CN211682084U - Four-degree-of-freedom tracked robot special for wind driven generator blade - Google Patents

Abstract

The utility model relates to a four-freedom crawler robot specially used for wind turbine blades. It includes two front and rear travel mechanisms, and a joint mechanism is arranged between the two travel mechanisms. The joint mechanism includes two two-degree-of-freedom adjustment mechanisms connected in series perpendicular to each other. The two-degree-of-freedom adjustment mechanism includes a rotary structure, a rotary structure One end is connected with the traveling mechanism, and the other end is connected with the swing structure. The swing structure drives the travel mechanism to perform a rotating action, and the swing structure drives the travel mechanism to turn or raise its head. Two swing structures at the inner end of the two-degree-of-freedom adjustment mechanism connected vertically to each other in series. The utility model connects two two-degree-of-freedom adjustment mechanisms in series, and adds a roll module, through the combination of the two-degree-of-freedom cross mechanism and the two rotation modules, a four-degree-of-freedom joint mechanism is formed, and the front and rear joint mechanisms are combined. Two independently controlled travel mechanisms are suitable for complex detection needs.

Description

A four-degree-of-freedom crawler robot dedicated to wind turbine blades

technical field

The utility model relates to a four-freedom crawler robot specially used for wind turbine blades.

Background technique

For the detection of wind blades, the size of the inner tip of the blade is about 20cm, and the inclination angle is within 15°, so it is impossible to manually enter the depth of the blade for detection. However, existing robots cannot be compatible with size requirements, strong adaptability to the ground environment, and multi-dimensional motion characteristics. In order for the robot to be able to adapt to the working conditions inside the wind turbine blade and maintain stability in the pipeline, it is necessary for the robot to have the functions of anti-skid, obstacle crossing, and turning over at the same time.

Utility model content

Aiming at the shortcomings of the prior art, the utility model provides a four-degree-of-freedom crawler robot specially used for wind turbine blades, which can realize the robot's high-degree-of-freedom attitude adjustment, so as to smoothly detect the inside of the pipeline and avoid failure after the pipeline is overturned. Continue to work on issues and improve job quality and efficiency.

The technical scheme adopted by the utility model is as follows: a four-degree-of-freedom crawler robot specially used for wind turbine blades, which is characterized in that it includes two front and rear travel mechanisms, and a joint mechanism is arranged between the two travel mechanisms, and the joint mechanism includes Two two-degree-of-freedom adjustment mechanisms connected in series perpendicular to each other, the two-degree-of-freedom adjustment mechanism includes a rotating structure, one end of the rotating structure is connected with the traveling mechanism, and the other end is connected with a swing structure, and the rotating structure drives the traveling mechanism to perform a rotating action , the swing structure drives the traveling mechanism to turn or raise its head, and the two swing structures at the inner ends of the two two-degree-of-freedom adjustment mechanisms are connected in series with each other vertically.

The rotating structure includes a circular support and a rotating motor that cooperate with each other, and the action of the rotating motor drives the circular support to rotate.

The swing structure includes a steering gear bracket, a steering gear is arranged in the center of the steering gear bracket, and the action of the steering gear drives the steering gear bracket to swing.

The traveling mechanism is a crawler traveling mechanism.

The traveling mechanism has a built-in stepping motor and a rechargeable battery, and the forward rotation or reverse rotation of the stepping motor controls the forward or backward of the traveling mechanism.

The traveling mechanism includes outer frame baffles on both sides, a driving shaft is arranged between the outer frame baffles, the driving shaft is connected with the driving wheel, and the stepping motor drives the driving shaft to rotate through a gear mechanism, and the driving shaft rotates. The rear end of the device is provided with a driven shaft, and the driven shaft is connected with a driven wheel, and both the driving wheel and the driven wheel are matched with the track.

The traveling mechanism includes outer frame baffles on both sides, and a driving shaft and a driven shaft are arranged between the outer frame baffles. The rotation of the shaft drives the driving wheel to rotate.

The inner side of the track is provided with teeth, the inner teeth are distributed in two rows, the outer walls of the driving wheel and the driven wheel are provided with teeth and are matched with the inner teeth of the track.

A fisheye camera is installed on the travel mechanism of the front section.

The beneficial effects of the present utility model are:

1. The present utility model connects two two-degree-of-freedom adjustment mechanisms in series, and adds a roll module, and forms a four-degree-of-freedom joint mechanism through the combination of a two-degree-of-freedom cross mechanism and two rotary modules. With the independently controlled front and rear travel mechanisms, and through the mutual control of multiple motors, the robot can realize functions such as jumping over obstacles, climbing, turning, and turning over, which is suitable for complex detection needs.

2. The utility model has a small cross-sectional area and can operate in a long and narrow pipeline; the front and rear travel mechanisms are controlled by two stepping motors respectively, which can realize forward and reverse crawling, and at the same time, the grip is stronger.

3. The robot of the present invention uses a built-in rechargeable battery as a power source, which avoids the robot towing cables, reduces the weight of the robot, and reduces the resistance of the robot to move inside the pipeline. The equipped functional device (fisheye camera) can observe the internal condition of the blade 360° at any time, store and transmit the signal, and can observe and locate the real-time status of the robot.

4. The utility model can carry corresponding equipment on the rack according to different work requirements, and the interchangeability is relatively good. Compared with the existing pipeline robot, it has advantages in terms of cost and function. It has high application value in maintenance and even development.

Description of drawings

Fig. 1 is the overall structure schematic diagram of the present utility model;

Fig. 2 is the structural representation of the joint mechanism of the present utility model;

3 is a schematic diagram of the internal structure of the traveling mechanism of the present invention;

Fig. 4 is the structural representation of the twisted state of the utility model;

Fig. 5 is a schematic structural diagram of the self-turning process of the present invention.

In the picture: 1. Camera, 2. Front travel mechanism, 3. Joint mechanism, 4. U-shaped bracket, 5. Back travel mechanism, 6. Track, 7. Swing structure, 8. Rotary structure, 9. Circular bracket , 10 rotary motor, 11. steering gear bracket, 12 steering gear, 13. fifth gear, 15. driving shaft, 15. driving wheel, 16. baffle, 17. driven shaft, 18. driven wheel, 19. battery box , 20. Bracket, 21. Stepper motor, 22. First gear, 23. Second gear, 24. First gear shaft, 25. Third gear, 26. Fourth gear, 27. Second gear shaft.

Detailed ways

The preferred embodiments of the present invention will be described in detail below in conjunction with 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 protection scope of the present invention can be more clearly defined.

As shown in Figures 1-3, a four-degree-of-freedom crawler robot specially used for wind turbine blades includes a front-section traveling mechanism 2 and a rear-section traveling mechanism 5, and a joint mechanism 3 is arranged between the two traveling mechanisms. The joint mechanism includes two two-degree-of-freedom adjustment mechanisms vertically connected in series. The two-degree-of-freedom adjustment mechanism includes a rotary structure 8, one end of the rotary structure is connected with the traveling mechanism, and the other end is connected with a swing structure 7, and the rotary structure drives the said The traveling mechanism performs a turning action, the swinging structure drives the traveling mechanism to turn or raise its head, and the two swinging structures at the inner ends of the two two-degree-of-freedom adjusting mechanisms are vertically connected in series with each other.

The rotary structure includes a circular support 9 and a rotary motor 10 that cooperate with each other, and the action of the rotary motor drives the circular support to rotate. The swing structure includes a steering gear bracket, a steering gear 12 is arranged in the center of the steering gear bracket 11 , and the action of the steering gear drives the steering gear bracket to swing.

The front-end traveling mechanism includes a U-shaped bracket 4, the inner side of the U-shaped bracket 4 is fixedly connected to the baffles 16 on both sides, the rear end of the baffle 16 is connected to both sides of the driven shaft 17 by bearings, and the driven shaft 17 is fixed on Connect the two driven wheels 18; the inner side of the middle and rear part of the baffle 16 is fixedly connected to the battery bracket 19, the inner side of the middle part of the baffle 16 is fixedly connected to the outer side of the stepper motor bracket 20, and the inner side of the bracket 20 is fixedly connected to the bottom end of the stepper motor 21 , the rotating shaft of the stepping motor 21 is fixedly connected to the first gear 22, the first gear 22 meshes with the second gear 23, the second gear 23 is fixedly connected to the first gear shaft 24, and the first gear shaft 24 is on both sides The baffle plate 16 is connected with a bearing, the middle of the first gear shaft 24 is fixedly connected with the third gear 25, the third gear 25 is engaged with the fourth gear 26, and the fourth gear 26 is fixedly connected with the second gear shaft 27. Both sides of the second gear shaft 27 are connected to the baffle plate 16 by bearings, the fourth gear 26 meshes with the fifth gear 13, the fifth gear 13 is fixedly connected to the driving shaft 14, and the driving shaft 14 is fixedly connected to the two driving wheels 15, Both sides of the drive shaft 15 are connected to the front ends of the side baffles 16 by bearings.

The inner side of the crawler belt 6 is provided with teeth, and the inner teeth are distributed in two rows. The teeth of the driving wheel 15 and the driven wheel 18 are matched with the inner teeth of the crawler belt. The outer wall of the driving wheel 15 is provided with teeth and cooperates with the inner teeth of the crawler belt. It is mainly used to ensure that the crawler will not be disengaged when traveling. The driven wheels 18 are all matched with the inner teeth of the crawler to ensure that the crawler will not move in the horizontal plane and perpendicular to the direction of travel during movement, so that it will not move during the movement process. Middle slip; the outer side of the track is provided with concave and convex lines, which mainly ensure that it can provide sufficient friction during movement. The rear travel mechanism and the front travel mechanism are symmetrical.

Further, the inner sides of the first driven wheel and the second driven wheel 18 are axially fixed by sleeves, and the sleeves are coaxial with the driven shaft 17 .

Further, the inner side of the second gear 23 and the third gear 25 is fixed in the axial direction with a sleeve, and the sleeve is coaxial with the first gear shaft 24; the other side of the second gear 23 is fixed with a retaining spring. Towards.

Further, the fourth gear 26 is axially fixed with a sleeve, and the sleeve is coaxial with the second gear shaft 27;

Further, the inner side of the fifth gear 13 and the driving wheel 15 is fixed in the axial direction with a sleeve, and the sleeve is coaxial with the driving shaft 14;

Further, the gear, the driving wheel, and the driven wheel are fixedly connected to the corresponding shaft through a flat key.

Further, grease is smeared in the gear gap;

Further, bearings are provided on both sides of the driving shaft, the driven shaft and the gear shaft, and the outer sides of the bearings are connected with the circular holes of the baffle plates on both sides by interference fit.

During the specific implementation of the present invention, the working mode of the traveling mechanism is that when the stepping motor 21 drives the first gear 22 to rotate, thereby driving the second gear 23 to rotate, thereby driving the first gear shaft 24 to rotate, the first gear shaft 24 drives The rotation of the third gear 25 drives the fourth gear 26 to rotate, thereby driving the fifth gear 13 to rotate, and the fifth gear 13 drives the driving shaft 14 to rotate, thereby driving the driving wheel 15 to rotate. In the same way, when the stepper motor is reversed, the driving wheel moves in the opposite direction with the whole.

The driving mode of the traveling mechanism can also be that only the driving shaft is driven by the component motor to directly drive the driving wheel to rotate and move, and the gear mechanism is omitted.

As shown in Figure 4-5, self-turning: two rotary motors control the turning of the two-stage traveling mechanism respectively. When turning over automatically, in order to prevent the twisted state (Figure 4), it is divided into four steps: the first step is to rotate the front steering gear by a certain angle, and the second step is to rotate the front slewing motor to turn the front travel mechanism to turn it over ( Figure 5), the slewing motor at the rear of the third step rotates the rear travel mechanism, and the fourth step is to adjust the steering gear to make the whole return to a straight line.

Claims (9)

1. The four-degree-of-freedom tracked robot is characterized by comprising a front traveling mechanism and a rear traveling mechanism, wherein a joint mechanism is arranged between the two traveling mechanisms, the joint mechanism comprises two-degree-of-freedom adjusting mechanisms which are mutually perpendicular and connected in series, the two-degree-of-freedom adjusting mechanisms comprise rotating structures, one ends of the rotating structures are connected with the traveling mechanisms, the other ends of the rotating structures are connected with swinging structures, the rotating structures drive the traveling mechanisms to do rotating motion, the swinging structures drive the traveling mechanisms to turn or lift heads, and the two swinging structures at the inner ends of the two-degree-of-freedom adjusting mechanisms are mutually perpendicular and connected in series.

2. The four-degree-of-freedom tracked robot special for the blades of the wind driven generator as claimed in claim 1, wherein the rotating structure comprises a circular bracket and a rotating motor which are matched with each other, and the rotating motor acts to drive the circular bracket to rotate.

3. The four-degree-of-freedom tracked robot special for the blades of the wind driven generator as claimed in claim 2, wherein the swinging structure comprises a steering engine support, a steering engine is arranged in the center of the steering engine support, and the steering engine acts to drive the steering engine support to swing.

4. The four-degree-of-freedom tracked robot special for the blades of the wind driven generator as claimed in claim 1, wherein the travelling mechanism is a tracked travelling mechanism.

5. The four-degree-of-freedom tracked robot special for the blades of the wind driven generator 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 four-degree-of-freedom tracked robot special for the blades of the wind driven generator as claimed in claim 5, wherein 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 both matched with a track.

7. The four-degree-of-freedom tracked robot special for the blades of the wind driven generator as claimed in claim 5, wherein the travelling mechanism comprises outer frame baffles on two sides, a driving shaft and a driven shaft are arranged between the outer frame baffles, the driving shaft is connected with the driving wheel, the driven shaft is connected with the driven wheel, and a motor is arranged in the travelling mechanism and drives the driving shaft to rotate so as to drive the driving wheel to rotate.

8. The four-degree-of-freedom tracked robot special for the blades of the wind driven generator as claimed in claim 6, wherein the inner side of the track 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 both provided with teeth and matched with the inner teeth of the track.

9. The four-degree-of-freedom tracked robot special for the blades of the wind driven generator as claimed in claim 1, wherein a fisheye camera is arranged on the travelling mechanism of the front section.

Images