CN114396538A - Cloud platform elevating gear of explosion-proof robot of patrolling and examining - Google Patents
Cloud platform elevating gear of explosion-proof robot of patrolling and examining Download PDFInfo
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- CN114396538A CN114396538A CN202111547548.4A CN202111547548A CN114396538A CN 114396538 A CN114396538 A CN 114396538A CN 202111547548 A CN202111547548 A CN 202111547548A CN 114396538 A CN114396538 A CN 114396538A
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- 230000005540 biological transmission Effects 0.000 claims abstract description 29
- 238000007689 inspection Methods 0.000 claims abstract description 23
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- 230000009467 reduction Effects 0.000 claims description 4
- 238000005096 rolling process Methods 0.000 claims description 4
- 230000008602 contraction Effects 0.000 abstract description 7
- 238000000034 method Methods 0.000 abstract description 4
- 230000008569 process Effects 0.000 abstract description 3
- 238000004080 punching Methods 0.000 description 9
- 230000007547 defect Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
- 229910000838 Al alloy Inorganic materials 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 2
- 229910000831 Steel Inorganic materials 0.000 description 2
- 230000008901 benefit Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000009776 industrial production Methods 0.000 description 2
- 239000003208 petroleum Substances 0.000 description 2
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/04—Means for attachment of apparatus; Means allowing adjustment of the apparatus relatively to the stand
- F16M11/043—Allowing translations
- F16M11/046—Allowing translations adapted to upward-downward translation movement
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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
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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
- F16M—FRAMES, CASINGS OR BEDS OF ENGINES, MACHINES OR APPARATUS, NOT SPECIFIC TO ENGINES, MACHINES OR APPARATUS PROVIDED FOR ELSEWHERE; STANDS; SUPPORTS
- F16M11/00—Stands or trestles as supports for apparatus or articles placed thereon ; Stands for scientific apparatus such as gravitational force meters
- F16M11/02—Heads
- F16M11/18—Heads with mechanism for moving the apparatus relatively to the stand
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Abstract
The invention relates to a cloud platform lifting device of an explosion-proof inspection robot. Cloud platform elevating gear includes casing subassembly, drive assembly, transmission assembly, telescopic coil spring subassembly and fixed subassembly. The transmission assembly is connected with the driving assembly, a stamping hole is formed in the telescopic coil spring assembly, and the transmission assembly is connected with the stamping hole. And two ends of the coil spring assembly are respectively connected with the shell assembly and the fixing assembly. The transmission assembly transmits power provided by the driving assembly to the coil spring assembly, so that the telescopic coil spring assembly is extended or contracted to lift the tripod head. The cradle head is pushed to lift by utilizing the contraction and expansion of the coil spring assembly, has larger stroke and certain rigidity in the lifting process, and can be contracted into the shell assembly when the lifting device does not work, so that the integral size of the lifting device is greatly reduced, and the lifting device is small in size and light in weight.
Description
Technical Field
The invention belongs to the technical field of inspection robots, and particularly relates to a tripod head lifting device of an explosion-proof inspection robot.
Background
The intelligent and automatic technology is more and more widely applied to the aspects of industrial production, thereby not only improving the safety, reducing the occurrence of accidents, but also improving the productivity and reducing the enterprise cost. Accordingly, an increasing number of industries recognize the importance of industrial production automation intelligence.
The petroleum and petrochemical industry is characterized by taking dangerous operation environments such as high temperature, high pressure, flammability, explosiveness and the like as remarkable characteristics, and is always a place with high occurrence of safety accidents. According to investigation, most of the related enterprise plants which can be transformed by unmanned operation still continue to use the traditional manual inspection mode operation, and the safety problems appearing in successive years are caused by low working efficiency, poor fineness, insufficient inspection frequency and time of personnel, serious threats to the personal safety of the personnel, and also serious loss to enterprises.
The petroleum and petrochemical industry has more large-scale precise high-risk equipment, the production process is complex, and the defects of the traditional manual patrol inspection method are too obvious. Specifically, the quality of the inspection work is greatly related to human subjective factors, for example, inspection personnel do not check carefully, judge carelessness, cannot reasonably arrange the optimal route, angle point, time or frequency of inspection, or cause passive idling in severe weather environment, do not output power when people go out, and the like, which easily causes a lot of waste of human resources, and more seriously causes major safety accidents and causes great loss.
In order to solve the defects caused by manual inspection, the modern patrol robot technology is introduced in the field, a scientific, normalized, institutional and efficient patrol mode is adopted, a large number of explosion-proof inspection robots are introduced, the robot inspection replaces manual inspection, and safety and efficiency are synchronously improved.
However, the existing cloud deck of the explosion-proof inspection robot is not provided with a lifting device, so that the visual field of the cloud deck is limited. In order to enable the explosion-proof inspection robot to better collect information, a holder lifting device which occupies a small space and has a large effective lift is required to be designed.
Disclosure of Invention
Technical problem to be solved
Therefore, in order to solve the problem of insufficient visual field of the holder caused by the fact that the holder lifting device is not arranged in the explosion-proof inspection robot in the prior art, the invention provides the holder lifting device of the explosion-proof inspection robot.
(II) technical scheme
In order to achieve the purpose, the invention adopts the main technical scheme that:
a cloud deck lifting device of an explosion-proof inspection robot comprises a track assembly, a robot body, a cloud deck and a cloud deck lifting device; two ends of the holder lifting device are respectively connected with the robot body and the holder;
the holder lifting device comprises a shell assembly, a driving assembly, a transmission assembly, a telescopic coil spring assembly and a fixing assembly;
the shell assembly is arranged on the outer sides of the driving assembly, the transmission assembly and the telescopic coil spring assembly, the transmission assembly is connected with the driving assembly, a stamping hole is formed in the telescopic coil spring assembly, and the transmission assembly is connected with the stamping hole; one end of the telescopic coil spring assembly is connected with the shell assembly, and the other end of the telescopic coil spring assembly is connected with the fixing assembly; the other end of the fixed component is connected with the holder;
the transmission assembly transmits the power provided by the driving assembly to the telescopic coil spring assembly, so that the telescopic coil spring assembly extends or contracts, and the tripod head is lifted or lowered.
The holder lifting device as described above, preferably, the driving assembly includes a reduction motor and a driving gear; one end of the speed reducing motor is connected with the robot body;
and the driving gear is connected with a motor shaft of the speed reducing motor.
The holder lifting device as described above, preferably, the transmission assembly includes a driving gear, a first gear shaft, and a sprocket disposed on the first gear shaft;
the driving gear is meshed with the driving gear, the driving gear and the chain wheel are arranged on the first gear shaft, and the chain wheel is meshed with the punching hole in the coil spring assembly.
Preferably, the retractable coil spring assembly comprises 2 to 4 coil springs with square or circular punching holes, the thickness of the coil spring is 0.2 to 0.3mm, and the section of the coil spring is C-shaped.
In the above cradle head lifting device, preferably, the radius of the coil spring is 11-13mm, and the bending angle is 140-160 °.
The tripod head lifting device as described above, preferably, the coil spring assembly comprises 4 coil springs;
the transmission assembly further comprises a driven gear and a second gear shaft;
the first gear shaft is provided with 2 chain wheels, the second gear shaft is provided with 2 chain wheels, the driving gear and the driven gear are meshed with each other, the number of teeth of the driving gear and the driven gear is equal, and the diameters of the driving gear and the driven gear are the same;
the diameter of the chain wheel is smaller than that of the driving gear;
2 chain wheels on the first gear shaft are meshed with 2 coil springs through the stamping holes respectively, and 2 chain wheels on the second gear shaft are meshed with 2 coil springs through the stamping holes respectively;
the sprocket is disposed at the other side of the bending direction of the coil spring.
The holder lifting device as described above, preferably, the housing assembly includes a housing disposed on the robot body, a support frame fixedly connected to the housing, and a coil spring retraction box disposed inside the support frame;
the number of the supporting frames and the number of the coil spring shrinkage boxes are the same as that of the coil springs;
a wheel disc is arranged in the coil spring shrinkage box; one end of the coil spring is fixedly connected with the wheel disc.
In the above tripod head lifting device, preferably, two ends of the first gear shaft and the second gear shaft are respectively provided with a rolling bearing and a bearing end cover.
The holder lifting device as described above, preferably, the fixing assembly includes a bottom plate and a coil spring fixing clamp;
the coil spring fixing clamp comprises a first fixing clamp and a second fixing clamp, fixing holes are formed in the first fixing clamp and the second fixing clamp, the curvature of the first fixing clamp and the curvature of the second fixing clamp are the same as that of the coil spring, and the coil spring is fixed between the first fixing clamp and the second fixing clamp through the fixing holes;
the first fixing jig and the second fixing jig are fixed to the base plate.
In the above tripod head lifting device, preferably, the first fixing clamp and the second fixing clamp are connected to the base plate through fixing plates;
the other side of the bottom plate is connected with the holder.
(III) advantageous effects
The invention has the beneficial effects that:
the cradle head is pushed to lift by utilizing the contraction and expansion of the coil spring assembly, the coil spring assembly is provided with a punching hole, the transmission assembly is connected with the punching hole, and the coil spring assembly is contracted or expanded by the driving of the driving assembly.
The tripod head lifting device has the following advantages:
the coil spring assembly is used as a lifting device of the telescopic arm, has larger stroke in the lifting process and certain rigidity, and can be contracted into the shell assembly when the lifting device does not work, so that the overall size of the lifting device is greatly reduced, and the lifting device is small in size and light in weight.
Secondly, only one motor is needed to be used as a driving component to control the contraction and the extension of a plurality of coil spring components, and the power consumption is low.
And the coil spring assembly is not easy to damage, the defect that the rigid telescopic assembly is easy to break and damage due to overlarge stress is overcome, and the device is convenient to maintain.
Drawings
FIG. 1 is a schematic view of the overall structure of the tripod head lifting device of the present invention;
FIG. 2 is a top view of the tripod head lifting device of the present invention;
FIG. 3 is a schematic diagram of the transmission of the tripod head lifting device according to the present invention;
FIG. 4 is a schematic diagram of the transmission of the tripod head lifting device at another angle;
FIG. 5a is a schematic diagram of a coil spring with a circular punched hole;
FIG. 5b is a schematic diagram of a coil spring with a square punch hole;
FIG. 6 is a schematic view of the engagement of the sprocket and the wrap spring;
FIG. 7 is a cross-sectional view of the first gear shaft;
FIG. 8 is a schematic view of a bent configuration of the coil spring;
fig. 9 is a schematic structural view of a fixing member according to the present invention.
[ description of reference ]
1: a track assembly; 2: a robot body; 3: a holder; 4: a cradle head lifting device; 5: a reduction motor; 6: a drive gear; 7: a coil spring; 71: punching a hole; 8: a driving gear; 9: a first gear shaft; 10: a sprocket; 11: a driven gear; 12: a second gear shaft; 13: a housing; 14: a support frame; 15: a coil spring retraction cage; 16: a rolling bearing; 17: a bearing end cap; 18: a base plate; 19: a first fixing jig; 20: a second fixing jig; 21: a fixing hole; 22: a sleeve.
Detailed Description
For the purpose of better explaining the present invention and to facilitate understanding, the present invention will be described in detail by way of specific embodiments with reference to the accompanying drawings.
Example 1
As shown in fig. 1-9, the present embodiment provides a cloud deck lifting device of an explosion-proof inspection robot, and the explosion-proof inspection robot includes a track assembly 1, a robot body 2, a cloud deck 3 and a cloud deck lifting device 4. Two ends of the tripod head lifting device 4 are respectively connected with the robot body 2 and the tripod head 3. In this embodiment, the pan/tilt head is a supporting device for mounting and fixing a camera, and includes an infrared camera, a visible light camera, and the like. The cloud deck can also carry various sensors to collect the parameters of images, sounds, infrared thermal images, temperature, smoke, various gas concentrations and the like of the inspection site in real time.
Cloud platform elevating gear 4 includes casing subassembly, drive assembly, transmission assembly, telescopic coil spring subassembly and fixed subassembly.
The shell assembly is arranged on the outer sides of the driving assembly, the transmission assembly and the telescopic coil spring assembly, the transmission assembly is connected with the driving assembly, a punching hole 71 is formed in the telescopic coil spring assembly, and the transmission assembly is connected with the punching hole 71. One end and the casing subassembly of telescopic coil spring subassembly are connected, and the other end is connected with fixed subassembly, and fixed subassembly's the other end is connected with cloud platform 3.
The transmission assembly transmits the power provided by the driving assembly to the telescopic coil spring assembly, so that the telescopic coil spring assembly extends or contracts to enable the tripod head 3 to ascend or descend.
Specifically, the drive assembly includes a reduction motor 5 and a drive gear 6. One end of the speed reducing motor 5 is connected with the robot body 2, and is powered by a battery in the robot body 2 to provide lifting power for the whole tripod head lifting device. The driving gear 6 is connected with a motor shaft of the reducing motor 5, and transmits the rotating speed of the reducing motor to the transmission assembly.
The transmission assembly comprises a driving gear 8, a first gear shaft 9 and a sprocket 10 arranged on the first gear shaft 9. The driving gear 8 is meshed with the driving gear 6, the driving gear 8 and the chain wheel 10 are both arranged on the first gear shaft 9, and the chain wheel 10 is meshed with the punching hole 71 on the coil spring assembly.
In the embodiment, the telescopic coil spring assembly comprises 2-4 coil springs 7 provided with square or round punching holes 71, the thickness of each coil spring 7 is 0.2-0.3mm, the sections of the coil springs 7 are C-shaped, and the coil springs 7 are made of steel, so that the telescopic coil spring assembly not only has a telescopic coiling function, but also has enough rigidity. Specifically, the radius of the coil spring 7 is 11 to 13mm, and the bending angle is 140 to 160 °, preferably 150 °.
Preferably, the coil spring assembly in this embodiment comprises 4 coil springs 7, with 4 coil springs 7 being evenly distributed. The coil spring 7 is the key of the cloud platform lifting device in the embodiment, the coil spring is a steel elastic strip with a bending cross section, the coil spring further has locking performance under the unfolding action, and can have higher reverse bending capacity, so that the cloud platform lifting device can resist external interference with enough capacity when being unfolded in a telescopic mode, and is not easy to deform greatly.
When 4 wrap springs are provided in the wrap spring assembly, the transmission assembly further comprises a driven gear 11 and a second gear shaft 12.
The first gear shaft 9 is provided with 2 chain wheels 10, the second gear shaft 12 is provided with 2 chain wheels 10, the driving gear 8 is meshed with the driven gear 11, the driving gear 8 and the driven gear 11 are equal in tooth number and same in diameter, so that the same rotating speed is guaranteed, and the contraction and expansion speeds of each coil spring are consistent. The sprocket 10 has a diameter smaller than the diameter of the drive gear 8.
The 2 sprockets 10 on the first gear shaft 9 are respectively meshed with the 2 coil springs 7 through the punched holes 71, and the 2 sprockets 10 on the second gear shaft 12 are respectively meshed with the 2 coil springs 7 through the punched holes 71. The sprocket 10 is disposed at the other side of the bending direction of the coil spring 7.
In the first gear shaft and the second gear shaft, 2 coil spring openings corresponding to chain wheels on the same gear shaft are arranged in a back-to-back mode.
The tripod head lifting device of the embodiment utilizes the coil spring as the telescopic arm, can obtain larger stroke in a lifting mode, has certain rigidity, and can be contracted into the coil spring contraction box when the lifting device does not work, so that the initial size of the lifting device is greatly reduced. Therefore, the cloud platform elevating gear in this embodiment has following advantage:
the coil spring assembly is used as a lifting device of the telescopic arm, has larger stroke in the lifting process and certain rigidity, and can be contracted into the shell assembly when the lifting device does not work, so that the overall size of the lifting device is greatly reduced, and the lifting device is small in size and light in weight.
And secondly, only one speed reducing motor is needed to be used as a driving component to control the contraction and the extension of the plurality of coil spring components, so that the power consumption is low.
And the coil spring assembly is not easy to damage, the defect that the rigid telescopic assembly is easy to break and damage due to overlarge stress is overcome, and the device is convenient to maintain.
The gravity of the cradle head is balanced with the contraction force of the coil spring, and the use efficiency is improved.
As shown in fig. 1-2, the housing assembly includes a housing 13 disposed on the robot body 2, a support bracket 14 fixedly connected to the housing 13, and a coil spring shrinkage box 15 disposed inside the support bracket 14. The number of the support frames 14 and the coil spring shrinkage boxes 15 is the same as that of the coil springs 7. A wheel disc is arranged in the coil spring shrinkage box 15, and one end of the coil spring 7 is fixedly connected with the wheel disc.
Inside the housing 13, 4 coil spring shrink boxes 15 are arranged opposite to each other in pairs and fixed on a support frame 14 through bolts, and the support frame 14 is fixedly arranged on the housing 13. One end of the coil spring 7 is fixedly connected with the inner side of the wheel disc, and the other end of the coil spring extends out of the opening and is connected with the fixing component. The disc always drives the coil spring 7 to contract inwardly so that the coil spring 7 attached thereto always tends to contract inwardly.
Preferably, rolling bearings 16 and bearing end caps 17 are provided at both ends of the first gear shaft 9 and the second gear shaft 12, respectively, so that the gears, the gear shafts, and the like form a sealing structure. As shown in fig. 2, sleeves are provided in addition to the joints where the first gear shaft and the second gear shaft are connected with the chain wheel and the driving gear and the driven gear, so as to protect the gear shafts.
As shown in fig. 9, the mounting assembly includes a base plate 18 and a coil spring mounting fixture.
The coil spring fixing clamp comprises a first fixing clamp 19 and a second fixing clamp 20, fixing holes 21 are formed in the first fixing clamp 19 and the second fixing clamp 20, the curvature of the first fixing clamp 19 and the curvature of the second fixing clamp 20 are the same as that of the coil spring 7, and the coil spring 7 is fixed between the first fixing clamp 19 and the second fixing clamp 20 through the fixing holes 21.
The first fixing jig 19 and the second fixing jig 20 are fixed to the base plate 18.
The first fixing jig 19 and the second fixing jig 20 are connected to the base plate 18 through the fixing plate, and the other side of the base plate 18 is connected to the pan/tilt head 3.
Example 2
The embodiment provides an explosion-proof robot of patrolling and examining, including track assembly 1, robot body 2, cloud platform 3 and the cloud platform elevating gear in embodiment 1, cloud platform elevating gear's both ends are connected with robot body 2 and cloud platform 3 respectively.
The track assembly of the explosion-proof inspection robot in the embodiment is made of high-strength aluminum alloy, is formed by drawing an aluminum alloy material at a time, and can be designed according to the field environment. The robot body is provided with the control box which is used as a power supply input interface and a communication interface and can realize the functions of signal transmission, power supply access and the like. The control box is also internally provided with a power supply module which is used as a unit for supplying power to the whole equipment and the mounting equipment and can meet the power output of various requirements.
The above embodiments are merely illustrative, and not restrictive, of the scope of the invention, and those skilled in the art will be able to make various changes and modifications within the scope of the appended claims without departing from the spirit of the invention.
Claims (10)
1. A cloud deck lifting device of an explosion-proof inspection robot comprises a track assembly (1), a robot body (2), a cloud deck (3) and a cloud deck lifting device (4); the robot is characterized in that two ends of the tripod head lifting device (4) are respectively connected with the robot body (2) and the tripod head (3);
the holder lifting device (4) comprises a shell assembly, a driving assembly, a transmission assembly, a telescopic coil spring assembly and a fixing assembly;
the shell assembly is arranged on the outer sides of the driving assembly, the transmission assembly and the telescopic coil spring assembly, the transmission assembly is connected with the driving assembly, a stamping hole (71) is formed in the telescopic coil spring assembly, and the transmission assembly is connected with the stamping hole (71); one end of the telescopic coil spring assembly is connected with the shell assembly, and the other end of the telescopic coil spring assembly is connected with the fixing assembly; the other end of the fixed component is connected with the holder (3);
the transmission assembly transmits the power provided by the driving assembly to the telescopic coil spring assembly, so that the telescopic coil spring assembly is extended or contracted, and the tripod head (3) is lifted or lowered.
2. A head lifting device according to claim 1, wherein said drive assembly comprises a reduction motor (5) and a drive gear (6); one end of the speed reducing motor (5) is connected with the robot body (2);
and the driving gear (6) is connected with a motor shaft of the speed reducing motor (5).
3. A head lifting device according to claim 2, wherein said transmission assembly comprises a driving gear (8), a first gear shaft (9) and a sprocket (10) arranged on said first gear shaft (9);
the driving gear (8) is meshed with the driving gear (6), the driving gear (8) and the chain wheel (10) are arranged on the first gear shaft (9), and the chain wheel (10) is meshed with a stamping hole (71) in the coil spring assembly.
4. A tripod head lifting device according to claim 3, wherein said retractable coil spring assembly comprises 2-4 coil springs (7) provided with square or circular punched holes (71), the thickness of said coil springs (7) is 0.2-0.3mm, and the cross section of said coil springs (7) is C-shaped.
5. A pan and tilt head lifting device according to claim 4, wherein the radius of the coil spring (7) is 11-13mm and the bending angle is 140 ° -160 °.
6. A pan and tilt head lifting device according to claim 4, wherein the coil spring assembly comprises 4 coil springs (7);
the transmission assembly further comprises a driven gear (11) and a second gear shaft (12);
the first gear shaft (9) is provided with 2 chain wheels (10), the second gear shaft (12) is provided with 2 chain wheels (10), the driving gear (8) and the driven gear (11) are meshed with each other, the number of teeth of the driving gear and the driven gear is equal, and the diameters of the driving gear and the driven gear are the same;
the diameter of the chain wheel (10) is smaller than that of the driving gear (8);
2 chain wheels (10) on the first gear shaft (9) are meshed with 2 coil springs (7) through the stamping holes (71), and 2 chain wheels (10) on the second gear shaft (12) are meshed with 2 coil springs (7) through the stamping holes (71);
the chain wheel (10) is arranged on the other side of the bending direction of the coil spring (7).
7. A pan and tilt head lifting device according to claim 4, wherein the housing assembly comprises a casing (13) arranged on the robot body (2), a support frame (14) fixedly connected with the casing (13), and a coil spring retraction box (15) arranged inside the support frame (14);
the number of the supporting frames (14) and the number of the coil spring shrinkage boxes (15) are the same as that of the coil springs (7);
a wheel disc is arranged in the coil spring shrinkage box (15); one end of the coil spring (7) is fixedly connected with the wheel disc.
8. A cloud platform lifting device according to claim 6, characterized in that, the first gear shaft (9) and the second gear shaft (12) are provided with a rolling bearing (16) and a bearing end cover (17) at both ends respectively.
9. A head lifting device according to claim 4, wherein said fixing assembly comprises a base plate (18) and a coil spring fixing clamp;
the coil spring fixing clamp comprises a first fixing clamp (19) and a second fixing clamp (20), fixing holes (21) are formed in the first fixing clamp (19) and the second fixing clamp (20), the curvature of the first fixing clamp (19) and the curvature of the second fixing clamp (20) are the same as that of the coil spring (7), and the coil spring (7) is fixed between the first fixing clamp (19) and the second fixing clamp (20) through the fixing holes (21);
the first fixing jig (19) and the second fixing jig (20) are fixed to the base plate (18).
10. A head lifting device according to claim 9, wherein said first fixing clamp (19) and said second fixing clamp (20) are connected to said base plate (18) by means of fixing plates;
the other side of the bottom plate (18) is connected with the holder (3).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111547548.4A CN114396538A (en) | 2021-12-16 | 2021-12-16 | Cloud platform elevating gear of explosion-proof robot of patrolling and examining |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111547548.4A CN114396538A (en) | 2021-12-16 | 2021-12-16 | Cloud platform elevating gear of explosion-proof robot of patrolling and examining |
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| Publication Number | Publication Date |
|---|---|
| CN114396538A true CN114396538A (en) | 2022-04-26 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202111547548.4A Pending CN114396538A (en) | 2021-12-16 | 2021-12-16 | Cloud platform elevating gear of explosion-proof robot of patrolling and examining |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116857524A (en) * | 2023-09-01 | 2023-10-10 | 天津博宜特科技有限公司 | Lifting cradle head type inspection robot |
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2021
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116857524A (en) * | 2023-09-01 | 2023-10-10 | 天津博宜特科技有限公司 | Lifting cradle head type inspection robot |
| CN116857524B (en) * | 2023-09-01 | 2023-11-17 | 天津博宜特科技有限公司 | Lifting cradle head type inspection robot |
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