CN109787150B - Four-bar linkage and inspection robot with four-bar linkage - Google Patents
Four-bar linkage and inspection robot with four-bar linkage Download PDFInfo
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- CN109787150B CN109787150B CN201910214663.6A CN201910214663A CN109787150B CN 109787150 B CN109787150 B CN 109787150B CN 201910214663 A CN201910214663 A CN 201910214663A CN 109787150 B CN109787150 B CN 109787150B
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Abstract
The invention discloses a four-bar mechanism and an inspection robot with the four-bar mechanism, and the inspection robot comprises a base connecting bar, a joint motor, a lifting bar driving motor and a lifting support, wherein the lifting bar driving motor is horizontally arranged at the upper part of the base connecting bar, a related joint motor is vertically arranged at the lower part of the base connecting bar, the lifting bar driving motor is connected with a driving joint component, the driving joint component is connected to the upper part of the lifting support, a driven joint component is arranged at the lower part of the base connecting bar, and the driven joint component is connected to the lower part of the lifting support. The inspection robot has the advantages of strong obstacle crossing capability, large climbing angle, stable structure, small volume, light weight, good safety during walking, high control precision, good real-time performance, convenience in adjustment, smooth obstacle crossing and improvement of obstacle crossing efficiency.
Description
Technical Field
The invention relates to the field of inspection robots, in particular to a four-bar mechanism and an inspection robot with the four-bar mechanism.
Background
Due to the wide range of our country and the complex geographical locations of many remote areas, they have been plagued by the lack of electricity for a long time. In recent years, with the development of national economy of China, a plurality of remote areas gradually realize the popularization of power resources, but due to the fact that the distance is far away, the economic investment can be greatly improved by using a high-voltage power transmission line for transmission, and the transmission of the ultrahigh-voltage power transmission line is in due course. The development of mobile robot technology provides a new technical platform for the inspection of overhead ultrahigh voltage power lines, but based on the actual situation, most inspection robots have limited obstacle crossing capability, especially cannot cross drainage wires, or part of robots can realize the obstacle crossing function.
For example, a transmission line inspection robot with automatically adjusted gravity center, which is disclosed in patent No. CN201810370199.5, realizes walking on a transmission line under the action of a driving mechanism by arranging three arms, namely a front arm, a middle arm and a rear arm; the telescopic action of the machine body in the vertical direction, namely the stretching and contracting states, is realized through the telescopic mechanism; the opening and closing actions of the driving mechanism, namely the opening and closing states, are realized through the opening and closing mechanism; the horizontal movement of the box body in the horizontal direction, namely left-sliding and right-sliding states, is realized through a horizontal sliding mechanism; the opening and closing actions of the middle arm, namely the opening and closing states, are realized through the clamping mechanism; the pitching mechanism is used for realizing the swinging of the front arm and the rear arm, namely swinging out and retracting. Therefore, when encountering an obstacle, the three arms are matched to orderly extend and contract, open and close, swing out and retract the front arm and the rear arm, open and close the middle arm, and slide left and right to realize the function of crossing the obstacle. However, although the inspection robot can achieve the basic obstacle crossing function, the inspection robot adjusts the driving wheel through the clamping mechanism and the opening and closing mechanism, so that the driving wheel can be smoothly matched with the electric wire, and under the condition that the clamping mechanism and the opening and closing mechanism are opened, the inspection robot has the risk of falling off the electric wire, and great potential safety hazards exist. In addition, the structure of the inspection robot is complex, so that the inspection robot is difficult to control and large in size, inconvenience is brought to inspection and transportation of the robot, and inspection efficiency is affected.
Disclosure of Invention
The invention aims to provide a four-bar mechanism and an inspection robot with the four-bar mechanism, aiming at the defects of the prior art, the inspection robot has the advantages of strong obstacle crossing capability, large climbing angle, stable structure, small volume, light weight, good safety during walking, high control precision, good real-time performance, convenient adjustment, smooth obstacle crossing and improved obstacle crossing efficiency.
In order to solve the technical problems, the following technical scheme is adopted:
the utility model provides a four-bar linkage, includes base connecting rod, joint motor, lifter driving motor and lifting support, the upper portion level of base connecting rod is provided with lifter driving motor, the vertical relevant section motor that sets up in lower part of base connecting rod, lifter driving motor is connected with initiative joint Assembly, initiative joint Assembly connect in lifting support's upper portion, the lower part of base connecting rod is equipped with driven joint Assembly, driven joint Assembly connect in lifting support's lower part.
Preferably, the driving joint assembly comprises a first driving joint, a second driving joint and a driving joint connecting rod, the left end of the driving joint connecting rod is connected with the first driving joint, the middle part of the first driving joint is sleeved with an output shaft of the lifting rod driving motor, the right end of the driving joint connecting rod is connected with the second driving joint, and the middle part of the second driving joint is sleeved on the upper part of the lifting support.
Preferably, the driven joint assembly comprises a first driven joint, a second driven joint and a driven joint connecting rod, the left end of the driven joint connecting rod is connected with the first driven joint, the middle of the first driven joint is sleeved on the lower portion of the base connecting rod, the right end of the driven joint connecting rod is connected with the second driven joint, and the middle of the second driven joint is sleeved on the lower portion of the lifting support.
Preferably, the lifting support is of an inverted L shape, the lifting support comprises a vertical rod part and a horizontal rod part, the top side surface of the vertical rod part is connected with the driving joint assembly, and the bottom side surface of the vertical rod part is connected with the driven joint assembly.
The utility model provides an inspection robot, its includes the body, the body includes as above-mentioned arbitrary four-bar linkage.
Preferably, the body still includes running gear, running gear includes driving motor, shaft coupling, drive shaft and drive wheel, driving motor install in lifting support's lower part, shaft coupling, drive shaft and drive wheel all are provided with two pairs, driving motor's both ends all are equipped with the output shaft, the output shaft is connected the shaft coupling, the coupling joint the drive shaft, the drive shaft is connected the drive wheel.
Preferably, the drive shaft is externally sleeved with a drive shaft housing.
Preferably, the body further comprises a control box and a main support, the control box is arranged on the lower side of the middle of the main support, and the four-bar mechanism is arranged on the upper portions of the two ends of the main support.
Due to the adoption of the technical scheme, the method has the following beneficial effects:
the invention relates to a four-bar mechanism and an inspection robot with the four-bar mechanism, wherein the inspection robot has the advantages of strong obstacle crossing capability, large climbing angle, stable structure, small volume, light weight, good safety during walking, high control precision, good real-time performance, convenience in adjustment, capability of smoothly crossing obstacles and capability of improving the obstacle crossing efficiency.
1. The crawling obstacle crossing capability is strong: the walking mechanisms are arranged on the front lifting support and the rear lifting support of the inspection robot, and the driving wheels of the walking mechanisms are controlled and driven by the high-power driving motors, so that the walking capability of the inspection robot is strong.
2. Control is simple, and the precision is high: by arranging the control box, various control units, motor drivers and other electrical elements are arranged in the control box, the control box is a brain core unit of the robot, and is provided with the camera and the infrared detector in a matching manner, so that walking line information can be clearly transmitted to the ground base station through the wireless network bridge, and the quality of inspection work of the power transmission line is ensured; but also remote control, but the wide application is patrolled and examined work in transmission line. The automatic control during walking and obstacle crossing is realized, the obstacle crossing time is short, and the efficiency is high.
3. The adjusting performance is good, the lifting adjustment and the rotation adjustment of the whole walking mechanism can be realized by arranging the four-bar mechanism, the adjustment is simple and flexible, and the four-bar mechanism is suitable for obstacles such as suspension wire clamps, vibration dampers, drainage wires and telegraph poles on various power transmission lines.
Drawings
Fig. 1 is a schematic structural diagram of an inspection robot in embodiment 1 of the present invention;
FIG. 2 is a schematic structural view of a four-bar linkage mechanism according to embodiment 1 of the present invention;
FIG. 3 is a schematic structural diagram of an active joint component according to embodiment 1 of the present invention;
FIG. 4 is a schematic structural view of a driven joint assembly in embodiment 1 of the present invention;
FIG. 5 is an external configuration view of a traveling mechanism in embodiment 1 of the present invention;
FIG. 6 is a schematic view showing an internal sectional structure of a running mechanism in embodiment 1 of the present invention;
FIG. 7 is a schematic structural view showing the fitting connection of the traveling mechanism and the four-bar linkage to each other in embodiment 1 of the present invention;
FIG. 8 is a schematic structural view of a safety mechanism in embodiment 1 of the present invention;
FIG. 9 is a schematic structural view of a lock device in embodiment 1 of the present invention;
FIG. 10 is a schematic structural view of a lock wheel assembly in embodiment 1 of the present invention;
fig. 11 is a schematic structural diagram of an inspection robot arranged on a power transmission line in embodiment 1 of the present invention;
fig. 12 is a schematic structural view of a screw motor-driven electric lifter mechanism according to embodiment 2 of the present invention;
fig. 13 is a schematic structural diagram of an inspection robot arranged on a power transmission line in embodiment 2 of the present invention;
fig. 14 is a structural schematic diagram of the obstacle-crossing size of the inspection robot in the invention.
In the figure: 1-a control box; 2-main support; 3-a four-bar linkage; 4-a traveling mechanism; 5-a safety mechanism; 6-base link; 7-a joint motor; 8-lifting rod driving motor; 9-lifting support; 10-an active joint component; 11-a driven joint assembly; 12-a first active joint; 13-a second active joint; 14-an active joint link; 15-a first slave joint; 16-a second slave joint; 17-a slave joint link; 18-a vertical rod portion; 19-a horizontal bar portion; 20-a drive motor; 21-a coupler; 22-a drive shaft; 23-a drive wheel; 24-a drive shaft housing; 25-a safety card holder; 26-a locking device; 27-a locking wheel assembly; 28-locking wheel rod; 29-a locking wheel lever; 30-a locking wheel motor; 31-fulcrum bar; 32-secure card rotation axis; 33-a security card rotating motor; 34-safety card rotating motor base; a 35-U-shaped locking wheel bearing frame; 36-a pinch roller; 37-tightening the wheel shaft; 38-a fastener; 39-rotation regulating motor; 40-vertical cylinder.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood, however, that the description herein of specific embodiments is only intended to illustrate the invention and not to limit the scope of the invention. Moreover, in the following description, descriptions of well-known structures and techniques are omitted so as to not unnecessarily obscure the concepts of the present invention.
Example 1
Referring to fig. 1, an inspection robot includes a control box 1, a main support 2, a four-bar linkage 3, a traveling mechanism 4 and a safety mechanism 5, the lower side of the middle portion of the main support 2 is provided with the control box 1, electric elements such as various control units, motor drivers and the like are arranged in the control box 1, the upper portions of the two ends of the main support 2 are provided with the four-bar linkage 3, the side face of the top of the four-bar linkage 3 is provided with the traveling mechanism 4, and the traveling mechanism 4 is provided with the safety mechanism 5. Specifically, four bar linkage 3, running gear 4 and safety mechanism 5 all are provided with two pairs, form the forearm part and the postbrachium part of patrolling and examining the robot, and the forearm part is located the anterior of main support 2, the postbrachium part is located the rear portion of main support 2, the same and all can realize going up and down, rotatory, walking and safe locking of forearm part and postbrachium part's structure.
Specifically, in this embodiment, referring to fig. 2 and 7, the four-bar linkage 3 includes a base link 6, a joint motor 7, a lift lever driving motor 8 and a lift bracket 9, the upper portion of the base link 6 is horizontally provided with the lift lever driving motor 8, the lower portion of the base link 6 is vertically provided with the joint motor 7, the joint motor 7 is connected with the main bracket 2, the lift lever driving motor 8 is connected with a driving joint assembly 10, the driving joint assembly 10 is connected to the upper portion of the lift bracket 9, the lower portion of the base link 6 is provided with a driven joint assembly 11, and the driven joint assembly 11 is connected to the lower portion of the lift bracket 9. The four-bar mechanism 3 has two functions of driving the running mechanism 4 to rotate and lift, when the running mechanism 4 needs to rotate, the four-bar mechanism 3 can rotate around the installation joint part of the base connecting rod 6 by a certain angle under the driving of the joint motor 7, and the rotation control of the running mechanism 4 can be realized through the control unit of the control box 1. At the moment, the lifting rod driving motor 8 keeps a horizontal normal state under self-locking, and can also keep a lifting normal state under the driving of the lifting rod driving motor 8, so that the obstacle crossing of the robot is realized by matching with other parts. When the running gear 4 needs to carry out lifting motion, the driving joint component 10 is driven to rotate by the driving motor 8 of the lifting rod, so that the driven joint component 11 follows to rotate, the lifting support 9 can be driven to carry out lifting motion, the vertical lifting of the running gear 4 is realized, and the obstacle crossing of the robot is realized by matching with other parts.
Specifically, in this embodiment, referring to fig. 3, the driving joint assembly 10 includes a first driving joint 12, a second driving joint 13 and a driving joint connecting rod 14, the left end of the driving joint connecting rod 14 is connected to the first driving joint 12, an output shaft of the lifting rod driving motor 8 is sleeved in the middle of the first driving joint 12, the right end of the driving joint connecting rod 14 is connected to the second driving joint 13, and the middle of the second driving joint 13 is sleeved on the upper portion of the lifting support 9.
Specifically, in this embodiment, referring to fig. 4, the driven joint assembly 11 includes a first driven joint 15, a second driven joint 16 and a driven joint connecting rod 17, the left end of the driven joint connecting rod 17 is connected with the first driven joint 15, the middle part of the first driven joint 15 is sleeved on the lower part of the base connecting rod 6, the right end of the driven joint connecting rod 17 is connected with the second driven joint 16, and the middle part of the second driven joint 16 is sleeved on the lower part of the lifting support 9.
Specifically, in this embodiment, referring to fig. 2 and 7, the lifting bracket 9 is in an inverted "L" shape, the lifting bracket 9 includes a vertical rod portion 18 and a horizontal rod portion 19, a top side surface of the vertical rod portion 18 is connected to the driving joint assembly 10, a bottom side surface of the vertical rod portion 18 is connected to the driven joint assembly 11, and a side surface of the horizontal rod portion 19 is connected to the traveling mechanism 4.
Specifically, in this embodiment, referring to fig. 5, 6 and 7, the traveling mechanism 4 includes a driving motor 20, a coupling 21, a driving shaft 22 and a driving wheel 23, the driving motor 20 is installed at the lower portion of the lifting bracket 9, the coupling 21, the driving shaft 22 and the driving wheel 23 are all provided with two pairs, two ends of the driving motor 20 are all provided with an output shaft, the output shaft is connected to the coupling 21, the coupling 21 is connected to the driving shaft 22, and the driving shaft 22 is connected to the driving wheel 23. The drive shaft 22 is externally sleeved with a drive shaft housing 24. The outside cover of driving motor 20 is equipped with the driving motor seat, and the driving motor seat sets up in the lower part of the horizontal pole portion 19 of lifting support 9. The walking mechanism 4 is provided with two pairs, each pair of walking mechanism 4 is matched with one driving motor 20, two couplers 21, two driving shafts 22 and two driving wheels 23, specifically, when the inspection robot needs to walk on a power transmission line again, the driving motors 20 drive motor output shafts at the left end and the right end to move simultaneously, the driving wheels 23 are driven to walk on the power transmission line under the action of the couplers 21, the driving motors 20 are controlled by high-power motors and are main power sources for the robot to walk on the power transmission line, and the walking and stopping of the inspection robot can be realized by controlling the rotation and stopping of the driving motors 20.
Specifically, in this embodiment, referring to fig. 8, 9 and 10, the safety mechanism 5 includes a safety card holder 25 and a locking device 26, the locking device 26 includes a locking wheel assembly 27, a locking wheel lever 28, a locking wheel lever 29 and a locking wheel motor 30, the locking wheel motor 30 is fixedly mounted on a side portion of the safety card holder 25, an output end of the locking wheel motor 30 is hinged to one end of the locking wheel lever 29, the other end of the locking wheel lever 29 is connected to a middle portion of the locking wheel lever 28, a fulcrum lever 31 is disposed in the middle portion of the locking wheel lever 29, the fulcrum lever 31 is fixedly mounted on the safety card holder 25, and the locking wheel assemblies 27 are disposed at two ends of the locking wheel lever 28.
Specifically, in this embodiment, referring to fig. 8, 9 and 10, a safety card rotating shaft 32 is disposed at an end of the safety card seat 25 close to one side of the locking wheel motor 30, the safety card rotating shaft 32 is connected to a safety card rotating motor 33, a safety card rotating motor base 34 is disposed at a top of the safety card rotating motor 33, and the safety card rotating motor base 34 is disposed on the traveling mechanism 4.
Specifically, in the present embodiment, referring to fig. 8, 9 and 10, the locking wheel assembly 27 includes a U-shaped locking wheel bearing frame 35, a tightening wheel 36 and a tightening wheel shaft 37, wherein the lower portion of the U-shaped locking wheel bearing frame 35 is fixedly mounted on both ends of the locking wheel lever 29 by fasteners 38, and the tightening wheel 36 is rotatably mounted on the inner side surface of the U-shaped locking wheel bearing frame 35 by the tightening wheel shaft 37.
By providing the safety mechanism 5, wherein the locking wheel is provided with a bearing, it can be passively rotated along with the movement of the robot. Two locking wheels are installed on a locking wheel lever 29 through a locking wheel rod 28, the fulcrum of the locking wheel lever 29 is on the safety clamping seat 25, and the locking wheel lever 29 rotates through a locking wheel motor 30 installed on the safety clamping seat 25 (the locking wheel motor 30 is a lead screw motor in the prior art) to realize self tilting and falling, so that the locking wheels are loosened and locked. Safety cassette 25 is installed on safety card rotating electrical machines seat 34 through safety card rotating electrical machines 33, rotation through the motor shaft of safety card rotating electrical machines 33, realize closing and the sending out of drive wheel 23 of safety cassette 25 and running gear 4, be different from the fixture and the mechanism that opens and shuts of the patent of background art, owing to through safety mechanism 5, can lock drive wheel 23 completely, guarantee at least that one drive wheel 23 locks completely on the transmission line, guarantee that drive wheel 23 can not follow the landing on the transmission line, the stability of robot operation has been guaranteed, the security performance of whole mechanism has been improved.
The working principle of the invention is as follows:
the robot normal driving state:
at this time, the safety device works to prevent the robot from rolling over and falling, and the schematic diagram is shown in fig. 11.
(II) the obstacle avoidance state of the robot:
process 1: rear drive wheel 23 is locked
The front driving wheel 23 stops moving, the rear driving wheel 23 is driven by the locking wheel driving motor 20 through the safety mechanism 5, the locking lever is pulled down, the locking wheel is in contact with the electric wire, and therefore the locking lever and the driving wheel 23 act together, the clamp inspection robot is prevented from slipping. Meanwhile, due to the special structure of the locking wheel, the robot can be kept to topple in the front-back direction.
And (2) a process: the safety mechanism 5 of the front driving wheel 23 is released
After the rear driving wheel 23 is locked, the safety gear 5 of the front driving wheel 23 is rotated 90 degrees counterclockwise, so that the front safety gear 5 is released.
And 3, process: the front driving wheel 23 is lifted while rotating by 90 °
The front driving wheel 23 is locked by the joint motor 7 after rising to a certain angle through the front four-bar linkage 3, and then the four-bar linkage base joint motor 7 rotates 90 degrees outwards.
And 4, process: the safety gear 5 of the rear driving wheel 23 is released, while the rear driving front wheel advances
And (5) a process: rear drive wheel 23 is locked
After the rear driving wheel 23 has advanced close to the obstacle, the safety gear 5 of the rear driving wheel 23 locks.
And 6, a process: the front driving wheel 23 returns to the locking position
After the front driving wheel 23 rotates 90 degrees, the driving wheel 23 is descended to the power transmission line, and then after the safety mechanism 5 rotates 90 degrees, the locking wheel of the front safety mechanism 5 is closed and locked.
And (7) a process: four-bar lifting of the rear drive wheel 23
The safety gear 5 of the rear driving wheel 23 rotates 90 ° counterclockwise, and the rear driving wheel 23 rotates 90 ° counterclockwise after rising to a certain height.
And (8) a process: the front driving wheel 23 advances
The locking mechanism of the front driving wheel 23 is released and the front driving wheel 23 is advanced to the proper position.
And a process 9: the rear driving wheel 23 returns to the electric line and the obstacle crossing is finished
After the front driving wheel 23 runs to a proper position, the safety mechanism 5 of the front driving wheel 23 is locked to prevent the inspection robot from sliding integrally, the rear driving wheel 23 rotates 90 degrees along the pointer, then the four-bar mechanism 3 lowers the proper position to enable the driving wheels 23 on the two sides to fall on the power transmission line, and then the safety mechanism 5 of the rear driving wheel 23 rotates 90 degrees clockwise, so that obstacle crossing is completed. The forward movement can be continued after the safety gear 5 of the front driving wheel 23 is released.
Obstacle crossing size parameters are given for different obstacles. The types of obstacles mainly include: a vibration damper, a connecting ring, a spacer, a suspension clamp, an insulator, a telegraph pole and the like.
The obstacles are the largest in size of the utility pole, and therefore, the obstacle crossing manner of the vibration damper, the connection ring, the spacer, the suspension clamp and the insulator can be referred to the obstacle crossing manner of the utility pole.
According to the obstacle crossing working mode of the inspection robot, the obstacle crossing size area of the robot can be obtained to be S = L W.
Wherein L is the obstacle crossing wheel bar spacing of the inspection robot, and W is the spacing between the traveling wheels of the inspection robot, as shown in fig. 14;
the length L1 ≦ L and the width W1 ≦ W of the obstacle, the robot can get past regardless of the shape of the obstacle, see fig. 14.
Example 2
This example differs from example 1 in that: referring to fig. 12 and 13 in particular, the four-bar linkage 3 may be changed into an electric lifting rod mechanism driven by a lead screw motor, and may also realize the same function, and other technical features are the same as those of embodiment 1. Specifically, screw motor driven electric lift rod mechanism includes rotation regulation motor 39, vertical barrel 40 and the screw motor of bottom, rotation regulation motor 39 is located screw motor driven electric lift rod mechanism's bottom, acts on the joint motor 7 in embodiment 1 the same, and rotation regulation motor 39's upper portion is equipped with vertical barrel 40, be equipped with the screw motor in the vertical barrel 40 and be connected with lifting support 9.
The above is only a specific embodiment of the present invention, but the technical features of the present invention are not limited thereto. Any simple changes, equivalent substitutions or modifications made on the basis of the present invention to solve the same technical problems and achieve the same technical effects are all covered in the protection scope of the present invention.
Claims (3)
1. The utility model provides a patrol and examine robot, its includes the body, its characterized in that: the body comprises a four-bar mechanism, the four-bar mechanism comprises a base connecting bar, a joint motor, a lifting bar driving motor and a lifting support, the lifting bar driving motor is horizontally arranged at the upper part of the base connecting bar, a relevant joint motor is vertically arranged at the lower part of the base connecting bar, the lifting bar driving motor is connected with a driving joint assembly, the driving joint assembly is connected to the upper part of the lifting support, a driven joint assembly is arranged at the lower part of the base connecting bar, and the driven joint assembly is connected to the lower part of the lifting support; the driving joint assembly comprises a first driving joint, a second driving joint and a driving joint connecting rod, the left end of the driving joint connecting rod is connected with the first driving joint, the middle part of the first driving joint is sleeved with an output shaft of a lifting rod driving motor, the right end of the driving joint connecting rod is connected with the second driving joint, and the middle part of the second driving joint is sleeved on the upper part of the lifting support; the driven joint assembly comprises a first driven joint, a second driven joint and a driven joint connecting rod, the left end of the driven joint connecting rod is connected with the first driven joint, the middle part of the first driven joint is sleeved on the lower part of the base connecting rod, the right end of the driven joint connecting rod is connected with the second driven joint, and the middle part of the second driven joint is sleeved on the lower part of the lifting support; the lifting support is in an inverted L shape and comprises a vertical rod part and a horizontal rod part, the side surface of the top of the vertical rod part is connected with the driving joint assembly, and the side surface of the bottom of the vertical rod part is connected with the driven joint assembly; the body further comprises a travelling mechanism, a safety mechanism is arranged on the travelling mechanism, the travelling mechanism comprises a driving motor, a coupler, a driving shaft and a driving wheel, the driving motor is mounted at the lower part of the lifting support, the coupler, the driving shaft and the driving wheel are respectively provided with two pairs, output shafts are arranged at two ends of the driving motor, the output shafts are connected with the coupler, the coupler is connected with the driving shaft, and the driving shaft is connected with the driving wheel; the body still includes safety mechanism, safety mechanism includes safety cassette and locking device, locking device includes locking wheel subassembly, locking wheel pole, locking wheel lever and locking wheel motor, locking wheel motor fixed mounting in the lateral part of safety cassette, the output of locking wheel motor articulates in the one end of locking wheel lever, the other end of locking wheel lever connect in the middle part of locking wheel pole, the middle part of locking wheel lever is equipped with the fulcrum pole, fulcrum pole fixed mounting in on the safety cassette, the both ends of locking wheel pole are equipped with the locking wheel subassembly.
2. The inspection robot according to claim 1, wherein: and a driving shaft shell is sleeved outside the driving shaft.
3. The inspection robot according to claim 1, wherein: the body further comprises a control box and a main support, the control box is arranged on the lower side of the middle of the main support, and the four-bar mechanism is arranged on the upper portions of the two ends of the main support.
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| CN201910214663.6A CN109787150B (en) | 2019-03-20 | 2019-03-20 | Four-bar linkage and inspection robot with four-bar linkage |
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| CN103887734A (en) * | 2012-12-20 | 2014-06-25 | 中国科学院沈阳自动化研究所 | Four-connecting-rod mass-center-adjustable patrol robot mechanism |
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Denomination of invention: A Four Link Mechanism and Its Inspection Robot with Four Link Mechanism Effective date of registration: 20231108 Granted publication date: 20210409 Pledgee: Guotou Taikang Trust Co.,Ltd. Pledgor: Hangzhou Shenhao Technology Co.,Ltd. Registration number: Y2023980064429 |