CN219927833U - Wall climbing advancing device of robot - Google Patents
Wall climbing advancing device of robot Download PDFInfo
- Publication number
- CN219927833U CN219927833U CN202321379253.5U CN202321379253U CN219927833U CN 219927833 U CN219927833 U CN 219927833U CN 202321379253 U CN202321379253 U CN 202321379253U CN 219927833 U CN219927833 U CN 219927833U
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- rotating
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- 230000009194 climbing Effects 0.000 title abstract description 60
- 229910000831 Steel Inorganic materials 0.000 claims abstract description 9
- 239000010959 steel Substances 0.000 claims abstract description 9
- 230000005540 biological transmission Effects 0.000 claims description 3
- 238000000034 method Methods 0.000 description 4
- 238000001179 sorption measurement Methods 0.000 description 3
- 238000007664 blowing Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- JEIPFZHSYJVQDO-UHFFFAOYSA-N iron(III) oxide Inorganic materials O=[Fe]O[Fe]=O JEIPFZHSYJVQDO-UHFFFAOYSA-N 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000003466 welding Methods 0.000 description 1
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Abstract
The utility model discloses a robot wall climbing travelling device, which relates to the technical field of robots and comprises a fixing device, wherein a paying-off device is arranged below one side of the fixing device, a steel wire rope is movably installed at the lower end of the paying-off device, a thrust device is arranged below the steel wire rope, and a travelling device is fixedly installed on one side of the thrust device. According to the utility model, under the combined action of the rotating handle, the driven gear, the driving gear, the powerful magnetic attraction block, the first sucking disc, the sliding plate, the threaded pipe and the screw rod, the wall climbing travelling device of the robot can be fixed and does not prevent the wall climbing robot from working, under the combined action of the second sucking disc, the crawler belt, the connecting rod, the rotating gear and the rack, the wall climbing robot can firmly and stably work on a ship body, and under the combined action of the supporting rod, the thrust fan, the turntable, the rotating rod and the driving motor, the thrust of the wall climbing robot can be increased when the wall climbing robot works on an inclined plane.
Description
Technical Field
The utility model relates to the technical field of robots, in particular to a wall climbing travelling device of a robot.
Background
The wall climbing robot is an important branch in the field of mobile robots, organically combines the ground mobile robot technology with the adsorption technology, can adhere to and climb on a vertical wall surface, can carry tools to complete certain operation tasks, realizes automatic operation, greatly expands the application range of the robot, and in marine ships, the robot is required to clean the outside of a ship body, and in the process of ship maintenance, welding seams, rust and the like on the wall surface of the ship body are required to be polished. The following problems exist in the prior art:
1. the existing robot wall climbing advancing device cannot be provided with a fixing device, when the wall climbing robot works, the wall climbing robot is not fixed by the fixing device and then connected with the wall climbing robot through a steel wire rope, and once the wall climbing robot has a problem in working engineering, the wall climbing robot easily falls into water, so that unnecessary loss is caused.
2. The existing robot wall climbing travelling device does not have a sucker crawler device, can not be firmly fixed on a ship body in the crawler travelling process, and has water stains on the ship body, so that the wall climbing robot is poor in stability and easy to drop.
3. The existing robot wall climbing travelling device is not provided with a thrust device, and the wall climbing robot is easy to be insufficient in power in working engineering because the inclination of the ship body surface is large and is not provided with the thrust device, so that the practicability of the wall climbing robot is reduced.
Disclosure of Invention
In order to solve the technical problems, the utility model adopts the following technical scheme:
the robot wall climbing travelling device comprises a fixing device, wherein a paying-off device is arranged below one side of the fixing device, a steel wire rope is movably arranged at the lower end of the paying-off device, a thrust device is arranged below the steel wire rope, and a travelling device is fixedly arranged on one side of the thrust device;
the fixing device comprises a driving gear, and the lower end of one side of the driving gear is rotationally connected with the upper end of one side of the driven gear;
the advancing device comprises a second sucker, and the lower end of the second sucker is fixedly connected with the upper end of the crawler belt.
The technical scheme of the utility model is further improved as follows: the fixing device comprises a rotating handle, a driving gear, a driven gear, a powerful magnetic suction block, a first sucker, a sliding plate, a threaded pipe and a screw rod, wherein the first sucker is located on one side of the powerful magnetic suction block, the sliding plate is located at the upper end of the first sucker, the threaded pipe is located at the upper end of the sliding plate, the screw rod is located at the upper end of the threaded pipe, the driven gear is located at the upper end of the screw rod, the driving gear is located on one side of the driven gear, and the rotating handle is located on one side of the driving gear.
The technical scheme of the utility model is further improved as follows: the lower end of one side of the driving gear is rotationally connected with the upper end of one side of the driven gear, the lower end of the driven gear is fixedly connected with the upper end of the screw rod, the outer surface of the screw rod is in threaded connection with the inner surface of the threaded pipe, the lower end of the threaded pipe is fixedly connected with the upper end of the sliding plate, and the two sides of the sliding plate are in sliding connection with the inner wall of the upper end of the first sucker.
The technical scheme of the utility model is further improved as follows: the travelling device comprises a second sucker, a crawler belt, a connecting rod, a rotating gear and a rack, wherein the second sucker is positioned at the upper end of the crawler belt, the connecting rod is positioned at the lower end of the crawler belt, the rotating gear is positioned at one side below the connecting rod, and the rack is positioned at the lower end of the rotating gear.
The technical scheme of the utility model is further improved as follows: the outer surface of the rotary gear is rotationally connected with the inner surface of the rack, the outer surface of the upper end of the rack is fixedly connected with the lower end of the connecting rod, and the upper end of the connecting rod is fixedly connected with the lower end of the crawler belt.
The technical scheme of the utility model is further improved as follows: the thrust device comprises a supporting rod, a thrust fan, a rotary table, a rotary rod and a driving motor, wherein the rotary rod is positioned on one side of the driving motor, the rotary table is positioned on one side of the rotary rod away from the driving motor, the thrust fan is positioned in the rotary table, and the supporting rod is positioned on one side of the thrust fan.
The technical scheme of the utility model is further improved as follows: one side of the driving motor is in transmission connection with one side of the rotating rod, one side of the rotating rod away from the driving motor is fixedly connected with one side of the rotating disc, the inner wall of the rotating disc is fixedly connected with two sides of the supporting rod, and the outer surface of the supporting rod is fixedly connected with the rear end of the thrust fan.
By adopting the technical scheme, compared with the prior art, the utility model has the following technical progress:
1. the utility model provides a robot wall climbing travelling device, which can fix the robot wall climbing travelling device and simultaneously does not prevent the robot wall climbing travelling device from working under the combined action of a rotating handle, a driven gear, a driving gear, a powerful magnetic suction block, a first sucking disc, a sliding plate, a threaded pipe and a screw rod.
2. The utility model provides a robot wall climbing travelling device, which can enable a wall climbing robot to work firmly and stably on a ship body under the combined action of a second sucker, a track, a connecting rod, a rotating gear and a rack, so that the situation that the wall climbing robot cannot work normally due to unstable adsorption is avoided, the practical value of the wall climbing robot is greatly increased.
3. The utility model provides a robot wall climbing travelling device, which can increase the thrust of a wall climbing robot when a slope works under the combined action of a supporting rod, a thrust fan, a rotating disc, a rotating rod and a driving motor, so that the wall climbing robot can be accelerated, the condition that no wall climbing is caused to rise is avoided, the wall climbing robot can work under the condition that the slope is large, when the device is used, the wall climbing robot upwards travels, the driving motor is started, one side of the driving motor is provided with the rotating rod, the other side of the rotating rod is provided with the rotating disc, the inside of the rotating disc is connected with the thrust fan through the supporting rod, the driving motor is started to enable the rotating rod to drive the rotating disc to rotate, the rotating disc is inclined, the thrust fan is started to downwards, and the wall climbing robot is pushed upwards by blowing.
Drawings
FIG. 1 is a schematic diagram of a robot wall climbing travel device according to the present utility model;
FIG. 2 is a schematic structural view of the fixing device of the present utility model;
FIG. 3 is a schematic view of a traveling device according to the present utility model;
fig. 4 is a schematic structural view of the thrust device of the present utility model.
In the figure: 1. a fixing device; 2. a paying-off device; 3. a traveling device; 4. a thrust device; 5. a wire rope; 11. a rotating handle; 12. a drive gear; 13. a driven gear; 14. a strong magnetic suction block; 15. a first suction cup; 16. a sliding plate; 17. a threaded tube; 18. a screw; 31. a second suction cup; 32. a track; 33. a connecting rod; 34. rotating the gear; 35. a rack; 41. a support rod; 42. a thrust fan; 43. a turntable; 44. a rotating lever; 45. and driving the motor.
Detailed Description
The utility model is further illustrated by the following examples:
example 1
As shown in fig. 1-4, the utility model provides a robot wall climbing travelling device, which comprises a fixing device 1, wherein a paying-off device 2 is arranged below one side of the fixing device 1, a steel wire rope 5 is movably arranged at the lower end of the paying-off device 2, a thrust device 4 is arranged below the steel wire rope 5, and a travelling device 3 is fixedly arranged at one side of the thrust device 4;
the fixing device 1 comprises a driving gear 12, wherein the lower end of one side of the driving gear 12 is rotationally connected with the upper end of one side of a driven gear 13;
the travelling device 3 comprises a second sucking disc 31, and the lower end of the second sucking disc 31 is fixedly connected with the upper end of the crawler belt 32.
Example 2
As shown in fig. 1-4, on the basis of embodiment 1, the present utility model provides a technical solution: preferably, the fixing device 1 comprises a rotating handle 11, a driving gear 12, a driven gear 13, a powerful magnetic attraction block 14, a first sucking disc 15, a sliding plate 16, a threaded pipe 17 and a screw 18, wherein the first sucking disc 15 is positioned on one side of the powerful magnetic attraction block 14, the sliding plate 16 is positioned at the upper end of the first sucking disc 15, the threaded pipe 17 is positioned at the upper end of the sliding plate 16, the screw 18 is positioned at the upper end of the threaded pipe 17, the driven gear 13 is positioned at the upper end of the screw 18, the driving gear 12 is positioned on one side of the driven gear 13, the rotating handle 11 is positioned on one side of the driving gear 12, the lower end of one side of the driving gear 12 is rotationally connected with the upper end of one side of the driven gear 13, the lower end of the driven gear 13 is fixedly connected with the upper end of the screw 18, the outer surface of the screw 18 is in threaded connection with the inner surface of the threaded pipe 17, the lower end of the threaded pipe 17 is fixedly connected with the upper end of the sliding plate 16, and two sides of the sliding plate 16 are in sliding connection with the inner wall of the upper end of the first sucking disc 15.
In this embodiment, the wall climbing travelling device of the robot can be fixed and does not prevent the robot from working, so that the wall climbing robot does not worry about the falling damage of the robot caused by external factors or self factors in the working process, the practicability is strong.
Example 3
As shown in fig. 1-4, on the basis of embodiment 1, the present utility model provides a technical solution: preferably, the travelling device 3 comprises a second sucking disc 31, a track 32, a connecting rod 33, a rotating gear 34 and a rack 35, wherein the second sucking disc 31 is positioned at the upper end of the track 32, the connecting rod 33 is positioned at the lower end of the track 32, the rotating gear 34 is positioned at one side below the connecting rod 33, the rack 35 is positioned at the lower end of the rotating gear 34, the outer surface of the rotating gear 34 is rotationally connected with the inner surface of the rack 35, the outer surface of the upper end of the rack 35 is fixedly connected with the lower end of the connecting rod 33, and the upper end of the connecting rod 33 is fixedly connected with the lower end of the track 32.
In this embodiment, can make wall climbing robot firmly stable work on the hull, the circumstances that does not have the unstable absorption and lead to wall climbing robot can not normal work appear, the practical value of wall climbing robot has been increased by a wide margin, when using this device, wall climbing robot moves, the rotation gear 34 rotates, because the surface of rotation gear 34 is provided with rack 35, the surface and the connecting rod 33 of rack 35 are connected, the upper end of connecting rod 33 is provided with track 32, the surface of track 32 is provided with second sucking disc 31, thereby rotation gear 34 rotates, drive rack 35 and rotate, make track 32 drive second sucking disc 31 rotate, second sucking disc 31 adsorbs on the hull, when rotating, tilt upwards rotates, lift the side of second sucking disc 31, can not influence advancing again when fixed firm.
Example 4
As shown in fig. 1-4, on the basis of embodiment 1, the present utility model provides a technical solution: preferably, the thrust device 4 includes a supporting rod 41, a thrust fan 42, a turntable 43, a rotating rod 44, and a driving motor 45, wherein the rotating rod 44 is located at one side of the driving motor 45, the turntable 43 is located at one side of the rotating rod 44 away from the driving motor 45, the thrust fan 42 is located inside the turntable 43, the supporting rod 41 is located at one side of the thrust fan 42, one side of the driving motor 45 is in transmission connection with one side of the rotating rod 44, one side of the rotating rod 44 away from the driving motor 45 is in fixed connection with one side of the turntable 43, the inner wall of the turntable 43 is in fixed connection with two sides of the supporting rod 41, and the outer surface of the supporting rod 41 is fixed connected with the rear end of the thrust fan 42.
In this embodiment, can make wall climbing robot increase thrust at the inclined plane during operation for wall climbing robot's speed is accelerated, does not have the condition that climbs not slope and appears, and the slope is also can work greatly, when using this device, wall climbing robot upwards advances, driving motor 45 starts, because driving motor 45's one side is provided with dwang 44, dwang 44's opposite side is provided with carousel 43, carousel 43's inside is connected with thrust fan 42 through bracing piece 41, thereby driving motor 45 starts and makes dwang 44 drive carousel 43 rotation, make carousel 43 slope, thrust fan 42 is decurrent, thrust fan 42 starts, it promotes to blow downwards, wall climbing robot is pushed up.
The following specifically describes the working principle of the robot wall climbing travelling device.
When the robot wall climbing travelling device is used, as shown in fig. 1-4, the fixing device 1 can fix the robot wall climbing travelling device and does not prevent the robot from working, so that the robot wall climbing robot does not worry about falling damage caused by external factors or self factors in the working process, the practicability is high, when the device is used, the device is placed on a ship body, the powerful magnetic block 14 is adsorbed on the ship body, the first sucking disc 15 also sucks the ship body, then the rotating handle 11 is rotated, one side of the rotating handle 11 is connected with one side of the driving gear 12 through a component, the lower end of the other side of the driving gear 12 is rotationally connected with the upper end of the driven gear 13, the lower end of the driven gear 13 is fixedly connected with the upper end of the screw rod 18, the outer surface of the screw rod 18 is in threaded connection with the inner surface of the threaded tube 17, the lower end of the threaded tube 17 is connected with the upper end of the sliding plate 16, so that the rotating handle 11 rotates to drive the driving gear 12 to drive the driven gear 13 to rotate, the driven gear 13 rotates to drive the screw 18 to rotate, the threaded pipe 17 drives the sliding plate 16 to move upwards, air in the first sucker 15 is pumped out, fixing is firmer, the travelling device 3 can enable the wall climbing robot to work on a ship body firmly and stably, the situation that the wall climbing robot cannot work normally due to unstable adsorption does not occur, the practical value of the wall climbing robot is greatly increased, when the device is used, the wall climbing robot moves, the rotating gear 34 rotates, the outer surface of the rotating gear 34 is provided with the rack 35, the outer surface of the rack 35 is connected with the connecting rod 33, the upper end of the connecting rod 33 is provided with the crawler 32, the outer surface of the crawler 32 is provided with the second sucker 31, the rotating gear 34 rotates to drive the rack 35 to rotate, the crawler belt 32 drives the second sucker 31 to rotate, the second sucker 31 is adsorbed on the ship body, when rotating, the second sucker 31 rotates obliquely upwards, the side face of the second sucker 31 is lifted, the rotating rod 44 is fixedly firm and does not influence the advancing, the thrust device 4 can enable the wall climbing robot to increase thrust when the inclined plane works, the speed of the wall climbing robot is accelerated, the condition that no gradient is climbed can occur, the gradient can work greatly, when the device is used, the wall climbing robot advances upwards, the driving motor 45 is started, the rotating rod 44 is arranged on one side of the driving motor 45, the rotating rod 43 is arranged on the other side of the rotating rod 44, the thrust fan 42 is connected with the rotating rod 43 through the supporting rod 41, the driving motor 45 is started, the rotating rod 44 drives the rotating rod 43 to incline, the thrust fan 42 is started downwards, and the wall climbing robot is pushed upwards by blowing downwards.
The foregoing utility model has been generally described in great detail, but it will be apparent to those skilled in the art that modifications and improvements can be made thereto. Accordingly, it is intended to cover modifications or improvements within the spirit of the inventive concepts.
Claims (7)
1. The utility model provides a robot climbs wall advancing device, includes fixing device (1), its characterized in that: a paying-off device (2) is arranged below one side of the fixing device (1), a steel wire rope (5) is movably mounted at the lower end of the paying-off device (2), a thrust device (4) is arranged below the steel wire rope (5), and a travelling device (3) is fixedly mounted on one side of the thrust device (4);
the fixing device (1) comprises a driving gear (12), wherein the lower end of one side of the driving gear (12) is rotationally connected with the upper end of one side of a driven gear (13);
the travelling device (3) comprises a second sucker (31), and the lower end of the second sucker (31) is fixedly connected with the upper end of the crawler belt (32).
2. A robotic wall-climbing travel device according to claim 1, wherein: fixing device (1) is including changeing handle (11), driving gear (12), driven gear (13), powerful magnetic attraction piece (14), first sucking disc (15), sliding plate (16), screwed pipe (17), screw rod (18), first sucking disc (15) are located one side of powerful magnetic attraction piece (14), sliding plate (16) are located the upper end of first sucking disc (15), screwed pipe (17) are located the upper end of sliding plate (16), screw rod (18) are located the upper end of screwed pipe (17), driven gear (13) are located the upper end of screw rod (18), driving gear (12) are located one side of driven gear (13), it is located one side of driving gear (12) to change handle (11).
3. A robotic wall-climbing travel device according to claim 2, wherein: one side lower extreme of driving gear (12) rotates with one side upper end of driven gear (13) to be connected, the lower extreme of driven gear (13) is with the upper end fixed connection of screw rod (18), the surface of screw rod (18) and the internal surface threaded connection of screwed pipe (17), the lower extreme of screwed pipe (17) is with the upper end fixed connection of sliding plate (16), the both sides of sliding plate (16) are with the upper end inner wall sliding connection of first sucking disc (15).
4. A robotic wall-climbing travel device according to claim 1, wherein: the travelling device (3) comprises a second sucker (31), a track (32), a connecting rod (33), a rotating gear (34) and a rack (35), wherein the second sucker (31) is located at the upper end of the track (32), the connecting rod (33) is located at the lower end of the track (32), the rotating gear (34) is located at one side below the connecting rod (33), and the rack (35) is located at the lower end of the rotating gear (34).
5. The robotic wall-climbing travel device of claim 4, wherein: the outer surface of the rotary gear (34) is rotationally connected with the inner surface of the rack (35), the outer surface of the upper end of the rack (35) is fixedly connected with the lower end of the connecting rod (33), and the upper end of the connecting rod (33) is fixedly connected with the lower end of the crawler belt (32).
6. A robotic wall-climbing travel device according to claim 1, wherein: the thrust device (4) comprises a supporting rod (41), a thrust fan (42), a rotary table (43), a rotary rod (44) and a driving motor (45), wherein the rotary rod (44) is located on one side of the driving motor (45), the rotary table (43) is located on one side, far away from the driving motor (45), of the rotary rod (44), the thrust fan (42) is located inside the rotary table (43), and the supporting rod (41) is located on one side of the thrust fan (42).
7. The robotic wall-climbing travel device of claim 6, wherein: one side of the driving motor (45) is in transmission connection with one side of the rotating rod (44), one side of the rotating rod (44) away from the driving motor (45) is fixedly connected with one side of the rotating disc (43), the inner wall of the rotating disc (43) is fixedly connected with two sides of the supporting rod (41), and the outer surface of the supporting rod (41) is fixedly connected with the rear end of the thrust fan (42).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321379253.5U CN219927833U (en) | 2023-06-01 | 2023-06-01 | Wall climbing advancing device of robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202321379253.5U CN219927833U (en) | 2023-06-01 | 2023-06-01 | Wall climbing advancing device of robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219927833U true CN219927833U (en) | 2023-10-31 |
Family
ID=88495912
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202321379253.5U Active CN219927833U (en) | 2023-06-01 | 2023-06-01 | Wall climbing advancing device of robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219927833U (en) |
-
2023
- 2023-06-01 CN CN202321379253.5U patent/CN219927833U/en active Active
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