CN218141840U - Wall climbing robot - Google Patents

Abstract

The utility model discloses a wall climbing robot, which comprises a robot body and a rotary wing module; the rotary wing module comprises a connecting frame and a fan assembly, the fan assembly is rotatably connected to the connecting frame, and the connecting frame is detachably connected with the robot body. According to the utility model discloses a wall climbing robot, the wall climbing robot comprises a rotary wing module and a robot body; the rotary wing module comprises a connecting frame and a fan assembly, the connecting frame and the robot body are detachably connected, and then people can install or detach the rotary wing module as required, so that the rotary wing module is replaced more quickly.

Description

Wall climbing robot

Technical Field

The utility model relates to the technical field of robot, in particular to wall climbing robot.

Background

With the continuous and rapid development of national economy, the investment on infrastructure is more and more, under the background, a large number of highway tunnels appear, and in tunnel operation, diseases such as water leakage, freeze thawing, lining damage and the like of the tunnels need to be prevented; in the related art, there is a wall-climbing inspection robot including a rotating fan, which is attached to a wall by a reaction force of the rotating fan. However, since the rotary fan of the wall climbing inspection robot is integrated with the robot body, it is difficult to replace the rotary fan when the rotary fan is damaged.

SUMMERY OF THE UTILITY MODEL

The utility model aims to solve one of the technical problem that exists among the prior art at least, the utility model provides a wall climbing robot of installation of being convenient for of rotatory wing module.

According to the embodiment of the utility model, the wall climbing robot comprises a robot body and a rotary wing module; the rotary wing module comprises a connecting frame and a fan assembly, the fan assembly is rotatably connected to the connecting frame, and the connecting frame is detachably connected with the robot body.

Wall climbing robot have following beneficial effect at least: the wall climbing robot comprises a rotating wing module and a robot body; the rotary wing module comprises a connecting frame and a fan assembly, the connecting frame is detachably connected with the robot body, and then people can install or detach the rotary wing module as required, so that the rotary wing module is replaced more quickly.

According to the embodiment of the utility model provides a wall climbing robot, the link all is equipped with first connecting hole including first connecting portion and the second connecting portion that distribute side by side on first connecting portion and the second connecting portion, the link can be dismantled with robot through the threaded connection spare that wears to locate in the first connecting hole and be connected.

According to the embodiment of the utility model provides a wall climbing robot, robot includes installation pole and connecting plate, is equipped with the second connect the via hole corresponding with first connect the via hole on the connecting plate, first threaded connection spare threaded connection is in second connect the via hole, first connecting portion, second connecting portion and connecting plate are worn to locate by the installation pole around forming in the first centre gripping district.

According to the utility model discloses wall climbing robot, the robot still includes the trough, installs electronic governor on the trough, electronic governor passes through fastener detachably and connects on the trough.

According to the utility model discloses wall climbing robot, the fastener includes the structure staple bolt, structure staple bolt both ends are respectively through second threaded connection spare and trough threaded connection, the electronic governor locates in the second centre gripping district that forms between structure staple bolt and the trough.

According to the embodiment of the utility model provides a wall climbing robot, the robot body still includes control module, is equipped with in the trough and walks the line passageway, wears to be equipped with the wire in walking the line passageway, wire one end is connected with the electronic governor electricity, the wire other end is connected with control module electricity.

According to the utility model discloses wall climbing robot, be equipped with first opening on the trough, the wire in the wiring passageway passes first opening and is connected with the electronic governor electricity.

According to wall climbing robot, the trough locate one side that the connecting plate deviates from the installation pole, the lateral wall of trough is equipped with the otic placode, has seted up third connect the through-hole on the otic placode, is equipped with the fourth connect the through-hole that corresponds with third connect the through-hole on the connecting plate, the trough is connected on the connecting plate through the third threaded connection spare of wearing to locate in third connect the through-hole and the fourth connect the through-hole.

According to the utility model discloses wall climbing robot, fan assembly is last to be equipped with first conductive structure, is equipped with the second conductive structure that is used for being connected with first conductive structure electricity on the electronic governor.

According to the utility model discloses wall climbing robot, first conductive structure include first electrically conductive interface, second conductive structure includes the electrically conductive interface of second and wiring, wiring one end is pegged graft with first electrically conductive interface, the wiring other end is pegged graft with the electrically conductive interface of second.

Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.

Drawings

The present invention will be further described with reference to the accompanying drawings and examples;

fig. 1 is a schematic structural view of a wall-climbing robot according to an embodiment of the present invention;

fig. 2 is a partial structural schematic view of the wall-climbing robot shown in fig. 1;

FIG. 3 is a partial schematic structural view of the wall-climbing robot shown in FIG. 1 from another perspective;

FIG. 4 is a schematic partial exploded view of the wall-climbing robot of FIG. 1;

fig. 5 is a schematic structural view of a rotary wing module of the wall-climbing robot shown in fig. 1.

Reference numerals:

a robot body 100; a mounting rod 110; an inner cavity 111; a second opening 112; a connecting plate 120; a second connection through-hole 121; a fourth connecting through-hole 122; a wiring trough 130; a first opening 131; an ear plate 132; the third connecting through-hole 133; a sixth connecting through-hole 134;

a rotary wing module 200; a connecting frame 210; the first connection portion 211; a second connection portion 212; a first connection through hole 213; a ducted fan 220; a steering engine 230; a first conductive interface 240;

an electronic governor 300; a second conductive interface 310;

a structural hoop 400; a fifth connecting through-hole 410;

the power conversion module 500.

Detailed Description

This section will describe in detail the embodiments of the present invention, preferred embodiments of the present invention are shown in the attached drawings, which are used to supplement the description of the text part of the specification with figures, so that one can intuitively and vividly understand each technical feature and the whole technical solution of the present invention, but they cannot be understood as the limitation of the protection scope of the present invention.

In the description of the present invention, it should be understood that the orientation or positional relationship indicated with respect to the orientation description, such as up, down, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.

In the description of the present invention, a plurality of means are one or more, a plurality of means are two or more, and the terms greater than, less than, exceeding, etc. are understood as not including the number, and the terms greater than, less than, within, etc. are understood as including the number. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless there is an explicit limitation, the terms such as setting, installing, connecting, etc. should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meaning of the terms in the present invention by combining the specific contents of the technical solution.

The wall climbing robot of the present invention will be described in detail with reference to fig. 1 to 5.

Referring to fig. 1 to 5, a wall climbing robot according to an embodiment of the present invention includes a robot body 100 and a rotary wing module 200.

The rotary wing module 200 includes a connection frame 210 and a fan assembly rotatably connected to the connection frame 210, and the connection frame 210 is detachably connected to the robot body 100.

For example, as shown in fig. 1 and 2, four rotary wing modules 200 may be provided on the robot body 100 at intervals in the left-right direction, and the four rotary wing modules 200 may be symmetrically distributed on the robot body 100 in the left-right direction. When the wall climbing robot works, the rotary wing modules 200 are required to provide suspended thrust for the robot body 100, and when the weight of the robot is high, the rotary wing modules 200 are required to provide larger thrust, so that the working power of a single rotary wing module 200 can be prevented from exceeding the rated power by increasing the number of the rotary wing modules 200, and the service life of the rotary wing modules 200 is prolonged; when the weight of the robot is low, the output power of a single rotary wing module 200 on the robot body 100 is lower than the rated output power, so that not only is the utilization rate of the rotary wing module 200 reduced, but also the volume and weight of the wall climbing robot are additionally increased, and the redundant rotary wing modules 200 are removed to enable the rotary wing modules 200 which are in residual work to maintain the rated output power, so that the utilization rate of the rotary wing modules 200 which are in work can be improved, and meanwhile, the volume and weight of the wall climbing robot are reduced; when the rotary wing module 200 in the wall climbing robot malfunctions, a worker can remove the connection between the connection frame 210 corresponding to the rotary wing module 200 and the installation assembly, and then detach the malfunctioning rotary wing module 200 from the robot body 100, and then connect the connection frame 210 of the normally functioning rotary wing module 200 with the installation assembly, thereby implementing the replacement of the malfunctioning rotary wing module 200. Further, the rotary wing module 200 is detachably coupled to the robot body 100 through the coupling frame 210, thereby facilitating the mounting or dismounting of the rotary wing module 200 to or from the robot body 100.

In some embodiments of the present invention, the connection frame 210 includes a first connection portion 211 and a second connection portion 212 that are distributed side by side, a first connection hole 213 is disposed on each of the first connection portion 211 and the second connection portion 212, and the connection frame 210 is detachably connected to the robot body 100 through a first threaded connection member that is disposed in the first connection hole 213. For example, as shown in fig. 1 and 5, the first connection portion 211 and the second connection portion 212 may be arranged in parallel in a front-rear direction, the first threaded connection member may be a first screw, the first connection through hole 213 formed in the first connection portion 211 and the second connection portion 212 may be a threaded hole, and the first screw passes through the first connection through hole 213 and is threadedly connected to the mounting assembly. Furthermore, when a worker needs to detach the rotary wing module 200, only the first screw needs to be detached, so that the rotary wing module 200 can be detached from the robot body 100; when a worker needs to install the rotary wing module 200, the worker can pass a first screw through the first coupling through-hole 213 and be screw-coupled with the installation member, and the rotary wing module 200 can be installed on the robot body 100.

In some embodiments of the present invention, the robot body 100 includes a mounting rod 110 and a connecting plate 120, a second connecting through hole 121 corresponding to the first connecting through hole 213 is disposed on the connecting plate 120, the first threaded connector is threaded in the second connecting through hole 121, and the mounting rod 110 is disposed through the first connecting portion 211, the second connecting portion 212, and the connecting plate 120 around the first clamping area. For example, as shown in fig. 2 and 4, the mounting rod 110 may extend in the left-right direction, the connecting plate 120 may be located at the upper end of the mounting rod 110, two second connecting through holes 121 may be respectively disposed at the front and rear ends of the connecting plate 120, correspondingly, two first connecting through holes 213 may be disposed on the first connecting portion 211, two first connecting through holes 213 may be disposed on the second connecting portion 212, the first connecting portion 211 may be located at the front side of the second connecting portion 212, four first threaded connectors may be disposed, and the first threaded connectors may be first screws, correspondingly, the first connecting through holes 213 and the second connecting through holes 121 may be threaded holes, the first connecting through holes 213 on the first connecting portion 211 may correspond to the second connecting through holes 121 at the front end of the connecting plate 120, and the first screws may be screwed into the first connecting through holes 213 on the first connecting portion 211 and the second connecting through holes 121 at the front end of the connecting plate 120, so that the first connecting portion 211 is connected to the front end of the connecting plate 120; the first connection through hole 213 of the second connection part 212 may correspond to the second connection through hole 121 of the rear end of the connection plate 120, and a second screw may be screwed into the first connection through hole 213 of the second connection part 212 and the second connection through hole 121 of the rear end of the connection plate 120 to connect the second connection part 212 with the rear end of the connection plate 120; meanwhile, the first connection portion 211, the second connection portion 212 and the connection plate 120 are formed around a first clamping area, and the installation rod 110 can be inserted into the first clamping area, so that the rotary wing module 200 is fixed on the installation rod 110.

Alternatively, in other embodiments of the present invention, the second connection through hole 121 may be formed on the mounting bar 110, and at this time, the connection frame 2210 is connected to the mounting bar 110 by a first screw connection member formed through the first connection through hole 213 and the second connection through hole 121, thereby allowing the rotary wing module 200 to be mounted on the mounting bar 110.

In some embodiments of the present invention, the robot body 100 further includes a wiring groove 130, an electronic governor 300 is installed on the wiring groove 130, and the electronic governor 300 is detachably connected to the wiring groove 130 by a fastener. For example, as shown in fig. 2, a routing groove 130 may be provided above the mounting bar 110, an electronic governor 300 may be located at an upper end of the routing groove 130, and the electronic governor 300 may be detachably connected to the routing groove 130 by a fastener. Further, in the event of a failure of the electronic governor 300, a worker can replace the failed electronic governor 300 by removing the fastener.

Specifically, the fastener includes structure staple bolt 400, and structure staple bolt 400 both ends are respectively through second threaded connection spare and trough 130 threaded connection, and electronic governor 300 locates in the second centre gripping district that forms between structure staple bolt 400 and trough 130. For example, as shown in fig. 2 and 4, the fastening member may be a structural hoop 400, fifth connecting through holes 410 are respectively disposed at two ends of the structural hoop 400, sixth connecting through holes 134 are respectively disposed on two side walls of the wiring groove 130, the fifth connecting through holes 410 and the sixth connecting through holes 134 are in one-to-one correspondence, the fifth connecting through holes 410 and the sixth connecting through holes 134 may be threaded holes, and the second threaded connector may be a second screw. When the electronic speed regulator 300 is installed, the electronic speed regulator 300 is firstly placed at a preset position on the wiring groove 130, then two ends of the structural hoop 400 correspond to two side walls of the wiring groove 130 respectively, and the fifth connecting through hole 410 is aligned with the sixth connecting through hole 134, at the moment, a second clamping area is formed between the structural hoop 400 and the wiring groove 130, the electronic speed regulator 300 is arranged at the second clamping area, the structural hoop 400 is further installed on the wiring groove 130 through second screws penetrating through the fifth connecting through hole 410 and the sixth connecting through hole 134, and meanwhile, the electronic speed regulator 300 is fastened on the wiring groove 130 through the structural hoop 400; when the electronic governor 300 needs to be disassembled, the second screws inserted through the fifth and sixth connecting through holes 410 and 134 are removed to separate the structural hoop 400 from the wiring duct 130, so that the electronic governor 300 can be disassembled. Structure staple bolt 400 simple structure easily realizes, makes can dismantle the connection between electronic governor 300 and the trough 130 through structure staple bolt 400, and the installation or the dismantlement of electronic governor 300 are convenient for.

The utility model discloses an in some embodiments, robot 100 still includes control module, is equipped with the wiring passageway in the wiring groove 130, wears to be equipped with the wire in the wiring passageway, and wire one end is connected with electronic governor 300 electricity, and the wire other end is connected with control module electricity. For example, as shown in fig. 2, the wiring groove 130 has a wiring channel therein, one end of a wire is electrically connected to a control module in the robot body 100, and the other end of the wire is electrically connected to the electronic governor 300 through the wiring channel. The wiring channel is arranged in the wiring groove 130, so that the weight of the wiring groove 130 can be reduced; meanwhile, the wires are routed from the routing channels, and the routing grooves 130 can protect the wires.

Further, referring to fig. 2, a first opening 131 is provided on the routing groove 130, and the wires in the routing channel pass through the first opening 131 and are electrically connected to the electronic governor 300.

Further, in order to facilitate replacement of the electronic governor 300, the electronic governor 300 may be provided with a first port, and a wire is connected to the first port in a plugging manner.

Furthermore, in order to realize detachable connection between the wires and the control module, the control module can be provided with a second port, and the wires are connected with the second port in a plugging manner.

The utility model discloses an in some embodiments, wiring groove 130 locates one side that connecting plate 120 deviates from installation pole 110, and the lateral wall of wiring groove 130 is equipped with otic placode 132, has seted up third connect the via hole 133 on the otic placode 132, is equipped with the fourth connect the via hole 122 that corresponds with third connect the via hole 133 on the connecting plate 120, and wiring groove 130 is connected on connecting plate 120 through the third threaded connection who wears to locate in third connect the via hole 133 and the fourth connect the via hole 122. For example, as shown in fig. 2 and 4, the installation rod 110 may extend in the left-right direction, the wiring groove 130 may be disposed at the upper end of the installation rod 110, and the connection plate 120 is located between the wiring groove 130 and the installation rod 110, the front and rear ends of the wiring groove 130 may be respectively provided with the ear plates 132, the ear plates 132 may be provided with third connection through holes 133, correspondingly, the front and rear ends of the connection rod may be respectively provided with fourth connection through holes 122, the third connection through holes 133 may correspond to the fourth connection through holes 122 one to one, and the third connection through holes 133 and the fourth connection through holes 122 may be threaded holes, the third threaded connection part may include a third screw, and then, the wiring groove 130 may be detachably connected to the connection plate 120 through third screws penetrating through the third connection through holes 133 and the fourth connection through holes 122.

The utility model discloses an in some affairs examples, be equipped with first conductive structure on the fan assembly, be equipped with the second conductive structure that is used for being connected with first conductive structure electricity on the electron governor 300. The electrical connection between the electronic governor 300 and the fan assembly is further achieved through the electrical connection between the first conductive structure and the second conductive structure.

Specifically, the first conductive structure includes a first conductive interface 240, the second conductive structure includes a second conductive interface 310 and a connection wire, one end of the connection wire is plugged with the first conductive interface 240, and the other end of the connection wire is plugged with the second conductive interface 310. For example, as shown in fig. 2 and fig. 4, the first conductive interface 240 may be disposed on a sidewall of the fan assembly, and the electronic governor 300 may be disposed with the second conductive interface 310, so that when the fan assembly and the electronic governor 300 need to be electrically connected, one end of the wire may be plugged into the first conductive interface 240, and the other end of the wire may be plugged into the second conductive interface 310; when it is desired to effect an open circuit between the fan assembly and the electronic governor 300, the two ends of the wiring can be disconnected from the first conductive interface 240 and the second conductive interface 310, respectively.

Alternatively, the first conductive structure may include a wire, a socket is provided at an end of the wire, and the second conductive structure may include a second conductive interface 310, in which case, the electrical connection between the fan assembly and the electronic governor 300 is achieved by inserting the socket of the wire into the second conductive interface 310; it is also possible that the second conductive structure comprises a wire having a socket at an end thereof and the first conductive structure comprises a first conductive interface 240, wherein electrical connection between the fan assembly and the electronic governor 300 is achieved by inserting the socket of the wire into the first conductive interface 240.

The utility model discloses an in some embodiments, the fan subassembly includes duct fan 220 and steering wheel 230, rotates through steering wheel 230 between duct fan 220 and the link 210 to be connected, and then, at the steering wheel 230 during operation, steering wheel 230 can drive duct fan 220 rotatory to change the air outlet of duct fan 220 and the angle on ground.

Further, the mounting rod 110 is further provided with a power conversion module 500, the power conversion module 500 is electrically connected with the steering engine 230 and the control module respectively, and the power conversion module 500 is used for converting the voltage output by the control module into the working voltage of the steering engine 230.

Further, in order to reduce the number of power conversion modules 500, two steering engines 230 may share one power conversion module 500, and at this time, the power conversion module 500 may be disposed between two rotary wing modules 200.

Further, referring to fig. 3, in order to improve the routing regularity of the power conversion module 500, an inner cavity 111 may be provided in the mounting rod 110, a second opening 112 for communicating the inner cavity 111 with the outside may be provided at the lower end of the mounting rod 110, and the routing of the power conversion module 500 enters the inner cavity 111 through the second opening 112 for routing; meanwhile, the inner cavity 111 in the mounting rod 110 can reduce the weight of the mounting rod 110.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: various changes, modifications, substitutions and alterations can be made to the embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A wall climbing robot, comprising:

a robot body (100);

the rotary wing module (200), rotary wing module (200) includes link (210) and fan assembly, fan assembly rotate connect in on link (210), link (210) with the connection can be dismantled to robot body (100).

2. A wall climbing robot as claimed in claim 1, wherein the connecting frame (210) comprises a first connecting portion (211) and a second connecting portion (212) which are distributed in parallel, the first connecting portion (211) and the second connecting portion (212) are both provided with a first connecting through hole (213), and the connecting frame (210) is detachably connected with the robot body (100) through a first threaded connecting piece which is arranged in the first connecting through hole (213) in a penetrating manner.

3. A wall climbing robot as claimed in claim 2, wherein the robot body (100) comprises a mounting rod (110) and a connecting plate (120), a second connecting through hole (121) corresponding to the first connecting through hole (213) is formed in the connecting plate (120), the first threaded connector is screwed into the second connecting through hole (121), and the mounting rod (110) is inserted into a first clamping area formed by the first connecting portion (211), the second connecting portion (212) and the connecting plate (120) in a surrounding manner.

4. A wall climbing robot as claimed in claim 3, characterized in that the robot body (100) further comprises a wiring duct (130), an electronic governor (300) is mounted on the wiring duct (130), and the electronic governor (300) is detachably connected to the wiring duct (130) by a fastener.

5. The wall climbing robot as claimed in claim 4, wherein the fastener comprises a structural hoop (400), two ends of the structural hoop (400) are respectively in threaded connection with the wiring slots (130) through second threaded connectors, and the electronic governor (300) is arranged in a second clamping area formed between the structural hoop (400) and the wiring slots (130).

6. The wall climbing robot as claimed in claim 4, wherein the robot body (100) further comprises a control module, a wiring channel is arranged in the wiring slot (130), a wire passes through the wiring channel, one end of the wire is electrically connected with the electronic speed regulator (300), and the other end of the wire is electrically connected with the control module.

7. A wall climbing robot as claimed in claim 6, characterized in that the wiring slot (130) is provided with a first opening (131), and the wires in the wiring channel pass through the first opening (131) and are electrically connected with the electronic speed regulator (300).

8. The wall climbing robot as claimed in claim 4, wherein the wiring groove (130) is formed in one side of the connecting plate (120) away from the mounting rod (110), an ear plate (132) is arranged on the side wall of the wiring groove (130), a third connecting through hole (133) is formed in the ear plate (132), a fourth connecting through hole (122) corresponding to the third connecting through hole (133) is formed in the connecting plate (120), and the wiring groove (130) is connected to the connecting plate (120) through a third threaded connector penetrating through the third connecting through hole (133) and the fourth connecting through hole (122).

9. A wall climbing robot as claimed in claim 4, wherein the fan assembly is provided with a first conductive structure, and the electronic governor (300) is provided with a second conductive structure for electrically connecting with the first conductive structure.

10. A wall climbing robot as claimed in claim 9, wherein the first conductive structure comprises a first conductive interface (240), the second conductive structure comprises a second conductive interface (310) and a wire, one end of the wire is plugged into the first conductive interface (240), and the other end of the wire is plugged into the second conductive interface (310).

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