Smooth wall adsorbs platform of creepingTechnical field
The utility model relates to one kind to be used for climbing robot field, be more particularly to a kind of absorption of smooth wall creep it is flatPlatform.
Background technique
" heart " wall surface mobile platform that the country has the designs such as Hao's Yu to research and develop about the research of adsorbent equipment, the platform are adoptedIt is combined with micro-suction pump, solenoid valve and flexible sucker, is adsorbed using vacuum type, its structure is complicated, cost is high, is unfavorable for bigThe popularization of area；Yang Jianyuan proposes a kind of sufficient thick different soft sucker suction of foot formula vacuum pump combination arm in its Master's thesisMode, although being made that emulation, which lacks physical varification.Separately there is a differential absorption crawling device, but power consumptionGreatly, it is easy to be influenced by factors such as wind-force.
Utility model content
The purpose of this utility model is to be that providing smooth wall adsorbs platform of creeping, and the suction type reliability of knob type is moreHeight adsorbs more secured.
To achieve the goals above, the utility model uses following technical measures: smooth wall adsorbs platform of creeping, including peaceMatrix, movable platform, turn-screw, driving motor, adsorbent equipment and control section are filled, transmission is installed in the installation base bodyLead screw is equipped with driving motor in the installation base body, and the driving motor is connect with turn-screw, the movable platform installationOn turn-screw, the installation base body and movable platform both ends are equipped with adsorbent equipment, and control is equipped in the installation base bodyPart processed, the control section control driving motor and adsorbent equipment.
Further, turn-screw two sides are respectively provided with a slide bar in the installation base body, and the slide bar is supported by slide barSeat is mounted in installation base body, and driving bearing is equipped between the driving motor and turn-screw.
Further, the movable platform lower end is equipped with movable block, and the movable block is connect with turn-screw, the activityPlatform lower end movable block is equipped with linear bearing along longer sides two sides, and the linear bearing is connect with sliding bar.
Further, motor slide rails are installed, the motor slide rails are connect with electric machine support, the electricity in the movable platformMachine support is connect with adsorbent equipment.
Further, the adsorbent equipment include absorption motor, shaft coupling, absorption lead screw, mounting flange, sucker shell, sucker,Feed screw nut and attachment screw, the mounting flange are fixedly connected with movable platform, and the mounting flange upper end is equipped with lead screwNut, the mounting flange lower end are equipped with sucker shell, and the feed screw nut is threadedly coupled with absorption lead screw, on the absorption lead screwEnd is connect by shaft coupling with absorption motor, and the absorption lead screw lower end is connect by shaft coupling with attachment screw, the connectionScrew is fixedly connected with the sucker of sucker shell lower end.
Further, the sucker lower end is the rubber of inverted funnel shape.
Further, the movable platform includes flange mounting hole, flange fixation hole and motor slide rails mounting hole, the fixationFlange is mounted in flange mounting hole, and the mounting flange is fixed by flange fixation hole, is pacified on the motor slide rails mounting holeEquipped with motor slide rails.
Further, the motor slide rails include fixation hole and sliding slot, the motor slide rails on the fixation hole and movable platformMounting hole cooperates, and electric machine support is equipped in the sliding slot, and the absorption motor is fixed on the chute by electric machine support.
Further, the installation base body and movable platform are all class cuboid, and the adsorbent equipment is installed in installationAt the shorter edge of matrix and movable platform.
Further, the control section is controlled using single-chip microcontroller.
The utility model has the advantage that the utility model using knob suction type compared with the existing technology.PhaseIt is adsorbed compared with push type, the suction type reliability of knob type is higher, adsorbs more secured；It is adsorbed compared to vacuum pump, structureMore simple, noise is small, saves electric power；Compared to differential absorption more power saving, the working time is more lasting；The utility modelThe gradient at 0~90 °, smooth surface absorption movement can be competent at.Specific function operation may be implemented by carrying mechanical arm；Photoelectric conversion efficiency is improved by carrying the cleaning of cleaning mechanism progress photovoltaic panel；It is set by carrying purpose monitoringIt is standby to carry out the monitoring of disaster and weather in glass curtain wall any position outside large buildings.It can be extensive after the works industrializationApplied to solar energy photovoltaic panel cleaning, cleaning glass and monitoring disaster relief occasion.
Detailed description of the invention
In order to illustrate the embodiment of the utility model or the technical proposal in the existing technology more clearly, below will be to embodimentOr attached drawing needed to be used in the description of the prior art is briefly described, it should be apparent that, the accompanying drawings in the following description is thisSome embodiments of utility model, for those of ordinary skill in the art, without creative efforts, alsoOther drawings may be obtained according to these drawings without any creative labor.
Fig. 1 is the overlooking structure diagram of the utility model；
Fig. 2 is the bottom substance schematic diagram of the utility model Fig. 1；
Fig. 3 is movable platform structure schematic diagram in the utility model Fig. 1；
Fig. 4 is motor slide rails structural schematic diagram in the utility model Fig. 1；
Fig. 5 is adsorbent equipment structural schematic diagram in the utility model Fig. 1；
Fig. 6 is the bottom substance schematic diagram of the utility model Fig. 5；
Fig. 7 is the internal sectional structure schematic diagram of the utility model Fig. 5.
In figure: 1, installation base body, 2, turn-screw, 3, slide bar, 4, slide bar support base, 5, driving motor, 6, driving bearing,7, movable platform, 701, flange mounting hole, 702, adsorbent equipment mounting hole, 703, motor slide rails mounting hole, 8, motor slide rails,801, fixation hole, 802, sliding slot, 9, absorption motor, 10, electric machine support, 11, adsorbent equipment, 1101, shaft coupling, 1102, absorptionLead screw, 1103, mounting flange, 1104, sucker shell, 1105, sucker, 1106, feed screw nut, 1107, attachment screw, 12, movementBlock, 13, linear bearing.
Specific embodiment
It is noted that following detailed description is all illustrative, it is intended to provide further instruction to the application.Unless anotherIt indicates, all technical and scientific terms used herein has usual with the application person of an ordinary skill in the technical fieldThe identical meanings of understanding.
It should be noted that term used herein above is merely to describe specific embodiment, and be not intended to restricted rootAccording to the illustrative embodiments of the application.As used herein, unless the context clearly indicates otherwise, otherwise singularAlso it is intended to include plural form, additionally, it should be understood that, when in the present specification using term "comprising" and/or " packetInclude " when, indicate existing characteristics, step, operation, device, component and/or their combination.
Below in conjunction with attached drawing, the structure of the utility model is further described.
The utility model provides one kind and adsorbs platform of creeping relative to traditional smooth wall, and structure is more simple, and noise is small,It saves electric power smooth wall and adsorbs platform of creeping.
As shown in Figure 1, Figure 2, smooth wall absorption is creeped platform, including installation base body 1, movable platform 7, turn-screw 2,Driving motor 5, adsorbent equipment 11 and control section, are equipped with turn-screw 2 in the installation base body 1, in the installation base body 1Driving motor 2 is installed, the driving motor 5 is connect with turn-screw 2, and the movable platform 7 is mounted on turn-screw 2,The installation base body 1 is equipped with adsorbent equipment 11 with 7 both ends of movable platform, is equipped with control section in the installation base body 1, instituteState control section control driving motor 5 and adsorbent equipment 11.
As shown in Figure 1, Figure 2, 2 two sides of turn-screw are respectively provided with a slide bar 3, the slide bar 3 in the installation base body 1It is mounted in installation base body 1 by slide bar support base 4, driving bearing 6 is installed between the driving motor 5 and turn-screw 2.
As shown in connection with fig. 2,7 lower end of movable platform is equipped with movable block 12, and the movable block 12 connects with turn-screw 2It connects, the 7 lower end movable block 12 of movable platform is equipped with linear bearing 13, the linear bearing 13 and slide bar along longer sides two sides3 are slidably connected.
As shown in Figure 1, Figure 2, motor slide rails 8 are installed in the movable platform 7, the motor slide rails 8 and motor branchFrame 10 connects, and the electric machine support 10 is connect with adsorbent equipment 11.
In conjunction with shown in Fig. 5, Fig. 6, Fig. 7, the adsorbent equipment 11 includes absorption motor 9, shaft coupling 1101, absorption lead screw1102, mounting flange 1103, sucker shell 1104, sucker 1105, feed screw nut 1106 and attachment screw 1107, the mounting flange1103 are fixedly connected with movable platform 7, and 1103 upper end of mounting flange is equipped with feed screw nut 1106, the mounting flange1103 lower ends are equipped with sucker shell 1104, and the feed screw nut 1106 is threadedly coupled with absorption lead screw 1102, the absorption lead screw1102 upper ends by shaft coupling 1101 with absorption motor 9 connect, 9 lower end of absorption lead screw pass through shaft coupling 1101 with connect spiral shell1107 connection of nail, the attachment screw 1107 are fixedly connected with the sucker 1105 of 1104 lower end of sucker shell.
In conjunction with shown in Fig. 6, Fig. 7,1105 lower end of sucker is the rubber of inverted funnel shape.
As shown in connection with fig. 3, the movable platform 7 includes flange mounting hole 701, flange fixation hole 702 and motor slide rails peaceHole 703 is filled, the mounting flange 1103 is mounted in flange mounting hole 701, and the mounting flange 1103 passes through flange fixation hole702 is fixed, is equipped with motor slide rails 8 on the motor slide rails mounting hole 703.
As shown in connection with fig. 4, the motor slide rails 8 include fixation hole 801 and sliding slot 802, and the fixation hole 801 and activity are flatMotor slide rails mounting hole 703 on platform 7 cooperates, and is equipped with electric machine support 10 in the sliding slot 802, the absorption motor 9 passes throughElectric machine support 10 is fixed on sliding slot 802.
As shown in Figure 1, Figure 2, the installation base body 1 and movable platform 7 are all class cuboid, the adsorbent equipment 11It is installed at the shorter edge of installation base body 1 and movable platform 7.
Further, the control section is controlled using single-chip microcontroller.
Working principle: in use, firstly, the operating of absorption motor 9 of two adsorbent equipments 11 in installation base body 1, drivesAbsorption lead screw 1102 and sucker 1105 are rotated down feeding, after the rubber of sucker 1105 touches 1105 surface of sucker, rubberIt shutting down, sucking disc cover remains in operation, until absorption motor 6 shuts down after the air in disk is all squeezed out, lead screw transmissionIt is more steady, so that mass motion is safe and reliable, installation base body 1 is made to adsorb fixation first, then driving motor 5 drives driving wireThick stick 2 rotate, drive 7 lower end of movable platform movable block 12 move along a straight line on turn-screw 2, linear bearing 13 on slide bar 3,Two adsorbent equipments 11 to drive movable platform 7 to feed forward, after movable platform 7 reaches top, in movable platform 7On absorption motor 9 operate, drive absorption lead screw 1102 and sucker 1105 be rotated down feeding, make movable platform 7 absorption fixation,At this moment 9 antiport of absorption motor on two adsorbent equipments 11 in installation base body 1 drives absorption lead screw 1102 and sucker1105 upward swivel feedings, make installation base body 1 leave surface, and at this moment driving motor 5 drives turn-screw rotation, and at this moment activity is flatPlatform 7 be it is fixed, installation base body 1 travels forward, this also just completes a forward travel period.
The rotation of driving motor 5 drives turn-screw 2 to rotate, and matched feed screw nut advances before drive movable platform 7Into absorption motor 9 rotates, and drives left and right sucker 1105 to do linear motion up and down and rotary motion and generates absorption with this, front and back is inhaledDisk reversely unclamps, and driving motor 5 inverts fuselage and advances.It is moved back and forth with this and realizes whole forward-reverse.With external rail mountedAnd creeping-type is steady compared to the method movement, without other investments early period.
Using the suction type of knob type, by adsorbing positive and negative rotation and the screw-driven of motor 9, realize sucker 1105 intoIt moves back steady.The stroke of sucker 1105 is determined by test method(s), can have certain obstacle climbing ability.
It has developed and has completed remote control type control, by ratio frequency remote control receiving device, can effectively have been controlled in 200-400 meters of rangesSystem.The semiautomatic control of Arduino chip microcontroller can also be utilized.
It is adsorbed compared to push type, the suction type reliability of knob type is higher, adsorbs more secured；Compared to vacuum pumpAbsorption, structure is more simple, and noise is small；Compared to differential absorption more power saving, the working time is more lasting.
The utility model smooth wall adsorbs crawling device, can adsorb and move in the smooth surface less than 90 °.Pass through chainDifferent equipment is connect to complete various tasks.For example, the cleaning of solar energy photovoltaic panel and glass curtain wall, the monitoring in high-altitude, air matterThe functions such as amount detection and strength of glass detection；Glass detecting instrument device can be installed, intensity detection is carried out to glass；Cleaner is installedSolar energy photovoltaic panel or glass curtain wall can be cleaned；Ocean weather station observation can also be carried out by installing a camera；It can also be rightThe a certain position of skyscraper carries out the detection or wind-force detection of PM2.5.
It is above-mentioned although specific embodiments of the present invention are described with reference to the accompanying drawings, but it is not practical new to thisThe limitation of type protection scope, those skilled in the art should understand that, based on the technical solution of the present invention, abilityField technique personnel do not need to make the creative labor the various modifications or changes that can be made still in the protection model of the utility modelWithin enclosing.