Negative pressure adsorption type wall-climbing robot body structure

Abstract

The utility model discloses a negative pressure adsorption type wall-climbing robot body structure which is composed of four vacuum suction cups, four push rod motors, a left cross beam, a left beam motor, a left beam lead screw, a left beam sliding table, a right beam sliding table, a right beam lead screw, a right beam bearing, a right beam motor, a right cross beam and the like. When negative-pressure air is introduced into the vacuum suction cups on the left cross beam and normal-pressure air is introduced into the vacuum suction cups on the right cross beam, the vacuum suction cups on the left cross beam can be adsorbed on the wall at the moment, and then the push rod motor on the right cross beam is electrified for a period of time, so that the vacuum suction cups on the right cross beam are separated from the wall; then a left beam motor is powered on to drive a left sliding table to move, then a right sliding table is driven to move, and therefore a right cross beam is driven to move, the function that the wall-climbing robot walks along the left cross beam is achieved, and due to the fact that the robot is symmetrical in structure, the robot can walk along the right cross beam in the same way.

Description

Technical Field

[0001] The utility model relates to a negative pressure adsorption type wall climbing robot body structure, belonging to the field of robot structure design and robot automatic control. Background Art

[0002] Industrial production and daily life are full of aerial work scenes, such as cleaning, rust removal and spraying of large ships, inspection, flaw detection and maintenance of thermal power boilers, cleaning of glass curtain walls of high-rise buildings, etc. At present, the traditional solutions are spidermen, scaffolding, hanging basket operations and aerial work vehicles, and the workers are the ones who finally complete the work.

[0003] Negative pressure adsorption is to use a mechanism to generate a negative pressure between the robot and the wall relative to the atmospheric pressure, so that the robot is pressed against the wall. This adsorption method has low requirements on the wall material, so it is widely used.

[0004] By combining negative pressure adsorption technology with robot technology, a negative pressure adsorption wall-climbing robot is obtained. As a mobile carrier, the wall-climbing robot can realize various application scenarios such as cleaning of building exterior walls, inspection and maintenance of bridges and dams, inspection and cleaning of the inner walls of oil tanks and storage tanks, rescue and military by adding auxiliary mechanisms. Summary of the invention

[0005] The utility model aims to solve the danger of artificial high-altitude work, adopts a robot to replace people to work, and proposes a negative pressure adsorption type wall climbing robot body structure.

[0006] The utility model proposes a negative pressure adsorption wall climbing robot body structure, comprising a left front vacuum suction cup 101, a right front vacuum suction cup 102, a left rear vacuum suction cup 103 and a right rear vacuum suction cup 104, the left front vacuum suction cup 101 is connected to a left front push rod motor 201, the right front vacuum suction cup 102 is connected to a right front push rod motor 202, the left rear vacuum suction cup 103 is connected to a left rear push rod motor 203, the right rear vacuum suction cup 104 is connected to a right rear push rod motor 204, the left front push rod motor 201 and the left rear push rod motor 203 are fixed at both ends of a left crossbeam 31, a left beam bearing 51 is fixed on the left crossbeam 31, and the front end of the left beam bearing 51 is connected to There is a left beam motor 41, and the rear end of the left beam bearing 51 is connected to the left beam screw rod 61, and the left beam screw rod 61 is sleeved with a left beam slide 71. The left beam motor 41 drives the left beam screw rod 61 to rotate, so that the left beam slide 71 can move forward and backward, and a right beam slide 72 is fixed to the lower part of the left beam slide 71, and the middle of the right beam slide 72 is connected to the right beam screw rod 62, and the right beam screw rod 62 is connected to the right beam motor 42 through the right beam bearing 52. The right beam motor 42 drives the right beam screw rod 62 to rotate, so that the right beam slide 72 can move forward and backward, and the right beam bearing 52 is fixed on the right cross beam 32, and the right front push rod motor 202 and the right rear push rod motor 204 are fixed at both ends of the right cross beam 32.

[0007] When negative pressure air is introduced into the left front vacuum cup 101, the right front vacuum cup 102, the left rear vacuum cup 103 and the right rear vacuum cup 104, the four cups can be adsorbed on the wall. When normal pressure air is introduced, the four cups can be detached from the wall.

[0008] When the left front push rod motor 201, the right front push rod motor 202, the left rear push rod motor 203 and the right rear push rod motor 204 are powered on, the push rods of the four motors can be extended, and the push rods of the motors can be retracted by changing the positive and negative polarities of the power.

[0009] When the left crossbeam 31 is fixed, the left beam motor 41 is energized, the left beam slide 71 will move along the left beam screw rod 61, and at the same time drive the right beam slide 72 to move, and then drive the right crossbeam 32 to move. When the right crossbeam 32 is fixed, the right beam motor 42 is energized, the right beam slide 72 will move along the right beam screw rod 62, and at the same time drive the left beam slide 71 to move, and then drive the left crossbeam 31 to move. When the positive and negative polarity of the power is changed, the moving direction of the slide will be changed.

[0010] The utility model has a simple structure and can be used as a mobile carrier to realize cleaning of building exterior walls, inspection and maintenance of bridges and dams, inspection and cleaning of the inner walls of oil tanks and storage tanks, and rescue operations by adding auxiliary mechanisms. It has great application value and application space. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 It is a schematic diagram of the overall structure of the utility model. DETAILED DESCRIPTION

[0012] The utility model is further described below in conjunction with the accompanying drawings and implementation examples.

[0013] The utility model mainly comprises: a left front vacuum suction cup 101, a left front push rod motor 201, a right front vacuum suction cup 102, a right front push rod motor 202, a left rear vacuum suction cup 103, a left rear push rod motor 203, a right rear vacuum suction cup 104, a right rear push rod motor 204, a left cross beam 31, a left beam bearing 51, a left beam motor 41, a left beam screw rod 61, a left beam slide 71, a right beam slide 72, a right beam screw rod 62, a right beam bearing 52, a right beam motor 42, and a right cross beam 32. In the negative pressure adsorption wall climbing robot body, after negative pressure air is introduced into the left front vacuum suction cup 101, the right front vacuum suction cup 102, the left rear vacuum suction cup 103 and the right rear vacuum suction cup 104, the four suction cups can be adsorbed on the wall, and when normal pressure air is introduced, the four suction cups can be separated from the wall. After the left front push rod motor 201, the right front push rod motor 202, the left rear push rod motor 203 and the right rear push rod motor 204 are powered on, the push rods of the four motors can be extended, and the push rods of the motors will retract by changing the positive and negative polarities of the power supply. When the left crossbeam 31 is fixed, the left beam motor 41 is powered on, the left beam slide 71 will move along the left beam screw rod 61, and at the same time drive the right beam slide 72 to move, and then drive the right crossbeam 32 to move. When the right crossbeam 32 is fixed, the right beam motor 42 is powered on, the right beam slide 72 will move along the right beam screw rod 62, and at the same time drive the left beam slide 71 to move, and then drive the left crossbeam 31 to move. When the positive and negative polarities of the power supply are changed, the moving direction of the slide will be changed.

[0014] In the drawings of the specification, the left front vacuum suction cup 101 is connected to the left front push rod motor 201, the right front vacuum suction cup 102 is connected to the right front push rod motor 202, the left rear vacuum suction cup 103 is connected to the left rear push rod motor 203, and the right rear vacuum suction cup 104 is connected to the right rear push rod motor 204. The left front push rod motor 201 and the left rear push rod motor 203 are fixed at both ends of the left cross beam 31, and a left beam bearing 51 is fixed on the left cross beam 31. The front end of the left beam bearing 51 is connected to the left beam motor 41, and the rear end of the left beam bearing 51 is connected to the left beam screw 61. A left beam slide 71 is sleeved on the rod 61, and the left beam motor 41 drives the left beam lead screw 61 to rotate, so that the left beam slide 71 can move forward and backward, and a right beam slide 72 is fixed at the lower part of the left beam slide 71, and a right beam lead screw 62 is connected in the middle of the right beam slide 72, and the right beam lead screw 62 is connected to the right beam motor 42 through the right beam bearing 52. The right beam motor 42 drives the right beam lead screw 62 to rotate, so that the right beam slide 72 can move forward and backward, and the right beam bearing 52 is fixed on the right cross beam 32, and a right front push rod motor 202 and a right rear push rod motor 204 are fixed at both ends of the right cross beam 32.

[0015] The wall climbing process of the robot is further described below in conjunction with the drawings in the specification, assuming that the wall climbing robot moves along the axis direction of the left beam 31.

[0016] The four suction cups of the negative pressure adsorption wall climbing robot are attached to the wall, and negative pressure air is passed into the four suction cups. At this time, the four suction cups will be tightly adsorbed on the wall, thereby fixing the entire wall climbing robot on the wall. When the wall climbing robot is to move, if the robot moves along the axis direction of the left crossbeam 31. At this time, the left front vacuum suction cup 101 and the left rear vacuum suction cup 103 continue to be fed with negative pressure air, while the right front vacuum suction cup 102 and the right rear vacuum suction cup 104 are fed with normal pressure air, so the right front vacuum suction cup 102 and the right rear vacuum suction cup 104 will be separated from the wall, and the entire robot is still fixed on the wall under the action of the left front vacuum suction cup 101 and the left rear vacuum suction cup 103. Then, the right front push rod motor 202 and the right rear push rod motor 204 are energized, so that the two motor push rods are retracted to a certain distance, thereby driving the right front vacuum suction cup 102 and the right rear vacuum suction cup 104 to retract, so that the two suction cups form a certain gap with the wall. Then, the left beam motor 41 is powered on for a period of time, and the left beam motor 41 rotates to drive the left beam screw 61 to rotate, and then drives the left beam slide 71 to move, and the left beam slide 71 drives the right beam slide 72 to move, thereby driving the right crossbeam 32 to move a distance, and finally the right front push rod motor 202, the right rear push rod motor 204 and the right front vacuum suction cup 102, the right rear vacuum suction cup 104 move a distance. At this time, the right front push rod motor 202 and the right rear push rod motor 204 are powered on for a period of time to make the two motor push rods extend, so that the right front vacuum suction cup 102 and the right rear vacuum suction cup 104 are attached to the wall. Then negative pressure air is passed into the right front vacuum suction cup 102 and the right rear vacuum suction cup 104, so that the two suction cups are tightly adsorbed on the wall.

[0017] This process realizes the function of the wall-climbing robot moving on the wall along the axis direction of the left beam 31. Since the robot body is a symmetrical structure, the robot can also move along the axis direction of the right beam 32 by the same token. Therefore, through the combination of these two movements, the wall-climbing robot can realize the movement function in any direction on the wall.

[0018] Through structural innovation and design, the entire robot body proposes a negative pressure adsorption wall-climbing robot body structure, which has important theoretical significance and engineering value.

Claims

1. A negative pressure adsorption wall climbing robot body structure, characterized in that The robot comprises a left front vacuum suction cup (101), a right front vacuum suction cup (102), a left rear vacuum suction cup (103) and a right rear vacuum suction cup (104); the left front vacuum suction cup (101) is connected to a left front push rod motor (201); the right front vacuum suction cup (102) is connected to a right front push rod motor (202); the left rear vacuum suction cup (103) is connected to a left rear push rod motor (203); the right rear vacuum suction cup (104) is connected to a right rear push rod motor (204); the left front push rod motor (201) and the left rear push rod motor (203) are fixed to two ends of a left crossbeam (31); a left crossbeam bearing (51) is fixed to the left crossbeam (31); a front end of the left crossbeam bearing (51) is connected to a left crossbeam motor (41); and the left crossbeam bearing (51) is connected to a left crossbeam motor (41). 1) A left beam screw rod (61) is connected to the rear end, a left beam slide (71) is sleeved on the left beam screw rod (61), a left beam motor (41) drives the left beam screw rod (61) to rotate, so that the left beam slide (71) can move forward and backward, a right beam slide (72) is fixed at the lower part of the left beam slide (71), a right beam screw rod (62) is connected in the middle of the right beam slide (72), the right beam screw rod (62) is connected to the right beam motor (42) through a right beam bearing (52), the right beam motor (42) drives the right beam screw rod (62) to rotate, so that the right beam slide (72) can move forward and backward, the right beam bearing (52) is fixed on the right crossbeam (32), and a right front push rod motor (202) and a right rear push rod motor (204) are fixed at both ends of the right crossbeam (32).

2. The structure according to claim 1, characterized in that When negative pressure air is introduced into the left front vacuum suction cup (101), the right front vacuum suction cup (102), the left rear vacuum suction cup (103) and the right rear vacuum suction cup (104), the four suction cups can be adsorbed on the wall. When normal pressure air is introduced, the four suction cups can be detached from the wall.

3. The structure according to claim 1, characterized in that When the left front push rod motor (201), the right front push rod motor (202), the left rear push rod motor (203) and the right rear push rod motor (204) are powered on, the push rods of the four motors can be extended, and when the positive and negative polarities of the power supply are changed, the push rods of the motors will retract.

4. The structure according to claim 1, characterized in that When the left crossbeam (31) is fixed, the left beam motor (41) is energized, the left beam slide (71) moves along the left beam lead screw (61), and simultaneously drives the right beam slide (72) to move, thereby driving the right crossbeam (32) to move; when the right crossbeam (32) is fixed, the right beam motor (42) is energized, the right beam slide (72) moves along the right beam lead screw (62), and simultaneously drives the left beam slide (71) to move, thereby driving the left crossbeam (31) to move; when the positive and negative polarities of the energized current are changed, the moving direction of the slide is changed.

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