CN216994616U - Connecting rod type crawling robot - Google Patents
Connecting rod type crawling robot Download PDFInfo
- Publication number
- CN216994616U CN216994616U CN202122602358.XU CN202122602358U CN216994616U CN 216994616 U CN216994616 U CN 216994616U CN 202122602358 U CN202122602358 U CN 202122602358U CN 216994616 U CN216994616 U CN 216994616U
- Authority
- CN
- China
- Prior art keywords
- crawling
- connecting rod
- shell
- rod
- hinged
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Landscapes
- Manipulator (AREA)
Abstract
The utility model discloses a connecting rod type crawling robot, which comprises an upper shell, a lower shell, a self-locking device and a power driving device, wherein the upper shell and the lower shell are connected to form a shell, a hole is reserved between the upper shell and the lower shell, the self-locking device comprises a connecting rod, an air cylinder and a fixed rod, the air cylinder is arranged in the shell, the fixed rod is arranged in the shell, the middle end of the connecting rod is hinged to the fixed rod, a connecting head is hinged to the air cylinder, and the connecting head is hinged to the connecting rod; the utility model belongs to the field of crawling robots, in particular to a connecting rod type crawling robot, aiming at the problem of instability of a high-altitude crawler, a special self-locking device with a cylinder connecting rod structure is designed, and when the robot slips and descends due to gravity and the like, a cylinder drives a connecting rod to move for self-locking, so that the robot cannot slide downwards and retreat; the climbing power comes from the motor drive crawl wheel, and the drive ratio is very big, improves the efficiency of crawling greatly.
Description
Technical Field
The utility model belongs to the technical field of crawling robots, and particularly relates to a connecting rod type crawling robot.
Background
At present, the steel wire ropes used in mines, large ships and the like are not reasonably maintained, and the problems of wire breakage, excessive abrasion, low safety factor and the like exist. The main reason is that the climbing problem of the steel wire rope cannot be well solved, the steel wire rope mostly needs to be maintained manually at regular intervals, and the existing high-altitude climbing robot for the steel wire rope has few types and incomplete functions. The conventional steel wire rope creeper is unstable in high-altitude operation, cannot lock the steel wire rope well and is easy to slide downwards.
SUMMERY OF THE UTILITY MODEL
Aiming at the situation and overcoming the defects of the prior art, the utility model provides a connecting rod type crawling robot, aiming at the problem of instability of a high-altitude crawler, the utility model designs a special self-locking device with a cylinder and connecting rod structure, and when the high-altitude crawler slips and descends due to gravity and the like, a cylinder drives a connecting rod to move for self-locking, so that the connecting rod cannot slide downwards and retreat; the climbing power comes from the motor drive crawl wheel, and the drive ratio is very big, improves the efficiency of crawling greatly.
The technical scheme adopted by the utility model is as follows: the utility model relates to a connecting rod type crawling robot, which comprises an upper shell, a lower shell, a self-locking device and a power driving device, wherein the upper shell and the lower shell are connected to form a shell, a hole is reserved between the upper shell and the lower shell, the self-locking device comprises a connecting rod, a cylinder and a fixed rod, the cylinder is arranged in the shell, the fixed rod is arranged in the shell, the middle end of the connecting rod is hinged with the fixed rod, a connector is hinged on the cylinder, the connector is hinged with the connecting rod, the power driving device comprises a crawling assembly I, a crawling assembly II and a crawling rod, the crawling assembly I comprises a motor I, a coupler I, a fixing piece I and a crawling wheel I, the motor I is arranged in the shell, the fixing piece I is connected with the motor through the coupler I, the crawling wheel I is arranged on the fixing piece I, and one end of the crawling rod is hinged on the coupler I, the other end of the crawling rod is hinged to the connecting rod, and the crawling assembly II is arranged at the middle end of the crawling rod.
Furthermore, the second crawling assembly comprises a second motor, a second coupler, a second fixing piece and a second crawling wheel, and the second crawling assembly and the first crawling assembly are connected in the same mode.
When the crawler slips and descends suddenly in the moving process, the air cylinder starts to work to pull the connecting rod to move, and due to the arrangement of the fixed rod, the connecting rod forms a lever effect in the moving process, so that the first crawling wheel and the second crawling wheel are driven to lock the steel wire rope, and the self-locking effect is achieved.
The utility model with the structure has the following beneficial effects: this scheme link type robot of crawling utilizes the cylinder to drive the connecting rod structure and carries out the auto-lock in the middle of the process of crawling, has improved the stability of crawl ware greatly, utilizes the motor to drive the device of crawling, can adjust the speed of crawling at any time, has increased climbing efficiency.
Drawings
FIG. 1 is a schematic view of the overall structure of the present invention;
FIG. 2 is a schematic view of the internal structure of the present invention;
FIG. 3 is a state diagram of the motion of the present invention;
fig. 4 is a locked state diagram of the present invention.
The automatic crawling device comprises a shell 1, an upper shell, a shell 2, a lower shell, a shell 3, a self-locking device 4, a crawling wheel II, a connecting rod 5, a connecting rod 6, a cylinder, a fixing rod 7, a connector 9, a connector 10, a crawling assembly I, a crawling assembly II, a crawling rod 12, a motor I, a motor 14, a coupling I, a fixing piece 16, a crawling wheel I, a motor 17, a motor II, a coupling II, a fixing piece 19 and a fixing piece II.
The accompanying drawings, which are included to provide a further understanding of the utility model and are incorporated in and constitute a part of this specification, illustrate embodiments of the utility model and together with the description serve to explain the principles of the utility model and not to limit the utility model.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments; all other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
As shown in fig. 1-4, the connecting rod type crawling robot of the utility model comprises an upper shell 1, a lower shell 2, a self-locking device 3 and a power driving device, wherein the upper shell 1 and the lower shell 2 are connected to form a shell, a gap is left between the upper shell 1 and the lower shell 2, the self-locking device 3 comprises a connecting rod 5, an air cylinder 6 and a fixing rod 7, the air cylinder 6 is arranged in the shell, the fixing rod 7 is arranged in the shell, the middle end of the connecting rod 5 is hinged with the fixing rod 7, the air cylinder 6 is hinged with a connecting head 9, the connecting head 9 is hinged with the connecting rod 5, the power driving device comprises a crawling assembly 10, a crawling assembly two 11 and a crawling rod 12, the crawling assembly 10 comprises a motor one 13, a coupling one 14, a fixing piece one 15 and a crawling wheel one 16, the motor one 13 is arranged in the shell, the fixing piece one 15 is connected to the motor through the coupling one 14, the climbing wheel I16 is arranged on the fixing part I15, one end of the climbing rod 12 is hinged to the coupler I14, the other end of the climbing rod 12 is hinged to the connecting rod 5, and the crawling assembly II 11 is arranged at the middle end of the climbing rod 12.
Furthermore, the second crawling assembly 11 comprises a second motor 17, a second coupling 18, a second fixing piece 19 and a second crawling wheel 4, and the second crawling assembly 11 and the first crawling assembly 10 are connected in the same mode.
When the climbing device is used specifically, in a normal motion state, the first motor 13 and the second motor 17 rotate to drive the first crawling wheel 16 and the second crawling wheel 4 to enable the device to move upwards on the steel wire rope integrally. In the crawling process, when needing to carry out the auto-lock, cylinder 6 begins work, drives connecting rod 5 and moves, and dead lever 7 is fixed on connecting rod 5 for connecting rod 5 forms a lever, and this just makes 6 cohesion of cylinder strengthen greatly. The first crawling wheel 16 and the second crawling wheel 4 on the two sides of the steel wire rope form a rotating acting force, so that the self-locking effect of the device is achieved. When the movement state is restored, the cylinder 6 moves in the reverse direction, the link 5 is restored to the original movement state, and the upward creeping movement is continued.
It is noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus.
Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that changes, modifications, substitutions and alterations can be made in these embodiments without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.
The present invention and its embodiments have been described above, and the description is not intended to be limiting, and the drawings show only one embodiment of the present invention, and the actual structure is not limited thereto. In summary, those skilled in the art should appreciate that they can readily use the disclosed conception and specific embodiments as a basis for designing or modifying other structures for carrying out the same purposes of the present invention without departing from the spirit and scope of the utility model as defined by the appended claims.
Claims (2)
1. The utility model provides a connecting rod formula robot of crawling which characterized in that: the device comprises an upper shell, a lower shell, a self-locking device and a power driving device, wherein the upper shell and the lower shell are connected to form a shell, a hole is reserved between the upper shell and the lower shell, the self-locking device comprises a connecting rod, a cylinder and a fixed rod, the cylinder is arranged in the shell, the fixed rod is arranged in the shell, the middle end of the connecting rod is hinged to the fixed rod, a connector is hinged to the cylinder, the connector is hinged to the connecting rod, the power driving device comprises a first crawling assembly, a second crawling assembly and a crawling rod, the first crawling assembly comprises a first motor, a first coupler, a first fixing piece and a first crawling wheel, the first motor is arranged in the shell, the first fixing piece is connected to the motor through a first coupler, the first crawling wheel is arranged on the first fixing piece, one end of the crawling rod is hinged to the first coupler, and the other end of the crawling rod is hinged to the connecting rod, and the crawling assembly II is arranged at the middle end of the crawling rod.
2. The link-type crawling robot of claim 1, wherein: the second crawling assembly comprises a second motor, a second coupler, a second fixing piece and a second crawling wheel, and the second crawling assembly and the first crawling assembly are connected in the same mode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122602358.XU CN216994616U (en) | 2021-10-28 | 2021-10-28 | Connecting rod type crawling robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202122602358.XU CN216994616U (en) | 2021-10-28 | 2021-10-28 | Connecting rod type crawling robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN216994616U true CN216994616U (en) | 2022-07-19 |
Family
ID=82380268
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202122602358.XU Active CN216994616U (en) | 2021-10-28 | 2021-10-28 | Connecting rod type crawling robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN216994616U (en) |
-
2021
- 2021-10-28 CN CN202122602358.XU patent/CN216994616U/en active Active
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN212421354U (en) | Synchronous telescoping device of multisection arm | |
| CN216994616U (en) | Connecting rod type crawling robot | |
| CN103043132A (en) | Claw-grasping type vibrating wall climbing robot | |
| CN204184485U (en) | The graping chaw mechanism of hydraulically rough surface climbing robot | |
| CN108750924B (en) | Mechanical automatic lifting hook | |
| CN2211999Y (en) | Double ladder overhead operation platform | |
| CN204823717U (en) | From steady formula hydraulic grab mechanism | |
| CN116060930A (en) | Electric power iron tower bolt-up robot | |
| CN107069535B (en) | A kind of high-altitude coaster sets up component | |
| CN201314004Y (en) | Novel steel wire rope sleeve inserting machine | |
| CN204569155U (en) | Silicon carbide whisker cylinder Special grabbing device for hoisting | |
| CN201914348U (en) | Gripper grabbing type wall-climbing robot | |
| CN209352490U (en) | Hang single-stranded motor hoist | |
| CN212130002U (en) | Regularization formula of encorbelmenting safety is chosen net | |
| CN110094172B (en) | Hydraulic lifting device for drilling and workover tools | |
| CN206412695U (en) | A kind of high-altitude coaster | |
| CN106629442B (en) | It is device that drilling machine traveling system, which becomes rope, | |
| CN207358963U (en) | A kind of eccentric bushing installation tool for gasification furnace | |
| CN103572759A (en) | Multi-hook starting structure of cylinder-type diesel pile hammer | |
| CN207618885U (en) | Diesel engine lubricant filtering device hoisting tool | |
| CN207112222U (en) | A kind of self-adapting type in-pipe robot | |
| CN215523081U (en) | Liftable street lamp engineering installation device | |
| CN206606956U (en) | Rig traveling system becomes rope system device | |
| CN206188249U (en) | Novel swift mounting structure of pull rod | |
| CN203639916U (en) | Multi-hook starting structure for drum-type diesel pile hammer |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| GR01 | Patent grant | ||
| GR01 | Patent grant |