CN206578837U - A kind of climbing level robot - Google Patents
A kind of climbing level robot Download PDFInfo
- Publication number
- CN206578837U CN206578837U CN201720170472.0U CN201720170472U CN206578837U CN 206578837 U CN206578837 U CN 206578837U CN 201720170472 U CN201720170472 U CN 201720170472U CN 206578837 U CN206578837 U CN 206578837U
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- CN
- China
- Prior art keywords
- bearing
- climbing
- level robot
- leading screw
- driven pulley
- 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
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- 230000009194 climbing Effects 0.000 title claims abstract description 40
- 230000008878 coupling Effects 0.000 claims abstract description 18
- 238000010168 coupling process Methods 0.000 claims abstract description 18
- 238000005859 coupling reaction Methods 0.000 claims abstract description 18
- 230000003287 optical effect Effects 0.000 claims abstract description 10
- 230000009467 reduction Effects 0.000 claims description 10
- 238000010586 diagram Methods 0.000 description 6
- VYPSYNLAJGMNEJ-UHFFFAOYSA-N Silicium dioxide Chemical compound O=[Si]=O VYPSYNLAJGMNEJ-UHFFFAOYSA-N 0.000 description 5
- 239000000741 silica gel Substances 0.000 description 5
- 229910002027 silica gel Inorganic materials 0.000 description 5
- 238000000034 method Methods 0.000 description 4
- 241000239290 Araneae Species 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 241000196324 Embryophyta Species 0.000 description 1
- 241000233855 Orchidaceae Species 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 238000003915 air pollution Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000001514 detection method Methods 0.000 description 1
- 238000011900 installation process Methods 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
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- Manipulator (AREA)
Abstract
The utility model provides a kind of climbing level robot, including housing, climbing device and clamp system are provided with the housing, the climbing device includes two groups of friction pulleys, friction pulley is by first reducing motors control, the clamp system includes second reducing motors, leading screw, linear bearing and optical axis, and described leading screw one end is connected to the second yielding coupling, and second reducing motors control leading screw by the second yielding coupling.The friction pulley includes driving wheel and driven pulley, climbing device also includes first reducing motors, the first yielding coupling, pressure sensor and driven pulley, first reducing motors are connected to multi-diameter shaft by the first yielding coupling, multi-diameter shaft drives driving wheel, driven pulley is adapted to the position of driving wheel, multi-diameter shaft is supported by deep groove ball bearing, and pressure sensor is arranged on driven pulley side.The climbing device is arranged on housing with screw.
Description
Technical field
The utility model is related to robot field, particularly a kind of wheeled self-locking climbing level robot.
Background technology
With developing rapidly for society, air pollution problems inherent is increasingly serious so that some expose aerial bar throughout the year
Part and pipeline accelerated ageing, not only shorten service life, and bring potential safety hazard.Currently for the flaw detection of these facilities
It is extremely dangerous with the dangerous work high above the ground such as maintenance mostly by being accomplished manually, and need by large scale equipment.Disliked when meeting with
During bad weather condition, operate particularly difficult.This is frequently problem in real work, but up to the present, is not had also
There are a good Regulations to solve this problem.
The climbing level robot technology developed rapidly is to solve one of important method of this problem, is had been developed that various
The climbing level robot of various kinds, the clamping between robot and rod member is typically all driven using pneumatic element and clamped and motor
Driving is clamped.Articulated type and crank block type are used mode of climbing more.Such robot belongs to intermittent movement, and efficiency of climbing is low
And process of climbing is unstable, it is impossible to carry defect-detecting equipment.The reliability simultaneously clamped on is relatively low, is likely to result in falling for robot,
Cause harm.
Utility model content
Utility model purpose：Technical problem to be solved in the utility model is that there is provided one in view of the shortcomings of the prior art
Plant climbing level robot.
In order to solve the above-mentioned technical problem, the utility model provides a kind of climbing level robot, including housing, the housing
Interior to be provided with climbing device and clamp system, the climbing device includes two groups of friction pulleys, friction pulley by first reducing motors control,
The clamp system includes second reducing motors, leading screw, linear bearing and optical axis, and described leading screw one end is connected to the second elasticity connection
Axle device, second reducing motors control leading screw by the second yielding coupling.
In the utility model, the friction pulley include driving wheel and driven pulley, climbing device also include first reducing motors,
First yielding coupling, pressure sensor and driven pulley, first reducing motors are connected to multi-diameter shaft by the first yielding coupling,
Multi-diameter shaft drives driving wheel, and driven pulley is adapted to the position of driving wheel, and multi-diameter shaft is supported by deep groove ball bearing, and pressure sensor is set
Put in driven pulley side.The climbing device is arranged on housing with screw.
In the utility model, the clamp system includes linear bearing carriage and the first deep groove ball bearing bearing, linear axis
Hold bearing to be adapted to the first deep groove ball bearing bearing, a leading screw and two optical axises are arranged on linear bearing carriage and the first zanjon
Between ball bearing bearing, second reducing motors connect leading screw by the second yielding coupling, coordinate pressure sensor to be clamped
Feed screw nut is provided with the inside of the regulation and control of power, the linear bearing carriage, leading screw passes through feed screw nut.Optical axis coordinates with linear bearing
It is oriented to.
In the utility model, the driving wheel both sides are provided with the second deep groove ball bearing bearing and the 3rd deep groove ball bearing branch
Seat.
In the utility model, the both sides of the driving wheel and driven pulley are equipped with wheel hub, and friction pulley is designed with unilateral method
Orchid, to friction pulley positioning, fixes.
In the utility model, linear bearing is provided with the outside of the linear bearing carriage, optical axis set is connected in linear bearing.
In the utility model, the driven pulley is arranged on driven wheeling support, and driven wheeling support connects pressure sensor, pressure
Force snesor is fixed on pressure sensor.
In the utility model, first, second reducing motor is the Worm reduction motor with auto-lock function.
In the utility model, the housing includes upper plate and lower shoe, solid by column between upper plate and lower shoe
Fixed, the upper plate includes the first upper plate and the second upper plate, and the lower shoe includes the first lower shoe and the second lower shoe.
Beneficial effect：Climbing level robot of the present utility model drives clamping device using Worm reduction motor, there is provided abundance
Clamping force while, make use of the physical characteristic of worm and gear self-locking, i.e. worm screw lead angle be less than worm and gear rotate when
The angle of friction of contact, i.e. β<Φ, β are the lead angle of worm screw, and Φ is angle of friction.So that climbing level robot is in the course of the work, i.e.,
When making the failures such as generation power-off, clamping force is constant, and clamp system will not loosen, and robot will not fall, it is to avoid occur safe thing
Therefore.
Climbing level robot of the present utility model is climbed using Worm reduction motor driving silica gel friction pulley, is used
Silica gel friction pulley is in close contact with rod member, it is ensured that have the frictional force of abundance during clamping so that climbing level robot is in the course of work
In do not fall off, meanwhile, wheeled construction ensure it is efficient climb work when there is provided a more stable working environment.
Brief description of the drawings
The utility model is done with reference to the accompanying drawings and detailed description and further illustrated, the utility model
Above-mentioned or otherwise advantage will become apparent.
Fig. 1 is embodiment overall structure diagram；
Fig. 2 is structure chart；
Fig. 3 is driven pulley partial schematic diagram；
Fig. 4 is driving wheel partial schematic diagram；
Fig. 5 is clamp system schematic diagram.
Embodiment
The utility model is elaborated below in conjunction with accompanying drawing.
Embodiment：
As shown in Figure 1, Figure 2 and Fig. 3, a kind of climbing level robot that the present embodiment is provided, including pressure sensor fixed seat 1, pressure
Force snesor 2, the second Worm reduction motor 3, motor cabinet 4, yielding coupling 5, deep groove ball bearing bearing 6, leading screw 7, light
Axle 8,9, feed screw nut 10, linear bearing carriage 11, linear bearing 12,13, deep groove ball bearing bearing 14,16, multi-diameter shaft 15, bullet
Property shaft coupling 17, the first Worm reduction motor 18, motor cabinet 19, wheel hub 20, silica gel friction pulley 21 is driving wheel 21a, driven
Take turns 21b, driven shaft stool 22, bottom plate 23, deep groove ball bearing 24, housing 25 and column 26；Fig. 4 is driving wheel partial schematic diagram；
Fig. 5 is clamp system schematic diagram.
Silica gel friction pulley 21 is engaged with wheel hub 20 in climbing device, and wheel hub 20 is designed with single-side flange, it is convenient install and
Reliably silica gel friction pulley 21 can be positioned, fixed.It is fixed on by interference fit on corresponding multi-diameter shaft 15, multi-diameter shaft 15
Deep groove ball bearing 24 is installed in two ends by interference fit, then relies on bearing spider 14 and secures a shaft at entirety using bolt
Bottom plate 23 on, shaft end is connected by yielding coupling 17 with the first Worm reduction motor 18, the first worm and gear slow down
Motor 18 coordinates the motor cabinet 19 of customization to be arranged on by bolt on bottom plate 23, and driven pulley bearing spider 22 is arranged on pressure sensing
The one end of device 2, the other end is fixed in pressure sensor fixed seat 1 to be arranged on bottom plate 23 again.First Worm reduction motor
18 driving force is transferred on multi-diameter shaft 15 by yielding coupling 17, realizes climbing and declining for climbing level robot.It is driven
Wheel bearing bearing 22 is arranged on the one end of pressure sensor 2, and the other end is fixed in pressure sensor fixed seat 1 is arranged on bottom plate again
On 23.While clamping is realized, clamping force is accurately controlled, while ensure that clamping, rod member will not also be caused
Damage.
Self-locking clamping mechanism feed screw nut with one group of leading screw is clamped, and two groups of optical axises 8,9 coordinate linear bearing
12nd, 13 realize the limitation of the free degree and be oriented to.The fitted bearing bearing 6 of leading screw 7 is fixed on bottom plate 23, and one end passes through elasticity
Shaft coupling 5 connects Worm reduction motor 3.Second Worm reduction motor 3 coordinates the motor cabinet 4 of customization to pacify by bolt
On bottom plate 23.Feed screw nut 10 and linear bearing 12 are arranged in fixed seat 11 by bolt.In installation process, leading screw
To ensure higher depth of parallelism requirement with optical axis, prevent to interfere deadlock phenomenon.
Housing includes upper plate and lower shoe, is fixed between upper plate and lower shoe by column 26, the upper plate bag
The first upper plate and the second upper plate are included, the lower shoe includes the first lower shoe and the second lower shoe
The utility model provides a kind of climbing level robot, and the method and approach for implementing the technical scheme are a lot, with
Only it is preferred embodiment of the present utility model described in upper, it is noted that for those skilled in the art,
On the premise of the utility model principle is not departed from, some improvements and modifications can also be made, these improvements and modifications should also be regarded
For protection domain of the present utility model.Each part being not known in the present embodiment can use prior art to be realized.
Claims (9)
1. a kind of climbing level robot, it is characterised in that including housing (25), climbing device and clamping machine are provided with the housing
Structure, the climbing device includes two friction pulleys (21), and friction pulley is controlled by first reducing motors (18), the clamp system bag
Second reducing motors (3), leading screw (7) and optical axis are included, described leading screw one end is connected to the second yielding coupling (5), and second slows down
Motor (3) controls leading screw (7) by the second yielding coupling (5).
2. a kind of climbing level robot according to claim 1, it is characterised in that the friction pulley (21) includes driving wheel
(21a) and driven pulley (21b), the climbing device also includes the first yielding coupling (17), pressure sensor (2) and driven pulley
(21b), first reducing motors (18) are connected to multi-diameter shaft (15) by the first yielding coupling (17), and multi-diameter shaft (15) two ends lead to
Cross deep groove ball bearing (24) to be fixed on second bearing bearing (14) and 3rd bearing bearing (16), multi-diameter shaft (15) drives actively
Take turns (21a), driven pulley is adapted to the position of driving wheel, and pressure sensor (2) is arranged on driven pulley (21b) side.
3. a kind of climbing level robot according to claim 1 or 2, it is characterised in that the clamp system includes linear axis
Bearing (11) and the first deep groove ball bearing bearing (6) are held, linear bearing carriage is adapted to the first deep groove ball bearing bearing (6), one
Root leading screw and two optical axises are arranged between linear bearing carriage and the first deep groove ball bearing bearing, and second reducing motors (3) are led to
Cross on the inside of the second yielding coupling (5) connection leading screw (7), the linear bearing carriage and be provided with feed screw nut (10), leading screw is passed through
Feed screw nut (10).
4. a kind of climbing level robot according to claim 2, it is characterised in that the driving wheel both sides are provided with the second zanjon
Ball bearing bearing (16) and the 3rd deep groove ball bearing bearing (14).
5. a kind of climbing level robot according to claim 2, it is characterised in that the both sides of the driving wheel and driven pulley are equal
Provided with wheel hub (20).
6. a kind of climbing level robot according to claim 3, it is characterised in that provided with straight on the outside of the linear bearing carriage
Bobbin is held (12), and optical axis set is connected in linear bearing.
7. a kind of climbing level robot according to claim 2, it is characterised in that the driven pulley is arranged on driven wheeling support
(22) on, driven wheeling support connection pressure sensor (2), pressure sensor (2) is fixed in pressure sensor fixed seat (1).
8. a kind of climbing level robot according to claim 1, it is characterised in that the first reducing motors (18), second
Reducing motor (3) is Worm reduction motor.
9. a kind of climbing level robot according to claim 2, it is characterised in that the housing includes upper plate and bottom
Plate, fixed by column (26) between upper plate and lower shoe, the upper plate includes the first upper plate and the second upper plate, institute
Stating lower shoe includes the first lower shoe and the second lower shoe.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720170472.0U CN206578837U (en) | 2017-02-24 | 2017-02-24 | A kind of climbing level robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201720170472.0U CN206578837U (en) | 2017-02-24 | 2017-02-24 | A kind of climbing level robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN206578837U true CN206578837U (en) | 2017-10-24 |
Family
ID=60091535
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201720170472.0U Expired - Fee Related CN206578837U (en) | 2017-02-24 | 2017-02-24 | A kind of climbing level robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN206578837U (en) |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108128365A (en) * | 2017-12-23 | 2018-06-08 | 香港中文大学（深圳） | A kind of flexible cohesion device of high load |
| CN108381358A (en) * | 2018-04-28 | 2018-08-10 | 肖晴晗 | A kind of spray painting of stayed-cable bridge cable wire maintains machinery people's construction |
| CN111361658A (en) * | 2020-04-13 | 2020-07-03 | 成都清妙创意设计有限公司 | Intelligent climbing robot |
| CN111573574A (en) * | 2020-04-23 | 2020-08-25 | 俞国峰 | Climbing device for power maintenance |
| CN111589070A (en) * | 2019-12-19 | 2020-08-28 | 年亚欣 | Electric pole climbing device and method thereof |
| CN114803964A (en) * | 2022-05-17 | 2022-07-29 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
-
2017
- 2017-02-24 CN CN201720170472.0U patent/CN206578837U/en not_active Expired - Fee Related
Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108128365A (en) * | 2017-12-23 | 2018-06-08 | 香港中文大学（深圳） | A kind of flexible cohesion device of high load |
| CN108128365B (en) * | 2017-12-23 | 2024-03-01 | 香港中文大学（深圳） | High-load flexible enclasping device |
| CN108381358A (en) * | 2018-04-28 | 2018-08-10 | 肖晴晗 | A kind of spray painting of stayed-cable bridge cable wire maintains machinery people's construction |
| CN111589070A (en) * | 2019-12-19 | 2020-08-28 | 年亚欣 | Electric pole climbing device and method thereof |
| CN111361658A (en) * | 2020-04-13 | 2020-07-03 | 成都清妙创意设计有限公司 | Intelligent climbing robot |
| CN111361658B (en) * | 2020-04-13 | 2021-12-07 | 福建永越智能科技股份有限公司 | Intelligent climbing robot |
| CN111573574A (en) * | 2020-04-23 | 2020-08-25 | 俞国峰 | Climbing device for power maintenance |
| CN114803964A (en) * | 2022-05-17 | 2022-07-29 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
| CN114803964B (en) * | 2022-05-17 | 2024-03-19 | 中国南方电网有限责任公司超高压输电公司南宁局 | Lifting device for high-altitude operation |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20171024 Termination date: 20200224 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |