CN214524131U

CN214524131U - Negative pressure adsorption type wall-climbing robot

Info

Publication number: CN214524131U
Application number: CN202120966810.8U
Authority: CN
Inventors: 牟光远; 杜文; 孙玮
Original assignee: Individual
Current assignee: Individual
Priority date: 2021-05-08
Filing date: 2021-05-08
Publication date: 2021-10-29
Anticipated expiration: 2031-05-08

Abstract

The utility model discloses a negative pressure adsorbs formula wall climbing robot. The device comprises a movement mechanism and adsorption devices, wherein the movement mechanism comprises a connecting frame and two chain transmission devices symmetrically connected to two ends of the connecting frame, each chain transmission device comprises a mounting plate, a transmission chain, a driving chain wheel, a driven chain wheel, a chain supporting and guiding component and a motor, each chain supporting and guiding component comprises a first supporting and guiding component of a straight plate structure and a second supporting and guiding component of an arc plate structure, the first supporting and guiding component is fixedly connected to the inner edge of the mounting plate to form a straight guide rail section, the second supporting and guiding component is connected to the outer edge of the mounting plate to form an arc guide rail section, the transmission chain is supported and guided through the first supporting and guiding component and the second supporting and guiding component, the adsorption devices are multiple and connected to the transmission chain, each adsorption device comprises a vacuum chuck, a rotary lifting mechanism and a steering engine, one end of the rotary lifting mechanism is connected with the vacuum chuck, the other end of the steering gear is connected with the output end of the steering gear.

Description

Negative pressure adsorption type wall-climbing robot

Technical Field

The utility model relates to a negative pressure adsorbs formula wall climbing robot belongs to the robotechnology field.

Background

At present, high-rise buildings in cities are more and more, the utilization rate of urban spaces can be greatly improved by the high-rise buildings, and meanwhile, the problem of cleaning and maintenance of the high-rise buildings is more and more prominent. The difficulty of cleaning and maintaining the high-rise building is high, and manual cleaning and maintaining not only consumes manpower and material resources, but also has certain danger. Meanwhile, as the glass curtain walls are mostly adopted by high-rise buildings, the surfaces of the outer layers are smooth and the number of the protruded buildings is small, and the opportunity is provided for the application of the wall climbing robot. In addition, the wall climbing robot is widely applied to coating, rust removal and other operations in the shipbuilding industry. At present, the shipbuilding industry is advancing the 'shell fitting-out and coating integration', the shipbuilding industry is developing towards the direction of intellectualization, a large number of industrial robots are needed to improve the working efficiency of shipbuilding and maintenance, and more intelligent robots can be applied to the shipbuilding industry.

At present, the wall climbing robot has various structural designs, and can be divided into three different adsorption modes, namely a wheel type adsorption wall climbing robot, a crawler type adsorption wall climbing robot and a foot step type adsorption wall climbing robot, and a combination of the moving modes according to the moving modes to form various wall climbing robots, such as the crawler type magnetic adsorption wall climbing robot, the wheel type single-sucker wall climbing robot and the like. Most of wall-climbing robots in the prior art have the defects of complex structure, large impact in the motion process, poor movement consistency, small adsorption force, small bearing capacity and the like.

Disclosure of Invention

To the above-mentioned defect that exists among the prior art, the utility model provides a negative pressure adsorption type wall climbing robot that simple structure, removal continuity are good, the bearing capacity is big.

The utility model discloses a realize through following technical scheme: the utility model provides a negative pressure adsorbs formula wall climbing robot which characterized by: including motion, adsorption equipment, motion includes link and symmetrical connection two chain drive at the link both ends, chain drive includes mounting panel, drive chain, drive sprocket, driven sprocket, chain support guiding member, motor, and drive sprocket and driven sprocket are installed respectively at the both ends of mounting panel, the motor with link fixed connection and its output shaft with drive sprocket is connected, drive chain connects between drive sprocket and driven sprocket, drive chain is for taking the ear chain, chain support guiding member includes first support guiding member and second support guiding member, first support guiding member is straight plate structure, second support guiding member is arc plate structure, first support guiding member fixed connection be the inboard marginal position of mounting panel forms straight guide rail section, the second supports the guide member and connects the outside edge position of mounting panel and the second supports the arc structure of guide member and towards outside formation and become the circular arc guide rail section, and drive chain supports the guide member through first support guide member and second and supports and lead, adsorption equipment is a plurality of, every adsorption equipment includes vacuum chuck, rotatory elevating system, steering wheel, shell, and rotatory elevating system and steering wheel setting are in the shell, vacuum chuck sets up the shell outside is connected with rotatory elevating system's one end, and the other end of rotatory elevating system is connected with the output of steering wheel, adsorption equipment connects on drive chain's otic placode, and all adsorption equipment's vacuum chuck all is located the same plate face side of mounting panel.

The utility model discloses in, chain drive among the motion drives the drive chain motion under the drive of motor to drive the adsorption equipment that links together with drive chain and move together thereupon, realize the different motion actions of robot through the adsorption state of the vacuum chuck of the different adsorption equipment of control, thereby realize advancing, retreating, turning to etc. of robot. The vacuum sucker can be lifted through controlling the rotation of the rotary lifting mechanism by the steering engine, so that the vacuum sucker can be separated from or contacted with the wall surface.

Furthermore, rotatory elevating system includes rotation axis and lift axle, is provided with the first lug structure that has the slant glide plane on the axial terminal surface of lift axle, be provided with on the axial terminal surface of rotation axis can with the structural slant glide plane sliding fit's of first lug second lug structure, the rotation axis with pass through between the lift axle the second lug structure with first lug structure rotationally cooperates and connects, the rotation axis with the output of steering wheel is connected, the lift axle with vacuum chuck connects, the shell is inherent lift axle department is provided with reset spring. When the steering wheel drives the rotating shaft to rotate, the second lug structure on the rotating shaft slides along the oblique sliding surface of the first lug structure on the lifting shaft, the lifting shaft is pressed down and drives the vacuum chuck to press down, and the vacuum chuck can be contacted with the adsorption surface. When the steering wheel drives the rotating shaft to rotate reversely, the rotating shaft resets, the lifting shaft resets through the reset spring, and the vacuum chuck is separated from the adsorption surface.

Further, for the arrangement of gas pipeline and electric wire, be provided with the slide on the mounting panel, be provided with the slider in the slide, the slider passes through link mechanism and is connected with drive chain. The gas pipeline and the electric wire can be connected with the sliding block after being collected, and the transmission chain drives the sliding block to move in the slide way through the connecting rod mechanism when rotating, so that the gas pipeline and the electric wire can be prevented from being wound, and the normal work of a circuit and an air circuit is ensured.

The utility model has the advantages that: the utility model discloses simple structure can creep and can freely turn to on vertical wall, the utility model discloses a corresponding motion action can be accomplished to the rotation of chain and the cooperation of opening and close of vacuum chuck among the adsorption equipment, can advance, retreat, turn to actions such as. The utility model adopts the chain transmission to drive the vacuum chuck to move, absorbs the motion characteristics of the crawler vehicle, has small impact in the motion process, smooth motion, good movement consistency and high moving speed, and the utility model adopts the chain transmission, can keep accurate transmission ratio, has high transmission efficiency, reliable transmission and strong overload capacity, can better work under low-speed heavy load, can work in high-temperature environment and dusty environment, and has relatively low cost; the utility model discloses because of having a plurality of vacuum chuck, the adsorption affinity is big, can carry comparatively large-scale equipment, and the utility model discloses a steering wheel and rotatory elevating system control vacuum chuck compare with general vacuum adsorption that only relies on the sucking disc, and adsorption effect is good, and the equipment weight that can bear is bigger.

Drawings

Fig. 1 is a schematic structural diagram of the present invention;

FIG. 2 is a schematic top view of FIG. 1;

FIG. 3 is a schematic side view of FIG. 1;

fig. 4 is a perspective view of the present invention;

FIG. 5 is a schematic view of the connection structure of the connection frame and the moving mechanism of the present invention;

fig. 6 is a front view of the chain transmission of the present invention;

FIG. 7 is a rear view of FIG. 6;

fig. 8 is a schematic perspective view of an adsorption device according to the present invention;

FIG. 9 is a schematic structural view of the adsorption apparatus of the present invention with the outer casing removed;

fig. 10 is a front view of the adsorption device of the present invention;

FIG. 11 is a top view of FIG. 10;

FIG. 12 is a side view of FIG. 10;

FIG. 13 is a sectional view A-A of FIG. 10;

FIG. 14 is a cross-sectional view B-B of FIG. 10;

fig. 15 is a schematic structural view of a rotating shaft according to the present invention;

fig. 16 is a schematic structural view of the lifting shaft of the present invention;

fig. 17 is a schematic view of the operation of the adsorption apparatus of the present invention;

in the figure, 1, a connecting frame, 2, a chain transmission device, 201, a motor, 202, a transmission chain, 203, an ear plate, 204, a second supporting guide member, 205, a slide way, 206, a slide block, 207, a first supporting guide member, 208, a link mechanism, 209, a mounting plate, 210, a driving sprocket, 211, a driven sprocket, 212, a first supporting guide member, 213, a second supporting guide member, 3, an adsorption device, 301, a housing, 302, a vacuum chuck, 303, a steering engine, 304, an electromagnetic valve, 305, a rotary lifting mechanism, 3051, a rotating shaft, 3052, a second lug structure, 3053, a lifting shaft, 3054, a first lug structure, 3055, a return spring, 3056, an oblique sliding surface of the second lug structure, 3057, an oblique sliding surface of the first lug structure, 306, a suction cup hoop, 307 and an air pipe.

Detailed Description

The invention will now be further described by way of non-limiting examples with reference to the accompanying drawings:

as shown in the attached drawings, the negative pressure adsorption type wall-climbing robot comprises a movement mechanism and an adsorption device 3. The movement mechanism comprises a connecting frame 1 and two chain transmission devices 2 symmetrically connected to two ends of the connecting frame 1, the connecting frame 1 is of a two-beam structure, and two ends of each beam are respectively connected with a connecting plate to be connected with the chain transmission devices 2. The two chain transmission devices 2 have the same structure and are symmetrically arranged. Chain drive 2 includes mounting panel 209, drive chain 202, drive sprocket 210, driven sprocket 211, chain support guide member, motor 201, and drive sprocket 210 and driven sprocket 211 are installed respectively the both ends of mounting panel 209, drive chain 202 are connected and are formed chain drive between drive sprocket 210 and driven sprocket 211, drive chain 202 is the eared chain, is connected with otic placode 203 on drive chain 202's the link. The motor 201 is fixedly connected with the connecting frame 1 and the output shaft of the motor 201 is connected with the driving sprocket 210. The chain support guide member comprises a first support guide member 207 and a second support guide member 213, the first support guide member 207 is a straight plate structure, the second support guide member 213 is an arc plate structure, the first support guide member 207 is fixedly connected to the inner side edge position of the mounting plate 209 and is formed into a straight guide rail section, the second support guide member 213 is connected to the outer side edge position of the mounting plate 209 and the arc structure of the second support guide member 213 is formed into an arc guide rail section towards the outer side, and the transmission chain 202 is supported and guided by the first support guide member 207 and the second support guide member 213. Adsorption equipment 3 is a plurality of, every adsorption equipment 3 includes vacuum chuck 302, rotatory elevating system 305, steering wheel 303, shell 301, and rotatory elevating system 305 and steering wheel 303 set up in the shell 301, vacuum chuck 302 sets up the shell 301 outside is connected with the one end of rotatory elevating system 305, and the other end of rotatory elevating system 305 is connected with the output of steering wheel 303, and vacuum chuck 302 is prior art, and vacuum chuck 302 can be connected with vacuum generator, carries out vacuum pumping control through set up solenoid valve 304 on trachea 307. The adsorption device 3 is connected to the ear plate 203 of the transmission chain 202 through the shell 301, and the installation direction of the vacuum chuck 302 is as follows: the axes of the vacuum cups are parallel to the axes of the drive sprocket and the driven sprocket, and the vacuum cups 302 of all the suction devices 3 are located on the same plate surface side of the mounting plate 209.

The rotary lifting mechanism in the utility model can adopt the rotary lifting mechanism in the prior art, in the embodiment, the rotary lifting mechanism 305 comprises a rotating shaft 3051 and a

lifting shaft

3053, 3 first bump structures 3054 with an oblique sliding surface 3057 are arranged on the axial end face of the lifting shaft 3053, a second bump structure 3052 which can be in sliding fit with the oblique sliding surface 3057 on the first bump structure 3054 is arranged on the axial end face of the rotating shaft 3051, an oblique sliding surface 3056 is arranged on the second bump structure 3052, the rotating shaft 3051 and the lifting shaft 3053 are rotatably coupled to each other via the second lug structure 3052 and the first lug structure 3054, the rotating shaft 3051 is connected with the output end of the steering engine 303, the lifting shaft 3053 is in threaded connection with a sucker hoop of the vacuum sucker 302, a return spring 3055 is disposed at the lifting shaft 3053 in the housing 301. When steering wheel 303 drove rotation axis 3051 and rotates, the oblique glide plane of the first lug structure 3054 on the lift axle 3053 is followed to the second lug structure 3052 on the rotation axis 3051 slides, pushes down lift axle 3053 and drives vacuum chuck 302 and pushes down, can make vacuum chuck 302 and adsorption plane contact. When steering wheel 303 drives rotation axis 3051 antiport, rotation axis 3051 resets, and lift axle 3053 resets through reset spring 3055, and vacuum chuck 302 breaks away from the adsorption plane. Steering gear 303 is prior art, can purchase from the market.

In order to prevent the air tube, the electric wire and the like from being wound when the robot moves, in this embodiment, a slide 205 is disposed on the mounting plate 209, a slide 206 is slidably disposed in the slide 205, and the slide 206 is connected with the transmission chain 202 through a link mechanism 208. The gas pipeline and the electric wire can be connected with the sliding block 206 after being gathered, and the sliding block 206 is driven to move in the slideway 205 through the connecting rod mechanism 208 when the transmission chain 202 rotates, so that the gas pipeline and the electric wire can be prevented from being wound, and the normal work of a circuit and an air circuit is ensured.

The utility model discloses an electrically controlled device can realize advancing, reversing and turn to the action. The utility model discloses an electrically controlled device be prior art.

The utility model discloses the during operation, vacuum chuck is connected with vacuum generating device, controls vacuum chuck 302's vacuum through vacuum generating device's start-up and closing, controls vacuum chuck 302 through steering wheel 303 and the laminating of wall or break away from, drives the transmission in proper order of adsorption equipment through chain drive 2. The opening and closing of the adsorption device and the chain transmission are matched with each other, so that the actions of advancing, reversing, steering and the like of the robot are realized.

The working principle of the utility model is explained by taking the motion mechanism on one side of the robot as an example: when the robot executes the moving process of advancing and retreating, the adsorption device 3 on the arc guide rail section does not work, only the adsorption device 3 on the straight guide rail section is in a working state, namely when the robot advances or retreats, the vacuum chuck 302 of the adsorption device 3 on the arc guide rail section is always suspended on the wall surface, and the vacuum chuck 302 of the adsorption device 3 on the straight guide rail section is adsorbed with the wall surface. Along with the conveying of drive chain 202, the adsorption equipment 3 that gets into straight guide rail section opens one by one, vacuum chuck 302 of adsorption equipment 3 pushes down under steering wheel 303 after getting into straight guide rail section and adsorbs on the wall, along with the further rotation of drive chain 202, the adsorption equipment 3 that is located straight guide rail section outlet side closes, its vacuum chuck 302 lifts and breaks away from the wall, adsorption equipment 3 gets into circular arc guide rail section afterwards, adsorption equipment 3 removes but does not carry out the adsorption work along with drive chain 202 in circular arc guide rail section, unsettled gappedly between vacuum chuck 302 and the wall. The adsorption devices 3 on the transmission chain 202 are sequentially moved to the straight guide rail section to perform adsorption action, and the motion mechanisms on the two sides of the robot simultaneously coordinate to move to work, so that the robot can advance.

The principle of the backward movement of the robot is consistent with the forward movement, only the rotation directions of the transmission chains are opposite, the inlet and the outlet of the adsorption device entering and leaving the straight guide rail section of the robot are opposite to the forward movement, and the rest movement principles are consistent.

Steering movement of the robot: when the robot needs to complete the turning motion, the robot first stops the transmission motion of the transmission chain 202, then all the vacuum suction cups 302 of all the suction devices 3 are pressed down to execute the suction motion, then the suction devices 3 on the smooth guide rail section of the robot are closed, so that a gap is formed between the part of the suction devices 3 and the wall surface in a suspending way, then the transmission chain 202 starts to work, and the suction devices 3 start to be conveyed on the guide rail. The adsorption device 3 is conveyed to the inlet of the arc guide rail section to complete the pressing action, the action of lifting and closing the adsorption is executed when the adsorption device leaves the arc guide rail section, the moving directions of the transmission chains 202 on the two sides are consistent in the process, and the robot realizes the steering. After the robot completes the turn, the robot adjusts the posture, presses down all the suction devices 3 again, and then adjusts to the forward and backward modes, and performs the next movement.

The utility model discloses an adsorption equipment's adsorption affinity is big, and the load capacity of robot is great, can be competent in the perpendicular wall operation of different grade type, can carry the external equipment of different grade types such as efflux belt cleaning device, coating spraying device or avoid belt cleaning device perpendicularly according to actual need.

Other parts in this embodiment are the prior art, and are not described herein again.

Claims

1. The utility model provides a negative pressure adsorbs formula wall climbing robot which characterized by: the device comprises a movement mechanism and an adsorption device (3), wherein the movement mechanism comprises a connecting frame (1) and two chain transmission devices (2) symmetrically connected to the two ends of the connecting frame (1), each chain transmission device (2) comprises a mounting plate (209), a transmission chain (202), a driving chain wheel (210), a driven chain wheel (211), a chain supporting guide member and a motor (201), the driving chain wheel (210) and the driven chain wheel (211) are respectively mounted at the two ends of the mounting plate (209), the motor (201) is fixedly connected with the connecting frame (1) and an output shaft of the motor is connected with the driving chain wheel (210), the transmission chain (202) is connected between the driving chain wheel (210) and the driven chain wheel (211), the transmission chain (202) is an ear chain, and the chain supporting guide member comprises a first supporting guide member (207) and a second supporting guide member (213), the first supporting guide member (207) is of a straight plate structure, the second supporting guide member (213) is of an arc-shaped plate structure, the first supporting guide member (207) is fixedly connected to the inner side edge position of the mounting plate (209) to form a straight guide rail section, the second supporting guide member (213) is connected to the outer side edge position of the mounting plate (209) and the arc-shaped structure of the second supporting guide member (213) faces outwards to form an arc-shaped guide rail section, the transmission chain (202) is supported and guided by the first supporting guide member (207) and the second supporting guide member (213), the number of the adsorption devices (3) is multiple, each adsorption device (3) comprises a vacuum chuck (302), a rotary lifting mechanism (305), a steering engine (303) and a shell (301), the rotary lifting mechanism (305) and the steering engine (303) are arranged in the shell (301), the vacuum chuck (302) is arranged on the outer side of the shell (301) and connected with one end of the rotary lifting mechanism (305), the other end of the rotary lifting mechanism (305) is connected with the output end of the steering engine (303), the adsorption device (3) is connected to the ear plate (203) of the transmission chain (202), and the vacuum chucks (302) of all the adsorption devices (3) are located on the same plate surface side of the mounting plate.

2. The negative pressure adsorption type wall-climbing robot of claim 1, wherein: rotatory elevating system (305) includes rotation axis (3051) and lift axle (3053), be provided with on the axial terminal surface of lift axle (3053) first lug structure (3054) that has the oblique slip surface, be provided with on the axial terminal surface of rotation axis (3051) can with oblique slip surface sliding fit's on the first lug structure (3054) second lug structure (3052), rotation axis (3051) with pass through between lift axle (3053) second lug structure (3052) with first lug structure (3054) rotationally cooperate and connect, rotation axis (3051) with the output of steering wheel (303) is connected, lift axle (3053) with vacuum chuck (302) are connected, shell (301) is inherent lift axle (3053) department is provided with reset spring (3055).

3. The negative pressure adsorption type wall-climbing robot according to claim 1 or 2, wherein: be provided with slide (205) on mounting panel (209), be provided with slider (206) in slide (205), slider (206) are connected with drive chain (202) through link mechanism.