Track structure for wall-climbing robot
By integrating multiple small suction cups onto the tracks of the wall-climbing robot and using a valve system to control the negative pressure, the problem of unstable negative pressure on walls with poor flatness caused by large suction cups was solved, resulting in stronger adhesion and more flexible wall-climbing ability.
Patent Information
- Application Number
- CN202422808970.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Utility models(China)
- Current Assignee / Owner
- Filing Date
- 2024-11-18
- Publication Date
- 2025-11-07
- Estimated Expiration
- 2034-11-18
AI Technical Summary
The suction cups of existing wall-climbing robots are generally too large. When encountering uneven wall surfaces, the negative pressure becomes unstable, which can easily lead to air leakage and make the wall climbing process unstable.
Design a track structure that integrates multiple small suction cups on the track. Each suction cup can independently adjust the negative pressure. The suction and release of air are controlled by a valve system on the track. A sealing structure is used to prevent gas leakage, thereby achieving stronger suction and more flexible wall climbing ability.
The small suction cups on the track structure can adjust the negative pressure according to the flatness of the wall surface, resulting in stronger adhesion, more flexible movement, reduced risk of slippage, and improved obstacle crossing ability.
Smart Images
Figure CN223520938U_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The utility model relates to wall -climbing robot technical field, specifically, relate to a wall -climbing robot is with track structure. BACKGROUND
[0002] With the progress of science and technology, industrial robots have been widely applied in various fields, among them, wall-climbing robots as robots that can work on vertical cliffs are widely used in nuclear industry, construction, fire fighting and other industries. Actively researching and developing wall-climbing robot technology can be directly applied to or drive the progress of related chain industries, promote the development of productivity as a whole and improve people's quality of life.
[0003] The existing device has some drawbacks in the using process, for example: the suction cup and the track (or the wheel) of the wall-climbing robot on the market belong to two kinds of mechanisms, and the suction cup of the wall-climbing robot is generally large, and the negative pressure is unstable when encountering the case that the flatness of the wall surface is poor, and air leakage is easy. UTILITY MODEL CONTENT
[0004] The utility model aims at providing a wall-climbing robot track structure, solving the problem that the suction cup of the wall-climbing robot is generally large, the negative pressure is unstable when encountering the case that the flatness of the wall surface is poor, and air leakage is easy.
[0005] The utility model provides the following technical scheme: a wall-climbing robot track structure, including two support plates, three auxiliary load wheels are arranged in the horizontal array at the bottom of two support plates, a main load wheel is arranged between two adjacent auxiliary load wheels, three driving wheels are arranged in a triangular structure at the top of two support plates, the outer side of three auxiliary load wheels, the main load wheel and three driving wheels is sleeved with a track, the shaft of the main load wheel located in the middle is provided with a first valve, the first valve is communicated with the inner part of the shaft of the main load wheel, a plurality of second valves matched with the first valve are arranged on the track, and a suction cup is fixedly connected to the end portion away from the inner part of the track of the second valve.
[0006] As a preferred technical scheme of the above, the first valve includes a first valve sleeve fixedly connected to the shaft of the main load wheel, a first fixed ring is fixedly connected to the port of the first valve sleeve, a first jack rod is inserted into the inner side of the first valve sleeve, one end of the first jack rod penetrates through the first fixed ring and the other end is fixedly connected with a first valve plug, a first return spring is wound on the outer wall of the first jack rod, and the first return spring is arranged between the first valve plug and the first fixed ring.
[0007] As the preferred technical scheme of the above, the second valve comprises a second valve sleeve fixedly connected to the track, a second fixed ring fixedly connected to the port of the second valve sleeve, a second top rod inserted into the inner side of the second valve sleeve, one end of the second top rod penetrating through the second fixed ring and the other end of the second top rod being fixedly connected with a second valve plug, a second return spring being arranged on the outer wall of the second top rod and being arranged between the second valve plug and the second fixed ring.
[0008] As the preferred technical scheme of the above, the port of the main load bearing wheel shaft is provided with a sealing bearing, and a gas guide pipe for air extraction is arranged in the inner side of the sealing bearing and communicates with the inside of the main load bearing wheel shaft.
[0009] As the preferred technical scheme of the above, a connecting frame for connecting the main body of the wall climbing machine is transversely arranged on the two support plates, and the connecting frame is fixedly connected with the two support plates.
[0010] As the preferred technical scheme of the above, the first valve sleeve is provided with a sealing ring at the port away from the first fixed ring.
[0011] Compared with the prior art, the utility model has the beneficial effects that:
[0012] In the utility model, a plurality of small suction cups are designed and integrated on the track structure, so that the overall structure is simpler and lighter, the large suction cup is divided into a plurality of small suction cups, the controllability is stronger, the movement is more flexible, the negative pressure of each small suction cup can be adjusted according to the flatness of the wall surface, the adsorption force is stronger, the wall climbing robot is not easy to slip in the working process, and the obstacle crossing ability is improved. BRIEF DESCRIPTION OF DRAWINGS
[0013] Figure 1 It is a three-dimensional structure schematic view of a track structure for a wall climbing robot;
[0014] Figure 2 It is a sectional structure schematic view of a track structure for a wall climbing robot;
[0015] Figure 3 It is a structure schematic view of a track;
[0016] Figure 4 It is a connection structure schematic view of a first valve;
[0017] Figure 5 It is a sectional structure schematic view of a main load bearing wheel;
[0018] Figure 6 It is a sectional structure schematic view of a first valve and a second valve.
[0019] In the figure: 1, support plate; 11, auxiliary load wheel; 12, main load wheel; 13, driving wheel; 14, track; 15, connecting frame; 16, suction cup; 2, first valve; 21, first valve sleeve; 22, first fixed ring; 23, first top rod; 24, first valve plug; 25, first return spring; 26, sealing ring; 3, second valve; 31, second valve sleeve; 32, second fixed ring; 33, second top rod; 34, second valve plug; 35, second return spring; 4, sealing bearing; 41, air guide pipe. DETAILED DESCRIPTION
[0020] The technical solutions in the embodiments of the utility model will be clearly and completely described below with reference to the drawings in the embodiments of the utility model.
[0021] EMBODIMENT
[0022] As shown in Figure 1 , Figure 2 and Figure 3 , the utility model provides a kind of technical scheme: a track structure for wall-climbing robot, including two support plates 1, three auxiliary load wheels 11 are arranged in transverse array in the bottom of two support plates 1, main load wheel 12 is arranged between adjacent two auxiliary load wheels 11, three driving wheels 13 are arranged in the top of two support plates 1 and are provided with three main load wheels 13 in triangular structure, three auxiliary load wheels 11, main load wheel 12 and three driving wheels 13 outside are equipped with track 14, the shaft of main load wheel 12 in middle part is all provided with first valve 2, first valve 2 is communicated with the inside of the shaft of main load wheel 12, multiple second valves 3 used in cooperation with first valve 2 are arranged on track 14, suction cup 16 is fixedly connected on the end portion of second valve 3 away from the inside of track 14, in specific use process, the smallest two driving wheels 13 drive track 14 to rotate, when track 14 rotates, first valve 2 and second valve 3 will intermittently push each other, when robot is upward, the first valve 2 and second valve 3 of upper portion are negative pressure suction to make suction cup 16 work, and the first valve 2 and second valve 3 of lower portion are suction cup 16 exhaust, by analogy, when robot moves downward, the first valve 2 and second valve 3 of lower portion are suction, and the first valve 2 and second valve 3 of upper portion are exhaust (main load wheel 12 rotates a circle is just the width of last suction cup 16 to next suction cup 16), track 14 structure is designed to integrate several small suction cups 16, so that overall structure is simpler, weight is lighter, controllability is stronger, action is more flexible, can adjust the negative pressure size of each small suction cup 16 according to wall flatness, adsorption force is stronger, not easy to slip in working process, and obstacle crossing ability is improved.
[0023] As one of the embodiments in the embodiment, as Figure 4 , Figure 5 and Figure 6As shown, the first valve 2 includes a first valve sleeve 21 fixedly connected to the main load wheel 12 shaft, a first fixed ring 22 fixedly connected at the port of the first valve sleeve 21, a sealing ring 26 provided at the port of the first valve sleeve 21 away from the first fixed ring 22, the sealing ring 26 ensuring the sealing between the first valve sleeve 21 and the second valve sleeve 31 when they are in contact, preventing gas leakage, a first top rod 23 inserted into the inside of the first valve sleeve 21, the first top rod 23 having one end penetrating through the first fixed ring 22 and the other end fixedly connected with a first valve plug 24, a first return spring 25 wound on the outer wall of the first top rod 23, the first return spring 25 being arranged between the first valve plug 24 and the first fixed ring 22, the second valve 3 including a second valve sleeve 31 fixedly connected to the track 14, a second fixed ring 32 fixedly connected at the port of the second valve sleeve 31, a second top rod 33 inserted into the inside of the second valve sleeve 31, the second top rod 33 having one end penetrating through the second fixed ring 32 and the other end fixedly connected with a second valve plug 34, a second return spring 35 wound on the outer wall of the second top rod 33, the second return spring 35 being arranged between the second valve plug 34 and the second fixed ring 32, a sealing bearing 4 provided at the port of the main load wheel 12 shaft, a gas guide pipe 41 for gas extraction arranged inside the sealing bearing 4, the gas guide pipe 41 being able to avoid rotating with the main load wheel 12 through the sealing bearing 4, the gas guide pipe 41 being in communication with the inside of the main load wheel 12 shaft, in specific use, when the track 14 rotates, the second valve 3 on the track 14 and the first valve 2 on the main load wheel 12 always have a contact point, when the contact point is the center point of the suction cup 16, the first valve 2 and the second valve 3 are just opened by each other, at this time, the first valve plug 24 moves to drive the first top rod 23 to move, so that the first valve plug 24 presses the first return spring 25, the first return spring 25 is compressed between the first valve plug 24 and the first fixed ring 22, the second valve plug 34 moves to drive the second top rod 33 to move, so that the second valve plug 34 presses the second return spring 35, the second return spring 35 is compressed between the second valve plug 34 and the second fixed ring 32, so that the ports of the first valve sleeve 21 and the second valve sleeve 31 can be connected to the gas passage, at this time, the gas guide pipe 41 is connected with the external negative pressure pump, the gas guide pipe 41 sucks gas to cause the suction cup 16 to be negatively adsorbed, so that the robot can be adsorbed on the wall surface to perform wall climbing operation.
[0024] As an embodiment in this embodiment, as shown in the drawings, Figure 2 As shown, two support plates 1 are provided with a connecting frame 15 for connecting the main body of the wall climbing machine transversely, the connecting frame 15 is fixedly connected with the two support plates 1, the design of the connecting frame 15 enables the main body of the wall climbing robot to be conveniently connected therewith, and the main body of the wall climbing machine can be fixedly connected to the connecting frame 15 by means of bolts, welding or other fastening methods, thereby forming an integral structure.
[0025] Working principle: in the specific use process, the two driving wheels 13 with the smallest included angle drive the track 14 to rotate, when the track 14 rotates, the second valve 3 on the track 14 and the first valve 2 on the main load wheel 12 always have a contact point, when the contact point is the center point of the suction cup 16, the first valve 2 and the second valve 3 are just opened by each other, at this time, the first valve plug 24 moves to drive the first jack 23 to move, so that the first valve plug 24 extrudes the first return spring 25, the first return spring 25 is compressed between the first valve plug 24 and the first fixed ring 22, the second valve plug 34 moves to drive the second jack 33 to move, so that the second valve plug 34 extrudes the second return spring 35, the second return spring 35 is compressed between the second valve plug 34 and the second fixed ring 32, so that the ports of the first valve sleeve 21 and the second valve sleeve 31 in contact can be connected with the air path, at this time, the air guide pipe 41 is connected with the external negative pressure pump, the air guide pipe 41 sucks the gas to make the suction cup 16 negative pressure adsorption, so that the robot can be adsorbed on the wall surface to climb the wall, it should be noted that the first valve and the second valve on the other side are exhausted at this time.
[0026] The above examples are only used to illustrate the technical solutions of the present application, but not to limit them.
Claims
1. A track structure for a wall-climbing robot comprising two support plates (1), characterized in that: Two bottom transverse array of the support plate (1) are provided with three auxiliary load wheels (11), two adjacent auxiliary load wheels (11) are provided with main load wheels (12), two top support plates (1) are provided with three driving wheels (13) in triangular structure, the outer side of the three auxiliary load wheels (11), main load wheels (12) and three driving wheels (13) is provided with a track (14), the main load wheel (12) on the shaft in the middle is provided with a first valve (2), the first valve (2) is in communication with the shaft inside the main load wheel (12), a plurality of second valves (3) matched with the first valve (2) are arranged on the track (14), the end away from the inside of the track (14) is fixedly connected with a suction cup (16).
2. The track structure for a wall-climbing robot according to claim 1, wherein: The first valve (2) comprises a first valve sleeve (21) fixedly connected to the shaft of the main load wheel (12), a first fixed ring (22) is fixedly connected to the port of the first valve sleeve (21), a first jack (23) is inserted into the inner side of the first valve sleeve (21), one end of the first jack (23) penetrates through the first fixed ring (22) and the other end is fixedly connected with a first valve plug (24), a first return spring (25) is wound on the outer wall of the first jack (23), and the first return spring (25) is arranged between the first valve plug (24) and the first fixed ring (22).
3. The track structure for a wall-climbing robot according to claim 1, wherein: The second valve (3) comprises a second valve sleeve (31) fixedly connected to the track (14), a second fixed ring (32) is fixedly connected to the port of the second valve sleeve (31), a second jack (33) is inserted into the inner side of the second valve sleeve (31), one end of the second jack (33) penetrates through the second fixed ring (32) and the other end is fixedly connected with a second valve plug (34), a second return spring (35) is wound on the outer wall of the second jack (33), and the second return spring (35) is arranged between the second valve plug (34) and the second fixed ring (32).
4. The track structure for a wall-climbing robot according to claim 1, wherein: The port of the shaft of the main load wheel (12) is provided with a sealing bearing (4), the inner side of the sealing bearing (4) is provided with a gas guide pipe (41) for air extraction, and the gas guide pipe (41) is in communication with the inside of the shaft of the main load wheel (12).
5. The track structure for a wall-climbing robot according to claim 1, wherein: Two support plates (1) are provided with a connecting frame (15) for connecting the main body of the wall climbing machine, and the connecting frame (15) is fixedly connected with the two support plates (1).
6. The track structure for a wall-climbing robot according to claim 2, wherein: The port of the first valve sleeve (21) away from the first fixed ring (22) is provided with a sealing ring (26).