CN106800053A - It is a kind of to climb wall paint-spray robot with elastic burst-proof tyre - Google Patents

Abstract

It is a kind of to climb wall paint-spray robot with elastic burst-proof tyre, comprising burst-proof tyre and elastic connection structure；Described burst-proof tyre includes wheel shell, wheel end cap, wheel drive system, anti-explosion plug and inert gas interface tube；Described elastic connection structure includes contiguous block, spring connecting rod and support base；Described wall paint-spray robot of climbing is not only able to safely and flexibly carrying out operation on the premise of not installing armored cassette in inflammable and explosive environment, but also can ensure that its four driving wheels are effectively attached in the irregular scope of operation, it is to avoid its driving force and adhesive force are affected.

Description

It is a kind of to climb wall paint-spray robot with elastic burst-proof tyre

【Technical field】

The present invention relates to climb wall paint-spray robot field, wall paint sprayer is climbed with elastic burst-proof tyre more particularly, to a kind of People.

【Background technology】

It is known, climb wall paint-spray robot and be also called wall-surface mobile robot, its be it is a kind of can be in vertical wall climbing simultaneously The automatic machinery people for completing related operation, is mainly used in carrying out cylindrical big tank defect detecting test or spray painting treatment, to building The wall of thing or hull is cleaned or spraying operation, and carries out checking thickness measuring operation etc. in nuclear industry, due to vertical wall Face operation belongs to the category of limit operation, therefore climbs wall paint-spray robot also referred to as limit operation robot；At present, long-term Found in practical application, be all with the rigidity of four-wheel drive by traditional body construction that wall paint-spray robot is used of climbing Body construction, i.e., four driving wheels being connected with car body are all, to rigidly fix connection, therefore to climb wall paint-spray robot flat The walking operation of stabilization is that there is no problem in the whole scope of operation, but once it is on surfaces such as oil storage tank, large ships When carrying out spray painting operation, by holding vessel, the irregular outer surface of ship and climb wall paint-spray robot rigid body and influenceed, climb wall Four driving wheels of paint-spray robot can produce different adhesive force, so as to certain driving for climbing wall paint-spray robot easily occur The phenomenon being attached in the scope of operation that wheel cannot be stablized, and then not only have influence on the driving force for climbing wall paint-spray robot, Yi Jiqi Overall adhesion in the scope of operation, and route and the rule for climbing that wall paint-spray robot is advanced in operation are also resulted in when serious There is deviation in the route drawn, finally makes to be subjected to corresponding economic loss using side；

Additionally, it is traditional climb the use of wall paint-spray robot be all motor and wheel split car wheel structure, i.e., by magnetic Property wheel house the magnetic adsorbability produced by corresponding wall made to climb wall paint-spray robot be adsorbed in wall, then passed by moment of torsion The torque of the motor outside wheel is passed to wheel by delivery system, and manually related operation is carried out in wall so as to reach to substitute Purpose；However, because some operating environments belong to inflammable and explosive environment, such as in the tank body for depositing corresponding chemical material Operation is carried out, or internally space is limited, and when carrying out spray painting operation in the cavity of atmosphere draught-free, due to what is remained in tank The gas of some corresponding chemical materials or climbing the coating cloud of wall paint-spray robot ejection has flammable properties, and climbs wall paint sprayer Outwardness has not timing spark phenomenon again for the drive system of people, once therefore the gas in environment run into Mars and will occur Quick-fried phenomenon is burnt or dodges, so as to bring harm to application side；At present, in order to prevent from climbing wall paint-spray robot inflammable and explosive Occur burning in environment during operation or dodge quick-fried phenomenon, traditional measure is the car for being likely to occur sparking in wall paint-spray robot to climbing Wheel drive motor and motor driver carry out technological processing for explosion protection feature, i.e., by installing corresponding armored cassette by motor and driver and the external world It is environmentally isolated out, occurs so as to avoid burning or dodging quick-fried phenomenon, however, such armored cassette structure causes to climb wall paint sprayer The monnolithic case of people is complicated, and volume and weight is larger, so as to accordingly limit its flexible operation in the confined space, causes it The maneuverability advantage of wheel cannot be given full play of during operation in inflammable and explosive environment.

【The content of the invention】

In order in overcoming the shortcomings of background technology, wall paint sprayer be climbed with elastic burst-proof tyre the invention discloses a kind of People, described wall paint-spray robot of climbing is not only able to ensure that its driving wheel is effectively attached in the irregular scope of operation, it is to avoid Its driving force and adhesive force are affected, but also can ensure that climbing wall paint-spray robot exists on the premise of armored cassette is not installed Operation is safely and flexibly carried out in inflammable and explosive environment.

For achieving the above object, the present invention is adopted the following technical scheme that：

A kind of to climb wall paint-spray robot with elastic burst-proof tyre, described wall paint-spray robot of climbing includes burst-proof tyre and bullet Property attachment structure；Described burst-proof tyre includes wheel shell, wheel end cap, wheel drive system, anti-explosion plug and inert gas Interface tube；Contradict corresponding with wheel end cap of described wheel shell forms a cavity, and fixed in position has anti-for driving in the cavity The wheel drive system of quick-fried vehicle wheel rotation；Described wheel drive system includes motor driver and motor；Described electricity Machine driver is fixedly mounted on cavity inside side, and is positioned by being fixedly connected on the connector on the inside of wheel shell, the motor Driver connection corresponding with the motor positioned at cavity center position；Described motor driver is provided with through wheel end cap, And the fixed anti-explosion plug positioned at road wheel end outer side of lid face；Described road wheel end outer side of lid face is provided with the indifferent gas passed in cavity Body interface tube；Described motor is used to drive burst-proof tyre to rotate, and it is by being fixed on the anti-of wheel end cap center Protective case body is positioned, and protective casing correspondence is tightly connected with wheel end cap；

Described elastic connection structure includes contiguous block, spring connecting rod and support base；Described contiguous block one end correspondence with The lateral surface middle part of wheel end cap is fixedly connected, and the other end of contiguous block is corresponding with the car body for climbing wall paint-spray robot by bearing pin It is hinged；The middle part of the contiguous block is hinged by axle with a side end of spring connecting rod, another side lever of the spring connecting rod Body is provided with annular groove, pivot bush unit spring A, the bottom of support base and spring B successively in annular groove groove, and spring A and spring B The aperture with diameter greater than support base bottom through hole；The top of described support base is corresponding with car body to be fixedly connected.

Further, the conflict faying face between described wheel shell and wheel end cap is with the face of being slidably connected or explosion-proof faying face Form combine to form cavity.

Further, described inert gas interface tube is provided with pressure monitoring device.

Further, described wheel end cap and protective casing are set to integrative-structure.

Further, described motor drives vehicle wheel rotation by gear.

Further, described wheel drive system is provided with batteries.

Further, described batteries are provided with solar panel or explosion-proof charging plug, the solar panel or Explosion-proof charging plug is fixedly mounted on wheel shell lateral surface.

Further, multiple screws that described wheel end cap passes through circumferentially to arrange with contiguous block are fixedly connected.

Further, described contiguous block is in the small water-drop-shaped in the big one end in one end or Pear-Shaped structure.

Due to using technical scheme as described above, the present invention to have the advantages that：

It is of the present invention to climb wall paint-spray robot monnolithic case simply with elastic burst-proof tyre, small volume；By institute The wall paint-spray robot of climbing stated employs the structure being installed on wheel drive system in inside wheel cavity, while have also been devised Can be to the structure that inert gas is filled with cavity, hence in so that the pressure inside burst-proof tyre can be consistently greater than outside wheel Pressure, i.e., the gas in inflammable and explosive environment will not be entered into burst-proof tyre cavity completely, so that just at all without lead to again The electric elements for installing armored cassette to ensure easily sparking are crossed, this thoroughly avoids the wheel drivetrain inside burst-proof tyre System is contacted with the gas of external environment, has also just fundamentally been prevented burst-proof tyre and has been occurred to burn in inflammable and explosive environment or dodge Quick-fried possibility；Because the wall paint-spray robot of climbing need not install armored cassette, thus its not only monnolithic case and volume weight be all Accordingly be simplified and reduce, but also can reach ensure will not to burn or dodge it is quick-fried on the premise of, effective guarantee Its flexible operation in the confined space, and the purpose that the motor-driven advantage of wheel is given full play in inflammable and explosive environment；

Meanwhile, it is described climb wall paint-spray robot and additionally use the mode of flexible connection burst-proof tyre and car body are connected to one Rise, this connected mode makes each burst-proof tyre be provided with respective elastic floating interval, so as to work as climb wall paint sprayer People when irregular outer surface carries out spray painting operation, each of which driving wheel can using respective elastic floating it is interval come Effective guarantee adhesive force is unaffected, and this is effectively avoided climbs the overall driving force of wall paint-spray robot and be affected, and most The purpose for making each driving wheel for climbing wall paint-spray robot to be effectively attached in the irregular scope of operation has been reached eventually, has been entered And not only make to climb the spray painting work quality of wall paint-spray robot and efficiency is improved, but also effectively reduce application side The risk of financial burden is born because of operation error；Further, since the wall paint-spray robot of climbing effectively reduces its integrally weight Measure and volume, therefore it can reach and more operational modules are carried in operation, and the purpose of more sample Job Operations is carried out, Also therefore, the described great promotion and application of wall paint-spray robot of climbing are worth.

【Brief description of the drawings】

Fig. 1 is schematic diagram of the invention；

Fig. 2 is the schematic diagram of the burst-proof tyre；

Fig. 3 is the schematic internal view of the burst-proof tyre；

Fig. 4 is the schematic diagram of the elastic connection structure.

In figure：1st, wheel shell；2nd, wheel end cap；3rd, cavity；4th, motor driver；5th, motor；6th, anti-explosion plug；7、 Inert gas interface tube；8th, protective casing；9th, contiguous block；10th, bearing pin；11st, car body；12nd, axle；13rd, spring connecting rod；14th, bullet Spring A；15th, support base；16th, spring B.

【Specific embodiment】

The present invention can be explained in more detail by the following examples, the open purpose of the present invention is intended to protect the scope of the invention All interior changes and improvements, the invention is not limited in the following examples：

Wall paint-spray robot is climbed with elastic burst-proof tyre with reference to described in accompanying drawing 1~4, comprising burst-proof tyre and elastic connection Structure；Described burst-proof tyre connects comprising wheel shell 1, wheel end cap 2, wheel drive system, anti-explosion plug 6 and inert gas tube Mouth 7；Described wheel shell 1 and the correspondence of wheel end cap 2 are contradicted and form a cavity 3, and fixed in position has anti-for driving in the cavity 3 The wheel drive system of quick-fried vehicle wheel rotation, i.e., described burst-proof tyre is by the wheel drivetrain in inside wheel cavity 3 Regiment commander is dynamic to be rotated；As needed, the faying face that correspondence is contradicted between wheel shell 1 and wheel end cap 2 is with the face of being slidably connected or explosion-proof The form of faying face docks to form cavity 3, i.e., the docking faying face between wheel shell 1 and wheel end cap 2 can be by being slidably connected Face sets in microgap or is set in sealing by explosion-proof faying face；Described wheel drive system is by motor driver 4 and drives Dynamic motor 5 is constituted, and described motor driver 4 is fixedly mounted on the interior side position of cavity 3, and by with wheel shell 1 in The corresponding connector positioning that side is fixedly connected, so that motor driver 4 can be connected firmly to one with wheel shell 1 all the time Rise；

The connection corresponding with the motor 5 positioned at the center of cavity 3 of described motor driver 4, i.e., can be driven by motor Move device 4 to control motor 5 to act, drive the purpose of vehicle wheel rotation using motor 5 so as to reach；For the ease of control The rotating speed of burst-proof tyre is adjusted, corresponding gear, i.e. motor 5 can be set in wheel drive system can be passed through The gear of setting drives and adjusts the purpose of burst-proof tyre rotating speed；Described motor 5 is by being fixed on road wheel end The protective casing 8 of the center of lid 2 is positioned, and the protective casing 8 correspondence is tightly connected with wheel end cap 2, i.e., motor 5 passes through Protective casing 8 is fixedly connected on the center of wheel end cap 2, ensure that burst-proof tyre by motor 5 drive turn Stationarity when dynamic；To simplify installation procedure, wheel end cap 2 and protective casing 8 can be set to integrative-structure；As needed, Constitute burst-proof tyre each part and connector and its between faying face be required to by national explosion-proof criteria design；

For ease of secure attachment external power source, described wheel drive system is provided with through wheel end cap 2, and fixed positioned at car The anti-explosion plug 6 of the lateral surface of end cap 2 is taken turns, i.e. wheel drive system can be carried out technological processing for explosion protection feature by internal electric elements Anti-explosion plug 6 connects external power source, so as to reach using anti-explosion plug 6 safety and stability to the car in wheel cavity 3 Wheel drive system provides the purpose of power；Meanwhile, to ensure that the wheel drive system being located in cavity 3 will not be with inflammable and explosive ring Gas contact in border, can pass to the inert gas interface tube 7 in wheel cavity 3 in the setting of the lateral surface of wheel end cap 2, can Enough before climbing wall paint-spray robot and being powered and work, cleaning is input into the cavity 3 first with inert gas interface tube 7 to wheel Inert gas, so as to reach in inflammable and explosive environment, extraneous gas is not likely to enter the purpose of inside wheel, and this is from basic On prevented the element of easily sparking in wheel drive system and contacted with ambient outside air, thoroughly avoid appearance and burn or dodge quick-fried Possibility；

As needed, corresponding pressure monitoring device can be set at inert gas interface tube 7, such as in wheel shell 1 and car When correspondence conflict faying face between wheel end cap 2 is set with the face gap that is slidably connected, can be by pressure monitoring device come in real time The pressure of inert gas in monitoring wheel cavity 3, it is to avoid burst-proof tyre internal pressure is too small, and in wheel shell 1 and wheel end cap 2 Between corresponding faying face with explosion-proof faying face seal set when, can be by pressure monitoring device come monitor in real time wheel cavity The pressure of inert gas in 3, it is to avoid burst-proof tyre internal pressure is excessive, and processing safety is effectively improved this makes it possible to reach Purpose；Additionally it is possible to inert gas interface tube 7 is arranged on the position corresponding with wheel drive system in cavity 3, so that The inert gas being filled with is set more efficiently to wrap wheel drive system comprehensively；As needed, in order to be driven to wheel While system provides electric power, additionally it is possible to avoid the circuit being connected with external power source excessive, have influence on and climb the spirit of wall paint-spray robot Activity is made, and corresponding batteries, the i.e. batteries by being similarly positioned in cavity can be set in wheel drive system Directly for wheel drive system provides electric power；For ease of electric power storage, described batteries can be provided with and be fixedly mounted on wheel The solar panel or explosion-proof charging plug of the lateral surface of shell 1, so as to reach using solar panel under suitable conditions Automatic storing charges, or is the purpose of batteries safe charging using explosion-proof charging plug；

Described elastic connection structure includes contiguous block 9, spring connecting rod 13 and support base 15；One end of described contiguous block 9 Correspondence is fixedly connected with the lateral surface middle part of wheel end cap 2, as needed, can be by correspondence around the center one of wheel end cap 2 With contiguous block 9 be fixed together wheel end cap 2 by multiple screws that week arranges；The other end of the contiguous block 9 passes through pin Axle 10 is corresponding with car body 11 to be hinged, i.e., contiguous block 9 can be with bearing pin 10 for the center of circle is rotated；As needed, will can connect Block 9 is set to the small water-drop-shaped in the big one end in one end or Pear-Shaped structure, and its big end correspondence is connected with wheel end cap 2, small end correspondence It is connected with car body 11；The middle part of the contiguous block 9 is hinged by axle 12 with a side end of spring connecting rod 13, i.e. contiguous block 9 In action, can Timing Belt move the corresponding actions of spring connecting rod 13；

The opposite side shaft of the spring connecting rod 13 is provided with annular groove, in annular groove groove successively pivot bush unit spring A 14, The bottom of support base 15 and spring B 16, and spring A 14 and spring B 16 the hole with diameter greater than the bottom through hole of support base 15 Footpath, the top of the support base 15 is corresponding with car body 11 to be fixedly connected, that is, ensure that the energy of spring connecting rod 13 that connected block 9 drives It is enough smoothly to be moved left and right under the position-limiting action of support base 15, because spring A 14 and the correspondence of spring B 16 are distributed in support base 15 left and right, and support base 15 is fixed on car body 11, therefore climb wall paint-spray robot in the irregular scope of operation when described During traveling, it is a certain amount of that each of which burst-proof tyre all can accordingly drive the contiguous block 9 of correlation to be carried out centered on bearing pin 10 Rotary motion, and drive spring connecting rod 13 to be moved left and right accordingly simultaneously, now, spring A14 or spring B 16 with support Corresponding conflict power between seat 15 can just play a part of the amount of moving left and right of control spring connecting rod 13, anti-so as to reach control The rotation amount of quick-fried wheel and contiguous block 9, ensures that burst-proof tyre can carry out left and right or the up and down mesh of resilient movement with respect to car body 11 's.

Part not in the detailed description of the invention is prior art, therefore the present invention is not described in detail.

Claims (9)

1. it is a kind of to climb wall paint-spray robot with elastic burst-proof tyre, it is characterized in that：Described wall paint-spray robot of climbing is included Burst-proof tyre and elastic connection structure；Described burst-proof tyre comprising wheel shell (1), wheel end cap (2), wheel drive system, Anti-explosion plug (6) and inert gas interface tube (7)；Described wheel shell (1) and wheel end cap (2) correspondence are contradicted and form a cavity (3), cavity (3) the interior fixed in position has the wheel drive system for driving described vehicle wheel rotation, the wheel drive system Comprising motor driver (4) and motor (5)；Described motor driver (4) is fixedly mounted on cavity (3) interior side, And positioned by being fixedly connected on connector on the inside of wheel shell (1), the motor driver (4) be located at cavity (1) centre bit Motor (5) correspondence put is connected；Described motor driver (4) is provided with through wheel end cap (2), and fixed positioned at wheel The anti-explosion plug (6) of end cap (2) lateral surface；Described wheel end cap (2) lateral surface is provided with the inert gas passed in cavity (3) Interface tube (7)；Described motor (5) is for driving described vehicle wheel rotation, and it is by being fixed in wheel end cap (2) Protective casing (8) positioning of heart position, the protective casing (8) correspondence is tightly connected with wheel end cap (2)；

Described elastic connection structure includes contiguous block (9), spring connecting rod (13) and support base (15)；Described contiguous block (9) one end correspondence is fixedly connected with the lateral surface middle part of wheel end cap (2), and the other end of contiguous block (9) passes through bearing pin (10) It is corresponding with car body (11) to be hinged；Cut with scissors with a side end of spring connecting rod (13) by axle (12) at the middle part of the contiguous block (9) Connect, the opposite side shaft of the spring connecting rod (13) is provided with annular groove, in annular groove groove successively pivot bush unit spring A (14), The bottom through hole and spring B (16) of support base (15), and spring A (14) and spring B (16) with diameter greater than support base (15) bottom Hold the aperture of through hole；The top of described support base (15) is corresponding with car body (11) to be fixedly connected.

2. it is according to claim 1 to climb wall paint-spray robot with elastic burst-proof tyre, it is characterized in that：Described wheel Conflict faying face between shell (1) and wheel end cap (2) docks to form cavity in the form of the face of being slidably connected or explosion-proof faying face (3)。

3. it is according to claim 2 to climb wall paint-spray robot with elastic burst-proof tyre, it is characterized in that：Described inertia Gas interface tube (7) is provided with pressure monitoring device.

4. it is according to claim 1 to climb wall paint-spray robot with elastic burst-proof tyre, it is characterized in that：Described wheel End cap (2) and protective casing (8) are set to integrative-structure.

5. it is according to claim 1 to climb wall paint-spray robot with elastic burst-proof tyre, it is characterized in that：Described driving Motor (5) drives vehicle wheel rotation by gear.

6. it is according to claim 1 to climb wall paint-spray robot with elastic burst-proof tyre, it is characterized in that：Described wheel Drive system is provided with batteries.

7. it is according to claim 1 to climb wall paint-spray robot with elastic burst-proof tyre, it is characterized in that：Described electric power storage Pond group is provided with solar panel or explosion-proof charging plug, and the solar panel or explosion-proof charging plug are fixedly mounted on wheel Shell (1) lateral surface.

8. it is according to claim 1 to climb wall paint-spray robot with elastic burst-proof tyre, it is characterized in that：Described wheel End cap (2) is fixedly connected with contiguous block (9) by the multiple screws for circumferentially arranging.

9. it is according to claim 1 to climb wall paint-spray robot with elastic burst-proof tyre, it is characterized in that：Described connection Block (9) is in the small water-drop-shaped in the big one end in one end or Pear-Shaped structure.