CN214112727U

CN214112727U - Climbing mechanism for robot

Info

Publication number: CN214112727U
Application number: CN202022505752.7U
Authority: CN
Inventors: 张梅
Original assignee: Individual
Current assignee: Individual
Priority date: 2020-11-03
Filing date: 2020-11-03
Publication date: 2021-09-03
Anticipated expiration: 2030-11-03

Abstract

The utility model discloses a climbing mechanism for robot, including multiunit bracing piece, climbing area and link, the equidistant butt joint hole of having seted up in the outside of bracing piece to peg graft with the butt joint socket of installing in link one end, the internally mounted of bracing piece has spacing bolt, and the internally mounted of bracing piece has a motor, installs the thread groove threaded connection who sets up at a motor output epaxial threaded rod and spacing bolt top. The climbing mechanism for the robot, provided by the utility model, has the advantages that firstly, the limiting bolt is arranged in the supporting rod, and the butt joint socket which is spliced with the limiting bolt is arranged at the two ends of the connecting frame, so that the difficulty of the installation of the device can be reduced; secondly, the weight distribution of the climbing mechanism can be adjusted as required by arranging the balancing weight outside the connecting frame; thirdly, through set up electrically conductive wheel at the climbing area front end, set up solenoid in the inside in climbing area simultaneously, can guarantee that the climbing area closely laminates with the pipeline all the time when using.

Description

Climbing mechanism for robot

Technical Field

The utility model relates to a robot field, in particular to climbing mechanism for robot.

Background

The leakage of four pipes of the boiler is the main reason causing various unplanned shutdown of the thermal generator set, accounts for 50-60% of the non-shutdown accident rate of the set, is a big stubborn disease which troubles the thermal power generation enterprises, and greatly threatens the safe operation of the thermal power plant;

a large number of equipment faults are not discovered, but are discovered far later than before the defects are completely exposed, so that the defects are enlarged even until the faults occur; if the equipment has initial defects and faults, the health level of the equipment is evaluated early through corresponding checking and detecting means, namely, the equipment state is judged, so that the condition that the rain is not too much can be achieved; and carry out the analysis and research, take effectual prevention and cure measure to prevent the precontrol to the problem that judges, can avoid the emergence of equipment trouble and equipment accident, secondly, want to detect the pipeline through machinery, then just need use the climbing mechanism that can carry out the climbing along the pipeline to support check out test set, for this reason, we propose a climbing mechanism for the robot.

SUMMERY OF THE UTILITY MODEL

A primary object of the present invention is to provide a climbing mechanism for a robot, which can effectively solve the problems in the background art.

In order to achieve the above purpose, the utility model adopts the following technical scheme:

a climbing mechanism for a robot comprises a plurality of groups of supporting rods, a climbing belt which is slidably arranged between two adjacent groups of supporting rods and a connecting frame which is connected with the outermost side and is arranged between two adjacent groups of supporting rods, wherein the climbing belt is driven by a motor arranged on the inner side of the supporting rods,

the utility model discloses a motor support, including bracing piece, connecting frame, connecting socket, motor output shaft, threaded rod, threaded groove threaded connection that the butt joint hole has been seted up to the outside equidistant of bracing piece to peg graft with the butt joint socket of movable mounting in link one end, the inside movable mounting of bracing piece has the spacing bolt that is "E" font, and the internally mounted of bracing piece has a motor, installs threaded rod on a motor output shaft and the thread groove threaded connection that spacing bolt top was seted up.

Preferably, the top of the butt joint socket is provided with a through hole in a penetrating manner and is in butt joint with a positioning pin at the middle position of the limiting bolt.

Preferably, the inner bottom surface of the support rod is provided with a groove which is spliced with the positioning pin.

Preferably, the outside cover of link is equipped with the balancing weight, and the internally mounted of balancing weight has No. two motors, installs drive gear on No. two motor output shafts meshes with the tooth area of installing in the link outside.

Preferably, two sets of the current conducting plate is all installed to the one side that the bracing piece is relative, and the front end of current conducting plate installs two sets of electrically conductive wheels that are upper and lower distribution, electrically conductive wheel with install the flexible circuit board contact at the climbing area inner wall to by the flexible circuit board to installing at the inside solenoid circular telegram of climbing area.

Preferably, the front end of current-conducting plate is equipped with two sets of support section of thick bamboos that are arranged from top to bottom, there is conductive pillar the inside of support section of thick bamboo through spring coupling, and the front end of leading electrical pillar is connected with the current-conducting wheel through the pivot.

Preferably, the conductive column is electrically connected to a power supply installed inside the conductive plate through a conductive wire.

Compared with the prior art, the utility model discloses following beneficial effect has:

firstly, the limiting bolt is arranged in the supporting rod, and the butt-joint sockets which are inserted with the limiting bolt are arranged at the two ends of the connecting frame, so that the mounting difficulty of the device can be reduced, and the climbing mechanism can be conveniently replaced and repaired as required;

secondly, the first motor is arranged in the supporting rod and can drive the limiting bolt to move up and down, so that the limiting bolt and the butt socket are inserted and connected in the supporting column, the device is prevented from being disassembled from the outside, and the use safety of the device is improved;

thirdly, the weight distribution of the climbing mechanism can be adjusted as required by arranging the balancing weight outside the connecting frame, so that the uneven pressure applied to the pipeline by the climbing mechanism when in use is avoided, and the stability of the climbing mechanism when in use is improved;

fourthly, the second motor is arranged in the balancing weight, so that remote control can be realized as required, and the difficulty in adjusting the device is reduced;

fifthly, the front end of the climbing belt is provided with the conductive wheel, and meanwhile, the electromagnetic coil is arranged in the climbing belt, so that the climbing belt can be always tightly attached to the pipeline when in use, and the climbing belt is prevented from being uneven in pressure of the pipeline.

Drawings

FIG. 1 is an overall structure diagram of a climbing mechanism for a robot according to the present invention;

FIG. 2 is a structural diagram of the outermost support bar and the connecting frame of the climbing mechanism for a robot according to the present invention;

FIG. 3 is a partial cross-sectional view of a support rod of a climbing mechanism for a robot according to the present invention;

fig. 4 is a right side view of a climbing mechanism for a robot according to the present invention;

FIG. 5 is a cross-sectional view of a weight block in a climbing mechanism for a robot according to the present invention;

fig. 6 is a cross-sectional view of a current-conducting plate in a climbing mechanism for a robot according to the present invention;

figure 7 is the utility model discloses a structure chart when climbing mechanism uses among climbing mechanism for the robot.

In the figure: 1. a support bar; 2. a climbing belt; 3. a connecting frame; 4. a docking socket; 5. a first motor; 6. a threaded rod; 7. a limiting bolt; 8. a butt joint hole; 9. a balancing weight; 10. a second motor; 11. a drive gear; 12. a conductive plate; 13. a support cylinder; 14. a conductive wheel; 15. a power source.

Detailed Description

In order to make the technical means, creation features, achievement purposes and functions of the present invention easy to understand, the present invention is further described below with reference to the following embodiments.

Referring to fig. 1-4, a climbing mechanism for a robot includes a plurality of sets of support rods 1, a climbing belt 2 slidably installed between two adjacent sets of support rods 1, and a connecting frame 3 connected to the outermost side and between two adjacent sets of support rods 1, and the climbing belt 2 is driven by a motor installed inside the support rods 1, wherein,

the butt joint hole 8 has been seted up to the outside equidistant of bracing piece 1 to peg graft with the butt joint socket 4 of movable mounting in link 3 one end, the inside movable mounting of bracing piece 1 has spacing bolt 7 that is "E" font, and the internally mounted of bracing piece 1 has a motor 5, installs the thread groove threaded connection who sets up at threaded rod 6 on motor 5 output shaft and spacing bolt 7 top.

Referring to fig. 2 and 3, a through hole is formed through the top of the docking socket 4, and the docking socket is docked with a positioning pin at the middle position of the limit bolt 7.

Referring to fig. 3, a groove inserted with the positioning pin is formed on the inner bottom surface of the support rod 1.

Referring to fig. 4 and 5, a balancing weight 9 is sleeved outside the connecting frame 3, a second motor 10 is installed inside the balancing weight 9, and a driving gear 11 installed on an output shaft of the second motor 10 is meshed with a toothed belt installed outside the connecting frame 3.

Referring to fig. 4 and 6, a conductive plate 12 is installed on one side of each of the two sets of support rods 1, two sets of conductive wheels 14 distributed vertically are installed at the front end of the conductive plate 12, the conductive wheels 14 are in contact with a flexible circuit board installed on the inner wall of the climbing belt 2, and the flexible circuit board energizes a solenoid coil installed inside the climbing belt 2.

Referring to fig. 6, two sets of supporting cylinders 13 arranged up and down are disposed at the front end of the conducting plate 12, a conducting column is connected to the inside of the supporting cylinder 13 through a spring, and the front end of the conducting column is connected to the conducting wheel 14 through a rotating shaft.

Referring to fig. 6, the conductive post is electrically connected to a power supply 15 mounted inside the conductive plate 12 by a conductive wire.

When in use, the support rods 1 and the climbing belts 2 arranged between the support rods 1 are firstly arranged at two sides of a pipeline to be climbed, then the C-shaped connecting frame 3 is arranged on the two groups of support rods 1 at the outermost side, when in connection, the butt socket 4 at one end of the connecting frame 3 is firstly inserted into the butt hole 8 at the outer side of the support rods 1, and the one-number motor 5 is simultaneously controlled to drive the threaded rod 6 at the bottom of the connecting frame to rotate, because the threaded rod 6 is connected with the limit bolt 7 through threads, when the threaded rod 6 rotates, the limit bolt 7 moves downwards, so that the positioning pin positioned at the middle position of the limit bolt 7 passes through the through hole at the top of the butt socket 4 and is inserted into the groove at the other side inside the support rods 1, and each connecting frame 3 is arranged on the support rod 1 at the outermost side in the same way, thus the climbing mechanism can be more quickly arranged, and the installation difficulty of the climbing mechanism is reduced, after the installation is accomplished, No. two motors 10 of control drive its output shaft on drive gear 11 rotatory, because drive gear 11 meshes with the outside cingulum of link 3, consequently when drive gear 11 is rotatory, can drive balancing weight 9 and carry out the horizontal slip along link 3 to the holistic balance of adjusting device avoids equipment too big and harm the pipeline to the partial pressure of waiting to detect the pipeline.

Climbing mechanism is along waiting to detect when the pipeline climbing, because the inboard laminating in conductive wheel 14 of current conducting plate 12 front end and climbing area 2, consequently when climbing area 2 moves between two sets of current conducting plates 12, current conducting plate 12 is through the current conducting wheel 14 on it to the inside solenoid circular telegram of climbing area 2, the solenoid circular telegram produces magnetism, again because two current conducting plates 12 are placed relatively, and be the inboard with climbing area 2, climbing area 2 removes to the outside direction of waiting to detect the pipeline in can, thereby can improve climbing area 2 and the laminating nature and the frictional force of waiting to detect the pipeline, prevent that climbing mechanism can't be stable when climbing the pipeline and be connected with the pipeline.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A climbing mechanism for a robot is characterized by comprising a plurality of groups of supporting rods (1), a climbing belt (2) which is slidably arranged between two adjacent groups of supporting rods (1) and a connecting frame (3) which is connected with the outermost side and is arranged between two adjacent groups of supporting rods (1), wherein the climbing belt (2) is driven by a motor arranged on the inner side of the supporting rods (1),

the utility model discloses a motor, including bracing piece (1), bracing piece, movable mounting, connecting frame (3), bracing piece, the outside of bracing piece (1) is equidistant seted up butt joint hole (8) to peg graft with butt joint socket (4) of movable mounting in link (3) one end, the inside movable mounting of bracing piece (1) has spacing bolt (7) that are "E" font, and the internally mounted of bracing piece (1) has a motor (5), installs threaded rod (6) and the thread groove threaded connection that spacing bolt (7) top was seted up at a motor (5) output shaft.

2. The climbing mechanism for robots as recited in claim 1, wherein: the top of the butt joint socket (4) is provided with a through hole in a penetrating mode and is in butt joint with a positioning pin in the middle of the limiting bolt (7).

3. The climbing mechanism for robots as recited in claim 1, wherein: the inner bottom surface of the support rod (1) is provided with a groove which is spliced with the positioning pin.

4. The climbing mechanism for robots as recited in claim 1, wherein: the outside cover of link (3) is equipped with balancing weight (9), and the internally mounted of balancing weight (9) has No. two motor (10), installs drive gear (11) on No. two motor (10) output shaft and the tooth belt meshing of installing in link (3) outside.

5. The climbing mechanism for robots as recited in claim 1, wherein: two sets of current conducting plate (12) are all installed to the one side that bracing piece (1) is relative, and the front end of current conducting plate (12) installs two sets of electrically conductive wheels (14) that are upper and lower distribution, electrically conductive wheel (14) with install the flexible circuit board contact at climbing area (2) inner wall to by flexible circuit board to installing at the inside solenoid circular telegram of climbing area (2).

6. The climbing mechanism for robots as recited in claim 5, wherein: the front end of current conducting plate (12) is equipped with two sets of support section of thick bamboo (13) that are to arrange from top to bottom, there is conductive pillar through spring coupling in the inside of supporting section of thick bamboo (13), and the front end of leading electrical pillar is connected with conductive wheel (14) through the pivot.

7. The climbing mechanism for robots as recited in claim 6, wherein: the conductive column is electrically connected with a power supply (15) arranged in the conductive plate (12) through a conducting wire.