CN213228927U - Modularized bionic wall-climbing robot - Google Patents
Modularized bionic wall-climbing robot Download PDFInfo
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- CN213228927U CN213228927U CN202021668722.1U CN202021668722U CN213228927U CN 213228927 U CN213228927 U CN 213228927U CN 202021668722 U CN202021668722 U CN 202021668722U CN 213228927 U CN213228927 U CN 213228927U
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Abstract
The utility model discloses a modularized bionic wall-climbing robot, which comprises a front symmetrical part and a rear symmetrical part, can be assembled to jointly execute tasks, and can also independently execute the tasks; the independent part comprises a travelling mechanism, a vehicle body structure, a pitching mechanism, a power supply and control assembly and a quick-change interface assembly; running gear symmetric distribution is in the lower floor left and right sides of automobile body structure, and quick change interface module fixes the intermediate position at automobile body structure, and two parts before pitching the mechanism connection robot, back realize the relative motion of pitching between two parts, and power and control assembly install upper portion in automobile body structure to with pitch the mechanism and link to each other. The utility model discloses support the quick change modularization and detect, realize that the modularization of multiple functions such as adhesive tape, dew point, glass is multiplexing to support module customization and function expansion, realize that professional detection technical personnel keeps away from the high altitude operation scene, realize detecting performance, the state of curtain wall glass and accessory structure spare, eliminate measurement personnel's high altitude operation safety risk.
Description
Technical Field
The utility model belongs to mechanical automation engineering field, specifically speaking are bionical wall climbing robot of modularization.
Background
Wall-climbing robots for building surfaces are in various types, such as wheels, crawler belts, hanging baskets and the like, and are mainly used in the cleaning work process of buildings. The detection of the adhesive tape, the glass and the metal connecting piece is very important work in the evaluation process aiming at the expired curtain wall building, the most direct judgment basis can be provided for the curtain wall building whether to be continuously used or not, and safety guarantee is provided for subsequent work. The existing high-rise curtain wall detection process is carried out by adopting professional technicians or small unmanned aerial vehicles, but the artificial detection is high in danger, the unmanned aerial vehicle detection can only be carried out according to the shape, and detailed technical parameters cannot be given. The curtain wall state detection by the modularized bionic wall-climbing robot is not reported at home and abroad at present. The robot is adopted to replace the manual work for detection, so that the detection efficiency can be effectively improved, and the potential safety hazard can be eliminated.
Disclosure of Invention
In order to solve the problem that the existing wall-climbing robot cannot adapt to different working environments and has small adhesive force, the utility model aims to provide a modularized bionic wall-climbing robot. The robot can realize large load, long distance and various detection functions.
The purpose of the utility model is realized through the following technical scheme:
a modularized bionic wall-climbing robot comprises a front part and a rear part which are the same. Each part comprises a travelling mechanism, a vehicle body structure, a pitching mechanism, a power supply and control assembly, a quick-change interface assembly and a vacuum adsorption device, wherein the front part and the rear part have the same structure and are symmetrically arranged about the axis of the pitching mechanism; the walking mechanisms are symmetrically distributed on the left side and the right side of the lower layer in the vehicle body structure, and the advancing, the retreating and the differential steering of the robot are realized through the symmetrically distributed walking driving motors; the quick-change interface assembly is fixed in the middle of the vehicle body structure and is mutually connected with the detection module through the locking mechanism and the power supply interface assembly; the power supply and control assembly mainly comprises a direct current battery and a control circuit board, is arranged at the upper part in the vehicle body structure through an L-shaped power supply fixing adapter plate and is connected with the pitching mechanism; pitching mechanism mainly by pitch driving motor with pitch output flange and constitute, preceding part of robot, back part, through respective pitch output flange interconnect.
The walking mechanism comprises a walking driving motor, a walking motor fixing plate, a bevel gear set, a synchronous belt, two synchronous belt wheels, two transmission shafts and two output wheels, wherein the walking motor fixing plate is fixed on the vehicle body structure and is connected with the walking driving motor through a screw; the bevel gear group comprises two bevel gears which are matched with each other, wherein an input bevel gear is fixedly connected with an output shaft of the walking driving motor, and the other output bevel gear is fixedly connected with the transmission shaft; the transmission shaft is rotatably connected with the vehicle body structure and is fixedly connected with the output bevel gear, the synchronous belt wheel and the output wheel in sequence. The synchronous belt is connected with the front synchronous belt wheel and the rear synchronous belt wheel, the rear synchronous belt wheel is fixedly connected with the rear output wheel through the rear transmission shaft, and synchronous motion of the two output wheels on the same side is achieved.
The vehicle body structure comprises a vehicle body main structure, a power supply supporting tube, a locking mechanism and a power supply interface assembly, wherein the vehicle body main structure is of a square frame structure, the power supply supporting tube is positioned on one side of the upper part of the main structure, and the locking mechanism and the power supply interface assembly are arranged on the other side of the upper part; the power supply interface assembly comprises a data interface and a power supply interface which are respectively connected with corresponding interfaces of the quick-change module; the locking mechanism comprises a stop shoulder and a corresponding fixed pressing plate on the main body structure, and the corresponding structure on the quick-change module is pressed and fixed on the main body structure through the mutual matching of the stop shoulder and the fixed pressing plate.
The pitching mechanism comprises a pitching driving motor fixing seat, a pitching driving motor and a pitching output flange, wherein the pitching driving motor fixing seat is of a tubular structure, the side surface of the pitching driving motor fixing seat is fixedly connected with the end surface of the power supply supporting tube, the end surface of the pitching driving motor fixing seat is fixedly connected with the pitching driving motor, and the pitching driving motor output shaft is fixedly connected with a shaft of the pitching output flange in a pitching driving motor fixing seat tube through a coupler; and the pitching output flange shaft is rotatably connected with the pitching driving motor fixing seat through a bearing.
The power supply and control assembly comprises an L-shaped power supply fixing adapter plate, a direct current battery, a control circuit board and a circuit board protective cover, wherein the direct current battery, the control circuit board and the circuit board protective cover are respectively fixed at two ends of the L-shaped power supply fixing adapter plate, and the circuit board protective cover is covered above the control circuit board.
The vacuum adsorption device comprises a vacuum generator, a vacuum adsorption fixing plate and a vacuum curtain component, wherein the vacuum generator and the vacuum curtain component are fixed on the vacuum adsorption fixing plate through screws and are connected with the main body structure of the vehicle body through the vacuum adsorption fixing plate; the vacuum curtain assembly comprises a vacuum fixing frame, a forward curtain and a lateral curtain, the forward curtain comprises a plurality of swing rods which deflect around a rotating shaft, the lateral curtain comprises a plurality of telescopic rods, and the telescopic rods move up and down through telescopic holes in the vacuum fixing frame.
The utility model discloses an advantage does with positive effect:
1. the utility model discloses can realize examining professional detection technical personnel and keep away from the scene to can realize multiple detection function inter combination.
2. The utility model discloses a preceding, back two parts component structure can carry out the task alone respectively, also can make up the executive task, and the independent operation is to large tracts of land spreading nature curtain wall construction, and the combined operation is to having the curtain building of violently indulging the stupefied line.
3. The utility model discloses can realize the heavy load operation through bionical negative pressure holding device, because the front and back two parts combined motion realizes that the leap-type hinders more, realizes the curtain building detection of complicated surface.
4. The utility model discloses support the quick change modularization and detect, can realize that the modularization of multiple functions such as adhesive tape, dew point, glass is multiplexing to support module customization and function to extend.
Drawings
Fig. 1 is a schematic top view of the dual modules of the present invention.
Fig. 2 is a schematic view of the internal structure of the present invention.
Fig. 3 is a schematic view of the single-module three-dimensional structure of the present invention.
Fig. 4 is a schematic bottom view of the single-module three-dimensional structure of the present invention.
Fig. 5 is a schematic top view of the single module of the present invention.
Fig. 6 is a schematic structural view of the vacuum adsorption device of the present invention.
Fig. 7 is a schematic view of the structure of the vacuum curtain assembly of the present invention.
Fig. 8 is a schematic structural view of the traveling mechanism of the present invention.
Fig. 9 is a side view of the structure of the traveling mechanism of the present invention.
Fig. 10 is a schematic diagram comparing the structures of the power supply and the control module according to the present invention.
Wherein: 1 is a front part, 2 is a rear part, 3 is a traveling mechanism, 4 is a vehicle body structure, 5 is a pitching mechanism, 6 is a power supply and control component, 7 is a quick-change interface component, 8 is a traveling driving motor, 9 is a locking mechanism, 10 is a power supply interface component, 11 is a direct current battery, 12 is a control circuit board, 13 is an 'L' -shaped power supply fixing adapter plate, 14 is a pitching driving motor, 15 is a pitching output flange, 16 is a traveling motor fixing plate, 17 is a bevel gear set, 18 is a synchronous belt, 19 is a synchronous pulley, 20 is a transmission shaft, 21 is an output wheel, 22 is an input bevel gear, 23 is an output bevel gear, 24 is a main body structure, 25 is a power supply support pipe, 26 is a data interface, 27 is a power supply interface, 28 is a stop shoulder, 29 is a fixing pressure plate, 30 is a pitching driving motor fixing seat, 31 is a forward curtain, 32 is a lateral curtain, 33 is a rotating shaft, 34 is a deflection swing rod, 35 is a telescopic rod, 36 is a circuit protective cover, 37 is a vacuum adsorption device, 38 is a vacuum generator, 39 is a vacuum adsorption fixing plate, 40 is a vacuum curtain assembly, and 41 is a vacuum fixing frame.
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. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.
Example one
As shown in fig. 1, 2, 3 and 5, the utility model comprises a front part 1 and a rear part 2 of the robot, and the two parts are the same in mechanism. Each part comprises a travelling mechanism 3, a vehicle body structure 4, a pitching mechanism 5, a power supply and control assembly 6, a quick-change interface assembly 7 and a vacuum adsorption device 37.
The locking mechanism 9 on the body structure 4 comprises a stop shoulder 28 on the main structure 24 and a corresponding securing pressure plate 29, by means of which the corresponding structure on the quick-change module is press-fitted onto the main structure 24 by means of the cooperation of the stop shoulder 28 and the securing pressure plate 29. When the front and rear parts 1 and 2 of the modularized bionic wall-climbing robot and the quick-change module are installed, the front and rear parts 1 and 2 of the robot are connected through the corresponding pitching output flanges 15.
As shown in fig. 10, the power supply in the front and back parts 1, 2 of the robot and the control circuit board 12 in the control assembly 6 coordinate with the dc battery 11 and the walking drive motor 8 to move on the surface of the curtain wall glass. When the building structure is stupefied in front of the robot, the control circuit board 12 in the front part 1 coordinates with the direct current battery 11 to supply power to the pitch driving motor 14, and controls the pitch driving motor 14 to rotate, so as to drive the pitch output flange 15 connected with the pitch driving motor to rotate. Meanwhile, the control circuit board 12 in the rear part 2 coordinates with the direct current battery 11 to supply power to the pitch driving motor 14, and controls the pitch driving motor 14 to rotate, so as to drive the pitch output flange 15 connected with the pitch driving motor to rotate. At this time, the vacuum adsorption device 37 in the robot front part 1 stops working, so that the front part 1 is separated from the surface of the curtain wall glass and rotates around the axis of the elevation output flange 15 to be elevated, and the lowest point of the structure of the front part 1 is higher than the ridge line of the curtain wall. The rear part 2 moves forwards under the combined action of the corresponding vacuum adsorption device 37 and the walking drive motor 8 until the edge of the main structure 24 is close to the edge of the curtain wall, at the moment, the control circuit board 12 in the power supply and control assembly 6 in the front and rear parts 1 and 2 of the robot coordinates the direct current battery 11 and the pitching drive motor 14 to enable the pitching drive motor 14 to rotate reversely to drive the pitching output flange 15 connected with the power supply and control assembly to rotate reversely at the same time until the front part 1 is in contact with the curtain wall glass again, and the corresponding vacuum adsorption device 37 enables the work again to form a stable adsorption relation with the curtain wall glass.
At the moment, the robot completes the crossing of the front part 1 to the ridge line of the building curtain wall. The robot rear part 2 correspondingly moves according to the mode, the crossing of the rear part 2 to the building curtain wall ridge is completed, and the robot moves integrally to cross the building ridge.
Example two
As shown in fig. 4, 6 and 7, the vacuum adsorption device 37 comprises a vacuum generator 38, a vacuum adsorption fixing plate 39 and a vacuum curtain assembly 40, wherein the vacuum generator 38 and the vacuum curtain assembly 40 are fixed on the vacuum adsorption fixing plate 39 through screws and are connected with the vehicle body main structure 24 through the vacuum adsorption fixing plate 39; the vacuum curtain assembly 40 is composed of a vacuum fixing frame 41, a front curtain 31 and a lateral curtain 32, the front curtain 31 is composed of a plurality of inclined swing rods 34, is connected with the vacuum fixing frame 41 through a rotating shaft 33 on the vacuum fixing frame 41 and swings around the rotating shaft 33, the lateral curtain 32 is composed of a plurality of telescopic rods 35, and the telescopic rods 35 move up and down through telescopic holes in the vacuum fixing frame 41.
When the vacuum generator 38 starts to operate under the control of the control circuit board 12, the lower ends of the deflection rod 34 and the telescopic rod 35 are connected with the curtain wall glass in a rolling manner, and the vacuum fixing frame 41, the deflection rod 34, the telescopic rod 35 and the curtain wall glass jointly form a relative closed space to maintain the vacuum degree in the space.
When uneven attached crops are adhered to the curtain wall glass, a plurality of deflection swing rods 34 corresponding to the attached crops in the vacuum adsorption device 37 deflect, the lower ends of the corresponding deflection swing rods 34 are connected with the attached crops, dimensional movement of the front curtain to the attached crops is achieved, close contact between the lower ends of the front curtain and the surface of the curtain wall is guaranteed, and air leakage points are prevented. Similarly, the curtain at the rear end of the vacuum adsorption device 37 keeps the vacuum degree in the vacuum adsorption device 37 through dimensional deflection.
When the attached crops on the curtain wall glass pass below the lateral curtain in the vacuum adsorption device 37, the corresponding telescopic rods 35 stretch up and down, the lower ends of the telescopic rods 35 are connected with the attached crops, dimensional movement of the lateral curtain to the attached crops is achieved, the lower ends of the lateral curtain are guaranteed to be in close contact with the surface of the curtain wall, and air leakage points are prevented. Similarly, the curtain on the other side of the vacuum adsorption device 37 realizes the maintenance of the vacuum degree in the vacuum adsorption device 37 through dimensional expansion and contraction.
The stable and reliable adsorption of the robot is realized by maintaining the vacuum state in the vacuum adsorption device 37 in real time through the dimensional motion of the curtains in the front, rear, left and right directions in the vacuum adsorption device 37.
EXAMPLE III
As shown in fig. 5, the quick-change module and the robot are quickly connected and replaced through the quick-change interface assembly 7, when the quick-change module is installed, the stop block on the module and the stop shoulder 28 on the main structure 24 in the locking mechanism 9 on the robot are firstly matched and horizontally inserted, and the data interface 26 and the power interface 27 in the power supply interface assembly 10 are naturally butted with each other during the insertion process. After the insertion is finished, the fixed pressing plate 29 in the locking mechanism 9 is fixed on the main structure 24 through bolts, and the quick connection between the quick-change module and the robot is realized from the two aspects of structure and electric control in the above manner.
The utility model discloses a theory of operation does:
as shown in fig. 8 and 9, the traveling mechanism 3 includes a traveling driving motor 8, a traveling motor fixing plate 16, a bevel gear set 17, a timing belt 18, two timing pulleys 19, two transmission shafts 20 and two output wheels 21, wherein the traveling motor fixing plate 16 is fixed on the vehicle body structure 4 and connected to the traveling driving motor 8 through screws. The bevel gear set 17 comprises two bevel gears which are matched with each other, wherein an input bevel gear 22 is fixedly connected with an output shaft of the walking drive motor 8, and the other output bevel gear 23 is fixedly connected with a transmission shaft 20. The transmission shaft 20 is rotatably connected with the vehicle body structure 4 and is fixedly connected with an output bevel gear 23, a synchronous pulley 19 and an output wheel 21 in sequence. The synchronous belt 18 is connected with a front synchronous belt wheel 19 and a rear synchronous belt wheel 19, the rear synchronous belt wheel 19 is fixedly connected with a rear output wheel 21 through a rear transmission shaft 20, and synchronous motion of the two output wheels on the same side is achieved.
The utility model discloses simple structure, reliable can carry out intelligent detection to curtain building surface, detect the perception and the aassessment that realize curtain building safe state for city building safety provides service through sealed glue, glass body, fixed digital with metal structure spare etc. and evaluate.
The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can substitute or change the technical solution and the inventive concept of the present invention within the technical scope of the present invention.
Claims (6)
1. The utility model provides a bionical wall climbing robot of modularization which characterized in that: the robot consists of a front part (1) and a rear part (2) which are the same, each part comprises a walking mechanism (3), a vehicle body structure (4), a pitching mechanism (5), a power supply and control assembly (6), a quick-change interface assembly (7) and a vacuum adsorption device (37), wherein the front part (1) and the rear part (2) have the same structure and are symmetrically arranged about the axis of the pitching mechanism (5); the traveling mechanisms (3) are symmetrically distributed on the left side and the right side of the lower layer in the vehicle body structure (4), and the advancing, the retreating and the differential steering of the robot are realized through the traveling driving motors (8) which are symmetrically distributed; the quick-change interface assembly (7) is fixed in the middle of the vehicle body structure (4) and is connected with the detection module of the power supply interface assembly (10) through the locking mechanism (9); the power supply and control assembly (6) mainly comprises a direct current battery (11) and a control circuit board (12), is arranged at the upper part in the vehicle body structure (4) through an L-shaped power supply fixing adapter plate (13), and is connected with the pitching mechanism (5); the pitching mechanism (5) mainly comprises a pitching driving motor (14) and a pitching output flange (15), and the front part (1) and the rear part (2) are connected with each other through the respective pitching output flanges (15).
2. The modular biomimetic wall-climbing robot according to claim 1, characterized in that: the walking mechanism (3) comprises a walking driving motor (8), a walking motor fixing plate (16), a bevel gear set (17), a synchronous belt (18), two synchronous belt wheels (19), two transmission shafts (20) and two output wheels (21), wherein the walking motor fixing plate (16) is fixed on the vehicle body structure (4) and is connected with the walking driving motor (8) through screws; the bevel gear set (17) comprises two bevel gears which are matched with each other, wherein an input bevel gear (22) is fixedly connected with an output shaft of the walking drive motor (8), and the other output bevel gear (23) is fixedly connected with the transmission shaft (20); the transmission shaft (20) is rotatably connected with the vehicle body structure (4) and is fixedly connected with the output bevel gear (23), the synchronous belt pulley (19) and the output wheel (21) in sequence; the synchronous belt (18) is connected with the front synchronous belt wheel and the rear synchronous belt wheel (19), the rear synchronous belt wheel (19) is fixedly connected with the rear output wheel (21) through the rear transmission shaft (20), and synchronous motion of the two output wheels on the same side is achieved.
3. The modular biomimetic wall-climbing robot according to claim 1, characterized in that: the vehicle body structure (4) comprises a vehicle body main structure (24), a power supply supporting tube (25), a locking mechanism (9) and a power supply interface assembly (10), wherein the vehicle body main structure (24) is of a square frame structure, the power supply supporting tube (25) is positioned on one side of the upper part of the main structure (24), and the locking mechanism (9) and the power supply interface assembly (10) are arranged on the other side of the upper part; the power supply interface component (10) comprises a data interface (26) and a power supply interface (27) which are respectively connected with corresponding interfaces of the quick-change module; the locking mechanism (9) comprises a stop shoulder (28) and a corresponding fixed pressing plate (29) on the main structure (24), and the corresponding structure on the quick-change module is pressed and fixed on the main structure (24) through the mutual matching of the stop shoulder (28) and the fixed pressing plate (29).
4. The modular biomimetic wall-climbing robot according to claim 1, characterized in that: the pitching mechanism (5) comprises a pitching driving motor fixing seat (30), a pitching driving motor (14) and a pitching output flange (15), wherein the pitching driving motor fixing seat (30) is of a tubular structure, the side surface of the pitching driving motor fixing seat is fixedly connected with the end surface of a power supply supporting tube (25), the end surface of the pitching driving motor fixing seat is fixedly connected with the pitching driving motor (14), and an output shaft of the pitching driving motor (14) is fixedly connected with a shaft of the pitching output flange (15) through a coupling in the pitching driving motor fixing seat (30); and the pitch output flange (15) shaft is rotationally connected with a pitch driving motor fixing seat (30) through a bearing.
5. The modular biomimetic wall-climbing robot according to claim 1, characterized in that: the power supply and control assembly (6) comprises an L-shaped power supply fixing adapter plate (13), a direct current battery (11), a control circuit board (12) and a circuit board protective cover (36), wherein the direct current battery (11), the control circuit board (12) and the circuit board protective cover (36) are respectively fixed at two ends of the L-shaped power supply fixing adapter plate (13), and the circuit board protective cover (36) covers the control circuit board (12).
6. The modular biomimetic wall-climbing robot according to claim 1, characterized in that: the vacuum adsorption device (37) comprises a vacuum generator (38), a vacuum adsorption fixing plate (39) and a vacuum curtain assembly (40), wherein the vacuum generator (38) and the vacuum curtain assembly (40) are fixed on the vacuum adsorption fixing plate (39) through screws and are connected with the main body structure (24) of the vehicle body through the vacuum adsorption fixing plate (39); vacuum curtain subassembly (40) are by fixed frame (41) in vacuum, preceding curtain (31) and side direction curtain (32) are constituteed, preceding curtain (31) comprise many inclined to one side pendulum rod (34), and the duplex winding is swung around rotation axis (33), side direction curtain (32) comprise many telescopic link (35), realize reciprocating of telescopic link (35) through the flexible hole on the fixed frame in vacuum (41).
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| Application Number | Priority Date | Filing Date | Title |
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| CN202021668722.1U CN213228927U (en) | 2020-08-12 | 2020-08-12 | Modularized bionic wall-climbing robot |
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| CN202021668722.1U CN213228927U (en) | 2020-08-12 | 2020-08-12 | Modularized bionic wall-climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959630A (en) * | 2020-08-12 | 2020-11-20 | 苏州永鼎智联科技有限公司 | Modularized bionic wall-climbing robot |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111959630A (en) * | 2020-08-12 | 2020-11-20 | 苏州永鼎智联科技有限公司 | Modularized bionic wall-climbing robot |
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Address after: 215000 888 Yuexiu Road, Lili Town, Wujiang District, Suzhou City, Jiangsu Province Patentee after: Suzhou Teyu Robot Technology Co.,Ltd. Address before: 215000 888 Yuexiu Road, Lili Town, Wujiang District, Suzhou City, Jiangsu Province Patentee before: Suzhou Yongding Zhilian Technology Co.,Ltd. |