CN209757310U - Wall-climbing robot - Google Patents
Wall-climbing robot Download PDFInfo
- Publication number
- CN209757310U CN209757310U CN201920272779.0U CN201920272779U CN209757310U CN 209757310 U CN209757310 U CN 209757310U CN 201920272779 U CN201920272779 U CN 201920272779U CN 209757310 U CN209757310 U CN 209757310U
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- China
- Prior art keywords
- steering
- guide wheel
- vehicle body
- climbing robot
- driving
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- Expired - Fee Related
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Abstract
The utility model discloses a wall climbing robot, including crawler-type automobile body, and still include: a nozzle holder; a steering mechanism for steering the vehicle body; lifting a rod; and the first driving motor is used for driving the lifting rod, and an output shaft of the first driving motor is connected with the lifting rod through a connecting rod. The utility model provides an among the wall climbing robot, through setting up nozzle bracket and high pressure nozzle to the realization is to the washing of accomplishing the oil tank inner wall of drawing of the spray wash pipe that is used for transmitting the spray wash liquid.
Description
Technical Field
The utility model relates to the technical field of mechanical equipment, especially, relate to a wall climbing robot.
background
After the service life of the underground oil tank of the gas station is longer, the internal corrosion is more serious, cracks are easily generated, the leakage of oil products is caused, and the leaked oil products can pollute nearby soil and underground water. Therefore, the "action plan for preventing and treating water pollution" issued by the State Council requires: the underground oil tanks of the gas station are completely updated to double-layer tanks or the arrangement of an anti-seepage pool is completed. And for finishing the transformation of the double-layer tank, the inner wall of the oil tank needs to be derusted and then sprayed.
At present, rust removal and spraying of the inner wall of an oil tank are all completed manually, and workers climb into the oil tank to perform rust removal and spraying operation. For the traditional manual operation mode, harmful substances exist in volatile gas on the inner wall of the oil tank, so that the volatile gas is easy to damage a human body, and the manual derusting-spraying efficiency is low.
SUMMERY OF THE UTILITY MODEL
aiming at the problems, the wall-climbing robot for removing rust on the inner wall of the oil tank is provided.
The specific technical scheme is as follows:
A wall climbing robot comprising a crawler body, characterized in that the crawler plates of the body are made of permanent magnets, and further comprising:
The nozzle bracket is connected to the vehicle body and can swing up and down relative to the vehicle body, and a high-pressure nozzle is arranged on the side wall of one end of the nozzle bracket, which is relatively far away from the vehicle body;
The steering mechanism comprises a first steering guide wheel, a second steering guide wheel, a first steering motor for driving the first steering guide wheel, a second steering motor for driving the second steering guide wheel, a first universal coupling and a second universal coupling, wherein the first steering guide wheel is rotationally connected to the vehicle body, the second steering guide wheel is rotationally connected to the vehicle body, the first steering motor is in transmission connection with a wheel shaft of the first steering guide wheel through the first universal coupling, and the second steering motor is in transmission connection with a wheel shaft of the second steering guide wheel through the second universal coupling;
The two ends of the lifting rod are respectively connected to the shaft rods of the first steering guide wheel and the second steering guide wheel; and
The first driving motor is used for driving the lifting rod, and an output shaft of the first driving motor is connected with the lifting rod through a connecting rod.
The wall climbing robot further comprises a second driving motor for driving the nozzle bracket, and the other end of the nozzle bracket is connected to an output shaft of the second driving motor.
The wall-climbing robot is further characterized in that the nozzle bracket is provided with a plurality of clamping rings, and the clamping rings are distributed at intervals along the length direction of the nozzle bracket.
The beneficial effect of above-mentioned scheme is:
The utility model provides an among the wall climbing robot, through setting up nozzle bracket and high pressure nozzle to the realization is to the washing of accomplishing the oil tank inner wall of drawing of the spray wash pipe that is used for transmitting the spray wash liquid.
Drawings
Fig. 1 is a schematic front view of a wall-climbing robot provided in an embodiment of the present invention;
Fig. 2 is a schematic diagram of a retry structure of the wall-climbing robot provided in the embodiment of the present invention.
in the drawings: 1. a vehicle body; 2. a nozzle holder; 3. a high pressure nozzle; 4. a first steering guide wheel; 5. a second steering guide wheel; 6. a first steering motor; 7. a second steering motor; 8. a first universal coupling; 9. a second universal coupling; 10. lifting a rod; 11. a first drive motor; 12. a second drive motor; 13. a snap ring; 14. a track block.
Detailed Description
the technical solutions in the embodiments of the present invention will be described clearly and completely below with reference to the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by a person of ordinary skill in the art without creative efforts belong to the protection scope of the present invention.
It should be noted that, in the present invention, the embodiments and features of the embodiments may be combined with each other without conflict.
The present invention will be further described with reference to the following specific examples, which should not be construed as limiting the invention.
As shown in fig. 1 and fig. 2, the wall-climbing robot provided in the embodiment of the present invention includes: a crawler-type vehicle body 1; the other end of the nozzle bracket 2 is connected to the vehicle body 1 and can swing up and down relative to the vehicle body 1, and a high-pressure nozzle 3 is arranged on the side wall of one end of the nozzle bracket 2, which is relatively far away from the vehicle body 1; a steering mechanism for making automobile body 1 turn to, the utility model discloses well turn to the structure and locate on automobile body 1 and it includes first steering wheel 4, second steering wheel 5, a first steering motor 6 for driving first steering wheel 4, a second steering motor 7 for driving second steering wheel 5, a first universal coupling 8, a second universal coupling 9, first steering wheel 4 rotates and connects on automobile body 1, second steering wheel 5 rotates and connects on automobile body 1, first steering motor 6 is connected through the wheel hub drive of first universal coupling 8 with first steering wheel 4, second steering motor 7 is connected through the wheel hub drive of second universal coupling 9 with second steering wheel 5; the two ends of the lifting rod 10 are respectively connected to the shaft rods of the first steering guide wheel 4 and the second steering guide wheel 5; and a first driving motor 11 for driving the lifting bar 10, an output shaft of the first driving motor 11 being connected with the lifting bar 10 through a connecting rod.
The utility model discloses well automobile body 1 utilizes the track structure of its both sides to realize before, the back motion, utilizes the first directive wheel 4 of both sides, the second turns to the differential rotation of guide pulley 5 and realizes turning to of automobile body 1, and is concrete, the utility model discloses in owing to turn to the guide pulley on through universal coupling connection in the driving motor who corresponds, therefore before automobile body 1 goes on, during the back motion lifter 10 can upwards lift universal coupling's output and make to turn to the guide pulley and break away from the oil tank inner wall under the drive of first driving motor 11, lifter 10 can transfer universal coupling's output and make to turn to guide pulley and oil tank inner wall contact under the drive of first driving motor 11 when automobile body 1 need turn to, realize the differential again and turn to under the drive of corresponding motor that turns to.
the utility model discloses in utilize car body 1 as the carrier that pulls of the spray wash pipe of transmission spray wash liquid, the utility model discloses well spray wash pipe end-to-end connection on nozzle bracket 2 and communicate with high pressure nozzle 3, spray wash liquid through 3 blowout of high pressure nozzle and to the rust cleaning operation of oil tank inner wall, the utility model discloses well high pressure nozzle 3 is the straight shape nozzle of awl, so spray wash liquid can be by the blowout behind the nozzle contraction section compression pressurization of high pressure nozzle 3 to make the export kinetic energy of spray wash liquid increase, with the better impact rust of rust cleaning.
The utility model discloses in consider that rust cleaning robot's operation environment is the oil tank inner wall that is full of the rust, the event is directly optimized the grip-pad of automobile body 1 to be made by the permanent magnet to utilize the grip-pad to directly adsorb the oil tank inner wall.
on the basis of the above technical scheme, further, still include a plurality of snap rings 13 in the wall climbing robot that this embodiment provided, snap ring 13 sets up along the length direction interval of nozzle bracket 2 in this embodiment, through setting up snap ring 13 in this embodiment so that the spray pipe end can wear to locate in the snap ring 13 in proper order again with high pressure nozzle 3 intercommunication, can avoid rust cleaning in-process spray pipe scattering and disturb the traveling of automobile body 1 through setting up snap ring 13 in this embodiment, also can avoid leading to grip-pad adsorption affinity decline or even the problem that automobile body 1 falls from the oil tank inner wall because of the separation of spray pipe.
The above is merely a preferred embodiment of the present invention, and not intended to limit the scope and the range of the present invention, and those skilled in the art should be able to realize that all the equivalent substitutions and obvious changes made by the present invention description should be included in the scope of the present invention.
Claims (3)
1. A wall climbing robot, comprising a crawler-type vehicle body (1), characterized in that a crawler shoe (14) of the vehicle body (1) is made of a permanent magnet, and the wall climbing robot further comprises:
The nozzle support (2) is connected to the vehicle body (1) and can swing up and down relative to the vehicle body (1), and a high-pressure nozzle (3) is arranged on the side wall of one end, far away from the vehicle body (1), of the nozzle support (2);
A steering mechanism for steering the vehicle body (1), the steering mechanism being provided on the vehicle body (1), the steering mechanism comprises a first steering guide wheel (4), a second steering guide wheel (5), a first steering motor (6) for driving the first steering guide wheel (4), a second steering motor (7) for driving the second steering guide wheel (5), a first universal coupling (8) and a second universal coupling (9), the first steering guide wheel (4) is rotationally connected to the vehicle body (1), the second steering guide wheel (5) is rotationally connected to the vehicle body (1), the first steering motor (6) is in transmission connection with a wheel shaft of the first steering guide wheel (4) through the first universal coupling (8), the second steering motor (7) is in transmission connection with a wheel shaft of the second steering guide wheel (5) through a second universal coupling (9);
The two ends of the lifting rod (10) are respectively connected to the shaft rods of the first steering guide wheel (4) and the second steering guide wheel (5); and
The lifting rod driving device comprises a first driving motor (11) used for driving the lifting rod (10), and an output shaft of the first driving motor (11) is connected with the lifting rod (10) through a connecting rod.
2. a wall climbing robot as claimed in claim 1, characterized in that the wall climbing robot further comprises a second drive motor (12) driving the nozzle holder (2), the other end of the nozzle holder (2) being connected to an output shaft of the second drive motor (12).
3. A wall climbing robot as claimed in claim 1 or 2, characterized in that the nozzle holder (2) is provided with a plurality of snap rings (13), the snap rings (13) being spaced apart along the length of the nozzle holder (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920272779.0U CN209757310U (en) | 2019-03-05 | 2019-03-05 | Wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920272779.0U CN209757310U (en) | 2019-03-05 | 2019-03-05 | Wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209757310U true CN209757310U (en) | 2019-12-10 |
Family
ID=68753656
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920272779.0U Expired - Fee Related CN209757310U (en) | 2019-03-05 | 2019-03-05 | Wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN209757310U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761519A (en) * | 2020-06-03 | 2020-10-13 | 武汉理工大学 | Wall-climbing robot for derusting inner wall of buried oil tank |
| CN112317480A (en) * | 2020-10-21 | 2021-02-05 | 无锡太湖学院 | Safe efficient reation kettle cleaning robot |
-
2019
- 2019-03-05 CN CN201920272779.0U patent/CN209757310U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111761519A (en) * | 2020-06-03 | 2020-10-13 | 武汉理工大学 | Wall-climbing robot for derusting inner wall of buried oil tank |
| CN112317480A (en) * | 2020-10-21 | 2021-02-05 | 无锡太湖学院 | Safe efficient reation kettle cleaning robot |
| CN112317480B (en) * | 2020-10-21 | 2022-03-04 | 无锡太湖学院 | Safe efficient reation kettle cleaning robot |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20191210 Termination date: 20210305 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |