CN105947010A - Variable-route self-adaption obstacle crossing climbing robot - Google Patents
Variable-route self-adaption obstacle crossing climbing robot Download PDFInfo
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- CN105947010A CN105947010A CN201610556991.0A CN201610556991A CN105947010A CN 105947010 A CN105947010 A CN 105947010A CN 201610556991 A CN201610556991 A CN 201610556991A CN 105947010 A CN105947010 A CN 105947010A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a variable-route self-adaption obstacle crossing climbing robot which comprises a robot body, holding mechanisms and climbing mechanisms. The robot body comprises a first single set robot body and a second single set robot body. The first singe set robot body and the second single set robot body are each provided with two parallel arc-shaped guide grooves. Each single set robot body is provided with two holding mechanisms which are oppositely arranged and are each coaxially matched with one guide groove and driven by gears and racks. The climbing mechanisms are arranged on the holding mechanisms. The two sets of robot bodies are arranged, the two holding mechanisms on each robot body set are combined with the corresponding climbing mechanisms, and the robot can cross obstacles with the height of +/-200 mm under the common action of multiple sets of flexible joints and springs. By means of the crawler-type climbing mechanisms, the climbing robot climbs rod parts fast, meanwhile, the holding mechanisms work independently, the obstacles can be crossed fast, high adaptability is achieved, the speed is high, the loading capacity is very high, and middle complex control steps are omitted.
Description
Technical field
The present invention relates to electric power facility climbing robot technical field, more specifically, particularly relate to a kind of reducing self adaptation obstacle detouring
Climbing robot.
Background technology
The climbing of robot needs to overcome the effect of gravity reliably to depend on climb surface autonomous, completes specified conditions
Under operation.Climbing level robot is the one of climbing robot, and it mainly depends on body of rod surface and carries out automatic creeping, completes phase
Close operation.According to different type of drive, climbing level robot is broadly divided into driven by power climbing level robot, hydraulic-driven climbing pole machine
Device people and air pressure drive climbing level robot etc.；According to different climbing modes, climbing level robot can be divided into creeping motion type (Inchworm type)
Climbing level robot, roller climbing level robot and convertible climbing level robot etc.；According to different climbing mechanisms, ring can be divided into again
Embrace formula climbing level robot, clipping climbing level robot and adsorption-type climbing level robot.
According to different job requirements, the working path of climbing level robot, climbing mode, obstacle detouring mode are the most different.More
From the point of view of barrier function, in existing climbing level robot, barrier getting over mechanism is still based on the gait mechanism of imitative Inchworm type, but this also makes
Rod member diameter adaptability is substantially reduced by robot, and the fixed mechanism of clip type can only adapt to gripping of little scope diameter rod member,
When rod member diameter has large change, robot jaw openings size has been difficult in adapt to the change of diameter, can only be by changing fixture
Mode completes.Meanwhile, when crossing over blockage, robot vibrations are difficult to avoid that, but Inchworm type mechanism is due to the front precession of gait formula
Reduce further fuselage stability, therefore their versatility and the suitability are poor, can only be suitable for the rod member that size is certain
Climbing and obstacle detouring.From the point of view of the job requirements such as the biggest reducing, heavy burden, although adsorption-type climbing robot is adapted to wall, bar
The vertical surface that part etc. are different, but because the limitation of its adsorption structure makes its heavy burden, obstacle climbing ability be substantially reduced, and Inchworm type,
Although there are good heavy burden ability and obstacle climbing ability in clipping robot, but because the restriction of its clamping device makes robot difficult
To adapt to the rod member having bigger reducing situation.The most existing climbing robot major part mechanism has the single merit during climbing
Can, to having combination property, the research of the mechanism integrating the functions such as climbing, obstacle detouring, adaptation bigger reducing operating mode is little.
So, design a kind of have can complete bigger reducing, have obstacle crossing function and there is the climbing robot of higher heavy burden effect seem
Particularly important.The present invention is directed to problem above and propose a kind of climbing level robot with brand new, it can be at different-diameter
Rod member on carry out climb obstacle detouring, obstacle detouring process use track structure, stable and reliable operation, low to rod member working condition requirement, and
And there is certain heavy burden ability.
Summary of the invention
It is an object of the invention to overcome existing climbing level robot cannot complete at bigger reducing, have the operation ring such as obstacle and heavy burden
Climbing problem under border, it is provided that a kind of reducing self adaptation obstacle detouring climbing robot, this robot has been possible not only to obstacle detouring, heavy burden
Deng job task, additionally it is possible to complete at cone reducing rod member, notch cuttype reducing rod member and different-diameter size cylindrical rod member
On climbing operation task.
The technical scheme is that and be achieved in that: a kind of reducing self adaptation obstacle detouring climbing robot, including fuselage, encircle machine
Structure and climbing mechanism, described fuselage includes first single group fuselage, second single group fuselage, the first fuselage contiguous block, the second fuselage even
Connecing block, fuselage connecting shaft and fuselage spring, described first fuselage contiguous block is fixed on described first single group fuselage, and described second
Fuselage contiguous block is fixed on described second single group fuselage, and described first fuselage contiguous block and the second fuselage contiguous block are by fuselage even
Spindle is hinged, and described fuselage spring is positioned at the underface of described fuselage connecting shaft, and the two ends of fuselage spring are separately fixed at described
On first single group fuselage and second single group fuselage；It is equipped with two on described first single group fuselage and second single group fuselage to be set up in parallel
The gathering sill of arc, the mechanism of encircling on each single group fuselage is equipped with two, and two to encircle mechanism the most oppositely arranged
And respectively with a gathering sill coaxial cooperation, described climbing mechanism be arranged on described in encircle in mechanism；
Described mechanism of encircling includes drive mechanism, encircles actuator and encircle force application mechanism, described drive mechanism include casing,
Motor, shaft coupling, rear bearing block, front-end bearing pedestal, worm screw, incomplete worm gear, worm wheel shaft, primary push rod, push rod turn
Axle and jump ring, described motor is fixed on the rear end of casing, and motor connects one end of described worm screw, snail by shaft coupling
Before and after bar, two ends are fixed on front-end bearing pedestal and rear bearing block by bearing respectively, and described front-end bearing pedestal and rear bearing block are the most fixing
At described box house, the axle center of the rotating shaft of described motor, shaft coupling, worm screw, rear bearing block and front-end bearing pedestal is positioned at same
On straight line；Described incomplete worm gear is hinged on described casing by worm wheel shaft, described incomplete worm gear and described worm screw
Engagement, described incomplete worm gear overlaps with the median plane of casing with its axially vertical median plane, and the both sides of incomplete worm gear are the most logical
Crossing jump ring to retrain, described incomplete worm gear is also equipped with push rod rotating shaft, the rear end of described primary push rod is turned by described push rod
Axle is hinged on described incomplete worm gear；Described encircle actuator include the first joint, second joint, the 3rd joint, the 4th
Joint, the first joint rotating shaft, second joint rotating shaft, the 3rd joint rotating shaft and the 4th joint rotating shaft, the front end of described casing and
The front end in one joint is hinged by the first joint rotating shaft, and second joint is passed through in the described rear end in the first joint and the front end of second joint
Rotating shaft is hinged, and the rear end of described second joint and the front end in the 3rd joint are hinged by the 3rd joint rotating shaft, described 3rd joint
The front end in rear end and the 4th joint is hinged by the 4th joint rotating shaft；Described first joint, second joint, the 3rd joint and the 4th
Joint is constituted by joint left plate, joint right plate and spacer, and joint left plate passes through uniform multiple spacers and joint
Right plate is fixing to be connected；The center of described joint left plate and joint right plate all offers the one type hole chute；Described encircle
Force application mechanism include first before push rod shaft, the first rear push-rod axle, push rod shaft before second, the second rear push-rod axle, push rod shaft before the 3rd,
3rd rear push-rod axle, the first stress axle, the second stress axle, the 3rd stress axle, the 4th stress axle, the first force axle, second execute
Power axle, the 3rd force axle, push rod before first, push rod before second, push rod before the 3rd, the first rear push-rod, the second rear push-rod, the
Three rear push-rods, the first expansion link, the second expansion link, the 3rd expansion link, the first coil tension spring, the second coil tension spring, the 3rd stretch
Contracting spring；The rear end of described primary push rod is hinged on the front end in the first joint by the first stress axle, the front end of push rod before described first
Hinged with casing by the first force axle, push rod before the front end of the rear end of push rod shaft and the first expansion link passes through first before described first
Axle is hinged, and the rear end of described first expansion link and the front end of the first rear push-rod are hinged by the first rear push-rod axle, described first pusher
The rear end of bar is hinged on the front end of second joint by the second stress axle；Before described second, the front end of push rod is cut with scissors by the second force axle
Being connected on the rear end in the first joint, before before described second, the rear end of push rod passes through second with the front end of the second expansion link, push rod shaft is hinged,
The rear end of described second expansion link and the front end of the second rear push-rod are hinged, after described second rear push-rod axle by the second rear push-rod axle
End is hinged on the front end in the 3rd joint by the 3rd stress axle；Before described 3rd the front end of push rod by the 3rd force axle handing-over the
The rear end in two joints, before the described 3rd, the rear end of push rod and the front end of the 3rd expansion link are hinged by push rod shaft before the 3rd, and described the
The rear end of three expansion links and the front end of the 3rd rear push-rod are hinged by the 3rd rear push-rod axle, and the front end of described 3rd rear push-rod axle is passed through
4th stress axle is hinged on the front end in described 4th joint；Described first coil tension spring is sleeved on described first expansion link, described
Second coil tension spring is sleeved on described second expansion link, and described 3rd coil tension spring is sleeved on the 3rd expansion link；Described first
Front push rod shaft, the first rear push-rod axle, push rod shaft before second, the second rear push-rod axle, push rod shaft and the 3rd rear push-rod axle before the 3rd
Two ends are all set with slide block, and before first, push rod shaft and the first rear push-rod axle are by the slide block at two ends around and described first joint
The youngest's type hole chute offered on joint left plate and joint right plate matches, and before second, push rod shaft and the second rear push-rod axle are by it
The youngest's type hole chute offered on the joint left plate of the slide block at two ends, left and right and described second joint and joint right plate matches, and
Before three, push rod shaft and the 3rd rear push-rod axle are by the right side of the slide block at two ends around and the joint left plate in described 3rd joint and joint
The youngest's type hole chute offered on plate matches；Described first joint rotating shaft, second joint rotating shaft, the 3rd joint rotating shaft and the 4th are closed
It is mounted on torsion spring in joint rotating shaft；
The homonymy in described the first joint, second joint, the 3rd joint and the 4th joint encircled in mechanism is mounted on a climbing
Mechanism, described climbing mechanism includes that installing plate, support bar, telescopic spring bar, damping spring, front crawler belt rotating shaft, rear crawler belt turn
Axle, front Athey wheel, rear Athey wheel, crawler belt, crawler belt motor, Timing Belt runner, Timing Belt driving wheel and Timing Belt, described peace
Dress plate is bolted on joint left plate and the joint right plate in corresponding joint, and support bar is vertically mounted on described installing plate
On, described telescopic spring bar is fixed on described support bar, and described front crawler belt rotating shaft is arranged on the end of described telescopic spring bar,
Described rear crawler belt rotating shaft is arranged on the end of described support bar, and front Athey wheel is sleeved in described front crawler belt rotating shaft, rear crawler belt wheel case
Filling in crawler belt rotating shaft in the rear, described crawler belt engages each other with front Athey wheel and rear Athey wheel, the most solid in described rear crawler belt rotating shaft
Surely there is Timing Belt runner, described installing plate is fixed with crawler belt motor, the motor head of described crawler belt motor is provided with Timing Belt and drives
Driving wheel, described Timing Belt driving wheel is connected by Timing Belt with described Timing Belt runner.
Further, push rod shaft before described first, the first rear push-rod axle, push rod shaft before second, the second rear push-rod axle, before the 3rd
Push rod shaft, the two ends of the 3rd rear push-rod axle are all threaded connection with slide block, and slide block is positioned at the first joint, second joint and the 3rd
The corresponding one type hole chute in youngest's type hole chute in joint and energy edge slide.
Further, push rod before described first, push rod before second, push rod before the 3rd, the first rear push-rod, the second rear push-rod,
Three rear push-rods, the first expansion link, the second expansion link and the 3rd expansion link be respectively positioned on the first joint, second joint, the 3rd joint and
On the median plane of casing.
Further, described installing plate is perpendicular to described joint left plate and joint right plate is arranged.
Further, described installing plate and described support bar integral molding.
Further, described gathering sill offers along the uniform guiding tooth bar of gathering sill, the casing of described drive mechanism is installed
There is the guide gear matched with described guiding tooth bar.
The beneficial effects of the present invention is: present configuration is the compactest, production cost is low；By arranging two groups of fuselages, often groups
Encircle mechanism and combine with climbing mechanism for two groups on fuselage, under the common effect of many group flexible joints and spring, it is possible to achieve
± 200mm height barrier carries out obstacle detouring, by caterpillar climbing mechanism so that climbing robot is climbed fast on rod member
Speed, simultaneously because two groups are encircled mechanism and work respectively, can be rapidly performed by crossing of obstacle, strong adaptability, speed quickly,
Load capacity is very strong, can quickly surmount obstacles, and reduces middle complicated rate-determining steps；This device is easy to use, it is possible to adapt to
Encircling of bigger reducing rod member, it is also possible to complete in cone reducing rod member, notch cuttype reducing rod member and different-diameter size
Climbing operation is encircled in the case of many reducings such as cylindrical rod piece；This device is mounted on torsion spring in the rotating shaft in each joint,
The decay of this device power in transmission process can be offset and alleviate the load of motor, by coordinating of coil tension spring and slide block, making
This device has good flexibility, can provide lasting on the basis of completing to encircle action and add holding force；Encircling of this device
Mechanism can be by sliding in the cooperation of guide gear and guiding tooth bar gathering sill in fuselage so that environmental protection mechanism is to rod member
Cladding angle is controlled, thus completes the heavy burden climbing operation on the cylindricality rod member of different-diameter, taper rod member and notch cuttype rod member.
Accompanying drawing explanation
The present invention is described in further detail for embodiment in below in conjunction with the accompanying drawings, but is not intended that any limit to the present invention
System.
Fig. 1 is the perspective view of the present invention a kind of reducing self adaptation obstacle detouring climbing robot.
Fig. 2 is the front view of the present invention a kind of reducing self adaptation obstacle detouring climbing robot.
Fig. 3 is the right view of the present invention a kind of reducing self adaptation obstacle detouring climbing robot.
Fig. 4 be list group of the present invention encircle mechanism and the connection diagram of connected climbing mechanism.
Fig. 5 is the structural representation that the present invention encircles mechanism.
Fig. 6 is that the present invention encircles the perspective view of drive mechanism in mechanism.
Fig. 7 is that the present invention encircles the top view of drive mechanism in mechanism.
Fig. 8 is that the present invention encircles actuator and encircles the partial view of force application mechanism.
Fig. 9 is the perspective view of climbing mechanism of the present invention.
Figure 10 is the front view of climbing mechanism of the present invention.
In figure, 1-casing, 2-motor, 3-shaft coupling, 4-rear bearing block, 5-front-end bearing pedestal, 6-worm screw, 7-are incomplete
Worm gear, 8-worm wheel shaft, 9-primary push rod, 10-push rod rotating shaft, 11-the first joint, 12-second joint, 13-the 3rd joint,
14-the 4th joint, 15-the first joint rotating shaft, 16-second joint rotating shaft, 17-the 3rd joint rotating shaft, 18-the 4th joint rotating shaft,
Push rod shaft, 24-first before 19-joint left plate, 20-joint right plate, 21-spacer, the 22-the one type hole chute, 23-first
Push rod shaft, 28-the 4th rear push-rod axle, 29-before push rod shaft, 26-the second rear push-rod axle, 27-the 3rd before rear push-rod axle, 25-second
Exert a force axle, 34-second of first stress axle, 30-the second stress axle, 31-the 3rd stress axle, 32-the 4th stress axle, 33-first executes
Push rod before push rod, 38-the 3rd before push rod, 37-second before power axle, 35-the 3rd force axle, 36-first, 39-the first rear push-rod,
40-the second rear push-rod, 41-the 3rd rear push-rod, 42-the first expansion link, 43-the second expansion link, 44-the 3rd expansion link, 45-
One coil tension spring, 46-the second coil tension spring, 47-the 3rd coil tension spring, 48-slide block, 49-fuselage, 50-encircle mechanism, 51-
Climbing mechanism, 52-gathering sill, 53-guide tooth bar, 54-guide gear, 55-installing plate, 56-support bar, 57-telescopic spring
Athey wheel after Athey wheel, 62-before crawler belt rotating shaft, 61-after crawler belt rotating shaft, 60-before bar, 58-damping spring, 59-, 63-crawler belt,
64-Timing Belt runner, 65-Timing Belt driving wheel, 66-Timing Belt, 67-crawler belt motor, 68-first single group fuselage, 69-second
Single group fuselage, 70-the first fuselage contiguous block, 71-the second fuselage contiguous block, 72-fuselage connecting shaft, 73-fuselage spring.
Detailed description of the invention
Refering to shown in Fig. 1～10, a kind of reducing self adaptation obstacle detouring climbing robot, including fuselage 49, encircle mechanism 50 and climb
Climbing mechanism 51, described fuselage 49 includes first single group fuselage 68, second single group fuselage the 69, first fuselage contiguous block 70, second
Fuselage contiguous block 71, fuselage connecting shaft 72 and fuselage spring 73, described first fuselage contiguous block 70 is fixed on described first single group
On fuselage 68, described second fuselage contiguous block 71 is fixed on described second single group fuselage 69, described first fuselage contiguous block
70 and second fuselage contiguous block 71 hinged by fuselage connecting shaft 72, described fuselage spring 73 is positioned at described fuselage connecting shaft 72
Underface, and the two ends of fuselage spring 73 are separately fixed on described first single group fuselage 68 and second single group fuselage 69；Institute
State the gathering sill 52 being equipped with two arcs being set up in parallel on first single group fuselage 68 and second single group fuselage 69, each single group
Mechanism 50 of encircling on fuselage is equipped with two, two encircle mechanism 50 the most oppositely arranged and respectively with a gathering sill
52 coaxial cooperation, described climbing mechanism 51 be arranged on described in encircle in mechanism 50.
Described mechanism 50 of encircling includes drive mechanism, encircles actuator and encircle force application mechanism, and described drive mechanism includes casing
1, motor 2, shaft coupling 3, rear bearing block 4, front-end bearing pedestal 5, worm screw 6, incomplete worm gear 7, worm wheel shaft 8,
Primary push rod 9, push rod rotating shaft 10 and jump ring, described motor 2 is fixed on the rear end of casing 1, and motor 2 passes through shaft coupling
Device 3 connects one end of described worm screw 6, and before and after worm screw 6, two ends are fixed on front-end bearing pedestal 5 and rear bearing block by bearing respectively
On 4, it is internal that described front-end bearing pedestal 5 and rear bearing block 4 are each attached to described casing 1, the rotating shaft of described motor 2, connection
The axle center of axial organ 3, worm screw 6, rear bearing block 4 and front-end bearing pedestal 5 is located on the same line；Described incomplete worm gear 7 passes through
Worm wheel shaft 8 is hinged on described casing 1, and described incomplete worm gear 7 engages with described worm screw 6, described incomplete worm gear 7
Overlapping with the median plane of casing 1 with its axially vertical median plane, the both sides of incomplete worm gear 7 are all retrained by jump ring,
Being also equipped with push rod rotating shaft 10 on described incomplete worm gear 7, the rear end of described primary push rod 9 is hinged by described push rod rotating shaft 10
On described incomplete worm gear 7.
Described encircle actuator and include that the first joint 11, joint, second joint the 12, the 3rd joint the 13, the 4th 14, first are closed
Joint rotating shaft 15, second joint rotating shaft the 16, the 3rd joint rotating shaft 17 and the 4th joint rotating shaft 18, the front end of described casing 1 and the
The front end in one joint 11 is hinged by the first joint rotating shaft 15, the rear end in described first joint 11 and the front end of second joint 12
Hinged by second joint rotating shaft 16, the rear end of described second joint 12 and the front end in the 3rd joint 13 are by the 3rd joint rotating shaft
17 is hinged, and the rear end in described 3rd joint 13 and the front end in the 4th joint 14 are hinged by the 4th joint rotating shaft 18；Described
One joint 11, second joint the 12, the 3rd joint 13 and the 4th joint 14 are by joint left plate 19, joint right plate 20 and
Spacer 21 is constituted, and joint left plate 19 is connected by uniform multiple spacers 21 are fixing with joint right plate 20；Described
The center of joint left plate 19 and joint right plate 20 all offers the one type hole chute 22.
Described encircle before force application mechanism includes first before push rod shaft the 23, first rear push-rod axle 24, second after push rod shaft 25, second
Push rod shaft the 27, the 3rd rear push-rod axle the 28, first stress axle the 29, second stress axle the 30, the 3rd stress before push rod shaft the 26, the 3rd
Axle 31, the 4th stress axle 32, first exert a force axle 33, second exert a force push rod 36 before axle 34, the 3rd force axle 35, first, the
Push rod the 38, first rear push-rod the 39, second rear push-rod the 40, the 3rd rear push-rod the 41, first expansion link before push rod the 37, the 3rd before two
42, second expansion link the 43, the 3rd expansion link the 44, first coil tension spring the 45, second coil tension spring the 46, the 3rd coil tension spring 47；
The rear end of described primary push rod 9 is hinged on the front end in the first joint 11 by the first stress axle 29, before described first before push rod 36
Holding by the first force axle 33 hinged with casing 1, before described first, the rear end of push rod shaft 23 leads to the front end of the first expansion link 42
Before crossing first, push rod shaft 23 is hinged, and the rear end of described first expansion link 42 and the front end of the first rear push-rod 39 are by the first rear push-rod
Axle 24 is hinged, and the rear end of described first rear push-rod 39 is hinged on the front end of second joint 12 by the second stress axle 30；Described
Before second, the front end of push rod 37 is hinged on the rear end in the first joint 11, push rod 37 before described second by the second force axle 34
Before rear end passes through second with the front end of the second expansion link 43, push rod shaft 25 is hinged, behind the rear end and second of described second expansion link 43
The front end of push rod 40 is hinged by the second rear push-rod axle 26, and the 3rd stress axle 31 is passed through in the rear end of described second rear push-rod axle 26
It is hinged on the front end in the 3rd joint 13；Before described 3rd, the front end of push rod 38 is joined at second joint by the 3rd force axle 35
The rear end of 12, before before the described 3rd, the rear end of push rod 38 passes through the 3rd with the front end of the 3rd expansion link 44, push rod shaft 27 is hinged,
The rear end of described 3rd expansion link 44 and the front end of the 3rd rear push-rod 41 are hinged by the 3rd rear push-rod axle 28, described 3rd pusher
The front end of bar axle 28 is hinged on the front end in described 4th joint 14 by the 4th stress axle 32.
Described first coil tension spring 45 is sleeved on described first expansion link 42, and described second coil tension spring 46 is sleeved on described
On two expansion links 43, described 3rd coil tension spring 47 is sleeved on the 3rd expansion link 44；
Needing to unclamp one group when encircling mechanism 50 to have only to close corresponding motor 2, the first expansion link 42 stretches first
Being returned to initial position under the effect of spring 45, the second expansion link 43 is returned to initial bit under the effect of the second coil tension spring 46
Put, the initial position that the 3rd expansion link 44 is replied under the effect of the 3rd coil tension spring 47, thus realize the first joint 11,
Two joint the 12, the 3rd joint 13 and the resets in the 4th joint 14.
Before described first before push rod shaft the 23, first rear push-rod axle 24, second before push rod shaft the 25, second rear push-rod axle the 26, the 3rd
The two ends of push rod shaft 27 and the 3rd rear push-rod axle 28 are all set with slide block 48, push rod shaft 23 and the first rear push-rod axle 24 before first
By offer on the joint left plate 19 in the slide block at two ends around 48 and described first joint 11 and joint right plate 20 one
Type hole chute 22 matches, and before second, push rod shaft 25 and the second rear push-rod axle 26 pass through the slide block 48 at two ends around with described
The youngest's type hole chute 22 offered on the joint left plate 19 of second joint 12 and joint right plate 20 matches, push rod before the 3rd
Axle 27 and the 3rd rear push-rod axle 28 pass through the slide block 48 at two ends around and the joint left plate 19 in described 3rd joint 13 and pass
The youngest's type hole chute 22 offered on joint right plate 20 matches；Described first joint rotating shaft 15, second joint rotating shaft the 16, the 3rd
It is mounted on torsion spring in joint rotating shaft 17 and the 4th joint rotating shaft 18.Torsion spring can offset this device the declining of power in transmission process
Subtract, thus alleviate the load of motor.
The homonymy in described the first joint 11, second joint the 12, the 3rd joint 13 and the 4th joint 14 encircled in mechanism 50 is equal
Being provided with a climbing mechanism 51, described climbing mechanism 51 includes installing plate 55, support bar 56, telescopic spring bar 57, damping
Spring 58, front crawler belt rotating shaft 59, rear crawler belt rotating shaft 60, front Athey wheel 61, rear Athey wheel 62, crawler belt 63, crawler belt motor
67, Timing Belt runner 64, Timing Belt driving wheel 65 and Timing Belt 66, described installing plate 55 is bolted on corresponding joint
Joint left plate and joint right plate on, support bar 56 is vertically mounted on described installing plate 55, described telescopic spring bar 57
Being fixed on described support bar 56, described front crawler belt rotating shaft 59 is arranged on the end of described telescopic spring bar 57, described rear crawler belt
Rotating shaft 60 is arranged on the end of described support bar 56, and front Athey wheel 61 is sleeved in described front crawler belt rotating shaft 59, rear Athey wheel
62 are set with in crawler belt rotating shaft 60 in the rear, and described crawler belt 63 engages each other with front Athey wheel 61 and rear Athey wheel 62, described
It is further fixed on Timing Belt runner 64 in rear crawler belt rotating shaft 60, described installing plate 55 is fixed with crawler belt motor 67, described crawler belt electricity
Being provided with Timing Belt driving wheel 65 on the motor head of machine 67, described Timing Belt driving wheel 65 passes through with described Timing Belt runner 64
Timing Belt 66 connects.
Before described first before push rod shaft the 23, first rear push-rod axle 24, second before push rod shaft the 25, second rear push-rod axle the 26, the 3rd
The two ends of push rod shaft the 27, the 3rd rear push-rod axle 28 are all threaded connection with slide block 48, slide block 48 be positioned at the first joint 11,
The corresponding one type hole chute 22 in youngest's type hole chute 22 in second joint 12 and the 3rd joint 13 and energy edge slide.
Push rod the 38, first rear push-rod the 39, second rear push-rod 40 before push rod the 37, the 3rd before push rod 36, second before described first,
3rd rear push-rod the 41, first expansion link the 42, second expansion link 43 and the 3rd expansion link 44 are respectively positioned on the first joint 11, second
On the median plane of joint 13, joint the 12, the 3rd and casing 1.
Described installing plate 55 is perpendicular to described joint left plate 19 and joint right plate 20 is arranged.Described installing plate 55 is with described
Support bar 56 integral molding.
Offer along the uniform guiding tooth bar 53 of gathering sill 52 on described gathering sill 52, the casing 1 of described drive mechanism is installed
There is the guide gear 54 matched with described guiding tooth bar 53.The casing 1 of drive mechanism is by guide gear 54 and guiding tooth bar
The cooperation of 53 can be slided in gathering sill 52 freely, thus increases the Inner arc total length encircling mechanism, and then expands or contracting
The little diameter encircling the rod member that mechanism 50 can be coated with.
What list was organized encircles mechanism 50 operationally, and concrete workflow is as follows: motor 2 rotates, and is carried by shaft coupling 3
The rotation of dynamic worm screw 6；Owing to worm screw 6 engages with incomplete worm gear 7, so incomplete worm gear 7 can be driven when worm screw 6 rotates
Swinging within the specific limits around described worm wheel shaft 8, amplitude of fluctuation is determined by the number of teeth of incomplete worm gear 7；Not exclusively snail
Push rod rotating shaft 10 is driven to swing together during wheel 7 swing, owing to casing 1 and the first joint 11 are hinged by the first joint rotating shaft 15
Together, drive primary push rod 9 to swing back and forth around described push rod rotating shaft 10 when push rod rotating shaft 10 swings, thus realize first
The contraction in joint 11；Meanwhile, during the first joint 11 mass motion, owing to the front end of push rod 36 is executed by first before first
Power axle 33 is hinged with casing 1, and the first force axle 33 is fixed, and before described first, push rod 36 is along with the first joint 11
Motion and move, thus drive slide block 48 on the first joint 11 to move, on the first joint 11 along its one type hole chute 22
Slide block 48 drive the first expansion link 42 to move when moving, thus drive first pusher hinged with the rear end of the first expansion link 42
The motion of bar 39, owing to the first joint 11 and second joint 12 are hinged by second joint rotating shaft 16, so first
Can drive the contraction of second joint 12 when rear push-rod 39 moves, by that analogy, the 3rd joint 13 and the 4th joint 14 also can be with
And shrink together, thus realize holding tightly of rod member.
When the barrier such as flange crossed over by needs, wherein a group near ground is encircled mechanism 50 and is held rod member tightly, another group
Encircle mechanism 50 unclamp and move to above the barriers such as flange, then this group is encircled mechanism 50 hold tightly above the barriers such as flange
Rod member, and this group encircles climbing mechanism 51 setting in motion in mechanism 50, so that this device can quick crossing over blockage
Thing.Owing to being provided with two groups of fuselages 49 in this device, and often group fuselage is equipped with two groups and encircles mechanism 50, and its load capacity also can pole
Big enhancing.
Embodiment provided above is the better embodiment of the present invention, is only used for the convenient explanation present invention, not appoints the present invention
What pro forma restriction, has usually intellectual, if without departing from the carried technical characteristic of the present invention in any art
In the range of, utilize the Equivalent embodiments that the done local of disclosed technology contents is changed or modified, and without departing from this
Bright technical characteristic content, all still falls within the range of the technology of the present invention feature.
Claims (6)
1. a reducing self adaptation obstacle detouring climbing robot, it is characterised in that: include fuselage (49), encircle mechanism (50) and climb
Climbing mechanism (51), described fuselage (49) includes that first single group fuselage (68), second single group fuselage (69), the first fuselage connect
Block (70), the second fuselage contiguous block (71), fuselage connecting shaft (72) and fuselage spring (73), described first fuselage contiguous block
(70) being fixed on described first single group fuselage (68), described second fuselage contiguous block (71) is fixed on described second single group
On fuselage (69), described first fuselage contiguous block (70) and the second fuselage contiguous block (71) are by fuselage connecting shaft (72)
Hinged, described fuselage spring (73) is positioned at the underface of described fuselage connecting shaft (72), and the two ends of fuselage spring (73)
It is separately fixed on described first single group fuselage (68) and second single group fuselage (69)；Described first single group fuselage (68) and
It is equipped with the gathering sill (52) of two arcs being set up in parallel on second single group fuselage (69), each single group fuselage encircles machine
Structure (50) is equipped with two, two encircle mechanism (50) the most oppositely arranged and respectively with a gathering sill (52) with
Axle coordinate, described climbing mechanism (51) be arranged on described in encircle in mechanism (50)；
Described mechanism (50) of encircling includes drive mechanism, encircles actuator and encircle force application mechanism, and described drive mechanism includes
Casing (1), motor (2), shaft coupling (3), rear bearing block (4), front-end bearing pedestal (5), worm screw (6), not exclusively
Worm gear (7), worm wheel shaft (8), primary push rod (9), push rod rotating shaft (10) and jump ring, described motor (2) is fixed on
The rear end of casing (1), motor (2) connects one end of described worm screw (6) by shaft coupling (3), worm screw (6)
Rear and front end is fixed on front-end bearing pedestal (5) and rear bearing block (4) by bearing respectively, described front-end bearing pedestal (5) and rear axle
It is internal that bearing (4) is each attached to described casing (1), the rotating shaft of described motor (2), shaft coupling (3), worm screw (6),
The axle center of rear bearing block (4) and front-end bearing pedestal (5) is located on the same line；Described incomplete worm gear (7) is turned by worm gear
Axle (8) is hinged on described casing (1), and described incomplete worm gear (7) is engaged with described worm screw (6), described not exclusively
Worm gear (7) overlaps with the median plane of its axially vertical median plane with casing (1), and the both sides of incomplete worm gear (7) are all passed through
Jump ring retrains, and described incomplete worm gear (7) is also equipped with push rod rotating shaft (10), and the rear end of described primary push rod (9) leads to
Cross described push rod rotating shaft (10) to be hinged on described incomplete worm gear (7)；Described encircle actuator include the first joint (11),
Second joint (12), the 3rd joint (13), the 4th joint (14), the first joint rotating shaft (15), second joint rotating shaft (16),
3rd joint rotating shaft (17) and the 4th joint rotating shaft (18), the front end of described casing (1) and the front end of the first joint (11)
Hinged by the first joint rotating shaft (15), the rear end of described first joint (11) and the front end of second joint (12) are by the
Two joint rotating shafts (16) are hinged, and the rear end of described second joint (12) and the front end in the 3rd joint (13) are by the 3rd joint
Rotating shaft (17) is hinged, and the rear end in described 3rd joint (13) and the front end in the 4th joint (14) are by the 4th joint rotating shaft (18)
Hinged；Described first joint (11), second joint (12), the 3rd joint (13) and the 4th joint (14) are left by joint
Side plate (19), joint right plate (20) and spacer (21) are constituted, and joint left plate (19) is by uniform multiple intervals
Post (21) is fixing with joint right plate (20) to be connected；Described joint left plate (19) and the center of joint right plate (20)
Position all offers the one type hole chute (22)；Described encircle push rod shaft before force application mechanism includes first (23), the first rear push-rod axle
(24), push rod shaft (25) before second, the second rear push-rod axle (26), push rod shaft (27) before the 3rd, the 3rd rear push-rod axle (28),
First stress axle (29), the second stress axle (30), the 3rd stress axle (31), the 4th stress axle (32), first force axle (33),
Second force axle (34), the 3rd force axle (35), push rod (36) before first, push rod (37) before second, push rod (38) before the 3rd,
First rear push-rod (39), the second rear push-rod (40), the 3rd rear push-rod (41), the first expansion link (42), the second expansion link (43),
3rd expansion link (44), the first coil tension spring (45), the second coil tension spring (46), the 3rd coil tension spring (47)；Described master
The rear end of push rod (9) is hinged on the front end of the first joint (11), push rod (36) before described first by the first stress axle (29)
Front end hinged with casing (1) by the first force axle (33), before described first, the rear end of push rod shaft (23) is flexible with first
Before the front end of bar (42) passes through first, push rod shaft (23) is hinged, the rear end of described first expansion link (42) and the first rear push-rod
(39) front end is hinged by the first rear push-rod axle (24), and the second stress axle is passed through in the rear end of described first rear push-rod (39)
(30) front end of second joint (12) it is hinged on；Before described second, the front end of push rod (37) is by the second force axle (34)
Being hinged on the rear end of the first joint (11), before described second, the rear end of push rod (37) leads to the front end of the second expansion link (43)
Before crossing second, push rod shaft (25) is hinged, and the rear end of described second expansion link (43) is passed through with the front end of the second rear push-rod (40)
Second rear push-rod axle (26) is hinged, and the rear end of described second rear push-rod axle (26) is hinged on the by the 3rd stress axle (31)
The front end in three joints (13)；Before described 3rd, the front end of push rod (38) is joined at second joint by the 3rd force axle (35)
(12) rear end, push rod shaft before the front end of the rear end of push rod (38) and the 3rd expansion link (44) passes through the 3rd before the described 3rd
(27) hinged, the rear end of described 3rd expansion link (44) and the front end of the 3rd rear push-rod (41) are by the 3rd rear push-rod axle (28)
Hinged, the front end of described 3rd rear push-rod axle (28) is hinged on described 4th joint (14) by the 4th stress axle (32)
Front end；Described first coil tension spring (45) is sleeved on described first expansion link (42), described second coil tension spring (46)
Being sleeved on described second expansion link (43), described 3rd coil tension spring (47) is sleeved on the 3rd expansion link (44)；Institute
Push rod shaft (23) before stating first, the first rear push-rod axle (24), push rod shaft (25) before second, the second rear push-rod axle (26),
Before three, the two ends of push rod shaft (27) and the 3rd rear push-rod axle (28) are all set with slide block (48), before first push rod shaft (23) and
First rear push-rod axle (24) passes through the slide block (48) at two ends around and the joint left plate (19) of described first joint (11)
Match with youngest's type hole chute (22) offered on joint right plate (20), push rod shaft (25) and the second rear push-rod before second
Axle (26) is right with the joint left plate (19) of described second joint (12) and joint by the slide block (48) at two ends around
Match in youngest's type hole chute (22) offered on side plate (20), push rod shaft (27) and the 3rd rear push-rod axle (28) before the 3rd
By the slide block (48) at two ends around and the joint left plate (19) in described 3rd joint (13) and joint right plate (20)
On youngest's type hole chute (22) of offering match；Described first joint rotating shaft (15), second joint rotating shaft (16), SAN GUAN
It is mounted on torsion spring on joint rotating shaft (17) and the 4th joint rotating shaft (18)；
Described encircle in mechanism (50) the first joint (11), second joint (12), the 3rd joint (13) and the 4th joint
(14) homonymy is mounted on a climbing mechanism (51), and described climbing mechanism (51) includes installing plate (55), support bar
(56), telescopic spring bar (57), damping spring (58), front crawler belt rotating shaft (59), rear crawler belt rotating shaft (60), front Athey wheel
(61), rear Athey wheel (62), crawler belt (63), crawler belt motor (67), Timing Belt runner (64), Timing Belt driving wheel (65)
With Timing Belt (66), described installing plate (55) is bolted on joint left plate and the joint right plate in corresponding joint,
Support bar (56) is vertically mounted on described installing plate (55), and described telescopic spring bar (57) is fixed on described support bar (56)
On, described front crawler belt rotating shaft (59) is arranged on the end of described telescopic spring bar (57), and described rear crawler belt rotating shaft (60) is pacified
Being contained in the end of described support bar (56), front Athey wheel (61) is sleeved on described front crawler belt rotating shaft (59), rear Athey wheel
(62) it is set with in crawler belt rotating shaft in the rear (60), described crawler belt (63) and front Athey wheel (61) and rear Athey wheel (62)
Engaging each other, described rear crawler belt rotating shaft (60) is further fixed on Timing Belt runner (64), described installing plate is fixed with on (55)
Crawler belt motor (67), the motor head of described crawler belt motor (67) is provided with Timing Belt driving wheel (65), and described Timing Belt drives
Driving wheel (65) is connected by Timing Belt (66) with described Timing Belt runner (64).
A kind of reducing self adaptation obstacle detouring climbing robot the most according to claim 1, it is characterised in that: push away before described first
Bar axle (23), the first rear push-rod axle (24), push rod shaft (25) before second, the second rear push-rod axle (26), push rod shaft before the 3rd
(27), the two ends of the 3rd rear push-rod axle (28) be all threaded connection with slide block (48), slide block (48) is positioned at the first joint
(11), corresponding one type hole chute (22), in youngest's type hole chute (22) in second joint (12) and the 3rd joint (13) and energy edge
Slide.
A kind of reducing self adaptation obstacle detouring climbing robot the most according to claim 1, it is characterised in that: push away before described first
Bar (36), push rod (37) before second, push rod (38) before the 3rd, the first rear push-rod (39), the second rear push-rod (40), the 3rd
Rear push-rod (41), the first expansion link (42), the second expansion link (43) and the 3rd expansion link (44) be respectively positioned on the first joint (11),
On the median plane of second joint (12), the 3rd joint (13) and casing (1).
A kind of reducing self adaptation obstacle detouring climbing robot the most according to claim 1, it is characterised in that: described installing plate (55)
It is perpendicular to described joint left plate (19) and joint right plate (20) is arranged.
A kind of reducing self adaptation obstacle detouring climbing robot the most according to claim 1, it is characterised in that: described installing plate (55)
With described support bar (56) integral molding.
A kind of reducing self adaptation obstacle detouring climbing robot the most according to claim 1, it is characterised in that: described gathering sill (52)
On offer along the uniform guiding tooth bar (53) of gathering sill (52), the casing (1) of described drive mechanism is provided with described
Guide the guide gear (54) that tooth bar (53) matches.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610556991.0A CN105947010B (en) | 2016-07-12 | 2016-07-12 | One kind becomes diameter adaptive obstacle detouring climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610556991.0A CN105947010B (en) | 2016-07-12 | 2016-07-12 | One kind becomes diameter adaptive obstacle detouring climbing robot |
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| CN105947010B CN105947010B (en) | 2017-12-08 |
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| CN201610556991.0A Active CN105947010B (en) | 2016-07-12 | 2016-07-12 | One kind becomes diameter adaptive obstacle detouring climbing robot |
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| CN106828661A (en) * | 2017-02-27 | 2017-06-13 | 武汉科技大学 | The wheeled crawling device of pipeline |
| CN107187511A (en) * | 2017-04-25 | 2017-09-22 | 西北工业大学 | Becoming wheelbase can obstacle detouring industrial robot omnidirectional chassis |
| CN108252211A (en) * | 2017-12-23 | 2018-07-06 | 香港中文大学（深圳） | Climb type detects robot |
| CN108407911A (en) * | 2018-02-28 | 2018-08-17 | 浙江机电职业技术学院 | Automatic tree-climbing device and its method of climbing tree |
| CN108680647A (en) * | 2018-08-06 | 2018-10-19 | 中国计量大学 | A kind of ultrasonic flaw detection robot for large-size spherical tank steel vessel |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
| CN110587627A (en) * | 2019-09-30 | 2019-12-20 | 深圳市银星智能科技股份有限公司 | Airport service robot and robot management system |
| CN111156138A (en) * | 2020-01-12 | 2020-05-15 | 蚌埠普源电气科技有限公司 | Automatic cleaning device for wind power generation tower cylinder |
| CN113459064A (en) * | 2021-07-07 | 2021-10-01 | 重庆七腾科技有限公司 | Pipeline robot |
| CN113650697A (en) * | 2021-10-08 | 2021-11-16 | 哈尔滨理工大学 | Reducing body of rod climbing mechanism |
| CN114475833A (en) * | 2021-12-31 | 2022-05-13 | 东北电力大学 | Automatic climbing robot for tower of wind driven generator |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106828661A (en) * | 2017-02-27 | 2017-06-13 | 武汉科技大学 | The wheeled crawling device of pipeline |
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| CN111156138B (en) * | 2020-01-12 | 2021-03-12 | 傅洁 | Automatic cleaning device for wind power generation tower cylinder |
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| CN113650697A (en) * | 2021-10-08 | 2021-11-16 | 哈尔滨理工大学 | Reducing body of rod climbing mechanism |
| CN113650697B (en) * | 2021-10-08 | 2023-10-13 | 哈尔滨理工大学 | Reducing rod body climbing mechanism |
| CN114475833A (en) * | 2021-12-31 | 2022-05-13 | 东北电力大学 | Automatic climbing robot for tower of wind driven generator |
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