CN209274752U - Climbing robot - Google Patents

Abstract

The utility model provides a kind of climbing robot, including robot body and running gear, the robot body includes the first main part, first main part is multiple, multiple first main parts are arranged along the width direction interval of the robot body, it is hinged by articulation piece between two neighboring first main part, the running gear is equipped on each first main part, the running gear is equipped with adsorbent equipment, the adsorbent equipment is for adsorbing working face, and the running gear is for driving the robot body to walk along the working face.The utility model can be improved the reliability that climbing robot uses.

Description

Climbing robot

Technical field

The utility model relates to walking arrangement technology more particularly to a kind of climbing robots.

Background technique

With the high speed development of modern society and science and technology, climbing robot is just increasingly used in various multiple Heterocycle border.

Existing climbing robot includes the robot body being connected and crawler attachment, crawler attachment include driving wheel, The surface of track member is arranged in track member and magnetic devices, magnetic devices, and track member can be adsorbed on work by magnetic devices On face, in addition, track member is arranged on the drive wheel and engages with driving wheel, driving wheel is for driving track member to operate, to make Crawler attachment can walk on working face, and then robot body is driven to move along working face.

However, existing climbing robot is on pipeline or cylinder when walking, and since working face is arcwall face, magnetic Property device can not fit with working face, to reduce magnetic devices for the adsorption capacity of working face, make track member be easy with Working face is separated, and reduces the reliability that climbing robot uses.

Utility model content

The utility model provides a kind of climbing robot, to improve the reliability used.

The utility model provides a kind of climbing robot, including robot body and running gear, the robot body Including the first main part, first main part is multiple, width of multiple first main parts along the robot body Direction interval is arranged, hinged by articulation piece between two neighboring first main part, is all provided on each first main part Running gear is stated, the running gear is equipped with adsorbent equipment, and the adsorbent equipment is for adsorbing working face, the running gear For driving the robot body to walk along the working face.

The climbing robot, it is preferred that the robot body further includes the second main part, first main part It is two, second main part is arranged between two first main parts, and second main part passes through described hinged Part and first main part are hinged.

The climbing robot, it is preferred that width direction of two first main parts along the robot body It is alternatively arranged setting, the running gear is crawler attachment, and the crawler attachment prolongs along the length direction of the robot body It stretches, the articulation piece includes first rotating shaft, and the first rotating shaft is arranged along the length direction of the robot body, and described first Main part and the second main part can be using the first rotating shafts as center relative rotation.

The climbing robot, it is preferred that the articulation piece further includes the second shaft, and second shaft is along the machine The width direction of device human agent is arranged, first main part and the second main part can also centered on second shaft phase To rotation.

The climbing robot, it is preferred that the running gear is crawler attachment, and the crawler attachment includes: bracket, Including the first connection frame and the second connection frame, first connection frame is with second connection frame along the length direction of the bracket It is slidably connected；Driven wheel is rotatablely connected by follower shaft and first connection frame, and the follower shaft is along the bracket Width direction setting；Driving wheel is rotatablely connected by drive sprocket axle and second connection frame, the drive sprocket axle and it is described from Driving wheel axis is parallel and is arranged along the length direction interval of the bracket, and first connection frame can be along described with the second connection frame The opposite sliding of the length direction of bracket is to adjust the distance between the follower shaft and drive sprocket axle；Positioning system, including carry out Strips and caging system, the track member be set on the outside of the driving wheel and driven wheel and with the driving wheel and driven wheel phase Engagement, it is opposite along the length direction of the bracket with second connection frame that the track member can limit first connection frame Sliding is mutually separate to limit the follower shaft and drive sprocket axle, and the caging system is connect with first connection frame and second Frame is connected, and the caging system can limit first connection frame and second connection frame along the length side of the bracket It is mutually close to limit the follower shaft and drive sprocket axle to opposite sliding, so as to make described the with track member cooperation One connection frame and the second connection frame relative positioning.

The climbing robot, it is preferred that the caging system includes limiting section, screw rod and limiting device, the limit Position portion is arranged on first connection frame；The limiting device is arranged on second connection frame, and the limiting device is opened Threaded hole equipped with the length direction extension along the bracket, the screw rod are threaded through in the threaded hole, and the screw rod is used for Centered on axis relative to the limiting device rotate with along the length direction of the bracket stretch and can be with the limit Position portion abuts against, opposite along the length direction of the bracket with second connection frame so as to limit first connection frame It slides mutually close to limit the follower shaft and drive sprocket axle.

The climbing robot, it is preferred that the limiting device is detachably connected with first connection frame.

The climbing robot, it is preferred that the track member includes transmission chain, and it is recessed that the transmission chain is formed with limit Slot, the limiting groove extend along the length direction of the transmission chain, and the driving wheel and driven wheel are located at the limiting groove Interior and be meshed with the transmission chain, the crawler attachment further includes pressing device, and the pressing device includes: pressure plate, position Extend in the frame bottom and length direction along the bracket and width direction；Contact roller is rotatably connected on the compression On plate, the axis of the contact roller is arranged along the width direction of the bracket, and the contact roller includes wheel body and retention bead, institute It states retention bead and along the radial convex of the wheel body is located at the outside of the wheel body and along the circumferentially extending of the wheel body, the limit Protrusion is contained in the limiting groove, and limits the wheel body and transmission chain along the wheel body axis with limiting groove cooperation To relative movement；Elastic device, the both ends of the elastic device are connected with the pressure plate and bracket respectively, the elasticity Device is supported between the pressure plate and bracket for applying pressure to the pressure plate, so that described in contact roller compression Transmission chain.

The climbing robot, it is preferred that the retention bead is by multiple along the circumferentially spaced limit of the wheel body Position tooth is constituted, and the limiting tooth is meshed with the transmission chain.

The climbing robot, it is preferred that further include pneumatic pick, the pneumatic pick is arranged on the robot body, uses It is cleared up in object to be cleaned.

Based on above-mentioned, climbing robot provided by the utility model, when in use, can be filled by the absorption on running gear Absorption working face is set, and drives robot body to walk along working face by running gear.Since multiple first main parts are along machine The width direction interval of device human agent is arranged, hinged by articulation piece between two neighboring first main part, therefore, multiple first It can be filled using the axis of articulation piece as center relative rotation due to being equipped with walking on each first main part between main part It sets, therefore when the adsorbent equipment on running gear is adsorbed on curved working face, work of multiple first main parts in adsorption capacity With it is lower can using the axis of articulation piece as center relative rotation, thus make robot body formed adapt to curved working face shape Shape, to improve adsorbent equipment for the adsorption capacity of working face, has thus, it is possible to improve the compactness of adsorbent equipment and working face Effect prevents running gear to be separated with working face, improves the reliability that climbing robot uses.

Detailed description of the invention

Fig. 1 is a kind of structural schematic diagram of climbing robot provided by the embodiment of the utility model；

Fig. 2 is a kind of bottom view of climbing robot provided by the embodiment of the utility model；

Fig. 3 is a kind of partial structural diagram of climbing robot provided by the embodiment of the utility model；

Fig. 4 is a kind of structural schematic diagram of the running gear of climbing robot provided by the embodiment of the utility model；

Fig. 5 is a kind of partial structural diagram of the running gear of climbing robot provided by the embodiment of the utility model；

Fig. 6 is a kind of front elevation of the adsorbent equipment of climbing robot provided by the embodiment of the utility model；

Fig. 7 is a kind of perspective view of the adsorbent equipment of climbing robot provided by the embodiment of the utility model.

Appended drawing reference:

100: adsorbent equipment；101: adsorption piece；102: connecting plate；

103: elastic component；104: guiding device；105: connecting rod；

106: the first pin shafts；107: perforation；108: locating part；

109: directive wheel；110: the second pin shafts；111: frame；

112: magnetic patch；201: robot body；202: running gear；

203: the first main parts；204: articulation piece；205: the second main parts；

206: first rotating shaft；207: the second shafts；208: bracket；

209: the first connection frames；210: the second connection frames；211: driven wheel；

212: follower shaft；213: driving wheel；214: drive sprocket axle；

215: track member；216: caging system；217: limiting section；

218: screw rod；219: limiting device；220: threaded hole；

221: transmission chain；222: limiting groove；223: pressing device；

224: pressure plate；225: contact roller；226: wheel body；

227: retention bead；228: elastic device；229: pneumatic pick.

Specific embodiment

It is practical new below in conjunction with this to keep the purpose of this utility model, feature, advantage more obvious and understandable Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched The embodiment stated is only the utility model a part of the embodiment, and not all embodiments.Based on the implementation in the utility model Example, those skilled in the art's every other embodiment obtained without making creative work, belongs to this reality With novel protected range.

Fig. 1-3 is please referred to, the utility model embodiment provides a kind of climbing robot, including robot body 201 and row Walking apparatus 202, robot body 201 include the first main part 203, and the first main part 203 is multiple, multiple first main parts 203 are alternatively arranged setting along the width or length direction of robot body 201, pass through between two neighboring first main part 203 Articulation piece 204 is hinged, and running gear 202 is equipped on each first main part 203, and running gear 202 is equipped with adsorbent equipment 100, adsorbent equipment 100 is for adsorbing working face, and running gear 202 is for driving robot body 201 to walk along working face.

Climbing robot in the present embodiment can be adsorbed when in use by the adsorbent equipment 100 on running gear 202 Working face, and drive robot body 201 to walk along working face by running gear 202.Due to multiple first main part, 203 edges The width or length direction of robot body 201 is alternatively arranged setting, passes through articulation piece between two neighboring first main part 203 204 is hinged, therefore, between multiple first main parts 203 can using the axis of articulation piece 204 as center relative rotation, and due to Running gear 202 is equipped on each first main part 203, therefore the adsorbent equipment 100 on running gear 202 is adsorbed on arc When on working face, multiple first main parts 203 being capable of the opposite rotation centered on the axis of articulation piece 204 under the action of adsorption capacity Turn, so that robot body 201 be made to form the shape for adapting to curved working face, thus, it is possible to improve adsorbent equipment 100 and work The compactness in face effectively prevent running gear 202 and working face to improve adsorbent equipment 100 for the adsorption capacity of working face It is separated, improves the reliability that climbing robot uses.

In the present embodiment, it is preferred that robot body 201 further includes the second main part 205, and the first main part 203 is two A, the second main part 205 is arranged between two the first main parts 203, and the second main part 205 passes through articulation piece 204 and first Main part 203 is hinged.The distance between two first main parts 203 can be increased by the way that the second main part 205 is arranged as a result, To make two the first main parts 203 be not in interference in relative rotation, two the first main part 203 rotations are improved Amplitude and smoothness, in addition, easily the equipment such as executive device, control device, power device can be arranged in the second main part On 205, since in climbing robot walking process, the second main part 205 is relatively stable, therefore, peace can be preferably protected Equipment on the second main part 205.

In the present embodiment, it is preferred that two the first main parts 203 are alternatively arranged along the width direction of robot body 201 Setting, running gear 202 are crawler attachment, and crawler attachment extends along the length direction of robot body 201, and articulation piece 204 wraps First rotating shaft 206 is included, first rotating shaft 206 is arranged along the length direction of robot body 201, and the first main part 203 and second is main It body portion 205 can be with first rotating shaft 206 for center relative rotation.As a result, when climbing robot in the duct or on cylinder manage by edge When the axial traveling of road or cylinder, the adsorbent equipment 100 on running gear 202 is adsorbed on inner wall of the pipe or cylinder outer wall, and two A first main part 203 can be using the axis of first rotating shaft 206 as center relative rotation, due to crawler belt under the action of adsorption capacity Device and first rotating shaft 206 are arranged along the length direction of robot body 201, so as to form robot body 201 The shape for adapting to inner wall of the pipe or cylinder outer wall, thus, it is possible to improve the compactness of adsorbent equipment 100 Yu working face, to improve Adsorbent equipment 100 effectively prevent running gear 202 to be separated with working face the adsorption capacity of working face, improves and climbs wall machine The reliability that device people uses.

In the present embodiment, it is preferred that articulation piece 204 further includes the second shaft 207, and the second shaft 207 is along robot body 201 width direction setting, the first main part 203 and the second main part 205 can also the opposite rotations centered on the second shaft 207 Turn.Width direction due to the second shaft 207 along robot body 201 is arranged, when climbing robot passes through continuous wave When shape wave working face, pass through the relative rotation of the first main part 203 and the second main part 205 centered on the second shaft 207, energy Swing crawler attachment with the fluctuating of waveform working face, thus, it is possible to improve adsorbent equipment 100 and working face Compactness effectively prevent running gear 202 mutually to take off with working face to improve adsorbent equipment 100 for the adsorption capacity of working face From improving the reliability that climbing robot uses.Wherein, articulation piece 204 can be to include first rotating shaft 206 and the second shaft 207 universal shaft can also be the connectors such as flexural pivot.

Fig. 4 and Fig. 5 are please referred to, in the present embodiment, it is preferred that running gear 202 is crawler attachment, and crawler attachment includes: Bracket 208, including the first connection frame 209 and the second connection frame 210, the first connection frame 209 and the second connection frame 210 are along bracket 208 length direction is slidably connected；Driven wheel 211 is rotatablely connected, driven wheel by follower shaft 212 and the first connection frame 209 Axis 212 is arranged along the width direction of bracket 208；Driving wheel 213 is connected by drive sprocket axle 214 and the rotation of the second connection frame 210 Connect, parallel with the follower shaft 212 and length direction interval setting along bracket 208 of drive sprocket axle 214, the first connection frame 209 with Second connection frame 210 can along bracket 208 length direction it is opposite slide with adjust follower shaft 212 and drive sprocket axle 214 it Between distance；Positioning system, including track member 215 and caging system 216, track member 215 are set in driving wheel 213 and driven wheel 211 outsides are simultaneously meshed with driving wheel 213 and driven wheel 211, and track member 215 can limit the first connection frame 209 and second and connect The opposite sliding of length direction that frame 210 is connect along bracket 208 is mutually separate to limit follower shaft 212 and drive sprocket axle 214, limit system System 216 is connected with the first connection frame 209 and the second connection frame 210, caging system 216 can limit the first connection frame 209 and Second connection frame 210 is mutually close to limit follower shaft 212 and drive sprocket axle 214 along the opposite sliding of length direction of bracket 208, So as to make 210 relative positioning of the first connection frame 209 and the second connection frame with the cooperation of track member 215.

When needing to install track member 215, the first connection frame 209 and the second connection frame 210 can be made along bracket 208 Length direction it is opposite slide, to shorten the distance between follower shaft 212 and drive sprocket axle 214, thus can easily by Track member 215 is set on follower shaft 212 and drive sprocket axle 214, can make the first connection frame 209 and the second connection frame later 210 along bracket 208 length direction it is opposite slide to increase the distance between follower shaft 212 and drive sprocket axle 214, thus will Track member 215 is tensioned, can be by caging system 216 by the first connection frame 209 and the second connection frame after the tensioning of track member 215 210 phases are connected, and since track member 215 can limit, follower shaft 212 is mutually separate with drive sprocket axle 214 and caging system 216 Follower shaft 212 can be limited and drive sprocket axle 214 is mutually close, therefore, energy is cooperated by caging system 216 and track member 215 Enough make 210 relative positioning of the first connection frame 209 and the second connection frame.When needing to dismantle track member 215, it need to only make caging system 216 release the limit for the first connection frame 209 and the second connection frame 210, can make the first connection frame 209 and the second connection frame 210 keep follower shaft 212 and drive sprocket axle 214 mutually close along the length direction of bracket 208 with respect to sliding, so as to shorten driven The distance between wheel shaft 212 and drive sprocket axle 214, convenient for unloading track member 215.Make 215 installing and dismounting side of track member as a result, Just, the convenience that crawler attachment uses is improved.

In the present embodiment, it is preferred that caging system 216 includes limiting section 217, screw rod 218 and limiting device 219, limit Portion 217 is arranged on the first connection frame 209；Limiting device 219 is arranged on the second connection frame 210, and limiting device 219 offers The threaded hole 220 extended along the length direction of bracket 208, screw rod 218 are threaded through in threaded hole 220, and screw rod 218 is used for axis Centered on relative to limiting device 219 rotate with along the length direction of bracket 208 stretch and can offset with limiting section 217 It connects, so as to limit the opposite sliding of length direction of the first connection frame 209 and the second connection frame 210 along bracket 208 to limit Follower shaft 212 and drive sprocket axle 214 are mutually close.

When needing to install track member 215, rotatable screw rod 218, make screw rod 218 shrink with limiting section 217 It mutually separates, to release the limit for the first connection frame 209 and the second connection frame 210, connects the first connection frame 209 and second Connect frame 210 can along bracket 208 length direction it is opposite slide, with shorten between follower shaft 212 and drive sprocket axle 214 away from From therefore easily track member 215 capable of being set on follower shaft 212 and drive sprocket axle 214, later rotatable screw rod 218, enable screw rod 218 to stretch to abut against with limiting section 217 towards limiting section 217, continuing rotary screw 218 being capable of band Dynamic first connection frame 209 and the second connection frame 210 along bracket 208 length direction it is opposite slide, to make 212 He of follower shaft 214 phase of drive sprocket axle connects far from track member 215 to be tensioned at this point, track member 215 can limit the first connection frame 209 and second The opposite sliding of length direction that frame 210 is connect along bracket 208 is mutually separate to limit follower shaft 212 and drive sprocket axle 214, and then will First connection frame 209 and the second connection frame 210 position.When needing to dismantle track member 215, rotary screw 218 is only needed, screw rod is made 218 shrink to separate with 217 phase of limiting section, to release the limit for the first connection frame 209 and the second connection frame 210, make First connection frame 209 and the second connection frame 210 can be along the opposite slidings of length direction of bracket 208, to shorten follower shaft 212 The distance between drive sprocket axle 214, convenient for unloading track member 215.Make track member 215 easy for assemble or unload as a result, and fixed Position system structure is simple, easy to operate.

In the present embodiment, it is preferred that limiting device 219 is detachably connected with the first connection frame 209.As a result, when needs are torn open When unloading track member 215, directly limiting device 219 can be unloaded, to enable the first connection frame 209 and the second connection frame 210 Quick sliding relatively long distance makes track member so as to quickly shorten the distance between follower shaft 212 and drive sprocket axle 214 215 being capable of rapid removal.

In the present embodiment, it is preferred that track member 215 includes transmission chain 221, and transmission chain 221 is formed with limiting groove 222, Limiting groove 222 extends along the length direction of transmission chain 221, and driving wheel 213 and driven wheel 211 are located in limiting groove 222 simultaneously It is meshed with transmission chain 221, crawler attachment further includes pressing device 223, and pressing device 223 includes: pressure plate 224, is located at branch 208 bottom of frame and length direction along bracket 208 and width direction extend；Contact roller 225 is rotatably connected on pressure plate 224, The axis of contact roller 225 is arranged along the width direction of bracket 208, and contact roller 225 includes wheel body 226 and retention bead 227, limit Protrusion 227 along the radial convex of wheel body 226 is located at the outside of wheel body 226 and along the circumferentially extending of wheel body 226, and retention bead 227 is held The phase for being contained in limiting groove 222, and cooperating limitation wheel body 226 and transmission chain 221 axial along wheel body 226 with limiting groove 222 To movement；Elastic device 228, the both ends of elastic device 228 are connected with pressure plate 224 and bracket 208 respectively, elastic device 228 are supported between pressure plate 224 and bracket 208 for applying pressure to pressure plate 224, so that contact roller 225 compresses transmission Chain 221.Applying pressure to pressure plate 224 by elastic device 228 as a result, can make contact roller 225 compress transmission chain 221, from And be conducive to improve the rate of tension of track member 215, in addition, the cooperation by retention bead 227 and limiting groove 222 can limit wheel Body 226 and transmission chain 221 relative movement axial along wheel body 226, so as to effectively prevent contact roller 225 and transmission chain 221 It is separated, improves the stability that contact roller 225 presses transmission chain 221, and improve the reliability of the connection of track member 215.

In the present embodiment, it is preferred that retention bead 227 is made of multiple along the circumferentially spaced limiting tooth of wheel body 226, Limiting tooth is meshed with transmission chain 221.Since limiting tooth can be meshed with transmission chain 221, it is conducive to improve retention bead 227 position-limiting action prevents contact roller 225 and transmission chain 221 to be separated so as to more efficiently.

In the present embodiment, it is preferred that climbing robot further includes pneumatic pick 229, and pneumatic pick 229 is arranged in robot body 201 On, for clearing up object to be cleaned.Due to pneumatic pick 229 can on object to be cleaned dirt or rust deposite continue Impact, therefore the higher dirt of hardness or rust deposite can be subjected to crushing cleaning, to be conducive to improve cleaning effect.

Fig. 6 and Fig. 7 are please referred to, in the present embodiment, it is preferred that adsorbent equipment 100 includes adsorption piece 101,102 and of connecting plate Elastic component 103, adsorption piece 101 for being adsorbed on working face, the both ends of elastic component 103 respectively with adsorption piece 101 and connecting plate 102 are connected, and elastic component 103 is supported between connecting plate 102 and adsorption piece 101 so that connecting plate 102 and adsorption piece 101 can Keep relative positioning state；Track member 215 is equipped with interconnecting piece, and interconnecting piece is connected with connecting plate 102, and elastic component 103 is along shoe Strips 215 radially extends so that adsorption piece 101 is located at 215 outside of track member.Due to passing through the flexible or curved of elastic component 103 Song can be such that adsorption piece 101 and connecting plate 102 relatively moves, when crawler attachment is walked on non-planar working face, adsorption piece 101 will receive the pressure of working face, under the action of pressure and the elastic force of elastic component 103,101 meeting of adsorption piece and relative to even Fishplate bar 102 is mobile, so that adsorption piece 101 be enable to fit with working face, and then is conducive to improve adsorption piece 101 for working face Adsorption capacity, prevent crawler attachment and working face to be detached from and fall, improve the reliability used.Meanwhile in elastic component 103 Under supporting role, it can guarantee the stability of crawler attachment walking.

In the present embodiment, it is preferred that crawler attachment further includes guiding device 104, and guiding device 104 includes connecting rod 105 , first pin shaft 106 and bullet hinged by the first pin shaft 106 and adsorption piece 101 with the first end of the first pin shaft 106, connecting rod 105 The setting direction of property part 103 is perpendicular；Connecting plate 102 is equipped with perforation 107, and connecting plate 102 is set in connection by perforation 107 Between the first end and second end of bar 105, connecting rod 105 can stretch in perforation 107.When crawler attachment is in non-planar work When walking on face, adsorption piece 101 will receive the pressure of working face, under the action of pressure and the elastic force of elastic component 103, absorption Part 101 will drive connecting rod 105 and stretch in perforation 107, and adsorption piece 101 can be centered on the first pin shaft 106 relative to even Fishplate bar 102 rotates, so that adsorption piece 101 be enable to fit with working face, and then is conducive to improve adsorption piece 101 for working face Adsorption capacity, prevent crawler attachment and working face to be detached from and fall, improve the reliability used.In addition, guiding device 104 limits The direction that adsorption piece 101 and connecting plate 102 relatively move is made, to improve the support force of adsorbent equipment 100.

In the present embodiment, it is preferred that connecting plate 102 is arranged along the width direction of bracket 208, the first pin shaft 106 and bracket 208 width direction is perpendicular, guiding device 104 be it is multiple, multiple guiding devices 104 are along the width direction interval of bracket 208 Setting.Since the width direction of the first pin shaft 106 and bracket 208 is perpendicular, guiding device 104 limits adsorption piece 101 With relative movement of the connecting plate 102 on the direction of the width direction of radial direction and bracket 208 perpendicular to track member 215, into one Step improves the support force of adsorbent equipment 100.Multiple guiding devices 104 are arranged along the width direction interval of bracket 208, Neng Gouyou Effect prevent adsorption piece 101 centered on connecting rod 105 relative to connecting plate 102 rotate, improve adsorbent equipment 100 use it is steady Qualitative and reliability.

In the present embodiment, it is preferred that adsorbent equipment 100 is multiple, circumferential direction of multiple adsorbent equipments 100 along track member 215 It is alternatively arranged setting.Crawler attachment is adsorbed by the cooperation of multiple adsorbent equipments 100 and is supported on working face, can be improved crawler belt Device for working face absorption dynamics, to improve the reliability and stability that crawler attachment is walked on working face.

In the present embodiment, it is preferred that adsorbent equipment 100 further includes locating part 108, and locating part 108 is connected to connecting rod 105 Second end and connecting plate 102 between it is mobile with the second end for limiting connecting plate 102 towards connecting rod 105；Elastic component 103 is bullet Spring, spring is arranged in each connecting rod 105, and spring is used to apply elastic pressure to adsorption piece 101 and connecting plate 102 so as to inhale Attachment 101 and connecting plate 102 are able to maintain relative positioning state.102 He of connecting plate can be limited by locating part 108 as a result, Spacing between adsorption piece 101 so that spring be made to keep compressive state, and then enables spring to adsorption piece 101 and connecting plate 102 application elastic pressures improve adsorbent equipment 100 so that adsorption piece 101 and connecting plate 102 are able to maintain relative positioning state Support force.Since spring is set in connecting rod 105, connecting rod 105 can provide support force to spring, prevent spring mistake Degree is deformed and is damaged, and improves the reliability that adsorbent equipment 100 uses.In addition, since multiple guiding devices 104 are along bracket 208 Width direction interval setting, therefore, be set in the spring in connecting rod 105 naturally also along the width direction interval of bracket 208 Setting, therefore can be improved the support force for adsorption piece 101 and connecting plate 102, enable connecting plate 102 and adsorption piece 101 Relative positioning state is preferably kept, the reliability that adsorbent equipment 100 uses is improved.

In the present embodiment, it is preferred that locating part 108 is stop nut, and connecting rod 105 is equipped with thread segment, stop nut It is threadedly engaged with thread segment.In 100 assembling process of adsorbent equipment, connecting rod 105 first can be passed through into the first pin shaft 106 and absorption Part 101 is hinged, and spring is set in connecting rod 105 later, then connecting plate 102 is set in connecting rod 105 by perforation 107 On, stop nut is set on thread segment again later, making stop nut by rotary stopper nut, threadingly section is mobile to press Connecting plate 102 is held, so that spring be made to keep compressive state, adsorbent equipment 100 is thus made to assemble, is easy to adjust.Certainly, locating part 108 be also the spacing block set being arranged in connecting rod 105.

In the present embodiment, it is preferred that adsorbent equipment 100 further includes directive wheel 109, width of the adsorption piece 101 along bracket 208 Direction extends, and directive wheel 109 is connected to the end of adsorption piece 101, the second pin shaft 110 and the first pin shaft by the second pin shaft 110 106 is parallel.When crawler attachment is walked on non-planar working face, adsorption piece 101 will receive the pressure of working face, in pressure Under the action of the elastic force of elastic component 103, adsorption piece 101 can be revolved centered on the first pin shaft 106 relative to connecting plate 102 Turn, in adsorption piece 101 relative in 102 rotary course of connecting plate, directive wheel 109 can be in contact and on working face with working face Sliding, at this point, directive wheel 109 can be rotated centered on the second pin shaft 110 relative to adsorption piece 101, to effectively avoid inhaling The end of attachment 101 is damaged with working face direct collision, and keeps movement of the crawler attachment on working face more smoothly.

In the present embodiment, it is preferred that the bottom surface of adsorption piece 101 with working face for being in contact, the bottom end position of directive wheel 109 In the subjacent of adsorption piece 101, thus, it is possible to reduce the friction of adsorption piece 101 Yu working face.

In the present embodiment, it is preferred that adsorption piece 101 includes frame 111 and magnetic patch 112, frame 111 and the equal edge of magnetic patch 112 The width direction of bracket 208 extends, and directive wheel 109 is connected to the both ends of frame 111, magnetic patch 112 and frame by the second pin shaft 110 Frame 111 connects and is located between the both ends of frame 111, and magnetic patch 112 is for being adsorbed on working face.Make 101 knot of adsorption piece as a result, Structure is simple, adsorption reliability, easy to assembly.Certainly, magnetic patch 112 also can be replaced vacuum absorption device 100.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example Point is contained at least one embodiment or example of the utility model.Moreover, description specific features, structure, material or Feature may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, in not conflicting situation Under, those skilled in the art can be by different embodiments or examples described in this specification and different embodiments or examples Feature be combined.

In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden It include at least one this feature containing ground.The meaning of " plurality " is two or more in the description of the present invention, unless Separately there is clearly specific restriction.

Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation Or replacement, it should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with the power Subject to the protection scope that benefit requires.

Claims (10)

1. a kind of climbing robot, which is characterized in that including robot body and running gear, the robot body includes the One main part, first main part are multiple, width or length of multiple first main parts along the robot body Direction is alternatively arranged setting, hinged by articulation piece between two neighboring first main part, is all provided on each first main part There is the running gear, the running gear is equipped with adsorbent equipment, and the adsorbent equipment is for adsorbing working face, the walking Device is for driving the robot body to walk along the working face.

2. climbing robot according to claim 1, which is characterized in that the robot body further includes the second main body Portion, first main part are two, and second main part is arranged between two first main parts, and described second is main Body portion is hinged by the articulation piece and first main part.

3. climbing robot according to claim 2, which is characterized in that two first main parts are along the robot The width direction of main body is alternatively arranged setting, and the running gear is crawler attachment, and the crawler attachment is along the robot master The length direction of body extends, and the articulation piece includes first rotating shaft, and the first rotating shaft is along the length side of the robot body To setting, first main part and the second main part can be using the first rotating shafts as center relative rotation.

4. climbing robot according to claim 3, which is characterized in that the articulation piece further includes the second shaft, described Second shaft is arranged along the width direction of the robot body, and first main part and the second main part can also be with described Second shaft is center relative rotation.

5. climbing robot according to claim 1, which is characterized in that the running gear is crawler attachment, the shoe Include: with device

Bracket, including the first connection frame and the second connection frame, first connection frame and second connection frame are along the bracket Length direction be slidably connected；

Driven wheel is rotatablely connected, width of the follower shaft along the bracket by follower shaft and first connection frame Direction setting；

Driving wheel is rotatablely connected by drive sprocket axle and second connection frame, and the drive sprocket axle and the follower shaft are flat Row is simultaneously arranged along the length direction interval of the bracket, and first connection frame and the second connection frame can be along the length of the bracket The opposite sliding in direction is spent to adjust the distance between the follower shaft and drive sprocket axle；

Positioning system, including track member and caging system, the track member be set on the outside of the driving wheel and driven wheel and with The driving wheel and driven wheel are meshed, and the track member can limit first connection frame and second connection frame along institute State bracket length direction it is opposite slide it is mutually separate to limit the follower shaft and drive sprocket axle, the caging system with it is described First connection frame and the second connection frame are connected, and the caging system can limit first connection frame and connect with described second Frame along the bracket length direction it is opposite slide it is mutually close to limit the follower shaft and drive sprocket axle, so as to institute Stating track member cooperation makes first connection frame and the second connection frame relative positioning.

6. climbing robot according to claim 5, which is characterized in that the caging system include limiting section, screw rod and Limiting device, the limiting section are arranged on first connection frame；

The limiting device is arranged on second connection frame, and the limiting device offers the length direction along the bracket The threaded hole of extension, the screw rod are threaded through in the threaded hole, and the screw rod is used for centered on axis relative to the limit Position device rotation along the length direction of the bracket to stretch and can abut against with the limiting section, so as to limit The first connection frame and second connection frame are stated along the opposite sliding of length direction of the bracket with limit the follower shaft and Drive sprocket axle is mutually close.

7. climbing robot according to claim 6, which is characterized in that the limiting device and first connection frame can Dismantling connection.

8. climbing robot according to claim 5, which is characterized in that the track member includes transmission chain, the transmission Chain forms limited position groove, and the limiting groove extends along the length direction of the transmission chain, the driving wheel and driven wheel position It is meshed in the limiting groove and with the transmission chain, the crawler attachment further includes pressing device, the pressing device Include:

Pressure plate, length direction and width direction positioned at the frame bottom and along the bracket extend；

Contact roller is rotatably connected on the pressure plate, and the axis of the contact roller is arranged along the width direction of the bracket, institute Stating contact roller includes wheel body and retention bead, and the retention bead is located at the outside of the wheel body simultaneously along the radial convex of the wheel body Along the circumferentially extending of the wheel body, the retention bead is contained in the limiting groove, and is cooperated with the limiting groove and limited The wheel body and transmission chain are made along the relative movement of the wheel body axial direction；

Elastic device, the both ends of the elastic device are connected with the pressure plate and bracket respectively, the elastic device support For applying pressure to the pressure plate between the pressure plate and bracket, so that the contact roller compresses the transmission chain.

9. climbing robot according to claim 8, which is characterized in that the retention bead is by multiple along the wheel body week It is constituted to spaced limiting tooth, the limiting tooth is meshed with the transmission chain.

10. any climbing robot in -9 according to claim 1, which is characterized in that further include pneumatic pick, the pneumatic pick is set It sets on the robot body, for clearing up object to be cleaned.