CN211308781U

CN211308781U - Intelligent wall-climbing robot

Info

Publication number: CN211308781U
Application number: CN201920786125.XU
Authority: CN
Inventors: 温广胜; 王攀; 温家辉
Original assignee: Individual
Current assignee: Individual
Priority date: 2019-05-29
Filing date: 2019-05-29
Publication date: 2020-08-21
Anticipated expiration: 2029-05-29

Abstract

The utility model provides an intelligent wall-climbing robot, which comprises a walking system, a spraying frame and a controller; the spraying frame is fixed on the traveling system; the walking system comprises a main beam frame, two connecting frames, four supporting arms, four walking motors with speed reducers, four wheels and a magnet group; the two connecting frames are symmetrically sleeved on two sides of the main beam frame, and the two sides of the connecting frames are fixedly connected with the main beam frame by virtue of angle irons; the four supporting arms are respectively and symmetrically arranged at two ends of the two connecting frames. The utility model has the advantages of large volume, large suction force, large load capacity, neat structure and waterproof function; the utility model discloses an angle between support arm and the link can realize the fine setting, and then makes the dolly can be in the plane or be close smooth climbing on planar curved surface.

Description

Intelligent wall-climbing robot

Technical Field

The utility model belongs to the repair equipment field, specificly relate to an intelligence wall climbing robot.

Background

The trolley with the climbing function is more and more popular as one of intelligent robots, has wide application and can be used for repairing a rainshed steel frame structure, equipment investigation and the like. Most of the existing climbing trolleys are complex in structure, small in load capacity and poor in stability, and when the load weight is too large, the head and feet are easy to light, shaking is easy to occur, and even side turning can occur.

Disclosure of Invention

For solving the problem that exists among the prior art, the utility model provides a waterproof type wind-force dolly that the capacity is big, the structure is clean and tidy.

The utility model adopts the technical proposal that: an intelligent wall-climbing robot comprises a walking system, a spraying frame and a controller; the spraying frame is fixed on the traveling system; the walking system comprises a main beam frame, two connecting frames, four supporting arms, four walking motors with speed reducers, four wheels and a magnet group; the two connecting frames are symmetrically sleeved on two sides of the main beam frame, and the two sides of the connecting frames are fixedly connected with the main beam frame by virtue of angle irons; the four supporting arms are respectively and symmetrically positioned at two ends of the two connecting frames, one end of each supporting arm is provided with a short sleeve, the connecting frames are provided with sleeve holes corresponding to the short sleeves, the short sleeves and the sleeve holes form rotary connection through pin shafts, and the tail end of the upper side of each connecting frame and an upper arm plate of each supporting arm form fixed connection through bolts; the four traveling motors and the speed reducer are respectively sleeved in the four supporting arms, a flange plate of the speed reducer drives wheels to run, and the speed reducer is fixedly connected with the supporting arms by virtue of the positioning sheets; the magnet group comprises a plurality of magnet blocks which are uniformly distributed at the bottoms of the main beam frame and the supporting arm; the controller is electrically connected with the walking motor by virtue of an electric wire.

Further, the spraying frame comprises a support, a main rotating rod, a driven rotating rod, a first rotating motor, a second rotating motor, a longitudinal toothed belt, a transverse toothed belt, a vertical toothed belt, a main moving block, a first auxiliary moving block and a second auxiliary moving block; the main rotating rod and the driven rotating rod are symmetrically arranged on the support respectively, two ends of the main rotating rod and two ends of the driven rotating rod are in rotating connection with the support through bearings, the first rotating motor is fixed at the bottom of one side of the support, a rotating shaft of the first rotating motor is in rotating connection with the main rotating rod through a vertical toothed belt, and the vertical toothed belt is meshed with a gear on a rotating shaft of the rotating motor and a gear on the main rotating rod; the two longitudinal toothed belts are sleeved on the main rotating rod and the driven rotating rod in parallel and meshed with the gear on the main rotating rod and the gear on the driven rotating rod; an auxiliary moving block I and an auxiliary moving block II are respectively fixed on the two longitudinal toothed belts, a rotating motor II is fixed on the auxiliary moving block I, a rotating shaft with a gear is fixed on the auxiliary block II, and the transverse toothed belt is meshed with the gear on the rotating shaft of the rotating motor II and the gear on the rotating shaft of the auxiliary block II; and a main moving block is fixed on the transverse toothed belt.

Furthermore, a left longitudinal guide rod and a right longitudinal guide rod are fixedly arranged on the bracket, and the auxiliary moving block I penetrates through the left longitudinal guide rod and is movably connected with the left longitudinal guide rod; the auxiliary moving block II penetrates through the right longitudinal guide rod and is movably connected with the right longitudinal guide rod; and a transverse guide rod is fixed between the first auxiliary block and the second auxiliary block, and the main moving block penetrates through the transverse guide rod and is movably connected with the transverse guide rod.

Furthermore, the number of the left longitudinal guide rods is two, the number of the right longitudinal guide rods is two, and the number of the transverse guide rods is two.

Furthermore, the first rotating motor and the second rotating motor are electrically connected with the controller through electric wires respectively.

The utility model discloses the beneficial effect who obtains does: the utility model has the advantages of large volume, large suction force, large load capacity, neat structure and waterproof function; the utility model can control the running speed of each wheel through the controller, and further can control the advance, retreat or steering of the trolley; the utility model discloses an angle between support arm and the link can realize the fine setting, and then makes the dolly can be in the plane or be close smooth climbing on planar curved surface.

Drawings

FIG. 1 is a schematic view of the structure of the walking system of the present invention;

FIG. 2 is a schematic side view of the overall structure of the present invention;

fig. 3 is a bottom view of the walking system of the present invention;

FIG. 4 is a schematic view of the structure of the coating frame of the present invention;

FIG. 5 is a schematic view of the structure of the support arm of the present invention;

FIG. 6 is a schematic view of the structure of the connection frame of the present invention;

wherein 1 represents a main beam frame, 2 represents a connecting frame, 3 represents a supporting arm, 4 represents a walking motor, 5 represents a wheel, 6 represents angle iron, 7 represents a short sleeve, 8 represents a sleeve hole, 9 represents a pin shaft, 10 represents a bolt, 11 represents a positioning piece, 12 represents a magnet block, 13 represents a support, 14 represents a main rotating rod, 15 represents a driven rotating rod, 16 represents a rotating motor I, 17 represents a rotating motor II, 18 represents a longitudinal toothed belt, 19 represents a transverse toothed belt, 20 represents a vertical toothed belt, 21 represents a main moving block, 22 represents an auxiliary moving block I, and 23 represents an auxiliary moving block II.

Detailed Description

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in 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.

As shown in fig. 1-3, 5, and 6, an intelligent wall-climbing robot comprises a walking system, a spraying frame, and a controller; the spraying frame is fixed on the traveling system; the walking system comprises a main beam frame 1, two connecting frames 2, four supporting arms 3, four walking motors 4 with speed reducers, four wheels 5 and a magnet group; the two connecting frames 2 are symmetrically sleeved on two sides of the main beam frame 1, and two sides of the connecting frames 2 are fixedly connected with the main beam frame 1 by means of angle irons 6; the four supporting arms 3 are respectively and symmetrically positioned at two ends of the two connecting frames 2, one end of each supporting arm 3 is provided with a short sleeve 7, the connecting frames 2 are provided with sleeve holes 8 corresponding to the short sleeves 7, the short sleeves 7 are rotatably connected with the sleeve holes 8 by virtue of pin shafts 9, and the tail end of the upper side of each connecting frame 2 is fixedly connected with the upper arm plate of the corresponding supporting arm 3 by virtue of bolts 10; the four traveling motors 4 and the speed reducer are respectively sleeved in the four supporting arms 3, a flange plate of the speed reducer drives wheels 5 to run, and the speed reducer is fixedly connected with the supporting arms 3 by virtue of positioning sheets 11; the magnet group comprises a plurality of magnet blocks 12 which are uniformly distributed at the bottoms of the main beam frame 1 and the supporting arm 3; the controller is electrically connected with the walking motor 4 by a wire.

As shown in fig. 4, the spraying frame comprises a bracket 13, a main rotating rod 14, a driven rotating rod 15, a first rotating motor 16, a second rotating motor 17, a longitudinal toothed belt 18, a transverse toothed belt 19, a vertical toothed belt 20, a main moving block 21, a first auxiliary moving block 22 and a second auxiliary moving block 23; the main rotating rod 14 and the driven rotating rod 15 are symmetrically arranged on the support 13 respectively, two ends of the main rotating rod 14 and two ends of the driven rotating rod 15 are in rotating connection with the support 13 through bearings, the first rotating motor 16 is fixed at the bottom of one side of the support 13, a rotating shaft of the first rotating motor 16 is in rotating connection with the main rotating rod 14 through a vertical toothed belt 20, and the vertical toothed belt 20 is meshed with a gear on the rotating shaft of the first rotating motor 16 and a gear on the main rotating rod 14; the two longitudinal toothed belts 18 are sleeved on the main rotating rod 14 and the driven rotating rod 15 in parallel and meshed with the gear on the main rotating rod 14 and the gear on the driven rotating rod 15; an auxiliary moving block I22 and an auxiliary moving block II 23 are respectively fixed on the two longitudinal toothed belts 18, a rotating motor II 17 is fixed on the auxiliary moving block I22, a rotating shaft with a gear is fixed on the auxiliary block II 23, and the transverse toothed belt 19 is meshed with the gear on the rotating shaft of the rotating motor II 17 and the gear on the rotating shaft of the auxiliary block II 23; a main moving block 21 is fixed on the transverse toothed belt 19.

The bracket 13 is fixedly provided with a left longitudinal guide rod and a right longitudinal guide rod, and the auxiliary moving block I22 penetrates through the left longitudinal guide rod and is movably connected with the left longitudinal guide rod; the auxiliary moving block II 23 penetrates through the right longitudinal guide rod and is movably connected with the right longitudinal guide rod; a transverse guide rod is fixed between the first auxiliary block 22 and the second auxiliary block 23, and the main moving block 21 penetrates through the transverse guide rod and is movably connected with the transverse guide rod. The left longitudinal guide rods are parallel to each other, the right longitudinal guide rods are parallel to each other, and the transverse guide rods are parallel to each other. The first rotating motor 16 and the second rotating motor 17 are electrically connected with the controller through electric wires respectively.

In the specific implementation: according to the gradient of the creeping surface, the angle between the supporting arm 3 and the connecting frame 2 is further adjusted by adjusting the height of the bolt 10, so that the 4 wheels 5 are all stressed on the creeping surface, and the magnet block 12 can be at the optimal height to exert the maximum adsorption force. The controller controls the running speed of each wheel 5, so that the forward movement, the backward movement or the steering of the trolley can be controlled. The spraying frame is fixed on a walking system, a rotating shaft of a rotating motor I16 rotates to drive a vertical toothed belt 20 and a main rotating rod 14 to rotate, meanwhile, a driven rotating rod 15 starts to rotate under the transmission of a longitudinal toothed belt 18, and an auxiliary moving block I22 and an auxiliary moving block II 23 are both fixed on the longitudinal toothed belt 18, so that a main moving block 21 is driven to move longitudinally; when the rotating shaft of the second rotating motor 17 operates, the transverse gear belt 19 is driven to operate, and the main moving block 21 is driven to move transversely. The actual required devices such as a spray pipe (head), a polishing head, a camera and the like can be fixed on the main moving block 21.

Claims

1. The utility model provides an intelligence wall climbing robot which characterized in that: comprises a walking system, a spraying frame and a controller; the spraying frame is fixed on the traveling system; the walking system comprises a main beam frame (1), two connecting frames (2), four supporting arms (3), four walking motors (4) with speed reducers, four wheels (5) and a magnet group; the two connecting frames (2) are symmetrically sleeved on two sides of the main beam frame (1), and two sides of the connecting frames (2) are fixedly connected with the main beam frame (1) by means of angle irons (6); the four supporting arms (3) are respectively and symmetrically positioned at two ends of the two connecting frames (2), one end of each supporting arm (3) is provided with a short sleeve (7), the connecting frames (2) are provided with sleeve holes (8) corresponding to the short sleeves (7), the short sleeves (7) are rotatably connected with the sleeve holes (8) through pin shafts (9), and the tail end of the upper side of each connecting frame (2) is fixedly connected with an upper arm plate of the corresponding supporting arm (3) through bolts (10); the four traveling motors (4) and the speed reducer are respectively sleeved in the four supporting arms (3), a flange plate of the speed reducer drives wheels (5) to run, and the speed reducer is fixedly connected with the supporting arms (3) by virtue of positioning sheets (11); the magnet group comprises a plurality of magnet blocks (12) which are uniformly distributed at the bottoms of the main beam frame (1) and the supporting arm (3); the controller is electrically connected with the walking motor (4) by a wire.

2. The intelligent wall-climbing robot of claim 1, wherein: the spraying frame comprises a support (13), a main rotating rod (14), a driven rotating rod (15), a first rotating motor (16), a second rotating motor (17), a longitudinal toothed belt (18), a transverse toothed belt (19), a vertical toothed belt (20), a main moving block (21), a first auxiliary moving block (22) and a second auxiliary moving block (23); the main rotating rod (14) and the driven rotating rod (15) are symmetrically arranged on the support (13) respectively, two ends of the main rotating rod (14) and the driven rotating rod (15) are in rotating connection with the support (13) through bearings, the rotating motor I (16) is fixed to the bottom of one side of the support (13), a rotating shaft of the rotating motor I (16) is in rotating connection with the main rotating rod (14) through a vertical toothed belt (20), and the vertical toothed belt (20) is meshed with a gear on the rotating shaft of the rotating motor I (16) and a gear on the main rotating rod (14); the two longitudinal toothed belts (18) are sleeved on the main rotating rod (14) and the driven rotating rod (15) in parallel and meshed with a gear on the main rotating rod (14) and a gear on the driven rotating rod (15); an auxiliary moving block I (22) and an auxiliary moving block II (23) are respectively fixed on the two longitudinal toothed belts (18), a rotating motor II (17) is fixed on the auxiliary moving block I (22), a rotating shaft with a gear is fixed on the auxiliary moving block II (23), and the transverse toothed belt (19) is meshed with the gear on the rotating shaft of the rotating motor II (17) and the gear on the rotating shaft of the auxiliary moving block II (23); a main moving block (21) is fixed on the transverse toothed belt (19).

3. The intelligent wall-climbing robot of claim 2, wherein: the bracket (13) is fixedly provided with a left longitudinal guide rod and a right longitudinal guide rod, and the auxiliary moving block I (22) penetrates through the left longitudinal guide rod and is movably connected with the left longitudinal guide rod; the auxiliary moving block II (23) penetrates through the right longitudinal guide rod and is movably connected with the right longitudinal guide rod; a transverse guide rod is fixed between the first auxiliary moving block (22) and the second auxiliary moving block (23), and the main moving block (21) penetrates through the transverse guide rod and is movably connected with the transverse guide rod.

4. The intelligent wall-climbing robot of claim 3, wherein: the left longitudinal guide rods are parallel to each other, the right longitudinal guide rods are parallel to each other, and the transverse guide rods are parallel to each other.

5. The intelligent wall-climbing robot of claim 2, wherein: the first rotating motor (16) and the second rotating motor (17) are electrically connected with the controller through electric wires respectively.