CN209586934U - A kind of linkage, mechanical equipment and climbing robot - Google Patents
A kind of linkage, mechanical equipment and climbing robot Download PDFInfo
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- CN209586934U CN209586934U CN201920064404.5U CN201920064404U CN209586934U CN 209586934 U CN209586934 U CN 209586934U CN 201920064404 U CN201920064404 U CN 201920064404U CN 209586934 U CN209586934 U CN 209586934U
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- spill spin
- spin block
- free bearing
- confined planes
- linkage
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Abstract
The utility model discloses a kind of linkage, mechanical equipment and climbing robot, including free bearing and spill spin block, the free bearing and the spill spin block are hinged；One end of the spill spin block is provided with limiting device and attachment device, and the limiting device is used to limit the positional relationship of the free bearing and spill spin block when relatively rotating, angular speed of the attachment device for reducing the free bearing and spill spin block when relatively rotating.The utility model can significantly improve the security performance of linkage.
Description
Technical field
The utility model relates to field of mechanical technique more particularly to a kind of linkages, mechanical equipment and climbing robot.
Background technique
Hinge is a kind of mechanical mechanism for connecting two main bodys and allowing to do to relatively rotate between two main bodys.Hinge one
As include free bearing and spill spin block, free bearing and spill spin block can relatively rotate.With the fast development of science and technology, people are to hinge
The structure of chain and application propose higher safety requirements.It is current in the market, since structure is unreasonable, free bearing and rotation
The adjusting of relative rotation between block is difficult to realize by the improvement of internal structure, and external force or other auxiliary bodies is needed
It solves.Therefore need to redesign a kind of linkage of better performances to solve free bearing and spill spin block and do safe relative rotation
The problem of.
Utility model content
The utility model provides a kind of linkage, to improve the security performance of hinge rotation.
On the one hand the utility model provides a kind of linkage, including free bearing and spill spin block, the free bearing and the rotation
Block is hinged；One end of the spill spin block is provided with limiting device and attachment device, and the limiting device is for limiting the free bearing
With positional relationship of the spill spin block when relatively rotating, the attachment device is relatively rotating for reducing the free bearing and spill spin block
When angular speed.
In a kind of embodiment, the limiting device includes the first confined planes and the second confined planes, first limit
Plane and the connection of the second confined planes, and a set angle is formed, first confined planes are for limiting the spill spin block and institute
Maximum angle of the free bearing when relatively rotating is stated, second confined planes are for limiting the spill spin block around opposite turn of the free bearing
Dynamic minimum angles.
In a kind of embodiment, the limiting device further includes smooth surface, first confined planes and the second limit
Plane is connected by smooth surface；The free bearing is provided with datum level, in the mistake that the spill spin block and the free bearing relatively rotate
Cheng Zhong, the datum level are in contact with first confined planes, the second confined planes or smooth surface.
In a kind of embodiment, the attachment device includes spring, and the spring is connected with the free bearing, and with institute
It states spill spin block to be detachably connected, angular speed of the spring for reducing the free bearing and spill spin block when relatively rotating.
In a kind of embodiment, the spring is torsion spring, and the both ends of torsion spring are connected with free bearing, in torsion spring
Portion is detachably connected with the spill spin block.
In a kind of embodiment, the attachment device further includes the articulated shaft with torsion spring socket, the hinge
Spindle sequentially passes through the side of free bearing, torsion spring, spill spin block, and is pierced by from the other side of free bearing, and the articulated shaft is for described
The positioning of torsion spring, and for the hinged of the free bearing and spill spin block.
In a kind of embodiment, the attachment device further includes briquetting, and the briquetting is provided with and the torsion spring
The compatible groove in middle part, the briquetting is detachably connected with spill spin block.
In a kind of embodiment, the attachment device further includes split pin and baffle, and the baffle is and articulated shaft
Socket, the split pin and the end of the articulated shaft are mutually fixed, and are adapted with the corresponding baffle.
On the other hand the utility model provides a kind of mechanical equipment, including the first main body, the second main body and above-mentioned hinge
Mechanism, the free bearing is for connecting the second main body, and the other end of the spill spin block is for connecting the first main body.
The utility model third aspect provides a kind of climbing robot, including above-mentioned mechanical equipment, first main body
For robot body, second main body is driving device, and the operation that the robot body is used to execute on climbing surface is appointed
It is engaged in and controls the movement of the driving device, the driving device is used to drive institute according to the control instruction of the robot body
Robot body is stated to move on climbing surface along direction initialization.
The utility model is used to limit the limit of the positional relationship of free bearing and spill spin block when relatively rotating by innovative design
Position device, limits the expansive space of free bearing and spill spin block, avoids linkage from occurring with the external world dry and astringent, guarantees that linkage exists
Safety when work；The connection of angular speed by innovative design for reducing the free bearing and spill spin block when relatively rotating
Device, reduces the rate of change of the positional relationship of free bearing and spill spin block, and the probability and severity of rigid collision are all shown
The improvement of work, further increases security performance.
It is to be appreciated that the introduction of the utility model does not need to realize whole beneficial effects recited above, but
Specific technical effect may be implemented in specific technical solution, and the other embodiments of the utility model can also be realized
The beneficial effect that face is not mentioned.
Detailed description of the invention
The following detailed description is read with reference to the accompanying drawings, the utility model illustrative embodiments above-mentioned and other
Objects, features and advantages will become prone to understand.In the accompanying drawings, it is practical new that this is shown by way of example rather than limitation
Several embodiments of type, in which:
In the accompanying drawings, identical or corresponding label indicates identical or corresponding part.
Fig. 1 is a kind of structural schematic diagram of linkage provided by the embodiment of the utility model；
Fig. 2 is the sectional view along A-A that the utility model embodiment Fig. 1 is provided；
Fig. 3 is a kind of concrete structure diagram of climbing robot provided by the embodiment of the utility model；
Fig. 4 is the mounting structure schematic diagram of linkage provided by the embodiment of the utility model and climbing robot.
Specific embodiment
It is practical new below in conjunction with this to keep the purpose of this utility model, feature, advantage more obvious and understandable
Attached drawing in type embodiment, the technical scheme in the utility model embodiment is clearly and completely described, it is clear that is retouched
The embodiment stated is only the utility model a part of the embodiment, and not all embodiments.Based on the implementation in the utility model
Example, those skilled in the art's every other embodiment obtained without making creative work, belongs to this reality
With novel protected range.
The principles of the present invention and spirit are described below with reference to several illustrative embodiments.It should be appreciated that giving
These embodiments are out just for the sake of making those skilled in the art can better understand that realize the utility model in turn, and simultaneously
It is non-to limit the scope of the utility model in any way.On the contrary, thesing embodiments are provided so that the utility model more
It is thorough and complete, and the scope of the utility model can be completely communicated to those skilled in the art.
The technical solution of the utility model is further elaborated in the following with reference to the drawings and specific embodiments.
Embodiment one
In conjunction with Fig. 1, the utility model embodiment provides a kind of linkage, including free bearing 1 and spill spin block 2, the free bearing 1
It is hinged with the spill spin block 2；One end of the spill spin block 2 is provided with limiting device and attachment device, and the limiting device is used for
Limit positional relationship of the free bearing 1 with spill spin block 2 when relatively rotating, the attachment device for reducing the free bearing 1 with
Angular speed of the spill spin block 2 when relatively rotating.
Free bearing 1 and spill spin block 2 is hinged, limiting device and attachment device then are installed in one end of spill spin block 2；It is using
When, free bearing 1 and spill spin block 2 in linkage can relatively rotate；With self weight or other active forces or in Link chain device
When structure works, limiting device limits the positional relationship of free bearing 1 and spill spin block 2 when relatively rotating, and limits free bearing 1 and spill spin block
2 maximum expansive space avoids linkage from occurring with the external world dry and astringent, guarantees the safety of linkage at work；Limit
The positional relationship of device limitation free bearing 1 and spill spin block 2 when relatively rotating includes the maximum for limiting spill spin block 2 and rotating around free bearing 1
Angle or minimum angles, minimum angles therein can be used to indicate that it is in-house do not generate dry and astringent minimum expansive space,
It can be used to indicate that minimum folding space of the in-house each components when folding, further increase the safety of linkage
Property and foldability；When relatively rotating, spill spin block 2 will be rotated with certain angular speed around free bearing 1, and attachment device is used for
The angular speed of free bearing 1 and spill spin block 2 when relatively rotating is reduced, the variation speed of the positional relationship of free bearing 1 and spill spin block 2 is reduced
Rate, the probability and severity of rigid collision all represent a significant improvement, and further increase security performance.
The utility model embodiment is used to limit the position of free bearing 1 and spill spin block 2 when relatively rotating by innovative design
The limiting device of relationship limits the expansive space of free bearing 1 Yu spill spin block 2, avoids linkage from occurring with the external world dry and astringent, guarantees
The safety of linkage at work；By innovative design for reducing the free bearing 1 and spill spin block 2 when relatively rotating
The attachment device of angular speed, reduces the rate of change of the positional relationship of free bearing 1 and spill spin block 2, the probability of rigid collision and tight
Weight degree all represents a significant improvement, and further increases security performance.
In conjunction with Fig. 2, in the present embodiment, it is preferred that the limiting device includes the first confined planes 3 and the second confined planes 4, institute
The first confined planes 3 and the connection of the second confined planes 4 are stated, and form a set angle, first confined planes 3 are described for limiting
The maximum angle of spill spin block 2 and the free bearing 1 when relatively rotating, second confined planes 4 for limit the spill spin block 2 around
The minimum angles that the free bearing 1 relatively rotates.
Set angle is the zone of reasonableness that spill spin block 2 is rotated around free bearing 1, between 0 degree to 360 degree, according to actual needs
And specific angular values are set.
In the present embodiment, it is preferred that the limiting device further includes smooth surface 5, first confined planes 3 and the second limit
Plane 4 is connected by smooth surface 5；The free bearing 1 is provided with datum level 6, relatively rotates in spill spin block 2 and the free bearing 1
In the process, datum level 6 is in contact with the first confined planes 3, the second confined planes 4 or smooth surface 5.
Spill spin block 2 is rotated around free bearing 1, on the basis of the plane where datum level 6, using the axis of spill spin block 2 as rotating bar；
During rotation, the maximum angle and minimum angles that datum level 6 and axis are formed, the difference of the two numerically with set angle
It spends equal；Due to the presence of limiting device, in mechanism work, spill spin block 2 is rotated around free bearing 1, so that the first confined planes 3 and the
With datum level 6 rigid collision can occur for two confined planes 4；Attachment device is for buffering spill spin block 2 around the rotation of free bearing 1, including rotation
Switch block 2 around free bearing 1 turns to the position of maximum angle or spill spin block 2 is gradually resetted from the position of maximum angle or spill spin block 2 around
Free bearing 1 turns to the position of minimum angles or spill spin block 2 is gradually resetted from the position of minimum angles；Attachment device reduces rotation
The velocity of rotation of block 2, and the rigid contact of spill spin block 2 Yu free bearing 1 has effectively been buffered, avoid the first confined planes 3 and the second limit
Rigid collision occurs for face 4 and datum level 6, further increases security performance.
In the present embodiment, it is preferred that the attachment device includes spring, and the spring is connected with the free bearing 1, and with institute
It states spill spin block 2 to be detachably connected, angular speed of the spring for reducing the free bearing 1 with spill spin block 2 when relatively rotating.
When in use, the elastic force of spring has buffered the rigid contact of spill spin block 2 and free bearing 1 when relatively rotating, and avoids
First confined planes 3 and the second confined planes 4 and the generation rigid collision of datum level 6.
In the present embodiment, it is preferred that the spring is torsion spring 7, and the both ends of torsion spring 7 are connected with free bearing 1, torsion spring 7
Middle part be detachably connected with the spill spin block 2.
It is easier for installation using torsion spring 7 compared with general compressed spring or extension spring in mechanism, rotation
The balance of 2 two sides of block is more preferably；In further design scheme, free bearing 1 is U-shaped structure, the inner wall of the bottom of U-shaped free bearing 1
For benchmark face 6.
In the present embodiment, it is preferred that the attachment device further includes briquetting 9, and the briquetting 9 is provided with and the torsion spring
The compatible groove in 7 middle part, the briquetting 9 are detachably connected with spill spin block 2.
By briquetting 9, the middle part of torsion spring 7 is fixed on spill spin block 2, structure is simple, installation, the disassembly of torsion spring 7
It is convenient with replacement；Briquetting 9 is connect with torsion spring 7 using bolt or hexagon socket head cap screw, and all parts handling, replacement are convenient.
In the present embodiment, it is preferred that the attachment device further includes split pin 10 and baffle 11, the baffle 11 with hinge
Spindle 8 is socketed, and the split pin 10 and the end of the articulated shaft 8 are mutually fixed, and are adapted with the corresponding baffle 11.
Implementation through the above scheme, the linkage of the utility model realize automatic positioning to target workpiece, from
Dynamic to identify, is automatic elastic, longtime running is stablized, high to the discrimination of target workpiece on track, and operation safety is reliable, final raising
Operating efficiency reduces operating cost.
The utility model embodiment provides a kind of mechanical equipment, including the first main body, the second main body and the utility model are appointed
Linkage described in one embodiment, the free bearing 1 is for connecting the second main body, and the other end of the spill spin block 2 is for connecting
First main body.
In conjunction with Fig. 3 and 4, the utility model embodiment provides a kind of climbing robot, described including above-mentioned mechanical equipment
First main body is robot body 12, and second main body is driving device, and the robot body 12 is climbing for executing
Job task on face and the movement for controlling the driving device, the driving device are used for according to the robot body's 12
Control instruction drives the robot body 12 to move on climbing surface along direction initialization.
When in use, climbing robot is placed on climbing surface, if climbing surface is plane, certainly due to robot body 12
The effect of weight, spill spin block 2 are gradually rotated maximum angle, the first limit around the articulated shaft 8 of free bearing 1 by the buffer function of torsion spring 7
Plane 3 and datum level 6 are in close contact, and driving device will not be recessed or in other jiggly states so that driving device with
Robot body 12 is in stable state in structure；At this point, the restoring force of torsion spring 7 is minimum, but it is not equal to zero；And herein
In the process, torsion spring 7 has the function of restoring force to driving device, is connect with buffered-display driver device and the rigidity of robot body 12
Touching；If climbing surface is the outer surface of pipeline, climbing robot is erected on pipeline, and driving device is adsorbed on the outer surface of pipeline
On, for the angle that spill spin block 2 is rotated around free bearing 1 between maximum angle and minimum angles, torsion spring 7 has the trend resetted, when
When driving device encounters the barrier of the outer surface of pipeline, torsion spring 7 has cushioning effect to driving device；In climbing robot
When recycling, due to self weight, driving device has the trend of tenesmus or varus, and torsion spring 7 has buffering to driving device or stretches
Effect avoids the internal components of driving device and climbing robot that shock or other rigid contacts occur.
The utility model embodiment realizes that the climbing robot has good stable structure by the innovation of linkage
Property, damping performance and buffer function.In further design scheme, spill spin block 2 is 90 around the maximum angle that free bearing 1 rotates
Degree, minimum angles are 0 degree, and 90 degree of maximum angle is realized that robot body 12 is vertical with driving device and connect, structural stability
More preferably；When folding, 0 degree of minimum angles realize that robot body 12 folds completely with driving device, reduce climbing robot
Occupied space；Interconnecting piece is provided with location hole, and by location hole, interconnecting piece is detachably connected with robot body 12.
In the present embodiment, it is preferred that the robot body 12 is provided with controller 13 and executive device, the controller
13 connect with the driving device and executive device, and the controller 13 drives the robot for controlling the driving device
Main body 12 moves on climbing surface, and controls the executive device and execute the job task on climbing surface along direction initialization.
It is moved on climbing surface by the control climbing robot of controller 13 and operation has ensured work without human intervention
Make the personal safety of personnel.
In the present embodiment, it is preferred that the executive device include motor 14 and execute connecting rod 15, the motor 14 with it is described
Controller 13 is electrically connected, and the motor 14 is used to that the execution connecting rod 15 to be driven to execute the job task on climbing surface, described
It executes connecting rod 15 to be connected with the motor 14, the execution connecting rod 15 is for installing executive component 20 and driving 20 edge of executive component
Direction initialization execute job task.
The one end for executing connecting rod 15 is connected with the output shaft of motor 14, and the other end for executing connecting rod 15 executes member for installing
Part 20；The rotation of the output shaft of motor 14, which drives, executes the movement of connecting rod 15, so that executive component 20 is being climbed according to the movement of setting
It climbs on face along direction initialization automatic job；Executive component 20 include flaw detector, paint spray coater or other be used for pipeline
Operation element, be widely used.
In the present embodiment, it is preferred that the executive device further includes retarder 16, the input shaft of the retarder 16 and institute
It states motor 14 to be connected, the output shaft of the retarder 16 is provided with the pipe clamp 17 being detachably connected with the execution connecting rod 15.
The power of motor 14 is transmitted on pipe clamp 17 by retarder 16, and pipe clamp 17 is made to execute rotary motion；Along drive
While the dynamic device direction of motion is mobile, by the effect of pipe clamp 17, execute connecting rod 15 using the center of pipe clamp 17 as the center of circle and with
The length of itself is that radius executes fan-shaped rotary motion；The end for executing connecting rod 15 is arranged in executive component 20, returns in circular arc
While transhipment is dynamic, job task is executed, such as completes metal defect detection, pipe surface spraying or other job tasks, preferred embodiment
It is to execute spraying task in pipe surface.
In the present embodiment, it is preferred that the driving device includes driving wheel 18 and driven wheel 19, the driving wheel 18 and control
Device 13 processed connects, and the driving wheel 18 is for driving the driven wheel 19 and the robot body 12 to move on climbing surface；
The driven wheel 19 is magnetic force universal wheel, and the driven wheel 19 drives the robot body 12 climbing for auxiliary drive wheels 18
It climbs on face and moves.
Magnetic force universal wheel has suction-operated to pipeline, and robot body 12 is located on pipeline by auxiliary drive wheels 18；
It further include the rear handle 21 for manually adjusting the moving direction of climbing robot in ancillary equipment；And in climbing robot
After fulfiling assignment, ancillary equipment further includes the side grip 22 for recycling climbing robot, and side grip 22 and driving wheel are detachable
Connection.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is contained at least one embodiment or example of the utility model.Moreover, description specific features, structure, material or
Feature may be combined in any suitable manner in any one or more of the embodiments or examples.In addition, in not conflicting situation
Under, those skilled in the art can be by different embodiments or examples described in this specification and different embodiments or examples
Feature be combined.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic." first " is defined as a result, the feature of " second " can be expressed or hidden
It include at least one this feature containing ground.The meaning of " plurality " is two or more in the description of the present invention, unless
Separately there is clearly specific restriction.
Above description is only a specific implementation of the present invention, but the protection scope of the utility model is not limited to
In this, anyone skilled in the art within the technical scope disclosed by the utility model, can readily occur in variation
Or replacement, it should be covered within the scope of the utility model.Therefore, the protection scope of the utility model should be with the power
Subject to the protection scope that benefit requires.
Claims (10)
1. a kind of linkage, which is characterized in that including free bearing and spill spin block, the free bearing and the spill spin block are hinged；It is described
One end of spill spin block is provided with limiting device and attachment device, and the limiting device is for limiting the free bearing with spill spin block in phase
Positional relationship when to rotation, angular speed of the attachment device for reducing the free bearing and spill spin block when relatively rotating.
2. linkage according to claim 1, which is characterized in that the limiting device includes the first confined planes and second
Confined planes, first confined planes and the connection of the second confined planes, and a set angle is formed, first confined planes are for limiting
The maximum angle of the spill spin block and the free bearing when relatively rotating is made, second confined planes are for limiting the spill spin block
The minimum angles relatively rotated around the free bearing.
3. linkage according to claim 2, which is characterized in that the limiting device further includes smooth surface, described
First confined planes and the second confined planes are connected by smooth surface；The free bearing is provided with datum level, in the spill spin block and institute
During stating free bearing relative rotation, the datum level is in contact with first confined planes, the second confined planes or smooth surface.
4. linkage according to claim 1, which is characterized in that the attachment device includes spring, the spring with
The free bearing is connected, and is detachably connected with the spill spin block, and the spring is for reducing the free bearing and spill spin block opposite
Angular speed when rotation.
5. linkage according to claim 4, which is characterized in that the spring be torsion spring, the both ends of torsion spring with
Free bearing is connected, and the middle part of torsion spring is detachably connected with the spill spin block.
6. linkage according to claim 5, which is characterized in that the attachment device further includes and the torsion spring set
The articulated shaft connect, the articulated shaft sequentially passes through the side of free bearing, torsion spring, spill spin block, and is pierced by from the other side of free bearing, institute
Positioning of the articulated shaft for the torsion spring is stated, and for the hinged of the free bearing and spill spin block.
7. linkage according to claim 6, which is characterized in that the attachment device further includes briquetting, the briquetting
It is provided with groove compatible with the middle part of the torsion spring, the briquetting is detachably connected with spill spin block.
8. a kind of mechanical equipment, which is characterized in that including any described in the first main body, the second main body and claim 1-7
Linkage, the free bearing is for connecting the second main body, and the other end of the spill spin block is for connecting the first main body.
9. a kind of climbing robot, which is characterized in that including the mechanical equipment described in claim 8, first main body is
Robot body, second main body are driving device, and the robot body is for executing the job task on climbing surface
And the movement of the driving device is controlled, the driving device is used for according to the drive of the control instruction of the robot body
Robot body moves on climbing surface along direction initialization.
10. climbing robot according to claim 9, which is characterized in that the robot body be provided with controller and
Executive device, the controller are connect with the driving device and executive device, and the controller is for controlling the driving dress
It sets and the robot body is driven to move on climbing surface, and control the executive device and execute along direction initialization in climbing surface
On job task.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920064404.5U CN209586934U (en) | 2019-01-15 | 2019-01-15 | A kind of linkage, mechanical equipment and climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201920064404.5U CN209586934U (en) | 2019-01-15 | 2019-01-15 | A kind of linkage, mechanical equipment and climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN209586934U true CN209586934U (en) | 2019-11-05 |
Family
ID=68352911
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201920064404.5U Active CN209586934U (en) | 2019-01-15 | 2019-01-15 | A kind of linkage, mechanical equipment and climbing robot |
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| Country | Link |
|---|---|
| CN (1) | CN209586934U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109578428B (en) * | 2019-01-15 | 2024-08-20 | 北京史河科技有限公司 | Hinge mechanism, mechanical equipment and wall climbing robot |
-
2019
- 2019-01-15 CN CN201920064404.5U patent/CN209586934U/en active Active
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109578428B (en) * | 2019-01-15 | 2024-08-20 | 北京史河科技有限公司 | Hinge mechanism, mechanical equipment and wall climbing robot |
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