CN215043236U

CN215043236U - Novel negative pressure foot type wall-climbing robot

Info

Publication number: CN215043236U
Application number: CN202120460591.6U
Authority: CN
Inventors: 胡昊; 何孔德; 方子帆; 杨蔚华; 刘绍鹏; 周鹏飞; 彭劲波; 胡季平
Original assignee: China Three Gorges University CTGU
Current assignee: China Three Gorges University CTGU
Priority date: 2021-03-03
Filing date: 2021-03-03
Publication date: 2021-12-07
Anticipated expiration: 2031-03-03

Abstract

The utility model discloses a novel negative pressure foot type wall climbing robot, which comprises a sliding frame and a movable bottom plate, wherein the sliding frame is in sliding fit with the movable bottom plate, the front side and the rear side of the sliding frame are provided with first negative pressure suckers capable of being lifted, the left side and the right side of the movable bottom plate are provided with second negative pressure suckers capable of being lifted, a lead screw is arranged in the sliding frame, the lead screw is in threaded fit with a screw hole in a slider, one end of the lead screw is connected with an output shaft of a servo motor, and the bottom of the slider is fixedly connected with the movable bottom plate; the utility model discloses simple structure, reliable and convenient to use have solved the clean problem of wall well.

Description

Novel negative pressure foot type wall-climbing robot

Technical Field

The utility model relates to a negative pressure wall climbing technique and service robot field specifically indicate a novel sufficient formula of negative pressure wall climbing robot.

Background

Along with the continuous development of urban construction, high-rise buildings are increased, and the difficulty and the risk of manual cleaning and painting of the outer wall cleaning operation of the high-rise buildings are increased. Various hidden dangers exist in the high-altitude dangerous work, and dangerousness is inevitable. Once a dangerous consequence is encountered, it is not possible to envisage. In order to solve the safety problem of people's operation and the problem of the labor cost of high-risk work, the wall climbing robot can well solve the problems and can clean 180-degree planes such as ceilings and the like.

Disclosure of Invention

An object of the utility model is to overcome above-mentioned not enough, provide a simple structure, reliable and convenient to use's novel sufficient formula of negative pressure wall climbing robot to solve the clean problem of wall.

The utility model discloses a solve above-mentioned technical problem, the technical scheme who adopts is: the utility model provides a novel sufficient wall climbing robot of negative pressure, includes sliding frame and removal bottom plate, sliding frame and removal bottom plate sliding fit, sliding frame front side and rear side are equipped with the first negative pressure sucking disc of liftable, it is equipped with the second negative pressure sucking disc of liftable to remove bottom plate left side and right side, install the lead screw in the sliding frame, lead screw and the inside screw thread fit of slider, lead screw one end and servo motor output shaft, slider bottom and removal bottom plate fixed connection.

Preferably, the front side and the rear side of the sliding frame are vertically provided with a first miniature linear motor, the output end of the first miniature linear motor is fixedly connected with the upper end of the first base, and the lower end of the first base is provided with a first negative pressure sucker.

Preferably, a first guide shaft is further arranged between the first base and the sliding frame.

Preferably, the left side and the right side of the movable bottom plate are vertically provided with a second miniature linear motor, the output end of the second miniature linear motor is fixedly connected with the upper end of a second base, and a second negative pressure sucker is installed at the lower end of the second base.

Preferably, a second guide shaft is further arranged between the second base and the moving bottom plate.

Preferably, the sliding frame is provided with a two-position three-way electromagnetic valve, one interface of the two-position three-way electromagnetic valve is connected with an air suction port of an external vacuum generator, the other two interfaces are respectively communicated with the first negative pressure sucker and the second negative pressure sucker through a hose and a three-way connecting pipe, and branch control electromagnetic valves are arranged at positions of the hoses close to the first negative pressure sucker and the second negative pressure sucker.

Preferably, the movable bottom plate is a hexagonal plate-shaped structure with two symmetrical sides, and the sliding frame is a long strip-shaped structure and is located in the middle area of the movable bottom plate.

Preferably, the sliding frame and the moving bottom plate are further provided with a shell at the periphery.

Preferably, the front side and the rear side of the sliding frame are respectively provided with two first negative pressure suckers, and the left side and the right side of the movable bottom plate are respectively provided with two second negative pressure suckers.

1. The bottom plate of wall climbing robot is the rhombus as the main part, and the outward appearance accords with the symmetry pattern that the sucking disc distributes, and the focus is placed in the middle, and stable in structure reduces its quality and space size simultaneously to the installation carries more burnishers.

2. The moving mechanism of the robot adopts screw rod transmission, has simple and light structure and large axial force, and can not influence the speed of displacement for cleaning tools with larger weight.

3. The utility model discloses simple structure, reliable and convenient to use have solved the clean problem of wall well.

Drawings

FIG. 1 is a schematic structural view of a novel negative-pressure foot-type wall-climbing robot;

FIG. 2 is a schematic vertical sectional view of FIG. 1;

FIG. 3 is a schematic view of the hose and solenoid valve assembly of FIG. 1;

fig. 4 is a schematic structural view of fig. 1 after the housing is installed.

Detailed Description

The invention is described in further detail below with reference to the figures and the embodiments.

As shown in fig. 1 to 4, a novel negative pressure foot type wall climbing robot, includes sliding frame 1 and removal bottom plate 2, sliding frame 1 and removal bottom plate 2 sliding fit, 1 front side of sliding frame and rear side are equipped with the first negative pressure sucking disc 3 of liftable, it is equipped with the second negative pressure sucking disc 4 of liftable to remove 2 left sides of bottom plate and right side, install lead screw 5 in the sliding frame 1, lead screw 5 and the inside screw thread fit of

slider

6, 5 one end of lead screw and 7 output shaft of servo motor, 6 bottoms of slider and removal bottom plate 2 fixed connection.

Preferably, the front side and the rear side of the sliding frame 1 are vertically provided with a first miniature linear motor 8, the output end of the first miniature linear motor 8 is fixedly connected with the upper end of a first base 9, and the lower end of the first base 9 is provided with a first negative pressure sucker 3. Through the work of first miniature linear electric motor 8, its output shaft can drive first base 9 and go up and down to make first negative pressure sucking disc 3 reciprocate, realize pasting closely and keeping away from the function of wall.

Preferably, a first guide shaft 10 is further disposed between the first base 9 and the sliding frame 1. In order to ensure the stability of the lifting process of the first base 9, the first base 9 can be lifted more stably by arranging the first guide shaft 10.

Preferably, the left side and the right side of the movable bottom plate 2 are vertically provided with a second miniature linear motor 11, the output end of the second miniature linear motor 11 is fixedly connected with the upper end of a second base 12, and the lower end of the second base 12 is provided with a second negative pressure sucker 4. Through the work of the second miniature linear electric motor 11, the output shaft thereof can drive the second base 12 to go up and down, thereby making the second vacuum chuck 4 move up and down, realizing the function of clinging to and keeping away from the wall surface.

Preferably, a second guide shaft 13 is further disposed between the second base 12 and the moving base plate 2. In order to ensure the stability of the lifting process of the second base 12, the second base 12 can be lifted more stably by arranging the second guide shaft 13.

Preferably, the sliding frame 1 is provided with a two-position three-way electromagnetic valve 14, one interface of the two-position three-way electromagnetic valve 14 is connected with an air suction port of an external vacuum generator, the other two interfaces are respectively communicated with the first negative pressure suction cup 3 and the second negative pressure suction cup 4 through a hose 15 and a three-way connecting pipe 16, and the hose 15 positions close to the first negative pressure suction cup 3 and the second negative pressure suction cup 4 are respectively provided with a sub-control electromagnetic valve 17.

Preferably, the moving base plate 2 is a hexagonal plate structure with two symmetrical sides, and the sliding frame 1 is a strip structure, which is located in the middle area of the moving base plate 2.

Preferably, the sliding frame 1 and the moving base plate 2 are further provided with a housing 18 at the periphery. The movable bottom plate 2 of the wall-climbing robot is used as a main body, the appearance is a diamond shape, the structure accords with the distribution pattern of the suckers, and meanwhile, the mass and the space size of the sucker are reduced, so that more cleaning tools can be mounted and carried. The power supply system of the wall climbing robot adopts a cable as a power supply, and the power consumption is high due to the fact that the power supply system is long in working time. The power supply of the wall climbing robot can convert 220V alternating current into 12V direct current through a 12V switching power supply and then the 12V direct current is connected into a control panel of the wall climbing robot.

Preferably, the sliding frame 1 is provided with two first negative pressure suction cups 3 at the front side and the rear side thereof, and two second negative pressure suction cups 4 at the left side and the right side thereof, respectively. After the design, the necessary adsorption strength is ensured through the two suckers, and even if one of the suckers leaks air, the other sucker can also ensure the normal work.

Preferably, the power supply system of the wall-climbing robot adopts a cable as a power supply, because a large amount of time is needed for cleaning a high-rise building, the cable can supply power continuously and stably, the load of the robot can be reduced, and the stable working state of the robot is ensured.

The working principle of the embodiment is as follows:

the robot keeps the robot to be stably adsorbed on a wall surface by taking a plurality of suckers as adsorption points, the sub-control electromagnetic valve 17 at a corresponding position is opened during movement, when the external vacuum generator works, the first negative pressure sucker 3 or the second negative pressure sucker 4 at the opposite side generates negative pressure, for example, the sub-control electromagnetic valve 17 close to the first negative pressure sucker 3 is opened firstly, so that the first negative pressure sucker 3 generates negative pressure, then the first micro linear motor 8 works, an output shaft of the first micro linear motor can drive the first base 9 to descend, so that the first negative pressure sucker 3 moves downwards to be attached to the wall surface, and the first negative pressure sucker 3 is enabled to be adsorbed on the wall surface due to the action of negative pressure adsorption; the servo motor 7 is started, an output shaft of the servo motor drives the screw rod 5 to rotate, the screw rod 5 is in threaded fit with a screw hole in the sliding block 6, the sliding block 6 can move towards one side, so that the moving bottom plate 2 moves towards one side, after the moving bottom plate 2 moves in place, the sub-control electromagnetic valve 17 of the second negative pressure sucker 4 is opened, the second negative pressure sucker 4 generates negative pressure, the second micro linear motor 11 works, the output shaft of the servo motor can drive the second base 12 to descend, so that the second negative pressure sucker 4 is attached to the wall surface, and the wall surface is sucked by the second negative pressure sucker 4 due to the action of negative pressure adsorption; at the moment, the sub-control electromagnetic valve 17 close to the first negative pressure sucker 3 is closed, the air pressure balance valve of the first negative pressure sucker 3 is opened, so that the negative pressure adsorption force of the first negative pressure sucker 3 is relieved, the first micro linear motor 8 works, and the output shaft of the first negative pressure sucker 3 can drive the first base 9 to ascend, so that the first negative pressure sucker 3 moves upwards and leaves the wall surface; at the moment, the servo motor 7 operates reversely again, the output shaft of the servo motor drives the screw rod 5 to rotate, the screw rod 5 is in threaded fit with the screw hole in the sliding block 6, and the sliding block 6 and the moving bottom plate 2 are fixed, so the sliding frame 1 can move towards one side, and after the moving bottom plate 2 moves in place, the process is repeated, so that the moving bottom plate 2 and the sliding frame 1 can alternately move to move forwards or backwards.

The above embodiments are merely preferred technical solutions of the present invention, and should not be considered as limitations of the present invention, and the features in the embodiments and the examples in the present application may be arbitrarily combined with each other without conflict. The protection scope of the present invention shall be defined by the claims and the technical solutions described in the claims, including the technical features of the equivalent alternatives as the protection scope. Namely, equivalent alterations and modifications within the scope of the invention are also within the scope of the invention.

Claims

1. The utility model provides a novel sufficient wall climbing robot of negative pressure, includes sliding frame (1) and removal bottom plate (2), sliding frame (1) and removal bottom plate (2) sliding fit, its characterized in that: sliding frame (1) front side and rear side are equipped with first negative pressure sucking disc (3) of liftable, it is equipped with second negative pressure sucking disc (4) of liftable to remove bottom plate (2) left side and right side, install lead screw (5) in sliding frame (1), lead screw (5) and the inside screw thread fit of slider (6), lead screw (5) one end and servo motor (7) output shaft, slider (6) bottom and removal bottom plate (2) fixed connection.

2. The novel negative-pressure foot type wall-climbing robot is characterized in that: the vacuum suction cup is characterized in that a first miniature linear motor (8) is vertically arranged on the front side and the rear side of the sliding frame (1), the output end of the first miniature linear motor (8) is fixedly connected with the upper end of a first base (9), and a first negative pressure suction cup (3) is installed at the lower end of the first base (9).

3. The novel negative-pressure foot type wall-climbing robot is characterized in that: a first guide shaft (10) is further arranged between the first base (9) and the sliding frame (1).

4. The novel negative-pressure foot type wall-climbing robot is characterized in that: the movable base plate (2) is characterized in that the left side and the right side of the movable base plate (2) are vertically provided with a second miniature linear motor (11), the output end of the second miniature linear motor (11) is fixedly connected with the upper end of a second base (12), and a second negative pressure sucker (4) is installed at the lower end of the second base (12).

5. The novel negative-pressure foot type wall-climbing robot is characterized in that: and a second guide shaft (13) is also arranged between the second base (12) and the movable bottom plate (2).

6. The novel negative-pressure foot type wall-climbing robot is characterized in that: be equipped with two three way solenoid valve (14) on sliding frame (1), one of them interface of two three way solenoid valve (14) links to each other with external vacuum generator's induction port, and two other interfaces pass through hose (15) and tee bend connecting pipe (16) and communicate with first negative pressure sucking disc (3) and second negative pressure sucking disc (4) respectively, and hose (15) position that is close to first negative pressure sucking disc (3) and second negative pressure sucking disc (4) all is equipped with branch accuse solenoid valve (17).

7. The novel negative-pressure foot type wall-climbing robot is characterized in that: the movable bottom plate (2) is of a hexagonal plate-shaped structure with two symmetrical sides, and the sliding frame (1) is of a long strip-shaped structure and is positioned in the middle area of the movable bottom plate (2).

8. The novel negative-pressure foot type wall-climbing robot is characterized in that: and the peripheries of the sliding frame (1) and the movable bottom plate (2) are also provided with a shell (18).

9. The novel negative-pressure foot type wall-climbing robot is characterized in that: the front side and the rear side of the sliding frame (1) are respectively provided with two first negative pressure suckers (3), and the left side and the right side of the movable bottom plate (2) are respectively provided with two second negative pressure suckers (4).