CN110803233B - Computer-controlled crawling robot - Google Patents
Computer-controlled crawling robot Download PDFInfo
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- CN110803233B CN110803233B CN201911064425.8A CN201911064425A CN110803233B CN 110803233 B CN110803233 B CN 110803233B CN 201911064425 A CN201911064425 A CN 201911064425A CN 110803233 B CN110803233 B CN 110803233B
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- crank arm
- wheel
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- telescopic
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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 relates to the field of robots, in particular to a computer-controlled crawling robot which comprises a main frame, crawling wheels, supporting wheels, a walking motor, a power supply, a rotating crank arm, a clamping crank arm, a telescopic auxiliary wheel carrier, a telescopic locking device, a crank arm angle adjusting mechanism, a tensioning mechanism and an adjusting motor, wherein the main frame comprises a crawling wheel seat, a main board, a crank arm seat, a mounting board, a hook frame I, a motor mounting board and a limiting frame, the crawling wheels comprise walking wheels, belt pulleys and rotating shafts, the rotating crank arm comprises a crank arm I, a supporting shaft, an adjusting linkage seat, a hook board I, a tension spring and a connecting seat, the clamping crank arm comprises a crank arm II, a clamping rotating shaft, a hook board II, a sliding groove and a locking groove, the telescopic auxiliary wheel carrier comprises an auxiliary wheel, a telescopic arm, a clamping plate and a T-shaped sliding groove, and the telescopic locking device comprises a locking plate, The invention has the advantages of wide range of adapting to pipelines with different outer diameters and strong practicability.
Description
Technical Field
The invention relates to the field of robots, in particular to a computer-controlled crawling robot.
Background
The robot is more extensive in the application in many trades and fields, not only can carry out the work mode of replacing the people under the abominable environment such as poisonous, dust, moreover in some artifical inconvenient places from top to bottom, especially in the detection to the pipeline, the robot has also played very big effect, and current pipeline outer wall robot of crawling carries out the testing process to the pipeline, and the scope that adapts to different external diameter pipelines is little, and the practicality is poor.
Disclosure of Invention
The invention aims to provide a computer-controlled crawling robot which can adapt to pipelines with different outer diameters in a wide range and is high in practicability.
The purpose of the invention is realized by the following technical scheme:
a computer-controlled crawling robot comprises a main frame, crawling wheels, supporting wheels, a walking motor and a power supply, wherein the crawling wheels are two, the two crawling wheels are respectively connected to the front end and the rear end of the main frame in a rotating mode, the supporting wheels are connected to the rear end of the main frame in a rotating mode, the walking motor is fixedly connected to the front end of the main frame, the two crawling wheels, the supporting wheels and the walking motor are connected through a belt in a transmission mode, the power supply is fixedly connected to the main frame, the power supply is connected with the walking motor through a conducting wire, the computer-controlled crawling robot further comprises four rotating crank arms, four clamping crank arms, a telescopic auxiliary wheel frame, a telescopic locking device, a crank arm angle adjusting mechanism, a tensioning mechanism and an adjusting motor, the four rotating crank arms are all rotatably connected to the main frame, the two rotating crank arms at the front portion and the two rotating crank arms at the rear portion are all symmetrically arranged, the four rotating crank arms are all rotatably connected with clamping crank arms, the four clamping crank arms are all slidably connected with telescopic auxiliary wheel frames, the four telescopic auxiliary wheel frames are all slidably connected with telescopic locking devices, the four telescopic locking devices are respectively slidably connected with the four clamping crank arms, two crank arm angle adjusting mechanisms are arranged, one crank arm angle adjusting mechanism is in threaded connection with the two rotating crank arms positioned at the front part, the other crank arm angle adjusting mechanism is in threaded connection with the two rotating crank arms positioned at the rear part, the tensioning mechanism is rotatably connected on the main frame, the adjusting motor is fixedly connected on the main frame, the two crank arm angle adjusting mechanisms, the tensioning mechanism and the adjusting motor are in transmission connection through belts, and the adjusting motor is connected with a power supply through a lead;
the main frame comprises crawling wheel seats, a main board, four curved arm seats, a mounting board, a hook frame I, a motor mounting board and two limiting frames, the crawling wheel seats are welded at the front end and the rear end of the main board, the four curved arm seats are welded on the main board, the mounting board, the hook frame I and the motor mounting board are fixedly connected to the upper end face of the main board, the two limiting frames are welded to the upper end face of the main board, the two crawling wheels are respectively and rotatably connected to the lower ends of the two crawling wheel seats, supporting wheels are rotatably connected to the upper end of the crawling wheel seat at the rear end through bearings, a walking motor is fixedly connected to the upper end of the crawling wheel seat at the front end through bolts, and a power supply is fixedly connected to the main board through bolts;
the crawling wheel comprises walking wheels, belt pulleys and rotating shafts, the walking wheels are fixedly connected to two ends of each belt pulley, the belt pulleys are rotatably connected to the rotating shafts, the two rotating shafts are rotatably connected to the lower ends of the two crawling wheel seats through bearings respectively, a transmission belt pulley is arranged on an output shaft of the walking motor, and the two belt pulleys, the supporting wheel and the transmission belt pulley on the output shaft of the walking motor are in transmission connection through belts;
the rotary crank arm comprises a crank arm I, a support shaft, an adjusting linkage seat, a hook plate I, a tension spring and a connecting seat, wherein the support shaft is fixedly connected to the upper end of the crank arm I;
the clamping crank arm comprises a crank arm II, clamping rotating shafts, hook plates II, sliding grooves and locking grooves, the upper end of the crank arm II is fixedly connected with the clamping rotating shafts, the sliding grooves are formed in the lower end of the crank arm II along the direction of the crank arm, a plurality of locking grooves are formed in the outer ends of the sliding grooves, the hook plates II are fixedly connected to the inner circle of the crank arm II, four clamping crank arms are arranged, the four clamping rotating shafts are respectively and rotatably connected to four connecting seats, and the four hook plates II are fixedly connected with the lower ends of four tension springs;
the telescopic auxiliary wheel frame comprises auxiliary wheels, telescopic arms, clamping plates and T-shaped sliding grooves, the auxiliary wheels are rotatably connected to the lower ends of the telescopic arms, the clamping plates are fixedly connected to the upper ends of the telescopic arms, the T-shaped sliding grooves are formed in the upper ends of the telescopic arms and correspond to the clamping plates, the four telescopic auxiliary wheel frames are provided, and the four telescopic arms are respectively connected into the four sliding grooves in a sliding mode;
the telescopic locking device comprises four locking plates, four compression springs, four sliding columns and four clamping plates, wherein the locking plates are fixedly connected to one ends of the pressing plates, the sliding columns are fixedly connected to the pressing plates, the compression springs are sleeved on the sliding columns, the four locking plates are respectively connected into the four T-shaped sliding grooves in a sliding mode, the four sliding columns are respectively connected onto the four clamping plates in a sliding mode, the four compression springs are located between the pressing plates and the clamping plates, and the four T-shaped sliding grooves are respectively connected with one locking groove in a sliding mode;
the crank arm angle adjusting mechanism comprises adjusting wheels, threaded rods and adjusting moving blocks, the threaded rods are fixedly connected to two ends of each adjusting wheel, the two threaded rods are coaxial, the thread turning directions are opposite, the two adjusting moving blocks are arranged and are respectively connected to the two threaded rods through threads, the crank arm angle adjusting mechanism is provided with two adjusting wheels which are respectively connected in the two limiting frames in a sliding mode, and the four adjusting moving blocks are respectively connected with the four adjusting linkage seats in a rotating mode;
the tensioning mechanism comprises a tensioning plate, a tensioning rotating shaft, a tensioning tension spring, a hook frame II and a tensioning wheel, wherein the lower end of the tensioning plate is fixedly connected with the tensioning rotating shaft, the tensioning rotating shaft is rotatably connected to the mounting plate, the upper end of the tensioning plate is rotatably connected with the tensioning wheel, the hook frame II is fixedly connected to the tensioning plate, the upper end of the tensioning tension spring is fixedly connected with the hook frame II, the lower end of the tensioning tension spring is fixedly connected with the hook frame I, the adjusting motor is fixedly connected to the motor mounting plate, a belt wheel is arranged on an output shaft of the adjusting motor, and the two adjusting wheels, the tensioning plate and the belt wheel on the output shaft of the adjusting;
the outer surfaces of the travelling wheels and the auxiliary wheels are both provided with anti-skid rubber.
The invention has the beneficial effects that: the invention provides a computer-controlled crawling robot, which is characterized in that an auxiliary wheel is matched with a crawling wheel by rotating a crank arm and clamping the tension of a tension spring between the crank arms to tightly hold a pipeline, so that the computer-controlled crawling robot crawls outside the pipeline along with the rotation of the crawling wheel; the crawling wheels are arranged at the two ends of the belt pulley at intervals through the two walking wheels, so that the computer-controlled crawling robot can crawl on the pipeline more stably; slide in pressing from both sides tight crank arm through flexible auxiliary wheel frame to by its flexible length of flexible locking device control, adjust the opening angle that rotates crank arm through crank arm angle adjustment mechanism simultaneously, can make this computer control creep robot can adapt to the scope of different external diameter pipelines big, improve the practicality.
Drawings
FIG. 1 is a first general structural diagram of the present invention;
FIG. 2 is a second overall structural schematic of the present invention;
FIG. 3 is a partial schematic view of the first embodiment of the present invention;
FIG. 4 is a second partial schematic view of the present invention;
FIG. 5 is a third schematic view of a portion of the present invention;
FIG. 6 is a schematic view of a partially enlarged structure of the present invention;
FIG. 7 is a schematic view of the construction of the main frame of the present invention;
FIG. 8 is a cross-sectional schematic view of the creeper wheel of the present invention;
FIG. 9 is a schematic view of the construction of the rotating crank arm of the present invention;
FIG. 10 is a schematic view of the clamp crank configuration of the present invention;
FIG. 11 is a schematic view of the structure of the auxiliary wheel frame of the present invention;
FIG. 12 is a schematic view of the telescopic locking device of the present invention;
FIG. 13 is a schematic view of the crank angle adjustment mechanism of the present invention;
fig. 14 is a schematic view of the tensioning mechanism of the present invention.
In the figure: a main frame 1; 1-1 of a creeping wheel seat; a main board 1-2; 1-3 of a crank arm seat; mounting plates 1-4; 1-5 parts of a hook frame; 1-6 of a motor mounting plate; 1-7 parts of a limiting frame; a crawling wheel 2; 2-1 of a traveling wheel; 2-2 of belt pulley; 2-3 of a rotating shaft; a rotating crank arm 3; 3-1 of a crank arm; 3-2 of a support shaft; adjusting the linkage seat 3-3; 3-4 parts of a hook plate; 3-5 of a tension spring; 3-6 parts of a connecting seat; a clamping crank arm 4; crank arm II 4-1; clamping the rotating shaft 4-2; 4-3 of a hook plate; 4-4 of a chute; 4-5 of lock grooves; a telescopic auxiliary wheel frame 5; 5-1 of an auxiliary wheel; 5-2 of a telescopic arm; 5-3 of a splint; 5-4 of a T-shaped chute; a telescopic locking device 6; a locking plate 6-1; a pressing plate 6-2; 6-3 of a sliding column; 6-4 of a pressure spring; a crank angle adjusting mechanism 7; an adjusting wheel 7-1; a threaded rod 7-2; adjusting a moving block 7-3; a support wheel 8; a tensioning mechanism 9; a tension plate 9-1; tensioning the rotating shaft 9-2; tensioning a tension spring 9-3; a hook frame II 9-4; 9-5 of a tension wheel; an adjustment motor 10; a traveling motor 11; a power source 12.
Detailed Description
The invention is described in further detail below with reference to fig. 1-14.
The first embodiment is as follows:
as shown in fig. 1-14, a computer-controlled crawling robot comprises a main frame 1, two crawling wheels 2, two supporting wheels 8, a walking motor 11 and a power supply 12, wherein the two crawling wheels 2 are respectively connected to the front end and the rear end of the main frame 1 in a rotating manner, the supporting wheels 8 are connected to the rear end of the main frame 1 in a rotating manner, the walking motor 11 is fixedly connected to the front end of the main frame 1, the two crawling wheels 2, the two supporting wheels 8 and the walking motor 11 are connected through belt transmission, the power supply 12 is fixedly connected to the main frame 1, the power supply 12 is connected to the walking motor 11 through a wire, the computer-controlled crawling robot further comprises four rotating crank arms 3, four clamping crank arms 4, four telescopic auxiliary wheel frames 5, a telescopic locking device 6, a crank arm angle adjusting mechanism 7, a tensioning mechanism 9 and an adjusting motor 10, the four rotating crank arms 3 are all rotatably connected to the main frame 1, two rotary crank arms 3 positioned at the front part and two rotary crank arms 3 positioned at the rear part are symmetrically arranged, four rotary crank arms 3 are rotatably connected with clamping crank arms 4, four clamping crank arms 4 are slidably connected with telescopic auxiliary wheel carriers 5, four telescopic auxiliary wheel carriers 5 are slidably connected with telescopic locking devices 6, four telescopic locking devices 6 are respectively slidably connected with four clamping crank arms 4, two crank arm angle adjusting mechanisms 7 are arranged, one crank arm angle adjusting mechanism 7 is in threaded connection with the two rotary crank arms 3 positioned at the front part, the other crank arm angle adjusting mechanism 7 is in threaded connection with the two rotary crank arms 3 positioned at the rear part, the tensioning mechanism 9 is rotatably connected on the main frame 1, the adjusting motor 10 is fixedly connected on the main frame 1, the two crank arm angle adjusting mechanisms 7, the tensioning mechanism 9 and the adjusting motor 10 are in transmission connection through belts, the adjusting motor 10 is connected with a power supply 12 through a lead;
when the crawling mechanism is used, the clamping crank arm 4 is rotated firstly, so that the computer-controlled crawling robot can encircle a pipeline, then the adjusting motor 10 is started according to the outer diameter of the pipeline, the transmission crank arm angle adjusting mechanism 7 adjusts the opening angle of the rotating crank arm 3, so that the opening angle of the rotating crank arm 3 is adaptive to the outer diameter of the pipeline, then the position of the telescopic auxiliary wheel frame 5 in the clamping crank arm 4 is adjusted, the adjusted position is locked through the telescopic locking device 6, namely, the position of the auxiliary wheel 5-1 on the pipeline is adaptive to the position of the crawling wheel 2, finally the walking motor 11 is started, the transmission crawling wheel 2 is rotated, so that the computer-controlled crawling robot carries necessary equipment to crawl and move outside the pipeline along with the rotation of the crawling wheel 2.
The second embodiment is as follows:
as shown in fig. 1-14, the main frame 1 comprises crawling wheel seats 1-1, main boards 1-2, curved arm seats 1-3, mounting boards 1-4, hook frames i 1-5, motor mounting boards 1-6 and limiting frames 1-7, the crawling wheel seats 1-1 are welded at the front and rear ends of the main boards 1-2, four curved arm seats 1-3 are welded on the main boards 1-2, the mounting boards 1-4, the hook frames i 1-5 and the motor mounting boards 1-6 are fixedly connected to the upper end faces of the main boards 1-2, two limiting frames 1-7 are arranged, two limiting frames 1-7 are welded on the upper end faces of the main boards 1-2, the two crawling wheels 2 are respectively rotatably connected to the lower ends of the two crawling wheel seats 1-1, the supporting wheel 8 is rotatably connected to the upper end of the rear crawling wheel seat 1-1 through a bearing, the walking motor 11 is fixedly connected to the upper end of the front crawling wheel seat 1-1 through a bolt, and the power supply 12 is fixedly connected to the main board 1-2 through a bolt;
the main board 1-2 can be installed and carried with necessary equipment to detect the pipeline, and the limiting frame 1-7 is used for limiting the left and right directions of the adjusting wheel 7-1.
The third concrete implementation mode:
as shown in fig. 1-14, the crawling wheel 2 comprises a walking wheel 2-1, a belt pulley 2-2 and a rotating shaft 2-3, the two ends of the belt pulley 2-2 are fixedly connected with the walking wheel 2-1, the belt pulley 2-2 is rotatably connected to the rotating shaft 2-3, the two rotating shafts 2-3 are respectively rotatably connected to the lower ends of the two crawling wheel seats 1-1 through bearings, a transmission belt wheel is arranged on an output shaft of the walking motor 11, and the two belt pulleys 2-2, the supporting wheel 8 and the transmission belt wheel on the output shaft of the walking motor 11 are in transmission connection through belts;
the power supply of the walking motor 11 is started through the power supply 12, the transmission belt wheel on the output shaft of the walking motor 11 drives the belt wheels 2-2 through the belt to drive the walking wheels 2-1 to rotate, so that the robot moves on the pipeline, the two belt wheels 2-2 are arranged side by side, the stability between the crawling wheel 2 and the pipeline can be improved, the crawling stability of the robot is improved, the belt is supported by the supporting wheel 8, and an installation space is provided for the upper portion of the main board 1-2.
The fourth concrete implementation mode:
as shown in fig. 1-14, the rotating crank arm 3 comprises a crank arm i 3-1, a support shaft 3-2, an adjusting linkage seat 3-3, a hook plate i 3-4, a tension spring 3-5 and a connecting seat 3-6, wherein the upper end of the crank arm i 3-1 is fixedly connected with the support shaft 3-2, the lower end of the crank arm i 3-1 is fixedly connected with the connecting seat 3-6, the outer circle of the crank arm i 3-1 is fixedly connected with the adjusting linkage seat 3-3, the hook plate i 3-4 is fixedly connected with the inner circle of the crank arm i 3-1, the upper end of the tension spring 3-5 is fixedly connected with the hook plate i 3-4, the rotating crank arm 3 is provided with four support shafts 3-2, and the four support shafts 3-2 are respectively and rotatably connected in the four crank arm seats 1-3;
crank arm I3-1 adopts the arc design, can be better adapt to the pipeline appearance, reduces the space of robot and occupies.
The fifth concrete implementation mode:
as shown in fig. 1-14, the clamping crank arm 4 comprises a crank arm ii 4-1, a clamping rotating shaft 4-2, a hook plate ii 4-3, a sliding groove 4-4 and a locking groove 4-5, the upper end of the crank arm ii 4-1 is fixedly connected with the clamping rotating shaft 4-2, the lower end of the crank arm ii 4-1 is provided with the sliding groove 4-4 along the crank arm direction, the outer end of the sliding groove 4-4 is provided with a plurality of locking grooves 4-5, the hook plate ii 4-3 is fixedly connected to the inner circle of the crank arm ii 4-1, four clamping crank arms 4 are provided, four clamping rotating shafts 4-2 are respectively rotatably connected to four connecting seats 3-6, and four hook plates ii 4-3 are fixedly connected with the lower ends of four tension springs 3-5;
the crank arm II 4-1 rotates with the connecting seat 3-6 through the clamping rotating shaft 4-2 and is connected with the tension spring 3-5 through the hook plate II 4-3, so that the telescopic auxiliary wheel frame 5 in the sliding groove 4-4 is close to the crawling wheel 2, and the pipeline is clamped.
The sixth specific implementation mode:
as shown in fig. 1-14, the retractable auxiliary wheel frame 5 includes an auxiliary wheel 5-1, a retractable arm 5-2, a clamping plate 5-3 and a T-shaped chute 5-4, the auxiliary wheel 5-1 is rotatably connected to the lower end of the retractable arm 5-2, the clamping plate 5-3 is fixedly connected to the upper end of the retractable arm 5-2, the T-shaped chute 5-4 is arranged at the upper end of the retractable arm 5-2 and corresponds to the clamping plate 5-3, the number of the retractable auxiliary wheel frame 5 is four, and the four retractable arms 5-2 are respectively slidably connected in the four chutes 4-4;
the telescopic arm 5-2 rotates along with the crank arm II 4-1 to drive the auxiliary wheel 5-1 to clamp the pipeline, and simultaneously, the position of the auxiliary wheel 5-1 is changed through the position of the telescopic arm 5-2 in the chute 4-4, so that the space range which can be included by the auxiliary wheel 5-1 and the crawling wheel 2 is enlarged, even if the range of different pipeline outer diameters which can be adapted by the robot is enlarged.
The seventh embodiment:
as shown in fig. 1-14, the telescopic locking device 6 includes a locking plate 6-1, a pressing plate 6-2, a sliding column 6-3 and compression springs 6-4, the locking plate 6-1 is fixedly connected to one end of the pressing plate 6-2, the sliding column 6-3 is fixedly connected to the pressing plate 6-2, the compression springs 6-4 are sleeved on the sliding column 6-3, the telescopic locking device 6 is provided with four locking plates 6-1, the four locking plates 6-1 are respectively slidably connected in four T-shaped sliding grooves 5-4, the four sliding columns 6-3 are respectively slidably connected to four clamping plates 5-3, the four compression springs 6-4 are respectively located between the pressing plate 6-2 and the clamping plates 5-3, and the four T-shaped sliding grooves 5-4 are respectively slidably connected with one of the locking grooves 4-5;
the locking plate 6-1 is driven to slide in the T-shaped sliding groove 5-4 by the pressing plate 6-2, the pressure spring 6-4 is extruded, the locking plate 6-1 can slide out of the locking groove 4-5, so that the telescopic arm 5-2 can slide in the sliding groove 4-4 for use, after the proper position is adjusted, the pressing plate 6-2 is loosened, the locking plate 6-1 can slide into the most proper locking groove 4-5 by the elastic force of the pressure spring 6-4, and the position of the telescopic arm 5-2 in the sliding groove 4-4 is locked.
The specific implementation mode is eight:
as shown in fig. 1-14, the crank arm angle adjusting mechanism 7 includes adjusting wheels 7-1, threaded rods 7-2 and adjusting moving blocks 7-3, the threaded rods 7-2 are fixedly connected to both ends of the adjusting wheels 7-1, the two threaded rods 7-2 are coaxial and have opposite thread directions, two adjusting moving blocks 7-3 are provided, the two adjusting moving blocks 7-3 are respectively connected to the two threaded rods 7-2 through threads, two crank arm angle adjusting mechanisms 7 are provided, the two adjusting wheels 7-1 are respectively slidably connected in the two limiting frames 1-7, and the four adjusting moving blocks 7-3 are respectively rotatably connected with the four adjusting interlocking seats 3-3;
when the opening angle of the rotating crank arm 3 needs to be adjusted, the belt wheel on the output shaft of the adjusting motor 10 is started to drive the adjusting wheel 7-1 to rotate, the adjusting wheel 7-1 drives the two adjusting moving blocks 7-3 at the two ends of the adjusting wheel 7-1 to simultaneously drive the adjusting linkage seat 3-3 to move in opposite directions after being opposite to each other through the threads of the threaded rod 7-2, and then the two crank arms I3-1 in the same group rotate by taking the support shaft 3-2 as the shaft, so that the opening angle of the crank arm I3-1 is changed.
The specific implementation method nine:
as shown in fig. 1-14, the tensioning mechanism 9 includes a tensioning plate 9-1, a tensioning rotating shaft 9-2, a tensioning tension spring 9-3, a hook frame ii 9-4 and a tensioning wheel 9-5, the lower end of the tensioning plate 9-1 is fixedly connected with the tensioning rotating shaft 9-2, the tensioning rotating shaft 9-2 is rotatably connected to the mounting plate 1-4, the upper end of the tensioning plate 9-1 is rotatably connected with the tensioning wheel 9-5, the hook frame ii 9-4 is fixedly connected to the tensioning plate 9-1, the upper end of the tensioning tension spring 9-3 is fixedly connected with the hook frame ii 9-4, the lower end of the tensioning tension spring 9-3 is fixedly connected with the hook frame i 1-5, an adjusting motor 10 is fixedly connected to the motor mounting plate 1-6, and an output shaft of the adjusting motor 10 is provided with a belt wheel, the two adjusting wheels 7-1, the tensioning plate 9-1 and a belt wheel on an output shaft of the adjusting motor 10 are in transmission connection through a belt;
when the adjusting motor 10 drives the adjusting wheel 7-1 to rotate, the crank arm I3-1 rotates, so that the adjusting linkage seat 3-3 can drive the adjusting moving block 7-3 to move in the direction vertical to the surface of the main frame 1, the tightness of a belt driven by a belt wheel on an output shaft of the adjusting motor 10 and the adjusting wheel 7-1 is changed, the belt is tensioned all the time by driving the tensioning wheel 9-5 through the tensioning tension spring 9-3, and the adjusting motor 10 cannot drive the adjusting wheel 7-1.
The detailed implementation mode is ten:
as shown in figures 1-14, the outer surfaces of the travelling wheels 2-1 and the auxiliary wheels 5-1 are both provided with anti-skid rubber. The friction coefficient between the robot and the pipeline is increased, so that the robot can better crawl.
The invention relates to a computer-controlled crawling robot, which has the use principle that: when the crawling mechanism is used, the clamping crank arm 4 is rotated firstly, so that the computer-controlled crawling robot can encircle a pipeline, then the adjusting motor 10 is started according to the outer diameter of the pipeline, the transmission crank arm angle adjusting mechanism 7 adjusts the opening angle of the rotating crank arm 3, so that the opening angle of the rotating crank arm 3 is adaptive to the outer diameter of the pipeline, then the position of the telescopic auxiliary wheel frame 5 in the clamping crank arm 4 is adjusted, the adjusted position is locked through the telescopic locking device 6, namely, the position of the auxiliary wheel 5-1 on the pipeline is adaptive to the position of the crawling wheel 2, finally the walking motor 11 is started, the transmission crawling wheel 2 is rotated, so that the computer-controlled crawling robot carries necessary equipment to crawl and move outside the pipeline along with the rotation of the crawling wheel 2. The main board 1-2 can be installed and carried with necessary equipment to detect the pipeline, and the limiting frame 1-7 is used for limiting the left and right directions of the adjusting wheel 7-1. The power supply of the walking motor 11 is started through the power supply 12, the transmission belt wheel on the output shaft of the walking motor 11 drives the belt wheels 2-2 through the belt to drive the walking wheels 2-1 to rotate, so that the robot moves on the pipeline, the two belt wheels 2-2 are arranged side by side, the stability between the crawling wheel 2 and the pipeline can be improved, the crawling stability of the robot is improved, the belt is supported by the supporting wheel 8, and an installation space is provided for the upper portion of the main board 1-2. Crank arm I3-1 adopts the arc design, can be better adapt to the pipeline appearance, reduces the space of robot and occupies. The crank arm II 4-1 rotates with the connecting seat 3-6 through the clamping rotating shaft 4-2 and is connected with the tension spring 3-5 through the hook plate II 4-3, so that the telescopic auxiliary wheel frame 5 in the sliding groove 4-4 is close to the crawling wheel 2, and the pipeline is clamped. The telescopic arm 5-2 rotates along with the crank arm II 4-1 to drive the auxiliary wheel 5-1 to clamp the pipeline, and simultaneously, the position of the auxiliary wheel 5-1 is changed through the position of the telescopic arm 5-2 in the chute 4-4, so that the space range which can be included by the auxiliary wheel 5-1 and the crawling wheel 2 is enlarged, even if the range of different pipeline outer diameters which can be adapted by the robot is enlarged. The locking plate 6-1 is driven to slide in the T-shaped sliding groove 5-4 by the pressing plate 6-2, the pressure spring 6-4 is extruded, the locking plate 6-1 can slide out of the locking groove 4-5, so that the telescopic arm 5-2 can slide in the sliding groove 4-4 for use, after the proper position is adjusted, the pressing plate 6-2 is loosened, the locking plate 6-1 can slide into the most proper locking groove 4-5 by the elastic force of the pressure spring 6-4, and the position of the telescopic arm 5-2 in the sliding groove 4-4 is locked. When the opening angle of the rotating crank arm 3 needs to be adjusted, the belt wheel on the output shaft of the adjusting motor 10 is started to drive the adjusting wheel 7-1 to rotate, the adjusting wheel 7-1 drives the two adjusting moving blocks 7-3 at the two ends of the adjusting wheel 7-1 to simultaneously drive the adjusting linkage seat 3-3 to move in opposite directions after being opposite to each other through the threads of the threaded rod 7-2, and then the two crank arms I3-1 in the same group rotate by taking the support shaft 3-2 as the shaft, so that the opening angle of the crank arm I3-1 is changed. When the adjusting motor 10 drives the adjusting wheel 7-1 to rotate, the crank arm I3-1 rotates, so that the adjusting linkage seat 3-3 can drive the adjusting moving block 7-3 to move in the direction vertical to the surface of the main frame 1, the tightness of a belt driven by a belt wheel on an output shaft of the adjusting motor 10 and the adjusting wheel 7-1 is changed, the belt is tensioned all the time by driving the tensioning wheel 9-5 through the tensioning tension spring 9-3, and the adjusting motor 10 cannot drive the adjusting wheel 7-1. The friction coefficient between the robot and the pipeline is increased, so that the robot can better crawl.
It is to be understood that the above description is not intended to limit the present invention, and the present invention is not limited to the above examples, and that various changes, modifications, additions and substitutions which are within the spirit and scope of the present invention and which may be made by those skilled in the art are also within the scope of the present invention.
Claims (6)
1. The utility model provides a computer control robot of crawling, includes body frame (1), crawl wheel (2), supporting wheel (8), walking motor (11) and power (12), crawl wheel (2) be equipped with two, two crawl wheel (2) rotate respectively and connect both ends around body frame (1), supporting wheel (8) rotate and connect the rear end in body frame (1), walking motor (11) fixed connection at the front end of body frame (1), two crawl wheel (2), supporting wheel (8) and walking motor (11) are connected through belt transmission, power (12) fixed connection is on body frame (1), power (12) are connected its characterized in that through the wire with walking motor (11): the computer-controlled crawling robot further comprises four rotating crank arms (3), two clamping crank arms (4), four telescopic auxiliary wheel frames (5), four telescopic locking devices (6), four crank arm angle adjusting mechanisms (7), four tensioning mechanisms (9) and an adjusting motor (10), wherein the four rotating crank arms (3) are all rotatably connected to the main frame (1), the two rotating crank arms (3) positioned at the front part and the two rotating crank arms (3) positioned at the rear part are all symmetrically arranged, the four rotating crank arms (3) are all rotatably connected with the clamping crank arms (4), the four clamping crank arms (4) are all slidably connected with the telescopic auxiliary wheel frames (5), the four telescopic auxiliary wheel frames (5) are all slidably connected with the telescopic locking devices (6), the four telescopic locking devices (6) are respectively slidably connected with the four clamping crank arms (4), the two crank arm angle adjusting mechanisms (7) are arranged, one crank arm angle adjusting mechanism (7) is in threaded connection with the two rotating crank arms (3) positioned at the front part, the other crank arm angle adjusting mechanism (7) is in threaded connection with the two rotating crank arms (3) positioned at the rear part, the tensioning mechanism (9) is rotationally connected to the main frame (1), the adjusting motor (10) is fixedly connected to the main frame (1), the two crank arm angle adjusting mechanisms (7), the tensioning mechanism (9) and the adjusting motor (10) are in transmission connection through a belt, and the adjusting motor (10) is connected with the power supply (12) through a wire;
the main frame (1) comprises crawling wheel seats (1-1), main boards (1-2), crank arm seats (1-3), mounting plates (1-4), hook frames I (1-5), motor mounting plates (1-6) and limiting frames (1-7), the crawling wheel seats (1-1) are fixedly connected to the front end and the rear end of the main boards (1-2), four crank arm seats (1-3) are arranged, the four crank arm seats (1-3) are fixedly connected to the main boards (1-2), the mounting plates (1-4), the hook frames I (1-5) and the motor mounting plates (1-6) are fixedly connected to the upper end faces of the main boards (1-2), two limiting frames (1-7) are arranged, the two limiting frames (1-7) are fixedly connected to the upper end faces of the main boards (1-2), the two crawling wheels (2) are respectively and rotatably connected to the lower ends of the two crawling wheel seats (1-1), the supporting wheel (8) is rotatably connected to the upper end of the crawling wheel seat (1-1) at the rear end, the walking motor (11) is fixedly connected to the upper end of the crawling wheel seat (1-1) at the front end, and the power supply (12) is fixedly connected to the main board (1-2);
the climbing wheel (2) comprises walking wheels (2-1), belt pulleys (2-2) and rotating shafts (2-3), the walking wheels (2-1) are fixedly connected to two ends of each belt pulley (2-2), the belt pulleys (2-2) are rotatably connected to the rotating shafts (2-3), the two rotating shafts (2-3) are respectively rotatably connected to the lower ends of the two climbing wheel seats (1-1), a transmission belt wheel is arranged on an output shaft of the walking motor (11), and the two belt pulleys (2-2), the supporting wheel (8) and the transmission belt wheel on the output shaft of the walking motor (11) are in transmission connection through a belt;
the rotary crank arm (3) comprises a crank arm I (3-1), a supporting shaft (3-2), an adjusting linkage seat (3-3), a hook plate I (3-4), a tension spring (3-5) and a connecting seat (3-6), the upper end of the crank arm I (3-1) is fixedly connected with a supporting shaft (3-2), the lower end of the crank arm I (3-1) is fixedly connected with a connecting seat (3-6), the excircle of the crank arm I (3-1) is fixedly connected with an adjusting linkage seat (3-3), a hook plate I (3-4) is fixedly connected to the inner circle of the crank arm I (3-1), the upper end of a tension spring (3-5) is fixedly connected with the hook plate I (3-4), four rotating crank arms (3) are arranged, and the four supporting shafts (3-2) are respectively and rotatably connected into the four crank arm seats (1-3);
the clamping crank arm (4) comprises a crank arm II (4-1) and a clamping rotating shaft (4-2), the hook comprises a hook plate II (4-3), sliding grooves (4-4) and locking grooves (4-5), wherein the upper end of a crank arm II (4-1) is fixedly connected with a clamping rotating shaft (4-2), the lower end of the crank arm II (4-1) is provided with the sliding grooves (4-4) along the crank arm direction, the outer end of each sliding groove (4-4) is provided with a plurality of locking grooves (4-5), the hook plate II (4-3) is fixedly connected to the inner circle of the crank arm II (4-1), four clamping rotating shafts (4-2) are respectively and rotatably connected to four connecting seats (3-6), and the four hook plates II (4-3) are fixedly connected with the lower ends of four tension springs (3-5).
2. The computer-controlled crawling robot of claim 1, wherein: the telescopic auxiliary wheel frame (5) comprises auxiliary wheels (5-1), telescopic arms (5-2), clamping plates (5-3) and T-shaped sliding grooves (5-4), the auxiliary wheels (5-1) are rotatably connected to the lower ends of the telescopic arms (5-2), the clamping plates (5-3) are fixedly connected to the upper ends of the telescopic arms (5-2), the T-shaped sliding grooves (5-4) are formed in the upper ends of the telescopic arms (5-2) and correspond to the clamping plates (5-3), four telescopic auxiliary wheel frames (5) are arranged, and the four telescopic arms (5-2) are respectively connected in the four sliding grooves (4-4) in a sliding mode.
3. The computer-controlled crawling robot of claim 2, wherein: the telescopic locking device (6) comprises a locking plate (6-1) and a pressing plate (6-2), the sliding column locking device comprises sliding columns (6-3) and pressure springs (6-4), locking plates (6-1) are fixedly connected to one ends of pressing plates (6-2), the sliding columns (6-3) are fixedly connected to the pressing plates (6-2), the pressure springs (6-4) are sleeved on the sliding columns (6-3), four telescopic locking devices (6) are arranged, the four locking plates (6-1) are respectively connected into four T-shaped sliding grooves (5-4) in a sliding mode, the four sliding columns (6-3) are respectively connected onto four clamping plates (5-3) in a sliding mode, the four pressure springs (6-4) are located between the pressing plates (6-2) and the clamping plates (5-3), and the four T-shaped sliding grooves (5-4) are respectively connected with one locking groove (4-5) in a sliding mode.
4. The computer-controlled crawling robot of claim 3, wherein: the crank arm angle adjusting mechanism (7) comprises adjusting wheels (7-1), threaded rods (7-2) and adjusting moving blocks (7-3), the threaded rods (7-2) are fixedly connected to the two ends of the adjusting wheels (7-1), the two threaded rods (7-2) are coaxial, the thread turning directions are opposite, the two adjusting moving blocks (7-3) are arranged, the two adjusting moving blocks (7-3) are connected to the two threaded rods (7-2) through threads respectively, the crank arm angle adjusting mechanism (7) is arranged in two, the two adjusting wheels (7-1) are connected to the two limiting frames (1-7) in a sliding mode respectively, and the four adjusting moving blocks (7-3) are connected with the four adjusting linkage seats (3-3) in a rotating mode respectively.
5. The computer-controlled crawling robot of claim 4, wherein: the tensioning mechanism (9) comprises a tensioning plate (9-1), a tensioning rotating shaft (9-2), a tensioning tension spring (9-3), a hook frame II (9-4) and a tensioning wheel (9-5), the lower end of the tensioning plate (9-1) is fixedly connected with the tensioning rotating shaft (9-2), the tensioning rotating shaft (9-2) is rotatably connected to the mounting plate (1-4), the upper end of the tensioning plate (9-1) is rotatably connected with the tensioning wheel (9-5), the hook frame II (9-4) is fixedly connected to the tensioning plate (9-1), the upper end of the tensioning tension spring (9-3) is fixedly connected with the hook frame II (9-4), the lower end of the tensioning tension spring (9-3) is fixedly connected with the hook frame I (1-5), and the adjusting motor (10) is fixedly connected to the motor mounting plate (1-6), the output shaft of the adjusting motor (10) is provided with a belt wheel, and the two adjusting wheels (7-1), the tensioning plate (9-1) and the belt wheel on the output shaft of the adjusting motor (10) are connected through belt transmission.
6. The computer-controlled crawling robot of claim 5, wherein: the outer surfaces of the travelling wheels (2-1) and the auxiliary wheels (5-1) are both provided with anti-skid rubber.
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| Application Number | Priority Date | Filing Date | Title |
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| CN201911064425.8A CN110803233B (en) | 2019-11-04 | 2019-11-04 | Computer-controlled crawling robot |
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| CN201911064425.8A CN110803233B (en) | 2019-11-04 | 2019-11-04 | Computer-controlled crawling robot |
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| CN111232080B (en) * | 2020-03-12 | 2021-01-12 | 国网安徽省电力有限公司电力科学研究院 | Surrounding type pole-climbing robot |
| CN111750279B (en) * | 2020-07-01 | 2022-02-18 | 中国石油大学(华东) | Encircling pipe climbing vehicle |
| CN113685698B (en) * | 2021-09-26 | 2022-10-11 | 七腾机器人有限公司 | Synchronous belt pipeline crawling robot and circumferential rotation method |
| CN114013526B (en) * | 2021-11-04 | 2022-10-28 | 河北大唐国际王滩发电有限责任公司 | Annular telescopic pipe clamping claw |
| CN114833654B (en) * | 2022-06-01 | 2023-05-02 | 滨州热力有限公司 | Heating and ventilation metal pipeline repairing device |
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| JPS5179497A (en) * | 1974-12-28 | 1976-07-10 | Sanko Co Inc | |
| JP5692931B2 (en) * | 2010-02-22 | 2015-04-01 | 学校法人日本大学 | Traveling robot |
| CN105711672B (en) * | 2014-11-30 | 2018-11-27 | 中国科学院沈阳自动化研究所 | A kind of walking climbing robot based on articular couple handwheel |
| CN205997987U (en) * | 2016-07-12 | 2017-03-08 | 浙江工业大学 | A kind of change diameter adaptive obstacle detouring climbing robot |
| CN106058731B (en) * | 2016-07-25 | 2017-09-26 | 国网江苏省电力公司常州供电公司 | Electric pole voluntarily climbs inspection platform |
| CN107127734B (en) * | 2017-07-19 | 2023-03-03 | 安徽理工大学 | Suspension track type multi-arm casting robot |
| CN108942964B (en) * | 2018-08-15 | 2021-12-17 | 武汉科技大学 | Bionic robot for detecting surface of columnar structure |
| CN110104085A (en) * | 2019-06-10 | 2019-08-09 | 大连民族大学 | A kind of climbing robot for pipe detection |
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