Track assembly and wall-climbing robot

Abstract

The track assembly comprises a track wheel set, an inner track, an outer track and an elastic assembly, the track wheel set is arranged on one side of a robot body of the wall-climbing robot, the inner track is meshed with the track wheel set, the inner track is composed of a plurality of first track pieces, and the outer track is meshed with the elastic assembly. The outer track is located on the side, away from the robot body, of the inner track and composed of a plurality of second track pieces, the elastic assembly is located on the track wheel set, and the telescopic direction of the elastic assembly is perpendicular to the rotating direction of the track wheel set. According to the application, the inner crawler belt and the outer crawler belt are matched with each other and are engaged with the crawler belt wheel set gears, so that the crawler belt assembly can be tightly attached to concave-convex surfaces with different radians, the adhesive force and adaptability of the crawler belt assembly are further improved, meanwhile, the elastic assemblies are further arranged on the crawler belt wheel sets, and in the working process of the crawler belt assembly, the elastic assemblies are not prone to falling off. The vibration of the wall-climbing robot can be effectively reduced, so that the flexibility of the wall-climbing robot is enhanced.

Description

TECHNICAL FIELD

[0001] The utility model relates to wall -climbing robot technical field especially relates to a track assembly and wall -climbing robot. BACKGROUND

[0002] The wind power tower drum is usually composed of steel or concrete material, is located at the base part of the wind driven generator, is responsible for supporting the generator set, and the height of the tower drum is usually from dozens of meters to hundreds of meters, so cleaning the surface of the wind power tower drum is a challenging task.

[0003] In the related art, the outer surface of the tower drum is easy to accumulate dust, dirt, bird droppings and other pollutants, especially in arid and windy areas, these pollutants may affect the aerodynamic performance of the wind turbine set and reduce the power generation efficiency, so a cleaning device is needed for cleaning.

[0004] However, when the conventional wall -climbing robot works on the curved surface or uneven surface of the wind power tower drum, the track is often difficult to completely match the surface, resulting in insufficient adsorption force, and when the conventional wall -climbing robot encounters uneven surface, the violent vibration not only causes damage to the wall -climbing robot itself, but also accelerates the wear of the parts, thereby affecting the working efficiency and service life of the wall -climbing robot. SUMMARY

[0005] The utility model discloses in order to solve the problem that the conventional wall -climbing robot works on the curved surface or uneven surface of the wind power tower drum, the track is often difficult to completely match the surface, resulting in insufficient adsorption force, and when the conventional wall -climbing robot encounters uneven surface, the violent vibration not only causes damage to the wall -climbing robot itself, but also accelerates the wear of the parts, thereby affecting the working efficiency and service life of the wall -climbing robot, provides a track assembly and wall -climbing robot, adopts the technical scheme as follows:

[0006] According to the first aspect of the present application, a track assembly is provided for a wall -climbing robot, comprising:

[0007] Track wheel set, arranged on one side of the robot main body of the wall -climbing robot;

[0008] Inner track, engaged with the track wheel set, the inner track is composed of a plurality of first track pieces;

[0009] Outer track, located on the side of the inner track away from the robot main body, the outer track is composed of a plurality of second track pieces, each first track piece corresponds to each second track piece and is connected;

[0010] Elastic assembly, located on the track wheel set, the extension direction of the elastic assembly is perpendicular to the rotation direction of the track wheel set.

[0011] Preferably, a connecting assembly is arranged between the first track shoe and the second track shoe, the connecting assembly comprising a first connecting piece and a second connecting piece, the first connecting piece being fixedly connected with the first track shoe, and the second connecting piece being fixedly connected with the second track shoe.

[0012] Preferably, the first connecting piece and the second connecting piece are hingedly connected.

[0013] Preferably, the track wheel set is composed of a first hub and a second hub, the inner track and the outer track being arranged around the outer surfaces of the first hub and the second hub, and the first hub and the second hub being in conformity with the inner sides of the inner track and the outer track.

[0014] Preferably, the track wheel set comprises a first track wheel set and a second track wheel set, the first track wheel set being rotatably connected with the robot body through the second track wheel set.

[0015] The first track wheel set is engaged with the inner track gear, and the second track wheel set is engaged with the outer track gear.

[0016] Preferably, the elastic assembly is a telescopic spring, one end of the telescopic spring being connected with the first track wheel set, and the other end of the telescopic spring being fixedly connected with the first connecting piece; and / or, one end of the telescopic spring being connected with the second track wheel set, and the other end of the telescopic spring being fixedly connected with the second connecting piece.

[0017] Preferably, the cross section of the first track shoe is in a ladder-shaped structure; and / or, the cross section of the second track shoe is in a ladder-shaped structure.

[0018] Preferably, the first track shoe and the second track shoe are both magnetically adsorbed to the external surface.

[0019] According to the second aspect of the present application, a wall-climbing robot is provided, characterized in that comprising a robot body, and the track assembly of the first aspect, the track assembly being installed on the side wall of the robot body.

[0020] Compared with the prior art, the technical progress achieved by the present application is that:

[0021] The present application realizes the close adhesion of the track assembly on surfaces with different radii and concave-convex structures through the cooperation of the inner track and the outer track and the engagement of the track wheel set gears, thereby improving the adhesion and adaptability of the track assembly. BRIEF DESCRIPTION OF DRAWINGS

[0022] The accompanying drawings are used to provide further understanding of the present application, and constitute a part of the specification, and are used to explain the present application together with embodiments of the present application, and do not constitute a limitation on the present application.

[0023] In the drawings:

[0024] Figure 1 is a structural diagram of the wall-climbing robot of the present application;

[0025] Figure 2 is a schematic diagram of the wall-climbing robot of the present application;

[0026] Figure 3 is a partial schematic diagram of the outer track of the present application;

[0027] Figure 4 is a schematic diagram of the track assembly of the present application;

[0028] Figure 5 is a partial structural diagram of the track assembly of the present application.

[0029] In the drawings: 100, track assembly; 200, robot main body; 1, track wheel set; 11, first track wheel set; 12, second track wheel set; 2, inner track; 21, first track link; 3, outer track; 31, second track link; 4, elastic assembly; 5, connecting assembly; 51, first connecting piece; 52, second connecting piece; 6, first hub; 7, second hub. DETAILED DESCRIPTION

[0030] The following specific embodiments can be combined with each other, and the same or similar concepts or processes can not be described again in some embodiments. The embodiments of the present application will be described below with reference to the accompanying drawings.

[0031] As Figures 1 to 5As shown, the utility model discloses a kind of track assemblies, applied to wall-climbing robot, track assembly 100 including track wheel group 1, inner track 2 and outer track 3 and elastic component 4, wherein, track wheel group 1 is arranged at the side of the robot main body 200 of wall-climbing robot, track wheel group 1 provides transmission power for track assembly 100, can drive track assembly 100 move along the direction required, inner track 2 is engaged with track wheel group 1, and inner track 2 is formed by multiple first track pieces 21, and the two first track pieces 21 of being connected are flexibly connected, and the inner track 2 of flexible connection can adapt to different surfaces, while facilitating the turning of track assembly 100, to ensure that track assembly 100 and the surface required to be contacted are closely fitted, and outer track 3 is located at the side of inner track 2 away from robot main body 200, and outer track 3 is formed by multiple second track pieces 31, and the connection mode of the two second track pieces 31 adjacent is consistent with the connection mode of first track piece 21, and for this, the present application does not make too much repetition, and each first track piece 21 is connected with each second track piece 31 corresponding, and the mode of connection can be adaptively set according to the requirement, and inner track 2 and outer track 3 cooperate with each other, so that track assembly 100 can adapt to surfaces of different radian and surfaces of different concave and convex, to ensure the flexibility and efficiency of track assembly.

[0032] Among them, track assembly 100 is also provided with elastic component 4, and elastic component 4 is located on track wheel group 1, and elastic component 4 has the functions of supporting, damping and resetting, and the extension direction of elastic component 4 is perpendicular to the rotation direction of track wheel group 1, and in an example, as shown in Figure 1 、 Figure 3 And Figure 5 As shown, during the use of track assembly 100, elastic component 4 will move up and down along the extension direction (such as z direction as shown in Figure 5 When the contact surface is a convex surface, elastic component 4 compresses elastic force, so that track wheel group 1 drives inner track 2 or outer track 3 to move upwards, when the contact surface is a concave surface, elastic component 4 releases elastic force, so that track wheel group 1 drives inner track 2 or outer track 3 to move downwards, and part of first track piece 21 or second track piece 31 is placed at the concave surface, so as to realize close fitting with the concave and convex surface, and ensure the stability of track assembly 100.

[0033] Preferably, as shown in Figure 1 、 Figure 4 And Figure 5As shown, a connecting assembly 5 is provided between the first track piece 21 and the second track piece 31. The connecting assembly 5 includes a first connector 51 and a second connector 52. The shapes of the first connector 51 and the second connector 52 can be square or round, as long as they can match the first track piece 21 and the second track piece 31. The first connector 51 is fixedly connected to the first track piece 21, and the second connector 52 is fixedly connected to the second track piece 31. The first connector 51 and the second connector 52 are hinged, allowing the inner track 2 and the outer track to move axially relative to the hinge axis, thereby adapting to different surfaces. Along the length direction of the track piece, there is a preset included angle between the first track piece 21 and the second track piece 31, for example, in the extension and retraction direction of the elastic component 4 (e.g., ...). Figure 5 In the z-direction shown, when the surface in contact with the inner track 2 is raised, the track wheel assembly 1 drives the inner track 2 to move upward, at which time the preset included angle is greater than 180°. When the surface in contact with the inner track 2 is recessed, the track wheel assembly 1 drives the inner track 2 to move downward, at which time the preset included angle is less than 180°. This adapts to different surfaces. For example, when the surfaces in contact with both the inner track 2 and the outer track 3 are raised, the track wheel assembly 1 drives both the inner track 2 and the outer track 3 to move upward, thereby ensuring the fit between the track assembly 100 and the surface, and thus improving the stability and safety of the track assembly 100.

[0034] Preferred, such as Figure 1 As shown, the track wheel assembly 1 consists of a first hub 6 and a second hub 7. The first hub provides driving force to the track assembly 100, and the second hub 7 provides traction force to the track assembly 100, thereby enabling the track assembly 100 to move in the desired direction. The inner track 2 and the outer track 3 are wrapped around the outer surfaces of the first hub 6 and the second hub 7. The first hub 6 and the second hub 7 both fit with the inner sides of the inner track 2 and the outer track 3. During the climbing process of the wall-climbing robot, the track assembly 100 can improve traction and grip. At the same time, the outer track 3 can act as a support belt, which can help the wall-climbing robot obtain better adhesion on the outer wall of vertical or inclined wind turbine towers. In one example (not shown in the figure), the track wheel assembly also includes a tensioning wheel. During the operation of the track assembly, the operator can adjust the tension of the inner or outer track at any time according to the terrain or usage conditions through the tensioning wheel.

[0035] Preferred, such as Figure 1 to 5As shown, the track wheel set 1 includes a first track wheel set 11 and a second track wheel set 12, the first track wheel set 11 is rotatably connected with the robot body 200 through the second track wheel set 12, during the driving process of the wall climbing robot, the first track wheel set 11 and the second track wheel set 12 are driven to move the inner track 2 and the outer track 3 at the same time, wherein the first track wheel set 11 is in gear engagement with the inner track 2, the second track wheel set 12 is in gear engagement with the outer track 3, the first track wheel set 11 is hinged with the second track wheel set 12, and the first track wheel set 11 and the second track wheel set 12 are relatively movable up and down along the height direction of the track assembly 100, in use, if a rough surface is encountered, the inner track 2 or the outer track 3 can be moved up and down according to the surface, so as to adapt to the surface.

[0036] Preferably, the elastic assembly can be adaptively set according to the needs, for example, the elastic assembly 4 is a telescopic rod, the telescopic rod is located on the inner track 2, one end of the telescopic rod is connected with the first track wheel set 11, and the other end is fixedly connected with the first connecting piece 51, the telescopic rod has the functions of elasticity and shock absorption, and in use of the track assembly 100, the telescopic rod can be compressed or stretched according to the surface condition of the wind tower drum, the inner track 2 can adapt to the surface and drive the robot body 200 to smoothly pass through, so as to avoid vibration or damage of the track assembly 100 caused by the external environment. In an example, the telescopic spring is located on the outer track 3, one end of the telescopic rod is connected with the second track wheel set 12, and the other end is fixedly connected with the second connecting piece 52. In another example, two telescopic rods are provided, and the telescopic rods are arranged on the inner track 2 and the outer track 3, so that the track assembly 100 can smoothly pass through and adapt to various different surfaces, so as to facilitate the wall climbing robot to perform related work, thereby realizing the adhesion and working efficiency of the wall climbing robot. The elastic assembly 4 can also be a telescopic spring, two telescopic springs are arranged on the track assembly, one end of the first telescopic spring is connected with the first track wheel set 11, and the other end is fixedly connected with the first connecting piece 51, and one end of the second telescopic spring is connected with the second track wheel set 12, and the other end is fixedly connected with the second connecting piece 52, thereby realizing the functions of shock absorption and telescopic extension.

[0037] Preferably, continuing to refer to Figures 1 to 5 , the shape and structure of the first track shoe 21 and the second track shoe 31 can be adaptively set according to the needs, for example, the cross section of the first track shoe 21 and the cross section of the second track shoe 31 are in a ladder type structure, that is, the surface in contact with the outside of the first track shoe 21 and the second track shoe 31 is wide, and the surface away from the outside is narrow, in use, the inner track 2 and the outer track 3 can better distribute the load and increase the contact area with the outside, which helps to enhance the grip and stability, ensures that the track assembly 100 obtains better adhesion and movement in complex surfaces, and also facilitates the track assembly 100 to drive the robot body 200 to adapt to and smoothly cross the convex surface, thereby realizing the stable and efficient climbing of the wall climbing robot in complex environments.

[0038] Preferably, the first track shoe 21 and the second track shoe 31 are both magnetically adsorbed to the external surface, the magnetic adsorption enables the track to maintain strong adhesion with the external surface, avoiding the sliding phenomenon caused by gravity, friction or changes in the inclination angle during climbing, the shape of the magnetic adsorption can be a circular structure or a square structure, and the operator can adaptively set it according to the needs, in an example, the magnetic adsorption is an electromagnetic adsorption, which is arranged on the surface of the inner track 2 and the outer track 3 in contact with the external surface, and during the climbing process of the wall climbing robot, the inner track 2 and the outer track 3 are in continuous and stable contact with the external surface, such as smooth, curved and complex surfaces, thereby providing safety protection and enhancing the adsorption force of the wall climbing robot.

[0039] As shown in Figures 1 to 5 , the application provides a wall climbing robot applied to clean the outer wall of a wind power tower, which comprises a robot body 200 and the above-mentioned track assembly 100, the track assembly 100 is installed on the side wall of the robot body 200, and the track assembly 100 drives the robot body 200 to move, thereby realizing high-altitude operation.

[0040] The working principle of the track assembly and the wall climbing robot provided by the application is as follows:

[0041] As shown in Figures 1 to 2 Figures 1 to 5 , first, the operator places the wall climbing robot in the required working area, starts the track wheel set 1, drives the first track wheel set 11 and the second track wheel set 12 to rotate, the inner track 2 is in gear transmission with the first track wheel set 11, and pushes the wall climbing robot body to move forward, at the same time, the outer track 3 is in gear transmission with the second track wheel set 12, thereby pushing the wall climbing robot body to move forward, the inner track 2 and the outer track 3 are tightly adsorbed to the required surface through magnetic adsorption, ensuring that the wall climbing robot has adsorption force and moves stably on the required surface, during the climbing process, the wall climbing robot moves the track wheel set 1 according to the flatness of the required surface through the elastic assembly 4, so that the inner track 2 and the outer track 3 are tightly attached to the surface, when the wall climbing robot finishes the work, the wall climbing robot moves to the bottom of the required surface, the operator stops the drive of the track wheel set 1, and drives the track assembly 100 and the robot body 200 to separate from the surface, thereby completing the high-altitude wall climbing task.

[0042] It should be explained finally: the above described is only the preferred embodiment of the utility model, and is not used for limiting the utility model, although the utility model is described in detail with reference to the foregoing embodiment, for the person skilled in the art, it still can modify the technical scheme recorded in the foregoing each embodiment, or equivalent replacement is carried out to part of technical features. Any modification, equivalent replacement, improvement etc. that is made within the spirit and principle of the utility model, should be contained in the scope of protection of the utility model claim.

Claims

1. A track assembly characterized by, The application relates to a crawler belt assembly applied to a wall-climbing robot. The crawler belt assembly comprises: a crawler belt wheel set arranged on one side of a robot body of the wall-climbing robot; an inner crawler belt engaged with the crawler belt wheel set, the inner crawler belt being composed of a plurality of first crawler belt pieces; an outer crawler belt located on the side of the inner crawler belt away from the robot body, the outer crawler belt being composed of a plurality of second crawler belt pieces, each of the first crawler belt pieces corresponding to and being connected with each of the second crawler belt pieces; 2. The track assembly of claim 1, wherein, a resilient assembly arranged on the crawler belt wheel set, the extension direction of the resilient assembly being perpendicular to the rotation direction of the crawler belt wheel set. A connecting assembly is arranged between the first crawler belt pieces and the second crawler belt pieces, the connecting assembly comprising a first connecting piece and a second connecting piece, the first connecting piece being fixedly connected with the first crawler belt pieces, and the second connecting piece being fixedly connected with the second crawler belt pieces.

3. The track assembly of claim 2, wherein, The first connecting piece and the second connecting piece are hingedly connected.

4. The track assembly of claim 2, wherein, The crawler belt wheel set is composed of a first hub and a second hub, the inner crawler belt and the outer crawler belt being arranged on the outer surfaces of the first hub and the second hub, and the first hub and the second hub being in conformity with the inner sides of the inner crawler belt and the outer crawler belt. The crawler belt wheel set comprises a first crawler belt wheel set and a second crawler belt wheel set, the first crawler belt wheel set being rotationally connected with the robot body through the second crawler belt wheel set.

5. The track assembly of claim 4, wherein, The first crawler belt wheel set is engaged with an inner crawler belt gear, and the second crawler belt wheel set is engaged with an outer crawler belt gear.

6. The track assembly of claim 1, wherein, The resilient assembly is a telescopic spring, one end of the telescopic spring being connected with the first crawler belt wheel set, and the other end of the telescopic spring being fixedly connected with the first connecting piece; and / or one end of the telescopic spring being connected with the second crawler belt wheel set, and the other end of the telescopic spring being fixedly connected with the second connecting piece.

7. The track assembly of claim 6, wherein, The cross section of the first crawler belt piece is in a ladder-shaped structure; and / or the cross section of the second crawler belt piece is in a ladder-shaped structure.

8. A wall-climbing robot, characterized by The first crawler belt piece and the second crawler belt piece are both magnetically adsorbed on an external surface. The application further relates to a wall-climbing robot comprising a robot body and the crawler belt assembly as claimed in any one of claims 1-7, the crawler belt assembly being mounted on the side wall of the robot body.

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