CN110900582A - Drilling Stewart series robot special for wind driven generator blade - Google Patents
Drilling Stewart series robot special for wind driven generator blade Download PDFInfo
- Publication number
- CN110900582A CN110900582A CN201911374457.8A CN201911374457A CN110900582A CN 110900582 A CN110900582 A CN 110900582A CN 201911374457 A CN201911374457 A CN 201911374457A CN 110900582 A CN110900582 A CN 110900582A
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- China
- Prior art keywords
- stewart
- fixedly connected
- drilling
- hinged
- robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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Classifications
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16L—PIPES; JOINTS OR FITTINGS FOR PIPES; SUPPORTS FOR PIPES, CABLES OR PROTECTIVE TUBING; MEANS FOR THERMAL INSULATION IN GENERAL
- F16L55/00—Devices or appurtenances for use in, or in connection with, pipes or pipe systems
- F16L55/26—Pigs or moles, i.e. devices movable in a pipe or conduit with or without self-contained propulsion means
- F16L55/28—Constructional aspects
- F16L55/30—Constructional aspects of the propulsion means, e.g. towed by cables
- F16L55/32—Constructional aspects of the propulsion means, e.g. towed by cables being self-contained
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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
- B25J11/005—Manipulators for mechanical processing tasks
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
- B25J19/04—Viewing devices
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- 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
- B25J5/005—Manipulators mounted on wheels or on carriages mounted on endless tracks or belts
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/003—Programme-controlled manipulators having parallel kinematics
- B25J9/0045—Programme-controlled manipulators having parallel kinematics with kinematics chains having a rotary joint at the base
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- General Engineering & Computer Science (AREA)
- Earth Drilling (AREA)
Abstract
The invention relates to a drilling Stewart series robot special for a wind driven generator blade. The drilling device comprises a front section advancing mechanism and a rear section advancing mechanism, wherein a joint mechanism is arranged between the two sections of advancing mechanisms, the joint mechanism comprises two Stewart platforms which are connected in series, each Stewart platform is of a six-degree-of-freedom series structure, the front section advancing mechanism and the rear section advancing mechanism are crawler-type advancing mechanisms, a drilling device is installed on the front section advancing mechanism, the drilling device comprises a drill bit driven by a stepping motor, the drill bit is arranged on a top plate, the top plate is connected with a plurality of linear electric push rods, and the extending length of the drill bit is electrically adjusted by the linear electric push rods. The intermediate joint realizes the postures of jumping, climbing, turning over and the like in the space by using a Stewart six-degree-of-freedom platform; the drilling device can adjust the height of the drill bit through the change of the length of the linear electric push rod, the capability of adapting to the operation environment is greatly improved, and the working efficiency is improved.
Description
Technical Field
The invention relates to the technical field of machinery, in particular to a drilling Stewart series robot special for a wind driven generator blade.
Background
For the detection of the wind blade, the size of the blade inner tip is about 20cm, and the blade inner tip has an inclination angle within 30 degrees, so that the blade cannot be manually detected in the inner depth of the blade. The existing robot cannot be compatible with size requirements, high ground environment adaptability and multi-dimensional motion characteristics. The robot can adapt to the working condition inside the blade of the wind driven generator and keep stable in the pipeline, so that the robot is required to have the functions of skid resistance, obstacle crossing, body turning and the like. In addition, the drilling device of the existing detection robot is mostly fixed and can not be adjusted, and efficient and rapid construction is not facilitated.
Disclosure of Invention
Aiming at the defects of the prior art, the invention provides the drilling Stewart series robot special for the wind driven generator blades, which can realize multi-posture adjustment such as head raising, turning, overturning and the like, avoid the problem that the robot cannot continue to work after turning over in a pipeline, and the drilling device has a telescopic adjustment function and improves the operation quality and efficiency.
The technical scheme adopted by the invention is as follows: a Stewart series robot special for blades of a wind driven generator is characterized by comprising a front section advancing mechanism and a rear section advancing mechanism, a joint mechanism is arranged between the two sections of advancing mechanisms and comprises two Stewart platforms which are connected in series, each Stewart platform is of a six-degree-of-freedom series structure, the front section advancing mechanism and the rear section advancing mechanism are crawler-type advancing mechanisms, a drilling device is installed on the front section advancing mechanism and comprises a drill bit driven by a stepping motor, the drill bit is arranged on a top plate, the top plate is connected with a plurality of linear electric push rods, and the extending length of the drill bit is electrically adjusted by the linear electric push rods.
The Stewart platform comprises a lower hexagonal plate and an upper hexagonal plate, six steering engines are fixedly connected to the inner side of the lower hexagonal plate, each steering engine is hinged to a connecting rod, and the upper end of each connecting rod is hinged to the upper hexagonal plate.
The outer side of a lower hexagonal plate of the first Stewart platform is fixedly connected with a first U-shaped support of the front-section advancing mechanism, six steering engines are fixedly connected with the inner side of the lower hexagonal plate, a rotating shaft of each steering engine is fixedly connected with a rocking handle, the outer side of the rocking handle is hinged with the lower end of a connecting rod, the upper end of the connecting rod is hinged with the hexagonal plate, the upper hexagonal plate is fixedly connected with a second Stewart platform, and the upper hexagonal plate of the second Stewart platform is connected with a second U-shaped support of the rear-section advancing mechanism.
One end of the rocking handle is connected with the steering engine through a pin, and the other end of the rocking handle is hinged with the connecting rod through a screw nut and a ball.
The traveling mechanism is internally provided with a stepping motor and a rechargeable battery, and the stepping motor positively or reversely rotates to control the advancing or retreating of the traveling mechanism.
The traveling mechanism comprises outer frame baffles on two sides, a driving shaft is arranged between the outer frame baffles and connected with a driving wheel, the stepping motor drives the driving shaft to rotate through a gear mechanism, a driven shaft is arranged at the rear end of the driving shaft and connected with a driven wheel, and the driving wheel and the driven wheel are matched with a crawler belt.
The inboard of track is equipped with the tooth, and the internal tooth distributes and be two rows, the action wheel all is equipped with the tooth and cooperatees with the internal tooth of track with the outer wall from the driving wheel.
The drilling device comprises an outer frame, a bottom plate is arranged on the outer frame, the bottom plate is hinged to the bottom ends of three linear electric push rods respectively, the top ends of the linear electric push rods are fixedly connected with three sleeve adapter connectors, and the sleeve adapter connectors are hinged to a top plate.
The top plate is fixedly connected with the speed reducer, the top end of the speed reducer is fixedly connected with the chuck, the bottom end of the speed reducer is fixedly connected with the stepping motor, and the other end of the chuck is fixedly connected with the drill bit.
The upper side of the bottom plate is hinged with the linear electric push rod through a hinged support, and the sleeve conversion joint is hinged with the top plate through a hinged support.
The invention has the beneficial effects that:
1. the cross-sectional area is small, and the operation can be carried out in a long and narrow pipeline; the intermediate joint realizes the postures of jumping, climbing, turning over and the like in the space by using a Stewart six-degree-of-freedom platform; the range of each degree of freedom is enlarged by utilizing the Stewart platform serial mechanism, the defect that the platform is high in degree of freedom but small in working range is overcome, three linear electric push rods of the drilling device work in series, the height of a drill bit is adjusted through the change of the length of the linear electric push rods, the capability of adapting to the working environment is greatly improved, and the working efficiency is improved.
The Stewart platform comprises six steering engines which are mutually connected in parallel and work in a matched mode, and has the advantages of being high in rigidity, strong in bearing capacity, free of position error accumulation and the like. Two Stewart platforms are combined to be connected in series to form complementation with the Stewart platforms, so that the degree of freedom is high, and the work is more stable and reliable.
3. The front and rear advancing mechanisms are respectively controlled by two stepping motors, forward and reverse crawling can be realized, and meanwhile, the ground grabbing performance is stronger.
4. The robot of the invention adopts the built-in rechargeable battery as the power supply, avoids towing cables of the robot, lightens the weight of the robot and lightens the resistance of the robot in the motion of the pipeline. The fish-eye camera can be carried to observe the internal conditions of the blade at any time by 360 degrees and store and transmit signals, and meanwhile, the real-time state of the robot can be observed and positioned.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic overall structure diagram of the Stewart platform according to the invention;
FIG. 3 is a schematic view of the traveling mechanism of the present invention with the track removed;
FIG. 4 is a schematic structural view of the drilling apparatus of the present invention;
FIG. 5 is a schematic side view of the drilling apparatus;
FIG. 6 is a schematic view of the arrangement of the upper hexagonal plates of the Stewart platform according to the present invention;
FIG. 7 is a distribution schematic diagram of a lower hexagonal plate steering engine of the Stewart platform of the invention;
fig. 8 is a posture diagram of the Stewart platform according to the invention.
Fig. 9 is another attitude view of the Stewart platform according to the invention.
In the figure: 1. the device comprises a first U-shaped support, a second U-shaped support, a lower hexagonal plate, a steering engine, a rocking handle, a connecting rod, an upper hexagonal plate, a screw, a nut, a drilling device, a camera, a driving wheel, a gear mechanism, a stepping motor, a driven shaft, a driven wheel, a support, a screw, a nut, a drilling device, a camera, a driving wheel, a gear mechanism, a stepping motor, a driven shaft, a driven wheel, a support, a screw, a nut, a linear electric push rod, a sleeve conversion joint, a top plate, a speed reducer.
Detailed description of the invention
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention will be more clearly and clearly defined.
The drilling Stewart tandem robot special for the wind driven generator blade comprises a front traveling mechanism and a rear traveling mechanism, wherein a joint mechanism is arranged between the two traveling mechanisms, the joint mechanism comprises two Stewart platforms which are connected in series, each Stewart platform is of a six-degree-of-freedom series structure, and the front traveling mechanism and the rear traveling mechanism are crawler-type traveling mechanisms. The drilling device is installed on the front-section advancing mechanism and comprises a drill bit driven by a stepping motor, the drill bit is arranged on the top plate, the top plate is connected with a plurality of linear electric push rods, and the extending length of the drill bit is electrically adjusted by the linear electric push rods.
Stewart platform include hexagonal plate and last hexagonal plate down, the first U type support of anterior segment travel mechanism of 3 outside fixed connection of hexagonal plate of the lower side of first Stewart platform, this six steering wheel 4 of 3 inboard fixed connection of hexagonal plate down, the pivot fixed connection rocking handle 5 of steering wheel 4, 6 lower extremes of connecting rod are articulated in the outside of rocking handle 5, hexagonal plate 7 is articulated to 6 upper ends of connecting rod, and this goes up the fixed connection second Stewart platform of hexagonal plate 7, the second U type support of the last hexagonal plate connection back end travel mechanism of second Stewart platform.
One end of the rocking handle is connected with the steering engine by a pin, and the other end of the rocking handle is hinged with the connecting rod by a screw 8, a nut 9 and a ball. The traveling mechanism is internally provided with a stepping motor and a rechargeable battery, and the stepping motor positively or reversely rotates to control the traveling mechanism to advance or retreat.
As shown in fig. 3-5, the traveling mechanism includes outer frame baffles on two sides, a driving shaft is arranged between the outer frame baffles, the driving shaft is connected with a driving wheel 12, the stepping motor 14 drives the driving shaft to rotate through a gear mechanism 13, a driven shaft 15 is arranged at the rear end of the driving shaft, the driven shaft is connected with a driven wheel 16, and both the driving wheel and the driven wheel are matched with the caterpillar track. The inboard of track is equipped with the tooth, and the internal tooth distributes and be two rows, and the action wheel all is equipped with the tooth and cooperatees with the internal tooth of track with the outer wall from the driving wheel. The front section advancing mechanism is provided with a fisheye camera 11.
The drilling device comprises an outer frame 27, and the outer frame consists of a first tool rest, a second tool rest, an upper tool rest and a lower tool rest. The bottom plate 26 and the top plate 21 are fixedly connected with the hinge bracket through bolts and nuts 18. The outer frame on set up the bottom plate, the bottom plate articulates the bottom of three sharp electric putter 19 respectively, three sleeve crossover sub 20 of fixed connection of sharp electric putter's top, sleeve crossover sub 20 articulates roof 21.
The top plate is fixedly connected with a speed reducer 22, the top end of the speed reducer is fixedly connected with a chuck 23, the bottom end of the speed reducer is fixedly connected with a stepping motor 24, and the other end of the chuck is fixedly connected with a drill 25.
The upper side of the bottom plate is hinged with the linear electric push rod through a hinge support 17, and the sleeve conversion joint is hinged with the top plate through the hinge support 17. The hexagonal handle in the chuck is fixedly connected and coaxially connected with the drill bit, and the hexagonal handle is fixedly connected and coaxially connected with the output shaft of the speed reducer.
As shown in fig. 8-9, in the specific implementation of the present invention, the working mode of the middle joint is that the six steering engines are mutually cooperated to work, so that the length of the connecting rod between the upper hexagonal plate and the lower hexagonal plate is changed, and a certain displacement and an included angle can be formed between the upper hexagonal plate and the lower hexagonal plate, thereby driving the front and rear advancing mechanisms fixedly connected at the two ends to realize each posture change.
The drilling device works in a mode that the stepping motor is started to drive the drill bit to rotate through the speed reducer, the rotating speed and the direction of the selected stepping motor can be adjusted, and the strength of the drill bit can be adjusted according to the environmental requirements; three straight line electric putter connects in series work, through the electric regulation drill bit's of straight line electric putter extension position, adapts to the operation environment.
The foregoing detailed description is given by way of example only, and is provided to better enable one skilled in the art to understand the patent, and is not intended to limit the scope of the patent; any equivalent changes or modifications made according to the technical contents disclosed in the patent without departing from the technical characteristics of the patent are included in the scope of the patent.
Claims (10)
1. A Stewart series robot special for drilling holes on blades of a wind driven generator is characterized by comprising a front section advancing mechanism and a rear section advancing mechanism, a joint mechanism is arranged between the two sections of advancing mechanisms and comprises two Stewart platforms which are connected in series, each Stewart platform is of a six-degree-of-freedom series structure, the front section advancing mechanism and the rear section advancing mechanism are crawler-type advancing mechanisms, a drilling device is installed on the front section advancing mechanism and comprises a drill bit driven by a stepping motor, the drill bit is arranged on a top plate, the top plate is connected with a plurality of linear electric push rods, and the extending length of the drill bit is electrically adjusted by the linear electric push rods.
2. The drilling Stewart series robot special for the wind driven generator blade as claimed in claim 1, wherein the Stewart platform comprises a lower hexagonal plate and an upper hexagonal plate, six steering engines are fixedly connected to the inner side of the lower hexagonal plate, each steering engine is hinged to a connecting rod, and the upper end of each connecting rod is hinged to the upper hexagonal plate.
3. The drilling Stewart series robot special for the wind driven generator blade as claimed in claim 2, wherein the outer side of a lower hexagonal plate of a first Stewart platform is fixedly connected with a first U-shaped bracket of a front-section traveling mechanism, the inner side of the lower hexagonal plate is fixedly connected with six steering engines, rotating shafts of the steering engines are fixedly connected with a rocking handle, the outer side of the rocking handle is hinged with the lower end of a connecting rod, the upper end of the connecting rod is hinged with an upper hexagonal plate, the upper hexagonal plate is fixedly connected with a second Stewart platform, and the upper hexagonal plate of the second Stewart platform is connected with a second U-shaped bracket of a rear-section traveling mechanism.
4. The Stewart robot special for drilling holes on blades of a wind driven generator as claimed in claim 3, wherein one end of the rocking handle is connected with the steering engine through a pin, and the other end of the rocking handle is hinged with the connecting rod through a screw nut and a ball.
5. The Stewart tandem robot for drilling holes on wind driven generator blades as claimed in claim 4, wherein a stepping motor and a rechargeable battery are built in the travelling mechanism, and the stepping motor forwards or backwards rotates to control the advancing or the retreating of the travelling mechanism.
6. The Stewart tandem robot for drilling holes on blades of a wind driven generator as claimed in claim 5, wherein the travelling mechanism comprises two outer frame baffles, a driving shaft is arranged between the outer frame baffles, the driving shaft is connected with a driving wheel, the stepping motor drives the driving shaft to rotate through a gear mechanism, a driven shaft is arranged at the rear end of the driving shaft, the driven shaft is connected with a driven wheel, and the driving wheel and the driven wheel are both matched with a crawler.
7. The Stewart tandem robot for drilling holes on blades of wind driven generators as claimed in claim 6, wherein the inner side of the caterpillar is provided with teeth, the inner teeth are distributed in two rows, and the outer walls of the driving wheel and the driven wheel are provided with teeth and matched with the inner teeth of the caterpillar.
8. The four-degree-of-freedom tracked robot with the drilling device as claimed in claim 1, wherein the drilling device comprises an outer frame, a bottom plate is arranged on the outer frame, the bottom plate is respectively hinged to the bottom ends of three linear electric push rods, the top ends of the linear electric push rods are fixedly connected with three sleeve conversion joints, and the sleeve conversion joints are hinged to a top plate.
9. The four-degree-of-freedom tracked robot with the drilling device as claimed in claim 8, wherein the top plate is fixedly connected with a speed reducer, the top end of the speed reducer is fixedly connected with a chuck, the bottom end of the speed reducer is fixedly connected with a stepping motor, and the other end of the chuck is fixedly connected with a drill bit.
10. The four-degree-of-freedom tracked robot with the drilling device as claimed in claim 9, wherein the upper side of the bottom plate is hinged to the linear electric push rod through a hinge support, and the sleeve conversion joint is hinged to the top plate through a hinge support.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911374457.8A CN110900582A (en) | 2019-12-27 | 2019-12-27 | Drilling Stewart series robot special for wind driven generator blade |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911374457.8A CN110900582A (en) | 2019-12-27 | 2019-12-27 | Drilling Stewart series robot special for wind driven generator blade |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110900582A true CN110900582A (en) | 2020-03-24 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911374457.8A Pending CN110900582A (en) | 2019-12-27 | 2019-12-27 | Drilling Stewart series robot special for wind driven generator blade |
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| Country | Link |
|---|---|
| CN (1) | CN110900582A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113236904A (en) * | 2021-06-25 | 2021-08-10 | 中国人民解放军63653部队 | Pipeline measuring robot |
| CN115027636A (en) * | 2022-07-21 | 2022-09-09 | 上海大学 | High-pressure water jet cleaning equipment based on unmanned ship platform |
-
2019
- 2019-12-27 CN CN201911374457.8A patent/CN110900582A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113236904A (en) * | 2021-06-25 | 2021-08-10 | 中国人民解放军63653部队 | Pipeline measuring robot |
| CN113236904B (en) * | 2021-06-25 | 2023-03-24 | 中国人民解放军63653部队 | Pipeline measuring robot |
| CN115027636A (en) * | 2022-07-21 | 2022-09-09 | 上海大学 | High-pressure water jet cleaning equipment based on unmanned ship platform |
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