CN2905363Y - Negative pressure adsorption type wall-climbing robot - Google Patents
Negative pressure adsorption type wall-climbing robot Download PDFInfo
- Publication number
- CN2905363Y CN2905363Y CN 200620020906 CN200620020906U CN2905363Y CN 2905363 Y CN2905363 Y CN 2905363Y CN 200620020906 CN200620020906 CN 200620020906 CN 200620020906 U CN200620020906 U CN 200620020906U CN 2905363 Y CN2905363 Y CN 2905363Y
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- China
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- reducing motor
- arm
- negative pressure
- straight
- sucker
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Abstract
A negative-pressure absorption wall-climbing robot relates to a robot. The utility model aims to solve the problems such as complex structure, poor compatibility, complicated control, low flexibility and high cost existed in the current wall-climbing robots. Wherein, one end of the utility model's first straight arm (4) is fixed on the stator of the first decelerating engine (7). The other end of the first straight arm (4) is hinged with one end of the long arm (5). The stator of the fourth decelerating engine (17) is fixed on the other end of the second straight arm (16). The other end of the long arm (5) is fixed and connected with the rotor of the fourth decelerating engine (17). One end of the first joint arm (3) is hinged with the middle part of the first straight arm (4). The other end of the first joint arm (3) is provided with internal screw-thread (8). The rotor of the second decelerating engine is fixed and connected with one end of the lead-screw (9). The other end of the lead-screw (9) is matched with the internal screw-thread (8) of the first joint arm (3). The utility model has the advantages of simple structure, flexible rotation, face-to-face transfer capability, high obstacle-clearing ability and strong compatibility.
Description
Technical field
The utility model relates to a kind of robot.
Background technology
Recent two decades comes, and the research and development of climbing robot has obtained important achievement in Japan, the U.S., Britain, the former Soviet Union and China.The walking mechanism form that is fit to specific wall mainly contains three kinds of wheel formula, crawler type and frame-types.Complicated and diversified along with manipulating object, user, manufacturer and researcher begin climbing robot is proposed higher requirement, such as to the adaptive capacity of difformity wall, ground to the transition locomotor activity of wall (or between other phase cross surface), to the span ability of complex barrier thing, mobility (mobility) and flexibility (flexibility) etc. preferably.Climbing robot is an emerging technology on the whole, and its most of product also just rests on the experimental stage now, and relatively rarer application on a large scale.The flexible frame formula wall robot of developments such as Leoncio Briones has certain turning to and face face translation function, but complex structure, versatility is relatively poor; The absorption of multi-sucker pin formula wall climbing robot is reliable and stable, but it moves and is interrupted, and translational speed is restricted the control more complicated.The nineties in 20th century up-to-date drive-in wall-surface mobile robot of succeeding in developing, adopt the helicopter principle, the high velocity air that utilizes screw to produce drives the robot high-speed mobile that makes progress, thereby the thrust that screw produced approximately becomes 20 ° of angles to have the thrust of pointing to wall to realize the adsorption function of robot all the time with wall, making robot can be close to wall moves, certain obstacle climbing ability is arranged, but complex structure, cost are higher.
The utility model content
The purpose of this utility model is that the existing existing complex structure of climbing robot, versatility are relatively poor in order to solve, control more complicated, flexibility are strong, cost is than problems such as height, and a kind of negative pressure adsorption wall-climbing robot is provided.The utlity model has characteristics simple in structure, that turn to flexibly, possess face-face transfer capability, highly versatile.The utility model connects flexible pipe 1 by first, first negative pressure generator 2, first linking arm 3, first straight-arm 4, long-armed 5, first sucker 6, first reducing motor 7, leading screw 9, second reducing motor 10, second linking arm 11, second sucker 12, the 3rd reducing motor 13, second connects flexible pipe 14, second negative pressure generator 15, second straight-arm 16, the 4th reducing motor 17 is formed, the output of first reducing motor 7 is connected with the bottom of first sucker 6, first negative pressure generator 2 is fixedlyed connected with first reducing motor 7, first end that connects flexible pipe 1 is connected with first sucker 6, first other end that connects flexible pipe 1 is connected with the outlet of first negative pressure generator 2, the output of second reducing motor 13 is connected with the bottom of second sucker 12, second negative pressure generator 15 is fixedlyed connected with second reducing motor 13, second end that connects flexible pipe 14 is connected with second sucker 12, second other end that connects flexible pipe 14 is connected with the outlet of second negative pressure generator 15, one end of first straight-arm 4 is fixed on the stator of first reducing motor 7, the other end of first straight-arm 4 and an end of long-armed 5 are hinged, one end of second straight-arm 16 is fixed on the stator of the 3rd reducing motor 13, the stator of the 4th reducing motor 17 is fixed on the other end of second straight-arm 16, long-armed 5 the other end is fixedlyed connected with the rotor of the 4th reducing motor 17, one end of first linking arm 3 and the middle part of first straight-arm 4 are hinged, be provided with internal thread 8 in the other end of first linking arm 3, one end of second linking arm 11 and the middle part of second straight-arm 16 are hinged, the other end of second linking arm 11 is fixedlyed connected with the stator of second reducing motor 10, the rotor of second reducing motor 10 is fixedlyed connected with an end of leading screw 9, and the other end of leading screw 9 matches with the internal thread 8 of first linking arm 3.The utility model is mainly used in: (1) nuclear industry: the nuclear waste storage tank is carried out visual inspection, thickness measuring and seam inspection etc.; (2) petroleum chemical enterprise: the inside and outside wall of vertical metal can or spherical tank checks or derusting by sandblasting, spray paint anticorrosion; (3) building trade: spray huge metope, ceramic tile is installed, wall cleans, cleans the windows etc.; (4) fire department: be used to transmit relief goods, carry out rescue work.Technical indicator of the present utility model is as follows: this body weight＜1.5Kg; Maximum creep speed: 30mm/s; Maximum obstacle climbing ability: 15 * 16mm (highly * width); Locomotor activity: can on the surface of all smooth object such as glass, iron and steel, ceramic tile, walk; Face face transfer capability: intersect plane included angles when 45 degree are to the scopes of 135 degree when two, can go on another plane from a plane automatically, when two parallel planes can be crossed at a distance of within 8 centimetres the time.Can cross over the straight border between every block of glass or the ceramic tile, as wall surfaces such as window frame adhesive tape, slit, frames.The utlity model has simple in structure, turn to flexibly, possess face-face transfer capability, obstacle climbing ability height, highly versatile, advantage that cost is low.
Description of drawings
Fig. 1 is an overall structure schematic diagram of the present utility model, and Fig. 2 is the A-A cutaway view of Fig. 1.
The specific embodiment
The specific embodiment one: (referring to Fig. 1, Fig. 2) present embodiment connects flexible pipe 1 by first, first negative pressure generator 2, first linking arm 3, first straight-arm 4, long-armed 5, first sucker 6, first reducing motor 7, leading screw 9, second reducing motor 10, second linking arm 11, second sucker 12, the 3rd reducing motor 13, second connects flexible pipe 14, second negative pressure generator 15, second straight-arm 16, the 4th reducing motor 17 is formed, the output of first reducing motor 7 is connected with the bottom of first sucker 6, first negative pressure generator 2 is fixedlyed connected with first reducing motor 7, first end that connects flexible pipe 1 is connected with first sucker 6, first other end that connects flexible pipe 1 is connected with the outlet of first negative pressure generator 2, the output of second reducing motor 13 is connected with the bottom of second sucker 12, second negative pressure generator 15 is fixedlyed connected with second reducing motor 13, second end that connects flexible pipe 14 is connected with second sucker 12, second other end that connects flexible pipe 14 is connected with the outlet of second negative pressure generator 15, one end of first straight-arm 4 is fixed on the stator of first reducing motor 7, the other end of first straight-arm 4 and an end of long-armed 5 are hinged, one end of second straight-arm 16 is fixed on the stator of the 3rd reducing motor 13, the stator of the 4th reducing motor 17 is fixed on the other end of second straight-arm 16, long-armed 5 the other end is fixedlyed connected with the rotor of the 4th reducing motor 17, one end of first linking arm 3 and the middle part of first straight-arm 4 are hinged, be provided with internal thread 8 in the other end of first linking arm 3, one end of second linking arm 11 and the middle part of second straight-arm 16 are hinged, the other end of second linking arm 11 is fixedlyed connected with the stator of second reducing motor 10, the rotor of second reducing motor 10 is fixedlyed connected with an end of leading screw 9, and the other end of leading screw 9 matches with the internal thread 8 of first linking arm 3.The material of first sucker 6 and second sucker 12 is a Corvic.
The course of work: at first, first sucker 6 is pressed onto on the wall, first negative pressure generator 2 is air-breathing, and first sucker 6 is because negative pressure is compacted.The 4th reducing motor 17 is rotated counterclockwise, at this moment second sucker 12 is lifted, 7 rotations of first reducing motor (this moment, inhaled firmly on wall by first sucker 6, first reducing motor 7 can only drive 12 rotations such as grade of second sucker), stop after forwarding predetermined angular to, the 4th reducing motor 17 clockwise rotates, and is pressed on the wall until second sucker 12, then second negative pressure generator 15 is air-breathing, and second sucker 12 is compacted.First negative pressure generator 2 gives first sucker 6 venting, and the 4th reducing motor 17 turns clockwise again, and first sucker 6 is lifted.Second reducing motor 13 is pressed predetermined angular and is rotated, repeat the process that first reducing motor 7 carried out, if climbing robot this moment circular arc wall (pillar) or upward work of interior circular arc wall (round can) outside, the drop point of two suckers is not in one plane, second reducing motor 10 is promptly started working, by the positive and negative angle of regulating two suckers that transfers of leading screw 9.
The specific embodiment two: the rotor external end head of (referring to Fig. 1, Fig. 2) present embodiment the 4th reducing motor 17 is to be provided with square through hole 19 with the junction of the 4th reducing motor 17 rotors on square 18, long-armed 5.Square 18 of the 4th reducing motor 17 rotor external end heads match with square through hole 19 on long-armed 5, thereby guarantee the climbing robot accuracy of action.Other composition is identical with the specific embodiment one with annexation.
Claims (2)
1, a kind of negative pressure adsorption wall-climbing robot, it connects flexible pipe (1) by first, first negative pressure generator (2), first linking arm (3), first straight-arm (4), long-armed (5), first sucker (6), first reducing motor (7), leading screw (9), second reducing motor (10), second linking arm (11), second sucker (12), the 3rd reducing motor (13), second connects flexible pipe (14), second negative pressure generator (15), second straight-arm (16), the 4th reducing motor (17) is formed, the output that it is characterized in that first reducing motor (7) is connected with the bottom of first sucker (6), first negative pressure generator (2) is fixedlyed connected with first reducing motor (7), first end that connects flexible pipe (1) is connected with first sucker (6), first other end that connects flexible pipe (1) is connected with the outlet of first negative pressure generator (2), the output of second reducing motor (13) is connected with the bottom of second sucker (12), second negative pressure generator (15) is fixedlyed connected with second reducing motor (13), second end that connects flexible pipe (14) is connected with second sucker (12), second other end that connects flexible pipe (14) is connected with the outlet of second negative pressure generator (15), one end of first straight-arm (4) is fixed on the stator of first reducing motor (7), the other end of first straight-arm (4) and an end of long-armed (5) are hinged, one end of second straight-arm (16) is fixed on the stator of the 3rd reducing motor (13), the stator of the 4th reducing motor (17) is fixed on the other end of second straight-arm (16), the other end of long-armed (5) is fixedlyed connected with the rotor of the 4th reducing motor (17), the middle part of one end of first linking arm (3) and first straight-arm (4) is hinged, be provided with internal thread (8) in the other end of first linking arm (3), the middle part of one end of second linking arm (11) and second straight-arm (16) is hinged, the other end of second linking arm (11) is fixedlyed connected with the stator of second reducing motor (10), the rotor of second reducing motor (10) is fixedlyed connected with an end of leading screw (9), and the other end of leading screw (9) matches with the internal thread (8) of first linking arm (3).
2, negative pressure adsorption wall-climbing robot according to claim 1, the rotor external end head that it is characterized in that the 4th reducing motor (17) are square (18), and long-armed (5) go up and the junction of the 4th reducing motor (17) rotor is provided with square through hole (19).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620020906 CN2905363Y (en) | 2006-05-25 | 2006-05-25 | Negative pressure adsorption type wall-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200620020906 CN2905363Y (en) | 2006-05-25 | 2006-05-25 | Negative pressure adsorption type wall-climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN2905363Y true CN2905363Y (en) | 2007-05-30 |
Family
ID=38113994
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200620020906 Expired - Fee Related CN2905363Y (en) | 2006-05-25 | 2006-05-25 | Negative pressure adsorption type wall-climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN2905363Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101367413B (en) * | 2007-08-17 | 2010-10-13 | 高汉光 | Multifunctional robot for climbing wall |
| CN104058081A (en) * | 2014-06-18 | 2014-09-24 | 吉林大学 | Sucking disk arm sleeve for self rescue climbing during ship overturning |
| CN105397815A (en) * | 2014-09-13 | 2016-03-16 | 天太·郭元焜 | Circular supporting wall climbing machine |
| CN106741270A (en) * | 2016-12-23 | 2017-05-31 | 南京工程学院 | Biped coordinates the wall-climbing robot of start |
-
2006
- 2006-05-25 CN CN 200620020906 patent/CN2905363Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101367413B (en) * | 2007-08-17 | 2010-10-13 | 高汉光 | Multifunctional robot for climbing wall |
| CN104058081A (en) * | 2014-06-18 | 2014-09-24 | 吉林大学 | Sucking disk arm sleeve for self rescue climbing during ship overturning |
| CN105397815A (en) * | 2014-09-13 | 2016-03-16 | 天太·郭元焜 | Circular supporting wall climbing machine |
| CN106741270A (en) * | 2016-12-23 | 2017-05-31 | 南京工程学院 | Biped coordinates the wall-climbing robot of start |
| CN106741270B (en) * | 2016-12-23 | 2019-06-28 | 南京工程学院 | The wall-climbing robot of biped coordination actuation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20070530 Termination date: 20120525 |