CN205668603U - Large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism - Google Patents
Large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism Download PDFInfo
- Publication number
- CN205668603U CN205668603U CN201620566483.6U CN201620566483U CN205668603U CN 205668603 U CN205668603 U CN 205668603U CN 201620566483 U CN201620566483 U CN 201620566483U CN 205668603 U CN205668603 U CN 205668603U
- Authority
- CN
- China
- Prior art keywords
- lower limb
- oil cylinder
- fixed
- bar
- base plate
- Prior art date
- 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.)
- Expired - Fee Related
Links
Landscapes
- Manipulator (AREA)
Abstract
This utility model relates to a kind of large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism, belongs to mechanical design field.This Retractive leg mechanism is mainly made up of fixed mechanism, leg mechanism and telescoping mechanism.Mechanism can adapt to the change of inner wall size and different wall demand in certain limit, expands the scope of application of robot, makes creeping of robot more reliable.
Description
Technical field
This utility model relates to a kind of large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism, belongs to Machine Design
Field.
Background technology
Vertically tube wall is a kind of version common in engineering, industry, and is in important in industry, engineering safety
Status.For middle-size and small-size structural pipe wall, the technology relative maturity such as its construction, detection, easily implement.And in engineering, industry spot
In, there is the large-scale VERTICAL TUBE wall construction of various structures form, such as the Vertical Well structure in industrial and mineral, the elevator in skyscraper
Well construction, carrier rocket shell structure, large-scale chimney structure, offshore platform spud leg mechanism etc..These structural pipe walls are being built
Or during using, it usually needs carry out detecting, spray, polish, weld, deashing, the operation such as security protection.At present, these operations are led to
Often needing artificial enforcement, it is relatively big that it implements difficulty, and has certain danger.Therefore, exploitation one can be touring in tube wall
The robot creeped, to carry the power tools such as detection, spraying, replaces manual work, can reduce the difficulty of operation, improve and make
Industry safety.
The leg structure of existing climbing robot mainly has crawler type, vacuum cap type, magnetic force adsorption type etc..Crawler type is tied
Structure crossing over blockage ability is poor, and vacuum cap type requires that wall is smooth, and magnetic force adsorption type is only applicable to magnetic wall.This practicality is new
Type overcomes disadvantage mentioned above, a kind of Retractive leg mechanism of design, and leg can adapt to different size and wall in wall within the specific limits
Demand, expands the scope of application of robot, makes creeping of robot more reliable.
Summary of the invention
The purpose of this utility model is the shortcoming overcoming existing climbing robot climbing mechanism.Propose a kind of protractile
Tightly, the leg mechanism of robot that interior receipts get loose.
For realizing above-mentioned target, this utility model by the following technical solutions:
Large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism is mainly by fixed mechanism, leg mechanism and telescopic machine
Structure forms.
Fixed mechanism includes base plate (7), slideway (6), cylinder bracket (12), limits plate (4) composition.Slideway (6) is slot type
Structure, four sections of slideways (6) are divided into two groups, and symmetry is placed in the two ends of base plate (7), and by sunk screw (19) and base plate (7)
Fixing.Two cylinder brackets (12) are symmetrically fixed on the two ends of base plate (7) by support bracket bolt (11).Two limit plate (4) point
The two ends of base plate (7) it are not symmetrically fixed on by limiting crab bolt (13).
Leg mechanism is made up of parts such as pushing up foot (1), lower limb bar (3), oil cylinder push rod support (10), lower limb shaft bar (2).Lower limb bar
(3) being elongated plank frame, two lower limb bars (3) are symmetrically installed, and are fixed on the two of lower limb shaft bar (2) by lower limb bar bolt (14)
Side.Oil cylinder push rod support (10) is fixed on the inner side of lower limb shaft bar (2) by king-bolt (18) and big nut (17).Two top feet
(1) end of lower limb bar (3) it is fixed on respectively by top foot bolt (15).Each top foot (1) extenal fixation has certain thickness resistance to
Rubber milling set (16).Two set leg mechanisms are the most reversely placed on base plate (7), and its lower limb bar (3) is respectively placed in corresponding slideway (6)
Chute in, and can longitudinal sliding motion in chute.
Telescoping mechanism is two identical three grade telescopic oil cylinder (8).The bottom of telescopic oil cylinder (8) is respectively by oil cylinder bearing pin
(5) it is connected with left and right cylinder bracket (12).The push rod of telescopic oil cylinder (3) is through the through hole (A) on lower limb shaft bar (2), and difference
It is connected with oil cylinder push rod support (10) by oil cylinder push rod bearing pin (9).
Compared with prior art, this utility model has the advantage that
1, the most reversely stretched out by two leg mechanisms and the form of tensioning realizes robot and depends on inside tube wall.Its
Tensile force is adjustable, is suitable for the wall of different cross section size, material, the surface quality not requirement to wall.
2, Retractive leg mechanism coordinates the flexible of robot body, can easily stride across various disorders, it is achieved in internal structure
Creep in complex tube wall.
3, during tensioning, lower limb linkage bearing radial force, telescopic oil cylinder is not subject to radial force substantially.It addition, leg stretches
Oil cylinder is the hinged installations in two ends, can compensate radial force, and oil cylinder is long for service life.
Accompanying drawing explanation
Fig. 1 Retractive leg mechanism installation diagram
Fig. 2 fixed mechanism assembling front view
Fig. 3 fixed mechanism assembling left view
Fig. 4 leg mechanism installation diagram
Fig. 5 slideway top view
Fig. 6 slideway sectional view
Fig. 7 lower limb shaft bar sectional view
In figure: 1, top foot, 2, lower limb shaft bar, 3, lower limb bar, 4, limit plate, 5, oil cylinder bearing pin, 6, slideway, 7, base plate, 8, stretch
Contracting oil cylinder, 9, oil cylinder push rod bearing pin, 10, oil cylinder push rod support, 11, support bracket bolt, 12, cylinder bracket, 13, limit crab bolt,
14, lower limb bar bolt, 15, top foot bolt, 16, abrasive rubber set, 17, big nut, 18, king-bolt, A, through hole.
Detailed description of the invention
Large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism is mainly by fixed mechanism, leg mechanism and telescopic machine
Structure forms.
Fixed mechanism includes base plate (7), slideway (6), cylinder bracket (12), limits plate (4) composition.Slideway (6) is slot type
Structure, four sections of slideways (6) are divided into two groups, and symmetry is placed in the two ends of base plate (7), and by sunk screw (19) and base plate (7)
Fixing.Two cylinder brackets (12) are symmetrically fixed on the two ends of base plate (7) by support bracket bolt (11).Two limit plate (4) point
The two ends of base plate (7) it are not symmetrically fixed on by limiting crab bolt (13).
Leg mechanism is made up of parts such as pushing up foot (1), lower limb bar (3), oil cylinder push rod support (10), lower limb shaft bar (2).Lower limb bar
(3) being elongated plank frame, two lower limb bars (3) are symmetrically installed, and are fixed on the two of lower limb shaft bar (2) by lower limb bar bolt (14)
Side.Oil cylinder push rod support (10) is fixed on the inner side of lower limb shaft bar (2) by king-bolt (18) and big nut (17).Two top feet
(1) end of lower limb bar (3) it is fixed on respectively by top foot bolt (15).Each top foot (1) extenal fixation has certain thickness resistance to
Rubber milling set (16).Two set leg mechanisms are the most reversely placed on base plate (7), and its lower limb bar (3) is respectively placed in corresponding slideway (6)
Chute in, and can longitudinal sliding motion in chute.
Telescoping mechanism is two identical three grade telescopic oil cylinder (8).The bottom of telescopic oil cylinder (8) is respectively by oil cylinder bearing pin
(5) it is connected with left and right cylinder bracket (12).The push rod of telescopic oil cylinder (3) is through the through hole (A) on lower limb shaft bar (2), and difference
It is connected with oil cylinder push rod support (10) by oil cylinder push rod bearing pin (9).
Claims (1)
- The most large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism, it is characterised in that: Retractive leg mechanism by fixed mechanism, Leg mechanism and telescoping mechanism composition；Fixed mechanism is made up of base plate (7), slideway (6), cylinder bracket (12), restriction plate (4)；Slideway (6) is slot type structure, four Section slideway (6) is divided into two groups, and symmetry is placed in the two ends of base plate (7), and is fixed with base plate (7) by sunk screw (19)；Two Individual cylinder bracket (12) is symmetrically fixed on the two ends of base plate (7) by support bracket bolt (11)；Two limit plate (4) respectively by limit Making sheet bolt (13) is symmetrically fixed on the two ends of base plate (7)；Leg mechanism by pushing up foot (1), lower limb bar (3), oil cylinder push rod support (10), lower limb shaft bar (2) form；Lower limb bar (3) is elongated Plank frame, two lower limb bars (3) are symmetrically installed, and are fixed on the both sides of lower limb shaft bar (2) by lower limb bar bolt (14)；Oil cylinder top Shaft bar (10) is fixed on the inner side of lower limb shaft bar (2) by king-bolt (18) and big nut (17)；Two tops foot (1) are led to respectively Cross top foot bolt (15) and be fixed on the end of lower limb bar (3)；Each top foot (1) extenal fixation has certain thickness abrasive rubber set (16)；Two set leg mechanisms are the most reversely placed on base plate (7), and its lower limb bar (3) is respectively placed in the chute of corresponding slideway (6) In, and can longitudinal sliding motion in chute；Telescoping mechanism is two identical three grade telescopic oil cylinder (8)；The bottom of telescopic oil cylinder (8) is respectively by oil cylinder bearing pin (5) It is connected with left and right cylinder bracket (12)；The push rod of telescopic oil cylinder (3) is through the through hole (A) on lower limb shaft bar (2), and passes through respectively Oil cylinder push rod bearing pin (9) is connected with oil cylinder push rod support (10).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620566483.6U CN205668603U (en) | 2016-06-13 | 2016-06-13 | Large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620566483.6U CN205668603U (en) | 2016-06-13 | 2016-06-13 | Large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205668603U true CN205668603U (en) | 2016-11-02 |
Family
ID=57191138
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620566483.6U Expired - Fee Related CN205668603U (en) | 2016-06-13 | 2016-06-13 | Large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205668603U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043483A (en) * | 2016-06-13 | 2016-10-26 | 天津职业技术师范大学 | Large-scale vertical pipe type inner wall creeping robot |
| CN107081788A (en) * | 2017-06-15 | 2017-08-22 | 中海油能源发展股份有限公司 | A kind of offshore platform cylindrical leg internal flaw robot detecting system |
-
2016
- 2016-06-13 CN CN201620566483.6U patent/CN205668603U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106043483A (en) * | 2016-06-13 | 2016-10-26 | 天津职业技术师范大学 | Large-scale vertical pipe type inner wall creeping robot |
| CN106043483B (en) * | 2016-06-13 | 2018-05-04 | 天津职业技术师范大学 | Large-scale vertical tubular type inner wall climbing robot |
| CN107081788A (en) * | 2017-06-15 | 2017-08-22 | 中海油能源发展股份有限公司 | A kind of offshore platform cylindrical leg internal flaw robot detecting system |
| CN107081788B (en) * | 2017-06-15 | 2023-08-29 | 中海油能源发展股份有限公司 | Robot detection system for internal defects of cylindrical spud leg of offshore platform |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106043483B (en) | Large-scale vertical tubular type inner wall climbing robot | |
| CN102345781B (en) | In-pipe traveling machine | |
| CN106335052B (en) | A kind of hydraulic pressure climbing level robot | |
| CN104879061A (en) | Multifunctional self-propelled portal wagon drill | |
| CN205668603U (en) | Large-scale VERTICAL TUBE inner structural wall climbing robot Retractive leg mechanism | |
| CN205500624U (en) | Mining folding arm -type vehicle -mounted hangs flatbed | |
| CN206220555U (en) | A kind of telescopic construction guardrail | |
| CN206393631U (en) | A kind of hydraulic pressure climbing level robot | |
| CN102837681A (en) | Stretching structure for baffle block of three-sectional supporting leg cylinder | |
| CN106032666B (en) | A kind of offshore platform spud leg inwall variable step size automatic creeping robot | |
| CN103556942A (en) | Petroleum drilling device with multifunctional adjusting structure | |
| CN205503045U (en) | Chain and hydro -cylinder formula manipulator stroke multiplication mechanism | |
| CN205857144U (en) | A kind of offshore platform spud leg inwall variable step size automatic creeping robot | |
| CN105971299A (en) | Automatic crawling robot for elevator shaft and safety protection platform mechanism | |
| CN205935727U (en) | Elevartor shaft automatic crawl robot and safety protection stage mechanism | |
| CN204081999U (en) | One can be walked Universal rotary rig | |
| CN207667167U (en) | A kind of Multifunction hurdle rack | |
| CN207254866U (en) | A kind of cleaning plant for dirt inside drainpipe | |
| CN206606950U (en) | A kind of telescopic leg | |
| CN203832318U (en) | Demountable tanker carrier and supporting device thereof | |
| CN204608610U (en) | A kind of bridge construction lift-up device preventing sinking | |
| CN103573190A (en) | Kelly-bar connection buckling device | |
| CN206494682U (en) | One kind auxiliary rises net device | |
| CN206860201U (en) | adjustable widened section | |
| CN206917290U (en) | A kind of adjustable type concrete conveyance tube support device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20161102 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |