CN208978983U - Climbing robot - Google Patents
Climbing robot Download PDFInfo
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- CN208978983U CN208978983U CN201821589106.XU CN201821589106U CN208978983U CN 208978983 U CN208978983 U CN 208978983U CN 201821589106 U CN201821589106 U CN 201821589106U CN 208978983 U CN208978983 U CN 208978983U
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- 230000009194 climbing Effects 0.000 title claims abstract description 35
- 239000007787 solid Substances 0.000 claims description 3
- 229910000831 Steel Inorganic materials 0.000 abstract description 12
- 239000010959 steel Substances 0.000 abstract description 12
- XEEYBQQBJWHFJM-UHFFFAOYSA-N Iron Chemical compound [Fe] XEEYBQQBJWHFJM-UHFFFAOYSA-N 0.000 abstract description 10
- 229910052742 iron Inorganic materials 0.000 abstract description 5
- 230000008901 benefit Effects 0.000 abstract description 4
- 238000012360 testing method Methods 0.000 abstract description 2
- 238000005259 measurement Methods 0.000 abstract 1
- 238000001514 detection method Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 230000005611 electricity Effects 0.000 description 3
- 238000005516 engineering process Methods 0.000 description 3
- 239000000463 material Substances 0.000 description 3
- 238000011160 research Methods 0.000 description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 description 3
- 238000010521 absorption reaction Methods 0.000 description 2
- 238000013461 design Methods 0.000 description 2
- 210000003141 lower extremity Anatomy 0.000 description 2
- 239000000203 mixture Substances 0.000 description 2
- 238000012946 outsourcing Methods 0.000 description 2
- 230000033764 rhythmic process Effects 0.000 description 2
- 238000001179 sorption measurement Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000007689 inspection Methods 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
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Abstract
The utility model discloses a climbing robot, the technical problem of solution: in order to improve hoisting equipment and detect automatic level, reduce measurement personnel's intensity of labour, the utility model provides a climbing robot, each regional climbing of especially square iron tower, and have certain load capacity, can bear the check out test set. According to the technical scheme, the climbing robot comprises an object carrying platform, two multi-joint legs and two soles, wherein the object carrying platform is horizontally arranged, the top ends of the two multi-joint legs are arranged on the back face of the object carrying platform, and the two soles are arranged at the bottom ends of the two multi-joint legs respectively. The utility model has the advantages that: this climbing robot can scramble the iron tower that the square steelframe is constituteed, can scramble the great circular steel pipe iron tower of diameter again, can scramble the iron stand that the steel of arbitrary shape is constituteed in theory, and with the help of the stronger suction of electromagnet, has reduced the requirement to steel roughness.
Description
Technical field
The utility model relates to a kind of climbing robots.
Background technique
Robot has been applied to automobile manufacturing, material flows automation, medical treatment, home services, military affairs, space and water at present
Lower detection etc., and expanded to new field.It can be in land walking, airflight, the under water robot technology moved under water
It is very reliable mature, but the robot technology of high-altitude climbing is also research hotspot, and has many mode patent applied fors.
With the infrastructures such as China harbour, building, high-speed rail develop, the climbing robot of the detection of lifting equipment gradually at
For popular research field, there is an urgent need to the automations that artificial climbing steel tower can be replaced to be detected to set for lifting equipment testing department
It is standby, however for lifting equipment detection climbing robot at home and abroad market there is not yet finished product.Such climbing robot
Research can mitigate labor intensity of workers, reduce the danger that high altitude operation is fallen, create good economic benefit and social benefit.
Utility model content
Technical problem to be solved in the utility model is, in order to improve lifting equipment detection automatization level, to reduce inspection
The labor intensity of survey personnel, the utility model provide a kind of lifting equipment iron tower climbing robot, and especially rectangular steel tower is each
Region climbing, and there is certain load capacity, detection device can be born.
To solve the above problems, technical solution adopted in the utility model is:
A kind of climbing robot, including article carrying platform, two multi-joint legs and two soles, article carrying platform is horizontally disposed,
The top of two multi-joint legs is arranged at the back side of article carrying platform, and two soles are separately positioned on the bottom of two multi-joint legs
End；
Two multi-joint legs include the first steering engine unit, the second steering engine unit and third steering engine unit, third steering engine list
Member connection sole simultaneously drives X-direction of the sole in spatial triaxial coordinate system to swing back and forth, and the second steering engine unit connects third
Steering engine unit simultaneously drives Z-direction of the sole in spatial triaxial coordinate system to swing back and forth, and the first steering engine unit connects the second rudder
Machine unit simultaneously drives Y direction of the sole in spatial triaxial coordinate system to swing back and forth, and the first steering engine unit connects article carrying platform；
First steering engine unit includes the first steering engine, the first output flange, the first U-typed connector and two first " L " types
The output shaft of connector, the first steering engine is horizontally disposed, and two first " L " type connectors are symmetrically arranged at the first steering engine two sides
Casing on and two first " L " type connectors be all connected with the back side of article carrying platform；First output flange is arranged in the first steering engine
Output shaft on, one end of the first U-typed connector connects the first output flange, and the other end is rotatablely connected the machine of the first steering engine
Shell；
Second steering engine unit includes the second steering engine, the second output flange, the second U-typed connector riser connector and transverse slat
The output shaft of connector, the second steering engine is arranged downwards, and transverse slat connector connects firmly the first U-typed connector, riser connector
One end and one end of transverse slat connector connect firmly and riser connector is vertically arranged with transverse slat connector, riser connector connects firmly
The casing of two steering engines, the second output flange are arranged on the output shaft of the second steering engine, and one end of the second U-typed connector, which rotates, to be connected
The other end of transverse slat connector is connect, the other end of the second U-typed connector connects firmly the second output flange；
Third steering engine unit includes third steering engine, third output flange, third U-typed connector, plate connector and two
The output shaft of a second " L " type connector, third steering engine is horizontally disposed with and the output of the output shaft of third steering engine and the first steering engine
Shaft space is vertical, and two second " L " type connectors are symmetrically arranged on the casing of third steering engine two sides and two second " L "
Type connector is all connected with plate connector, and plate connector connects firmly the other end of the second U-typed connector；Third output flange is set
It sets on the output shaft of third steering engine, one end of third U-typed connector connects firmly third output flange, third U-typed connector
The other end rotation connection third steering engine casing；
Two soles are magnechuck, and magnechuck connects firmly third U-typed connector by the 4th U-typed connector.
Climbing robot provided by the utility model, be copy the lower limb structure of people to design, including article carrying platform, more than two
Joint leg, electromagnetic sucker type sole, wherein multi-joint leg is by three servo drivings.Magnechuck has steel material very strong
Adsorption capacity, and structure is simple, not high to absorption surface required precision.The multi-joint leg formed is connected by three steering engines, it can
It is moved forward and backward and moves left and right to realize, article carrying platform can provide mounting platform not only for joint leg, but also can carry lifting equipment
Detecting instrument.
Spacing is arranged between two multi-joint legs in improvement to technical solutions of the utility model.
Improvement to technical solutions of the utility model is inserted into square shaft on magnechuck, and the both ends of square shaft are separately connected the 4th
The both ends of U-typed connector.
The first steering engine, the second steering engine and third steering engine in technical solutions of the utility model are outsourcing piece, are directly bought
It obtains.
Magnechuck in technical solutions of the utility model is outsourcing piece, and directly purchase obtains.
The beneficial effects of the utility model are:
This climbing robot, can climb the steel tower of rectangular steelframe composition, and can climb the round steel pipe being relatively large in diameter
Steel tower can theoretically climb the brandreth of the steel composition of arbitrary shape, and by the stronger suction of magnechuck, reduce pair
The requirement of steel surface roughness.This climbing robot can also cross over one in addition to that can climb the brandreth to link together simultaneously
The brandreth of fixed gap.
Detailed description of the invention
Fig. 1 is the main view of the climbing robot of technical solutions of the utility model.
Fig. 2 is the structural schematic diagram of multi-joint leg.
Fig. 3 is the assembly explosive view of Fig. 2.
Specific embodiment
Technical solutions of the utility model are described in detail below, but the protection scope of the utility model is not limited to
The embodiment.
To keep the content of the utility model more obvious and easy to understand, below in conjunction with attached drawing 1- Fig. 3 and specific embodiment do into
The description of one step.
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only to explain this
Utility model is not used to limit the utility model.
As shown in Figure 1, climbing robot in the present embodiment, including article carrying platform A, two multi-joint leg B and two soles
C, article carrying platform A are horizontally disposed, and the top of two multi-joint leg B is arranged at the back side of article carrying platform A, two multi-joint leg B
Between spacing is set, two sole C are separately positioned on the bottom end of two multi-joint leg B.
As shown in Figure 1, two multi-joint leg B include the first steering engine unit 1, the second steering engine unit 2 and third steering engine list
Member 3, third steering engine unit 3 connect sole C and X-direction of the sole C in spatial triaxial coordinate system are driven to swing back and forth, and second
Steering engine unit 2 connects third steering engine unit 3 and Z-direction of the sole C in spatial triaxial coordinate system is driven to swing back and forth, and first
Steering engine unit 1 connects the second steering engine unit 2 and Y direction of the sole C in spatial triaxial coordinate system is driven to swing back and forth, and first
Steering engine unit 1 connects article carrying platform A.
Article carrying platform A in the present embodiment is rectangular, but the platform of other shapes can also, it is only necessary to be met for robot
Joint leg provides installation site.
Multi-joint leg B in the present embodiment is two, can also increase or reduce, this reality in quantity according to actual needs
Example is applied to be further described for two.
As shown in Figures 2 and 3, the first steering engine unit 1 includes the first steering engine 11, the first output flange 12, the connection of the first U-typed
The output shaft of part 14 and two first " L " type connectors 13, the first steering engine 11 is horizontally disposed, two first " L " type connectors 13
It is symmetrically arranged on the casing of 11 two sides of the first steering engine and two first " L " type connectors 13 is all connected with article carrying platform A's
The back side；First output flange 12 is arranged on the output shaft of the first steering engine 11, one end connection first of the first U-typed connector 14
Output flange 12 is simultaneously bolted, and the other end is rotatablely connected the casing of the first steering engine 11.First steering engine 11 drives first " U "
Y direction of the type connector 14 in spatial triaxial coordinate system swings back and forth, and interval drives sole C in spatial triaxial coordinate system
Y direction swing back and forth.
As shown in Figures 2 and 3, the second steering engine unit 2 includes the second steering engine 21, the second output flange 22, the connection of the second U-typed
The output shaft of part 24, riser connector 23 and transverse slat connector 25, the second steering engine 21 is arranged downwards, and transverse slat connector 25 is solid
Join the first U-typed connector 14, one end of riser connector 23 and one end of transverse slat connector 25 connect firmly and riser connector 23
It is vertically arranged with transverse slat connector 25, riser connector 23 connects firmly the casing of the second steering engine 21, and the setting of the second output flange 22 exists
On the output shaft of second steering engine 21, the other end of one end rotation connection transverse slat connector 25 of the second U-typed connector 24, second
The other end of U-typed connector 24 connects firmly the second output flange 22 and is bolted.Second steering engine 21 drives the second U-typed
Z-direction of the connector 24 in spatial triaxial coordinate system swings back and forth, and interval drives sole C in spatial triaxial coordinate system
Z-direction swings back and forth.
As shown in Figures 2 and 3, third steering engine unit 3 includes third steering engine 31, third output flange 32, the connection of third U-typed
The output shaft of part 34, plate connector 35 and two second " L " type connectors 33, third steering engine 31 is horizontally disposed with and third steering engine
The output shaft spatial vertical of 31 output shaft and the first steering engine 11, two second " L " type connectors 33 are symmetrically arranged at
On the casing of three steering engines, 31 two sides and two second " L " type connectors 33 are all connected with plate connector 35, and plate connector 35 is solid
Join the other end of the second U-typed connector 24；Third output flange 32 is arranged on the output shaft of third steering engine 31, third " U "
One end of type connector 34 connects firmly third output flange 32, and the other end of third U-typed connector 34 is rotatablely connected third steering engine
31 casing.Third steering engine unit 31 drives X-direction of the third U-typed connector 34 in spatial triaxial coordinate system to carry out backswing
Dynamic, interval drives Z-direction of the sole C in spatial triaxial coordinate system to swing back and forth.
As shown in Figures 2 and 3, two sole C are magnechuck 6, and magnechuck 6 is connected firmly by the 4th U-typed connector 5
Third U-typed connector 34.Square shaft 4 is inserted on magnechuck 6, the both ends of square shaft 4 are separately connected the 4th U-typed connector 5
Both ends.
The power supply of three steering engines is powered using external communication in the present embodiment, and power supply line will have certain tensile capacity,
Diesel-driven generator can be selected as power supply power supply mode.
The first steering engine unit 1, the second steering engine unit 2 and third steering engine unit 3 in the present embodiment in multi-joint leg B, peace
Dress mode is parallel connection, but tandem and string and hybrid mounting means can also.
Climbing robot provided by the utility model, be copy the lower limb structure of people to design, including article carrying platform, more than two
Joint leg, 6 formula sole of magnechuck, wherein multi-joint leg is by three servo drivings.Magnechuck 6 has very steel material
Strong adsorption capacity, and structure is simple, it is not high to absorption surface required precision.The multi-joint leg formed is connected by three steering engines,
It may be implemented to be moved forward and backward and move left and right, article carrying platform can provide mounting platform not only for joint leg, but also can carry and reset
Standby detecting instrument.
The working method of the present embodiment climbing robot:
The first situation: vertical direction climbing.
Two magnechucks 6 are powered first, and climbing robot is adsorbed on the brandreth surface of lifting equipment, two multi-joint legs
B is in top-bottom layout in vertical direction.When taking a step to climb upwards, the magnechuck of top is powered off, and is with the joint leg sucker of lower section
Fixed point, third steering engine 31 and the work of the first steering engine 11 in the leg of lower section joint, lifts top joint leg slightly, makes top electricity
Magnetic disk detachment brandreth surface；Third steering engine 31 and the work of the first steering engine 11 in the leg of top joint, make the electricity of top joint leg
Magnetic-disc contacts brandreth surface, and magnechuck is once again powered up, top joint leg is fixed；Then the magnechuck of lower section joint leg
Power-off, 11 co-ordination of third steering engine 31 and the first steering engine of hypozygal leg make the magnechuck and brandreth table of lower section joint leg
Face is bonded again, and energization is adsorbed on brandreth surface, and back acts in completion.If moved down, and rhythm is moved up
On the contrary.Using top joint leg as fixed point, first mobile lower section joint leg, then mobile top joint leg repeats the coordinated movement of various economic factors
Realization moves down.In moving process, such as shift phenomenon, can be rotated centainly by the second steering engine 22 of every joint leg
Angle is rectified a deviation.
Second situation: horizontal direction climbing.
Two magnechucks are powered first, and climbing robot is adsorbed on the brandreth surface of lifting equipment, two multi-joint leg B
It is in the horizontal direction in left-right layout.Turn right move when, right side magnechuck power-off, with the joint leg sucker in left side be fix
Point, third steering engine 31 and the work of the first steering engine 11 in the leg of left side joint, lifts right side joint leg slightly, inhales right side electromagnetism
Disk detachment brandreth surface, third steering engine 31 and the work of the first steering engine 11 in the leg of right side joint, inhales the electromagnetism of right side joint leg
Disk contacts brandreth surface, and magnechuck is once again powered up, right side joint leg is fixed, and then the magnechuck of left side joint leg is disconnected
Electricity, 1 co-ordination of motor 3 and motor of left side joint leg are bonded the magnechuck of left side joint leg again with brandreth surface,
Energization is adsorbed on brandreth surface, completes to move right.It is opposite with the rhythm that moves right if be moved to the left.With right side joint
Leg is fixed point, first mobile left side joint leg, then mobile right side joint leg, repeats the coordinated movement of various economic factors, can be realized and be moved to the left.?
In moving process, such as shift phenomenon, can be rotated by a certain angle by the second steering engine 22 of every joint leg to rectify a deviation.
The third situation: oblique climbing.
Two magnechucks are powered first, and climbing robot is adsorbed on the brandreth surface of lifting equipment, two multi-joint legs
It is laid out along brandreth in front and back.When being moved along, the magnechuck in front is powered off, using the joint leg sucker at rear as fixed point,
Third steering engine 31 and the work of the first steering engine 11 in posterior condylar leg, lift front joint leg slightly, make front magnechuck
It is detached from brandreth surface, third steering engine 31 and the work of the first steering engine 11 in the leg of front joint make the magnechuck of front joint leg
Brandreth surface is contacted, magnechuck is once again powered up, front joint leg is fixed, then the magnechuck power-off of posterior condylar leg,
11 co-ordination of third steering engine 31 and the first steering engine in posterior condylar leg makes magnechuck and the brandreth surface of posterior condylar leg
It is bonded again, energization is adsorbed on brandreth surface, and back acts in completion.If drawing back moved further, saved with moving forward
It plays opposite.Using front joint leg as fixed point, posterior condylar leg, then mobile front joint leg are first moved, repeats the coordinated movement of various economic factors, i.e.,
Moved further of drawing back can be achieved.In moving process, such as shift phenomenon, can be revolved by the second steering engine 22 of every joint leg
Turn certain angle to rectify a deviation.
4th kind of situation: across climbing.
When needing to climb has two brandreths of certain interval, the two of climbing robot joint leg B passes through electromagnetism first
Sucker suction is on same root brandreth surface, when needing to cross adjacent brandreth, a joint leg closer from adjacent brandreth
Magnechuck first power off, third steering engine 31 in another joint leg and the work of the first steering engine 11, by magnechuck power-off
Joint leg is raised, and the work of the second steering engine 22 makes the joint leg raised rotate by a certain angle, makes it close to adjacent brandreth,
Motor work on the joint leg of sucker power-off, makes the sucker of joint leg touch adjacent brandreth surface, and sucker is powered, joint leg
It is fixed on brandreth surface；The magnechuck power-off of another joint leg, repeats above-mentioned movement, can be completed across climbing.
Be not specifically noted in all the utility model specifications be the prior art or can by existing technology
It realizes, it should be appreciated that for those of ordinary skills, it can be modified or changed according to the above description, and
All these modifications and variations all should belong to the protection scope of the appended claims for the utility model.
Claims (3)
1. a kind of climbing robot, it is characterised in that: including article carrying platform (A), two multi-joint legs (B) and two soles (C),
Article carrying platform (A) is horizontally disposed, and the top of two multi-joint legs (B) is arranged at the back side of article carrying platform (A), two soles
(C) it is separately positioned on the bottom end of two multi-joint legs (B)；
Two multi-joint legs (B) include the first steering engine unit (1), the second steering engine unit (2) and third steering engine unit (3), and the
Three steering engine units (3) connection sole (C) simultaneously drives X-direction of the sole (C) in spatial triaxial coordinate system to swing back and forth, and second
Steering engine unit (2) connection third steering engine unit (3) simultaneously drives Z-direction of the sole (C) in spatial triaxial coordinate system to carry out backswing
Dynamic, the first steering engine unit (1) connects the second steering engine unit (2) and drives Y direction of the sole (C) in spatial triaxial coordinate system
It swings back and forth, the first steering engine unit (1) connects article carrying platform (A)；
First steering engine unit (1) includes the first steering engine (11), the first output flange (12), the first U-typed connector (14) and two
The output shaft of a first " L " type connector (13), the first steering engine (11) is horizontally disposed, two first " L " type connectors (13) point
It is not symmetricly set on the casing of the first steering engine (11) two sides and two first " L " type connectors (13) is all connected with article carrying platform
(A) the back side；First output flange (12) is arranged on the output shaft of the first steering engine (11), the first U-typed connector (14)
One end connects the first output flange (12), and the other end is rotatablely connected the casing of the first steering engine (11)；
Second steering engine unit (2) includes the second steering engine (21), the second output flange (22), second U-typed connector (24) riser
Connector (23) and transverse slat connector (25), the output shaft of the second steering engine (21) are arranged downwards, and transverse slat connector (25) is solid
Join the first U-typed connector (14), one end of riser connector (23) and the one end of transverse slat connector (25) connect firmly and riser connects
Fitting (23) is vertically arranged with transverse slat connector (25), and riser connector (23) connects firmly the casing of the second steering engine (21), and second is defeated
Flange (22) is arranged on the output shaft of the second steering engine (21) out, and one end of the second U-typed connector (24) is rotatablely connected transverse slat
The other end of the other end of connector (25), the second U-typed connector (24) connects firmly the second output flange (22)；
Third steering engine unit (3) includes third steering engine (31), third output flange (32), third U-typed connector (34), plate
The output shaft of connector (35) and two second " L " type connectors (33), third steering engine (31) is horizontally disposed with and third steering engine
(31) the output shaft spatial vertical of output shaft and the first steering engine (11), two second " L " type connectors (33) respectively symmetrically set
It sets on the casing of third steering engine (31) two sides and two second " L " type connectors (33) is all connected with plate connector (35), put down
Plate connector (35) connects firmly the other end of the second U-typed connector (24)；Third output flange (32) is arranged in third steering engine
(31) on output shaft, one end of third U-typed connector (34) is connected firmly third output flange (32), third U-typed connector
(34) casing of other end rotation connection third steering engine (31)；
Two soles (C) are magnechuck (6), and magnechuck (6) connects firmly third U-typed by the 4th U-typed connector (5)
Connector (34).
2. using climbing robot described in claim 1, which is characterized in that spacing is arranged between two multi-joint legs (B).
3. using climbing robot described in claim 1, which is characterized in that be inserted into square shaft (4) on magnechuck (6), square shaft
(4) both ends are separately connected the both ends of the 4th U-typed connector (5).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821589106.XU CN208978983U (en) | 2018-09-28 | 2018-09-28 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201821589106.XU CN208978983U (en) | 2018-09-28 | 2018-09-28 | Climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN208978983U true CN208978983U (en) | 2019-06-14 |
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ID=66785843
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201821589106.XU Active CN208978983U (en) | 2018-09-28 | 2018-09-28 | Climbing robot |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131622A (en) * | 2018-09-28 | 2019-01-04 | 南京信息职业技术学院 | Climbing robot |
| CN110667781A (en) * | 2019-11-01 | 2020-01-10 | 赵俊杰 | Safe ship boarding device |
-
2018
- 2018-09-28 CN CN201821589106.XU patent/CN208978983U/en active Active
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109131622A (en) * | 2018-09-28 | 2019-01-04 | 南京信息职业技术学院 | Climbing robot |
| CN109131622B (en) * | 2018-09-28 | 2024-02-09 | 南京信息职业技术学院 | Climbing robot |
| CN110667781A (en) * | 2019-11-01 | 2020-01-10 | 赵俊杰 | Safe ship boarding device |
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