CN219904569U - Large-scale curved surface self-adaptation wall climbing robot device - Google Patents
Large-scale curved surface self-adaptation wall climbing robot device Download PDFInfo
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- CN219904569U CN219904569U CN202321704735.3U CN202321704735U CN219904569U CN 219904569 U CN219904569 U CN 219904569U CN 202321704735 U CN202321704735 U CN 202321704735U CN 219904569 U CN219904569 U CN 219904569U
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- chute
- screw rod
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- 230000009194 climbing Effects 0.000 title claims abstract description 17
- 230000007246 mechanism Effects 0.000 claims abstract description 20
- 230000006872 improvement Effects 0.000 claims abstract description 3
- 230000002457 bidirectional effect Effects 0.000 claims description 19
- 230000000149 penetrating effect Effects 0.000 claims description 3
- 230000008878 coupling Effects 0.000 claims description 2
- 238000010168 coupling process Methods 0.000 claims description 2
- 238000005859 coupling reaction Methods 0.000 claims description 2
- 230000009471 action Effects 0.000 abstract description 4
- 238000001179 sorption measurement Methods 0.000 description 5
- 238000010586 diagram Methods 0.000 description 2
- 238000005452 bending Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000011065 in-situ storage Methods 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 230000035699 permeability Effects 0.000 description 1
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Abstract
The utility model relates to a robot field, and disclose a large-scale curved surface self-adaptation wall climbing robot device, it includes body structure and improvement structure: the body structure comprises a robot, wherein a camera is arranged at the bottom end of the robot and is positioned in the middle of the robot; the improved structure comprises a horizontal chute which is arranged at the bottom end of the robot, two connecting frames which are symmetrical with the camera are connected to the chute in a clamping and sliding manner, arc-shaped covers are connected to the inner side of each connecting frame, and two arc-shaped covers are matched to form a sleeve cover which is matched with the camera inside. Under the action of the driving mechanism, the two connecting frames can be driven to slide along the sliding groove in opposite directions at the same time, even if the two connecting frames can drive the two arc covers to be close to each other or to be far away from each other, the two arc covers can be close to each other to form a cover to protect the camera when needed; when not needed, the two arc covers can be far away from the camera, and the normal work of the camera is not affected.
Description
Technical Field
The utility model belongs to the field of robots, and particularly relates to a large-scale curved surface self-adaptive wall climbing robot device.
Background
The wall climbing robot has two basic functions of adsorption and movement, and the common adsorption mode has two types of negative pressure adsorption and permanent magnetic adsorption. Wherein, the negative pressure mode can be absorbed on the wall surface by generating negative pressure in the sucker, and is not limited by the wall surface material; the permanent magnet adsorption mode is provided with a permanent magnet mode and an electromagnet mode, and is only suitable for adsorbing the magnetic permeability wall surface.
Under the scene that the straight line track can not be laid and is not flat in bending, the wall climbing robot can be used as the inspection robot by carrying the camera. However, even the wall climbing robot may shake or fall due to uneven route, and under such conditions, the camera may be easily damaged.
Disclosure of Invention
The technical problems to be solved are as follows: and a camera on the robot is protected.
The technical scheme is as follows: the utility model provides a large-scale curved surface self-adaptive wall climbing robot device, which comprises a body structure and an improved structure: the body structure comprises a robot, wherein a camera is arranged at the bottom end of the robot and is positioned in the middle of the robot; the improved structure comprises a horizontal chute arranged at the bottom end of the robot, and two connecting frames symmetrical to the camera are connected to the horizontal chute in a clamping and sliding manner, the inner side of each connecting frame is connected with an arc-shaped cover, and the two arc-shaped covers are matched to form a sleeve cover with the inside matched with the camera; the robot is also provided with a driving mechanism for driving the two connecting frames to slide along the sliding chute in opposite directions at the same time, under the action of the driving mechanism, the two connecting frames can be driven to slide along the sliding chute in opposite directions at the same time, even if the two connecting frames can drive the two arc covers to be close to each other or to be far away from each other, the two arc covers can be close to each other to form a cover to protect the camera when needed; meanwhile, when not needed, the two arc covers can be away from the camera, and the normal work of the camera is not affected.
Further, the driving mechanism comprises a bearing seat which is arranged in the middle of the inside of the chute and is positioned right above the camera, a bidirectional screw rod positioned in the chute is connected to the bearing seat in a penetrating way, and the midpoint of the bidirectional screw rod coincides with the midpoint of the bearing seat; simultaneously, the bottom end of each connecting frame is connected with a sliding block which is in clamping sliding connection with the sliding groove and penetrates through the screw threads of the two-way screw rod, and the directions of the two sliding blocks and the screw threads of the two-way screw rod penetrate through the two-way screw rod are opposite; in addition, the robot is also provided with a rotating mechanism for driving the bidirectional screw rod to rotate.
Further, the bearing frame mainly comprises a shell and a bearing positioned in the shell, the outer wall of the shell is fixedly connected with the inner wall of the chute, the inner wall of the shell is fixedly connected with the outer ring of the bearing, and the inner ring of the bearing is in interference fit with the bidirectional screw rod.
Further, the rotating mechanism comprises a motor which is arranged on the robot and the output shaft of which is parallel to the bidirectional screw rod, and the output shaft of the motor is connected with one end of the bidirectional screw rod through a coupler.
Further, an outer frame is also arranged on the outer side of the robot, and the motor is positioned in the outer frame.
Further, the width of the top end of the sliding groove is smaller than that of the bottom end of the sliding groove, and each sliding block is matched with the sliding groove.
Further, the sliding groove can be a T-shaped groove or a trapezoid groove, and correspondingly, each sliding block is a T-shaped block or a trapezoid block which is matched with the T-shaped groove or the trapezoid groove.
The technical effects are as follows: according to the utility model, under the action of the driving mechanism, the two connecting frames can be driven to slide along the sliding groove in opposite directions at the same time, even if the two connecting frames can drive the two arc covers to be close to each other or to be far away from each other, the two arc covers can be close to each other to form a sleeve cover to protect the camera when needed; meanwhile, when not needed, the two arc covers can be away from the camera, and the normal work of the camera is not affected.
Drawings
The accompanying drawings are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate the utility model and together with the embodiments of the utility model, serve to explain the utility model. In the drawings:
FIG. 1 is a schematic diagram of the overall structure of the present utility model;
FIG. 2 is a schematic diagram of a driving mechanism according to the present utility model;
FIG. 3 is a schematic view of a rotating mechanism according to the present utility model;
FIG. 4 is an enlarged schematic view of the structure at A of the present utility model;
in the figure:
1. a robot; 2. a camera; 3. a chute; 4. a connecting frame; 5. an arc-shaped cover; 6. a driving mechanism; 601. a bearing seat; 602. a two-way screw rod; 603. a slide block; 7. a rotating mechanism; 701. a motor; 8. an outer frame.
Detailed Description
The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model; it is apparent that the described embodiments are only some embodiments of the present utility model, not all embodiments, and that all other embodiments obtained by persons of ordinary skill in the art without making creative efforts based on the embodiments in the present utility model are within the protection scope of the present utility model.
In the description of the present utility model, it should be noted that the positional or positional relationship indicated by the terms such as "upper", "lower", "inner", "outer", "top/bottom", etc. are based on the positional or positional relationship shown in the drawings, are merely for convenience of describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or elements 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 utility model. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying relative importance.
The large-scale curved surface self-adaptation wall climbing robot device that this embodiment provided, as shown in fig. 1 and fig. 2, including body structure and improvement structure, wherein:
the body structure comprises a sucker-structured robot 1 for climbing a wall, wherein a camera 2 is arranged at the bottom end of the robot 1, the camera 2 is of a cylindrical structure, and the camera 2 is positioned in the middle of the bottom end of the robot 1;
the improved structure comprises a horizontal chute 3 arranged at the bottom end of the robot 1, and two connecting frames 4 symmetrical to the camera 2 are connected to the chute 3 in a clamping and sliding manner, wherein the reason of the clamping and sliding connection is that the width of the top end of the chute 3 is smaller than that of the bottom end of the chute 3, each sliding block 603 is matched with the chute 3, and the structure is various, for example, the chute 3 can be a T-shaped groove or a trapezoid groove, and correspondingly, each sliding block 603 is a T-shaped block or a trapezoid block matched with the T-shaped groove or the trapezoid groove; in addition, the inner side of each connecting frame 4 is connected with an arc-shaped cover 5, and the two arc-shaped covers 5 are matched to form a sleeve cover with the inside matched with the camera 2; in addition, a driving mechanism 6 for driving the two connecting frames 4 to slide along the sliding groove 3 in opposite directions is further arranged on the robot 1, as shown in fig. 2 and 4, the driving mechanism 6 comprises a bearing seat 601 which is arranged in the middle of the inside of the sliding groove 3 and is positioned right above the camera 2, a bidirectional screw rod 602 positioned in the sliding groove 3 is connected to the bearing seat 601 in a penetrating manner, the middle point of the bidirectional screw rod 602 coincides with the middle point of the bearing seat 601, the bearing seat 601 mainly comprises a shell and a bearing positioned in the shell, the outer wall of the shell is fixedly connected with the inner wall of the sliding groove 3, the inner wall of the shell is fixedly connected with the outer ring of the bearing, and the inner ring of the bearing is in interference fit with the bidirectional screw rod 602, so that the bidirectional screw rod 602 can be connected to rotate in situ; meanwhile, the bottom end of each connecting frame 4 is connected with a sliding block 603 which is in clamping sliding connection with the sliding groove 3 and penetrates through the two-way screw rod 602 in a threaded mode, and the directions of the two sliding blocks 603 and the two-way screw rod 602 penetrate through in a threaded mode are opposite; in addition, a rotating mechanism 7 for driving the bidirectional screw rod 602 to rotate is further arranged on the robot 1, as shown in fig. 3, the rotating mechanism 7 comprises a motor 701 which is arranged on the robot 1 and has an output shaft parallel to the bidirectional screw rod 602, an outer frame 8 is further arranged on the outer side of the robot 1, the motor 701 is positioned in the outer frame 8 for protection, and the output shaft of the motor 701 is connected with one end of the bidirectional screw rod 602 through a coupling, so that under the action of the driving mechanism 6, two connecting frames 4 can be driven to slide along the sliding groove 3 in opposite directions at the same time, even if the two connecting frames 4 can drive the two arc covers 5 to be close to or far away from each other, the two arc covers 5 can be close together to form a sleeve cover to protect the camera 2 when needed; meanwhile, when not needed, the two arc covers 5 can be far away from the camera 2, and the normal operation of the camera 2 is not affected.
The above embodiments are not intended to limit the scope of the present utility model, so: all equivalent changes in structure, shape and principle of the utility model should be covered in the scope of protection of the utility model.
In the idle position of the device, all the electric devices and the matched drivers are arranged, and all the driving devices refer to power elements, electric devices and matched power sources which are connected through wires by a person skilled in the art, and the specific connection means is to be referred to the description above, the electric connection of the electric devices is completed according to the sequence of work, and the detailed connection means is a well-known technology in the art.
Claims (7)
1. A large-scale curved surface self-adaptation wall climbing robot device includes body structure and improvement structure:
the body structure comprises a robot (1), wherein a camera (2) is arranged at the bottom end of the robot (1), and the body structure is characterized in that the camera (2) is positioned in the middle of the robot (1);
the improved structure comprises a horizontal chute (3) arranged at the bottom end of a robot (1), two connecting frames (4) symmetrical to the camera (2) are connected to the chute (3) in a clamping and sliding manner, an arc-shaped cover (5) is connected to the inner side of each connecting frame (4), and the two arc-shaped covers (5) are matched to form a sleeve cover with the inside matched with the camera (2); the robot (1) is also provided with a driving mechanism (6) for driving the two connecting frames (4) to slide along the sliding chute (3) in opposite directions at the same time.
2. The large-scale curved surface self-adaptive wall climbing robot device according to claim 1, wherein the driving mechanism (6) comprises a bearing seat (601) which is arranged in the middle of the inside of the chute (3) and is positioned right above the camera (2), the bearing seat (601) is connected with a bidirectional screw rod (602) which is positioned in the chute (3) in a penetrating way, and the middle point of the bidirectional screw rod (602) coincides with the middle point of the bearing seat (601); simultaneously, the bottom end of each connecting frame (4) is connected with a sliding block (603) which is in clamping sliding connection with the sliding groove (3) and penetrates through the threads of the two-way screw rod (602), and the directions of the two sliding blocks (603) and the threads of the two-way screw rod (602) are opposite; in addition, a rotating mechanism (7) for driving the bidirectional screw rod (602) to rotate is also arranged on the robot (1).
3. The large-scale curved surface self-adaptive wall climbing robot device according to claim 2, wherein the bearing seat (601) mainly comprises a housing and a bearing positioned in the housing, the outer wall of the housing is fixedly connected with the inner wall of the chute (3), the inner wall of the housing is fixedly connected with the outer ring of the bearing, and the inner ring of the bearing is in interference fit with the bidirectional screw rod (602).
4. The large-scale curved surface self-adaptive wall climbing robot device according to claim 2, wherein the rotating mechanism (7) comprises a motor (701) which is installed on the robot (1) and has an output shaft parallel to the bidirectional screw rod (602), and the output shaft of the motor (701) is connected with one end of the bidirectional screw rod (602) through a coupling.
5. The large curved surface self-adaptive wall climbing robot device according to claim 4, wherein an outer frame (8) is further installed on the outer side of the robot (1), and the motor (701) is located in the outer frame (8).
6. The large-scale curved surface self-adaptive wall climbing robot device according to claim 2, wherein the width of the top end of the chute (3) is smaller than the width of the bottom end of the chute, and each sliding block (603) is matched with the chute (3).
7. The large curved surface self-adaptive wall climbing robot device according to claim 6, wherein the sliding groove (3) can be a T-shaped groove or a trapezoid groove, and each sliding block (603) is a T-shaped block or a trapezoid block which is matched with the T-shaped groove or the trapezoid groove.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321704735.3U CN219904569U (en) | 2023-07-03 | 2023-07-03 | Large-scale curved surface self-adaptation wall climbing robot device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321704735.3U CN219904569U (en) | 2023-07-03 | 2023-07-03 | Large-scale curved surface self-adaptation wall climbing robot device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219904569U true CN219904569U (en) | 2023-10-27 |
Family
ID=88424120
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321704735.3U Active CN219904569U (en) | 2023-07-03 | 2023-07-03 | Large-scale curved surface self-adaptation wall climbing robot device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219904569U (en) |
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2023
- 2023-07-03 CN CN202321704735.3U patent/CN219904569U/en active Active
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