CN210149444U - Two-section type crawler wall-climbing robot - Google Patents

Two-section type crawler wall-climbing robot Download PDF

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Publication number
CN210149444U
CN210149444U CN201920953468.0U CN201920953468U CN210149444U CN 210149444 U CN210149444 U CN 210149444U CN 201920953468 U CN201920953468 U CN 201920953468U CN 210149444 U CN210149444 U CN 210149444U
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China
Prior art keywords
frame
crawler
wall
motor
climbing robot
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Active
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CN201920953468.0U
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Chinese (zh)
Inventor
潘美俊
段琳
覃柏英
林贤坤
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Guangxi heerwo Information Technology Co.,Ltd.
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Guangxi University of Science and Technology
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Abstract

The utility model discloses a two-section type track wall-climbing robot, which comprises a vehicle body, a front frame, a rear frame, a track walking device, a left motor, a right motor, a charger interface and a storage battery, wherein the front frame is connected with the vehicle body by using a compression spring, and is matched with the connection between driving wheels, the front frame can be folded up by 90 ℃ at most relative to the rear frame, and the avoidance of obstacle crossing and wall transition with different dimensions can be easily realized; and compare in other structures that can realize the wall transition, the utility model discloses simple structure easily realizes, has fine application prospect.

Description

Two-section type crawler wall-climbing robot
Technical Field
The utility model relates to an industrial robot technical field, concretely relates to two section formula track wall climbing robots.
Background
The wall-climbing robot can operate in dangerous and extreme environments such as nuclear power engineering, chemical engineering, wind and electricity engineering and the like, and has important significance in the robot industry. Large-scale equipment in various domestic fields basically adopts large-scale equipment processed by magnetic conductivity materials of steel, such as petroleum pipelines, chemical storage tanks, ships, wind power equipment and the like, and the phenomena of dirt, paint removal and even corrosion can occur on the surfaces of the equipment due to wind blowing and sun drying, saline-alkali corrosion and gravel friction. In order to ensure safe operation of the equipment, a large amount of manpower and material resources are required to be invested to perform maintenance work such as regular cleaning and detection. The use of robots to perform high-intensity and high-risk tasks has been a necessary trend, and conventional wall-climbing robots have some disadvantages, one of which is that it is difficult to implement space wall surface conversion at right angles. The working environment of the wall-climbing robot can be generally divided into a smooth and flat wall surface environment and a complex wall surface changing environment. The smooth and flat wall surface environment is a single-dimensional complete plane in the working environment of the wall-climbing robot, no obvious obstacle influences the movement and work of the wall-climbing robot, and the requirement on the wall-climbing robot is relatively low, so that the adsorption and the movement can be completed. The complex wall surface changing environment means that a working plane is changed in multiple dimensions and obvious obstacles exist, so that the wall climbing robot is required to have the capacity of realizing wall surface transition and obstacle crossing. The existing barrier-crossing and wall-climbing robot has a multi-purpose split structure to realize barrier crossing and wall surface transition, but the existing split barrier-crossing and wall-climbing robot has a complex structure and large control difficulty.
SUMMERY OF THE UTILITY MODEL
The utility model aims at the not enough of above-mentioned prior art, the utility model aims at providing a new two-section formula track wall climbing robot, simple structure, the rate of motion is fast, can realize the conversion of obstacle crossing and right angle wall, can be applied to the operational environment of multiple complicacy etc.
The utility model discloses the concrete technical scheme who takes is:
a two-section type crawler wall-climbing robot comprises a robot body, a front frame, a rear frame, crawler traveling devices, a left motor, a right motor, a charger interface and a storage battery, wherein the crawler traveling devices are four and are respectively a left front crawler traveling device, a right front crawler traveling device, a left rear crawler traveling device and a right rear crawler traveling device; the automobile body is installed in the frame of back to pass through hold-down spring with preceding frame and be connected, charger interface, battery are installed in the frame of back, the charger interface with the battery is connected, left side motor, right motor respectively with the battery is connected, is provided the electric energy by the battery.
Further, two section formula track wall climbing robot still includes controlling means, controlling means includes controller, attitude sensor, wireless remote control module includes: a wireless receiver and a remote controller; the controller, the attitude sensor and the wireless receiver are respectively and fixedly arranged on the front frame or the rear frame and are respectively connected with the controller circuit; the left motor and the right motor are also electrically connected with the controller, the controller is connected with the storage battery, and the storage battery provides electric energy for the whole control device.
Preferably, the track support frame is respectively connected with the front frame and the rear frame; the front driving wheel and the rear driving wheel on the left front crawler traveling device and the right front crawler traveling device are connected with the front frame through supporting shafts; the front driving wheels on the left rear crawler belt walking device and the right rear crawler belt walking device are respectively connected with the rear driving wheels on the left front crawler belt walking device and the right front crawler belt walking device through connecting rods; the rear driving wheels on the left front crawler belt walking device and the right front crawler belt walking device are connected with the front frame through a supporting shaft; and the rear driving wheels on the left rear crawler traveling device and the right rear crawler traveling device are respectively arranged at two ends of a rear transverse round rod of the rear frame.
Preferably, the front section of the rear frame is provided with a left vertical supporting rod and a right vertical supporting rod, and the left motor and the right motor are respectively installed on the left vertical supporting rod and the right vertical supporting rod.
Preferably, the front frame is lower in height than the rear frame.
Preferably, the attitude sensor includes a gyro sensor and an acceleration sensor.
Compared with the prior art, the utility model has the advantages of it is following: the utility model connects the front frame with the vehicle body by using the compression spring, and matches with the connection between the driving wheels, the front frame can be folded up by 90 ℃ at most relative to the rear frame, and the obstacle crossing and the wall transition with different dimensions can be easily avoided; and compare in other structures that can realize the wall transition, the utility model discloses simple structure easily realizes, has fine application prospect.
Drawings
Fig. 1 is a schematic structural view of the wall-climbing robot;
fig. 2 is a partial structural schematic view of the wall-climbing robot;
FIG. 3 is a schematic structural view of the crawler;
fig. 4 is a schematic structural view of the track support frame.
Detailed Description
To explain technical contents, structural features, and objects and effects of the technical solutions in detail, the following detailed description is given with reference to the accompanying drawings in conjunction with the embodiments.
Example 1
A two-section type crawler wall-climbing robot comprises a vehicle body 1, a front vehicle frame 2, a rear vehicle frame 3, a crawler traveling device 4, a left motor 5, a right motor 6, a charger interface, a storage battery and a control device, wherein the crawler traveling devices 4 are four, namely a left front crawler traveling device, a right front crawler traveling device, a left rear crawler traveling device and a right rear crawler traveling device, the left front crawler traveling device and the right front crawler traveling device are respectively arranged on the left side and the right side of the front vehicle frame 2, the left rear crawler traveling device and the right rear crawler traveling device are respectively arranged on the left side and the right side of the rear vehicle frame 3, as shown in FIG. 3, the crawler traveling device 4 comprises a crawler 41, a crawler support frame 42, a front driving wheel 43 and a rear driving wheel 44, and as shown in FIG. 4, rolling wheels 421 are arranged on the crawler support frame 42; as shown in fig. 2, the track support frame 42 is connected to the front frame 2 and the rear frame 3; the front driving wheel 43 and the rear driving wheel 44 on the left front crawler traveling device and the right front crawler traveling device are respectively connected with the front frame through a supporting shaft 45; the front driving wheels 43 on the left rear crawler belt walking device and the right rear crawler belt walking device are respectively connected with the rear driving wheels 42 on the left front crawler belt walking device and the right front crawler belt walking device through connecting rods 46; the rear driving wheels 42 on the left front crawler belt walking device and the right front crawler belt walking device are connected with the front frame through a supporting shaft 45; the rear driving wheels 42 on the left rear crawler traveling device and the right rear crawler traveling device are respectively arranged at two ends of the rear transverse rod 33 of the rear frame 3; the height of the front frame 2 is lower than that of the rear frame 3, the vehicle body 1 is mounted in the rear frame 3 and is connected with the front frame 2 through a compression spring 7, a left vertical supporting rod 31 and a right vertical supporting rod 32 are arranged at the front section of the rear frame 3, and the left motor 5 and the right motor 6 are respectively mounted on the left vertical supporting rod 31 and the right vertical supporting rod 32; the charger interface and the storage battery are arranged in the rear frame 3, the charger interface is connected with the storage battery, the left motor and the right motor are respectively connected with the storage battery, and the storage battery provides electric energy; the controlling means includes controller, attitude sensor, wireless remote control module includes: a wireless receiver and a remote controller; the attitude sensor comprises a gyroscope sensor and an acceleration sensor; the controller, the attitude sensor and the wireless receiver are respectively and fixedly arranged on the front frame 2 or the rear frame 3, and the attitude sensor and the wireless receiver are respectively connected with the controller through circuits; the left motor and the right motor are also electrically connected with the controller, the controller is connected with the storage battery, and the storage battery provides electric energy for the whole control device.
The control method of the two-section type crawler wall-climbing robot comprises the following steps:
initializing detection and setting, including detecting whether the value of the attitude sensor is normal, and prompting and waiting for the normal state if the value of the attitude sensor is abnormal;
step two: waiting for the information sent by the remote controller, and processing the information content sent by the remote controller;
step three: if the information content sent by the remote controller is forward, the controller controls the left motor and the right motor to rotate forwards simultaneously; if the information content sent by the remote controller is backward, the controller controls the left motor and the right motor to simultaneously rotate reversely; if the information content sent by the remote controller is fast forward, the controller controls the left motor and the right motor to increase the rotating speed at the same time; if the information content sent by the remote controller is deceleration, the controller controls the left motor and the right motor to reduce the rotating speed at the same time; if the information content sent by the remote controller is left-turning, the controller controls the left motor to stop turning and the right motor to rotate forwards; if the information content sent by the remote controller is right rotation, the controller controls the right motor to stop rotating and the left motor to rotate positively; if the information content sent by the remote controller is a glass wiping function, the controller controls the left motor and the right motor to realize corresponding track motion according to a stored glass wiping path algorithm;
step four: and (4) detecting whether the value of the attitude sensor is normal, if so, returning to the step two, and if not, judging whether the two-section type track wall-climbing robot falls off or not to give an alarm.
Although the foregoing embodiments have been described, once they learn of the basic inventive concepts, those skilled in the art can make further changes and modifications to these embodiments, so that the above description is only an example of the present invention, and not intended to limit the scope of the present invention, and all changes in equivalent structures or equivalent processes using the contents of the specification and drawings, or directly or indirectly using other related technical fields, are also included in the scope of the present invention.

Claims (6)

1. A two-section type crawler wall-climbing robot is characterized by comprising a vehicle body, a front vehicle frame, a rear vehicle frame, crawler traveling devices, a left motor, a right motor, charger interfaces and a storage battery, wherein the crawler traveling devices are four and are respectively a left front crawler traveling device, a right front crawler traveling device, a left rear crawler traveling device and a right rear crawler traveling device; the automobile body is installed in the frame of back to pass through hold-down spring with preceding frame and be connected, charger interface, battery are installed in the frame of back, the charger interface with the battery is connected, left side motor, right motor respectively with the battery is connected, is provided the electric energy by the battery.
2. The two-section crawler wall-climbing robot according to claim 1, further comprising a control device, wherein the control device comprises a controller, an attitude sensor, and a wireless remote control module, and the wireless remote control module comprises: a wireless receiver and a remote controller; the controller, the attitude sensor and the wireless receiver are respectively and fixedly arranged on the front frame or the rear frame and are respectively connected with the controller circuit; the left motor and the right motor are also electrically connected with the controller, the controller is connected with the storage battery, and the storage battery provides electric energy for the whole control device.
3. The two-section type crawler wall-climbing robot according to claim 1 or 2, wherein the crawler supporting frame is respectively connected with a front frame and a rear frame; the front driving wheel and the rear driving wheel on the left front crawler traveling device and the right front crawler traveling device are connected with the front frame through supporting shafts; the front driving wheels on the left rear crawler belt walking device and the right rear crawler belt walking device are respectively connected with the rear driving wheels on the left front crawler belt walking device and the right front crawler belt walking device through connecting rods; the rear driving wheels on the left front crawler belt walking device and the right front crawler belt walking device are connected with the front frame through a supporting shaft; and the rear driving wheels on the left rear crawler traveling device and the right rear crawler traveling device are respectively arranged at two ends of a rear transverse round rod of the rear frame.
4. The two-section type crawler wall-climbing robot according to claim 3, wherein the front section of the rear frame is provided with a left vertical strut and a right vertical strut, and the left motor and the right motor are respectively mounted on the left vertical strut and the right vertical strut.
5. A two-section crawler wall-climbing robot as claimed in claim 1 or 2, wherein the front frame is lower than the rear frame.
6. The two-section crawler wall-climbing robot according to claim 2, wherein the attitude sensor includes a gyroscope sensor and an acceleration sensor.
CN201920953468.0U 2019-06-24 2019-06-24 Two-section type crawler wall-climbing robot Active CN210149444U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201920953468.0U CN210149444U (en) 2019-06-24 2019-06-24 Two-section type crawler wall-climbing robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201920953468.0U CN210149444U (en) 2019-06-24 2019-06-24 Two-section type crawler wall-climbing robot

Publications (1)

Publication Number Publication Date
CN210149444U true CN210149444U (en) 2020-03-17

Family

ID=69763910

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201920953468.0U Active CN210149444U (en) 2019-06-24 2019-06-24 Two-section type crawler wall-climbing robot

Country Status (1)

Country Link
CN (1) CN210149444U (en)

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Effective date of registration: 20211216

Address after: 530000 No. 20, building 38, Zone C, 10 + 1 Commercial Avenue, tinghong Road, Jiangnan District, Nanning City, Guangxi Zhuang Autonomous Region

Patentee after: Guangxi heerwo Information Technology Co.,Ltd.

Address before: 545000 268 East Ring Road, Liuzhou, the Guangxi Zhuang Autonomous Region

Patentee before: GUANGXI University OF SCIENCE AND TECHNOLOGY

TR01 Transfer of patent right