CN214875222U - Self-adaptive wall climbing robot for industrial cleaning - Google Patents
Self-adaptive wall climbing robot for industrial cleaning Download PDFInfo
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- CN214875222U CN214875222U CN202120514672.XU CN202120514672U CN214875222U CN 214875222 U CN214875222 U CN 214875222U CN 202120514672 U CN202120514672 U CN 202120514672U CN 214875222 U CN214875222 U CN 214875222U
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Abstract
The application provides a self-adaptive wall climbing robot for industrial cleaning, which comprises a first walking mechanism, a second walking mechanism, a walking mechanism supporting part, a self-adaptive assembly and a cleaning robot body, wherein the self-adaptive assembly is movably connected with the walking mechanism supporting part, the cleaning robot body is arranged in a space formed between the first walking mechanism and the second walking mechanism, two sides of the robot body are respectively provided with a drainage mechanism, the outlet end of the drainage mechanism is connected with a spray disk, the bottom of the robot body is provided with the robot supporting part, the robot supporting part is connected with the walking mechanism supporting part through a movable hinge, the walking mechanism can swing in a self-adaptive mode to avoid the problem of insufficient adsorption force caused by the fact that the distance between the adsorption device and the target object is increased.
Description
Technical Field
The utility model relates to an industry attachment washs the field, especially relates to an industry washs with self-adaptation wall climbing robot.
Background
After the oil tank is used for a long time and the ship sails for a long time, attachments can appear on the surfaces of industrial products such as the oil tank and the ship, the traditional manual cleaning mode gradually exits the market along with the rapid development of the industrial robot in recent years, and the industrial cleaning robot also has a tendency. The adhesion mode of the cleaning wall-climbing robot is mainly vacuum adsorption, magnetic adsorption, electromagnetic adsorption and the like between the traveling mechanism and the target object.
The running mechanism of the existing industrial cleaning robot is usually directly installed on a robot body, and belongs to rigid and rigid connection, and the robot without a swing mechanism is easy to fall off due to insufficient adsorption force when passing through an industrial device with a large arc surface angle.
In view of the above problems, it is an urgent need to provide a wall-climbing robot for industrial cleaning that can avoid detachment and falling-off due to insufficient adsorption force.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem, the application provides a self-adaptive wall climbing robot for industrial cleaning, which comprises a first walking mechanism, a second walking mechanism, a walking mechanism supporting part, a self-adaptive assembly and a cleaning robot body, the first running mechanism and the second running mechanism are connected into a whole through a running mechanism supporting part, the first running mechanism and the second running mechanism are respectively provided with an adsorption magnet, the self-adaptive assembly is movably connected with the walking mechanism supporting part, the robot body is arranged in a space formed between the first walking mechanism and the second walking mechanism, the two sides of the robot body are respectively provided with a drainage mechanism, the outlet end of the drainage mechanism is connected with a spray disk, the bottom of the robot body is provided with a robot supporting part, and the robot supporting part is connected with the traveling mechanism supporting part through a movable hinge.
Preferably, the self-adaptive assembly comprises an adsorption device, a ball hinge and a support plate, the adsorption device and the support plate are connected into a whole through the ball hinge, the ball hinge and the support plate are fixedly connected through a bolt, and the support plate is arranged on the walking mechanism support part.
Preferably, the movable hinge is provided with a limiting part, and the swing angle of the movable hinge is 0-15 degrees.
Preferably, the traveling mechanism supporting part is connected with an auxiliary device, and the auxiliary device is provided with a hanging ring.
Preferably, the swing angle of the ball hinge is 0-360 °.
The technical scheme shows that: the beneficial effect of this application: the utility model provides an industrial cleaning is with climbing wall robot is equipped with adsorption equipment, and the connection between running gear supporting part and the robot body adopts activity hinged joint, when the section department that is poor great through heavy radian cambered surface, section, but running gear self-adaptation swing avoids the not enough problem of adsorption affinity because the increase of distance leads to between adsorption equipment and the target. Meanwhile, the self-adaptive assembly is connected with the walking mechanism supporting part through the ball hinge, 360-degree rotation can be achieved, the stability of the cleaning robot during operation is improved, the walking mechanism is internally provided with the adsorption device, the adsorption device is arranged at the rear, three-point adsorption is achieved, and the stability of the robot in the walking process is guaranteed. This application is when meetting the cambered surface, the problem of laminating clearance grow that accessible activity hinge and ball hinge self-adaptation cambered surface brought. Through the self-adaptive swing mechanism mode of the walking mechanism, the hinge connection structure is adopted to ensure that the walking mechanism can ensure enough adsorption force under different radians, and the falling risk in the operation process of the robot is avoided.
Drawings
In order to more clearly explain the technical solution of the present application, the drawings needed to be used in the embodiments will be briefly described below, and it is obvious to those skilled in the art that other drawings can be obtained according to the drawings without any creative effort.
Fig. 1 is a schematic structural diagram of an adaptive wall-climbing robot for industrial cleaning according to the present application.
Fig. 2 is a schematic view of an operation state of an adaptive wall climbing robot for industrial cleaning according to the present application.
Fig. 3 is a schematic structural diagram of an adaptive component provided in the present application.
Fig. 4 is a schematic view of a positional connection relationship between a robot support and a traveling mechanism support according to the present application.
The robot comprises a first traveling mechanism 1, a second traveling mechanism 2, a traveling mechanism support 3, a self-adaptive assembly 4, a drainage mechanism 5, a spray plate 52, a robot support 53, a movable hinge 6, an auxiliary device 7, an adsorption device 41, a ball hinge 42, a support plate 43, a bolt 44, a limiting part 61, an auxiliary device 7 and a hanging ring 71.
Detailed Description
Referring to fig. 1, a schematic structural diagram of an adaptive wall-climbing robot for industrial cleaning is provided.
Referring to fig. 2, a schematic diagram of a working state of an adaptive wall climbing robot for industrial cleaning is provided.
A self-adaptive wall climbing robot for industrial cleaning comprises a first travelling mechanism 1, a second travelling mechanism 2, a travelling mechanism supporting part 3, a self-adaptive assembly 4 and a cleaning robot body 5, wherein the first travelling mechanism 1 and the second travelling mechanism 2 are connected into a whole through the travelling mechanism supporting part 3, adsorption magnets are respectively arranged in the first travelling mechanism 1 and the second travelling mechanism 2, the self-adaptive assembly 4 is movably connected with the travelling mechanism supporting part 3, the robot body 5 is arranged in a space formed between the first travelling mechanism 1 and the second travelling mechanism 2, drainage mechanisms 51 are respectively arranged on two sides of the robot body 5, outlet ends of the drainage mechanisms 51 are connected with a spray disc 52, water is sent to the spray disc 52 through the drainage mechanisms 51 to complete cleaning work, the robot supporting part 53 is arranged at the bottom of the robot body 5, the robot support 53 is connected to the running gear support 3 by a living hinge 6. The adsorption magnets are additionally arranged in the two walking mechanisms and the adsorption device arranged at the rear side, so that three-point adsorption is realized, and the stability of the robot in the walking process is ensured.
Referring to fig. 3, a schematic diagram of an adaptive component is provided for the present application.
Referring to fig. 4, a schematic diagram of a positional connection relationship between a robot support and a traveling mechanism support is provided.
Preferably, the adaptive assembly 4 comprises an adsorption device 41, a ball hinge 42 and a support plate 43, the adsorption device 41 and the support plate 43 are connected into a whole through the ball hinge 42, the ball hinge 42 and the support plate 43 are fixedly connected through a bolt 44, and the support plate 43 is arranged on the walking mechanism support part 3.
Preferably, the movable hinge 6 is provided with a limiting part 61, the swing angle of the movable hinge 6 is 0-15 degrees, and the traveling mechanism can realize self-adaptive swing within the angle range, so that the problem of insufficient adsorption force caused by the increase of the distance between the adsorption device and the target object is avoided.
Preferably, an auxiliary device 7 is connected to the traveling mechanism support portion 3, and a hanging ring 71 is provided on the auxiliary device 7. Said auxiliary device 7 mentioned here is in fact a fall-protection device, in particular by sliding a rope, which is fixedly connected to said eye, in a stable position above the object, which falls when the wall-climbing robot is in the process of cleaning.
Preferably, the swing angle of the ball hinge 42 is 0 to 360 °, and in this state, the ball hinge 42 rotates 360 °, thereby improving stability during the operation of the wall climbing robot.
The technical scheme shows that: the beneficial effect of this application: the utility model provides an industrial cleaning is with climbing wall robot is equipped with adsorption equipment, and the connection between running gear supporting part and the robot body adopts activity hinged joint, when the section department that is poor great through heavy radian cambered surface, section, but running gear self-adaptation swing avoids the not enough problem of adsorption affinity because the increase of distance leads to between adsorption equipment and the target. Meanwhile, the self-adaptive assembly is connected with the travelling mechanism supporting part through the ball hinge, 360-degree rotation can be achieved, the stability of the cleaning robot during operation is improved, the adsorption magnets are additionally arranged in the two travelling mechanisms, the adsorption magnets and the adsorption devices arranged at the rear sides are arranged, three-point adsorption is achieved, and the stability of the robot in the travelling process is guaranteed. This application is when meetting the cambered surface, the problem of laminating clearance grow that accessible activity hinge and ball hinge self-adaptation cambered surface brought. Through the self-adaptive swing mechanism mode of the walking mechanism, the hinge connection structure is adopted to ensure that the walking mechanism can ensure enough adsorption force under different radians, and the falling risk in the operation process of the robot is avoided.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
It will be understood that the invention is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.
Claims (5)
1. The self-adaptive wall climbing robot for industrial cleaning is characterized by comprising a first walking mechanism (1), a second walking mechanism (2), a walking mechanism supporting part (3), a self-adaptive assembly (4) and a cleaning robot body (5), wherein the first walking mechanism (1) and the second walking mechanism (2) are connected into a whole through the walking mechanism supporting part (3), adsorption magnets are respectively arranged in the first walking mechanism (1) and the second walking mechanism (2), the self-adaptive assembly (4) is movably connected with the walking mechanism supporting part (3), the cleaning robot body (5) is arranged in a space formed between the first walking mechanism (1) and the second walking mechanism (2), drainage mechanisms (51) are respectively arranged on two sides of the robot body (5), and an outlet end of each drainage mechanism (51) is connected with a spray disc (52), the bottom of the robot body (5) is provided with a robot supporting part (53), and the robot supporting part (53) is connected with the traveling mechanism supporting part (3) through a movable hinge (6).
2. The adaptive wall-climbing robot for industrial cleaning according to claim 1, wherein the adaptive assembly (4) comprises an adsorption device (41), a ball hinge (42) and a support plate (43), the adsorption device (41) and the support plate (43) are connected into a whole through the ball hinge (42), the ball hinge (42) and the support plate (43) are fixedly connected through a bolt (44), and the support plate (43) is arranged on the walking mechanism support part (3).
3. The adaptive wall-climbing robot for industrial cleaning according to claim 1, wherein the movable hinge (6) is provided with a limiting part (61), and the swing angle of the movable hinge (6) is 0-15 °.
4. The adaptive wall-climbing robot for industrial cleaning according to claim 1, characterized in that an auxiliary device (7) is connected to the traveling mechanism support (3), and the auxiliary device (7) is provided with a hanging ring (71).
5. The adaptive wall-climbing robot for industrial cleaning according to claim 2, characterized in that the swing angle of the ball hinge (42) is 0-360 °.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120514672.XU CN214875222U (en) | 2021-03-11 | 2021-03-11 | Self-adaptive wall climbing robot for industrial cleaning |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202120514672.XU CN214875222U (en) | 2021-03-11 | 2021-03-11 | Self-adaptive wall climbing robot for industrial cleaning |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN214875222U true CN214875222U (en) | 2021-11-26 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202120514672.XU Active CN214875222U (en) | 2021-03-11 | 2021-03-11 | Self-adaptive wall climbing robot for industrial cleaning |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN214875222U (en) |
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2021
- 2021-03-11 CN CN202120514672.XU patent/CN214875222U/en active Active
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