CN210000441U - wall-climbing robot - Google Patents
wall-climbing robot Download PDFInfo
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- CN210000441U CN210000441U CN201920311726.5U CN201920311726U CN210000441U CN 210000441 U CN210000441 U CN 210000441U CN 201920311726 U CN201920311726 U CN 201920311726U CN 210000441 U CN210000441 U CN 210000441U
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- machine body
- wall
- climbing robot
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Abstract
The utility model discloses a kind climb wall robot, utilize the centrifugal fan of fuselage top to aspirate in the cavity, form the negative pressure in the cavity, the order is opened has the chassis of absorption cavity and forms the sucking disc, make the organism can firmly adsorb on the curtain wall surface of various shapes, and be equipped with slide mechanism, the length direction that the fuselage side can be followed to the slider removes, it is adjustable to make the distance between two sections organisms realize, whole equipment has the elasticity, link to each other slider and the reducing gear box that is equipped with the steering motor simultaneously, the rethread slide bar is connected two sections organisms, make and meet the curved surface, turning wait, utilize the steering motor upset and then lift up the front end organism through the slide bar, can realize turning over smoothly and pass through the obstacle, the flexibility has, this utility model is used for the robot field.
Description
Technical Field
The utility model relates to a robot field especially relates to kinds of wall climbing robot.
Background
With modern development, high-rise buildings are built higher and higher while increasing continuously, most of the works of cleaning, maintaining, detecting, painting, material transferring and the like of the high-rise curtain walls are finished manually at present, the working efficiency is low, the time consumption is long, and great potential safety hazards exist due to many unsafe factors existing in high-altitude operation.
The wall-climbing robot is types of intelligent robots, and can automatically complete high-altitude operation, and the equipment can be applied to high-strength and high-risk working environments such as working environments which cannot be touched by people for working, high-altitude cleaning work, high-altitude maintenance and detection work, high-altitude paint spraying work and the like.
SUMMERY OF THE UTILITY MODEL
An object of the utility model is to provide automatic and can be nimble cross the wall climbing robot of various obstacles.
The utility model adopts the technical proposal that:
A wall climbing robot comprises two spaced bodies, a cavity is arranged in each body, a centrifugal fan is fixed above the body, a chassis is arranged below the body, a plurality of adsorption cavities are arranged on the chassis in a matrix arrangement, sliding mechanisms are respectively arranged on two side faces of the body of each body, each sliding mechanism comprises a sliding block moving along the length direction of the side face of the body, the outward face of each sliding block is respectively fixedly connected with a reduction gearbox, the input end of the reduction gearbox is connected with a steering motor, the two reduction gearboxes on the same side of the body are connected through a sliding rod, and two ends of the sliding rod are respectively connected with the end part of an output shaft of the reduction gearbox.
step conduct the utility model discloses technical scheme's improvement, slide mechanism is equipped with the base, the bottom surface and the fuselage side laminating of base are fixed, each the end of base is fixed with the slip table axle piece, each the other end of base is fixed with the motor flange, the motor is connected in the outside of motor flange, it has optical axes, each to connect between motor flange and the slip table axle piece the slider articulates respectively on the optical axis.
step as the utility model discloses technical scheme's improvement, it is connected with the reducing gear box through the input shaft to turn to the motor, the output shaft tip of reducing gear box articulates in mounting flange, each mounting flange's face laminating in addition is fixed at the tip of slide bar.
step as the improvement of the technical proposal, the steering motor and the fixed flange are respectively positioned on the front and the back of the reduction box, and the other side of the front of the reduction box is fixedly connected with the sliding block.
step as the utility model discloses technical scheme's improvement, each the both sides of the front end limit of organism are equipped with two distance sensor respectively, each the back end limit middle part of organism is equipped with distance sensor.
step as the utility model discloses technical scheme's improvement, it has four wheel hub, four to distribute on the chassis wheel hub is located four angular position, each of the matrix of absorption cavity respectively wheel hub intercommunication gear motor.
step-by-step as the improvement of the technical proposal of the utility model, each wheel hub all adopts Mecanum wheels.
step is taken as the improvement of the technical proposal of the utility model, wherein two oblique symmetrical angles of the chassis are respectively provided with pressure sensors.
the improvement of the technical proposal of the utility model is that adhesive tapes are pasted around the chassis.
step-by-step as the improvement of the technical proposal of the utility model, the supporting frame is installed at the middle position above the machine body, and the centrifugal fan is fixed on the supporting frame.
The utility model has the advantages that: the wall climbing robot utilizes the centrifugal fan above the machine body to suck in the cavity, negative pressure is formed in the cavity, and the chassis with the adsorption cavity forms a sucking disc, so that the machine body can be firmly adsorbed on curtain wall surfaces in various shapes; and be equipped with slide mechanism, the slider can move along the length direction of fuselage side for the distance between two sections organisms realizes adjustably, and whole equipment has the elasticity, links to each other the slider with the reducing gear box that is equipped with the steering motor simultaneously, and the rethread slide bar is connected two sections organisms, makes and meets curved surface, turning wait, utilizes the steering motor upset and then lifts up the front end organism through the slide bar, can realize turning over smoothly and pass through the obstacle, has the flexibility.
Drawings
The present invention is further described in with reference to the following drawings:
fig. 1 is a schematic overall structure diagram of an embodiment of the present invention;
fig. 2 is a schematic structural diagram of a slider mechanism according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a steering module according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a chassis according to an embodiment of the present invention;
fig. 5 is a schematic diagram of another embodiment of the present invention;
fig. 6 is a schematic view of an electric machine module according to another embodiment of the invention;
fig. 7 is a front view of an electric machine module according to another embodiment of the invention.
Detailed Description
Referring to fig. 1 to 7, the utility model discloses a kinds of wall climbing robot, organism 1 including two sections intervals setting, the inside cavity that is of fuselage of each organism 1, the fuselage top is fixed with centrifugal fan 11, the fuselage below is equipped with chassis 12, it has a plurality of matrix arrangement's absorption cavity 121 to open on chassis 12, the fuselage both sides face of each organism 1 is equipped with slide mechanism 2 respectively, each slide mechanism 2 includes the slider 22 that removes along the length direction of fuselage side, each slider 22 outwards the face respectively with reducing gear box 3 fixed connection, the input of reducing gear box 3 is connected with and turns to motor 31, reducing gear box 3 that is located two organisms 1 and sides links to each other through slide bar 4, the both ends of slide bar 4 link to each other with the output shaft 32 tip of reducing gear box 3 respectively.
The wall climbing robot uses the centrifugal fan 11 above the machine body to suck in the cavity, so that negative pressure is formed in the cavity, and the suction cup is formed because the chassis 12 is provided with the suction cavity 121, so that the machine body 1 can be firmly adsorbed on curtain wall surfaces with various shapes of planes or curved surfaces; the sliding mechanisms 2 are arranged on two sides of each machine body 1, the sliding blocks 22 can move along the length direction of the side face of each machine body, the distance between the two machine bodies 1 can be adjusted, the whole equipment has elasticity, meanwhile, the sliding blocks 22 are connected with the reduction gearbox 3 provided with the steering motor 31, the two machine bodies 1 are connected through the sliding rods 4, when curved surfaces and corners are met, the steering motor 31 is used for overturning, the front end machine body 1 is lifted through the sliding rods 4, smooth overturning and obstacle passing can be achieved, and flexibility is achieved.
In a preferred embodiment of the present invention, the sliding mechanism 2 is provided with a base 21, the bottom surface of the base 21 is attached to the side of the body, a sliding platform shaft piece 23 is fixed to the end of each base 21, a motor flange 24 is fixed to the other end of each base 21, a motor 25 is connected to the outside of the motor flange 24, a optical axis 26 is connected between the motor flange 24 and the sliding platform shaft piece 23, and each slider 22 is respectively connected to the optical axis 26 in a penetrating manner, the sliding platform shaft piece 23 is arranged opposite to the motor flange 24, so that the slider 22 is ensured to slide within a range of , the sliding platform shaft piece 23 also ensures that the slider 22 cannot be separated from the base 21 during the movement process, the reciprocating movement is ensured, and the slider 22 is connected to the optical axis 26 in a penetrating manner, thereby ensuring that the slider 22 does not deviate from the linear track during the movement, and ensuring the overall linear expansion and contraction function.
As the preferred embodiment of the utility model, the steering motor 31 is connected with the reduction box 3 through the input shaft, the end of the output shaft 32 is threaded in fixed flanges, the other surface of each fixed flange is attached and fixed at the end of the slide bar 4, then step by step, the steering motor 31 and the fixed flange are respectively positioned at the front and the back of the reduction box 3, and the other side of the front of the reduction box 3 is fixedly connected with the slide block 22.
The slide block 22 is connected with the slide rod 4 through a steering motor 31, so that the whole machine body 1 has four-degree-of-freedom movement, and when the climbing over obstacles is implemented, the slide block 22 stretches the distance between two machine bodies 1 to be in the longest state so as to ensure that the slide rod 4 does not obstruct the climbing over when the climbing over obstacles. Meanwhile, the connection between the steering motor 31 and the sliding block 22 can realize that the machine body 1 has the overturning function from 0 degree to 360 degrees, and realize the lifting and overturning functions between the machine bodies 1, so that the wall climbing robot can work in the working environment of various obstacles, and the overall flexibility is enhanced. When encountering continuous step-shaped obstacles or continuous low-protrusion obstacles, the steering motor 31 of the front end machine body drives the rear end machine body to turn 180 degrees around the front end machine body, so that the rear end machine body turns over the obstacles and moves to the front of the front end machine body, then the chassis 12 of the rear end machine body is turned to face downwards through the steering motor 31 of the rear end machine body, and finally the rear end machine body is re-adsorbed.
As the preferred embodiment of the present invention, two distance sensors 13 are respectively disposed on two sides of the front end of each machine body 1, distance sensors 13 are disposed in the middle of the rear end of each machine body 1. the distance sensors 13 disposed on the front end of the machine body 1 are used for detecting the obstacle in front of walking, and determining whether the front end machine can be crossed after the front end machine body 1 is lifted, the feedback information enables the front end machine to continue to be lifted to a height that the front end machine can be crossed, the distance sensors 13 on the rear end are used for detecting the distance between the two machine bodies 1 when the machine body is telescopic, and it is ensured that the two machine bodies 1 will not collide to cause the damage of the whole structure when the machine.
As the preferred embodiment of the present invention, four hubs 14 are distributed on the chassis 12, the four hubs 14 are respectively located at four angular positions of the matrix of the adsorption cavity 121, each hub 14 is connected to speed reduction motors 15, step is performed, each hub 14 adopts a Mecanum wheel, the Mecanum wheel can not only roll linearly, but also slide transversely, the Mecanum wheel is used, the walking mode of the wall climbing robot and the corresponding method of the obstacle are increased, and the robot can selectively climb over or avoid detour when facing the obstacle appearing on the plane.
As the utility model discloses preferred embodiment is equipped with pressure sensor 16 on two of them skew angles of chassis 12 respectively set up pressure sensor 16, be convenient for judge the laminating degree between chassis 12 and the working face, also judge the adsorption affinity size between chassis 12 and the working face, ensure that feedback information instructs this wall climbing robot to carry out down step actions after chassis 12 adsorbs firmly, avoid overall structure etc. to go or turn over and climb the in-process impaired.
As the preferred embodiment of the present invention, the adhesive tape 17 is adhered around the chassis 12. the adhesive tape 17 is disposed to separate a certain distance between the chassis 12 and the working surface, so that the machine body 1 can move more smoothly, and the abrasion of the chassis 12 on the working surface can be reduced.
In the preferred embodiment of the present invention, a support frame 18 is installed at the middle position above the machine body, and the centrifugal fan 11 is fixed on the support frame 18.
As a preferred embodiment of the present invention, the machine body 1 is further provided with a communication module and a system control module.
According to fig. 5 to 7, as an optimization, the sliding mechanisms 2 on both sides of the machine body 1 are replaced by single-track sliding rails 5, enclosing barriers are additionally arranged around each machine body 1, the single-track sliding rails 5 are fixed above the enclosing barriers, and both sides of each enclosing barrier are respectively provided with a long strip-shaped through hole with the same length as the single-track sliding rails 5. is further provided, the single-track sliding rails 5 comprise a base seat 51, a threaded rod 53 arranged on the base seat 51, a sliding table 52 connected on the threaded rod 53 in a penetrating manner, a motor module is fixed on the sliding table 52, the motor module comprises a motor connecting piece 6 and reduction boxes 3 respectively fixed below both sides of the motor connecting piece 6, the input end of each reduction box 3 is connected with a steering motor 31, the reduction boxes 3 on both sides of the two machine bodies 1 and are connected through sliding rods 4, both ends of the sliding rods 4 are respectively connected with the output shafts 32 of the reduction boxes 3 after passing through the long strip-shaped through holes, the single-track sliding rails 5 are used for replacing the sliding mechanisms 2 on both sides of the machine body, and the sliding rods 52 are indirectly.
, the sliding table 52 is located in the middle groove of the motor connecting piece 6, the end of the output shaft 32 of each reduction gearbox 3 is provided with a coupling 34, and the end of each sliding rod 4 is connected to the coupling, the arrangement of the coupling can compensate the center offset between the end of the sliding rod 4 and the output shaft 32 which may occur in the installation or working process, and the displacement of the sliding rods 4 on the two sides can be more effectively ensured.
The invention is not limited to the above embodiments, and those skilled in the art can make equivalent modifications or substitutions without departing from the spirit of the invention, and such equivalent modifications or substitutions are included in the scope defined by the claims of the present application.
Claims (10)
- The wall-climbing robot is characterized by comprising two machine bodies (1) which are arranged at intervals, wherein a cavity is formed in the machine body of each machine body (1), a centrifugal fan (11) is fixed above the machine body, a chassis (12) is arranged below the machine body, a plurality of adsorption cavities (121) which are arranged in a matrix are formed in the chassis (12), sliding mechanisms (2) are arranged on two side surfaces of the machine body of each machine body (1) respectively, each sliding mechanism (2) comprises a sliding block (22) which moves along the length direction of the side surface of the machine body, the outward surface of each sliding block (22) is fixedly connected with a reduction gearbox (3) respectively, the input end of the reduction gearbox (3) is connected with a steering motor (31), the reduction gearbox (3) which is located on the side of the two machine bodies (1) is connected through a sliding rod (4), and two ends of the sliding rod (4) are connected with the end portions of output shafts (32) of the.
- 2. The wall-climbing robot according to claim 1, wherein the sliding mechanism (2) is provided with bases (21), the bottom surfaces of the bases (21) are fixedly attached to the side surfaces of the machine body, a sliding table shaft piece (23) is fixedly arranged at ends of the bases (21), a motor flange (24) is fixedly arranged at the other end of each base (21), the outer side of the motor flange (24) is connected with a motor (25), a optical axis (26) is connected between the motor flange (24) and the sliding table shaft piece (23), and the sliding blocks (22) are respectively connected to the optical axis (26) in a penetrating manner.
- 3. The wall-climbing robot as claimed in claim 1, wherein the steering motor (31) is connected with the reduction gearbox (3) through an input shaft, the end part of the output shaft (32) is connected in fixing flanges (33) in a penetrating way, and the other surface of each fixing flange (33) is attached and fixed at the end part of the sliding rod (4).
- 4. A wall-climbing robot as claimed in claim 3, characterized in that the steering motor (31) and the fixed flange (33) are respectively positioned on the front and back of the reduction gearbox (3), and the other side of the front of the reduction gearbox (3) is fixedly connected with the slide block (22).
- 5. The wall-climbing robot as claimed in claim 1, characterized in that two distance sensors (13) are respectively arranged on two sides of the front end edge of each machine body (1), and distance sensors (13) are arranged in the middle of the rear end edge of each machine body (1).
- 6. The wall-climbing robot as claimed in claim 1, wherein four hubs (14) are distributed on the chassis (12), the four hubs (14) are respectively located at four angular positions of the matrix of the adsorption hollow space (121), and each hub (14) is communicated with speed reduction motors (15).
- 7. A wall-climbing robot as claimed in claim 6, wherein: each wheel hub (14) adopts a Mecanum wheel.
- 8. The wall-climbing robot as claimed in claim 1, characterized in that pressure sensors (16) are respectively arranged on two of the oblique symmetrical angles of the chassis (12).
- 9. A wall climbing robot as claimed in claim 1, wherein: adhesive tapes (17) are adhered to the periphery of the base plate (12).
- 10. A wall climbing robot as claimed in claim 1, wherein: a support frame (18) is installed in the middle of the upper portion of the machine body, and the centrifugal fan (11) is fixed to the support frame (18).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920311726.5U CN210000441U (en) | 2019-03-11 | 2019-03-11 | wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920311726.5U CN210000441U (en) | 2019-03-11 | 2019-03-11 | wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN210000441U true CN210000441U (en) | 2020-01-31 |
Family
ID=69301358
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920311726.5U Expired - Fee Related CN210000441U (en) | 2019-03-11 | 2019-03-11 | wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN210000441U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001811A (en) * | 2019-03-11 | 2019-07-12 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Climbing Robot |
-
2019
- 2019-03-11 CN CN201920311726.5U patent/CN210000441U/en not_active Expired - Fee Related
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110001811A (en) * | 2019-03-11 | 2019-07-12 | 广东水利电力职业技术学院（广东省水利电力技工学校） | A kind of Climbing 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: 20200131 |
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| CF01 | Termination of patent right due to non-payment of annual fee |