CN208868169U - A kind of rope-climbed robot structure - Google Patents
A kind of rope-climbed robot structure Download PDFInfo
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- CN208868169U CN208868169U CN201821202717.4U CN201821202717U CN208868169U CN 208868169 U CN208868169 U CN 208868169U CN 201821202717 U CN201821202717 U CN 201821202717U CN 208868169 U CN208868169 U CN 208868169U
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Abstract
The utility model discloses a kind of rope-climbed robot structures, its structure includes adjusting control button, setting controller, traction conductor rope, monitoring camera, installation firm banking, operation part, remove sand hydraulic anti-fall device, control button is adjusted to be set to the left side of setting controller and be connected by electric signal, it adjusts control button insertion to be installed on the upper surface for the hydraulic anti-fall device that removes sand and be connected by way of bonding, setting controller insertion is installed on the inside for the hydraulic anti-fall device that removes sand and is connected by way of rotation.The utility model can timely be forced to stop the falling tendency of robot by frictional force when robot breaks down and glides, it prevents robot from falling accident occur and robot is caused to damage, and it being capable of automatic sand discharging in its tenesmus, increase frictional force, accelerate its stopping, and inflatable cushion can reduce the impact force generated when robot collides during robot tenesmus, reduce the damaged condition of robot.
Description
Technical field
The utility model relates to robot fields, more precisely, being a kind of rope-climbed robot structure.
Background technique
Robot is the automatic installations for executing work, it can not only receive mankind commander, but also can run preparatory volume
The program of row, can also be according to principle program action formulated with artificial intelligence technology, and its task is to assist or replace the mankind
The work of work, such as production industry, construction industry, or dangerous work, still, at present there is following lack in this rope-climbed robot
Point:
1, break down during rope climbing when the robot downslide after, the tenesmus that can not timely prevent robot becomes
Gesture causes robot to crash；
2, it collides with during robot prevents its tenesmus due to generating to shake, which easily causes machine
The displacement of device people's inner body, to cause the damage of robot.
Utility model content
In view of the deficienciess of the prior art, the utility model aim is to provide a kind of rope-climbed robot structure, to solve
The prior art when the robot break down during rope climbing downslide after, the tenesmus that can not timely prevent robot becomes
Gesture causes robot to crash, and collides with during robot prevents its tenesmus due to generating to shake, the collision impact
The displacement of robot interior part is easily caused, to cause the defect of the damage of robot.
To achieve the goals above, the utility model is achieved through the following technical solutions:
A kind of rope-climbed robot structure, structure include adjusting control button, setting controller, traction conductor rope, monitoring and take the photograph
As head, installation firm banking, operation part, remove sand hydraulic anti-fall device, and the adjusting control button is set to setting controller
Left side and be connected by electric signal, it is described to adjust control button insertion and be installed on the upper surface of the hydraulic anti-fall device that removes sand
And it is connected by way of bonding, the setting controller insertion is installed on the inside for the hydraulic anti-fall device that removes sand and leads to
The mode for crossing rotation is connected, and the monitoring camera is installed on the bottom surface of installation firm banking and by welding phase
Connection, the bottom surface of the installation firm banking are equipped with operation part and by mechanical transition connection, the fixed bottoms of the installation
The mode that the upper surface of seat is bonded with the underrun for the hydraulic anti-fall device that removes sand is connected, the hydraulic anti-fall device that removes sand
Upper surface is equipped with setting controller and is connected by way of bonding, and the hydraulic anti-fall device that removes sand includes outside protective covers
Shell, anticollision inflatable cushion, centrifugal brake transmission mechanism, frictional rotation bindiny mechanism, slides transmission mechanism, piston at sand collecting box repeatedly
Movement transitions mechanism, hydraulic clamp prevent mechanism, the transmission mechanism that removes sand, electromagnetism and inflate transmission mechanism, the outside protective covers shell
Inside is embedded with sand collecting box, and the anticollision inflatable cushion is installed on the bottom end of outside protective covers shell and is connected by way of bonding,
Frictional rotation bindiny mechanism is installed, the centrifugal brake transmission mechanism is led with traction below the centrifugal brake transmission mechanism
Rope is set to the right side of traction conductor rope and the phase by way of rotation by mechanical transition connection, the frictional rotation bindiny mechanism
It connects, is equipped with below the frictional rotation bindiny mechanism and slides transmission mechanism repeatedly and be connected by way of sliding
It connects, it is described to slide being arranged right below piston motion transition mechanism and being connected by way of rotation for transmission mechanism repeatedly,
The piston motion transition mechanism is set to hydraulic clamp and prevents the top of mechanism and by mechanical transition connection, the hydraulic clip
The tight mechanism that prevents is connected by way of being bonded with traction conductor rope, and the transmission mechanism that removes sand is logical with centrifugal brake transmission mechanism
Mechanical transition connection is crossed, the transmission mechanism that removes sand is connected by way of nested with sand collecting box, the electromagnetism inflation transmission
Mechanism is connected by way of rotation with centrifugal brake transmission mechanism, the electromagnetism inflation transmission mechanism and anticollision inflatable cushion phase
Connection.
As the utility model, further scheme, the centrifugal brake transmission mechanism are equipped with guiding driving pulley, centrifugation
Movable pulley, connection mandril pull silk thread, conducting wire fixed pulley, silk thread coupled ratchet, and the guiding driving pulley and traction conductor rope are logical
The mode for crossing fitting is connected, and the centrifugation movable pulley is set to the right side of guiding driving pulley and axial line is located at same level
The right side of line, the centrifugation movable pulley is equipped with connection mandril and is connected by way of bonding, the connection mandril
Tail end be equipped with pull silk thread one end and be connected by welding, it is described pull silk thread the other end pass through conducting wire
Fixed pulley is rotatablely connected by way of bonding with silk thread coupled ratchet, the silk thread coupled ratchet and frictional rotation bindiny mechanism
It is connected by mechanical transition.
As the utility model, further scheme, the frictional rotation bindiny mechanism are equipped with friction ratchet gear, transmission connection
Belt, mating connection belt wheel, linkage rotation column, friction ratchet gear company of rotation by way of engaging with silk thread coupled ratchet
It connects, the friction ratchet gear is rotatablely connected by way of being bonded with traction conductor rope, and the friction ratchet gear passes through transmission connection belt
It rolls and connects with mating connection belt wheel, the mating connection belt wheel is rotatablely connected by welding with linkage rotation column, institute
It states linkage rotation column and is connect with sliding transmission mechanism repeatedly by mechanical transition.
As the utility model, further scheme, the transmission mechanism of sliding repeatedly are equipped with guiding insertion groove, connection
Motion bar, repeatedly sliding block, limit sliding rail connecting rod, the guiding insertion groove insertion are installed on the outer surface of linkage rotation column, institute
It states guiding insertion groove and is slidably connected by way of nested with the one end for connecting motion bar, the other end of the connection motion bar
Sliding block repeatedly is installed and is connected by way of bonding, is nested on the outside of the sliding block repeatedly and limit sliding rail connecting rod
And it is connected by way of sliding, the sliding block repeatedly is connect with piston motion transition mechanism by mechanical transition.
As the utility model, further scheme, the piston motion transition mechanism are equipped with installation and push connecting rod, fixation
Sliding slot frame, positioning fixed pin, cooperation rotating circular disk, mobile putter, piston rod, it is anti-that the installation pushes the top of connecting rod to be set to
The outside of multiple sliding block and be connected by way of bonding, the installation push connecting rod bottom end and fixed chute frame it is outer
Surface is connected by welding, and the inside of the fixed chute frame and positioning fixed pin are nested and pass through sliding
Mode be connected, it is described positioning fixed pin insertion is installed on cooperation rotating circular disk front surface and the phase by way of bonding
The back side of connection, the cooperation rotating circular disk is equipped with one end of mobile putter and is connected by way of rotation, described
The other end of mobile putter is connected with piston rod, and the piston rod prevents mechanism with hydraulic clamp and is connected by way of sliding
It connects.
As the utility model further scheme, the hydraulic clamp prevent mechanism be equipped with transition piston cylinder, storage tank,
The mobile mandril of hydraulic rod set, piston compresses top plate, rubber press pad, and the inside of the transition piston cylinder and piston rod are nested simultaneously
And be connected by way of sliding, the lower section of the transition piston cylinder is equipped with hydraulic rod set and is connected by way of bonding
It connects, the transition piston cylinder is connected with storage tank, and the storage tank is conducted with hydraulic rod set, the hydraulic rod set and piston
Mobile mandril is nested and is connected by way of sliding, the left side of the mobile mandril of the piston be equipped with compress top plate and
It is connected by welding, rubber press pad is installed on the left of the compression top plate.
As the utility model, further scheme, the transmission mechanism that removes sand are equipped with connection transition rope, installation of removing sand
Rotating block, sand scraper, training for sediment pipeline, one end of the connection transition rope with connect the tail end of the mandril phase by way of bonding
Connection, the other end of the connection transition rope, which is equipped with to remove sand, to be installed rotating block and is connected by way of rotation, institute
It states to remove sand and the inside of rotating block is installed embedded with sand scraper, described remove sand installs the inside of rotating block and the head end of training for sediment pipeline passes through
Nested mode is connected, and the tail end of the training for sediment pipeline is embedded in the upper surface of sand collecting box.
As the utility model, further scheme, the electromagnetism inflate transmission mechanism and are equipped with guiding steel wire, fix fixed slide
Wheel, lever shaft, movement positive electrode, fixed negative electrode, solenoid electric valve, inflation check valve, one end peace of the guiding steel wire
It is connected loaded on connection mandril and by welding, the other end of the guiding steel wire bypasses fixed fixed pulley and lever
Shaft is connected by way of bonding, and the lever shaft is connected with movement positive electrode, the lower section of the movement positive electrode
Equipped with fixed negative electrode, the fixed negative electrode is connected with solenoid electric valve by electric signal, under the solenoid electric valve
Side is conducted embedded with inflation check valve, the inflation check valve with anticollision inflatable cushion.
The utility model has the beneficial effects that: a kind of rope-climbed robot structure of the utility model, when robot is quick
When tenesmus, traction conductor rope band action-oriented driving pulley quickly rotates, so that being centrifuged the movable pulley company of drive under the influence of centrifugal force
It connects mandril to move right, pulls and pull silk thread, then drive silk thread coupled ratchet to turn around conducting wire fixed pulley by pulling silk thread
Dynamic, so that silk thread coupled ratchet is separated with friction ratchet gear, while friction ratchet gear follows rotation under the action of drawing conductor rope frictional force
Turn, is rotated together so that being followed by the mating connection belt wheel that transmission connection belt is connected, drive the rotation of linkage rotation column, make
Insertion groove movement must be oriented to connect, so that lever of taking over a job drives repeatedly to get off on outside of the sliding block along limit sliding rail connecting rod
Sliding is returned, pushes connecting rod to drive fixed chute cage actuation by installation, so that positioning fixed pin is along fixed chute frame
Medial movement pushes cooperation rotating circular disk rotation, and the inside of transition piston cylinder is then located at by mobile putter drive piston rod
It slidably reciprocates, so that the hydraulic oil on the inside of storage tank enters the inside of transition piston cylinder, then flows into hydraulic stem set and piston is pushed to move
Dynamic mandril is moved to the left, and is made by force so that compressing top plate and being moved to the left with rubber press pad to clamp traction conductor rope jointly and pass through frictional force
Only robot, at the same connect mandril by connection transition rope drive remove sand install rotating block rotation so that sand scraper and traction
Conductor rope fits, and then sand mud is imported inside sand collecting box by training for sediment pipeline, increases the coefficient of friction of traction conductor rope, accelerates to stop
Only, it while being oriented to steel wire and makes its rotation around fixed fixed pulley pull lever shaft, so that movement positive electrode and fixed negative electrode
It is in contact, so that solenoid electric valve energized action, is inflated anticollision to anticollision inflatable cushion by inflating check valve.
A kind of rope-climbed robot structure of the utility model, can timely pass through when robot breaks down and glides
Frictional force forces to stop the falling tendency of robot, prevents robot from falling accident occur and robot is caused to damage, and
When it drops can automatic sand discharging, increase frictional force, accelerate its stopping, and inflatable cushion can subtract during robot tenesmus
The impact force that small machine people generates when colliding reduces the damaged condition of robot.
Detailed description of the invention
By reading referring to attached drawing detailed description of non-limiting embodiments, the other feature of the utility model,
Objects and advantages will become more apparent upon.
In the accompanying drawings:
Fig. 1 is a kind of structural schematic diagram of rope-climbed robot structure of the utility model.
Fig. 2 is a kind of structural plan figure for the hydraulic anti-fall device that removes sand of the utility model.
Fig. 3 is a kind of detailed construction schematic diagram for the hydraulic anti-fall device that removes sand of the utility model.
Fig. 4 is a kind of working state figure for the hydraulic anti-fall device that removes sand of the utility model.
In figure: adjusting control button -1, setting controller -2, traction conductor rope -3, monitoring camera -4, fixed bottom be installed
Seat -5, operation part -6, the hydraulic anti-fall device -7 that removes sand, outside protective covers shell -71, sand collecting box -72, anticollision inflatable cushion -73, from
Heart brake transmission mechanism -74, slides transmission mechanism -76, piston motion transition mechanism-at frictional rotation bindiny mechanism -75 repeatedly
77, hydraulic clamp prevents mechanism -78, the transmission mechanism -79 that removes sand, electromagnetism inflation transmission mechanism -710, guiding driving pulley -
741, be centrifuged movable pulley -742, connection mandril -743, pull silk thread -744, conducting wire fixed pulley -745, silk thread coupled ratchet -746,
Friction ratchet gear -751, transmission connection belt -752, mating connection belt wheel -753, linkage rotation column -754, guiding insertion groove -
761, motion bar -762, repeatedly sliding block -763, limit sliding rail connecting rod -764, installation promotion connecting rod -771, fixed chute frame are connected
Frame -772, positioning fixed pin -773, cooperation rotating circular disk -774, mobile putter -775, piston rod -776, transition piston cylinder -
781, storage tank -782, hydraulic rod set -783, piston move mandril -784, compress top plate -785, rubber press pad -786, connected
Rope -791 is crossed, removes sand and rotating block -792 is installed, sand scraper -793, training for sediment pipeline -794, guiding steel wire -7101, fixes fixed slide
Wheel -7102, lever shaft -7103, movement positive electrode -7104, fixed negative electrode -7105, solenoid electric valve -7106, inflation are single
To valve -7107.
Specific embodiment
To be easy to understand the technical means, creative features, achievement of purpose, and effectiveness of the utility model, below
In conjunction with specific embodiment, the utility model is further described.
Picture 1-4 shown in figure, the utility model provides a kind of technical solution of rope-climbed robot structure:
A kind of rope-climbed robot structure, structure include adjusting control button 1, setting controller 2, traction conductor rope 3, monitoring
Camera 4, installation firm banking 5, operation part 6, remove sand hydraulic anti-fall device 7, and the adjusting control button 1 is set to setting
The left side of controller 2 and it is connected by electric signal, the insertion of adjusting control button 1 is installed on the hydraulic anti-fall device that removes sand
7 upper surface and it is connected by way of bonding, the insertion of setting controller 2 is installed on the hydraulic anti-fall device 7 that removes sand
Inside and be connected by way of rotation, the monitoring camera 4 be installed on installation firm banking 5 bottom surface and lead to
The mode for crossing welding is connected, and the bottom surface of the installation firm banking 5 is equipped with operation part 6 and is connected by mechanical transition
It connects, the mode that the upper surface of the installation firm banking 5 is bonded with the underrun for the hydraulic anti-fall device 7 that removes sand is connected, institute
The upper surface for stating the hydraulic anti-fall device 7 that removes sand is equipped with setting controller 2 and is connected by way of bonding, the liquid that removes sand
Pressing anti-fall device 7 includes outside protective covers shell 71, sand collecting box 72, anticollision inflatable cushion 73, centrifugal brake transmission mechanism 74, frictional rotation
Transmission mechanism 76, piston motion transition mechanism 77, hydraulic clamp prevention mechanism 78, transmission of removing sand are slided repeatedly by bindiny mechanism 75
Mechanism 79, electromagnetism inflate transmission mechanism 710, and the inside of the outside protective covers shell 71 is embedded with sand collecting box 72, the anticollision inflatable cushion
73 are installed on the bottom end of outside protective covers shell 71 and are connected by way of bonding, under the centrifugal brake transmission mechanism 74
Side is equipped with frictional rotation bindiny mechanism 75, and the centrifugal brake transmission mechanism 74 is connect with traction conductor rope 3 by mechanical transition,
The frictional rotation bindiny mechanism 75 is set to the right side of traction conductor rope 3 and is connected by way of rotation, and the friction turns
The lower section of dynamic bindiny mechanism 75, which is equipped with, to be slided transmission mechanism 76 repeatedly and is connected by way of sliding, described to slide repeatedly
Dynamic transmission mechanism 76 is arranged right below piston motion transition mechanism 77 and is connected by way of rotation, the piston
Movement transitions mechanism 77 is set to hydraulic clamp and prevents the top of mechanism 78 and by mechanical transition connection, the hydraulic clamp system
Locking mechanism 78 is connected by way of being bonded with traction conductor rope 3, transmission mechanism 79 and the centrifugal brake transmission mechanism of removing sand
74 are connected by way of nested by mechanical transition connection, the transmission mechanism 79 that removes sand with sand collecting box 72, the electromagnetism
Inflation transmission mechanism 710 is connected by way of rotation with centrifugal brake transmission mechanism 74, and the electromagnetism inflates transmission mechanism
710 are connected with anticollision inflatable cushion 73, and the centrifugal brake transmission mechanism 74 is equipped with guiding driving pulley 741, centrifugation movable pulley
742, it connects mandril 743, pull silk thread 744, conducting wire fixed pulley 745, silk thread coupled ratchet 746, the guiding driving pulley
741 are connected by way of being bonded with traction conductor rope 3, and the centrifugation movable pulley 742 is set to the right side of guiding driving pulley 741
And axial line is located at same horizontal line, and the right side of the centrifugation movable pulley 742 is equipped with connection mandril 743 and by glutinous
The mode of conjunction is connected, and the tail end of the connection mandril 743 is equipped with the one end for pulling silk thread 744 and by welding phase
Connection, the other end for pulling silk thread 744 is in such a way that conducting wire fixed pulley 745 and silk thread coupled ratchet 746 are by bonding
Rotation connection, the silk thread coupled ratchet 746 are connect with frictional rotation bindiny mechanism 75 by mechanical transition, the frictional rotation
Bindiny mechanism 75 is equipped with friction ratchet gear 751, transmission connection belt 752, mating connection belt wheel 753, linkage rotation column 754, described
Friction ratchet gear 751 is rotatablely connected by way of engaging with silk thread coupled ratchet 746, the friction ratchet gear 751 and traction conductor rope
3 are rotatablely connected by way of fitting, and the friction ratchet gear 751 is rolled by transmission connection belt 752 and mating connection belt wheel 753
Dynamic connection, the mating connection belt wheel 753 are rotatablely connected by welding with linkage rotation column 754, the linkage rotation
Column 754 is connect with sliding transmission mechanism 76 repeatedly by mechanical transition, and the transmission mechanism 76 of sliding repeatedly is equipped with guiding insertion
Groove 761, connection motion bar 762, repeatedly sliding block 763, limit sliding rail connecting rod 764, the guiding insertion groove 761 insertion installation
In the outer surface of linkage rotation column 754, the guiding insertion groove 761 passes through nested side with the one end for connecting motion bar 762
Formula is slidably connected, and the other end of the connection motion bar 762 is equipped with repeatedly sliding block 763 and is connected by way of bonding
It connects, the sliding block repeatedly 763 is nested with the outside of limit sliding rail connecting rod 764 and is connected by way of sliding, described
Sliding block 763 is connect with piston motion transition mechanism 77 by mechanical transition repeatedly, and the piston motion transition mechanism 77 is equipped with peace
Dress pushes connecting rod 771, fixed chute frame 772, positioning fixed pin 773, cooperation rotating circular disk 774, mobile putter 775, piston
Bar 776, the installation push the top of connecting rod 771 to be set to the outside of sliding block 763 repeatedly and are connected by way of bonding,
The installation pushes the bottom end of connecting rod 771 to be connected by welding with the outer surface of fixed chute frame 772, described solid
The inside for determining sliding slot frame 772 is nested with positioning fixed pin 773 and is connected by way of sliding, and the positioning is fixed
Pin 773 is embedded in the front surface for being installed on cooperation rotating circular disk 774 and is connected by way of bonding, the cooperation rotational circle
The back side of disk 774 is equipped with one end of mobile putter 775 and is connected by way of rotation, the mobile putter 775
The other end is connected with piston rod 776, and the piston rod 776 prevents mechanism 78 with hydraulic clamp and is connected by way of sliding
It connects, the hydraulic clamp prevents mechanism 78 and is equipped with transition piston cylinder 781, storage tank 782, hydraulic rod set 783, piston movable top
Bar 784 compresses top plate 785, rubber press pad 786, and the inside of the transition piston cylinder 781 is nested and leads to piston rod 776
The mode for crossing sliding is connected, and the lower section of the transition piston cylinder 781 is equipped with hydraulic rod set 783 and by way of bonding
It is connected, the transition piston cylinder 781 is connected with storage tank 782, and the storage tank 782 is conducted with hydraulic rod set 783,
The hydraulic rod set 783 is nested with the mobile mandril 784 of piston and is connected by way of sliding, and the piston is mobile
The left side of mandril 784, which is equipped with, to be compressed top plate 785 and is connected by welding, the left side peace for compressing top plate 785
Equipped with rubber press pad 786, the transmission mechanism 79 that removes sand is equipped with connection transition rope 791, removes sand and install rotating block 792, scrape sand
Plate 793, training for sediment pipeline 794, it is described connection transition rope 791 one end with connect the tail end of mandril 743 by way of bonding
It is connected, the other end of the connection transition rope 791, which is equipped with to remove sand, installs rotating block 792 and the phase by way of rotation
Connection, described remove sand install the inside of rotating block 792 embedded with sand scraper 793, and described remove sand is installed the inside of rotating block 792 and led
The head end in sand tube road 794 is connected by way of nested, and the tail end of the training for sediment pipeline 794 is embedded in the upper table of sand collecting box 72
Face, the electromagnetism inflation transmission mechanism 710 are being equipped with guiding steel wire 7101, fixed fixed pulley 7102, lever shaft 7103, movement just
Electrode 7104, fixed negative electrode 7105, solenoid electric valve 7106, inflation check valve 7107, one end of the guiding steel wire 7101
It is installed on connection mandril 743 and is connected by welding, the other end of the guiding steel wire 7101 is around fixed fixed
Pulley 7102 is connected by way of bonding with lever shaft 7103, the lever shaft 7103 and movement 7104 phase of positive electrode
The lower section of connection, the movement positive electrode 7104 is equipped with fixed negative electrode 7105, the fixed negative electrode 7105 and Electromagnetic Control
Valve 7106 is connected by electric signal, and embedded with inflation check valve 7107, the inflation is single for the lower section of the solenoid electric valve 7106
It is conducted to valve 7107 and anticollision inflatable cushion 73.
A kind of rope-climbed robot structure of the utility model, its working principle is that: when robot quickly drops, traction is led
3 band action-oriented driving pulley 741 of rope quickly rotates, so that centrifugation movable pulley 742 drives connection mandril under the influence of centrifugal force
743 move right, and pull and pull silk thread 744, then drive silk thread linkage by pulling silk thread 744 around conducting wire fixed pulley 745
Pawl 746 rotates, so that silk thread coupled ratchet 746 is separated with friction ratchet gear 751, while friction ratchet gear 751 rubs in traction conductor rope 3
Rotation is followed under the action of wiping power, is turned together so that being followed by the mating connection belt wheel 753 that transmission connection belt 752 is connected
It is dynamic, drive linkage rotation column 754 to rotate, so that the guiding insertion movement of groove 761 connects, so that lever 762 of taking over a job drives instead
Multiple sliding block 763 slidably reciprocates up and down along the outside of limit sliding rail connecting rod 764, pushes connecting rod 771 to drive fixed slide by installation
Slot frame 772 acts, so that medial movement of the positioning fixed pin 773 along fixed chute frame 772, pushes cooperation rotational circle
Disk 774 rotates, and is then slidably reciprocated, is made by the inside that mobile putter 775 drives piston rod 776 to be located at transition piston cylinder 781
The hydraulic oil for obtaining 782 inside of storage tank enters the inside of transition piston cylinder 781, then flows into hydraulic stem set 783 and push pistons mobile
Mandril 784 is moved to the left, and clamps traction conductor rope 3 jointly with rubber press pad 786 by rubbing so that compressing top plate 785 and being moved to the left
It wipes power and prevents robot by force, while connecting mandril 743 and removing sand by the connection drive of transition rope 791 and install 792 turns of rotating block
It is dynamic, so that sand scraper 793 fits with traction conductor rope 3, then sand mud is imported inside sand collecting box 72 by training for sediment pipeline 794,
Increase the coefficient of friction of traction conductor rope 3, accelerate to stop, while being oriented to steel wire 7101 and turning around fixed 7102 pull lever of fixed pulley
Axis 7103 makes its rotation, so that movement positive electrode 7104 is in contact with fixed negative electrode 7105, so that solenoid electric valve
7106 energized actions are inflated anticollision to anticollision inflatable cushion 73 by inflating check valve 7107.
The utility model solve the problems, such as be the prior art when the robot break down during rope climbing downslide after,
The tenesmus trend that robot can not timely be prevented, causes robot to crash, robot prevent its tenesmus during by
It collides in generating to shake, which easily causes the displacement of robot interior part, to cause the damage of robot
Bad, the utility model is combined with each other by above-mentioned component, can timely be passed through when robot breaks down and glides and be rubbed
It wipes power to force to stop the falling tendency of robot, prevents robot from falling accident occur and robot is caused to damage, and at it
When tenesmus can automatic sand discharging, increase frictional force, accelerate its stopping, and inflatable cushion can reduce during robot tenesmus
The impact force generated when robot collides reduces the damaged condition of robot.
Claims (8)
1. a kind of rope-climbed robot structure, structure include adjust control button (1), setting controller (2), traction conductor rope (3),
Monitoring camera (4), operation part (6), removes sand hydraulic anti-fall device (7) at installation firm banking (5), it is characterised in that: institute
It states and adjusts control button (1) set on the left side of setting controller (2) and be connected by electric signal, the adjusting control button
(1) insertion is installed on the upper surface for the hydraulic anti-fall device (7) that removes sand and is connected by way of bonding, the setting control
Device (2) insertion is installed on the inside for the hydraulic anti-fall device (7) that removes sand and is connected by way of rotation, the monitoring camera
Head (4) is installed on the bottom surface of installation firm banking (5) and is connected by welding, the installation firm banking (5)
Bottom surface be equipped with operation part (6) and by mechanical transition connection, the upper surface of installation firm banking (5) with remove sand
The mode of the underrun fitting of hydraulic anti-fall device (7) is connected, and the upper surface for removing sand hydraulic anti-fall device (7) is equipped with
It sets controller (2) and is connected by way of bonding；
The hydraulic anti-fall device (7) that removes sand includes outside protective covers shell (71), sand collecting box (72), anticollision inflatable cushion (73), centrifugation
Brake transmission mechanism (74), slides transmission mechanism (76), piston motion transition mechanism at frictional rotation bindiny mechanism (75) repeatedly
(77), hydraulic clamp prevents mechanism (78), the transmission mechanism that removes sand (79), electromagnetism inflation transmission mechanism (710), the outside protective covers
The inside of shell (71) is embedded with sand collecting box (72), and the anticollision inflatable cushion (73) is installed on the bottom end of outside protective covers shell (71) and leads to
The mode for crossing bonding is connected, and is equipped with frictional rotation bindiny mechanism (75) below the centrifugal brake transmission mechanism (74),
The centrifugal brake transmission mechanism (74) is connect with traction conductor rope (3) by mechanical transition, the frictional rotation bindiny mechanism
(75) it is set to the right side of traction conductor rope (3) and is connected by way of rotation, the frictional rotation bindiny mechanism (75)
Lower section, which is equipped with, to be slided transmission mechanism (76) repeatedly and is connected by way of sliding, described to slide transmission mechanism repeatedly
(76) be arranged right below piston motion transition mechanism (77) and be connected by way of rotation, the piston motion transition
Mechanism (77) is set to hydraulic clamp and prevents the top of mechanism (78) and connected by mechanical transition, and the hydraulic clamp prevents machine
Structure (78) is connected by way of being bonded with traction conductor rope (3), the transmission mechanism that removes sand (79) and centrifugal brake driver
Structure (74) passes through mechanical transition connection, and the transmission mechanism that removes sand (79) is connected by way of nested with sand collecting box (72),
Electromagnetism inflation transmission mechanism (710) is connected by way of rotation with centrifugal brake transmission mechanism (74), the electromagnetism
Inflation transmission mechanism (710) is connected with anticollision inflatable cushion (73).
2. a kind of rope-climbed robot structure according to claim 1, it is characterised in that: the centrifugal brake transmission mechanism
(74) fixed equipped with guiding driving pulley (741), centrifugation movable pulley (742), connection mandril (743), pulling silk thread (744), conducting wire
Pulley (745), silk thread coupled ratchet (746), the guiding driving pulley (741) is with traction conductor rope (3) by way of being bonded
It is connected, centrifugation movable pulley (742) is set to the right side of guiding driving pulley (741) and axial line is located at same level
Line, the right side of centrifugation movable pulley (742) are equipped with connection mandril (743) and are connected by way of bonding, institute
The tail end for stating connection mandril (743) is equipped with the one end for pulling silk thread (744) and is connected by welding, the pulling
The other end of silk thread (744) company of rotation in such a way that conducting wire fixed pulley (745) and silk thread coupled ratchet (746) are by bonding
It connects, the silk thread coupled ratchet (746) is connect with frictional rotation bindiny mechanism (75) by mechanical transition.
3. a kind of rope-climbed robot structure according to claim 1, it is characterised in that: the frictional rotation bindiny mechanism
(75) friction ratchet gear (751), transmission connection belt (752), mating connection belt wheel (753), linkage rotation column (754), institute are equipped with
Friction ratchet gear (751) is stated to be rotatablely connected by way of engaging with silk thread coupled ratchet (746), the friction ratchet gear (751) with
Traction conductor rope (3) is rotatablely connected by way of fitting, and the friction ratchet gear (751) is connected belt (752) and matched by transmission
It closes connection belt wheel (753) and rolls connection, the mating connection belt wheel (753) and linkage rotation column (754) are by welding
Rotation connection, the linkage rotation column (754) are connect with sliding transmission mechanism (76) repeatedly by mechanical transition.
4. a kind of rope-climbed robot structure according to claim 1, it is characterised in that: described to slide transmission mechanism repeatedly
(76) guiding insertion groove (761), connection motion bar (762), repeatedly sliding block (763), limit sliding rail connecting rod (764), institute are equipped with
State guiding insertion groove (761) insertion and be installed on the outer surfaces of linkage rotation column (754), guiding insertion groove (761) and
The one end for connecting motion bar (762) is slidably connected by way of nested, and the other end of connection motion bar (762) is equipped with
Sliding block (763) and it is connected by way of bonding repeatedly, the sliding block repeatedly (763) and limit sliding rail connecting rod (764)
Outside is nested and is connected by way of sliding, and the sliding block repeatedly (763) and piston motion transition mechanism (77) are logical
Cross mechanical transition connection.
5. a kind of rope-climbed robot structure according to claim 1, it is characterised in that: the piston motion transition mechanism
(77) it is equipped with installation and pushes connecting rod (771), fixed chute frame (772), positioning fixed pin (773), cooperation rotating circular disk
(774), mobile putter (775), piston rod (776), the installation push the top of connecting rod (771) to be set to sliding block (763) repeatedly
Outside and be connected by way of bonding, it is described installation push connecting rod (771) bottom end and fixed chute frame (772)
Outer surface be connected by welding, the inside of the fixed chute frame (772) and positioning fixed pin (773) are mutually embedding
It covers and is connected by way of sliding, positioning fixed pin (773) insertion is being installed on cooperation rotating circular disk (774) just
Surface and it is connected by way of bonding, the back side of cooperation rotating circular disk (774) is equipped with mobile putter (775)
One end and it is connected by way of rotation, the other end of the mobile putter (775) is connected with piston rod (776), institute
Piston rod (776) is stated to be connected by way of sliding with hydraulic clamp prevention mechanism (78).
6. a kind of rope-climbed robot structure according to claim 1, it is characterised in that: the hydraulic clamp prevents mechanism
(78) transition piston cylinder (781) are equipped with, storage tank (782), hydraulic rod set (783), piston mobile mandril (784), compress top plate
(785), rubber press pad (786), the inside and piston rod (776) of the transition piston cylinder (781) are nested and pass through sliding
Mode be connected, the lower section of the transition piston cylinder (781) is equipped with hydraulic rod set (783) and is connected by way of bonding
It connects, the transition piston cylinder (781) is connected with storage tank (782), and the storage tank (782) is mutually led with hydraulic rod set (783)
Logical, the hydraulic rod set (783) is nested with piston mobile mandril (784) and is connected by way of sliding, the work
The left side for filling in mobile mandril (784), which is equipped with, to be compressed top plate (785) and is connected by welding, the compression top plate
(785) rubber press pad (786) are installed on the left of.
7. a kind of rope-climbed robot structure according to claim 1, it is characterised in that: the transmission mechanism that removes sand (79) sets
There is connection transition rope (791), remove sand and rotating block (792), sand scraper (793), training for sediment pipeline (794) are installed, it is described to connect
The one end for crossing rope (791) is connected by way of bonding with the tail end for connecting mandril (743), the connection transition rope
(791) the other end is equipped with to remove sand and installs rotating block (792) and be connected by way of rotation, and the installation of removing sand turns
The inside of motion block (792) is embedded with sand scraper (793), and described remove sand installs the inside and training for sediment pipeline (794) of rotating block (792)
Head end is connected by way of nested, and the tail end of the training for sediment pipeline (794) is embedded in the upper surface of sand collecting box (72).
8. a kind of rope-climbed robot structure according to claim 1, it is characterised in that: the electromagnetism inflates transmission mechanism
(710) it is equipped with guiding steel wire (7101), fixed fixed pulley (7102), lever shaft (7103), movement positive electrode (7104), fixes
One end of negative electrode (7105), solenoid electric valve (7106), inflation check valve (7107), guiding steel wire (7101) is installed on
It connects mandril (743) and is connected by welding, the other end of guiding steel wire (7101) is slided calmly around fixed
Wheel (7102) is connected by way of bonding with lever shaft (7103), the lever shaft (7103) and movement positive electrode
(7104) it is connected, the lower section of movement positive electrode (7104) is equipped with fixed negative electrode (7105), the fixed negative electrode
(7105) it is connected with solenoid electric valve (7106) by electric signal, the lower section of the solenoid electric valve (7106) is single embedded with inflation
To valve (7107), the inflation check valve (7107) is conducted with anticollision inflatable cushion (73).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821202717.4U CN208868169U (en) | 2018-07-27 | 2018-07-27 | A kind of rope-climbed robot structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821202717.4U CN208868169U (en) | 2018-07-27 | 2018-07-27 | A kind of rope-climbed robot structure |
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| Publication Number | Publication Date |
|---|---|
| CN208868169U true CN208868169U (en) | 2019-05-17 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201821202717.4U Expired - Fee Related CN208868169U (en) | 2018-07-27 | 2018-07-27 | A kind of rope-climbed robot structure |
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| CN (1) | CN208868169U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116425298A (en) * | 2023-03-09 | 2023-07-14 | 福建省厦门环境监测中心站(九龙江流域生态环境监测中心) | Microbial fuel cell sewage treatment equipment |
-
2018
- 2018-07-27 CN CN201821202717.4U patent/CN208868169U/en not_active Expired - Fee Related
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116425298A (en) * | 2023-03-09 | 2023-07-14 | 福建省厦门环境监测中心站(九龙江流域生态环境监测中心) | Microbial fuel cell sewage treatment equipment |
| CN116425298B (en) * | 2023-03-09 | 2023-09-19 | 福建省厦门环境监测中心站(九龙江流域生态环境监测中心) | Microbial fuel cell sewage treatment equipment |
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