CN208069862U - A kind of sprocket-type climbing robot - Google Patents
A kind of sprocket-type climbing robot Download PDFInfo
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- CN208069862U CN208069862U CN201820386952.5U CN201820386952U CN208069862U CN 208069862 U CN208069862 U CN 208069862U CN 201820386952 U CN201820386952 U CN 201820386952U CN 208069862 U CN208069862 U CN 208069862U
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Abstract
The utility model discloses a kind of sprocket-type climbing robots, including left body, right body and halfpace, both the left body and right body structure are identical, and it is symmetrical arranged about halfpace between left body and right body, the left body is connected by left limit device with the side of halfpace, right body is connected by right limit device with the other side of halfpace, the lower end of the halfpace is connected with electric machine, and the output end of electric machine is connect with left body, sprocket-type climbing robot, the curved surface and variable curvature of wind tower bucket can be coped with, in face of when barrier, the motor adjustment of internal structure can be passed through, damping, make its strong interference immunity, the design of chain can play a protective role again, entire climbing robot, flexible performance is good, with good practical use, it is suitble to promote the use.
Description
Technical field
The utility model is related to harness processing neighboring technology field, specially a kind of sprocket-type climbing robots.
Background technology
The automatic machinery people that climbing robot can be climbed and be fulfiled assignment in perpendicular walls.Climbing robot is also known as
For wall-surface mobile robot, because vertical walls operation exceeds the limit of people, therefore limit operation robot is also known as in foreign countries.
Climbing robot must have absorption and mobile two basic functions, and common suction type has negative-pressure adsorption and permanent magnetic suck two
Kind.Wherein negative pressure mode can be adsorbed in by generating negative pressure in sucker on wall surface, not limited by wall surface material；Permanent magnetism is inhaled
Subsidiary formula formula then has permanent magnet and electromagnet two ways, is only applicable to absorption magnetic conductivity wall surface.Climbing robot is mainly used for stone
Change enterprise and defect detecting test or spray painting processing are carried out to cylindrical big tank, or carries out the cleaning and spraying of building.Existing machine
When people faces barrier, flexibility is poor, for this purpose, proposing a kind of sprocket-type climbing robot.
Invention content
The purpose of this utility model is to provide a kind of sprocket-type climbing robots, to solve to propose in above-mentioned background technology
The problem of.
To achieve the above object, the utility model provides the following technical solutions：
A kind of sprocket-type climbing robot, including left body, right body and halfpace, the left body and right body two
Person's structure is identical, and is symmetrical arranged about halfpace between left body and right body, and the left body passes through left limit device
It is connected with the side of halfpace, right body is connected by right limit device with the other side of halfpace, the centre
The lower end of platform is connected with electric machine, and the output end of electric machine is connect with left body.
Preferably, the halfpace is by platform upper cover plate, platform lower cover, platform front shroud, platform back shroud, left and right
The cuboid composite structure that limiting plate is constituted, the inner space that the halfpace opens up are used to be mounted in main used in robot
Electric elements are separately connected there are two left and right limiting plate on the platform front shroud and platform back shroud, in left and right limiting plate
On open up restricted angle or so limiting slot that swings.
Preferably, the limiting device includes limiting plate, left and right limiting bracket, spacer pin, left-right rotary shaft, front and back limit
Slot, intermediate shaft hole, wherein left and right limiting bracket are fixed on limiting plate, and spacer pin and left-right rotary shaft are tightened by screw thread respectively
On the limiting bracket of left and right, the limiting device is by left-right rotary shaft and left and right limiting plate phase with the cooperation of halfpace
Cooperation, makes left-right rotary shaft be rotatablely connected in the limiting plate of left and right, and spacer pin swings connection in the limiting slot of left and right, and leads to
It crosses left and right limiting slot and plays angle limit.
Preferably, the left body includes left vehicle frame upper cover plate, left frame inside plate, left frame outside plate, sprocket wheel, sprocket wheel
Support plate, electric machine connecting plate, front and back limiting bracket, front and back spacer pin, drive sprocket axle, driven chain wheel shaft, jackshaft, it is preceding
By being threaded onto on front and back limiting bracket, front and back limiting bracket is fixed by screws on left frame inside plate spacer pin afterwards,
The lower end of the left vehicle frame upper cover plate is vertically connected with left frame inside plate and left frame outside plate, and the two of left frame inside plate
Side is symmetrically connected with sprocket wheel support plate, electric machine connecting plate by screw, the drive chain for connecting walking structure
Wheel shaft, driven sprocket axial symmetry are distributed in left frame inside plate both ends, and the swing compression bar, contact roller connecting shaft, compresses swing rod
Wheel, constrictor, spring, constrictor fixing axle constitute tension structure, and spring is socketed on constrictor, the swing compression bar, pendulum
The upper end of bar is socketed on jackshaft, it is described swing compression bar, swing rod lower end be respectively connected with contact roller connecting shaft, and contact roller
Contact roller is rotatably connected in connecting shaft.
Preferably, pressing device has been connected by screw on the left vehicle frame upper cover plate, the pressing device includes tensioning
Device fixed plate, tensioning apparatus sliding panel, tensioning shaft, tensioning wheel, tensioning apparatus sliding panel sliding slot, tensioning apparatus fixed plate are slided
Slot, and tensioning shaft rotation is plugged in tensioning wheel, the tensioning apparatus fixed plate, tensioning apparatus sliding panel are arranged in parallel, and are opening
Tensioning apparatus fixed plate sliding slot is offered in tight device fixed plate, tensioning apparatus sliding panel is offered on tensioning apparatus sliding panel
Sliding slot, tensioning apparatus sliding panel sliding slot are matched with tensioning apparatus fixed plate sliding slot, and tensioning apparatus sliding panel passes through in sliding slot
Move up and down adjusting the tensioning of the chain.
Preferably, the electric machine includes electric machine support lid, motor cover, motor, shaft coupling, and motor is connected by bolt again
It is connected to electric machine support lid；Electric machine is fixedly connected by screw with electric machine connecting plate.
Preferably, the left body further includes stating walking structure, and walking structure includes sprocket wheel and chain, and sprocket wheel includes actively
Sprocket wheel and driven sprocket, the drive sprocket is affixed with drive sprocket axle by being keyed, and motor passes through shaft coupling and active
Sprocket shaft is affixed, and is fixed on electric machine connecting plate by electric machine support lid.
Preferably, cuboid magnetic stripe and rubber column are installed, and the thickness of rubber column is more than cuboid magnetic on the chain
The thickness of item.
Compared with prior art, the utility model has the beneficial effects that：Sprocket-type climbing robot can cope with wind tower
The curved surface and variable curvature of bucket can keep its anti-interference when facing barrier by the motor adjustment of internal structure, damping
Property it is strong, the design of chain can play a protective role again, entire climbing robot, and flexible performance is good, have good practical use
On the way, it is suitble to promote the use.
Description of the drawings
Fig. 1 is climbing robot general assembly ligand isometric view；
Fig. 2 is climbing robot general assembly ligand front view；
Fig. 3 is climbing robot halfpace assembly isometric view；
Fig. 4 is climbing robot limiting device isometric view；
Fig. 5 is climbing robot left body isometric view；
Fig. 6 is climbing robot left body interior details schematic diagram；
Fig. 7 is climbing robot sliding pressing device normal axomometric drawing；
Fig. 8 is climbing robot electric machine interior details schematic diagram；
Fig. 9 is climbing robot schematic diagram in tower.
In figure：1 halfpace, 101 platform upper cover plates, 102 platform lower covers, 103 platform front shrouds, 104 platform rear covers
Plate, 105 or so limiting plates, 106 or so limiting slots, 107 left rotation and right rotation axis holes, 2 left limit devices, 201 limiting plates, 202 or so
Limiting bracket, 203 spacer pins, 204 left-right rotary shafts, limiting slot before and after 205,206 intermediate shaft holes, 3 left bodies, 301 left vehicle frames
Upper cover plate, 302 left frame inside plates, 303 left frame outside plates, 304 sprocket wheels, 305 sprocket wheel support plates, 306 chains, 307 motors
Device connecting plate, limiting bracket before and after 308, spacer pin before and after 309,310 rubber columns, 311 cuboid magnetic stripes, 312 drive sprockets
Axis, 313 driven chain wheel shafts, 314 jackshafts, 315 swing compression bars, 316 swing rods, 317 contact roller connecting shafts, 318 contact rollers, 319
Constrictor, 320 springs, 321 constrictor fixing axles, 322 tensioning apparatus fixed plates, 323 tensioning apparatus sliding panels, 324 tensioning shafts,
325 tensioning wheels, 326 tensioning apparatus sliding panel sliding slots, 327 tensioning apparatus fixed plate sliding slots, 4 right limit devices, 5 right bodies, 6 electricity
Machine device, 601 electric machine support lids, 602 motor covers, 603 motors, 604 shaft couplings.
Specific implementation mode
The following will be combined with the drawings in the embodiments of the present invention, carries out the technical scheme in the embodiment of the utility model
Clearly and completely describe, it is clear that the described embodiments are only a part of the embodiments of the utility model, rather than whole
Embodiment.Based on the embodiments of the present invention, those of ordinary skill in the art are without making creative work
The every other embodiment obtained, shall fall within the protection scope of the present invention.
- 9 are please referred to Fig.1, the utility model provides a kind of technical solution：
A kind of sprocket-type climbing robot, including left body 3, right body 5 and halfpace 1, left body 3 and right body 5
The two structure is identical, and is symmetrical arranged about halfpace 1 between left body 3 and right body 5, and left body 3 is filled by left limit
2 to be set with the side of halfpace 1 to be connected, right body 5 is connected by right limit device 4 with the other side of halfpace 1, in
Between the lower end of platform 1 be connected with electric machine 6, and the output end of electric machine 6 is connect with left body 3, and left body 3 is flat with centre
Platform 1, by tool, there are two the left limit devices 2 of degree of freedom to connect, according to above-mentioned implementation so that left body 3 can be opposite
The rotary motion of both direction, i.e. left-right rotation and front and back rotation are done in halfpace 1.This makes it possible to meet robot to wind
The curved surface of pylon bucket and the adaptation of variable curvature.
Halfpace 1 is by platform upper cover plate 101, platform lower cover 102, platform front shroud 103, platform back shroud 104, a left side
The cuboid composite structure that right limit plate 105 is constituted, the inner space that halfpace 1 opens up are used to be mounted in the master used in robot
Electric elements are wanted, are separately connected on platform front shroud 103 and platform back shroud 104 there are two left and right limiting plate 105, in left and right
Restricted angle or so the limiting slot 106 that swings is opened up on limiting plate 105.
Limiting device 2 includes limiting plate 201, left and right limiting bracket 202, spacer pin 203, left-right rotary shaft 204, front and back limit
Position slot 205, intermediate shaft hole 206, wherein left and right limiting bracket 202 are fixed on limiting plate 201, spacer pin 203 and left rotation and right rotation
For axis 204 respectively by being screwed on left and right limiting bracket 202, limiting device 2 is to pass through a left side with the cooperation of halfpace 1
Dextral shaft 204 is matched with left and right limiting plate 105, and left-right rotary shaft 204 is made to be rotatablely connected in left and right limiting plate 105, limit
Position pin 203 swings connection in left and right limiting slot 106, and plays angle limit by left and right limiting slot 106.
Left body 3 includes left vehicle frame upper cover plate 301, left frame inside plate 302, left frame outside plate 303, sprocket wheel 304, chain
Take turns support plate 305, electric machine connecting plate 307, front and back limiting bracket 308, front and back spacer pin 309, drive sprocket axle 312, from
Movable sprocket axis 313, jackshaft 314, front and back spacer pin 309 is by being threaded onto on front and back limiting bracket 308, front and back limiting bracket
308 are fixed by screws on left frame inside plate 302, and the lower end of left vehicle frame upper cover plate 301 is vertically connected with left frame inside
Plate 302 and left frame outside plate 303, and the both sides of left frame inside plate 302 are symmetrically connected with sprocket wheel support plate by screw
305, electric machine connecting plate 307, for connecting the drive sprocket axle 312 of walking structure, driven chain wheel shaft 313 is symmetrically distributed in
Left 302 both ends of frame inside plate, swing compression bar 315, swing rod 316, contact roller connecting shaft 317, contact roller 318, constrictor 319,
Spring 320, constrictor fixing axle 321 constitute tension structure, and spring 320 is socketed on constrictor 319, swing compression bar 315, pendulum
The upper end of bar 316 is socketed on jackshaft 314, swings compression bar 315, the lower end of swing rod 316 is respectively connected with contact roller connecting shaft
317, and contact roller 318 is rotatably connected in contact roller connecting shaft 317.When current face pressure bearing up pulley 318 encounters barrier, compress
Wheel 318 is upturned compressed spring 320, and spring 320 is withstood upwards swings compression bar 315, and swing compression bar 315 is made to compress subsequent pressure
Bearing up pulley 318；When subsequent contact roller 318 encounters barrier, contact roller 318 is upturned compresses bullet by swinging compression bar 315
Spring 320 plays the role of compressing chain 306 to make spring 320 compress contact roller 318.
Pressing device is connected by screw on left vehicle frame upper cover plate 301, pressing device includes tensioning apparatus fixed plate
322, tensioning apparatus sliding panel 323, tensioning shaft 324, tensioning wheel 325, tensioning apparatus sliding panel sliding slot 326, tensioning apparatus are fixed
Plate sliding slot 327, and the rotation of tensioning shaft 324 is plugged in tensioning wheel 325, tensioning apparatus fixed plate 322, tensioning apparatus sliding panel
323 are arranged in parallel, and tensioning apparatus fixed plate sliding slot 327 are offered in tensioning apparatus fixed plate 322, in tensioning apparatus sliding panel
Tensioning apparatus sliding panel sliding slot 326, tensioning apparatus sliding panel sliding slot 326 and tensioning apparatus fixed plate sliding slot 327 are offered on 323
It matches, tensioning apparatus sliding panel 323 adjusts the tensioning of chain 306 by being moved up and down in sliding slot, to meet walking mechanism
Specific requirements.
Electric machine 6 includes electric machine support lid 601, motor cover 602, motor 603, shaft coupling 604, and motor 603 passes through again
It is bolted to electric machine support lid 601；Electric machine 6 is fixedly connected by screw with electric machine connecting plate 307.Left body 3
Further include stating walking structure, walking structure includes sprocket wheel 304 and chain 306, and sprocket wheel 304 includes drive sprocket and driven sprocket,
Drive sprocket is affixed with drive sprocket axle 312 by being keyed, and motor 603 is solid by shaft coupling 604 and drive sprocket axle 312
It connects, and is fixed on electric machine connecting plate 307 by electric machine support lid 601.Motor torque is transmitted by drive sprocket axle 312
To drive sprocket.Drive sprocket is matched with driven sprocket 304 in a manner of standard drive, and drive sprocket rotation passes through chain 306
Drive driven sprocket rotation.
Cuboid magnetic stripe 311 and rubber column 310 are installed, and the thickness of rubber column 306 is more than cuboid magnetic on chain 306
The thickness of item 311.In the process of walking, ensure that cuboid magnetic stripe 311 is not contacted with wall surface, rubber column 306 is to cuboid magnetic stripe
311 play a protective role.
Left limit device 2 is that the jackshaft 314 in left body 3 is matched by bearing connection with the cooperation of left body 3
's.Front and back spacer pin 309 is by being threaded onto on front and back limiting bracket 308, and then front and back limiting bracket 308 is fixed by screw
On left frame inside plate 302.When jackshaft 314 is when intermediate shaft hole 206 rotates, front and back spacer pin 309 is in front and back limiting slot
It is rotated in 205.By front and back limiting slot 205, thus the rotating range by left body 3 relative to limiting device 2 is limited.
While there has been shown and described that the embodiments of the present invention, for the ordinary skill in the art,
It is appreciated that can these embodiments be carried out with a variety of variations in the case where not departing from the principles of the present invention and spirit, repaiied
Change, replace and modification, the scope of the utility model are defined by the appended claims and the equivalents thereof.
Claims (8)
1. a kind of sprocket-type climbing robot, including left body（3）, right body（5）And halfpace（1）, it is characterised in that：Institute
State left body（3）And right body（5）The two structure is identical, and left body（3）And right body（5）Between about halfpace（1）
It is symmetrical arranged, the left body（3）Pass through left limit device（2）With halfpace（1）Side be connected, right body（5）It is logical
Cross right limit device（4）With halfpace（1）The other side be connected, the halfpace（1）Lower end be connected with motor dress
It sets（6）, and electric machine（6）Output end and left body（3）Connection.
2. a kind of sprocket-type climbing robot according to claim 1, it is characterised in that：The halfpace（1）By putting down
Platform upper cover plate（101）, platform lower cover（102）, platform front shroud（103）, platform back shroud（104）, left and right limiting plate（105）
The cuboid composite structure of composition, the halfpace（1）The inner space opened up is used to be mounted in the main electricity used in robot
Device element, in the platform front shroud（103）With platform back shroud（104）On be separately connected there are two left and right limiting plate（105）,
In left and right limiting plate（105）On open up restricted angle or so limiting slot that swings（106）.
3. a kind of sprocket-type climbing robot according to claim 2, it is characterised in that：The limiting device（2）Including
Limiting plate（201）, left and right limiting bracket（202）, spacer pin（203）, left-right rotary shaft（204）, front and back limiting slot（205）, in
Between axis hole（206）, wherein left and right limiting bracket（202）It is fixed on limiting plate（201）On, spacer pin（203）With left-right rotary shaft
（204）Respectively by being screwed at left and right limiting bracket（202）On, the limiting device（2）Same halfpace（1）Match
It closes, is by left-right rotary shaft（204）With left and right limiting plate（105）It matches, makes left-right rotary shaft（204）In left and right limiting plate
（105）Middle rotation connection, spacer pin（203）In left and right limiting slot（106）In swing connection, and pass through left and right limiting slot
（106）Play angle limit.
4. a kind of sprocket-type climbing robot according to claim 1, it is characterised in that：The left body（3）Including a left side
Vehicle frame upper cover plate（301）, left frame inside plate（302）, left frame outside plate（303）, sprocket wheel（304）, sprocket wheel support plate
（305）, electric machine connecting plate（307）, front and back limiting bracket（308）, front and back spacer pin（309）, drive sprocket axle（312）,
Driven chain wheel shaft（313）, jackshaft（314）, front and back spacer pin（309）By being threaded onto front and back limiting bracket（308）On, it is preceding
Limiting bracket afterwards（308）It is fixed by screws in left frame inside plate（302）On, the left vehicle frame upper cover plate（301）Lower end
It is vertically connected with left frame inside plate（302）With left frame outside plate（303）, and left frame inside plate（302）Both sides it is logical
It crosses screw and is symmetrically connected with sprocket wheel support plate（305）, electric machine connecting plate（307）, the master for connecting walking structure
Movable sprocket axis（312）, driven chain wheel shaft（313）It is symmetrically distributed in left frame inside plate（302）Both ends swing compression bar（315）, pendulum
Bar（316）, contact roller connecting shaft（317）, contact roller（318）, constrictor（319）, spring（320）, constrictor fixing axle（321）
Constitute tension structure, and spring（320）It is socketed in constrictor（319）On, the swing compression bar（315）, swing rod（316）Upper end
It is socketed in jackshaft（314）On, the swing compression bar（315）, swing rod（316）Lower end be respectively connected with contact roller connecting shaft
（317）, and contact roller connecting shaft（317）On be rotatably connected to contact roller（318）.
5. a kind of sprocket-type climbing robot according to claim 4, it is characterised in that：The left vehicle frame upper cover plate
（301）On be connected by screw pressing device, the pressing device includes tensioning apparatus fixed plate（322）, tensioning apparatus slide
Movable plate（323）, tensioning shaft（324）, tensioning wheel（325）, tensioning apparatus sliding panel sliding slot（326）, tensioning apparatus fixed plate sliding slot
（327）, and tensioning shaft（324）Rotation is plugged on tensioning wheel（325）In, the tensioning apparatus fixed plate（322）, tensioning apparatus slide
Movable plate（323）It is arranged in parallel, in tensioning apparatus fixed plate（322）On offer tensioning apparatus fixed plate sliding slot（327）, it is being tensioned
Device sliding panel（323）On offer tensioning apparatus sliding panel sliding slot（326）, tensioning apparatus sliding panel sliding slot（326）With tensioning
Device fixed plate sliding slot（327）It matches, tensioning apparatus sliding panel（323）By moving up and down adjusting chain in sliding slot
（306）Tensioning.
6. a kind of sprocket-type climbing robot according to claim 4, it is characterised in that：The electric machine（6）Including
Electric machine support lid（601）, motor cover（602）, motor（603）, shaft coupling（604）, motor（603）It is bolt-connected to electricity again
Machine support lid（601）；Electric machine（6）Pass through screw and electric machine connecting plate（307）It is fixedly connected.
7. a kind of sprocket-type climbing robot according to claim 4, it is characterised in that：The left body（3）Further include
Walking structure is stated, walking structure includes sprocket wheel（304）And chain（306）, sprocket wheel（304）Including drive sprocket and driven sprocket,
The drive sprocket passes through key connection and drive sprocket axle（312）It is affixed, and motor（603）Pass through shaft coupling（604）With active
Sprocket shaft（312）It is affixed, and pass through electric machine support lid（601）It is fixed on electric machine connecting plate（307）On.
8. a kind of sprocket-type climbing robot according to claim 7, it is characterised in that：The chain（306）Upper installation
There is cuboid magnetic stripe（311）And rubber column（310）, and rubber column（310）Thickness be more than cuboid magnetic stripe（311）Thickness.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820386952.5U CN208069862U (en) | 2018-03-21 | 2018-03-21 | A kind of sprocket-type climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201820386952.5U CN208069862U (en) | 2018-03-21 | 2018-03-21 | A kind of sprocket-type climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN208069862U true CN208069862U (en) | 2018-11-09 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201820386952.5U Active CN208069862U (en) | 2018-03-21 | 2018-03-21 | A kind of sprocket-type climbing robot |
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| Country | Link |
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| CN (1) | CN208069862U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108313155A (en) * | 2018-03-21 | 2018-07-24 | 洛阳圣瑞智能机器人有限公司 | A kind of sprocket-type climbing robot |
-
2018
- 2018-03-21 CN CN201820386952.5U patent/CN208069862U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108313155A (en) * | 2018-03-21 | 2018-07-24 | 洛阳圣瑞智能机器人有限公司 | A kind of sprocket-type climbing robot |
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