CN211442525U - Stewart series robot special for wind driven generator blade - Google Patents
Stewart series robot special for wind driven generator blade Download PDFInfo
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- CN211442525U CN211442525U CN201922396395.2U CN201922396395U CN211442525U CN 211442525 U CN211442525 U CN 211442525U CN 201922396395 U CN201922396395 U CN 201922396395U CN 211442525 U CN211442525 U CN 211442525U
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- stewart
- hexagonal plate
- driven generator
- wind driven
- advancing
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Abstract
The utility model relates to a Stewart series robot of aerogenerator blade is exclusively used in. The existing robot has limited capability of adjusting and adapting to the environment and lower detection efficiency and quality. The utility model discloses a anterior segment advancing mechanism and back end advancing mechanism set up joint mechanism between two sections advancing mechanisms, joint mechanism include the Stewart platform of two series connections, every Stewart platform is the series structure of six degrees of freedom, anterior segment advancing mechanism and back end advancing mechanism be crawler-type advancing mechanism. The utility model discloses can realize that many gestures such as new line, turn, upset are adjusted, can't continue the problem of work after avoiding the interior car dumper of robot pipeline, improve operating quality and efficiency.
Description
Technical Field
The utility model belongs to the technical field of the mechanical skill and specifically relates to a Stewart series robot who is exclusively used in aerogenerator blade.
Background
For the detection of the wind blade, the size of the blade inner tip is about 20cm, and the blade inner tip has an inclination angle within 30 degrees, so that the blade cannot be manually detected in the inner depth of the blade. The existing robot cannot be compatible with size requirements, high ground environment adaptability and multi-dimensional motion characteristics. The robot can adapt to the working condition inside the blade of the wind driven generator and keep stable in the pipeline, so that the robot is required to have the functions of skid resistance, obstacle crossing, body turning and the like.
SUMMERY OF THE UTILITY MODEL
The utility model discloses to prior art's is not enough, provides a Stewart series connection robot of aerogenerator blade is exclusively used in, can realize that many gestures such as new line, turn, upset are adjusted, can't continue the problem of work after avoiding the interior car dumper of robot tube, improve operation quality and efficiency.
The utility model adopts the technical scheme as follows: a Stewart series robot special for a wind driven generator blade is characterized by comprising a front section advancing mechanism and a rear section advancing mechanism, wherein a joint mechanism is arranged between the two advancing mechanisms and comprises two Stewart platforms which are connected in series, each Stewart platform is of a six-degree-of-freedom series structure, and the front section advancing mechanism and the rear section advancing mechanism are crawler-type advancing mechanisms.
The Stewart platform comprises a lower hexagonal plate and an upper hexagonal plate, six steering engines are fixedly connected to the inner side of the lower hexagonal plate, each steering engine is hinged to a connecting rod, and the upper end of each connecting rod is hinged to the upper hexagonal plate.
The outer side of a lower hexagonal plate of the first Stewart platform is fixedly connected with a first U-shaped support of the front-section advancing mechanism, six steering engines are fixedly connected with the inner side of the lower hexagonal plate, a rotating shaft of each steering engine is fixedly connected with a rocking handle, the outer side of the rocking handle is hinged with the lower end of a connecting rod, the upper end of the connecting rod is hinged with the hexagonal plate, the upper hexagonal plate is fixedly connected with a second Stewart platform, and the upper hexagonal plate of the second Stewart platform is connected with a second U-shaped support of the rear-section advancing mechanism.
One end of the rocking handle is connected with the steering engine through a pin, and the other end of the rocking handle is hinged with the connecting rod through a screw nut and a ball.
The traveling mechanism is internally provided with a stepping motor and a rechargeable battery, and the stepping motor positively or reversely rotates to control the advancing or retreating of the traveling mechanism.
The traveling mechanism comprises outer frame baffles on two sides, a driving shaft is arranged between the outer frame baffles and connected with a driving wheel, the stepping motor drives the driving shaft to rotate through a gear mechanism, a driven shaft is arranged at the rear end of the driving shaft and connected with a driven wheel, and the driving wheel and the driven wheel are matched with a crawler belt.
The inboard of track is equipped with the tooth, and the internal tooth distributes and be two rows, the action wheel all is equipped with the tooth and cooperatees with the internal tooth of track with the outer wall from the driving wheel.
And the front section advancing mechanism is provided with a fisheye camera.
The beneficial effects of the utility model are that, have following advantage:
1. the cross-sectional area is small, and the operation can be carried out in a long and narrow pipeline; the intermediate joint realizes the postures of jumping, climbing, turning over and the like in the space by using a Stewart six-degree-of-freedom platform; the range of each degree of freedom is enlarged by using a Stewart platform serial mechanism, and the defects that the degree of freedom of the platform is high and the working range is small are overcome.
The Stewart platform comprises six steering engines which are mutually connected in parallel and work in a matched mode, and has the advantages of being high in rigidity, strong in bearing capacity, free of position error accumulation and the like. Two Stewart platforms are combined to be connected in series to form complementation with the Stewart platforms, so that the degree of freedom is high, and the work is more stable and reliable.
3. The front and rear advancing mechanisms are respectively controlled by two stepping motors, forward and reverse crawling can be realized, and meanwhile, the ground grabbing performance is stronger.
4. The utility model discloses a robot adopts built-in rechargeable battery as the power, avoids robot to drag the cable line, alleviates the weight of robot, alleviates the resistance of robot at pipeline inside motion. The carried functional device (fisheye camera) can observe the internal conditions of the blade at 360 degrees at any time, store and transmit signals, and can observe and position the real-time state of the robot.
Drawings
Fig. 1 is a schematic view of the overall structure of the present invention.
Fig. 2 is a schematic structural view of the track is removed by the travelling mechanism of the present invention.
Fig. 3 is a schematic diagram of the distribution of the upper hexagonal plates of the Stewart platform of the present invention.
Fig. 4 is a schematic view of the distribution of the lower hexagonal plate steering engine of the Stewart platform of the present invention.
Fig. 5 is a schematic view of the overall structure of the Stewart platform according to the present invention.
Fig. 6 is an attitude diagram of the Stewart platform according to the present invention.
Fig. 7 is another attitude diagram of the Stewart platform according to the present invention.
In the figure: 1. the device comprises a first U-shaped support, a second U-shaped support, a lower hexagonal plate, a steering engine, a rocking handle, a connecting rod, an upper hexagonal plate, a screw, a nut, a front section advancing mechanism, a rear section advancing mechanism, a nut, a front section advancing mechanism, a rear section advancing mechanism and a joint mechanism, wherein the first U-shaped support is 2, the second U-shaped support is 3, the lower hexagonal plate is 4, the steering engine is 5, the rocking handle is.
Detailed Description
The preferred embodiments of the present invention will be described in detail below with reference to the accompanying drawings, so that the advantages and features of the present invention can be more easily understood by those skilled in the art, and the scope of the present invention can be more clearly and clearly defined.
The Stewart tandem robot special for the wind driven generator blade shown in fig. 1-4 comprises a front traveling mechanism 10 and a rear traveling mechanism 11, wherein a joint mechanism 12 is arranged between the two traveling mechanisms, the joint mechanism comprises two Stewart platforms which are connected in series, each Stewart platform is a six-degree-of-freedom tandem structure, and the front traveling mechanism and the rear traveling mechanism are crawler-type traveling mechanisms.
Stewart platform include hexagonal plate and last hexagonal plate down, the first U type support of anterior segment travel mechanism of 3 outside fixed connection of hexagonal plate of the lower side of first Stewart platform, this six steering wheel 4 of 3 inboard fixed connection of hexagonal plate down, the pivot fixed connection rocking handle 5 of steering wheel 4, 6 lower extremes of connecting rod are articulated in the outside of rocking handle 5, hexagonal plate 7 is articulated to 6 upper ends of connecting rod, and this goes up the fixed connection second Stewart platform of hexagonal plate 7, the second U type support of the last hexagonal plate connection back end travel mechanism of second Stewart platform.
One end of the rocking handle is connected with the steering engine through a pin, and the other end of the rocking handle is hinged with the connecting rod through a screw 8, a nut 9 and a ball.
The traveling mechanism is internally provided with a stepping motor and a rechargeable battery, and the stepping motor positively or reversely rotates to control the advancing or retreating of the traveling mechanism.
The traveling mechanism comprises outer frame baffles on two sides, a driving shaft is arranged between the outer frame baffles and connected with a driving wheel, the stepping motor drives the driving shaft to rotate through a gear mechanism, a driven shaft is arranged at the rear end of the driving shaft and connected with a driven wheel, and the driving wheel and the driven wheel are matched with a crawler belt. The inboard of track is equipped with the tooth, and the internal tooth distributes and be two rows, the action wheel all is equipped with the tooth and cooperatees with the internal tooth of track with the outer wall from the driving wheel. The front section advancing mechanism is provided with a fisheye camera.
As shown in fig. 5-6, the utility model discloses when concrete implementation, the working method of middle joint does, through the work of six steering wheel cooperations each other for connecting rod length between the hexagonal plate changes about being located, thereby can form certain displacement and contained angle between the hexagonal plate from top to bottom, thereby drives the front and back travel mechanism of both ends rigid coupling and realizes each gesture change.
The foregoing detailed description is given by way of example only, and is provided to better enable one skilled in the art to understand the patent, and is not intended to limit the scope of the patent; any equivalent changes or modifications made according to the technical contents disclosed in the patent without departing from the technical characteristics of the patent are included in the scope of the patent.
Claims (8)
1. A Stewart series robot special for wind driven generator blades is characterized by comprising a front-section advancing mechanism and a rear-section advancing mechanism, wherein a joint mechanism is arranged between the two advancing mechanisms, and the joint mechanism
The device comprises two Stewart platforms which are connected in series, each Stewart platform is a six-degree-of-freedom series structure, and the front-section advancing mechanism and the rear-section advancing mechanism are crawler-type advancing mechanisms.
2. The Stewart tandem robot special for the wind driven generator blade as claimed in claim 1, wherein the Stewart platform comprises a lower hexagonal plate and an upper hexagonal plate, six steering engines are fixedly connected to the inner side of the lower hexagonal plate, each steering engine is hinged to a connecting rod, and the upper end of each connecting rod is hinged to the upper hexagonal plate.
3. The Stewart series robot special for the wind driven generator blade as claimed in claim 2, wherein the outer side of the lower hexagonal plate of the first Stewart platform is fixedly connected with the first U-shaped bracket of the front-section traveling mechanism, the inner side of the lower hexagonal plate is fixedly connected with six steering engines, the rotating shaft of each steering engine is fixedly connected with a rocking handle, the outer side of each rocking handle is hinged with the lower end of a connecting rod, the upper end of each connecting rod is hinged with an upper hexagonal plate, the upper hexagonal plate of each upper hexagonal plate is fixedly connected with the second Stewart platform, and the upper hexagonal plate of the second Stewart platform is connected with the second U-shaped bracket of the rear-section traveling mechanism.
4. The Stewart tandem robot special for the wind driven generator blade as claimed in claim 3, wherein one end of the rocking handle is connected with the steering engine by a pin, and the other end of the rocking handle is hinged with the connecting rod by a screw nut and a ball.
5. The Stewart tandem robot special for the wind driven generator blade as claimed in claim 1 or 4, wherein the traveling mechanism is internally provided with a stepping motor and a rechargeable battery, and the stepping motor positively or negatively rotates to control the advancing or retreating of the traveling mechanism.
6. The Stewart tandem robot special for the blades of the wind driven generator as claimed in claim 5, wherein the travelling mechanism comprises two outer frame baffles, a driving shaft is arranged between the outer frame baffles, the driving shaft is connected with a driving wheel, the stepping motor drives the driving shaft to rotate through a gear mechanism, a driven shaft is arranged at the rear end of the driving shaft, the driven shaft is connected with a driven wheel, and the driving wheel and the driven wheel are both matched with a crawler.
7. The Stewart tandem robot special for the wind driven generator blade as claimed in claim 6, wherein the inner side of the caterpillar is provided with teeth, the inner teeth are distributed in two rows, and the outer walls of the driving wheel and the driven wheel are provided with teeth and matched with the inner teeth of the caterpillar.
8. The Stewart tandem robot special for the wind driven generator blade as claimed in claim 1, wherein a fisheye camera is arranged on the front section travelling mechanism.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922396395.2U CN211442525U (en) | 2019-12-27 | 2019-12-27 | Stewart series robot special for wind driven generator blade |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201922396395.2U CN211442525U (en) | 2019-12-27 | 2019-12-27 | Stewart series robot special for wind driven generator blade |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN211442525U true CN211442525U (en) | 2020-09-08 |
Family
ID=72299208
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201922396395.2U Active CN211442525U (en) | 2019-12-27 | 2019-12-27 | Stewart series robot special for wind driven generator blade |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN211442525U (en) |
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2019
- 2019-12-27 CN CN201922396395.2U patent/CN211442525U/en active Active
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