CN219096867U

CN219096867U - Robot running gear suitable for high-gradient crawling

Info

Publication number: CN219096867U
Application number: CN202320034373.5U
Authority: CN
Inventors: 杨斌; 党哲辉; 罗兴宇; 杨鹏诚
Original assignee: Datang Liangshan New Energy Co ltd
Current assignee: Datang Liangshan New Energy Co ltd
Priority date: 2023-01-05
Filing date: 2023-01-05
Publication date: 2023-05-30
Anticipated expiration: 2033-01-05

Abstract

The utility model discloses a robot walking device suitable for high-gradient crawling, and particularly relates to the technical field of detection robots, which comprises a first auxiliary mechanism and a second auxiliary mechanism, wherein the first auxiliary mechanism and the second auxiliary mechanism are in an up-down symmetrical distribution structure, the two sides of the first auxiliary mechanism are respectively provided with a first auxiliary mechanism, the two sides of the second auxiliary mechanism are respectively provided with a second auxiliary mechanism, and the first auxiliary mechanism and the second auxiliary mechanism are in an up-down symmetrical distribution structure.

Description

Robot running gear suitable for high-gradient crawling

Technical Field

The utility model relates to the technical field of detection robots, in particular to a robot walking device suitable for high-gradient crawling.

Background

The wind power generator blade is the most main component for receiving wind energy and is also the main basis for measuring the design and technical level of the wind power generator, and the most commonly adopted wind power generator blade at present is glass fiber reinforced polyester (epoxy) resin. However, with the development of high-power generator sets, the length of the blade is continuously increased, in order to prevent the blade tip from touching the tower under extreme wind load, the blade is required to have higher rigidity, and the effective method is to adopt a carbon fiber composite material with better performance;

after the fan blade is installed and used, the wind farm booster station and the outside of the fan blade are required to be overhauled regularly, and deicing operation is required to be carried out on the outside of the fan blade for the fan blade in some cold areas.

Disclosure of Invention

The utility model aims to provide a robot walking device suitable for high-gradient crawling, so as to solve the problems in the background technology.

In order to achieve the above purpose, the present utility model provides the following technical solutions: the robot walking device suitable for high-gradient crawling comprises a first abdomen assisting mechanism and a second abdomen assisting mechanism, wherein the first abdomen assisting mechanism and the second abdomen assisting mechanism are in an up-down symmetrical distribution structure, two sides of the first abdomen assisting mechanism are respectively provided with a first side assisting mechanism, two sides of the second abdomen assisting mechanism are respectively provided with a second side assisting mechanism, the first side assisting mechanism and the second side assisting mechanism are in an up-down symmetrical distribution structure, an edge assisting mechanism is arranged between the adjacent first side assisting mechanism and the adjacent second side assisting mechanism, and fastening belts are arranged between the first abdomen assisting mechanism, the second abdomen assisting mechanism, the first side assisting mechanism, the second side assisting mechanism and the edge assisting mechanism;

the first abdomen auxiliary mechanism comprises a first side frame and a second side frame, the first side frame and the second side frame are of symmetrical distribution structures, two fastening rollers which are distributed vertically symmetrically are rotatably clamped between the first side frame and the second side frame, two transmission gears which are connected in a meshed mode are arranged in the second side frame, the end portions of the fastening rollers are respectively and fixedly installed with the corresponding transmission gears coaxially, L-shaped frames are fixedly installed in the middle portions of the opposite sides of the first side frame and the second side frame respectively, rotating frames are arranged on bottom fixing clamps of the L-shaped frames, running wheels are rotatably clamped at the bottoms of the rotating frames, and anti-slip sleeves are fixedly sleeved on the outer sides of the running wheels.

Preferably, the rotation direction of the row wheel and the rotation direction of the fastening roller are vertically distributed.

Preferably, a first motor is fixedly installed at the top of the side end of the first side frame, and the end part of the corresponding fastening roller of the first motor is coaxially and fixedly installed.

Preferably, an auxiliary shaft is arranged at the bottom of the side end of one rotating frame, the auxiliary shaft and the rotating shaft end of the corresponding row wheel are coaxially and fixedly arranged, a driven worm wheel is fixedly sleeved on the outer side of the auxiliary shaft, a second motor is fixedly arranged on one side, close to the auxiliary shaft, of the rotating frame, and a driving worm in meshed connection with the driven worm wheel is fixedly arranged at the driving end of the second motor.

Preferably, the second abdomen assisting mechanism, the first side assisting mechanism, the second side assisting mechanism and the edge assisting mechanism have the same structure as the first abdomen assisting mechanism, and the fastening belt is wound between two fastening rollers in the second abdomen assisting mechanism, the first side assisting mechanism, the second side assisting mechanism and the edge assisting mechanism.

Preferably, a limit ring groove is formed in the middle of the outer side of the traveling wheel in the prismatic auxiliary mechanism.

Preferably, the positioning groove has all been seted up in the outside of the fastening roller in the first abdomen auxiliary mechanism, be equipped with the location strip in the positioning groove, the size of location strip is less than the size of positioning groove, the equal fixed card in both sides of location strip is equipped with the rotation pipe, the middle part rotation card of rotation pipe is equipped with positioning screw, the equal fixed card in inner wall both sides of positioning groove is equipped with the interior screwed pipe that corresponds with positioning screw, positioning screw's bottom screw thread is installed in the interior screwed pipe that corresponds, the both ends of fastening strip can dismantle the joint respectively between corresponding two sets of positioning groove, location strip.

Compared with the prior art, the utility model has the beneficial effects that:

1. the first abdomen assisting mechanism, the second abdomen assisting mechanism, the first side assisting mechanism, the second side assisting mechanism and the edge assisting mechanism which are identical in structure are arranged to be matched with each other to use the fastening belt, so that the whole device can be arranged on the outer side of the wind power blade, the multipoint positioning of the device and the outer part of the wind power blade is realized, the follow-up driving of the whole device to automatically crawl at different gradients on the outer part of the wind power blade is facilitated, and the follow-up assistance of the follow-up repairing of the outer side of the wind power blade is facilitated;

2. when the wind power blade automatically climbs, the external profile of the wind power blade can be gradually reduced, at the moment, the first motor on the first abdomen assisting mechanism can be synchronously controlled to be started, one of the fastening rollers is driven to rotate, the two fastening rollers are matched to be connected by meshing of the two transmission gears, the other fastening roller is synchronously driven to reversely rotate, the two ends of the fastening belt are synchronously wound again to continuously tighten the fastening belt, the first abdomen assisting mechanism, the second abdomen assisting mechanism, the first side assisting mechanism, the second side assisting mechanism and the travelling wheels on the edge assisting mechanism are always in contact with the outer wall of the wind power blade, and the high-gradient automatic climbing stability of the whole device is improved.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic diagram of the structure of the present utility model.

Fig. 2 is an enlarged view of the utility model at a in fig. 1.

Fig. 3 is a schematic structural connection diagram of a first abdominal auxiliary mechanism in the present utility model.

Fig. 4 is an enlarged view of the present utility model at B in fig. 3.

Fig. 5 is an enlarged view of fig. 3C in accordance with the present utility model.

Fig. 6 is a schematic plan view of the fastening roller and the positioning strip according to the present utility model.

In the figure: 1. a first abdominal auxiliary mechanism; 2. a second abdominal auxiliary mechanism; 3. a first side assist mechanism; 4. a second side assist mechanism; 5. a prismatic auxiliary mechanism; 6. a fastening strap; 11. a first side frame; 12. a second side frame; 13. a fastening roller; 14. a transmission gear; 141. a first motor; 15. an L-shaped frame; 151. a rotating frame; 16. a row wheel; 161. an anti-skid sleeve; 162. a limit ring groove; 17. an auxiliary shaft; 171. a driven worm wheel; 18. a second motor; 181. driving a worm; 131. a positioning groove; 132. a positioning strip; 133. a rotary tube; 134. positioning a screw; 135. an inner spiral tube.

Detailed Description

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Examples: as shown in fig. 1-6, the utility model provides a robot walking device suitable for high-gradient crawling, which comprises a first auxiliary mechanism 1 and a second auxiliary mechanism 2, wherein the first auxiliary mechanism 1 and the second auxiliary mechanism 2 are in an up-down symmetrical distribution structure, a first auxiliary mechanism 3 is arranged on two sides of the first auxiliary mechanism 1, a second auxiliary mechanism 4 is arranged on two sides of the second auxiliary mechanism 2, the first auxiliary mechanism 3 and the second auxiliary mechanism 4 are in an up-down symmetrical distribution structure, a prismatic auxiliary mechanism 5 is arranged between the adjacent first auxiliary mechanism 3 and second auxiliary mechanism 4, and a fastening belt 6 is arranged between the first auxiliary mechanism 1, the second auxiliary mechanism 2, the first auxiliary mechanism 3, the second auxiliary mechanism 4 and the prismatic auxiliary mechanism 5;

the first abdomen auxiliary mechanism 1 comprises a first side frame 11 and a second side frame 12, wherein the first side frame 11 and the second side frame 12 are in a symmetrical distribution structure, two fastening rollers 13 which are vertically and symmetrically distributed are rotationally clamped between the first side frame 11 and the second side frame 12, two transmission gears 14 which are mutually meshed and connected are arranged in the second side frame 12, the end parts of the two fastening rollers 13 are respectively and fixedly arranged coaxially with the corresponding transmission gears 14, a first motor 141 is fixedly arranged at the top of the side end of the first side frame 11, and the end parts of the corresponding fastening rollers 13 of the first motor 141 are fixedly arranged coaxially; by controlling and starting the first motor 141, one of the fastening rollers 13 is driven to rotate, and the other fastening roller 13 is synchronously driven to reversely rotate by matching with the engagement connection of the two transmission gears 14;

the middle parts of the opposite sides of the first side frame 11 and the second side frame 12 are fixedly provided with L-shaped frames 15, the bottom end fixing clamps of the L-shaped frames 15 are provided with rotating frames 151, the bottoms of the rotating frames 151 are rotatably clamped with row wheels 16, the bottoms of the side ends of one rotating frame 151 are provided with auxiliary shafts 17, the auxiliary shafts 17 and the rotating shaft ends of the corresponding row wheels 16 are coaxially and fixedly arranged, driven worm wheels 171 are fixedly sleeved on the outer sides of the auxiliary shafts 17, one side, close to the auxiliary shafts 17, of the rotating frame 151 is fixedly provided with a second motor 18, the driving end of the second motor 18 is fixedly provided with a driving worm 181 which is in meshed connection with the driven worm wheels 171, and when the driving worm wheel is used, the second motor 18 is controlled to be started to drive the driving worm 181 to drive the driven worm wheels 171 and the auxiliary shafts 17 to rotate, so that the corresponding row wheels 16 are driven to rotate; wherein the direction of rotation of the row wheels 16 and the direction of rotation of the tightening rollers 13 are vertically distributed.

The second abdomen-assisted mechanism 2, the first side-assisted mechanism 3, the second side-assisted mechanism 4 and the edge-assisted mechanism 5 have the same structure as the first abdomen-assisted mechanism 1, and the fastening belt 6 is wound between two fastening rollers 13 in the second abdomen-assisted mechanism 2, the first side-assisted mechanism 3, the second side-assisted mechanism 4 and the edge-assisted mechanism 5.

The outside of the fastening roller 13 in the first abdomen-building mechanism 1 is provided with a positioning groove 131, a positioning strip 132 is arranged in the positioning groove 131, the size of the positioning strip 132 is smaller than that of the positioning groove 131, two end parts of the fastening belt 6 are conveniently and subsequently fixed between the corresponding positioning strips 132 and the positioning groove 131, thereby fixing the fastening belt 6, two sides of the positioning strip 132 are fixedly clamped with a rotating tube 133, the middle part of the rotating tube 133 is rotatably clamped with a positioning screw 134, two sides of the inner wall of the positioning groove 131 are fixedly clamped with inner screw tubes 135 corresponding to the positioning screw 134, the bottom threads of the positioning screw 134 are arranged in the corresponding inner screw tubes 135, two end parts of the fastening belt 6 are detachably clamped between the corresponding two groups of positioning grooves 131 and the positioning strip 132 respectively, and when the abdomen-building mechanism is used, the two end parts of the fastening belt 6 are respectively arranged between the positioning grooves 131 and the positioning strip 132 on the corresponding two fastening rollers 13, then the two sides of the positioning screw 134 are rotated by a tool, the inner screw tube 135 is matched, and the positioning strip 132 is driven to move towards the inner wall of the positioning groove 131 until the end parts of the fastening belt 6 are clamped between the corresponding positioning grooves 132 and the two end parts of the fastening belt 6.

An anti-skid sleeve 161 is fixedly sleeved on the outer side of the travelling wheel 16, and the friction effect of the travelling wheel 16 and the outer wall of the wind turbine blade is improved by arranging the anti-skid sleeve 161; the limit ring groove 162 is formed in the middle of the outer side of the traveling wheel 16 in the edge assisting mechanism 5, and the limit ring groove 162 is formed in the middle of the outer side of the traveling wheel 16 in the edge assisting mechanism 5, so that the limit ring groove 162 can be sleeved on the edge of the outer side of the wind power blade when the wind power blade is specifically positioned and installed for use, and the stability between the edge assisting mechanism 5 and the wind power blade is improved.

Working principle: when the wind power blade is used, the second abdomen-assisted mechanism 2, the first side-assisted mechanism 3, the second side-assisted mechanism 4 and the edge-assisted mechanism 5 which are wound around the fastening belt 6 are arranged on the outer side of the wind power blade, so that the traveling wheel 16 on the second abdomen-assisted mechanism 2 is contacted with the outer wall of the rear abdomen of the wind power blade, the traveling wheel 16 on the first side-assisted mechanism 3 and the second side-assisted mechanism 4 is contacted with the outer wall of the side part of the wind power blade, and the traveling wheel 16 on the edge-assisted mechanism 5 is contacted with the outer wall of the edge part of the wind power blade;

then, the two ends of the fastening belt 6 are respectively wound on the outer sides of the two fastening rollers 13 on the first abdomen-assisting mechanism 1 in different opposite directions, the two ends of the fastening belt 6 are respectively arranged between the positioning grooves 131 and the positioning strips 132 on the two corresponding fastening rollers 13, then, the tool is used for rotating the positioning screws 134 on the two sides, the positioning strips 132 are driven to move towards the inner wall of the positioning grooves 131 in cooperation with the connection of the inner screw tube 135 until the ends of the fastening belt 6 are clamped and positioned between the corresponding positioning grooves 131 and the positioning strips 132, and the two ends of the fastening belt 6 are fixed;

then, a first motor 141 on the first auxiliary mechanism 1 is controlled and started to drive one of the fastening rollers 13 to rotate, and the other fastening roller 13 is synchronously driven to reversely rotate in cooperation with the meshing connection of the two transmission gears 14, so that the fastening belt 6 is synchronously wound and tightened at the two ends of the fastening belt 6 until the traveling wheels 16 on the first auxiliary mechanism 1 are in contact with the outer wall of the front belly of the wind turbine blade, and the whole device is arranged outside the wind turbine blade;

the device and the multipoint positioning outside the wind power blade are realized, and then, the first abdomen auxiliary mechanism 1, the second abdomen auxiliary mechanism 2, the first side auxiliary mechanism 3, the second side auxiliary mechanism 4 and the second motor 18 on the edge auxiliary mechanism 5 are synchronously started to drive the driving worm 181 to drive the driven worm wheel 171 and the auxiliary shaft 17 to rotate, so that the corresponding running wheel 16 is driven to rotate, the whole device is driven to automatically crawl at different gradients outside the wind power blade, and the follow-up auxiliary overhaul of the outer side of the wind power blade is facilitated;

along with the automatic crawling of the whole device outside the wind power blade, the external outline of the wind power blade can be gradually reduced, at the moment, the first motor 141 on the first auxiliary mechanism 1 can be synchronously controlled to be started, one of the fastening rollers 13 is driven to rotate, the two transmission gears 14 are matched for meshed connection, the other fastening roller 13 is synchronously driven to reversely rotate, the two end parts of the fastening belt 6 are synchronously wound again to continuously tighten the fastening belt 6, so that the travelling wheels 16 on the first auxiliary mechanism 1, the second auxiliary mechanism 2, the first auxiliary mechanism 3, the second auxiliary mechanism 4 and the auxiliary mechanism 5 are always contacted with the external wall of the wind power blade, and the stability of the whole device during high-gradient automatic crawling is improved;

during the use, can add the protective rope body of seting up in the device outside, prevent that the device from breaking away from wind-powered electricity generation blade's tip, promote the effect when whole device uses.

Although embodiments of the present utility model have been shown and described, it will be understood by those skilled in the art that various changes, modifications, substitutions and alterations can be made therein without departing from the principles and spirit of the utility model, the scope of which is defined in the appended claims and their equivalents.

Claims

1. The utility model provides a robot walking device suitable for high gradient is crawled, includes first abdomen auxiliary mechanism (1) and second abdomen auxiliary mechanism (2), its characterized in that: the novel abdomen support device is characterized in that the first abdomen support mechanism (1) and the second abdomen support mechanism (2) are in an up-down symmetrical distribution structure, a first side support mechanism (3) is arranged on two sides of the first abdomen support mechanism (1), a second side support mechanism (4) is arranged on two sides of the second abdomen support mechanism (2), the first side support mechanism (3) and the second side support mechanism (4) are in an up-down symmetrical distribution structure, a rib support mechanism (5) is arranged between the adjacent first side support mechanism (3) and second side support mechanism (4), and a fastening belt (6) is arranged between the first abdomen support mechanism (1), the second abdomen support mechanism (2), the first side support mechanism (3), the second side support mechanism (4) and the rib support mechanism (5);

the utility model provides a first abdomen auxiliary mechanism (1) includes first side frame (11) and second side frame (12), first side frame (11) and second side frame (12) are symmetrical distribution structure, rotate between first side frame (11) and second side frame (12) and block two fastening rollers (13) that are equipped with upper and lower symmetrical distribution, be equipped with two drive gears (14) of intermeshing connection in second side frame (12), two the tip of fastening roller (13) respectively with correspond drive gear (14) coaxial fixed mounting, equal fixed mounting in the middle part of the opposite sides of first side frame (11) and second side frame (12) has L type frame (15), the bottom fixed card of L type frame (15) is equipped with rotating frame (151), the bottom rotation card of rotating frame (151) is equipped with travelling wheel (16).

2. A robotic walking device suitable for high grade crawling as claimed in claim 1, wherein: an anti-skid sleeve (161) is fixedly sleeved on the outer side of the travelling wheel (16).

3. A robotic walking device suitable for high grade crawling as claimed in claim 1, wherein: the rotation direction of the row wheel (16) and the rotation direction of the fastening roller (13) are vertically distributed.

4. A robotic walking device suitable for high grade crawling as claimed in claim 1, wherein: the top of the side end of the first side frame (11) is fixedly provided with a first motor (141), and the end part of the first motor (141) corresponding to the fastening roller (13) is coaxially and fixedly arranged.

5. A robotic walking device suitable for high grade crawling as claimed in claim 1, wherein: one of them side end bottom of rotating frame (151) is equipped with auxiliary shaft (17), auxiliary shaft (17) and the coaxial fixed mounting of the rotation axle head of corresponding row wheel (16), the outside fixed cover of auxiliary shaft (17) is equipped with driven worm wheel (171), one side fixed mounting that rotates frame (151) and is close to auxiliary shaft (17) has second motor (18), the driving end fixed mounting of second motor (18) has driving worm (181) with driven worm wheel (171) meshing connection.

6. A robotic walking device suitable for high grade crawling as claimed in claim 1, wherein: the structure of the second abdomen assisting mechanism (2), the first side assisting mechanism (3), the second side assisting mechanism (4) and the edge assisting mechanism (5) is the same as that of the first abdomen assisting mechanism (1), and the fastening belt (6) is wound between two fastening rollers (13) in the second abdomen assisting mechanism (2), the first side assisting mechanism (3), the second side assisting mechanism (4) and the edge assisting mechanism (5).

7. A robotic walking device suitable for high grade crawling as claimed in claim 1, wherein: and a limit ring groove (162) is formed in the middle of the outer side of the traveling wheel (16) in the edge assisting mechanism (5).

8. A robotic walking device suitable for high grade crawling as claimed in claim 1, wherein: the outer sides of the fastening rollers (13) in the first abdomen auxiliary mechanism (1) are provided with positioning grooves (131), the positioning grooves (131) are internally provided with positioning strips (132), the size of each positioning strip (132) is smaller than that of each positioning groove (131), two sides of each positioning strip (132) are fixedly clamped with rotating pipes (133), the middle parts of the rotating pipes (133) are rotatably clamped with positioning screws (134), the inner wall both sides of constant head tank (131) are all fixed card and are equipped with interior screwed pipe (135) that correspond with positioning screw rod (134), the bottom screw thread of positioning screw rod (134) is installed in interior screwed pipe (135) that correspond, the both ends of fastening area (6) can dismantle the joint respectively between corresponding two sets of constant head tank (131), location strip (132).