execution unit 22 includes the extensible member 221 being mounted on corresponding balladeur train 21 and extremely
Few one is mounted on the execution unit 222 of 221 movable end of extensible member, and the extensible member 221 is each corresponding for driving
The bottom surface of the close or separate moving frame 1 of execution unit 222, the execution unit 222 can be puted forth effort on working face.It is described
Extensible member 221 is telescopic cylinder, and the cylinder body of telescopic cylinder is fixedly connected with corresponding balladeur train 21, and the execution unit 222 is
Negative pressure sucker, and be separately mounted on the piston rod of corresponding telescopic cylinder；It is provided on the moving frame 1 and stretches with each
The vacuum pump 6 cylinder connected air compressor machine 5 and be connected with each negative pressure sucker.I.e. each telescopic cylinder passes through tracheae and sky respectively
Press 5 is connected, and the state of each telescopic cylinder can be controlled by air compressor machine 5.Each negative pressure sucker passes through tracheae and vacuum
Pump 6 is connected, and the state of each negative pressure sucker can be controlled by vacuum pump 6.It is pointed out that the extensible member 221
The driving equipment that can also can be stretched using electric putter etc., the execution unit 222 can also can be attached to using other
On working face, and other components of entire leveling style climbing robot can be supported.
One kind climbing wall loading system, and including hoist engine 7 and above-mentioned leveling style climbing robot, the hoist engine 7 passes through
Cable wire 71 is connected with moving frame 1.Hoist engine 7 had not only been able to cooperate leveling style climbing robot and had climbed, but also can climb in leveling style
Its starting protection is acted on when the translation of wall robot or lifting, prevents from falling, substantially increases the peace of leveling style climbing robot
Quan Xing.Also, the hoist engine 7 is mounted on mobile platform 8, in order to the quick transposition of hoist engine 7.
The course of work of the utility model is as follows:
Go up and down (referring to Fig. 5): the execution unit 22 of a portion support leg mechanism 2 of leveling style climbing robot is inhaled
It is attached on the working face of building or equipment, plays support effect, another part supports execution unit 22 and the work of leg mechanism 2
Face separation, support leg mechanism 2 of 1 relative adsorption of moving frame on working face are gone up and down, meanwhile, the support separated with working face
Leg mechanism 2 can relatively move the lifting of rack 1, and the lifting speed (distance) of support leg mechanism 2 is greater than the lifting speed of moving frame 1
It spends (distance), after the support leg mechanism 2 separated with working face reaches the top or bottom end predetermined position of moving frame 1, this portion
The execution unit 22 of sub-support leg mechanism 2 is adsorbed on working face again, and execution unit 22 on working face is adsorbed on before lifting then
It is separated with working face, so alternately, vertical shifting can be carried out along the working face of building or equipment by realizing climbing robot
It is dynamic.
It translates (referring to Fig. 6): since part balladeur train 21 can be under the drive of driven in translation component 4 to moving frame 1
Two sides translation, reach predetermined position after, the execution unit 22 of the part balladeur train 21 is adsorbed on the working face of building or equipment,
The execution unit 22 of another part support leg mechanism 2 is separated with working face, and moving frame 1 is along the supporting leg being adsorbed on working face
Mechanism 2 moves horizontally, and after reaching predetermined position, execution unit 22 those of is separated with working face and is adsorbed on building or equipment again
Alien invasion on, so alternately, then realize climbing robot can along building or equipment alien invasion be horizontally moved.
Across obstacle: due to execution unit 22 execution unit 222 can under the drive of extensible member 221 it is close or
Alien invasion of the person far from building or equipment, can not only cooperate realization level and vertical movement, and enable climbing robot
Enough obstacles across in building or equipment alien invasion.
Finally, it should be noted that foregoing description is only the preferred embodiment of the utility model, the common skill of this field
Art personnel are under the enlightenment of the utility model, under the premise of without prejudice to the utility model aims and claim, can make
Multiple similar expressions, such transformation are each fallen within the protection scope of the utility model.
Claims (10)
1. a kind of leveling style climbing robot, including moving frame (1), it is characterised in that: from top surface on the moving frame (1)
Being arranged side by side to bottom surface has at least two layers of slideway (11), is slidably mounted in every layer of slideway (11) for keeping moving machine
The support leg mechanism (2) of spacing between frame (1) and working face, being provided on each support leg mechanism (2) can put forth effort working
On face and non-interference execution unit (22).
2. leveling style climbing robot according to claim 1, it is characterised in that: the support leg mechanism (2) includes energy
Enough balladeur trains (21) along corresponding slideway (11) sliding, the balladeur train (21) are respectively connected with after stretching out from the two sides of moving frame (1)
The execution unit (22), the spacing between two execution units (22) on the balladeur train (21) of moving frame (1) top surface
Greater than the spacing between two execution units (22) on the balladeur train (21) of moving frame (1) bottom surface.
3. leveling style climbing robot according to claim 2, it is characterised in that: be arranged on the moving frame (1)
There is the sledge drive component (3) for driving balladeur train (21) to slide, the sledge drive component (3) includes for driving corresponding cunning
The chain group (31) that frame (21) slides and the chain group actuating motor (32) for driving chain group (31).
4. leveling style climbing robot according to claim 3, it is characterised in that: the chain group actuating motor (32)
Motor shaft is connected by electromagnetic clutch (33) with the drive sprocket of corresponding chain group (31).
5. leveling style climbing robot according to claim 2, it is characterised in that: at least one described balladeur train (21) includes
Installing frame (211) and the shiftable frame (212) being slidably mounted on installing frame (211), the installing frame (211) are sleeved on flat
It moves on frame (212), and is slidably mounted in corresponding slideway (11), the shiftable frame (212) can be in driven in translation component
(4) it is slided under drive to (11) two side direction of slideway.
6. leveling style climbing robot according to claim 5, it is characterised in that: the driven in translation component (4) includes
Screw rod (41), the nut (42) being adapted with screw rod (41) and the nut driving part for driving nut (42) to rotate
(43), the screw rod (41) is fixedly mounted on shiftable frame (212), and the nut driving part (43) drives nut (42) rotation
When, the screw rod (41) drives shiftable frame (212) to slide along installing frame (211).
7. leveling style climbing robot according to claim 1, it is characterised in that: the execution unit (22) includes installation
Extensible member (221) on corresponding balladeur train (21) and at least one be mounted on the execution unit of extensible member (221) movable end
(222), the extensible member (221) is for driving each corresponding execution unit (222) close or far from moving frame (1)
Bottom surface, the execution unit (222) can put forth effort on working face.
8. leveling style climbing robot according to claim 7, it is characterised in that: the extensible member (221) is flexible
Cylinder, the cylinder body of telescopic cylinder are fixedly connected with corresponding balladeur train (21), and the execution unit (222) is negative pressure sucker, and point
It is not mounted on the piston rod of corresponding telescopic cylinder；It is provided on the moving frame (1) and is connected with each telescopic cylinder
Air compressor machine (5) and the vacuum pump (6) being connected with each negative pressure sucker.
9. one kind climbs wall loading system, it is characterised in that: including hoist engine (7) and according to any one of claims 1 to 8 flat
Steady type climbing robot, the hoist engine (7) are connected by cable wire (71) with moving frame (1).
10. according to claim 9 climb wall loading system, it is characterised in that: the hoist engine (7) is mounted on mobile platform
(8) on.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821527674.7U CN208947448U (en) | 2018-09-18 | 2018-09-18 | Leveling style climbing robot and climb wall loading system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821527674.7U CN208947448U (en) | 2018-09-18 | 2018-09-18 | Leveling style climbing robot and climb wall loading system |
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| Publication Number | Publication Date |
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| CN208947448U true CN208947448U (en) | 2019-06-07 |
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ID=66738455
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821527674.7U Active CN208947448U (en) | 2018-09-18 | 2018-09-18 | Leveling style climbing robot and climb wall loading system |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178131A (en) * | 2018-09-18 | 2019-01-11 | 罗洋 | Multilayer leg formula climbing robot and climb wall loading system |
| CN111958608A (en) * | 2020-07-14 | 2020-11-20 | 南京邮电大学 | Suspension type facade work robot work system of easy dismouting |
| CN113665700A (en) * | 2021-10-10 | 2021-11-19 | 靳文坤 | Chassis of wall-climbing robot |
| EP4206060A1 (en) * | 2022-01-02 | 2023-07-05 | Zhejiang University | A rope moving machine and multi-machine moving system |
-
2018
- 2018-09-18 CN CN201821527674.7U patent/CN208947448U/en active Active
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109178131A (en) * | 2018-09-18 | 2019-01-11 | 罗洋 | Multilayer leg formula climbing robot and climb wall loading system |
| CN111958608A (en) * | 2020-07-14 | 2020-11-20 | 南京邮电大学 | Suspension type facade work robot work system of easy dismouting |
| CN113665700A (en) * | 2021-10-10 | 2021-11-19 | 靳文坤 | Chassis of wall-climbing robot |
| CN113665700B (en) * | 2021-10-10 | 2022-11-01 | 孙燕燕 | Chassis of wall-climbing robot |
| EP4206060A1 (en) * | 2022-01-02 | 2023-07-05 | Zhejiang University | A rope moving machine and multi-machine moving system |
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