Perpendicular falling device and perpendicular falling method thereof
A wire and heater technology, applied in the field of space mobile robots, can solve problems such as incomplete space, limited solid surface, and space restrictions, and achieve the effects of easy integration, environmental protection, and enhanced terrain adaptability
Active Publication Date: 2019-09-06
HANGZHOU DIANZI UNIV
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Problems solved by technology
At present, most robots are limited by space, limited to the movement of solid surfaces, and cannot complete space spanning
If the flight mechanism is carried, the load rate will become the main factor limiting its movement
Method used
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[0029] The present invention will be further described below in conjunction with accompanying drawing.
[0030] Such as figure 1 and 2 Shown, a kind of rappelling device comprises frame, material storage box 1, feeder 7, heater 9, pinch off 6, tractor 4 and controller. The frame includes a support 2 , a base 3 and a base 8 . The bottom ends of the four supports 2 are all fixed to the base 8 , and the other ends are all fixed to the base 3 . The bracket 2 adopts aluminum profiles. The material storage box 1 is a disc-shaped box body. Material storage box 1 is fixed with base 8. Wire material 11 is housed in the material storage box 1 . The wire material 11 in the material storage box 1 is arranged in rolls. The material of the wire material 11 is polylactic acid (PLA). The side of the storage box 1 close to the base is provided with a first discharge hole. A raw material channel aligned with the discharge hole is opened on the base.
[0031] Such as figure 1 , 2 As ...
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The invention discloses a perpendicular falling device and a perpendicular falling method thereof. Currently, most robots are limited by space and are limited to move on solid surfaces so that space crossing cannot be completed. The perpendicular falling device comprises a rack, a material storage box, a feeding device, a heater, a pinching-off device and a tractor. The feeding device comprises afirst motor, a feeding gear, an L-shaped rod piece, a buffering spring, a limiting bolt, a feeding frame and a hinge bolt. The heater is fixed to the rack. A wire drawing channel is arranged in the heater. The tractor comprises a traction shell, a first gear shaft, a second gear shaft, a first traction wheel, a second traction wheel and a traction driving assembly. By means of the perpendicular falling device and the perpendicular falling method thereof, wire drawing perpendicular falling is adopted, large loads can be borne, and in addition, the perpendicular falling distance can be increaseddue to the wire drawing operation; wire raw materials obtained after wire drawing can be recycled, cost is saved, and environment friendliness is benefited; and due to a guide block, breaking of thewire raw materials can be prevented.
Description
technical field [0001] The invention belongs to the technical field of space mobile robots, and in particular relates to a rappelling device and a rappelling method thereof. Background technique [0002] With the rapid development of science and technology, more and more robots replace humans to complete some dangerous, difficult or tedious tasks. Among them, some tasks require robots to cross a certain height, such as: window cleaning of high-rise buildings, underground detection operations, space exploration, etc. At present, most robots are limited by space, limited to the movement of solid surfaces, and cannot complete space spanning. If the flight mechanism is carried, the load rate will become the main factor limiting its movement. Therefore, a kind of rappelling device is very necessary to the space restriction that removes robot. Contents of the invention [0003] The object of the present invention is to provide a rappelling device and a rappelling method there...
Claims
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IPC IPC(8): B21C1/02
CPCB21C1/02
Inventor 许明章佳奇陈国金
Owner HANGZHOU DIANZI UNIV