CN209521779U - A kind of leg attachment device of climbing robot - Google Patents
A kind of leg attachment device of climbing robot Download PDFInfo
- Publication number
- CN209521779U CN209521779U CN201822155240.5U CN201822155240U CN209521779U CN 209521779 U CN209521779 U CN 209521779U CN 201822155240 U CN201822155240 U CN 201822155240U CN 209521779 U CN209521779 U CN 209521779U
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- adhesive tape
- guide wheel
- glue device
- wheel
- glue
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Abstract
A kind of leg attachment device of climbing robot, including mechanical framework, around wheel adhesive tape, adhesive tape recycling round, left adhesive tape guide wheel, right adhesive tape guide wheel, adhesive tape flatten air bag, telescopic rubber, from left to right glue device and glue device from right to left；Mechanical framework includes pedestal and two support frames；Two support frames are each attached to base top surface left and right ends, are separately fixed at two top of support framees around wheel adhesive tape and adhesive tape recycling round；Left and right adhesive tape guide wheel is fixed on pedestal left and right ends；Left and right glue device is located on the inside of left and right guide wheel, and two glue device both ends are connected with the support arm one end for being located at two guide wheel two sides；The support arm other end is fixed with pedestal；Left adhesive tape guide wheel, from left to right glue device top, from right to left glue device top, right adhesive tape guide wheel are successively bypassed around wheel tape free end, is wrapped in adhesive tape recycling round；It is provided with adhesive tape between the adhesive tape and base end face controlled between glue device and flattens air bag and telescopic rubber；The feature that the utility model has structure simple, low in cost.
Description
Technical field
The utility model relates to a kind of leg attachment devices of climbing robot.
Background technique
At this stage, it has been reported that Climbing Robot type it is relatively more, by its adsorb wall principle, can be by its point
For four classes: suction type, adhesive tape type, magnetic-type, fan type, business application is mainly magnetic-type at present, using other three kinds of sides
The robot many places of formula are in laboratory stage.
In these four suction types:
1. magnetic-type be only capable of being adsorbed in material surfaces such as iron-cobalt-nickels, application range is limited；
2. suction type is to allow region of interest to adhere to metope due to negative pressure by installing sucker or negative-pressure air fan additional.But this
The influence that kind robot is highly susceptible to metope pollution, hangs water, unequal situation, limits to larger；
3. fan type is by that it can be made to generate pressure with metope, and then can generate quiet towards the direction air blast far from metope
Frictional force is come so that it will not fall.Due to there is biggish stiction between robot to be made and metope, then blower will generate
Enough wind-force, and its weight is then larger drives especially with battery, then in order to maintain long period, subsidiary battery weight
Amount will be larger.
4. adhesive tape type can be divided into bionic glue band and normal tape, wherein bionic glue band imitates the sole function of gecko, fine
Intermolecular force can be generated with metope by tieing up villus, and a large amount of fibre fluff can generate very big intermolecular interaction with metope
Power, to firmly adsorb metope.Normal tape is pressure sensitive adhesive common on the market, can generate larger viscosity.
In these four modes, in addition to magnetic-type other than industrial circle again application, using the climbing robot of other modes
It is currently in laboratory stage.The bionic glue carrying machine people in adhesive tape type robot is studied much at present, this is also future one
A important direction.Normal tape formula is compared, and cost is more cheap, and adhesive tape resource easily obtains, but at present to this mode
Climbing robot research it is few, main bottleneck is that the adhesive tape access times of its per unit area have a limitation, while cannot be compared with
It is adsorbed and is separated fastly.
Utility model content
Purpose of the utility model is to solve the deficiencies of the above prior art and provide a kind of legs of climbing robot
Attachment device.
Technical solution used by the utility model is a kind of such, leg attachment device of climbing robot, including
Mechanical framework, around wheel adhesive tape, adhesive tape recycling round, left adhesive tape guide wheel, right adhesive tape guide wheel, adhesive tape flatten air bag, telescopic rubber,
Glue device and from right to left glue device from left to right；
The mechanical framework includes pedestal and two support frames；Described two support frames are vertically fixed on a base top surface left side
Right both ends, it is described to be separately fixed at two top of support framees around wheel adhesive tape and adhesive tape recycling round；The left and right adhesive tape guide wheel point
It is not fixed on pedestal left and right ends, the left and right glue device is located on the inside of the left and right guide wheel, and two glue devices two
End is rotatablely connected with the support arm one end for being located at two guide wheel two sides；The support arm other end is vertical with base end face to be fixed；It is described
Left adhesive tape guide wheel, from left to right glue device top, from right to left glue device top, right adhesive tape guide wheel are successively bypassed around wheel tape free end, is twined
It is wound in adhesive tape recycling round；Adhesive tape pressure is set gradually from the bottom to top between the adhesive tape and base end face controlled between glue device
Flat air bag and telescopic rubber.
Preferably, the central axis being fixedly connected around wheel adhesive tape and adhesive tape recycling round and support frame are rotation connection.
Preferably, the central axis of left and right adhesive tape guide wheel rotation connection is mutually fixed with pedestal.
Preferably, adhesive tape is bionic glue band.
The utility model has the advantages that
Using a kind of leg attachment device of climbing robot described in the utility model, wall portion is climbed by innovating robot
The mechanism of position makes robot using the ability that after normal tape, can obtain permanent resident metope, while lower price makes
It can obtain large-scale promotion.
Detailed description of the invention
Fig. 1 is the utility model front view；
Fig. 2 is the utility model bottom view；
1. mechanical framework 2. is flat around wheel 3. adhesive tape recycling round of adhesive tape, 4. right 6. adhesive tape of adhesive tape guide wheel of left adhesive tape guide wheel 5.
7. telescopic rubber 8. of pressuring gasbag, 10. pedestal of glue device, 11. support frame, 12. support arm from right to left of glue device 9. from left to right.
Specific embodiment
In order to deepen the understanding to the utility model, the utility model is made below in conjunction with embodiment and attached drawing further
It is described in detail, which is only used for explaining the utility model, does not constitute the restriction to scope of protection of the utility model.
As illustrated in fig. 1 and 2, the leg attachment device of a kind of climbing robot, including mechanical framework 1, around wheel adhesive tape 2, glue
Band recycling round 3, left adhesive tape guide wheel 4, right adhesive tape guide wheel 5, adhesive tape flatten air bag 6, telescopic rubber 7, from left to right glue device 8 and from right to left
Glue device 9；
Mechanical framework 1 includes pedestal 10 and two support frames 11；Two support frames 11 are vertically fixed on 10 top surface of pedestal
Left and right ends are separately fixed at two 11 tops of support frame around wheel adhesive tape 2 and adhesive tape recycling round 3, around wheel adhesive tape 2 and adhesive tape recycling
Central axis and support frame 11 rotation that wheel 3 is fixedly connected connect；Left and right adhesive tape guide wheel is separately fixed at pedestal 10 or so two
The central axis at end, left and right adhesive tape guide wheel rotation connection is fixed with 10 phase of pedestal；Left and right glue device is located at left and right guidance
Wheel inside, and two glue device both ends are rotatablely connected with 12 one end of support arm for being located at two guide wheel two sides；12 other end of support arm
It is fixed with 10 plane perpendicular of pedestal；Left adhesive tape guide wheel 4, from left to right 8 top of glue device, from right to left are successively bypassed around wheel 2 free end of adhesive tape
9 top of glue device, right adhesive tape guide wheel 5, are wrapped in adhesive tape recycling round 3；Positioned at the adhesive tape and pedestal bottom controlled between glue device
Adhesive tape is set gradually between face from the bottom to top and flattens air bag 6 and telescopic rubber 7.
Wherein, adhesive tape is bionic glue band.
Described can be driven around wheel adhesive tape 2 and adhesive tape recycling round 3 by same driving motor, realized and rotated synchronously,
Specially the driving motor is set in the pedestal of mechanical framework, motor gear and a transmission gear on motor output shaft
Vertical Meshing；The horizontal drive shaft both ends connected in the middle part of the transmission gear are provided with two tooth sectors, two tooth sector
The gear with the vertical transmission shaft lower end being set in mechanical framework support frame is meshed respectively；The tooth of two vertical transmission shaft upper ends
It takes turns the rotate gear being connected with the central axis around wheel adhesive tape and adhesive tape recycling round to be meshed, for around wheel adhesive tape and adhesive tape recycling
Wheel provides power, guarantees to rotate synchronously around wheel adhesive tape and adhesive tape recycling round.
When in use, robot leg Truck Connection is in 10 top surface of pedestal for the climbing robot leg attachment device
The heart rotates synchronously when attachment device lifts around wheel adhesive tape 2 and adhesive tape recycling round 3, and under the action of playing glue device, adhesive tape was used
It is partially recycled into adhesive tape recycling round 3, when attachment device is fallen, adhesive tape and wall are fitted closely, and by flatten air bag 6 press
It is flat, achieve the purpose that be attached on wall.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Within the spirit and principle of utility model, any modification, equivalent replacement, improvement and so on should be included in the utility model
Protection scope within.
Claims (4)
1. a kind of leg attachment device of climbing robot, which is characterized in that including mechanical framework, around wheel adhesive tape, adhesive tape recycling
Wheel, left adhesive tape guide wheel, right adhesive tape guide wheel, adhesive tape flatten air bag, telescopic rubber, from left to right glue device and glue device from right to left；
The mechanical framework includes pedestal and two support frames；Described two support frames are vertically fixed on base top surface or so two
End, it is described to be separately fixed at two top of support framees around wheel adhesive tape and adhesive tape recycling round；The left and right adhesive tape guide wheel is solid respectively
Be scheduled on pedestal left and right ends, the left and right glue device is located on the inside of the left and right guide wheel, and two glue device both ends with
Support arm one end positioned at two guide wheel two sides is rotatablely connected；The support arm other end is vertical with base end face to be fixed；It is described around wheel
Tape free end successively bypasses left adhesive tape guide wheel, from left to right glue device top, from right to left glue device top, right adhesive tape guide wheel, is wrapped in
In adhesive tape recycling round；It sets gradually adhesive tape from the bottom to top between the adhesive tape and base end face controlled between glue device and flattens gas
Capsule and telescopic rubber.
2. a kind of leg attachment device of climbing robot as described in claim 1, which is characterized in that it is described around wheel adhesive tape and
The central axis and support frame that adhesive tape recycling round is fixedly connected are rotation connection.
3. a kind of leg attachment device of climbing robot as described in claim 1, which is characterized in that the left and right glue
Central axis with guide wheel rotation connection is mutually fixed with pedestal.
4. a kind of leg attachment device of climbing robot as described in claim 1, which is characterized in that the adhesive tape is bionical
Adhesive tape.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822155240.5U CN209521779U (en) | 2018-12-21 | 2018-12-21 | A kind of leg attachment device of climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201822155240.5U CN209521779U (en) | 2018-12-21 | 2018-12-21 | A kind of leg attachment device of climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209521779U true CN209521779U (en) | 2019-10-22 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201822155240.5U Active CN209521779U (en) | 2018-12-21 | 2018-12-21 | A kind of leg attachment device of climbing robot |
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| CN (1) | CN209521779U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533072A (en) * | 2018-12-21 | 2019-03-29 | 杭州测质成科技有限公司 | A kind of leg attachment device of climbing robot |
-
2018
- 2018-12-21 CN CN201822155240.5U patent/CN209521779U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109533072A (en) * | 2018-12-21 | 2019-03-29 | 杭州测质成科技有限公司 | A kind of leg attachment device of climbing robot |
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