CN202574445U

CN202574445U - Robot capable of climbing poles with sections in various shapes

Info

Publication number: CN202574445U
Application number: CN 201220059575
Authority: CN
Inventors: 秦小屿; 王强; 朱维兵
Original assignee: Xihua University
Current assignee: Xihua University
Priority date: 2012-02-23
Filing date: 2012-02-23
Publication date: 2012-12-05
Anticipated expiration: 2022-02-23

Abstract

The utility model relates to a robot capable of climbing poles with sections in various shapes. The robot comprises a rack and a group of climbing driving components mounted on the rack, wherein the rack comprises a rack body, a rack closed edge, a closed edge rotary shaft and a plug-pin, and an openable cylindrical ring is formed. The climbing driving components structurally include that a climbing driving component support is fixed on the rack through by a set screw, a floating rod support, a screw rod, a synchronous belt transmission device and a screw rod driving motor are mounted on the climbing driving component support, the screw rod driving motor drives the screw rod to rotate through the synchronous belt transmission device, the floating rod support can move radially, a floating rod is mounted on the floating rod support through the plug-pin, and a driving wheel is mounted on the floating rod through a driving wheel rotary shaft and driven by a stepping motor. The climbing driving components in the number of 3-6 can be mounted on the rack, motion of the driving motors of the same type is bound to be coordinated, and the motion and clamping forces of the driving motors are uniformly controlled by an electric detection and control system.

Description

One kind of multiple shaped cross climbing level robots

Technical field

The utility model relates to a kind of robot, is one kind of multiple shaped cross climbing level robots specifically.

Background technology

Climbing level robot is one of current robot Study on Technology focus, and climbing level robot has a wide range of applications in high-altitude, dangerous operation, also more and more has application prospect in other industry at present, therefore needs the climbing level robot of various ways.

Summary of the invention

The purpose of the utility model provides one kind of multiple shaped cross climbing level robots.

The technical scheme of the utility model: this robot is made up of frame and rack-mounted one group of driven unit that climbs; Frame is made up of frame main body (1), frame enclosed edge (2), enclosed edge rotating shaft (3) and latch (4), but forms the circular rings of an opening; The structure of driven unit of climbing is: the driven unit support (5) that climbs is fixed on the frame by holding screw (10); Floating lever support (6), screw mandrel (7), synchronous strap drive (8) and screw mandrel drive motor (9) are contained on the driven unit support (5) that climbs; Screw mandrel drive motor (9) drives screw mandrel (7) through synchronous strap drive (8) and rotates, and floating lever support (6) can radially move; With bearing pin (11) floating lever (12) is contained on the floating lever support (6), floating lever (12) can rotate around bearing pin (11), with drive wheel rotating shaft (14) drive wheel (13) is contained on the floating lever (12), and drive wheel (13) is by step motor drive; The action of same kind drive motor must be harmonious; The control of the action of each drive motor, gripping power size etc. are by the unified control of electrical control system.

Beneficial effect: this robot can be creeped on cylindrical bar and non-cylindrical bar, and the sectional dimension that also can adapt to institute's pole-climbing changes within the specific limits; This robot architecture is simple, and is easy to manufacture.

Description of drawings

Schematic three dimensional views when Fig. 1 is this robot frame enclosed edge closure.

Fig. 2 is the schematic three dimensional views of this robot frame enclosed edge when opening.

Fig. 3 is the partial 3 d scheme drawing after the screw mandrel drive part amplifies in this robot.

Fig. 4 is the simplified schematic diagram of this robot when climbing equidimension and becoming the size roofbolt.

Fig. 5 is that this robot driven unit that climbs when climbing circular roofbolt and non-circular roofbolt is arranged simplified schematic diagram.

1-frame main body, 2-frame enclosed edge, the rotating shaft of 3-enclosed edge, 4-latch; 5-driven unit the support that climbs, 6-floating lever support, 7-screw mandrel, 8-synchronously strap drives; 9-screw mandrel drive motor, 10-holding screw, 11-bearing pin, 12-floating lever; 13-drive wheel, the rotating shaft of 14-drive wheel, 15-roofbolt.

The specific embodiment

According to Fig. 1-Fig. 5 the specific embodiments of the utility model is specified.

Can find out the structure of this multiple shaped cross climbing level robot from the schematic three dimensional views of Fig. 1, Fig. 2 and Fig. 3.This robot is made up of frame and rack-mounted one group of driven unit that climbs; Frame is made up of frame main body 1, frame enclosed edge 2, enclosed edge rotating shaft 3 and latch 4, but forms the circular rings of an opening, and the purpose of opening is to let roofbolt 15 can enter in the middle of the circular rings; The structure of driven unit of climbing is: the driven unit support 5 that climbs is fixed on the optional position of frame by holding screw 10; Floating lever support 6, screw mandrel 7, synchronous strap drive 8 and screw mandrel drive motor 9 are contained on the driven unit support 5 that climbs; Screw mandrel drive motor 9 drives screw mandrel 7 through synchronous strap drive 8 and rotates, and floating lever support 6 can radially move; With bearing pin 11 floating lever 12 is contained on the floating lever support 6; With drive wheel rotating shaft 14 drive wheel 13 is contained on the floating lever 12; Drive wheel uses floating lever 12 can make the equalization of pressure of the 13 pairs of roofbolts 15 of two drive wheels on the driven unit that climbs by step motor drive; Can 3 ~ 6 driven units that climb be installed in frame, to adapt to the needs of difformity cross section roofbolt 15 pole-climbings; The action of same kind drive motor must be harmonious.

Electrical installations such as pressure sensor are housed on this robot, and the control of the action of each drive motor, gripping power size etc. are by the unified control of electrical control system.

Simplified schematic diagram when having represented among Fig. 4 that this robot is climbed equidimension roofbolt (shown in Fig. 4 (a) figure) and become size roofbolt (shown in Fig. 4 (b) figure); At this moment floating lever 12 plays an important role; No matter under which kind of situation, make the equalization of pressure of the 13 pairs of roofbolts 15 of two drive wheels on each driven unit that climbs.

Fig. 5 is that this robot driven unit that climbs when climbing circular roofbolt (shown in Fig. 5 (a) figure) with non-circular roofbolt (shown in Fig. 5 (a) figure) is arranged simplified schematic diagram; Driven unit support 5 is fixed on the optional position of frame by holding screw 10 owing to climb; Can increase the number and adjustment installation site of the driven unit that climbs easily, satisfy the requirement of climbing different shape cross section roofbolt 15 well.

Claims

1. one kind of multiple shaped cross climbing level robots, it is characterized in that: this robot is made up of frame and rack-mounted one group of driven unit that climbs; Frame is made up of frame main body (1), frame enclosed edge (2), enclosed edge rotating shaft (3) and latch (4), but forms the circular rings of an opening; The structure of driven unit of climbing is: the driven unit support (5) that climbs is fixed on the frame by holding screw (10); Floating lever support (6), screw mandrel (7), synchronous strap drive (8) and screw mandrel drive motor (9) are contained on the driven unit support (5) that climbs; Screw mandrel drive motor (9) drives screw mandrel (7) through synchronous strap drive (8) and rotates, and floating lever support (6) can radially move; With bearing pin (11) floating lever (12) is contained on the floating lever support (6), with drive wheel rotating shaft (14) drive wheel (13) is contained on the floating lever (12), drive wheel is by step motor drive; The control of the action of each drive motor, gripping power size is by the unified control of electrical control system.

2. multiple shaped cross climbing level robot according to claim 1; The driven unit support (5) that it is characterized in that climbing is fixed on the frame by holding screw (10); Climb driven unit support (5) quantity and position can be adjusted, and can adapt to the variation of roofbolt (15) cross sectional shape.

3. multiple shaped cross climbing level robot according to claim 1 is characterized in that floating lever (12) can rotate around bearing pin (11), makes the equalization of pressure of two drive wheels (13) of each driven unit that climbs to roofbolt (15).