CN111113370A - Crank arm type inspection robot - Google Patents
Crank arm type inspection robot Download PDFInfo
- Publication number
- CN111113370A CN111113370A CN202010020680.9A CN202010020680A CN111113370A CN 111113370 A CN111113370 A CN 111113370A CN 202010020680 A CN202010020680 A CN 202010020680A CN 111113370 A CN111113370 A CN 111113370A
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- Prior art keywords
- assembly
- wheel
- fastening
- crank
- claw part
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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
- B25J5/02—Manipulators mounted on wheels or on carriages travelling along a guideway
-
- 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
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02G—INSTALLATION OF ELECTRIC CABLES OR LINES, OR OF COMBINED OPTICAL AND ELECTRIC CABLES OR LINES
- H02G1/00—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines
- H02G1/02—Methods or apparatus specially adapted for installing, maintaining, repairing or dismantling electric cables or lines for overhead lines or cables
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a crank-type inspection robot, and belongs to the technical field of electric wire inspection robots. A crank-type inspection robot, comprising: a first claw part, a second claw part and a crank arm connecting the first claw part and the second claw part; the first claw part and the second claw part are both provided with connecting plates; the crank arm comprises a first connecting arm, a first vertical rotating assembly, a horizontal rotating assembly, a second vertical rotating assembly and a second connecting arm which are connected in sequence; the first connecting arm and the second connecting arm both comprise a supporting rod and a telescopic component; an included angle is formed between the support rods of the first connecting arm and the second connecting arm, and the support rods, the telescopic assemblies and the connecting plates are sequentially connected in a rotating mode from head to tail and are arranged in a triangular mode. The crank-arm type inspection robot can realize the functions of extension and contraction, the claw part can realize the movement in the vertical and horizontal directions, the movement is flexible, the displacement of the claw part is large, and the obstacle crossing requirement of large obstacles is met.
Description
Technical Field
The invention relates to the technical field of electric wire inspection robots, in particular to a crank-type inspection robot.
Background
The extra-high voltage transmission line is responsible for power transmission in China, and the safe and reliable operation of the extra-high voltage transmission line is directly related to the stable development of national economy. At present, high-voltage and ultrahigh-voltage overhead power lines are the main way for long-distance power transmission and distribution, and the power lines are important components of a power system. The circuit is exposed in the natural environment for a long time, and not only bears the internal pressure of normal mechanical load and power load, but also suffers from external infringement such as pollution, lightning strike, strong wind, landslide, subsidence and bird damage. The above factors can cause great damage to the power line, so the power line needs to be inspected frequently, and the power line must be replaced in time if damaged. At present, the existing wire inspection robot can only span small obstacles and cannot span large obstacles.
Disclosure of Invention
The invention aims to provide a crank-type inspection robot, which aims to solve the problem that the existing wire inspection robot can only span small obstacles but can not span large obstacles.
The technical scheme for solving the technical problems is as follows:
a crank-type inspection robot, comprising: a first claw part, a second claw part and a crank arm connecting the first claw part and the second claw part; the first claw part and the second claw part are both provided with connecting plates; the crank arm comprises a first connecting arm, a first vertical rotating assembly, a horizontal rotating assembly, a second vertical rotating assembly and a second connecting arm which are connected in sequence; the first connecting arm and the second connecting arm both comprise a supporting rod and a telescopic component; an included angle is formed between the support rods of the first connecting arm and the second connecting arm, and the support rods, the telescopic assemblies and the connecting plates are sequentially connected in a rotating mode from head to tail and are arranged in a triangular mode.
The crank arm type inspection robot can realize the functions of extension and contraction, can realize the vertical movement and the horizontal movement of the claw part, so that the claw part can be separated from electric wires to bypass various obstacles, can realize the obstacle crossing through the integral extension and contraction, has flexible movement and large claw part displacement, meets the obstacle crossing requirements of large obstacles and small obstacles, and can inspect the electric wires with different bending degrees because the integral bending shape is adopted.
The extension and contraction function of the crank-type inspection robot: because bracing piece, flexible subassembly and connecting plate end to end swivelling joint in proper order and be the triangle-shaped setting, when the claw was fixed on the electric wire, the extending direction of connecting plate was fixed, through the change of telescoping device length, can make the extending direction of bracing piece change to contained angle size between the bracing piece that can make first linking arm and second linking arm changes, realizes the extension and the shrink function of robot.
Movement of the claw portion: the first vertical rotating assembly and the second vertical rotating assembly may move the claw portion in a vertical direction, may disengage the claw portion from the electric wire or may bypass the obstacle, and the horizontal rotating assembly may move the claw portion in a horizontal direction, may bypass the claw portion from the obstacle.
Furthermore, the telescopic assembly comprises a piston, a sleeve and a telescopic motor, wherein the piston and the sleeve are matched with each other; the piston and the sleeve are respectively connected with the connecting plate and the supporting rod.
According to the telescopic component, the length of the telescopic component is changed by sliding between the piston and the sleeve, and the shape of a triangle formed by the supporting rod, the telescopic component and the connecting plate is changed, so that the extending direction of the supporting rod is changed, and the extending and contracting functions are realized.
Further, the horizontal rotating assembly comprises a first horizontal connecting block, a second horizontal connecting block, a horizontal rotating shaft and a horizontal rotating motor; the first horizontal connecting block and the second horizontal connecting block are respectively connected with the supporting rods on the first connecting arm and the second connecting arm; the horizontal rotating shaft is connected with the first horizontal connecting block, the second horizontal connecting block and a motor shaft of the horizontal rotating motor.
Further, the first vertical rotating assembly and the second vertical rotating assembly each include a vertical rotating shaft and a vertical rotating motor connected to each other; the vertical rotating shaft is connected with the corresponding supporting rod and the connecting block.
Further, the first claw part and the second claw part respectively comprise a bracket, a supporting component and a fastening component; the connecting plate is arranged on the bracket; the supporting component comprises a supporting wheel connected with the bracket, and the supporting wheel is provided with a supporting groove along the circumferential direction; the fastening assembly comprises a sliding assembly, a rotating assembly, a fastening wheel mounting frame and at least one fastening wheel; the sliding component is connected with the bracket; the rotating assembly is respectively connected with the sliding assembly and the fastening wheel mounting frame; the fastening wheel rotates with the fastening wheel mounting bracket to be connected and the axis of fastening wheel is parallel with the axis of supporting wheel, and the fastening wheel is equipped with the fastening groove along circumference, and the fastening groove sets up with supporting the groove relatively.
The supporting groove on the supporting wheel is used for placing an electric wire, the fastening wheel can be contacted with the electric wire under the driving of the sliding assembly and the rotating assembly, the fastening groove extrudes the electric wire to enable the electric wire to be tightly matched with the supporting wheel, and therefore the holding operation is achieved.
The rotating assembly can drive the fastening wheel and the fastening wheel mounting frame to rotate, the fastening wheel is located below the supporting wheel, the sliding assembly can lift the fastening wheel, the fastening wheel is in contact with the electric wire, and therefore the holding operation between the electric wire and the fastening wheel and the supporting wheel is achieved.
Because the reverse work of the sliding assembly can separate the fastening wheel from the electric wire, the reverse work of the rotating assembly can enable the fastening wheel to be far away from the supporting wheel, so that the restraint of the fastening wheel to the lower part of the electric wire can be relieved, and then all the claw parts can be lifted through the vertical rotating assembly, the wire-off function is realized, and the obstacle-crossing function is realized.
Furthermore, the supporting assembly further comprises a spring suspension, and the supporting wheel is connected with the bracket through the spring suspension.
When the sliding assembly works, the fastening wheel can be lifted, the fastening wheel extrudes the supporting wheel through the wire, the force received by the supporting wheel can act on the spring suspension, larger acting force can be generated between the supporting wheel and the wire and between the fastening wheel and the wire through the lifting force of the sliding assembly and the reaction force of the spring suspension, enough clamping force can be provided when the supporting wheel and the fastening wheel are matched with the wire, and the robot can climb the wire with a large elevation angle.
Furthermore, the supporting wheel is connected with a supporting wheel motor, and the supporting wheel motor is installed on the spring suspension.
The supporting wheel motor is used for driving the supporting wheel to walk on the electric wire so as to complete the normal walking function.
Furthermore, the support assembly further comprises a brake part, the brake part and the fastening wheel are located on two corresponding sides of the support wheel, one end of the brake part is connected with the support, and the other end of the brake part is located in the support groove and is arranged at intervals with the groove wall of the support groove.
When the robot is in the completion of advancing, sliding part drives fastening wheel and supporting wheel and continues to promote, and the spring suspension is further compressed this moment, and the supporting wheel promotes the back, can contact and press close to with the brake part, makes the supporting wheel can not rotate through the frictional force between support groove and the brake part, realizes locking function.
Further, the sliding assembly comprises a lead screw motor, a lead screw and a sliding mounting rack; the screw motor is arranged on the bracket; the screw rod is respectively connected with the screw rod motor and the sliding mounting rack; the sliding mounting frame is connected with the support in a sliding mode.
The sliding assembly realizes the lifting of the rotating assembly, the fastening wheel, the supporting wheel and other parts by driving the screw rod to rotate through the screw rod motor, the screw rod has stable motion and stable performance when moving, and the fastening wheel can be stably contacted with the supporting wheel.
Further, the rotating assembly comprises a steering engine and a connecting rod mechanism; the steering engine is connected with the sliding mounting frame, and the connecting rod mechanism is respectively connected with the steering engine and the fastening wheel mounting frame; the fastening wheel mounting frame is provided with a connecting rod, and the connecting rod is rotatably connected with the sliding mounting frame.
The steering engine is used as an actuating part of the rotating assembly, the fastening wheel can be completely separated from the electric wire only by rotating a small angle, and a large clamping force can be generated only by rotating a small angle. The sliding assembly is connected with the fastening wheel mounting frame through the rotating assembly and is further connected with the fastening wheel mounting frame through the connecting rod, and the two rotating connection points can support and steer the fastening wheel mounting frame through a lever principle.
The invention has the following beneficial effects:
(1) the crank arm type inspection robot can realize the functions of extension and contraction, can realize the vertical movement and the horizontal movement of the claw part, so that the claw part can be separated from electric wires to bypass various obstacles, can realize the obstacle crossing through the integral extension and contraction, has flexible movement and large claw part displacement, meets the obstacle crossing requirements of large obstacles and small obstacles, and can inspect the electric wires with different bending degrees because the integral bending shape is adopted.
(2) The supporting grooves on the supporting wheels in the claw parts are used for placing electric wires, the fastening wheels can be contacted with the electric wires under the driving of the sliding assembly and the rotating assembly, the fastening grooves extrude the electric wires to enable the electric wires to be tightly matched with the supporting wheels, and therefore the holding operation is achieved.
Drawings
FIG. 1 is a schematic diagram of the mechanism of a crank-type inspection robot according to the present invention;
FIG. 2 is a schematic view of a connection structure between a first connecting arm and a connecting plate according to the present invention;
FIG. 3 is a schematic structural diagram of the first connecting arm, the first vertical rotating assembly, the horizontal rotating assembly, the second vertical rotating assembly and the second connecting arm according to the present invention;
FIG. 4 is a perspective view of a first jaw portion of the present invention;
FIG. 5 is a schematic perspective view of a first jaw portion of the present invention;
fig. 6 is a schematic structural view of the fastening assembly of the present invention.
In the figure: 10-a scaffold; 20-a support assembly; 21-a support wheel; 22-a support groove; 23-spring suspension; 24-a brake component; 30-a fastening assembly; 31-a slide assembly; 32-a rotating assembly; 33-fastening wheel mounting; 34-a fastening wheel; 35-a fastening slot; 36-a connecting rod; 40-a connecting plate; 100-a first jaw portion; 110-a second jaw portion; 200-crank arm; 210-a first connecting arm; 211-support bar; 212-a telescoping assembly; 213-a piston; 214-a sleeve; 215-a telescoping motor; 220-a first vertical rotation assembly; 221-vertical rotation axis; 222-a vertical rotating electrical machine; 230-a horizontal rotation assembly; 231-a first horizontal connecting block; 232-a second horizontal connecting block; 233-horizontal rotating electrical machine; 240-a second vertical rotation assembly; 250-a second connecting arm; 311-screw motor; 312-a lead screw; 313-a sliding mount; 321-a steering engine; 322-linkage mechanism.
Detailed Description
The principles and features of this invention are described below in conjunction with the following drawings, which are set forth by way of illustration only and are not intended to limit the scope of the invention.
Examples
Referring to fig. 1, a crank-type inspection robot includes: a first jaw 100, a second jaw 110, and a crank arm 200, the crank arm 200 being bent downward, both ends of which are connected to the first jaw 100 and the second jaw 110, respectively. The first claw portion 100 and the second claw portion 110 are connected to the connection plates 40, respectively. The crank arm 200 includes a first connecting arm 210, a first vertical rotating assembly 220, a horizontal rotating assembly 230, a second vertical rotating assembly 240, and a second connecting arm 250, which are connected in sequence. The first and second connecting arms 210 and 250 are connected to the connecting plates 40 on the first and second claws 100 and 110, respectively.
The first and second link arms 210 and 250 have the same structure, and the present embodiment will describe only the structure of the first link arm 210. Referring to fig. 2, the first connecting arm 210 includes a supporting rod 211 and a telescopic assembly 212. Two ends of the supporting rod 211 are respectively connected with the connecting plate 40 on the first claw part 100 and the first vertical rotating component 220 (two ends of the second connecting arm 250 are respectively connected with the connecting plate 40 on the second claw part 110 and the second vertical rotating component 240), and an included angle is formed between the supporting rods 211 of the first connecting arm 210 and the second connecting arm 250. The telescopic assembly 212 includes a piston 213, a sleeve 214, and a telescopic motor 215, the piston 213 is engaged with the sleeve 214 and connected with the telescopic motor 215, and the piston 213 and the sleeve 214 are respectively connected with the connecting plate 40 and the supporting rod 211. Bracing piece 211, connecting plate 40 and flexible subassembly 212 are end to end in proper order, form triangle-shaped, and under the drive of flexible motor 215, the length of flexible subassembly 212 can change, because connecting plate 40 is fixed on the electric wire through first claw portion 100, can make the extending direction of bracing piece 211 change, and the angle between the bracing piece 211 of first linking arm 210 and second linking arm 250 can change, realizes the extension and the shrink function of robot.
Referring to fig. 3, the horizontal rotation assembly 230 includes a first horizontal connection block 231, a second horizontal connection block 232, a horizontal rotation shaft (not shown), and a horizontal rotation motor 233. The horizontal rotation shaft is vertically disposed and is connected to the first horizontal connection block 231, the second horizontal connection block 232, and the horizontal rotation motor 233, respectively, and the first horizontal connection block 231 and the second horizontal connection block 232 are rotated by the electric power of the horizontal rotation motor 233.
The first and second vertical rotating assemblies 220 and 240 each include a vertical rotating shaft 221 and a vertical rotating motor 222. The vertical rotation shaft 221 is vertically disposed and connected to a vertical rotation motor 222. The vertical rotation shafts 221 of the first vertical rotation assembly 220 are respectively connected to the support bars 211 of the first connection arms 210 and the first horizontal connection blocks 231, and the vertical rotation shafts 221 of the second vertical rotation assembly 240 are respectively connected to the support bars 211 of the second connection arms 250 and the second horizontal connection blocks 232.
The structures of the first pawl portion 100 and the second pawl portion 110 are identical, and only the structure of the first pawl portion 100 will be described in this embodiment.
Referring to fig. 4 and 5, the first claw portion 100 includes: the support structure comprises a support 10, a support component 20 and a fastening component 30, wherein the support component 20 is arranged in the support 10, the fastening component 30 is arranged on one side of the support 10, and a connecting plate 40 is connected to the support 10.
The support assembly 20 includes a support wheel 21, a spring suspension 23, and a brake member 24. The supporting wheel 21 is provided with a supporting groove 22 in the circumferential direction for limiting the electric wire. The supporting wheel 21 is provided with a supporting wheel motor (not shown), the supporting wheel motor is installed on the spring suspension 23, a motor shaft of the supporting wheel motor is connected with the supporting wheel 21, and when the supporting wheel 21 is stressed, a spring in the spring suspension 23 can be compressed through the connecting action of the supporting wheel motor. The spring suspension 23 is mounted on the stand 10 such that the support wheels 21 are suspended from the stand 10. One end of the brake element 24 is fixedly connected with the bracket 10, and the other end is positioned in the support groove 22 with a gap from the groove wall of the support groove 22. In the present embodiment, the support groove 22 is a ring groove having a trapezoidal cross section.
Referring to fig. 6, the fastening assembly 30 includes a sliding assembly 31, a rotating assembly 32, a fastening wheel mounting bracket 33, and at least one fastening wheel 34. The sliding assembly 31 is mounted on the bracket 10. The rotating assembly 32 is connected to the sliding assembly 31 and the fastening wheel mounting bracket 33, respectively. The fastening wheel 34 is mounted on the fastening wheel mounting bracket 33.
The sliding assembly 31 includes a lead screw motor 311, a lead screw 312, and a sliding mount 313. The lead screw motor 311 is mounted on the bracket 10. The lead screw 312 is vertically disposed and is connected to a motor shaft of the lead screw motor 311 and the sliding mount 313, respectively. The sliding mount 313 is connected to the bracket 10 by a slider. The sliding mounting frame 313 slides on the support 10 along the extending direction of the lead screw 312 by the driving of the lead screw motor 311.
The rotating assembly 32 includes a steering engine 321 and a linkage 322. The steering wheel 321 is installed on the sliding installation frame 313, one end of the link mechanism 322 is connected with the steering wheel 321, and the other end of the link mechanism 322 is connected with the fastening wheel installation frame 33. Under the drive of steering wheel 321, link mechanism 322 can drive fastening wheel mounting bracket 33 to rotate, thereby driving fastening wheel 34 to be close to supporting wheel 21 or keep away from supporting wheel 21. In this embodiment, link mechanism 322 is equipped with the arch, and when link mechanism 322 rotated to be rectilinear position, the arch can prevent link mechanism 322 to continue to rotate, utilizes link mechanism 322's mechanical auto-lock to make steering wheel 321 need not provide any moment when pressing from both sides tightly, and the clamp force is all provided by sliding assembly 31, not only can realize opening and shutting fast between supporting wheel 21 and the tight wheel 34 but also can provide great clamp force.
The fastening wheel mounting bracket 33 is provided with a connecting rod 36. One end of the connecting rod 36 is connected to the fastening wheel mounting bracket 33, and the other end of the connecting rod 36 is rotatably connected to the slide mounting bracket 313. The sliding member 31 is connected to the fastening wheel mounting bracket 33 not only through the rotating member 32 but also through the connecting rod 36, and the two rotating points can support and steer the fastening wheel mounting bracket 33 by the principle of lever.
The fastening wheel 34 is rotatably connected with the fastening wheel mounting frame 33, a fastening groove 35 is formed in the circumferential direction of the fastening wheel 34, the axis of the fastening wheel 34 is parallel to the axis of the supporting wheel 21, the fastening groove 35 is opposite to the supporting groove 22, and the fastening wheel 34 and the brake component 24 are located on two sides corresponding to the supporting wheel 21. The fastening wheel 34 can be rotated under the supporting wheel 21 by the rotating assembly 32 and make the fastening slot 35 opposite to the supporting slot 22, and the fastening wheel 34 can be moved close to the supporting wheel 21 or away from the supporting wheel 21 by the sliding assembly 31. The fastening wheel 34 holds the electric wire together with the support wheel 21 by the sliding assembly 31. In this embodiment, the number of the fastening wheels 34 is 3, and 3 fastening wheels 34 can make the electric wire be placed in the supporting groove 22 in a bent state, and increase the friction force between the electric wire and the groove wall of the supporting groove 22; the fastening groove 35 is a ring groove having a trapezoidal cross section. In other embodiments of the invention, the number of fastening wheels 34 may also be 1, 2, 4, etc.
The first claw portion 100 and electric wire clasping process: the rotating assembly 32 can drive the fastening wheel 34 and the fastening wheel mounting frame 33 to rotate, the fastening wheel 34 is located below the supporting wheel 21, the sliding assembly 31 can lift the fastening wheel 34, the fastening wheel 34 is in contact with the electric wire, the sliding assembly 31 continues to lift the fastening wheel 34, the electric wire is attached to the fastening groove 35 and the supporting groove 22, and the holding operation between the electric wire and the fastening wheel 34 and the supporting wheel 21 is achieved.
Locking process of the first claw 100: after the first claw part 100 is tightly held with the electric wire, the sliding assembly 31 continues to work, and drives the supporting wheel 21 to continue to move upwards until the supporting wheel contacts with the braking component 24, so that the locking function can be realized through the friction force between the braking component 24 and the groove wall of the supporting groove 22.
The following describes the traveling and obstacle crossing processes of the guide-type patrol robot in the sequence of the first claw portion 100 being in front and the second claw portion 200 being in back when the crank-type patrol robot travels.
The normal walking process of the crank-arm type inspection robot comprises the following steps: the first claw part 100 and the second claw part 110 are respectively clasped with the electric wire, the crank arm 200 is in a bent state, and the first claw part 100 and the second claw part 110 are driven to normally walk on the electric wire through the rotation of the supporting wheel motors in the first claw part 100 and the second claw part 110.
Crank arm formula inspection robot rolls and crosses small-size obstacle: the first claw part 100 is loosened from the electric wire, the second claw part 110 is kept in a clasping state with the electric wire, and the first claw part 100 is driven to roll over small obstacles by the rotation of a supporting wheel motor in the first claw part 100 and the second claw part 110. After the first claw part 100 rolls over a small obstacle, the first claw part is tightly held with the electric wire, the second claw part 110 is loosened from the electric wire, and the second claw part 110 is driven to roll over the small obstacle by the rotation of a supporting wheel motor in the first claw part 100 and the second claw part 110, so that the robot can roll over the small obstacle.
The crank arm type inspection robot bypasses small obstacles or large obstacles to perform obstacle crossing process: the first claw part 100 is released from the electric wire, the second claw part 110 is in a clasping state with the electric wire, the first vertical rotating assembly 220 rotates to enable the first claw part 100 to be separated from the electric wire and to pass over an obstacle in the vertical direction, the telescopic assemblies 212 in the first claw part 100 and the second claw part 110 move to enable the robot to stretch so as to pass over the obstacle, the first vertical rotating assembly 220 rotates reversely to enable the first claw part 100 to be in contact with the electric wire and enable the first claw part 100 to be clasped with the electric wire, the second claw part 110 is released from the electric wire and moves towards the first claw part 100, and the telescopic assemblies 212 in the first claw part 100 and the second claw part 110 move to enable the robot to contract and return to the initial state. If the first claw 100 cannot get over the obstacle from the vertical direction, the horizontal rotation member 230 operates to allow the first claw 100 to get over the obstacle from the side surface after the first claw 100 gets off the electric wire. The obstacle crossing process of the second jaw 110 coincides with the obstacle crossing process of the first jaw 100.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (10)
1. The utility model provides a crank arm formula inspection robot which characterized in that includes: a first claw part (100), a second claw part (110), and a crank arm (200) connecting the first claw part (100) and the second claw part (110); the first claw part (100) and the second claw part (110) are both provided with a connecting plate (40); the crank arm (200) comprises a first connecting arm (210), a first vertical rotating assembly (220), a horizontal rotating assembly (230), a second vertical rotating assembly (240) and a second connecting arm (250) which are connected in sequence; the first connecting arm (210) and the second connecting arm (250) both comprise a supporting rod (211) and a telescopic assembly (212); an included angle is formed between the supporting rods (211) of the first connecting arm (210) and the second connecting arm (250), and the supporting rods (211), the telescopic assemblies (212) and the connecting plates (40) are sequentially connected in a rotating mode from head to tail and are arranged in a triangular mode.
2. The crank-type patrol robot according to claim 1, wherein the telescopic assembly (212) comprises a piston (213), a sleeve (214) and a telescopic motor (215) connected with the piston (213) which are mutually matched; the piston (213) and the sleeve (214) are respectively connected with the connecting plate (40) and the supporting rod (211).
3. The crank-type patrol robot according to claim 2, wherein the horizontal rotation assembly (230) comprises a first horizontal connection block (231), a second horizontal connection block (232), a horizontal rotation shaft, and a horizontal rotation motor (233); the first horizontal connecting block (231) and the second horizontal connecting block (232) are respectively connected with the supporting rods (211) on the first connecting arm (210) and the second connecting arm (250); the horizontal rotation shaft is connected with motor shafts of the first horizontal connection block (231), the second horizontal connection block (232), and the horizontal rotation motor (233).
4. The crank-type patrol robot of claim 3, wherein each of the first vertical rotation assembly (220) and the second vertical rotation assembly (240) comprises a vertical rotation shaft (221) and a vertical rotation motor (222) connected to each other; the vertical rotating shaft (221) is connected with the corresponding supporting rod and the connecting block.
5. The crank-type patrol robot of any one of claims 1 to 4, wherein each of the first jaw portion (100) and the second jaw portion (110) comprises a bracket (10), a support assembly (20), and a fastening assembly (30); the connecting plate (40) is arranged on the bracket (10); the supporting assembly (20) comprises a supporting wheel (21) connected with the bracket (10), and a supporting groove (22) is formed in the supporting wheel (21) along the circumferential direction; the fastening assembly (30) comprises a sliding assembly (31), a rotating assembly (32), a fastening wheel mounting frame (33) and at least one fastening wheel (34); the sliding component (31) is connected with the bracket (10); the rotating assembly (32) is respectively connected with the sliding assembly (31) and the fastening wheel mounting frame (33); the fastening wheel (34) is rotatably connected with the fastening wheel mounting frame (33), the axis of the fastening wheel (34) is parallel to the axis of the supporting wheel (21), a fastening groove (35) is formed in the fastening wheel (34) along the circumferential direction, and the fastening groove (35) is opposite to the supporting groove (22).
6. The crank-type patrolling robot according to claim 5, characterized in that the support assembly (20) further comprises a spring suspension (23), and the support wheel (21) is connected with the support (10) through the spring suspension (23).
7. The crank-type patrol robot according to claim 6, wherein a support wheel motor is connected to the support wheel (21), said support wheel motor being mounted on the spring suspension (23).
8. The crank type patrol robot according to claim 7, wherein the support assembly (20) further comprises a brake member (24), the brake member (24) and the fastening wheel (34) are located at two sides corresponding to the support wheel (21), one end of the brake member (24) is connected with the bracket (10), and the other end of the brake member (24) is located in the support groove (22) and is spaced from the groove wall of the support groove (22).
9. The crank-type patrol robot according to claim 5, wherein the sliding assembly (31) comprises a lead screw motor (311), a lead screw (312), and a sliding mount (313); the lead screw motor (311) is arranged on the bracket (10); the lead screw (312) is respectively connected with the lead screw motor (311) and the sliding mounting frame (313); the sliding mounting frame (313) is connected with the support (10) in a sliding mode.
10. The crank-type line patrol robot according to claim 9, wherein the rotating assembly (32) comprises a steering engine (321) and a link mechanism (322); the steering engine (321) is connected with the sliding installation frame (313), and the connecting rod mechanism (322) is respectively connected with the steering engine (321) and the fastening wheel installation frame (33); and a connecting rod (36) is arranged on the fastening wheel mounting frame (33), and the connecting rod (36) is rotatably connected with the sliding mounting frame (313).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010020680.9A CN111113370A (en) | 2020-01-09 | 2020-01-09 | Crank arm type inspection robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010020680.9A CN111113370A (en) | 2020-01-09 | 2020-01-09 | Crank arm type inspection robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN111113370A true CN111113370A (en) | 2020-05-08 |
Family
ID=70487490
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010020680.9A Pending CN111113370A (en) | 2020-01-09 | 2020-01-09 | Crank arm type inspection robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111113370A (en) |
-
2020
- 2020-01-09 CN CN202010020680.9A patent/CN111113370A/en active Pending
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Inventor after: Lu Caijiang Inventor after: Fu Guoqiang Inventor after: Shi Jinghao Inventor after: Yu Feihu Inventor after: Liu Zixuan Inventor after: Xia Wenchao Inventor after: Dai Zhikun Inventor after: Gao Hongli Inventor before: Shi Jinghao Inventor before: Yu Feihu Inventor before: Dai Zhikun Inventor before: Fu Guoqiang Inventor before: Lu Caijiang Inventor before: Gao Hongli Inventor before: Liu Zixuan Inventor before: Xia Wenchao |