CN219790347U - Crawler-type robot with climbing function - Google Patents
Crawler-type robot with climbing function Download PDFInfo
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- CN219790347U CN219790347U CN202320125548.3U CN202320125548U CN219790347U CN 219790347 U CN219790347 U CN 219790347U CN 202320125548 U CN202320125548 U CN 202320125548U CN 219790347 U CN219790347 U CN 219790347U
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- crawler
- mechanical arm
- stepping motor
- driving wheel
- robot
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- 230000009194 climbing Effects 0.000 title claims abstract description 25
- 230000007246 mechanism Effects 0.000 claims abstract description 33
- 239000000725 suspension Substances 0.000 claims abstract description 26
- 230000005540 biological transmission Effects 0.000 claims abstract description 9
- 239000012636 effector Substances 0.000 claims description 11
- 238000011065 in-situ storage Methods 0.000 claims description 11
- 238000003860 storage Methods 0.000 claims description 8
- 239000006247 magnetic powder Substances 0.000 claims description 6
- 238000005096 rolling process Methods 0.000 claims description 6
- 238000013016 damping Methods 0.000 claims description 5
- 229910000831 Steel Inorganic materials 0.000 claims description 3
- 239000010959 steel Substances 0.000 claims description 3
- 210000003781 tooth socket Anatomy 0.000 claims 2
- 230000008878 coupling Effects 0.000 claims 1
- 238000010168 coupling process Methods 0.000 claims 1
- 238000005859 coupling reaction Methods 0.000 claims 1
- 238000001179 sorption measurement Methods 0.000 abstract description 9
- 238000009434 installation Methods 0.000 abstract description 5
- 230000009471 action Effects 0.000 abstract description 3
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 description 6
- 238000010248 power generation Methods 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000008569 process Effects 0.000 description 3
- 238000005299 abrasion Methods 0.000 description 2
- 230000001174 ascending effect Effects 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000001681 protective effect Effects 0.000 description 2
- 238000004140 cleaning Methods 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
- 238000012797 qualification Methods 0.000 description 1
Abstract
The utility model belongs to the technical field of robots, and particularly relates to a crawler robot with a climbing function, which comprises a multi-station mechanical arm, a battery, a crawler travelling mechanism and a stepping motor; the battery is connected with the stepping motor, the stepping motor is connected with the crawler travelling mechanism through a transmission shaft, the crawler travelling mechanism is installed on the suspension girder, a stepping motor installation seat is arranged on the suspension girder, and the multi-station mechanical arm is fixed on the suspension girder through a mechanical arm installation seat. The robot has the advantages that the robot has better adaptability and obstacle passing capability on the curved surface under the action of the adsorption force of the electromagnet.
Description
Technical Field
The utility model belongs to the technical field of robots, and particularly relates to a crawler robot with a climbing function.
Background
The traditional operation such as cleaning, maintenance and maintenance of the wind power generation tower cylinder needs manual ascending operation, generally requires company personnel with professional ascending qualification, and has great potential safety hazard in the operation process. The crawler-type electromagnetic climbing operation platform has the advantage that manual operation is not replaced. The robot replaces manual operation, so that both hands of a human are liberated, and potential safety hazards existing in the operation process are minimized; the electronic mechanical arm controlled by the microcomputer improves the precision and accuracy of operation; the multi-station mechanical arm can adapt to different conditions and different requirements, and the multi-function of the operation platform is realized. The increase of wind power generation towers can cause the maintenance of the wind power generation towers to be a technical problem. The crawler-type electromagnetic climbing operation platform is certainly the best choice for maintaining and curing the wind power generation tower. The method has the advantages of safety, stability, high precision and multifunction, and plays a great role in future maintenance of the power system.
Disclosure of Invention
Based on the fact that maintenance staff climb up the tower to maintain the equipment such as the power generation tower and the like difficultly and have certain dangers in the prior art, the utility model provides a magnetic crawler type communication tower equipment maintenance climbing robot. The technical proposal is that,
a crawler robot with climbing function comprises a multi-station mechanical arm, a battery, a crawler travelling mechanism and a stepping motor; the battery is connected with the stepping motor, the stepping motor is connected with the crawler travelling mechanism through a transmission shaft, the crawler travelling mechanism is installed on the suspension girder, a stepping motor installation seat is arranged on the suspension girder, and the multi-station mechanical arm is fixed on the suspension girder through a mechanical arm installation seat.
Preferably, the multi-station mechanical arm comprises a multi-station end effector and a six-degree-of-freedom mechanical arm connected with the multi-station end effector, and a plurality of magnetic gauge stand interfaces are arranged on the multi-station end effector.
Preferably, four sets of crawler travelling mechanisms are arranged, two sets of crawler travelling mechanisms on the same side are connected with the accessory frame through corresponding suspension main beams, each crawler travelling mechanism comprises a crawler driven wheel, a crawler driving wheel and a crawler plate, and a coupler is arranged between a transmission shaft connected with a stepping motor and another transmission shaft connected with the crawler driving wheel; the crawler belt is characterized in that a tooth slot is formed in the crawler belt driving wheel, a crawler belt plate is sleeved between the crawler belt driving wheel and the crawler belt driven wheel, the crawler belt plate is meshed with the tooth slot, electromagnets are uniformly distributed on the crawler belt plate at intervals, an electric brush fixing frame is arranged on the accessory frame, and an electric brush is arranged on the electric brush fixing frame.
Preferably, the crawler driving wheel is connected with a steering knuckle, two ends of the steering knuckle are respectively connected with an upper fork arm and a lower fork arm, and the upper fork arm and the lower fork arm are respectively connected with a suspension girder; and a damping spring is arranged between the crawler driving wheel and the suspension girder.
Preferably, the suspension girder is last to be equipped with the in situ steering mechanism, the in situ steering mechanism includes lead screw nut, brushless motor and bottom sucking disc, lead screw nut is connected with the brushless motor, the brushless motor below is equipped with the lead screw spacing ring, through spacing support column fixed connection between the two, the lead screw nut cup joints brushless motor, lead screw spacing ring and antifriction bearing from top to bottom in proper order, antifriction bearing passes through the bearing frame and installs on the annex frame, the lead screw nut bottom is equipped with the bottom sucking disc, the equipartition magnetic powder bag around the bottom sucking disc.
Preferably, the middle of the accessory frame is a frame structure, two sides of the accessory frame are provided with guard plates, a concave groove is formed between the guard plates and the middle frame structure, a storage tank is arranged in the concave groove, and a nozzle is arranged at the bottom of the storage tank.
Advantageous effects
The crawler robot with the climbing function adopts a plurality of groups of crawler independent suspension modes, and has good adaptability and obstacle passing capacity to the curved surface under the action of the adsorption force of the electromagnet. Meanwhile, the robot is provided with a special in-situ steering mechanism, so that the damage to the climbing surface caused by friction moment generated during in-situ steering of the crawler belt is effectively prevented. The product is mainly used for climbing operation on metal surfaces such as a wind power generation tower or a large-scale metal storage tank, and has high practical value and market.
Drawings
Fig. 1 is a perspective view of the present utility model.
Fig. 2 is a bottom view of the present utility model.
Fig. 3 is a schematic view of a crawler travel mechanism.
Fig. 4 is a schematic view of a track shoe structure.
Fig. 5 is a schematic view of the track running gear and suspension girder installation.
Fig. 6 is a cross-sectional view of the in-situ steering mechanism.
Fig. 7 is a schematic view of the structure of the accessory holder.
FIG. 8 is a schematic diagram of a multi-station end effector configuration.
In the figure: 1. a multi-station mechanical arm; 2. a battery; 3. a storage tank; 4. an accessory rack; 5. an in-situ steering mechanism; 6. a crawler belt travelling mechanism; 7. a stepping motor; 8. an electromagnet; 9. a brush; 10. track shoes; 11. a track driven wheel; 12. a brush fixing frame; 13. a stepper motor mounting seat; 14. track drive wheels 15. Suspension girders; 16. a knuckle; 17. an upper yoke; 18. a damping spring; 19. a lower yoke; 20. limiting support columns; 21. a lead screw nut; 22. a brushless motor; 23. a bearing seat; 24. a rolling bearing; 25. a screw limiting ring; 26. a magnetic powder bag 27, a bottom sucker; 28 multi-station end effector; 29. a six degree of freedom mechanical arm; 30. a magnetic gauge stand interface; 31. and a mechanical arm mounting seat.
Detailed Description
The following detailed description is exemplary and is intended to provide further explanation of the utility model. Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this utility model belongs. It is noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of exemplary embodiments according to the present utility model.
A crawler robot with climbing function comprises a multi-station mechanical arm 1, a battery 2, a crawler travelling mechanism 6 and a stepping motor 7; the suspension girder 15 is provided with a stepping motor mounting seat 13, and the multi-station mechanical arm 1 is fixed on the suspension girder 15 through a mechanical arm mounting seat 31.
The multi-station mechanical arm 1 comprises a multi-station end effector 28 and a six-degree-of-freedom mechanical arm 29 connected with the multi-station end effector, wherein a plurality of magnetic gauge stand interfaces 30 are arranged on the multi-station end effector 28, and a sander, a polisher, a screwdriver and a steel brush can be switched on the magnetic gauge stand interfaces 30. The crawler travelling mechanism 6 is provided with four sets, two sets of crawler travelling mechanisms on the same side are connected with the accessory frame 4 through corresponding suspension main beams 15, each crawler travelling mechanism comprises a crawler driven wheel 11, a crawler driving wheel 14 and a crawler plate 10, the battery 2 is connected with the stepping motor 7, and a coupler is arranged between a transmission shaft connected with the stepping motor 7 and another transmission shaft connected with the crawler driving wheel 14; the crawler belt is characterized in that a tooth slot is formed in the crawler belt driving wheel 14, a crawler belt plate 10 is sleeved between the crawler belt driving wheel and the crawler belt driven wheel, the crawler belt plate 10 is meshed with the tooth slot, electromagnets 8 are uniformly distributed on the crawler belt plate 10 at intervals, an electric brush fixing frame 12 is arranged on the accessory frame 4, and an electric brush 9 is arranged on the electric brush fixing frame 12. The electromagnets on each track shoe are wrapped by a layer of rubber protective sleeve, so that the abrasion to the climbing surface is slowed down.
The crawler driving wheel 14 is connected with the steering knuckle 16, two ends of the steering knuckle 16 are respectively connected with the upper fork arm 17 and the lower fork arm 19, and the upper fork arm 17 and the lower fork arm 19 are respectively connected with the suspension main beam 15; a damping spring 18 is arranged between the track driving wheel 14 and the suspension main beam 15.
The suspension girder 11 is provided with a in-situ steering mechanism 6, the in-situ steering mechanism 6 comprises a screw nut 21, a brushless motor 22 and a bottom sucker 27, the screw nut 21 is connected with the brushless motor 22, a screw limiting ring 25 is arranged below the brushless motor 22 and is fixedly connected with the brushless motor through a limiting support column 20, the screw nut 21 is sequentially sleeved with the brushless motor 22, the screw limiting ring 25 and a rolling bearing 24 from top to bottom, the rolling bearing 24 is arranged on the accessory frame 4 through a bearing seat 23, the bottom sucker 27 is arranged at the bottom of the screw nut 21, and magnetic powder bags 26 are uniformly distributed around the bottom sucker 27.
The middle of the accessory frame 4 is provided with a frame structure 41, two sides of the accessory frame are provided with guard plates 42, a concave groove is arranged between the guard plates and the middle frame structure, a storage tank 3 is arranged in the concave groove, and a nozzle is arranged at the bottom of the storage tank 3.
Principle of operation
The crawler-type electromagnetic climbing operation platform is provided with 4 groups of independent hanging crawlers, each crawler plate is provided with an electromagnet, and power is supplied through an electric brush in the middle of the crawler. When the track shoe moves to the lower part, the track shoe contacts with the electric brush, and the electromagnet is electrified to generate adsorption force; when the track shoe is separated from the electric brush, the electromagnet loses the adsorption capacity and is separated from the wall surface. In the motion process of the robot, no relative displacement exists between the track shoe and the wall surface, and the adsorption is stable and reliable. Each group of caterpillar tracks are tightly attached to the climbing wall surface under the action of the adsorption force of the electromagnet and the damping spring, and are self-adaptive to the surface shape of the climbing wall surface.
The utility model designs two sets of steering systems: the first is that the crawler differential drive is used for steering, and is mainly used for large-radius steering. The electromagnets on each track shoe are wrapped by a layer of rubber protective sleeve, so that the abrasion to the climbing surface is slowed down. The second type is a pivot steering mechanism positioned at the central position of the climbing robot, which is mainly used for pivot steering and posture adjustment of the robot and can also play a role in assisting adsorption when the robot performs fixed position operation.
The in-situ steering mechanism mainly comprises a bottom sucker and a brushless motor, and is fixed on the chassis through a rolling bearing. When the mechanism works, the brushless motor drives the screw nut to rotate, so that the bottom sucker descends, contacts and adsorbs the wall surface, and the crawler electromagnet is powered off and loses adsorption force. In this way the frictional resistance between the track and the climbing surface during steering is greatly reduced, thus protecting the climbing surface.
The adsorption tool adopted by the bottom sucker is different from the electromagnet of the crawler belt, but is a row of magnetic powder bags distributed in concentric circles. The soft and deformable nature of the magnetic powder bag gives it a very good surface flexibility and even curved surfaces can be very tightly adhered and reliably adsorbed.
A multi-station mechanical arm with six degrees of freedom is arranged at the front end of the crawler-type electromagnetic climbing operation platform, tools are arranged on stations through magnetic gauge stand, and the operation tools can be replaced quickly through rotating the stations.
In a specific embodiment, the robotic arm comprises a nozzle, a sander, a polisher, a screwdriver, a steel brush. The accessory rack is fixed on the stepper motor mounting seat 13 through four fastening bolts and is used for carrying accessories such as batteries, paint and the like and placing the accessories.
The above description is only of the preferred embodiments of the present utility model and is not intended to limit the present utility model, but various modifications and variations can be made to the present utility model by those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present utility model should be included in the protection scope of the present utility model.
Claims (4)
1. The crawler-type robot with the climbing function is characterized by comprising a multi-station mechanical arm, a battery, a crawler-type travelling mechanism and a stepping motor; the battery is connected with the stepping motor, the stepping motor is connected with the crawler travelling mechanism through a transmission shaft, the crawler travelling mechanism is arranged on a suspension girder, a stepping motor mounting seat is arranged on the suspension girder, the multi-station mechanical arm is fixed on the suspension girder through a mechanical arm mounting seat, and the multi-station mechanical arm comprises a nozzle, a froster, a polisher, a screwdriver and a steel brush;
the crawler traveling mechanisms are provided with four sets, two sets of crawler traveling mechanisms on the same side are connected with the accessory frame through corresponding suspension main beams, each crawler traveling mechanism comprises a crawler driven wheel, a crawler driving wheel and a crawler plate, and a coupling is arranged between a transmission shaft connected with a stepping motor and another transmission shaft connected with the crawler driving wheel; the crawler belt is characterized in that a tooth socket is formed in the crawler belt driving wheel, a crawler belt plate is sleeved between the crawler belt driving wheel and the crawler belt driven wheel, the crawler belt plate is meshed with the tooth socket, electromagnets are uniformly distributed on the crawler belt plate at intervals, an electric brush fixing frame is arranged on the accessory frame, and an electric brush is arranged on the electric brush fixing frame;
the middle of the accessory frame is of a frame structure, guard plates are arranged on two sides of the accessory frame, a concave groove is formed between the guard plates and the middle of the frame structure, a storage tank is arranged in the concave groove, and a nozzle is arranged at the bottom of the storage tank.
2. The crawler robot with climbing function according to claim 1, wherein the multi-station mechanical arm comprises a multi-station end effector and a six-degree-of-freedom mechanical arm connected with the multi-station end effector, and a plurality of magnetic gauge stand interfaces are arranged on the multi-station end effector.
3. The crawler robot with climbing function according to claim 1, wherein the crawler driving wheel is connected with a knuckle, two ends of the knuckle are respectively connected with an upper fork arm and a lower fork arm, and the upper fork arm and the lower fork arm are respectively connected with a suspension girder; and a damping spring is arranged between the crawler driving wheel and the suspension girder.
4. The crawler robot with climbing function according to claim 1, wherein the suspension girder is provided with a in-situ steering mechanism, the in-situ steering mechanism comprises a screw nut, a brushless motor and a bottom sucker, the screw nut is connected with the brushless motor, a screw limiting ring is arranged below the brushless motor, the screw nut is fixedly connected with the brushless motor through a limiting support column, the screw nut is sequentially sleeved with the brushless motor, the screw limiting ring and a rolling bearing from top to bottom, the rolling bearing is installed on an accessory frame through a bearing seat, the bottom sucker is arranged at the bottom of the screw nut, and magnetic powder bags are uniformly distributed around the bottom sucker.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320125548.3U CN219790347U (en) | 2023-01-18 | 2023-01-18 | Crawler-type robot with climbing function |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202320125548.3U CN219790347U (en) | 2023-01-18 | 2023-01-18 | Crawler-type robot with climbing function |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN219790347U true CN219790347U (en) | 2023-10-03 |
Family
ID=88158007
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202320125548.3U Active CN219790347U (en) | 2023-01-18 | 2023-01-18 | Crawler-type robot with climbing function |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN219790347U (en) |
-
2023
- 2023-01-18 CN CN202320125548.3U patent/CN219790347U/en active Active
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