CN105966486A - Obstacle-crossing mechanism of rod piece climbing robot - Google Patents

Abstract

The invention discloses an obstacle-climbing mechanism for a pole-climbing robot, which comprises a fuselage, an encircling mechanism and a climbing mechanism. The fuselage is provided with two arc-shaped guide grooves arranged side by side. Two, the two embracing mechanisms are set opposite to each other and coaxially cooperate with a guide groove respectively, and the climbing mechanism is arranged on the embracing mechanism; the structure of the present invention is simple and compact, and the production cost is low; through two sets of embracing The mechanism is combined with the climbing mechanism. Under the joint action of multiple sets of flexible joints and springs, it can overcome obstacles at a height of ±200mm. Through the crawler climbing mechanism, the climbing robot can climb on the pole. It is fast, and at the same time, because the two sets of embracing mechanisms work separately, it can quickly climb over obstacles. It has strong adaptability and high speed. It can quickly cross obstacles and reduce the complicated control steps in the middle.

Description

An obstacle-climbing mechanism for a rod-climbing robot

technical field

The invention relates to the technical field of power transmission system climbing, and more specifically, relates to an obstacle-climbing mechanism for a rod climbing robot.

Background technique

At present, steel pipe parts connected by flanges play an increasingly important role in the power transmission system, which makes the climbing robot must have the function of overcoming obstacles when it is overhauled. Obstacle-crossing robots generally use stepping leg mechanisms, wheel-type mechanisms, and crawler-type mechanisms to complete obstacle-breaking movements, while climbing robots mainly use inchworm-type, clamping-type or flip-type mechanisms to complete obstacle-breaking movements. In the existing pole-climbing robots, the obstacle-climbing mechanism is still based on the inchworm-like gait mechanism, but this also greatly reduces the adaptability of the robot to the diameter of the pole. The clamp-type fixing mechanism can only adapt to a small range of diameter poles. The clamping is fixed. When the diameter of the rod changes greatly, the opening size of the robot's jaws is difficult to adapt to the change in diameter. It can only be done by replacing the fixture. At the same time, the vibration of the robot is unavoidable when climbing over obstacles, but the inchworm-type mechanism further reduces the stability of the fuselage due to the gait-like forward movement, so their versatility and applicability are relatively poor, and they can only be suitable for climbing rods of a certain size. Climb and jump over obstacles. The present invention proposes a crawler-type obstacle-surmounting mechanism, which can reduce the vibration of the fuselage during the obstacle-over-obstacle process, increase stability, and adapt to rods that vary within a wide range.

Contents of the invention

The purpose of the present invention is to provide an obstacle climbing mechanism for a rod climbing robot in view of the low adaptability and versatility of existing climbing robots, which can not only smoothly climb over large flanged obstacles, and can adapt to the climbing of rods of various sizes and the climbing of flanges of various sizes, which has high adaptability and is convenient and simple to use.

The technical solution of the present invention is achieved in the following way: a bar climbing robot obstacle-climbing mechanism includes a fuselage, an embracing mechanism and a climbing mechanism, the fuselage is provided with two arc-shaped guide grooves arranged side by side, The embracing mechanism is provided with two, and the two embracing mechanisms are arranged opposite to each other and coaxially cooperate with a guide groove respectively, and the climbing mechanism is arranged on the embracing mechanism;

The encircling mechanism includes a driving mechanism, an encircling executive mechanism and an encircling force application mechanism. The driving mechanism includes a box body, a stepping motor, a coupling, a rear bearing seat, a front bearing seat, a worm, an incomplete worm wheel, a worm wheel shaft, The main push rod, the push rod shaft and the circlip, the stepping motor is fixed at the rear end of the box, the stepping motor is connected to one end of the worm through a coupling, and the front and rear ends of the worm are respectively fixed to the front bearing through bearings On the seat and the rear bearing seat, the front bearing seat and the rear bearing seat are all fixed inside the box, and the shaft centers of the stepping motor, the coupling, the worm, the rear bearing seat and the front bearing seat are located at On the same straight line; the incomplete worm gear is hinged on the box body through the worm wheel shaft, the incomplete worm gear meshes with the worm, and the center plane perpendicular to the axial direction of the incomplete worm wheel is connected to the center plane of the box body Coincidentally, both sides of the incomplete worm wheel are constrained by a circlip, the incomplete worm wheel is also equipped with a push rod shaft, and the rear end of the main push rod is hinged on the incomplete worm wheel through the push rod shaft The embracing actuator includes a first joint, a second joint, a third joint, a fourth joint, a first joint shaft, a second joint shaft, a third joint shaft and a fourth joint shaft, the front end of the box and The front end of the first joint is hinged by the first joint shaft, the rear end of the first joint and the front end of the second joint are hinged by the second joint shaft, and the rear end of the second joint and the front end of the third joint are hinged by the third joint. The joint shaft is hinged, the rear end of the third joint and the front end of the fourth joint are hinged through the fourth joint shaft; The right side plate is composed of spacer columns, and the left side plate of the joint is fixedly connected with the right side plate of the joint through a plurality of evenly distributed spacer columns; the center positions of the left side plate of the joint and the right side of the joint are both provided with a unitary hole chute The embracing force applying mechanism includes a first front push rod shaft, a first rear push rod shaft, a second front push rod shaft, a second rear push rod shaft, a third front push rod shaft, a third rear push rod shaft, The first axis of force, the second axis of force, the third axis of force, the fourth axis of force, the first axis of force, the second axis of force, the third axis of force, the first front push rod, the second Front push rod, third front push rod, first rear push rod, second rear push rod, third rear push rod, first telescopic rod, second telescopic rod, third telescopic rod, first telescopic spring, second telescopic spring, the third telescopic spring; the rear end of the main push rod is hinged to the front end of the first joint through the first force bearing shaft, and the front end of the first front push rod is hinged to the box body through the first force application shaft, The rear end of the first front push rod shaft is hinged to the front end of the first telescopic rod through the first front push rod shaft, and the rear end of the first telescopic rod is connected to the front end of the first rear push rod through the first rear push rod The rear end of the first rear push rod is hinged at the front end of the second joint through the second force bearing shaft; the front end of the second front push rod is hinged at the rear end of the first joint through the second force application shaft , the rear end of the second front push rod is hinged to the front end of the second telescopic rod through the second front push rod shaft, and the rear end of the second telescopic rod is connected to the front end of the second rear push rod through the second rear push rod shaft hinged, the rear end of the second rear pushrod shaft The front end of the third joint is hinged through the third force bearing shaft; the front end of the third front push rod is hinged at the rear end of the second joint through the third force application shaft, and the rear end of the third front push rod is connected to the first joint The front ends of the three telescopic rods are hinged through the third front push rod shaft, the rear end of the third telescopic rod and the front end of the third rear push rod are hinged through the third rear push rod shaft, and the front end of the third rear push rod shaft Hinged to the front end of the fourth joint through the fourth force bearing shaft; the first telescopic spring is sleeved on the first telescopic rod, the second telescopic spring is sleeved on the second telescopic rod, the The third telescopic spring is sleeved on the third telescopic rod; the first front push rod shaft, the first rear push rod shaft, the second front push rod shaft, the second rear push rod shaft, the third front push rod shaft and the first Both ends of the three rear push rod shafts are fitted with sliders, and the first front push rod shaft and the first rear push rod shaft pass through the sliders at the left and right ends of the first joint and the joint left side plate and the joint right side plate of the first joint. The unitary hole chute opened on the top is matched, and the second front push rod shaft and the second rear push rod shaft are connected with the joint left side plate and the joint right side plate of the second joint through the sliders at the left and right ends of the second joint. The unitary hole chute is matched, and the third front push rod shaft and the third rear push rod shaft pass through the sliders at the left and right ends of the third joint and the unitary holes opened on the joint left side plate and the joint right side plate of the third joint. The chute is matched; the first joint shaft, the second joint shaft, the third joint shaft and the fourth joint shaft are all equipped with torsion springs;

A climbing mechanism is installed on the same side of the first joint, the second joint, the third joint and the fourth joint on the embracing mechanism, and the climbing mechanism includes a mounting plate, a support rod, a spring telescopic rod, a shock-absorbing Spring, front track shaft, rear track shaft, front track wheel, rear track wheel, track, track motor, synchronous belt runner, synchronous belt drive wheel and synchronous belt, the mounting plate is fixed on the left side of the corresponding joint by bolts On the plate and the right side of the joint, the support rod is vertically installed on the mounting plate, the spring telescopic rod is fixed on the support rod, and the front crawler shaft is installed on the end of the spring telescopic rod. The rear crawler shaft is installed on the end of the support rod, the front crawler wheel is set on the front crawler shaft, the rear track wheel is set on the rear track shaft, and the track is meshed with the front track wheel and the rear track wheel , a synchronous belt runner is also fixed on the rear crawler shaft, a crawler motor is fixed on the mounting plate, a synchronous belt drive wheel is installed on the motor head of the track motor, and the synchronous belt drive wheel and the synchronous The belt runners are connected by timing belts.

Further, both ends of the first front push rod shaft, the first rear push rod shaft, the second front push rod shaft, the second rear push rod shaft, the third front push rod shaft and the third rear push rod shaft are It is connected with the sliding block through thread, and the sliding block is located in the unitary hole chute of the first joint, the second joint and the third joint and can slide along the corresponding unitary hole chute.

Further, the first front push rod, the second front push rod, the third front push rod, the first rear push rod, the second rear push rod, the third rear push rod, the first telescopic rod, and the second telescopic rod and the third telescopic rod are all located on the center plane of the first joint, the second joint, the third joint and the box body.

Further, the mounting plate is arranged perpendicular to the joint left plate and the joint right plate.

Further, the mounting plate is integrally formed with the support rod.

Further, the guide groove is provided with guide racks uniformly distributed along the guide groove, and the casing of the drive mechanism is equipped with a guide gear that matches the guide rack.

The beneficial effects of the present invention are: the present invention is simple and compact in structure and low in production cost; through the combination of two groups of embracing mechanisms and climbing mechanisms, under the joint action of multiple groups of flexible joints and springs, it is possible to realize climbing on obstacles with a height of ±200mm. Obstacle surmounting, through the crawler-type climbing mechanism, the climbing robot can climb quickly on the pole. At the same time, because the two sets of embracing mechanisms work separately, it can quickly climb over obstacles. It has strong adaptability and high speed. Overcome obstacles and reduce the complicated control steps in the middle; this device is easy to use and can adapt to the encirclement of larger diameter reducing rods, and can also complete conical reducing rods, stepped reducing rods and cylindrical rods of different diameters. For the embracing action in the case of multiple variable diameters such as parts, a torsion spring is installed on the shaft of each joint in this device, which can offset the attenuation of the force during the transmission process of the device and reduce the load on the motor. Through the telescopic spring and the slider The cooperation makes the device have good flexibility, and can provide continuous support force on the basis of completing the embracing action.

Description of drawings

The present invention will be described in further detail below in conjunction with the embodiments in the accompanying drawings, but this does not constitute any limitation to the present invention.

Fig. 1 is a three-dimensional structural schematic diagram of an obstacle-climbing mechanism of a rod-climbing robot according to the present invention.

Fig. 2 is a front view of a bar climbing robot obstacle-climbing mechanism of the present invention.

Fig. 3 is a right view of an obstacle-climbing mechanism of a rod-climbing robot according to the present invention.

Fig. 4 is a schematic diagram of the connection of the unilateral embracing mechanism and the climbing mechanism of the present invention.

Fig. 5 is a schematic structural view of the embracing mechanism of the present invention.

Fig. 6 is a schematic perspective view of the drive mechanism in the embracing mechanism of the present invention.

Fig. 7 is a top view of the driving mechanism in the embracing mechanism of the present invention.

Fig. 8 is a partial view of the encircling actuator and encircling force application mechanism of the present invention.

Fig. 9 is a schematic perspective view of the climbing mechanism of the present invention.

Fig. 10 is a front view of the climbing mechanism of the present invention.

In the figure, 1-box, 2-stepping motor, 3-coupling, 4-rear bearing seat, 5-front bearing seat, 6-worm, 7-incomplete worm gear, 8-worm gear shaft, 9-main Push rod, 10-Push rod shaft, 11-First joint, 12-Second joint, 13-Third joint, 14-Fourth joint, 15-First joint shaft, 16-Second joint shaft, 17-No. Three-joint rotation shaft, 18-fourth joint rotation shaft, 19-joint left side plate, 20-joint right side plate, 21-spacer column, 22-unitary hole chute, 23-first front push rod shaft, 24-the first joint A rear push rod shaft, 25-the second front push rod shaft, 26-the second rear push rod shaft, 27-the third front push rod shaft, 28-the fourth rear push rod shaft, 29-the first stressed shaft, 30-the second force axis, 31-the third force axis, 32-the fourth force axis, 33-the first force axis, 34-the second force axis, 35-the third force axis, 36- The first front push rod, 37-the second front push rod, 38-the third front push rod, 39-the first rear push rod, 40-the second rear push rod, 41-the third rear push rod, 42-the first Telescopic rod, 43-second telescopic rod, 44-third telescopic rod, 45-first telescopic spring, 46-second telescopic spring, 47-third telescopic spring, 48-slider, 49-body, 50- Surrounding mechanism, 51-climbing mechanism, 52-guide groove, 53-guide rack, 54-guide gear, 55-installation plate, 56-support rod, 57-spring telescopic rod, 58-shock absorbing spring, 59-front Track rotating shaft, 60-rear track rotating shaft, 61-front track wheel, 62-rear track wheel, 63-track, 64-synchronous belt runner, 65-synchronous belt driving wheel, 66-synchronous belt, 67-track motor.

detailed description

Referring to Figures 1 to 10, a bar climbing robot obstacle-climbing mechanism includes a fuselage 49, an embracing mechanism 50 and a climbing mechanism 51. The fuselage 49 is provided with two arc-shaped guides arranged side by side. The embracing mechanism 50 is provided with two grooves 52 , and the two embracing mechanisms 50 are arranged opposite to each other and coaxially cooperate with a guide groove 52 respectively. The climbing mechanism 51 is arranged on the embracing mechanism 50 .

The encircling mechanism 50 includes a drive mechanism, an encircling executive mechanism and an encircling force application mechanism. The drive mechanism includes a box body 1, a stepping motor 2, a shaft coupling 3, a rear bearing seat 4, a front bearing seat 5, a worm 6, Incomplete worm gear 7, worm gear shaft 8, main push rod 9, push rod shaft 10 and circlip, the stepping motor 2 is fixed on the rear end of the box body 1, and the stepping motor 2 is connected to the worm through a coupling 3 6, the front and rear ends of the worm 6 are respectively fixed on the front bearing seat 5 and the rear bearing seat 4 through bearings, and the front bearing seat 5 and the rear bearing seat 4 are all fixed inside the box body 1, and the step The axes of the rotating shaft of the feeder motor 2, the coupling 3, the worm 6, the rear bearing housing 4 and the front bearing housing 5 are located on the same straight line; , the incomplete worm gear 7 meshes with the worm screw 6, the central plane of the incomplete worm gear 7 and its axis vertical coincides with the central plane of the box body 1, and both sides of the incomplete worm gear 7 are constrained by snap springs, A push rod rotating shaft 10 is also installed on the incomplete worm gear 7 , and the rear end of the main push rod 9 is hinged on the incomplete worm gear 7 through the push rod rotating shaft 10 .

The embracing actuator includes a first joint 11, a second joint 12, a third joint 13, a fourth joint 14, a first joint rotation shaft 15, a second joint rotation shaft 16, a third joint rotation shaft 17 and a fourth joint rotation shaft 18, The front end of the box 1 and the front end of the first joint 11 are hinged by the first joint shaft 15, the rear end of the first joint 11 and the front end of the second joint 12 are hinged by the second joint shaft 16, and the second The rear end of the joint 12 and the front end of the third joint 13 are hinged by the third joint shaft 17, and the rear end of the third joint 13 and the front end of the fourth joint 14 are hinged by the fourth joint shaft 18; the first joint 11 , the second joint 12, the third joint 13 and the fourth joint 14 are all composed of a joint left side plate 19, a joint right side plate 20 and spacer columns 21, and the joint left side plate 19 is connected to the joint through a plurality of spacer columns 21 evenly distributed. The right side plate 20 is fixedly connected; the center positions of the joint left side plate 19 and the joint right side plate 20 are provided with a unitary hole chute 22 .

The embracing force applying mechanism includes a first front push rod shaft 23, a first rear push rod shaft 24, a second front push rod shaft 25, a second rear push rod shaft 26, a third front push rod shaft 27, and a third rear push rod shaft. Push rod shaft 28, first force bearing shaft 29, second force bearing shaft 30, third force bearing shaft 31, fourth force bearing shaft 32, first force application shaft 33, second force application shaft 34, third force application shaft Power axis 35, the first front push rod 36, the second front push rod 37, the third front push rod 38, the first rear push rod 39, the second rear push rod 40, the third rear push rod 41, the first telescopic rod 42. The second telescopic rod 43, the third telescopic rod 44, the first telescopic spring 45, the second telescopic spring 46, and the third telescopic spring 47; the rear end of the main push rod 9 is hinged on the The front end of the first joint 11, the front end of the first front push rod 36 is hinged with the box body 1 through the first force application shaft 33, the rear end of the first front push rod shaft 23 is connected with the front end of the first telescopic rod 42 Hinged through the first front push rod shaft 23, the rear end of the first telescopic rod 42 is hinged with the front end of the first rear push rod 39 through the first rear push rod shaft 24, and the rear end of the first rear push rod 39 The front end of the second joint 12 is hinged by the second force bearing shaft 30; the front end of the second front push rod 37 is hinged at the rear end of the first joint 11 by the second force application shaft 34, and the second front push rod 37 and the front end of the second telescopic rod 43 are hinged through the second front push rod shaft 25, and the rear end of the second telescopic rod 43 is hinged with the front end of the second rear push rod 40 through the second rear push rod shaft 26 , the rear end of the second rear push rod shaft 26 is hinged at the front end of the third joint 13 through the third force bearing shaft 31; the front end of the third front push rod 38 is hinged at the second joint through the third force applying shaft 35 The rear end of the joint 12, the rear end of the third front push rod 38 is hinged with the front end of the third telescopic rod 44 through the third front push rod shaft 27, the rear end of the third telescopic rod 44 is connected with the third rear push rod The front end of the rod 41 is hinged through the third rear push rod shaft 28 , and the front end of the third rear push rod shaft 28 is hinged at the front end of the fourth joint 14 through the fourth force receiving shaft 32 .

The first telescopic spring 45 is sleeved on the first telescopic rod 42 , the second telescopic spring 46 is sleeved on the second telescopic rod 43 , and the third telescopic spring 47 is sleeved on the third telescopic rod 44 Above; when a group of embracing mechanisms 50 need to be loosened, only the corresponding stepper motor 2 needs to be turned off, the first telescopic rod 42 returns to the initial position under the action of the first telescopic spring 45, and the second telescopic rod 43 is moved by the second telescopic spring 46 returns to the initial position, and the third telescopic rod 44 returns to the initial position under the action of the third telescopic spring 47, thereby realizing the first joint 11, the second joint 12, the third joint 13 and the fourth joint 14 reset.

The first front push rod shaft 23, the first rear push rod shaft 24, the second front push rod shaft 25, the second rear push rod shaft 26, the third front push rod shaft 27 and the third rear push rod shaft 28 Both ends are equipped with sliders 48, the first front push rod shaft 23 and the first rear push rod shaft 24 are connected to the joint left side plate 19 and the joint right side plate of the first joint 11 through the sliders 48 at the left and right ends of the first joint 11. The unitary hole chute 22 that offers on 20 matches, and the second front push rod shaft 25 and the second rear push rod shaft 26 are connected with the joint left side plate 19 and the joint left side plate 19 of the second joint 12 through the sliders 48 at the left and right ends of the second joint. The unitary hole chute 22 offered on the right side plate 20 of the joint cooperates, and the third front push rod shaft 27 and the third rear push rod shaft 28 are connected to the joint left side of the third joint 13 through the sliders 48 at the left and right ends of the joint. The unitary hole chute 22 offered on the side plate 19 and the joint right side plate 20 matches; the first joint rotating shaft 15, the second joint rotating shaft 16, the third joint rotating shaft 17 and the fourth joint rotating shaft 18 are equipped with torsion spring. The torsion spring can counteract the force attenuation of the device during transmission, thereby reducing the load on the motor.

A climbing mechanism 51 is installed on the same side of the first joint 11, the second joint 12, the third joint 13 and the fourth joint 14 on the embracing mechanism 50, and the climbing mechanism 51 includes a mounting plate 55, a support Rod 56, spring telescopic rod 57, damping spring 58, front crawler rotating shaft 59, rear crawler rotating shaft 60, front crawler wheel 61, rear track wheel 62, crawler belt 63, crawler motor 67, synchronous belt runner 64, synchronous belt drive wheel 65 and synchronous belt 66, the mounting plate 55 is fixed on the joint left side plate and the joint right side plate of the corresponding joint by bolts, the support rod 56 is vertically installed on the mounting plate 55, and the spring telescopic rod 57 is fixed on On the support rod 56, the front crawler shaft 59 is installed on the end of the spring telescopic rod 57, the rear crawler shaft 60 is installed on the end of the support rod 56, and the front track wheel 61 is sleeved on the On the front crawler rotating shaft 59, the rear crawler wheel 62 is sleeved on the rear crawler rotating shaft 60, and the crawler belt 63 meshes with the front crawler wheel 61 and the rear track wheel 62, and the rear crawler rotating shaft 60 is also fixed with a synchronous belt rotating shaft. wheel 64, a track motor 67 is fixed on the mounting plate 55, a synchronous belt drive wheel 65 is installed on the motor head of the track motor 67, and the synchronous belt drive wheel 65 and the synchronous belt runner 64 pass through the synchronous belt 66 connections.

The first front push rod shaft 23, the first rear push rod shaft 24, the second front push rod shaft 25, the second rear push rod shaft 26, the third front push rod shaft 27, the third rear push rod shaft 28 Both ends are screwed to the slider 48, the slider 48 is located in the unitary hole chute 22 of the first joint 11, the second joint 12 and the third joint 13 and can slide along the corresponding unitary hole chute 22 .

The first front push rod 36, the second front push rod 37, the third front push rod 38, the first rear push rod 39, the second rear push rod 40, the third rear push rod 41, the first telescopic rod 42, Both the second telescopic rod 43 and the third telescopic rod 44 are located on the central planes of the first joint 11 , the second joint 12 , the third joint 13 and the box body 1 .

The installation plate 55 is arranged perpendicular to the joint left side plate 19 and the joint right side plate 20 , and the installation plate 55 and the support rod 56 are integrally formed.

The guide groove 52 is provided with a guide rack 53 uniformly distributed along the guide groove 52 , and a guide gear 54 matched with the guide rack 53 is mounted on the casing 1 of the driving mechanism. The casing 1 of the drive mechanism can slide freely in the guide groove 52 through the cooperation of the guide gear 54 and the guide rack 53, thereby increasing the total length of the inner arc of the embracing mechanism, and then expanding or reducing the area that the embracing mechanism 50 can cover. The diameter of the rod.

When the embracing mechanism 50 of a single group is working, the specific working process is as follows: the stepper motor 2 rotates, and the rotation of the worm 6 is driven by the coupling 3; since the worm 6 is meshed with the incomplete worm wheel 7, the worm 6 will drive when it rotates. The incomplete worm gear 7 swings around the worm gear shaft 8 within a certain range, and the swing amplitude is determined by the number of teeth of the incomplete worm gear 7; when the incomplete worm gear 7 swings, it drives the push rod shaft 10 to swing together, because the box body 1 and the first joint 11 are hinged together through the first joint shaft 15, when the push rod shaft 10 swings, it drives the main push rod 9 to swing back and forth around the push rod shaft 10, thereby realizing the contraction of the first joint 11; at the same time, the first joint 11 During the whole movement, because the front end of the first front push rod 36 is hinged with the casing 1 through the first force application shaft 33, the first force application shaft 33 is fixed, and the first front push rod 36 moves along with the first force application shaft. The movement of the joint 11 moves, thereby driving the slider 48 on the first joint 11 to move along its unitary hole chute 22, and the slider 48 on the first joint 11 drives the first telescopic rod 42 to move when it moves, thereby driving and The movement of the first rear push rod 39 hinged by the rear end of the first telescopic rod 42, because the first joint 11 and the second joint 12 are hinged together by the second joint rotating shaft 16, so the first rear push rod 39 will drive when it moves. The contraction of the second joint 12, and so on, the third joint 13 and the fourth joint 14 will also contract together, so as to realize the tightening of the rod.

When it is necessary to cross obstacles such as flanges, one group of embracing mechanisms 50 close to the ground will hold the rods tightly, and the other group of embracing mechanisms 50 will be loosened and moved above obstacles such as flanges, and then the group of embracing mechanisms 50 will 50 hugs the rods above the obstacles such as flanges, and the climbing mechanism 51 on the group of embracing mechanisms 50 starts to move, so that the device can quickly climb over obstacles. Since the device has two sets of embracing mechanisms 50, its load capacity will be greatly enhanced.

The above examples are preferred implementations of the present invention, which are only used to illustrate the present invention for convenience, and are not intended to limit the present invention in any form. Anyone with ordinary knowledge in the technical field, if they do not depart from the present invention, Within the scope of the technical features, the equivalent embodiments that utilize the technical content disclosed in the present invention to make partial changes or modifications without departing from the technical features of the present invention still fall within the scope of the technical features of the present invention.

Claims (6)

1. A bar climbing robot obstacle-climbing mechanism, is characterized in that: comprise fuselage (49), encircling mechanism (50) and climbing mechanism (51), described fuselage (49) is provided with two side by side The arc-shaped guide groove (52) that is set, the described embracing mechanism (50) is provided with two, and two embracing mechanisms (50) are arranged opposite to each other and cooperate with a guide groove (52) coaxially respectively, so The climbing mechanism (51) is arranged on the embracing mechanism (50); The embracing mechanism (50) includes a driving mechanism, an embracing executive mechanism and an embracing force applying mechanism, and the driving mechanism includes a box body (1), a stepping motor (2), a shaft coupling (3), a rear bearing seat (4 ), front bearing housing (5), worm (6), incomplete worm gear (7), worm gear shaft (8), main push rod (9), push rod shaft (10) and snap ring, the stepper motor ( 2) Fixed at the rear end of the box body (1), the stepping motor (2) is connected to one end of the worm (6) through a coupling (3), and the front and rear ends of the worm (6) are respectively fixed on the front end through bearings. On the bearing seat (5) and the rear bearing seat (4), the front bearing seat (5) and the rear bearing seat (4) are all fixed inside the box body (1), and the stepper motor (2) The axle centers of the rotating shaft, the shaft coupling (3), the worm (6), the rear bearing housing (4) and the front bearing housing (5) are located on the same straight line; the incomplete worm gear (7) passes through the worm gear shaft (8) Hinged on the box (1), the incomplete worm gear (7) meshes with the worm (6), and the center plane of the incomplete worm wheel (7) perpendicular to its axial direction is aligned with the center plane of the box (1) The center planes coincide, and both sides of the incomplete worm gear (7) are constrained by a snap spring. The incomplete worm gear (7) is also equipped with a push rod shaft (10), and the rear end of the main push rod (9) The push rod shaft (10) is hinged on the incomplete worm gear (7); the encircling actuator includes a first joint (11), a second joint (12), a third joint (13), a fourth joint joint (14), first joint shaft (15), second joint shaft (16), third joint shaft (17) and fourth joint shaft (18), the front end of the box (1) and the first joint The front end of (11) is hinged by the first joint shaft (15), the rear end of the first joint (11) and the front end of the second joint (12) are hinged by the second joint shaft (16), and the second joint The rear end of (12) and the front end of the third joint (13) are hinged by the third joint shaft (17), and the rear end of the third joint (13) and the front end of the fourth joint (14) are hinged by the fourth joint shaft (18) hinged; the first joint (11), the second joint (12), the third joint (13) and the fourth joint (14) are all composed of joint left plate (19), joint right plate (20) ) and spacer columns (21), the left side plate of the joint (19) is fixedly connected with the right side plate (20) of the joint through a plurality of evenly distributed spacer columns (21); the left side plate of the joint (19) and the right side of the joint The central position of the side plate (20) is provided with a unitary hole chute (22); the encircling force applying mechanism includes a first front push rod shaft (23), a first rear push rod shaft (24), a second front push rod shaft Push rod shaft (25), the second rear push rod shaft (26), the third front push rod shaft (27), the third rear push rod shaft (28), the first stressed shaft (29), the second stressed Axis (30), the 3rd force bearing shaft (31), the 4th force bearing shaft (32), the first force application shaft (33), the second force application shaft (34), the 3rd force application shaft (35), first front putter (36), the second front push rod (37), the third front push rod (38), the first rear push rod (39), the second rear push rod (40), the third rear push rod (41), the first One telescopic rod (42), the second telescopic rod (43), the 3rd telescopic rod (44), the first telescopic spring (45), the second telescopic spring (46), the 3rd telescopic spring (47); The rear end of the push rod (9) is hinged at the front end of the first joint (11) through the first force bearing shaft (29), and the front end of the first front push rod (36) is connected with the first force applying shaft (33) The casing (1) is hinged, the rear end of the first front push rod shaft (23) is hinged with the front end of the first telescopic rod (42) through the first front push rod shaft (23), and the first telescopic rod ( 42) and the front end of the first rear push rod (39) are hinged through the first rear push rod shaft (24), and the rear end of the first rear push rod (39) passes through the second force bearing shaft (30) Hinged at the front end of the second joint (12); the front end of the second front push rod (37) is hinged at the rear end of the first joint (11) through the second force application shaft (34), and the second front push The rear end of the rod (37) is hinged with the front end of the second telescopic rod (43) through the second front push rod shaft (25), and the rear end of the second telescopic rod (43) is connected with the second rear push rod (40) The front end of the second rear push rod shaft (26) is hinged, and the rear end of the second rear push rod shaft (26) is hinged at the front end of the third joint (13) through the third force bearing shaft (31); The front end of the 3rd front push rod (38) is hinged at the rear end of the second joint (12) by the 3rd application shaft (35), and the rear end of the 3rd front push rod (38) is connected with the 3rd telescopic link ( The front end of 44) is hinged through the third front push rod shaft (27), and the rear end of the third telescopic rod (44) is hinged with the front end of the third rear push rod (41) through the third rear push rod shaft (28) , the front end of the third rear push rod shaft (28) is hinged to the front end of the fourth joint (14) through the fourth force bearing shaft (32); the first telescopic spring (45) is sleeved on the first On a telescopic rod (42), the second telescopic spring (46) is sleeved on the second telescopic rod (43), and the third telescopic spring (47) is sleeved on the third telescopic rod (44); The first front push rod shaft (23), the first rear push rod shaft (24), the second front push rod shaft (25), the second rear push rod shaft (26), the third front push rod shaft (27 ) and the two ends of the third rear push rod shaft (28) are all sleeved with slide blocks (48), and the first front push rod shaft (23) and the first rear push rod shaft (24) pass through the slide blocks ( 48) Cooperate with the unitary hole chute (22) provided on the joint left side plate (19) and the joint right side plate (20) of the first joint (11), the second front push rod shaft (25) and the second rear push rod shaft (26) through the slide block (48) at its left and right ends and the joint left side plate (19) of the second joint (12) and the unitary shape offered on the joint right side plate (20) hole chute (22), the third front push rod shaft (27) and the third rear push rod shaft (28) pass through its left The sliders (48) at the right two ends are matched with the unitary hole chute (22) offered on the joint left side plate (19) and the joint right side plate (20) of the third joint (13); Torsion springs are installed on the first joint rotating shaft (15), the second joint rotating shaft (16), the third joint rotating shaft (17) and the fourth joint rotating shaft (18); A climbing mechanism (51) is installed on the same side of the first joint (11), the second joint (12), the third joint (13) and the fourth joint (14) of the embracing mechanism (50), The climbing mechanism (51) includes a mounting plate (55), a support rod (56), a spring telescopic rod (57), a damping spring (58), a front crawler shaft (59), a rear crawler shaft (60), a front Track wheel (61), rear track wheel (62), track (63), track motor (67), synchronous belt runner (64), synchronous belt drive wheel (65) and synchronous belt (66), the mounting plate (55) are fixed on the joint left side plate and the joint right side plate of the corresponding joint by bolts, the support rod (56) is vertically installed on the described mounting plate (55), and the spring telescopic rod (57) is fixed on the On the support rod (56), the front crawler rotating shaft (59) is installed on the end of the spring telescopic rod (57), and the rear crawler rotating shaft (60) is installed on the end of the supporting rod (56), Front crawler wheel (61) is sleeved on the described front crawler rotating shaft (59), rear track wheel (62) is sleeved on the described rear crawler rotating shaft (60), and described crawler belt (63) and front crawler wheel (61) and The rear crawler wheels (62) are meshed with each other, and a synchronous belt runner (64) is also fixed on the rear crawler shaft (60), and a crawler motor (67) is fixed on the mounting plate (55), and the crawler motor ( 67) a synchronous belt drive wheel (65) is installed on the motor head, and the synchronous belt drive wheel (65) is connected with the synchronous belt runner (64) through a synchronous belt (66). 2. The obstacle climbing mechanism of a rod climbing robot according to claim 1, characterized in that: the first front push rod shaft (23), the first rear push rod shaft (24), the second front push rod shaft The two ends of rod shaft (25), the second rear push rod shaft (26), the 3rd front push rod shaft (27), the 3rd rear push rod shaft (28) are all connected by thread with slide block (48), slide The block (48) is located in the unitary hole chute (22) of the first joint (11), the second joint (12) and the third joint (13) and can slide along the corresponding unitary hole chute (22) . 3. The obstacle climbing mechanism of a rod climbing robot according to claim 1, characterized in that: the first front push rod (36), the second front push rod (37), the third front push rod ( 38), the first rear push rod (39), the second rear push rod (40), the third rear push rod (41), the first telescopic rod (42), the second telescopic rod (43) and the third telescopic rod (44) are all located on the center planes of the first joint (11), the second joint (12), the third joint (13) and the box body (1). 4. The obstacle climbing mechanism of a rod climbing robot according to claim 1, characterized in that: the mounting plate (55) is perpendicular to the joint left side plate (19) and the joint right side plate (20) set up. 5. The obstacle-climbing mechanism for a rod-climbing robot according to claim 1, characterized in that: the mounting plate (55) and the support rod (56) are integrally formed. 6. The obstacle climbing mechanism of a rod climbing robot according to claim 1, characterized in that: said guide groove (52) is provided with guide racks (53) uniformly distributed along the guide groove (52), A guide gear (54) matched with the guide rack (53) is installed on the casing (1) of the drive mechanism.