CN105966486B - A kind of rod member climbing robot barrier getting over mechanism - Google Patents
A kind of rod member climbing robot barrier getting over mechanism Download PDFInfo
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- CN105966486B CN105966486B CN201610554247.7A CN201610554247A CN105966486B CN 105966486 B CN105966486 B CN 105966486B CN 201610554247 A CN201610554247 A CN 201610554247A CN 105966486 B CN105966486 B CN 105966486B
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- axle
- push rod
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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
Abstract
The invention discloses a kind of rod member climbing robot barrier getting over mechanism, including fuselage, encircle mechanism and climbing mechanism, the fuselage is provided with the guide groove of two arcs being set up in parallel, the mechanism of encircling is provided with two, two to encircle mechanism oppositely arranged between each other and be arranged on described encircle in mechanism with a guide groove coaxial cooperation, the climbing mechanism respectively；The present invention is simple and compact for structure, and production cost is low；Mechanism is encircled by two groups to be combined with climbing mechanism, under the collective effect of multigroup flexible joint and spring, it can realize and carry out obstacle detouring on ± 200mm height barriers, pass through caterpillar climbing mechanism so that climbing robot is climbed rapidly on rod member, simultaneously because two groups are encircled mechanism and worked respectively, crossing for obstacle can be rapidly performed by, strong adaptability, speed is quickly, it can quickly surmount obstacles, reduce middle complicated rate-determining steps.
Description
Technical field
The present invention relates to power transmission system to climb technical field, more specifically, more particularly to a kind of rod member climbing machine
Device people's barrier getting over mechanism.
Background technology
At present, effect of the steel pipe fitting being attached by flange in power transmission system is more and more important, and this causes
Climbing robot must have obstacle crossing function when being overhauled to it.Barrier-surpassing robot is typically by step-by-step movement leg mechanism, wheeled
Mechanism, crawler type mechanism come complete obstacle detouring action, and in climbing robot obstacle detouring action mainly by Inchworm type, it is clipping or
Person convertible mechanism completes.In existing climbing level robot barrier getting over mechanism still with imitate Inchworm type gait mechanism based on,
But this also causes robot to substantially reduce rod member diameter adaptability, the fixed mechanism of clip type can only adapt to small range diameter poles
Part grips, and when rod member diameter has large change, robot jaw openings size has been difficult in adapt to the change of diameter, only
It can be completed by way of changing fixture.Meanwhile in crossing over blockage robot vibrations be difficult to avoid that, but Inchworm type mechanism by
Fuselage stability is reduce further in the forward motion of gait formula, therefore their versatility and applicability are poor, can only
It is adapted to the rod member climbing and obstacle detouring that size is certain.The present invention proposes a kind of crawler type barrier getting over mechanism, you can with obstacle detouring process
The middle vibrations for reducing fuselage, increase stability, are adapted to the rod member of interior change in a big way again.
The content of the invention
It is an object of the invention to the adaptability for existing climbing robot obstacle detouring and versatility are relatively low, there is provided one
Kind rod member climbing robot barrier getting over mechanism, the barrier getting over mechanism not only can smoothly cross the obstacle of large-sized flange connection, and
Crossing for the climbing of the rod member of various sizes and the flange of various sizes is can adapt to, its adaptability is high, easy to use simple and direct.
The technical proposal of the invention is realized in this way：A kind of rod member climbing robot barrier getting over mechanism, including fuselage, encircle
Mechanism and climbing mechanism, the fuselage are provided with the guide groove of two arcs being set up in parallel, and the mechanism of encircling is provided with two,
Two to encircle mechanism oppositely arranged between each other and be arranged on described with a guide groove coaxial cooperation, the climbing mechanism respectively
Encircle in mechanism；
The mechanism of encircling includes drive mechanism, encircles executing agency and encircle force application mechanism, and the drive mechanism includes
Casing, stepper 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, the stepper motor are fixed on the rear end of casing, and stepper motor connects one end of the worm screw, snail by shaft coupling
The rear and front end of bar is fixed on front-end bearing pedestal and rear bearing block by bearing respectively, and the front-end bearing pedestal and rear bearing block are solid
It is scheduled on the box house, the rotating shaft of the stepper motor, shaft coupling, worm screw, the axle center of rear bearing block and front-end bearing pedestal are located at
On same straight line；It is described not exclusively worm gear be hinged on by worm wheel shaft on the casing, it is described not exclusively worm gear with it is described
Worm engaging, the not exclusively worm gear overlap with its axially vertical median plane with the median plane of casing, and the two of incomplete worm gear
Row constraint is entered in side by jump ring, and described to be not exclusively also equipped with push rod rotating shaft on worm gear, the rear end of the primary push rod passes through institute
Push rod rotating shaft is stated to be hinged on the incomplete worm gear；The executing agency of encircling includes the first joint, second joint, the 3rd pass
Section, the 4th joint, the first joint rotating shaft, second joint rotating shaft, the 3rd joint rotating shaft and the 4th joint rotating shaft, before the casing
The front end in end and the first joint is hinged by the first joint rotating shaft, and the rear end in first joint and the front end of second joint pass through
Second joint rotating shaft is hinged, and the front end in the rear end of the second joint and the 3rd joint is hinged by the 3rd joint rotating shaft, described
The rear end in the 3rd joint and the front end in the 4th joint are hinged by the 4th joint rotating shaft；First joint, second joint, the 3rd
Joint and the 4th joint are formed by joint left plate, joint right plate and spacer, and joint left plate passes through uniform multiple
Spacer is fixedly connected with joint right plate；The center of the joint left plate and joint right plate offers the one type hole
Chute；It is described encircle before force application mechanism includes first push rod shaft before push rod shaft, the first rear push-rod axle, second, the second rear push-rod axle,
Push rod shaft, the 3rd rear push-rod axle, the first stress axle, the second stress axle, the 3rd stress axle, the 4th stress axle, first are applied before 3rd
Power axle, the second force axle, the 3rd force axle, before first before push rod, second before push rod, the 3rd after push rod, the first rear push-rod, second
Push rod, the 3rd rear push-rod, the first expansion link, the second expansion link, the 3rd expansion link, the first adjustable spring, the second adjustable spring,
Three adjustable springs；The rear end of the primary push rod is hinged on the front end in the first joint by the first stress axle, push rod before described first
Front end be hinged by the first force axle with casing, the front end of the rear end of push rod shaft and the first expansion link passes through the before described first
Push rod shaft is hinged before one, and the rear end of first expansion link is hinged with the front end of the first rear push-rod by the first rear push-rod axle, institute
The rear end for stating the first rear push-rod is hinged on the front end of second joint by the second stress axle；The front end of push rod passes through before described second
Second force axle is hinged on the rear end in the first joint, and the rear end of push rod passes through second with the front end of the second expansion link before described second
Preceding push rod shaft is hinged, and the rear end of second expansion link is hinged with the front end of the second rear push-rod by the second rear push-rod axle, described
The rear end of second rear push-rod axle is hinged on the front end in the 3rd joint by the 3rd stress axle；The front end of push rod passes through before described 3rd
3rd force axle is hinged on the rear end of second joint, and the rear end of push rod passes through the 3rd with the front end of the 3rd expansion link before the described 3rd
Preceding push rod shaft is hinged, and the rear end and the front end of the 3rd rear push-rod of the 3rd expansion link are hinged by the 3rd rear push-rod axle, described
The front end of 3rd rear push-rod axle is hinged on the front end in the 4th joint by the 4th stress axle；The first adjustable spring suit
On first expansion link, second adjustable spring is sleeved on second expansion link, the 3rd adjustable spring set
On the 3rd expansion link；Push rod shaft, the second rear push-rod axle, the 3rd before push rod shaft, the first rear push-rod axle, second before described first
The both ends of preceding push rod shaft and the 3rd rear push-rod axle are set with sliding block, and push rod shaft and the first rear push-rod axle pass through its left and right before first
The sliding block at both ends is engaged with the youngest's type hole chute opened up on the joint left plate and joint right plate in first joint, and second
Preceding push rod shaft and the second rear push-rod axle are right by the sliding block of its left and right ends and the joint left plate of the second joint and joint
The youngest's type hole chute opened up on side plate is engaged, before the 3rd push rod shaft and the 3rd rear push-rod axle by the sliding block of its left and right ends with
The youngest's type hole chute opened up on the joint left plate and joint right plate in the 3rd joint is engaged；First joint turns
Torsion spring is mounted in axle, second joint rotating shaft, the 3rd joint rotating shaft and the 4th joint rotating shaft；
First joint encircled in mechanism, second joint, the homonymy in the 3rd joint and the 4th joint are mounted on one
Individual climbing mechanism, the climbing mechanism include installing plate, support bar, telescopic spring bar, damping spring, preceding crawler belt rotating shaft, rear shoe
Band rotating shaft, preceding Athey wheel, rear Athey wheel, crawler belt, crawler belt motor, timing belt runner, timing belt driving wheel and timing belt, the peace
Loading board is bolted on the joint left plate and joint right plate of corresponding joint, and support bar is vertically mounted on the installation
On plate, the telescopic spring bar is fixed on the support bar, and the preceding crawler belt rotating shaft is arranged on the end of the telescopic spring bar
Portion, the rear crawler belt rotating shaft are arranged on the end of the support bar, and preceding Athey wheel is sleeved in the preceding crawler belt rotating shaft, rear crawler belt
Wheel is sleeved in the rear crawler belt rotating shaft, and the crawler belt is intermeshed with preceding Athey wheel and rear Athey wheel, the rear crawler belt rotating shaft
On be further fixed on timing belt runner, crawler belt motor is fixed with the installing plate, is provided with the motor head of the crawler belt motor
Timing belt driving wheel, the timing belt driving wheel pass through synchronous band connection with the timing belt runner.
Further, push rod shaft, the second rear push-rod axle, the 3rd before push rod shaft, the first rear push-rod axle, second before described first
Preceding push rod shaft, the both ends of the 3rd rear push-rod axle are connected through a screw thread with sliding block, and sliding block is located at the first joint, second joint and
In youngest's type hole chute in three joints and line slip can be entered along corresponding one type hole chute.
Further, push rod before push rod, the 3rd before push rod, second before described first, the first rear push-rod, the second rear push-rod,
3rd rear push-rod, the first expansion link, the second expansion link and the 3rd expansion link are respectively positioned on the first joint, second joint, the 3rd joint
On the median plane of casing.
Further, the installing plate is set perpendicular to the joint left plate and joint right plate.
Further, the installing plate and the support bar integral molding.
Further, offered on the guide groove along the uniform guiding rack of guide groove, the casing of the drive mechanism
On be provided with and described be oriented to the guide gear that is engaged of rack.
The beneficial effects of the present invention are：The present invention is simple and compact for structure, and production cost is low；By two groups encircle mechanism with
Climbing mechanism is combined, under the collective effect of multigroup flexible joint and spring, it is possible to achieve enterprising in ± 200mm height barriers
Row obstacle detouring, pass through caterpillar climbing mechanism so that climbing robot is climbed on rod member rapidly, simultaneously because two groups are encircled machine
Structure works respectively, can be rapidly performed by crossing for obstacle, strong adaptability, and speed quickly, can quickly surmount obstacles, in reduction
Between complicated rate-determining steps；The present apparatus is easy to use, can adapt to encircling for larger reducing rod member, can also complete in circular cone
Action is encircled in the case of more reducings such as deformation footpath rod member, stepped reducing rod member and different-diameter size cylindrical rod piece,
Torsion spring is mounted in the rotating shaft in each joint in the present apparatus, the present apparatus can be offset and the decay of power and subtracted in transmission process
The load of light motor, passes through the cooperation of adjustable spring and sliding block so that the present apparatus has good flexibility, can complete to encircle again
Lasting blessing power is provided on the basis of action.
Brief description of the drawings
The present invention is described in further detail for embodiment in below in conjunction with the accompanying drawings, but does not form to the present invention's
Any restrictions.
Fig. 1 is a kind of dimensional structure diagram of rod member climbing robot barrier getting over mechanism of the present invention.
Fig. 2 is a kind of front view of rod member climbing robot barrier getting over mechanism of the present invention.
Fig. 3 is a kind of right view of rod member climbing robot barrier getting over mechanism of the present invention.
Fig. 4 is of the invention unilateral to encircle mechanism and the connection diagram of climbing mechanism.
Fig. 5 is the structural representation that the present invention encircles mechanism.
Fig. 6 is the dimensional structure diagram that the present invention encircles drive mechanism in mechanism.
Fig. 7 is the top view that the present invention encircles drive mechanism in mechanism.
Fig. 8 is that the present invention encircles executing agency and encircles the partial view of force application mechanism.
Fig. 9 is the dimensional structure diagram of climbing mechanism of the present invention.
Figure 10 is the front view of climbing mechanism of the present invention.
In figure, 1- casings, 2- stepper motors, 3- shaft couplings, 4- rear bearing blocks, 5- front-end bearing pedestals, 6- worm screws, 7- are incomplete
Worm gear, 8- worm wheel shafts, 9- primary push rods, 10- push rod rotating shafts, the joints of 11- first, 12- second joints, the joints of 13- the 3rd, 14-
4th joint, 15- the first joint rotating shafts, the rotating shaft of 16- second joints, the joint rotating shafts of 17- the 3rd, the joint rotating shafts of 18- the 4th, 19-
Push rod shaft, the pushers of 24- first before the type hole chute of joint left plate, 20- joints right plate, 21- spacers, 22- one, 23- first
Push rod shaft, the rear push-rod axles of 28- the 4th, 29- first before push rod shaft, the second rear push-rods of 26- axle, 27- the 3rd before bar axle, 25- second
Stress axle, the second stress of 30- axle, the stress axles of 31- the 3rd, the stress axles of 32- the 4th, 33- first exert a force axle, 34- second exert a force axle,
35- the 3rd exerts a force axle, push rod, the rear push-rods of 39- first, 40- second before push rod, 38- the 3rd before push rod, 37- second before 36- first
Rear push-rod, the rear push-rods of 41- the 3rd, the expansion links of 42- first, the expansion links of 43- second, the expansion links of 44- the 3rd, 45- first stretch bullet
Spring, the adjustable springs of 46- second, the adjustable springs of 47- the 3rd, 48- sliding blocks, 49- fuselages, 50- encircle mechanism, 51- climbing mechanisms,
52- guide grooves, 53- are oriented to rack, 54- guide gears, 55- installing plates, 56- support bars, 57- telescopic springs bar, 58- damping bullets
Athey wheel after Athey wheel, 62- before crawler belt rotating shaft, 61- after crawler belt rotating shaft, 60- before spring, 59-, 63- crawler belts, 64- timing belts runner,
65- timing belts driving wheel, 66- timing belts, 67- crawler belt motors.
Embodiment
Refering to shown in Fig. 1~10, a kind of rod member climbing robot barrier getting over mechanism, including fuselage 49, encircle mechanism 50 and climb
Mechanism 51 is climbed, the fuselage 49 is provided with the guide groove 52 of two arcs being set up in parallel, and the mechanism 50 of encircling is provided with two,
Two to encircle mechanism 50 oppositely arranged and set respectively with a coaxial cooperation of guide groove 52, the climbing mechanism 51 between each other
Encircled described in mechanism 50.
The mechanism 50 of encircling includes drive mechanism, encircles executing agency and encircle force application mechanism, the drive mechanism bag
Include casing 1, stepper 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, master
Push rod 9, push rod rotating shaft 10 and jump ring, the stepper motor 2 are fixed on the rear end of casing 1, and stepper motor 2 is connected by shaft coupling 3
One end of the worm screw 6 is connect, the rear and front end of worm screw 6 is fixed on front-end bearing pedestal 5 and rear bearing block 4 by bearing respectively, institute
State front-end bearing pedestal 5 and rear bearing block 4 is each attached to inside the casing 1, the rotating shaft of the stepper motor 2, shaft coupling 3, worm screw
6th, the axle center of rear bearing block 4 and front-end bearing pedestal 5 is located on the same line；The not exclusively worm gear 7 is be hinged by worm wheel shaft 8
On the casing 1, the not exclusively worm gear 7 engages with the worm screw 6, during the not exclusively worm gear 7 is axially vertical with it
Heart face overlaps with the median plane of casing 1, and row constraint is entered in the both sides of incomplete worm gear 7 by jump ring, described not exclusively on worm gear 7
Push rod rotating shaft 10 is also equipped with, the rear end of the primary push rod 9 is hinged on the not exclusively worm gear 7 by the push rod rotating shaft 10
On.
The executing agency of encircling includes the first joint 11, second joint 12, the 3rd joint 13, the 4th joint 14, first
Joint rotating shaft 15, second joint rotating shaft 16, the 3rd joint rotating shaft 17 and the 4th joint rotating shaft 18, the front end of the casing 1 and
The front end in one joint 11 is be hinged by the first joint rotating shaft 15, and the rear end in first joint 11 and the front end of second joint 12 lead to
It is be hinged to cross second joint rotating shaft 16, the rear end of the second joint 12 and the front end in the 3rd joint 13 pass through the 3rd joint rotating shaft 17
Be hinged, the rear end in the 3rd joint 13 and the front end in the 4th joint 14 are be hinged by the 4th joint rotating shaft 18；Described first closes
Section 11, second joint 12, the 3rd joint 13 and the 4th joint 14 are by joint left plate 19, joint right plate 20 and spacer 21
Form, joint left plate 19 is fixedly connected by uniform multiple spacers 21 with joint right plate 20；The joint left plate
19 and the center of joint right plate 20 offer the one type hole chute 22.
It is described to encircle before force application mechanism includes first push rod shaft 25, second before push rod shaft 23, the first rear push-rod axle 24, second
Push rod shaft 27, the 3rd rear push-rod axle 28, the first stress axle 29, the second stress axle 30, the 3rd stress axle before rear push-rod axle the 26, the 3rd
31st, pushed away before the 4th stress axle 32, first force axle 33, second force axle the 34, the 3rd force axle 35, first before push rod 36, second
Push rod 38, the first rear push-rod 39, the second rear push-rod 40, the 3rd rear push-rod 41, the first expansion link 42, second stretch before bar the 37, the 3rd
Contracting bar 43, the 3rd expansion link 44, the first adjustable spring 45, the second adjustable spring 46, the 3rd adjustable spring 47；The primary push rod 9
Rear end be hinged on the front end in the first joint 11 by the first stress axle 29, the front end of push rod 36 is applied by first before described first
Power axle 33 and casing 1 are be hinged, and the front end of the rear end of push rod shaft 23 and the first expansion link 42 passes through push rod before first before described first
Axle 23 is be hinged, and the rear end of first expansion link 42 and the front end of the first rear push-rod 39 are hinged by the first rear push-rod axle 24, institute
The rear end for stating the first rear push-rod 39 is hinged on the front end of second joint 12 by the second stress axle 30；Push rod 37 before described second
Front end is hinged on the rear end in the first joint 11 by the second force axle 34, the rear end of push rod 37 and the second expansion link before described second
43 front end is be hinged by push rod shaft 25 before second, and the rear end of second expansion link 43 and the front end of the second rear push-rod 40 pass through
Second rear push-rod axle 26 is be hinged, and the rear end of the second rear push-rod axle 26 is hinged on the 3rd joint 13 by the 3rd stress axle 31
Front end；The front end of push rod 38 is hinged on the rear end of second joint 12 by the 3rd force axle 35 before described 3rd, before the described 3rd
The front end of the rear end of push rod 38 and the 3rd expansion link 44 is be hinged by push rod shaft 27 before the 3rd, the rear end of the 3rd expansion link 44
It is be hinged by the 3rd rear push-rod axle 28 with the front end of the 3rd rear push-rod 41, the front end of the 3rd rear push-rod axle 28 by the 4th by
Power axle 32 is hinged on the front end in the 4th joint 14.
First adjustable spring 45 is sleeved on first expansion link 42, and second adjustable spring 46 is sleeved on institute
State on the second expansion link 43, the 3rd adjustable spring 47 is sleeved on the 3rd expansion link 44；One group of release is needed to encircle mechanism
Only need to close corresponding stepper motor 2 when 50, the first expansion link 42 is returned to initially in the presence of the first adjustable spring 45
Position, the second expansion link 43 are returned to initial position in the presence of the second adjustable spring 46, and the 3rd expansion link 44 is stretched the 3rd
The initial position replied in the presence of contracting spring 47, so as to realize the first joint 11, second joint 12, the 3rd joint 13 and the 4th
The reset in joint 14.
Push rod shaft 25, the second rear push-rod axle the 26, the 3rd before push rod shaft 23, the first rear push-rod axle 24, second before described first
The both ends of the preceding rear push-rod axle 28 of push rod shaft 27 and the 3rd are set with sliding block 48, the rear push-rod axle 24 of push rod shaft 23 and first before first
By opened up on the sliding block 48 of its left and right ends and the joint left plate 19 and joint right plate 20 in first joint 11 one
Type hole chute 22 is engaged, and the rear push-rod axle 26 of push rod shaft 25 and second passes through the sliding block 48 of its left and right ends and described the before second
The youngest's type hole chute 22 opened up on the joint left plate 19 and joint right plate 20 in two joints 12 is engaged, push rod shaft 27 before the 3rd
It is right by the sliding block 48 of its left and right ends and the joint left plate 19 in the 3rd joint 13 and joint with the 3rd rear push-rod axle 28
The youngest's type hole chute 22 opened up on side plate 20 is engaged；First joint rotating shaft 15, second joint rotating shaft 16, the 3rd joint turn
Torsion spring is mounted in the joint rotating shaft 18 of axle 17 and the 4th.Torsion spring can offset the decay of present apparatus power in transmission process, from
And mitigate the load of motor.
The homonymy in the first joint 11, second joint 12, the 3rd joint 13 and the 4th joint 14 encircled in mechanism 50
A climbing mechanism 51 is mounted on, the climbing mechanism 51 includes installing plate 55, support bar 56, telescopic spring bar 57, damping
Spring 58, preceding crawler belt rotating shaft 59, rear crawler belt rotating shaft 60, preceding Athey wheel 61, rear Athey wheel 62, crawler belt 63, crawler belt motor 67, synchronization
Band runner 64, timing belt driving wheel 65 and timing belt 66, the joint that the installing plate 55 is bolted on corresponding joint are left
On side plate and joint right plate, support bar 56 is vertically mounted on the installing plate 55, and the telescopic spring bar 57 is fixed on institute
State on support bar 56, the preceding crawler belt rotating shaft 59 is arranged on the end of the telescopic spring bar 57, and the rear crawler belt rotating shaft 60 is pacified
Mounted in the end of the support bar 56, preceding Athey wheel 61 is sleeved in the preceding crawler belt rotating shaft 59, and rear Athey wheel 62 is sleeved on institute
State in rear crawler belt rotating shaft 60, the crawler belt 63 is intermeshed with preceding Athey wheel 61 and rear Athey wheel 62, the rear crawler belt rotating shaft 60
On be further fixed on timing belt runner 64, crawler belt motor 67, the motor head of the crawler belt motor 67 are fixed with the installing plate 55
On timing belt driving wheel 65 is installed, the timing belt driving wheel 65 is connected with the timing belt runner 64 by timing belt 66.
Push rod shaft 25, the second rear push-rod axle the 26, the 3rd before push rod shaft 23, the first rear push-rod axle 24, second before described first
Preceding push rod shaft 27, the both ends of the 3rd rear push-rod axle 28 are connected through a screw thread with sliding block 48, and sliding block 48 is located at the first joint 11,
In youngest's type hole chute 22 in two joints 12 and the 3rd joint 13 and line slip can be entered along corresponding one type hole chute 22.
Push rod 38 before push rod the 37, the 3rd before push rod 36, second before described first, the first rear push-rod 39, the second rear push-rod 40,
3rd rear push-rod 41, the first expansion link 42, the second expansion link 43 and the 3rd expansion link 44 are respectively positioned on the first joint 11, second joint
12nd, on the median plane of the 3rd joint 13 and casing 1.
The installing plate 55 is set perpendicular to the joint left plate 19 and joint right plate 20, the installing plate 55 and institute
State the integral molding of support bar 56.
Offered on the guide groove 52 along the uniform guiding rack 53 of guide groove 52, on the casing 1 of the drive mechanism
The guide gear 54 being engaged with the guiding rack 53 is installed.The casing 1 of drive mechanism is by guide gear 54 with being oriented to
The cooperation of rack 53 can freely be slided in guide groove 52, so as to increase the Inner arc total length for encircling mechanism, and then expand
Or reduce the diameter for encircling the rod member that mechanism 50 can coat.
Single group encircles mechanism 50 at work, and specific workflow is as follows：Stepper motor 2 rotates, and passes through shaft coupling 3
Drive the rotation of worm screw 6；Because worm screw 6 engages with incomplete worm gear 7, thus worm screw 6 can be driven when rotating incomplete worm gear 7 around
The worm wheel shaft 8 is swung within the specific limits, and amplitude of fluctuation is determined by the number of teeth of incomplete worm gear 7；Incomplete worm gear 7
Push rod rotating shaft 10 is driven to swing together during swing, because the joint 11 of casing 1 and first by the first joint rotating shaft 15 is hinged on one
Rise, drive primary push rod 9 to be swung back and forth around the push rod rotating shaft 10 when push rod rotating shaft 10 is swung, so as to realize the first joint 11
Contraction；At the same time, during the first 11 mass motion of joint, due to push rod 36 before first front end by the first force axle 33 with
Casing 1 is be hinged, and the first force axle 33 is fixed, and push rod 36 is transported with the motion in the first joint 11 before described first
Dynamic, so as to drive the sliding block 48 on the first joint 11 to be moved along its one type hole chute 22, the sliding block 48 on the first joint 11 moves
When drive the first expansion link 42 to move, so as to drive with the rear end of the first expansion link 42 be hinged the first rear push-rod 39 motion,
Because the first joint 11 and second joint 12 are hinged by second joint rotating shaft 16, so when the first rear push-rod 39 moves
The contraction of second joint 12 can be driven, by that analogy, the 3rd joint 13 and the 4th joint 14 and then can also shrink together, so as to real
The holding of existing rod member.
When needing across the barrier such as flange, rod member is held tightly wherein encircling mechanism 50 close to one group of ground,
Encircle mechanism 50 for another group to unclamp and move to above the barriers such as flange, then the group is encircled into mechanism 50 and holds the barriers such as flange tightly
The rod member of top, and the setting in motion of climbing mechanism 51 that the group is encircled in mechanism 50, so that the present apparatus can be turned over quickly
Obstacle-overpass thing.Mechanism 50 is encircled because the present apparatus has two groups, its load capacity also can greatly strengthen.
Embodiment provided above is the better embodiment of the present invention, is only used for the convenient explanation present invention, not to this hair
It is bright to make any formal limitation, any those of ordinary skill in the art, if putting forward skill not departing from the present invention
In the range of art feature, using the equivalent embodiment for locally changing or modifying made by disclosed technology contents, and
Without departing from the technical feature content of the present invention, in the range of still falling within the technology of the present invention feature.
Claims (6)
- A kind of 1. rod member climbing robot barrier getting over mechanism, it is characterised in that：Including fuselage (49), encircle mechanism (50) and climbing machine Structure (51), the fuselage (49) are provided with the guide groove (52) of two arcs being set up in parallel, and the mechanism (50) of encircling is provided with Two, two encircle mechanism (50) between each other it is oppositely arranged and respectively with guide groove (52) coaxial cooperation, the climbing Mechanism (51) is arranged on described encircle in mechanism (50)；The mechanism (50) of encircling includes drive mechanism, encircles executing agency and encircle force application mechanism, and the drive mechanism includes Casing (1), stepper 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, the stepper motor (2) are fixed on the rear end of casing (1), Stepper motor (2) connects one end of the worm screw (6) by shaft coupling (3), and the rear and front end of worm screw (6) is consolidated by bearing respectively It is scheduled on front-end bearing pedestal (5) and rear bearing block (4), the front-end bearing pedestal (5) and rear bearing block (4) are each attached to the casing (1) it is internal, the rotating shaft of the stepper motor (2), shaft coupling (3), worm screw (6), the axle of rear bearing block (4) and front-end bearing pedestal (5) The heart is located on the same line；It is described not exclusively worm gear (7) be hinged on by worm wheel shaft (8) on the casing (1), it is described not Complete worm gear (7) engages with the worm screw (6), not exclusively worm gear (7) median plane axially vertical with it and casing (1) Median plane overlaps, and row constraint is entered in the both sides of incomplete worm gear (7) by jump ring, described to be not exclusively also equipped with worm gear (7) Push rod rotating shaft (10), the rear end of the primary push rod (9) are hinged on the not exclusively worm gear (7) by the push rod rotating shaft (10) On；The executing agency of encircling includes the first joint (11), second joint (12), the 3rd joint (13), the 4th joint (14), the One joint rotating shaft (15), second joint rotating shaft (16), the 3rd joint rotating shaft (17) and the 4th joint rotating shaft (18), the casing (1) front end and the front end of the first joint (11) is be hinged by the first joint rotating shaft (15), the rear end of first joint (11) It is hinged with the front end of second joint (12) by second joint rotating shaft (16), the rear end and the 3rd joint of the second joint (12) (13) front end is be hinged by the 3rd joint rotating shaft (17), the rear end of the 3rd joint (13) and the front end in the 4th joint (14) It is be hinged by the 4th joint rotating shaft (18)；First joint (11), second joint (12), the 3rd joint (13) and the 4th joint (14) formed by joint left plate (19), joint right plate (20) and spacer (21), joint left plate (19) is by uniform Multiple spacers (21) be fixedly connected with joint right plate (20)；The joint left plate (19) and joint right plate (20) Center offers the one type hole chute (22)；It is described to encircle push rod shaft (23), the first pusher before force application mechanism includes first Push rod shaft (27) before push rod shaft (25), the second rear push-rod axle (26), the 3rd before bar axle (24), second, 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), the first force axle (33), the Two force axles (34), the 3rd force axle (35), push rod (38), first before push rod (37), the 3rd before push rod (36), second before 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), the 3rd stretch Contracting bar (44), the first adjustable spring (45), the second adjustable spring (46), the 3rd adjustable spring (47)；After the primary push rod (9) Hold and pass through the front end that the first stress axle (29) is hinged on the first joint (11), the front end of push rod (36) passes through first before described first The axle (33) that exerts a force is be hinged with casing (1), and the rear end of push rod shaft (23) and the front end of the first expansion link (42) pass through before described first Push rod shaft (23) is be hinged before first, and the rear end of first expansion link (42) and the front end of the first rear push-rod (39) are by after first Push rod shaft (24) is be hinged, and the rear end of first rear push-rod (39) is hinged on second joint (12) by the second stress axle (30) Front end；The front end of push rod (37) is hinged on the rear end of the first joint (11) by the second force axle (34) before described second, described The front end of the rear end of push rod (37) and the second expansion link (43) is be hinged by push rod shaft (25) before second before second, and described second stretches The rear end of contracting bar (43) is hinged with the front end of the second rear push-rod (40) by the second rear push-rod axle (26), the second rear push-rod axle (26) rear end is hinged on the front end in the 3rd joint (13) by the 3rd stress axle (31)；The front end of push rod (38) before described 3rd The rear ends of second joint (12) is hinged on by the 3rd force axle (35), the rear end of push rod (38) and the 3rd flexible before the described 3rd The front end of bar (44) is be hinged by push rod shaft (27) before the 3rd, rear end and the 3rd rear push-rod (41) of the 3rd expansion link (44) Front end it is be hinged by the 3rd rear push-rod axle (28), the front end of the 3rd rear push-rod axle (28) is cut with scissors by the 4th stress axle (32) It is connected on the front end of the 4th joint (14)；First adjustable spring (45) is sleeved on first expansion link (42), institute State the second adjustable spring (46) to be sleeved on second expansion link (43), the 3rd adjustable spring (47) is sleeved on the 3rd and stretched On contracting bar (44)；Push rod shaft (25), the second rear push-rod before push rod shaft (23), the first rear push-rod axle (24), second before described first The both ends of push rod shaft (27) and the 3rd rear push-rod axle (28) are set with sliding block (48) before axle (26), the 3rd, push rod shaft before first (23) and the first rear push-rod axle (24) passes through the sliding block (48) of its left and right ends and the joint left plate of first joint (11) (19) the youngest's type hole chute (22) and on joint right plate (20) opened up is engaged, push rod shaft (25) and the second rear push-rod before second Axle (26) passes through the sliding block (48) of its left and right ends and the joint left plate (19) of the second joint (12) and joint right plate (20) the youngest's type hole chute (22) opened up on is engaged, and push rod shaft (27) and the 3rd rear push-rod axle (28) pass through its left and right before the 3rd The sliding block (48) at both ends and the youngest's type opened up on the joint left plate (19) and joint right plate (20) of the 3rd joint (13) Hole chute (22) is engaged；First joint rotating shaft (15), second joint rotating shaft (16), the 3rd joint rotating shaft (17) and the 4th Joint rotating shaft is mounted on torsion spring on (18)；The first joint (11) encircled in mechanism (50), second joint (12), the 3rd joint (13) and the 4th joint (14) Homonymy be mounted on a climbing mechanism (51), the climbing mechanism (51) includes installing plate (55), support bar (56), spring Expansion link (57), damping spring (58), preceding crawler belt rotating shaft (59), rear crawler belt rotating shaft (60), preceding 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), the peace Loading board (55) is bolted on the joint left plate and joint right plate of corresponding joint, and support bar (56) is vertically mounted on On the installing plate (55), the telescopic spring bar (57) is fixed on the support bar (56), the preceding crawler belt rotating shaft (59) Installed in the end of the telescopic spring bar (57), the rear crawler belt rotating shaft (60) is arranged on the end of the support bar (56), Preceding Athey wheel (61) is sleeved on the preceding crawler belt rotating shaft (59), and rear Athey wheel (62) is set with crawler belt rotating shaft (60) in the rear On, the crawler belt (63) is intermeshed with preceding Athey wheel (61) and rear Athey wheel (62), also solid in the rear crawler belt rotating shaft (60) Surely there is timing belt runner (64), crawler belt motor (67), the motor of the crawler belt motor (67) are fixed with the installing plate (55) Timing belt driving wheel (65) is installed, the timing belt driving wheel (65) passes through timing belt with the timing belt runner (64) on head (66) connect.
- A kind of 2. rod member climbing robot barrier getting over mechanism according to claim 1, it is characterised in that：Push rod before described first Push rod shaft (27), before push rod shaft (25), the second rear push-rod axle (26), the 3rd before axle (23), the first rear push-rod axle (24), second The both ends of three rear push-rod axles (28) are connected through a screw thread with sliding block (48), and sliding block (48) is located at the first joint (11), the second pass In section (12) and youngest's type hole chute (22) in the 3rd joint (13) and line slip can be entered along corresponding one type hole chute (22).
- A kind of 3. rod member climbing robot barrier getting over mechanism according to claim 1, it is characterised in that：Push rod before described first (36), push rod (38), the first rear push-rod (39), the second rear push-rod (40), the 3rd rear push-rod before push rod (37), the 3rd before second (41), the first expansion link (42), the second expansion link (43) and the 3rd expansion link (44) are respectively positioned on the first joint (11), second joint (12), on the median plane of the 3rd joint (13) and casing (1).
- A kind of 4. rod member climbing robot barrier getting over mechanism according to claim 1, it is characterised in that：The installing plate (55) Set perpendicular to the joint left plate (19) and joint right plate (20).
- A kind of 5. rod member climbing robot barrier getting over mechanism according to claim 1, it is characterised in that：The installing plate (55) With the support bar (56) integral molding.
- A kind of 6. rod member climbing robot barrier getting over mechanism according to claim 1, it is characterised in that：The guide groove (52) On offer along the uniform guiding rack (53) of guide groove (52), be provided with the casing (1) of the drive mechanism and led with described The guide gear (54) being engaged to rack (53).
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| CN201610554247.7A CN105966486B (en) | 2016-07-12 | 2016-07-12 | A kind of rod member climbing robot barrier getting over mechanism |
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| CN201610554247.7A CN105966486B (en) | 2016-07-12 | 2016-07-12 | A kind of rod member climbing robot barrier getting over mechanism |
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| CN105966486B true CN105966486B (en) | 2018-02-27 |
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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 |
| CN110014451B (en) * | 2019-04-24 | 2021-12-21 | 哈尔滨理工大学 | Crawling robot hip device suitable for slope road surface and control |
| CN111469942B (en) * | 2020-04-19 | 2021-06-22 | 北京送变电有限公司 | Object distribution equipment for emergency repair or maintenance of power grid system |
| CN112928692B (en) * | 2021-02-26 | 2022-09-20 | 国网河南省电力公司社旗县供电公司 | Single-rail moving mechanism and power grid inspection device |
| CN113800359B (en) * | 2021-09-27 | 2022-11-22 | 中国矿业大学 | Mine steel wire rope dust and dirt removing robot and working method |
| CN114006298A (en) * | 2021-11-10 | 2022-02-01 | 广东电网有限责任公司 | Synchronous pulley drive mechanism and pole climbing device |
| CN114084243B (en) * | 2021-12-28 | 2023-09-05 | 国网天津市电力公司建设分公司 | Hierarchical motion clamping mechanism of electric power iron tower climbing robot |
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