CN2769145Y

CN2769145Y - Bionic climbing wall driving machine

Info

Publication number: CN2769145Y
Application number: CN 200520054879
Authority: CN
Inventors: 何宏鹰; 钟碧良; 谢小鹏; 刘峰; 周海强
Original assignee: Individual
Current assignee: Individual
Priority date: 2005-02-07
Filing date: 2005-02-07
Publication date: 2006-04-05
Anticipated expiration: 2015-02-07

Abstract

The utility model relates to a bionic wall climbing driving machine. A machine frame [1] is provided with four bar adsorption driving modules each of which comprises an adsorption mechanism capable of adsorbing on a work surface, and an actuating mechanism enabling the adsorption mechanism to act so as to enable the machine frame [1] to move or rotate in different directions, wherein the actuating mechanism comprises a vertical action cylinder [3], a longitudinal action cylinder [9] and a transverse action cylinder [2] respectively driving the adsorption mechanism to move vertically, longitudinally and transversally, and a supporting frame [7] fixed on the machine frame [1] and provided with a longitudinal slide rail [6] and a transverse slide rail [4]. The utility model can absorb on irregular surfaces, move or rotate along different directions, and can be used for replacing constructors to do construction operation in high-risk construction sites.

Description

The bionic wall climbing driving machine

Technical field

The utility model relates to a kind of engineering construction mechanical equipment, particularly a kind of can be at fitfull adsorption and the bionic wall climbing driving machine that can move according to different directions or rotate.

Background technology

For equipment such as some big-and-middle-sized oil carriers, crude oil storage tanks, make in the process of installation and working service at it, constructing operation such as need carry out a large amount of polishings, polishing, cutting, weld, wash away, clean, spray paint, and there is a large amount of aloft work, or in occasion operation such as poisonous, that burn into is inflammable and explosive.The construction operation of this type all is a high-risk operations, serious threat workmen's life security or have a strong impact on the healthy of workmen, the accident that causes because of this type construction is all arranged domestic every year, light damage equipment or cause equipment scrapping then, heavy then cause workmen's injures and deaths, also have the occupational disease that causes because of construction under various poisonous and harmful environment simultaneously, cause great economic loss, cause significant impact to society to enterprise.

Summary of the invention

The purpose of this utility model be to overcome the shortcoming of above-mentioned prior art and provide a kind of can be at fitfull adsorption and the bionic wall climbing driving machine that can move according to different directions or rotate, it can replace the workmen to carry out construction operation in high-risk camp site.

The purpose of this utility model can realize by following technical measures: a kind of bionic wall climbing driving machine, at least be provided with two single pin absorption transmission modules on the frame, thus the actuating mechanism that this list pin absorption transmission module comprises the adsorbing mechanism that can be adsorbed on running surface and can make the adsorbing mechanism action make frame move or rotate according to different directions.

Single pin absorption transmission module is provided with four, is installed in four jiaos of frame respectively.

Actuating mechanism comprises and can do vertically for adsorbing mechanism respectively, vertically reach the vertical actuating cylinder of cross motion, vertically actuating cylinder and crosswise movement cylinder and be fixed on bearing support on the frame, be respectively equipped with a pair of vertical slide rail and horizontal slide rail on the bearing support, laterally the slide rail two ends are fixed on the bearing support, vertically slide rail is enclosed within on the horizontal slide rail by the guide runner at two ends, vertical actuating cylinder cooperates with vertical slide rail by blade fin, its output shaft is by vertically connecting with adsorbing mechanism, vertically actuating cylinder is fixed on the guide runner, its output shaft is by vertically connecting with vertical actuating cylinder, the crosswise movement cylinder is fixed on the bearing support, and its output shaft is by laterally connecting with guide runner.

Adsorbing mechanism is provided with electromagnet, and the electromagnet lower end is provided with the adsorbing sphere pin, and the upper end is provided with ball formula articulation piece, and the ball formula articulation piece other end is provided with the fabricated section that connects with vertical actuating cylinder output shaft.

Described adsorbing mechanism also is provided with tightening device.

Equipment such as the utility model and man-machine operation and control interface, signal transmission bus, PC control case, control bus, construction working module, video operational module are used one-tenth intelligent control system capable of being combined.For example, man-machine operation and control interface is connected with the PC control case by signal transmission bus, carries out the transmission of operation signal; The PC control case is connected with the utility model by control bus, carries out the transmission of signal; The utility model is then finished need carry out various by instruction and is moved, rotates and utilize its construction working module of carrying for example camera gun, jet mixer, buffing wheel, automatic electric weld(ing) rifle, automatic cutting gun, auto spray painting mechanism, even manipulator or mechanical arm etc. are constructed.

The utility model is fixed at running surface by electromagnet, moves or rotates by cylinder is flexible.It adopts the move mode of gecko formula, if single pin absorption transmission module is four, then the adsorbing mechanism of four single pin absorption transmission modules is when mobile, as long as maintain three states that are in energising absorption, after the outage of one of them adsorbing mechanism, finish moving of this mechanism by air cylinder driven, be adsorbed onto running surface again after, take turns to next adsorbing mechanism outage again and move the actuation cycle of so taking turns.After the utility model was finished mobile or rotational action, four adsorbing mechanisms all were adsorbed on the running surface, and then carry out constructing operation.So course of action can guarantee that the utility model does not get loose the antagonistic force when having bigger adsorption affinity to guarantee to overcome work simultaneously with running surface in the process that moves.The workmen can be included in vertical plane, horizontal surface, pouring plane etc. and polish, polish, cut, weld, wash away, clean, spray paint monitoring according to video on the remote control interface, operate, controlling the various constructing operation of automatic wall-climbing device under construction environment that have the construction working module.

Description of drawings

Fig. 1 is a constructional drawing of the present utility model;

Fig. 2 is the left view of Fig. 1;

Fig. 3 is the constructional drawing of single pin absorption transmission module of the present utility model;

Fig. 4 is the left view of Fig. 3;

Fig. 5 is the constructional drawing of adsorbing mechanism of the present utility model.

The specific embodiment

With reference to Fig. 1, Fig. 2, Fig. 3, Fig. 4, a kind of bionic wall climbing driving machine, frame [1] is provided with four single pin absorption transmission modules, be installed in four jiaos of frame [1] respectively, this list pin absorption transmission module comprises the adsorbing mechanism [10] that can be adsorbed on running surface and can make adsorbing mechanism [10] thereby the actuating mechanism that action makes frame [1] move or rotate according to different directions.

Actuating mechanism comprise can supply respectively adsorbing mechanism [10] do vertical, vertically, the vertical actuating cylinder [3] of cross motion, vertically actuating cylinder [9] and crosswise movement cylinder [2] and be fixed on bearing support [7] on the frame [1].Bearing support [7] is provided with vertical slide rail [6] and horizontal slide rail [4], vertically slide rail [6] and horizontal slide rail [4] are respectively equipped with a pair of, wherein laterally slide rail [4] two ends are fixed on the bearing support [7], vertically slide rail [6] is enclosed within on the horizontal slide rail [4] by the guide runner [5] at two ends, and can be in laterally upward slip of slide rail [4].Vertical actuating cylinder [3] cooperates with vertical slide rail [6] by blade fin [8], and its output shaft [11] is by vertically connecting with adsorbing mechanism [10]; Vertically actuating cylinder [9] is fixed on the guide runner [5] of the same end of a pair of vertical slide rail [6], and its output shaft [12] is by vertically connecting with vertical actuating cylinder [3]; Crosswise movement cylinder [2] is fixed on the bearing support [4], and its output shaft [14] is by laterally connecting with two guide runners [5] of same vertical slide rail [6] by connector [13].

With reference to Fig. 5, adsorbing mechanism [10] is provided with electromagnet [15], and electromagnet [15] lower end is provided with adsorbing sphere pin [20], and the upper end is provided with ball formula articulation piece [16], and ball formula articulation piece [16] other end is provided with the fabricated section [19] that connects with vertical actuating cylinder [3] output shaft [11].For guaranteeing electromagnet [15] return and cooperating with driving surface, on adsorbing mechanism [10], be provided with tightening device, tightening device comprises spring [17], tensioning plate [18], tensioning plate [18] is fixed on the fabricated section [19], spring [17] is enclosed within outside the ball formula articulation piece [16], one end presses tensioning plate [18], and the other end presses electromagnet [15].

The changeable one-tenth vacuum suction of adsorbing mechanism of the present utility model module is applied to the non-smooth surface that is subjected to magnetic.

Claims

1, a kind of bionic wall climbing driving machine, it is characterized in that being provided with at least on the frame [1] two single pin absorption transmission modules, this list pin absorption transmission module comprises the adsorbing mechanism [10] that can be adsorbed on running surface and can make adsorbing mechanism [10] thereby the actuating mechanism that action makes frame [1] move or rotate according to different directions.

2, bionic wall climbing driving machine according to claim 1 is characterized in that single pin absorption transmission module is provided with four, is installed in four jiaos of frame [1] respectively.

3, bionic wall climbing driving machine according to claim 1, it is characterized in that actuating mechanism comprises that can to supply adsorbing mechanism [10] to do respectively vertical, vertically, the vertical actuating cylinder [3] of cross motion, vertically actuating cylinder [9] and crosswise movement cylinder [2] and be fixed on bearing support [7] on the frame [1], be respectively equipped with a pair of vertical slide rail [6] and horizontal slide rail [4] on the bearing support [7], wherein laterally slide rail [4] two ends are fixed on the bearing support [7], vertically slide rail [6] is enclosed within on the horizontal slide rail [4] by the guide runner [5] at two ends, vertical actuating cylinder [3] cooperates with vertical slide rail [6] by blade fin [8], its output shaft [11] is by vertically connecting with adsorbing mechanism [10], vertically actuating cylinder [9] is fixed on the guide runner [5], its output shaft [12] is by vertically connecting with vertical actuating cylinder [3], crosswise movement cylinder [2] is fixed on the bearing support [4], and its output shaft [14] is by laterally connecting with guide runner [5].

4, bionic wall climbing driving machine according to claim 1, it is characterized in that adsorbing mechanism is provided with electromagnet [15], electromagnet [15] lower end is provided with adsorbing sphere pin [20], the upper end is provided with ball formula articulation piece [16], and ball formula articulation piece [16] other end is provided with the fabricated section [19] that connects with vertical actuating cylinder [4] output shaft [11].

5, bionic wall climbing driving machine according to claim 4, it is characterized in that also being provided with tightening device on the adsorbing mechanism [10], tightening device comprises spring [17], tensioning plate [18], tensioning plate [18] is fixed on the fabricated section [19], spring [17] is enclosed within outside the ball formula articulation piece [16], one end presses tensioning plate [18], and the other end presses electromagnet [15].