CN106239522B - Travel in high sky rescuing robot equipment mechanism - Google Patents
Travel in high sky rescuing robot equipment mechanism Download PDFInfo
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- CN106239522B CN106239522B CN201610654585.8A CN201610654585A CN106239522B CN 106239522 B CN106239522 B CN 106239522B CN 201610654585 A CN201610654585 A CN 201610654585A CN 106239522 B CN106239522 B CN 106239522B
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- robot
- driving gear
- rescue
- walking robot
- sliding bar
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J11/00—Manipulators not otherwise provided for
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention announces a kind of travel in high sky rescuing robot equipment mechanism, belongs to working at height robotic technology field.Including walking robot and rescue robot；Rescue facility is connected between walking robot and rescue robot；Rescue facility includes the top tongue coordinated with clamp spring for being fixed on the clamp spring of walking robot one end and being fixed on rescue robot one end；Being slidably installed in walking robot, there are one sliding bars；Sliding bar one end is stuck in clamp spring, and sliding bar is fixed at driving gear II there are one supporting rod；There are one idler wheels, the wheel face of idler wheel to be pressed in the outside of driving gear II for installation on supporting rod；Driving gear II is slidably mounted on II output shaft of motor, and there are one the springs for pushing away driving gear II outward for installation on II output shaft of motor.There is the unloading after accident for closing walking robot on coal yard ceiling in the present invention, facilitates the repair of walking robot, reduces operation and maintenance cost.
Description
Technical field
The present invention relates to working at height robotic technology field, a kind of specific travel in high sky rescuing robot device.
Background technology
Coal yard is the indispensable critical facility in coal-burning power plant, and the dust that conventional outdoor coal yard generates is to the ring of surrounding
Border influences very big, and past majority power plant are controlled by the way of wind-proof dust-suppression net is arranged around the coal yard.With industrial production
Fast development, China's regionality atmospheric issues are increasingly severe, how to control the focus that PM2.5 is increasingly becoming public attention.
Under the guiding of national environmental protection policy, the pollution caused by coal dust object control measure that newly-built thermal power plant generates coal handling system are more and more completeer
It is kind.In this background, totally-enclosed coal yard theory is widely praised highly in the design of current large coal-fired power plant.
The coal storage in coal yard of making an inventory is the important link worked out enterprise's production schedule and calculate economic benefit.State at present
The disk coal method of interior outdoor coal yard includes mainly the methods of manual measurement, laser radar disk coal, unmanned plane measurement.It is artificial to survey
Amount, laser radar disk coal labor intensity are big, and measurement error is big；Unmanned plane, which measures, is suitble to outdoor coal yard, due to closed coal yard
Space limits, and unmanned plane measurement is not easy to realize.Therefore, the disk coal work that closing coal yard is carried out using track machine people is gradually emerging
It rises, to reduce the disk coal amount of labour, improves disk coal efficiency.But track machine people is operated on more than 20 meters high closing coal yard ceiling, when
It is difficult to sue and labour when failure.
Invention content
In order to solve the above technical problems, the present invention provides a kind of travel in high sky rescuing robot equipment mechanism.
The invention is realized by the following technical scheme：A kind of travel in high sky rescuing robot equipment mechanism,
Including walking robot and rescue robot；
The walking robot includes rack II, the driving gear II in rack II, driving gear set II, track
Wheel group II and motor II；
The rescue robot includes rack I, the driving gear I in rack I, driving gear set I, rail wheel group
I and motor I；
It is connected with rescue facility between the walking robot and rescue robot；
The rescue facility include be fixed on the clamp spring of walking robot one end and be fixed on rescue robot one end with
The top tongue of clamp spring cooperation；Being slidably installed in walking robot, there are one sliding bars；Described sliding bar one end is stuck in clamp spring, sliding
Lever is fixed at driving gear II there are one supporting rod；There are one idler wheel, the wheel face pressures of idler wheel for installation on the supporting rod
In the outside of driving gear II；The driving gear II is slidably mounted on II output shaft of motor, in II output shaft of motor
There are one the springs for pushing away driving gear II outward for upper installation.
It is further：It is fixed with video camera hanging point and battery case under the walking robot rack II.
The clamp spring is integrally fixed at two elastic pieces being arranged symmetrically of walking robot one end；Two elastic pieces
Outer end is in the flare openings being inclined outwardly；The top tongue is and two elastic pieces are open matched wedge structures；When top tongue
After in two elastic piece of jacking opening, the rear end cooperation for pushing up tongue is stuck in two elastic piece openings.
The sliding bar outer end is respectively provided with a protrusion between two elastic pieces, in sliding bar outer end two sides, two
The deep gouge with sliding bar male cooperation is equipped on the inside of a elastic piece.
When walking robot breaks down, rescue robot is inserted into using top tongue in clamp spring, open-top latching sliding bar
Clamp spring simultaneously pushes sliding bar to move；The idler wheel of II outer end face of driving gear is pressed under the action of sliding bar from II end of driving gear
Face is left, and driving gear II is slided along motor shaft under the action of the spring, and disengagement is engaged with driving gear set II；At this moment,
Rescue robot hauls walking robot by the connection of top tongue and clamp spring and leaves.
The present invention provides a kind of travel in high sky rescuing robot device, occurs for closing walking robot on coal yard ceiling
Unloading after accident facilitates the repair of walking robot, reduces operation and maintenance cost.
Description of the drawings
Fig. 1 is schematic structural view of the invention；
Fig. 2 is that mechanism structure schematic diagram is helped in the present invention；
Fig. 3 is partial enlarged view in Fig. 2；
Fig. 4 is driving gear II and the structural schematic diagram at idler wheel in the present invention；
Fig. 5 is driving gear II and vertical view at idler wheel in the present invention.
In figure：1, rescue robot；1.1, driving gear set I；1.2, rail wheel group I；1.3, rescue facility；1.3.1 it, pushes up
Tongue；1.3.2, clamp spring；1.3.3, sliding bar；1.3.4, supporting rod；1.3.5, idler wheel；1.3.6, spring；2, walking robot；
2.1, driving gear set II；2.2, rail wheel group II；2.3, video camera hanging point；2.4, battery case；2.5, driving gear II；2.6、
Rack II.
Specific implementation mode
It is the specific embodiment of the present invention below, in conjunction with attached drawing, the invention will be further described.
As shown in Figure 1, a kind of travel in high sky rescuing robot installation is set up, include mainly walking robot 2, rescue machine
People 1, and mounted in walking robot 2 and rescues the rescue facility 1.3 between robot 1.Walking robot 2 include rack II 2.6,
Driving gear II 2.5, driving gear set II 2.1, rail wheel group II 2.2 in rack II 2.6 and motor II, and take the photograph
Camera hanging point 2.3,2.4 associated support mechanism of battery case and power control unit.Rescue robot 1 is to use and walking robot
The running gear of 2 identical drivings, rescue robot 1 include mainly rack I, driving gear I, driving cog in rack I
Wheel group I 1.1, rail wheel group I 1.2 and motor I.
In conjunction with shown in Fig. 2 and Fig. 3, rescue facility 1.3 includes being fixed on the clamp spring 1.3.2 of 2 one end of walking robot and consolidating
It is scheduled on the top tongue 1.3.1 with clamp spring 1.3.2 cooperations of 1 one end of rescue robot；Wherein, clamp spring 1.3.2 is integrally fixed at vehicle with walking machine
Two elastic pieces being arranged symmetrically of 2 one end of device people, elastic piece are first inclined outwardly, then bend inwards, be inclined outwardly later,
It is in finally the flare openings for having " hangnail " structure；Matched wedge shapes that top tongue 1.3.1 is and two elastic pieces are open
Structure；After pushing up in two elastic piece of tongue 1.3.1 jackings opening, the rear end cooperation of top tongue 1.3.1 is stuck in two elastic pieces " hangnail " knot
At structure.A sliding bar 1.3.3 is also equipped in walking robot 2, the outer end of sliding bar 1.3.3 is located at clamp spring 1.3.2's
Between two elastic pieces, it is respectively provided with a protrusion in the outer ends sliding bar 1.3.3 two sides, is equipped with and cunning on the inside of two elastic pieces
The deep gouge of lever 1.3.3 male cooperations, walking robot 2 work normally when, the outer ends sliding bar 1.3.3 be stuck in two elastic pieces it
Between.
Combine Fig. 4 and Fig. 5 shown in, sliding bar 1.3.3 is fixed at driving gear II 2.5 there are one supporting rod
1.3.4；There are one idler wheel 1.3.5, the wheel face of idler wheel 1.3.5 to be pressed in the outer of driving gear II 2.5 for installation on supporting rod 1.3.4
Side；Driving gear II 2.5 is slidably mounted on II output shaft of motor, and there are one will actively for installation on II output shaft of motor
The spring 1.3.6 that gear II 2.5 pushes away outward；When walking robot 2 works normally, idler wheel 1.3.5 is pressed in driving gear II 2.5
Outside ensure driving gear II 2.5 engaged with driving gear set II.
The course of work：
When the failure of walking robot 2 cannot walk, rescue robot 1 is promoted to walking rail using lifting device
On road, when the rescue robot 1 quickly walked is close to walking robot 2, top tongue 1.3.1 is inserted into clamp spring 1.3.2, and struts card
Spring 1.3.2 makes the protrusion on sliding bar 1.3.3 be detached from the groove on clamp spring 1.3.2, meanwhile, top tongue 1.3.1 pushes sliding bar
1.3.3 it moves, sliding bar 1.3.3 drives supporting rod 1.3.4 to remove the idler wheel 1.3.5 for being pressed in II 2.5 end face of driving gear, actively
Gear II 2.5 slides under the action of spring 1.3.6 along motor output shaft, makes driving gear II 2.5 and driving gear set II
2.1 being detached from.The barb on the tongue 1.3.1 of top at this time is stuck with the barb on clamp spring 1.3.2, the dragging row of rescue robot 1
Robot walking 2 returns at lifting device, is dropped on ground and is repaired by lifting device.
Claims (4)
1. a kind of travel in high sky rescuing robot equipment mechanism,
Including walking robot (2) and rescue robot (1)；
The walking robot (2) includes rack II (2.6), the driving gear II (2.5) being mounted in rack II (2.6), passes
Moving gear group II (2.1), rail wheel group II (2.2) and motor II；
The rescue robot (1) includes rack I, the driving gear I in rack I, driving gear set I (1.1), track
Wheel group I (1.2) and motor I；
It is characterized in that：
Rescue facility (1.3) is connected between the walking robot (2) and rescue robot (1)；
The rescue facility (1.3) includes being fixed on the clamp spring (1.3.2) of walking robot (2) one end and being fixed on rescue machine
The top tongue (1.3.1) with clamp spring (1.3.2) cooperation of people (1) one end；Being slidably installed in walking robot (2), there are one slidings
Bar (1.3.3)；Described sliding bar (1.3.3) one end is stuck in clamp spring (1.3.2), and sliding bar (1.3.3) is close to driving gear II
(2.5) supporting rod (1.3.4) there are one being fixed at；There are one idler wheel (1.3.5), idler wheels for installation on the supporting rod (1.3.4)
The wheel face of (1.3.5) is pressed in the outside of driving gear II (2.5)；The driving gear II (2.5) is slidably mounted on motor
On II output shaft, there are one the springs (1.3.6) for pushing away driving gear II (2.5) outward for installation on II output shaft of motor.
2. travel in high sky rescuing robot equipment mechanism according to claim 1, it is characterised in that：The walking robot
(2) video camera hanging point (2.3) and battery case (2.4) are fixed under rack II (2.6).
3. travel in high sky rescuing robot equipment mechanism according to claim 1, it is characterised in that：The clamp spring
(1.3.2) is integrally fixed at two elastic pieces being arranged symmetrically of walking robot (2) one end；The outer end of two elastic pieces is in
The flare openings being inclined outwardly；The top tongue (1.3.1) is and two elastic pieces are open matched wedge structures；When top tongue
After in two elastic piece of (1.3.1) jacking opening, the rear end cooperation of top tongue (1.3.1) is stuck in two elastic piece openings.
4. travel in high sky rescuing robot equipment mechanism according to claim 3, it is characterised in that：The sliding bar
The outer end (1.3.3) is respectively provided with a protrusion between two elastic pieces, in the outer end two sides sliding bar (1.3.3), in two institutes
State the deep gouge being equipped on the inside of elastic piece with sliding bar (1.3.3) male cooperation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610654585.8A CN106239522B (en) | 2016-08-10 | 2016-08-10 | Travel in high sky rescuing robot equipment mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610654585.8A CN106239522B (en) | 2016-08-10 | 2016-08-10 | Travel in high sky rescuing robot equipment mechanism |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106239522A CN106239522A (en) | 2016-12-21 |
| CN106239522B true CN106239522B (en) | 2018-07-27 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610654585.8A Active CN106239522B (en) | 2016-08-10 | 2016-08-10 | Travel in high sky rescuing robot equipment mechanism |
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Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107017578B (en) * | 2017-04-24 | 2019-04-12 | 南昌大学 | A kind of aerial high-voltage power transmission line crusing robot recyclable device |
| CN107297528B (en) * | 2017-06-05 | 2020-12-08 | 杨东佐 | Drill bit or screw tap and multi-station drilling or tapping device thereof |
| CN107309510A (en) * | 2017-06-13 | 2017-11-03 | 杨东佐 | A kind of screw tap and its tapping device and tapping method |
| CN112271658A (en) * | 2020-09-28 | 2021-01-26 | 深圳供电局有限公司 | Coating machine recycling system |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102005705A (en) * | 2010-10-29 | 2011-04-06 | 西安交通大学 | Suspended line walking robot |
| CN203804963U (en) * | 2014-02-17 | 2014-09-03 | 广州供电局有限公司 | Routing inspection robot |
| CN104681211A (en) * | 2015-03-06 | 2015-06-03 | 华北电力大学（保定） | Transmission line cable insulated rubber automatic wrapping device |
| CN105790152A (en) * | 2014-12-24 | 2016-07-20 | 中国科学院沈阳自动化研究所 | Foreign matter removing operation tool for power transmission line |
-
2016
- 2016-08-10 CN CN201610654585.8A patent/CN106239522B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102005705A (en) * | 2010-10-29 | 2011-04-06 | 西安交通大学 | Suspended line walking robot |
| CN203804963U (en) * | 2014-02-17 | 2014-09-03 | 广州供电局有限公司 | Routing inspection robot |
| CN105790152A (en) * | 2014-12-24 | 2016-07-20 | 中国科学院沈阳自动化研究所 | Foreign matter removing operation tool for power transmission line |
| CN104681211A (en) * | 2015-03-06 | 2015-06-03 | 华北电力大学（保定） | Transmission line cable insulated rubber automatic wrapping device |
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| Publication number | Publication date |
|---|---|
| CN106239522A (en) | 2016-12-21 |
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