CN214643601U

CN214643601U - Steel cable track robot with good stability

Info

Publication number: CN214643601U
Application number: CN202120953336.5U
Authority: CN
Inventors: 胡阳; 董海颖
Original assignee: Beijing Xinke Huizhi Technology Development Co ltd
Current assignee: Beijing Xinke Huizhi Technology Development Co ltd
Priority date: 2021-05-06
Filing date: 2021-05-06
Publication date: 2021-11-09
Anticipated expiration: 2031-05-06

Abstract

The application relates to a good steel cable track robot of stability, it includes the frame, be provided with drive arrangement in the frame, drive arrangement can drive the frame removes its characterized in that on the steel cable: the flywheel cover is arranged on the outer cover of the flywheel. This application has the effect that improves the overall stability of robot.

Description

Steel cable track robot with good stability

Technical Field

The application relates to the field of robots, in particular to a steel cable track robot with good stability.

Background

The research of the steel cable robot originates from simulating the motion of human when walking the steel wire, has the characteristics of static instability and dynamic stability, and can perform the functions of line inspection, line maintenance, line deicing and the like based on the application of the steel cable and the human in different fields.

The utility model discloses a steel wire cable crawling robot in the Chinese utility model with the bulletin number CN204173036U, which is technically characterized in that the steel wire cable crawling robot comprises a crawling device, a clamping device, a frame and the like, and the crawling on the steel wire cable is realized through the matching motion of the crawling device and the clamping device. The crawling mechanism comprises a driving connecting rod, a driven connecting rod, a front frame, a rear frame and other components; the clamping device comprises a traction electromagnet, an active clamping block, a fixed clamping block, a spring and other components.

In view of the above-mentioned related art, the inventor believes that the steel wire belongs to the flexible material, and when the steel wire robot in the prior art climbs on the steel cable, the frame will shake, resulting in the stability of this problem mechanism not being enough.

SUMMERY OF THE UTILITY MODEL

In order to improve the overall stability of robot, this application provides the good steel cable track robot of stability.

The application provides a good steel cable track robot of stability adopts following technical scheme:

the steel cable track robot with good stability comprises a rack, wherein a driving device is arranged on the rack, the driving device can drive the rack to move on a steel cable, a flywheel is rotationally connected to the center line position of the rack, a flywheel motor is fixedly connected to the position, corresponding to the flywheel, of the rack, the flywheel is fixedly connected with an output shaft of the flywheel motor, and a flywheel cover is arranged on the outer cover of the flywheel.

Through adopting above-mentioned technical scheme, at first remove along the length direction of steel cable on through the drive arrangement steel cable, drive the frame and move on the steel cable, improve the overall stability of whole mechanism through the rotation of flywheel, the flywheel cover is located the flywheel and is guaranteed the overall stability and the security of mechanism outward.

Optionally, the driving device comprises a driving shaft horizontally arranged on the upper side of the rack and a steel wire wheel fixedly connected to the middle of the driving shaft and abutted to the steel wire cable, one end of the driving shaft is provided with a driving assembly capable of driving the driving shaft to rotate, the other end of the driving shaft is provided with a counterweight wheel capable of rotating along with the driving assembly, and the driving shaft is fixedly connected with a fixing plate coaxially arranged with the driving shaft.

Through adopting above-mentioned technical scheme, thereby rotate through drive assembly and drive the drive shaft and drive the counterweight wheel and rotate, the position that the fixed plate rigid coupling passes through the fixed plate in the one end of drive shaft sets up the position equidistance of counterweight wheel for the steel wire wheel, improves overall stability of whole mechanism through the counterweight wheel.

Optionally, one side of the driving shaft corresponding to the fixing plate is in interference connection with the counterweight wheel.

Through adopting above-mentioned technical scheme, when the high-speed rotation of counter weight wheel for the relative position of counter weight wheel for the drive shaft does not change.

Optionally, the end of the driving shaft is in threaded connection with a circular pressing sheet, and the counterweight wheel is sleeved between the circular pressing sheet and the fixing plate of the driving shaft.

Through adopting above-mentioned technical scheme, at first locate the drive shaft with the counterweight wheel cover on, compress tightly the counterweight wheel through the threaded connection of drive shaft and ring pressure piece for the relative position of counterweight wheel for the drive shaft does not change.

Optionally, one side of the fixed plate close to the balance weight wheel is fixedly connected with a non-slip mat.

Through adopting above-mentioned technical scheme, use the slipmat, when the ring preforming compressed tightly the weight wheel, increase the coefficient of friction of weight wheel and ring preforming through the slipmat, prevent the rotation of weight wheel for the drive shaft.

Optionally, the weight wheel is a hollow weight wheel, and the hollow weight wheel includes a wheel hub connected to the driving shaft in an interference manner, a wheel rim arranged outside the wheel hub, and a connecting plate connected to the wheel hub and in front of the wheel rim.

Through adopting above-mentioned technical scheme, hollow counter weight wheel overall control volume is lighter for the axle center can be kept away from to the weight of rim, makes the energy storage density grow of counter weight wheel, and stable effect is better.

Optionally, a shielding lower cover and a shielding upper cover which are sleeved outside the counterweight wheel and are arranged on the upper surface of the frame are arranged on the frame.

Through adopting above-mentioned technical scheme, the cover is located the outer cover of sheltering from of counterweight wheel and is sheltered from down the cover, prevents that the counterweight wheel from striking other parts, leads to the damage of frame.

Optionally, the shielding upper cover is connected with the shielding lower cover through bolts.

By adopting the technical scheme, the shielding upper cover can be detached by screwing the bolt, the counterweight wheel can be replaced, and after the counterweight wheel is replaced, the bolt is screwed, so that the shielding upper cover and the shielding lower cover are covered outside the counterweight wheel.

In summary, the present application includes at least one of the following beneficial technical effects:

1. firstly, the frame is driven to move on the steel cable by moving the steel cable of the driving device along the length direction of the steel cable, and the overall stability of the whole mechanism is improved by the rotation of the flywheel;

2. firstly, sleeving a counterweight wheel on a driving shaft, and tightly pressing the counterweight wheel through the threaded connection between the driving shaft and a circular pressing sheet so that the relative position of the counterweight wheel relative to the driving shaft is not changed;

3. the hollow counterweight wheel has lighter overall control volume, so that the weight of the wheel rim can be far away from the axle center, the energy storage density of the counterweight wheel is increased, and the stabilization effect is better.

Drawings

Fig. 1 is an overall schematic view of embodiment 1 of a cable rail robot with good stability.

Fig. 2 is a schematic sectional view of the steel cable rail robot of embodiment 1 having good stability.

Fig. 3 is an exploded view of the protection module of embodiment 1 of the cable railway robot with good stability.

Figure 4 is the exploded view of the guard assembly of embodiment 2 of the cable tracked robot with good stability.

Fig. 5 is a schematic view of the hollow weight wheel of example 3 of the cable rail robot with good stability.

Description of reference numerals: 1. a frame; 11. a base plate; 12. a support plate; 13. a through groove; 14. a flywheel; 15. a flywheel motor; 16. a flywheel cover; 2. a monitoring device; 21. a monitor; 3. a drive device; 31. a bearing plate; 32. a drive assembly; 321. an upper drive motor; 322. a lower drive motor; 33. a drive shaft; 331. a wire wheel; 34. a balancing component; 341. a weight wheel; 342. a fixing plate; 35. a guard assembly; 351. shielding the lower cover; 352. covering the upper cover; 36. pressing into a circular ring; 37. a non-slip mat; 38. a hollow weight wheel; 381. a hub; 382. a rim; 383. a connecting plate.

Detailed Description

The present application is described in further detail below with reference to figures 1-5.

Example 1:

the embodiment of the application discloses good steel cable track robot of stability.

Referring to fig. 1 and 2, good steel cable track robot of stability includes frame 1, be provided with monitoring device 2 and drive arrangement 3 in frame 1, frame 1 comprises bottom plate 11 and two

backup pads

12, 11 levels of bottom plate set up, bottom plate 11 is the rectangular plate structure, two backup pads 12 rigid couplings in the both ends of bottom plate 11, logical groove 13 that the steel cable can pass through has all been seted up at the middle part of two backup pads 12, it is connected with flywheel 14 to rotate on the bottom plate 11, the vertical setting of axis of flywheel 14, the position rigid coupling that corresponds flywheel 14 under the bottom plate 11 has the flywheel motor 15 with 14 coaxial line settings of flywheel, flywheel motor 15's output shaft rigid coupling in

flywheel

14, 14 dustcoats and is equipped with flywheel cover 16.

Referring to fig. 1 and 2, the monitoring device 2 includes a monitor 21 fixedly attached to the base plate 11.

Referring to fig. 1 and 3, the driving device 3 includes a receiving plate 31, the receiving plate 31 is horizontally disposed, the receiving plate 31 has a rectangular plate-shaped structure, the length direction of the receiving plate 31 is the same as the length direction of the bottom plate 11, and two ends of the receiving plate 31 are fixedly connected to the sides of the two support plates 12 that are close to each other; the bearing plate 12 is provided with a plurality of driving assemblies 32, each driving assembly 32 is composed of an upper driving motor 321 and a lower driving motor 322, the upper driving motors 321 and the lower driving motors are respectively arranged on two sides of the bearing plate 31 along the length direction of the bearing plate 31, the output shaft of each upper driving motor 321 is the same as the width direction of the bearing plate 31, and the output shaft of each lower driving motor 322 is the same as the width direction of the bearing plate 31.

Referring to fig. 1 and 3, the receiving plate 31 is provided with a driving shaft 33 at a position corresponding to each driving unit 32, the axial direction of the driving shaft 33 is the same as the width direction of the receiving plate 31, and one end of each driving shaft 33 is connected to the corresponding driving unit 32. A steel wire wheel 331 which is coaxial with the driving shaft 33 is fixedly connected with the middle part of the driving shaft in the axial direction; the circumferential surface of the wire wheel 331 is provided with an arc-shaped ring groove.

When the monitoring device is used, the upper driving motor 321 and the lower driving motor 322 drive the steel wire wheel 331 to rotate on the steel cable, the rack 1 is driven to slide along the length direction of the bottom plate 11, the monitor 21 can be driven to slide on the steel cable, monitoring operation is carried out along the length direction of the steel cable, and the flywheel 14 rotates through the flywheel motor 15, so that the stability of the whole mechanism is improved.

Referring to fig. 1 and 3, a balance assembly 34 is disposed at an end of the driving shaft 33 away from the driving assembly 32, the balance assembly 34 includes a balance wheel 341 and a fixed plate 342, the fixed plate 342 is fixedly connected to the end of the driving shaft 33 away from the driving assembly 32, and the balance wheel 341 is connected to a side of the driving shaft 33 corresponding to the fixed plate 342 away from the driving assembly 32. The axes of the fixed plate 342, the weight wheel 341, and the drive shaft 33 are collinear. The connection mode of the counterweight wheel 341 and the driving shaft 33 can adopt a fixed connection mode of interference fit, the counterweight wheel 341 adopts a solid counterweight wheel, and the thickness of the rim of the counterweight wheel 341 is larger than that of the hub.

During the use, when driving motor drives the weight wheel 341 and rotates, can save the energy of pairing rotation, when frame 1 operation meets the peak value, can reduce the damage to drive assembly 32 through weight wheel 341, when weight wheel 341 rotates at a high speed, can make whole mechanism tend to stably.

Referring to fig. 1 and 3, the receiving plate 31 is provided with a protection assembly 35 at a position corresponding to each balance assembly 34, the protection assembly 35 includes a lower shielding cover 351 fixedly connected to the receiving plate 31 and an upper shielding cover 352 disposed on the upper side of the lower shielding cover 351, the upper shielding cover 352 is bolted to the lower shielding cover 351, and one end of the driving shaft 33, at which the weight wheel 341 is disposed, extends between the lower shielding cover 351 and the upper shielding cover 352.

The implementation principle of the embodiment 1 is as follows: the steel wire wheel 331 is driven to rotate on the steel cable through the upper driving motor 321 and the lower driving motor 322 respectively, so that the operation of the whole rack 1 on the steel cable is realized, the monitor 21 is driven to move in the length direction of the steel cable, and the whole stability of the whole rack 1 is improved through the balance weight wheel 341 and the flywheel 14 2.

Example 2:

referring to fig. 4, the cable track robot with good stability is different from embodiment 1 in that: the external screw thread has been seted up to the one end that the drive shaft 33 kept away from drive assembly 32, and the one end that the drive shaft 33 corresponds the fixed plate and keeps away from drive assembly 32 is located to the counter weight wheel 341 cover, and the one side that the drive shaft 33 corresponds counter weight wheel 341 and keeps away from fixed plate 342 is provided with ring preforming 36, and ring preforming 36 threaded connection is in the drive shaft. To prevent the weight wheel 341 from rotating relative to the fixed plate, a non-slip pad 37 is fixed to one side of the fixed plate 342 near the weight wheel 341.

The implementation principle of the embodiment 2 is as follows: the balance weight wheel 341 is sleeved on the driving shaft 33, the balance weight wheel 341 can be fixed relative to the fixing plate 342 through the anti-slip pad 37, the balance weight wheel 341 is pressed through the threaded connection between the driving shaft 33 and the annular pressing sheet 36, when the balance weight wheel 341 is damaged and the balance weight wheel 341 needs to be replaced, the annular pressing sheet 36 can be screwed, and the balance weight wheel 341 is dismounted for replacement.

Example 3:

referring to fig. 5, the cable track robot with good stability is different from embodiment 1 in that: the weight wheel 341 is a hollow weight wheel 38, and the hollow weight wheel 38 includes a hub 381 connected to the extension rod 343 in an interference manner, three connection plates 383 uniformly fixed on the peripheral surface of the hub 381, and a rim 382 fixed outside the connection plates.

The implementation principle of the embodiment 3 is as follows: the use of the hollow weight wheel 38 can reduce the mass of the weight wheel 341, concentrate the mass to the rim 382 position, and increase the energy storage density of the weight wheel 341.

The above embodiments are preferred embodiments of the present application, and the protection scope of the present application is not limited by the above embodiments, so: all equivalent changes made according to the structure, shape and principle of the present application shall be covered by the protection scope of the present application.

Claims

1. The utility model provides a good steel cable track robot of stability, includes frame (1), be provided with drive arrangement (3) on frame (1), drive arrangement (3) can drive frame (1) removes its characterized in that on the steel cable: the motor is characterized in that a flywheel (14) is rotatably connected to the center line position of the rack (1), the rack (1) is fixedly connected with a flywheel motor (15) corresponding to the position of the flywheel (14), the flywheel (14) is fixedly connected with an output shaft of the flywheel motor (15), and a flywheel cover (16) is arranged on the outer cover of the flywheel (14).

2. The stable wire rope rail robot as claimed in claim 1, wherein: the driving device (3) comprises a driving shaft (33) horizontally arranged on the upper side of the rack (1), and a steel wire wheel (331) fixedly connected to the middle of the driving shaft (33) and abutted to a steel cable, one end of the driving shaft (33) is provided with a driving assembly (32) capable of driving the driving shaft (33) to rotate, the other end of the driving shaft (33) is provided with a counterweight wheel (341) capable of rotating along with the driving assembly (32), and the driving shaft (33) is fixedly connected with a fixing plate (342) coaxially arranged with the driving shaft (33).

3. The stable wire rope rail robot as claimed in claim 2, wherein: one side of the driving shaft (33) corresponding to the fixing plate (342) is in interference connection with the balance weight wheel (341).

4. The stable wire rope rail robot as claimed in claim 2, wherein: an annular pressing sheet (36) is connected to the end of the driving shaft (33) in a threaded manner, and the counterweight wheel (341) is sleeved between the annular pressing sheet (36) of the driving shaft (33) and the fixing plate (342).

5. The stable wire rope rail robot as claimed in claim 4, wherein: and one side of the fixed plate (342) close to the counterweight wheel (341) is fixedly connected with an anti-skid pad (37).

6. The stable wire rope rail robot as claimed in claim 2, wherein: the counterweight wheel (341) is a hollow counterweight wheel (38), the hollow counterweight wheel (38) comprises a hub (381) connected with a driving shaft (33) in an interference mode, a rim (382) arranged outside the hub (381), and a connecting plate (383) connected with the hub (381) and in front of the rim (382).

7. The stable wire rope rail robot as claimed in claim 2, wherein: the frame (1) is provided with a lower shielding cover (351) and an upper shielding cover (352) which are sleeved outside the counterweight wheel (341) and arranged on the upper surface of the frame (1).

8. The stable wire rope rail robot as claimed in claim 7, wherein: the upper shield cover (352) is bolted to the lower shield cover (351).