CN219044370U

CN219044370U - Wall climbing robot

Info

Publication number: CN219044370U
Application number: CN202320070863.0U
Authority: CN
Inventors: 宋庚桓; 蒋文昊; 王博; 王嘉旭; 刘士甲
Original assignee: Zhengzhou University
Current assignee: Zhengzhou University
Priority date: 2023-01-10
Filing date: 2023-01-10
Publication date: 2023-05-19
Anticipated expiration: 2033-01-10

Abstract

The utility model relates to a wall climbing robot. The wall climbing robot comprises a frame, a crawler assembly and travelling wheels are respectively rotatably arranged on the front side and the rear side of the frame, a first driving mechanism for driving the crawler assembly to travel is arranged on the frame, a rotating shaft with an axis extending along the front-rear direction is rotatably arranged on the frame, a second driving mechanism for driving the rotating shaft to rotate is arranged on the frame, air pawls are respectively arranged at the two ends of the rotating shaft, a sucking disc is arranged on the lower side of the frame, a vacuum pump is arranged on the frame, an air inlet of the vacuum pump is connected with the sucking disc through a connecting pipe, and a propelling fan for providing oblique lower propelling force for the wall climbing robot is arranged on the frame. Compared with the prior art, the wall climbing robot adopts the mode that the crawler belt is combined with the travelling wheels, so that the adaptability of different walls of the wall climbing robot is greatly improved. According to the wall climbing robot, the propelling fan is added to provide oblique upward thrust for the robot, so that the propelling capacity is improved.

Description

Wall climbing robot

Technical Field

The utility model belongs to the technical field of wall climbing devices, and particularly relates to a wall climbing robot.

Background

With the continuous promotion of the urban process of society, a high-rise building is pulled up, so that a great amount of land resources are saved for the high-rise building, urban construction is accelerated, and the development of society is promoted; with the rapid increase of the number of high-rise buildings, the problems of high maintenance and cleaning difficulty are increasingly revealed.

The wall climbing robot is a device for realizing high-altitude operation. In terms of the current research situation, the robot is mainly divided into four types, namely a fan type wall climbing robot, a sucking disc type wall climbing robot, a glue spraying type wall climbing robot and a magnetic attraction type wall climbing robot. The fan type wall climbing robot has the advantages that the rotation speed of a motor required by the fan type wall climbing robot is large, the electricity consumption is extremely large, the weight of carrying objects to climb the wall is light, the operation is extremely unstable, and only a small number of objects are supported to climb the wall. The sucker type wall climbing robot adopts a mode that the platform generates thrust to enable the sucker type wall climbing robot to be adsorbed on a wall surface, the structure is complex, the movement control is difficult, and the suction force generated by the sucker is not easy to control; and the application range is narrow, and the method is only suitable for glass and scenes with smooth surfaces. Glue spraying type wall climbing robot can leave glue on the wall surface, the glue is not easy to clean, environmental pollution can be caused, the practicability is low, the consumed materials are more, and the economical efficiency is lower. The magnetic wall climbing robot has extremely narrow application range and can only climb on an iron wall surface. Therefore, there is a need to develop a wall climbing robot with strong terrain adaptability.

Disclosure of Invention

In order to solve the technical problems, the utility model provides a wall climbing robot.

The technical scheme of the wall climbing robot is as follows:

the utility model provides a wall climbing robot, includes the frame, both sides rotate respectively and install track subassembly and walking wheel around the frame, be equipped with the drive in the frame track subassembly walking's first actuating mechanism, rotate in the frame and install the axis along the pivot that the fore-and-aft direction extends, be equipped with the drive in the frame pivot pivoted second actuating mechanism, the both ends of pivot are equipped with the gas claw respectively, the downside of frame is equipped with the sucking disc, establish the vacuum pump in the frame, the air inlet of vacuum pump with the sucking disc passes through the connecting pipe and connects, be equipped with in the frame for wall climbing robot provides the propelling fan of oblique below propulsive force.

As a further improvement to the technical scheme, the frame comprises a top plate and a bottom plate which are arranged in an up-down parallel and spaced mode, the right end of the front side of the top plate and the left end of the rear side of the bottom plate are respectively provided with a bending part, the left end of the front side of the top plate and the right end of the front side of the bottom plate are respectively provided with L-shaped connecting plates, the horizontal parts of the connecting plates are fixedly connected to the lower side surface of the top plate, two travelling wheels are respectively rotatably arranged on the outer side surface of the bending part, the track assembly comprises a driving track wheel, a driven track wheel and a track, the driving track wheel and the driven track wheel are rotatably arranged on the outer side surface of the connecting plates, and the track surrounds the driving track wheel and the driven track wheel.

As a further improvement to the technical scheme, the rack comprises a housing, the housing is fixedly connected to the top plate, and an observation window is arranged on the housing.

As a further improvement to the technical scheme, the first driving mechanism comprises a first steering engine, the first steering engine is fixedly connected to the inner side of the vertical part of the connecting plate, and the rotating shaft of the first steering engine is fixedly connected with the driving crawler wheel.

As a further improvement to the technical scheme, the central position of the bottom plate is provided with a circular through hole, the sucker is in a horn shape, the sucker is positioned in the through hole, the lower end of the sucker is positioned at the lower side of the bottom plate, the sucker is provided with a mounting sleeve, a spring is sleeved on the sucker, the lower end of the spring is in butt joint with the mounting sleeve, the upper end of the spring is in butt joint with the top plate, the upper end of the sucker is fixedly connected with the top plate through a fixing sleeve, and the vacuum pump is fixedly connected with the top plate.

As a further improvement to the technical scheme, the rotating shaft is rotatably mounted on the top plate through the mounting seat, the second driving mechanism comprises a second steering engine, a driving gear and a driven gear, the second steering engine is fixedly connected on the top plate through a fixing seat, the driving gear is fixedly connected with the end part of an output shaft of the second steering engine, and the driven gear is coaxially and fixedly connected on the rotating shaft.

As a further improvement to the technical scheme, the air claw comprises a fixed cylinder, an air pump and an adsorption cover, wherein the upper end of the fixed cylinder is fixedly connected with the rotating shaft, the adsorption cover is arranged at the lower end of the fixed cylinder, the air pump is positioned in the fixed cylinder, an air inlet hole of the air pump is communicated with the adsorption cover through a connecting pipe, and an air inlet valve is arranged on the connecting pipe.

As a further improvement of the above technical solution, the propulsion fan is fixedly connected to the top plate through a bracket, and an axis of a rotating shaft of the propulsion fan extends toward the upper right.

The utility model provides a wall climbing robot, which has the beneficial effects that compared with the prior art:

after the wall climbing robot is started, the wall climbing robot can enter a self-adjusting state, the structure of the wall climbing robot has certain change in the process, the driving gear rotates with the driven gear under the action of the second steering engine, and the torque ratio of the driving gear to the driven gear in the gear structure is 3:5. the rotating shaft drives the air claw to rotate, so that the adsorption cover made of the silica gel material of the air claw is fully contacted with the wall, and silica gel seal is formed, so that the adsorption is convenient. Then, the air pump starts to work, so that the air claw is firmly adsorbed on the wall surface. The driving gear rotates under the action of the second steering engine, the driving gear drives the driven gear to rotate, and the air claw rotates along with the rotating shaft, so that the wall climbing robot is driven to lift, and the crawler belt and the travelling wheel rotate, so that the wall climbing robot is close to a wall surface. Repeating the operation until the trolley is attached to the wall surface. At this moment, the air pump starts to work, and the air of the sucker is gradually reduced through the connecting pipe, so that the sucker is similar to a vacuum state. The vacuum negative pressure principle is utilized to improve the adsorption force for the wall climbing robot. Simultaneously, the air claw and the propelling fan are matched with the wall climbing robot to work, and the air claw and the propelling fan respectively provide adsorption force and upward thrust to help the wall climbing robot to complete work tasks under various working environments.

The wall climbing robot disclosed by the utility model can finish the operation of automatically climbing from a flat ground to a wall surface according to different environments, can finish the forward and backward movements on the wall surface through the crawler belt and the travelling wheels, and can realize the turning and rotation of the wall climbing robot in a differential steering mode through different speeds of the crawler belt and the travelling wheels. The propulsion fan can provide downward thrust to the wall slope for the wall climbing robot, can make the sucking disc of wall climbing robot press close to ground more to let wall climbing robot under the environment of difference, can both provide maximum adsorption affinity for wall climbing robot, improved wall climbing robot's topography adaptability greatly. Compared with the prior art, on one hand, the wall climbing robot adopts the mode of combining the crawler belt and the travelling wheels, so that the wall climbing robot can absorb the wall surface from the flat ground, and can provide absorption force to assist the wall climbing robot to finish various tasks on the wall surface, and the adaptability of different walls of the wall climbing robot is greatly improved. On the other hand, the wall climbing robot disclosed by the utility model has the advantages that the direction of the sucker can be adjusted according to the requirement by adding the spring on the sucker, the sucker is attached to the wall surface, and the maximum adsorption force is provided. According to the wall climbing robot, the propelling fan is added to provide oblique upward thrust for the robot, so that the propelling capacity is improved.

Drawings

FIG. 1 is a schematic view of the structure of a wall climbing robot of the present utility model;

FIG. 2 is a schematic structural view of a wall climbing robot of the present utility model;

FIG. 3 is a schematic view of the structure of the wall climbing robot (without the housing) of the present utility model;

FIG. 4 is a schematic diagram II of the structure of the wall climbing robot (without the housing) of the present utility model;

FIG. 5 is a schematic view III of the structure of the wall climbing robot of the present utility model (without the housing);

FIG. 6 is a schematic diagram of a wall climbing robot (without a housing) of the present utility model;

FIG. 7 is a schematic view of the structure of the air jaw in the wall climbing robot of the present utility model;

in the figure: 1. a top plate; 2. a bottom plate; 3. a bending part; 4. a connecting plate; 5. a housing; 6. a rotating shaft; 7. a gas claw; 8. a bracket; 9. propelling the fan; 10. a vacuum pump; 11. a connecting pipe; 12. a suction cup; 13. a through hole; 14. the second steering engine; 15. a drive gear; 16. a driven gear; 17. a walking wheel; 18. a driving crawler wheel; 19. a driven track wheel; 20. a track; 21. the first steering engine; 22. an air extracting pump; 23. an adsorption cover.

Detailed Description

The utility model is described in further detail below with reference to the attached drawings and detailed description:

the specific embodiment of the wall climbing robot disclosed by the utility model is shown in fig. 1 to 7, and comprises a frame, wherein a crawler assembly and travelling wheels 17 are respectively rotatably arranged on the front side and the rear side of the frame, a first driving mechanism for driving the crawler assembly to travel is arranged on the frame, a rotating shaft 6 with an axis extending along the front-rear direction is rotatably arranged on the frame, a second driving mechanism for driving the rotating shaft 6 to rotate is arranged on the frame, two ends of the rotating shaft 6 are respectively provided with an air claw 7, a sucking disc 12 is arranged on the lower side of the frame, a vacuum pump 10 is arranged on the frame, an air inlet of the vacuum pump 10 is connected with the sucking disc 12 through a connecting pipe 11, and a propelling fan 9 for providing propelling force obliquely downwards for the wall climbing robot is arranged on the frame.

In this embodiment, the frame includes upper and lower parallel interval arrangement's roof 1 and bottom plate 2, roof 1 front side right-hand member and bottom plate 2 rear side left end are equipped with bending portion 3 respectively, roof 1 front side left end and bottom plate 2 front side right-hand member are equipped with L shape connecting plate 4 respectively, the horizontal part fixed connection of connecting plate 4 is on roof 1 downside, walking wheel 17 has two, two walking wheels 17 rotate respectively and install on bending portion 3's lateral surface, the track subassembly includes driving crawler wheel 18, driven crawler wheel 19 and track 20, driving crawler wheel 18 and driven crawler wheel 19 rotate and install on connecting plate 4's lateral surface, track 20 encircles between driving crawler wheel 18 and driven crawler wheel 19. The frame comprises a housing 5, the housing 5 is fixedly connected to the top plate 1, and an observation window is arranged on the housing 5. The first driving mechanism comprises a first steering engine 21, the first steering engine 21 is fixedly connected to the inner side of the vertical portion of the connecting plate 4, and a rotating shaft 6 of the first steering engine 21 is fixedly connected with the driving crawler wheel 18. The central point of bottom plate 2 puts and is equipped with circular shape through-hole 13, and sucking disc 12 is loudspeaker form, and sucking disc 12 is located through-hole 13, and the lower extreme of sucking disc 12 is located bottom plate 2 downside, is equipped with the installation cover on the sucking disc 12, and the cover is equipped with the spring on the sucking disc 12, the lower extreme and the installation cover butt of spring, the upper end and the roof 1 butt of spring, the upper end of sucking disc 12 is through fixed cover fixed connection on roof 1, vacuum pump 10 fixed connection is on roof 1.

In this embodiment, the rotating shaft 6 is rotatably mounted on the top plate 1 through the mounting seat, the second driving mechanism comprises a second steering engine 14, a driving gear 15 and a driven gear 16, the second steering engine 14 is fixedly connected on the top plate 1 through a fixing seat, the driving gear 15 is fixedly connected at the end part of an output shaft of the second steering engine 14, and the driven gear 16 is coaxially and fixedly connected on the rotating shaft 6. The air claw 7 comprises a fixed cylinder, an air pump 22 and an adsorption cover 23, wherein the upper end of the fixed cylinder is fixedly connected with the rotating shaft 6, the adsorption cover 23 is arranged at the lower end of the fixed cylinder, the air pump 22 is positioned in the fixed cylinder, an air inlet hole of the air pump 22 is communicated with the adsorption cover 23 through a connecting pipe 11, and an air inlet valve is arranged on the connecting pipe 11. The propelling fan 9 is fixedly connected to the top plate 1 through a bracket 8, and the axis of the rotating shaft 6 of the propelling fan 9 extends toward the upper right.

After the wall climbing robot is started and encounters a wall, the wall climbing robot can enter a self-adjusting state, the structure of the wall climbing robot has certain change in the process, the driving gear 15 rotates with the driven gear 16 under the action of the second steering engine 14, and in the gear structure, the torque ratio of the driving gear 15 to the driven gear 16 is 3:5. the rotating shaft 6 drives the air claw 7 to rotate, so that the adsorption cover 23 made of the silica gel material of the air claw 7 is fully contacted with the wall, and silica gel seal is formed, so that the adsorption is convenient. Then, the suction pump 22 starts to operate, and the air claw 7 is firmly adsorbed on the wall surface. The driving gear 15 rotates under the action of the second steering engine 14, the driving gear 15 drives the driven gear 16 to rotate, and the air claw 7 also rotates along with the rotating shaft 6, so that the wall climbing robot is driven to lift, and the crawler belt and the travelling wheel 17 rotate, so that the wall climbing robot is close to a wall surface. Repeating the operation until the trolley is attached to the wall surface. At this point the suction pump 22 starts to operate and the suction cup 12 is gradually reduced in air through the connection pipe 11, forming a vacuum-like state. The vacuum negative pressure principle is utilized to improve the adsorption force for the wall climbing robot. Simultaneously, the air claw 7 and the propelling fan 9 cooperate with the wall climbing robot to work, and respectively provide adsorption force and upward thrust to help the wall climbing robot to complete work tasks under various working environments.

The wall climbing robot disclosed by the utility model can finish the operation of automatically climbing from a flat ground to a wall surface according to different environments, can finish the forward and backward movements on the wall surface through the crawler belt and the travelling wheel 17, and can realize the turning and rotation of the wall climbing robot in a differential steering mode through different speeds of the crawler belt and the travelling wheel 17. The propulsion fan 9 can provide downward thrust to the wall slope for the wall climbing robot, can make the sucking disc 12 of wall climbing robot press close to ground more to let wall climbing robot under the environment of difference, can both provide maximum adsorption affinity for wall climbing robot, improved wall climbing robot's topography adaptability greatly. Compared with the prior art, on one hand, the wall climbing robot adopts the mode of combining the caterpillar band and the travelling wheel 17, so that the wall climbing robot can absorb the wall surface from the flat ground, and can provide absorption force to assist the wall climbing robot to finish various tasks on the wall surface, and the adaptability of different walls of the wall climbing robot is greatly improved. On the other hand, the wall climbing robot of the utility model adds the spring on the sucker 12, so that the sucker 12 can adjust the direction according to the requirement, and can be attached to the wall surface to provide the maximum adsorption force. The wall climbing robot provided by the utility model provides oblique upward thrust for the robot by adding the propulsion fan 9, so that the propulsion capability is improved.

The foregoing description of the preferred embodiments of the utility model is not intended to limit the utility model to the precise form disclosed, and any such modifications, equivalents, and alternatives falling within the spirit and scope of the utility model are intended to be included within the scope of the utility model.

Claims

1. The utility model provides a wall climbing robot, its characterized in that, includes the frame, both sides rotate respectively and install track subassembly and walking wheel around the frame, be equipped with the drive in the frame track subassembly walking's first actuating mechanism, rotate in the frame and install the axis along the pivot that the fore-and-aft direction extends, be equipped with the drive in the frame pivot pivoted second actuating mechanism, the both ends of pivot are equipped with the gas claw respectively, the downside of frame is equipped with the sucking disc, establish the vacuum pump in the frame, the air inlet of vacuum pump with the sucking disc passes through the connecting pipe and connects, be equipped with in the frame and be used for wall climbing robot provides the propelling fan of oblique below propulsive force.

2. The wall climbing robot according to claim 1, wherein the frame comprises a top plate and a bottom plate which are arranged in an up-down parallel and spaced manner, a bending part is respectively arranged at the right end of the front side of the top plate and the left end of the rear side of the bottom plate, an L-shaped connecting plate is respectively arranged at the left end of the front side of the top plate and the right end of the front side of the bottom plate, the horizontal part of the connecting plate is fixedly connected to the lower side surface of the top plate, two travelling wheels are respectively rotatably mounted on the outer side surface of the bending part, the track assembly comprises a driving track wheel, a driven track wheel and a track, the driving track wheel and the driven track wheel are rotatably mounted on the outer side surface of the connecting plate, and the track surrounds between the driving track wheel and the driven track wheel.

3. The wall climbing robot according to claim 2, wherein the frame includes a housing fixedly connected to the top plate, the housing having a viewing window thereon.

4. The wall climbing robot according to claim 2, wherein the first driving mechanism comprises a first steering engine, the first steering engine is fixedly connected to the inner side of the vertical portion of the connecting plate, and a rotating shaft of the first steering engine is fixedly connected to the driving crawler wheel.

5. The wall climbing robot according to claim 4, wherein a circular through hole is formed in the center of the bottom plate, the sucker is in a horn shape, the sucker is located in the through hole, the lower end of the sucker is located at the lower side of the bottom plate, a mounting sleeve is arranged on the sucker, a spring is sleeved on the sucker, the lower end of the spring is in butt joint with the mounting sleeve, the upper end of the spring is in butt joint with the top plate, the upper end of the sucker is fixedly connected to the top plate through a fixing sleeve, and the vacuum pump is fixedly connected to the top plate.

6. The wall climbing robot according to claim 5, wherein the rotating shaft is rotatably mounted on the top plate through a mounting seat, the second driving mechanism comprises a second steering engine, a driving gear and a driven gear, the second steering engine is fixedly connected on the top plate through a fixing seat, the driving gear is fixedly connected to the end part of an output shaft of the second steering engine, and the driven gear is coaxially and fixedly connected on the rotating shaft.

7. The wall climbing robot according to claim 6, wherein the air claw comprises a fixed cylinder, an air pump and an adsorption cover, the upper end of the fixed cylinder is fixedly connected with the rotating shaft, the adsorption cover is installed at the lower end of the fixed cylinder, the air pump is located in the fixed cylinder, an air inlet hole of the air pump is communicated with the adsorption cover through a connecting pipe, and an air inlet valve is arranged on the connecting pipe.

8. The wall climbing robot according to claim 2, wherein the propulsion fan is fixedly connected to the top plate through a bracket, and an axis of a rotating shaft of the propulsion fan extends upward and rightward.