CN112278103B - Robot climbing structure with detection function - Google Patents
Robot climbing structure with detection function Download PDFInfo
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- CN112278103B CN112278103B CN202011086530.4A CN202011086530A CN112278103B CN 112278103 B CN112278103 B CN 112278103B CN 202011086530 A CN202011086530 A CN 202011086530A CN 112278103 B CN112278103 B CN 112278103B
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- 230000009194 climbing Effects 0.000 title claims abstract description 48
- 238000001514 detection method Methods 0.000 title claims abstract description 40
- 230000007246 mechanism Effects 0.000 claims abstract description 29
- 230000008859 change Effects 0.000 abstract description 3
- 238000012423 maintenance Methods 0.000 abstract description 3
- 230000001737 promoting effect Effects 0.000 abstract 1
- 230000006870 function Effects 0.000 description 6
- 238000003780 insertion Methods 0.000 description 6
- 230000037431 insertion Effects 0.000 description 6
- 238000000034 method Methods 0.000 description 4
- 230000008878 coupling Effects 0.000 description 3
- 238000010168 coupling process Methods 0.000 description 3
- 238000005859 coupling reaction Methods 0.000 description 3
- 230000009471 action Effects 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000008569 process Effects 0.000 description 2
- 238000000926 separation method Methods 0.000 description 2
- 210000003781 tooth socket Anatomy 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 230000008447 perception Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
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Abstract
The invention discloses a robot climbing structure with a detection function, which comprises a fixed base, a fixed plate, a climbing mechanism and a detection mechanism, wherein the climbing mechanism is fixedly arranged on the side wall of the fixed base and comprises a fixed guide rail shell, a motor fixing frame, a driving servo motor, a driving threaded rod, a sliding block, a moving foot, a fixed foot, a telescopic cylinder and an electric sucker. This device is rational in infrastructure, high durability and convenient use, this device can be used for the robot to scramble, this device has detection mechanism simultaneously, can survey the position of climbing through detection mechanism, avoid the foreign matter to obstruct, the detecting head on the detection mechanism of this device can be comparatively convenient dismouting of carrying on, dismouting easy operation is convenient, the time of effectual reduction maintenance change, be fit for promoting, this device has the mount pad structure, it is fixed to carry out the dismouting to the robot of installing on this device through the mount pad structure, easy operation is convenient, the change of the robot of being convenient for.
Description
Technical Field
The invention relates to a robot climbing structure, in particular to a robot climbing structure with a detection function.
Background
The robot is an automatic machine, except that the machine has intelligent capabilities similar to human or biology, such as perception capability, planning capability, action capability and coordination capability, and is an automatic machine with high flexibility. In combination with the application characteristics in these fields, people develop various special robots and various intelligent robots with sensing, decision-making, action and interaction capabilities.
At present, a plurality of robots for high-altitude operation need to climb and move on an inclined slope, and the traditional climbing structure easily stops working when encountering obstacles, so that the operation of the robots is influenced. Therefore, a robot climbing structure with a detection function is proposed to solve the above problems.
Disclosure of Invention
A robot climbing structure with a detection function comprises a fixed base, a fixed plate, a climbing mechanism and a detection mechanism;
the climbing mechanism is fixedly installed at the side wall of the fixed base and comprises a fixed guide rail shell, a motor fixing frame, a driving servo motor, a driving threaded rod, a sliding block, a moving foot, a fixing foot, a telescopic cylinder and an electric sucker, the fixed guide rail shell is fixedly connected at the side wall of the fixed base, the motor fixing frame is fixedly connected at the side wall of one side of the fixed guide rail shell, the driving servo motor is fixedly installed on the motor fixing frame, one end of the driving threaded rod is fixedly connected at the tail end of an output shaft of the driving servo motor, the other end of the driving threaded rod extends into the inner cavity of the fixed guide rail shell and is rotatably connected with the side wall of the inner cavity of the fixed guide rail shell, the sliding block is connected in the inner cavity of the fixed guide rail shell, the moving foot is fixedly connected at the side wall of the sliding block, and the fixed foot is fixedly connected at the side wall of the fixed guide rail shell, one end of a telescopic cylinder is fixedly arranged on the side wall of each of the movable foot and the fixed foot, and an electric sucker is fixedly arranged at the other end of the telescopic cylinder;
the fixed guide rail shell comprises a fixed guide rail shell, and is characterized in that a fixed plate is fixedly connected to the side wall of the fixed guide rail shell, a detection mechanism is fixedly mounted on the upper surface of the fixed plate and comprises a fixed rod, a first connecting block, a second connecting block, a fixed spring, a second slider, a slider connecting rod, a limiting side plate, a limiting insertion block and a detection head, the fixed rod is fixedly connected to the upper surface of the fixed plate, the first connecting block is rotatably connected to the arc-shaped wall of the fixed rod, a T-shaped groove is formed in one end of the first connecting block, one end of the second connecting block is slidably connected with the T-shaped groove of the first connecting block, an inner cavity is formed in the first connecting block, the second slider is slidably connected to the inner cavity of the first connecting block, one end of the second slider is fixedly connected with one end of the fixed spring, and the other end of the fixed spring is fixedly connected to the inner cavity side wall of the first connecting block, the other end department fixedly connected with slider connecting rod's of second slider one end, the other end of slider connecting rod runs through the inner chamber lateral wall of first connecting block and extends to outside the wall, the spacing curb plate of the other end department fixedly connected with of slider connecting rod, the spacing inserted block of lateral wall department fixedly connected with of spacing curb plate, the one end department fixed mounting of second connecting block has the detecting head.
Furthermore, the climbing mechanisms are two groups in total and are respectively installed on the side walls of the two sides of the fixed base.
Further, the driving threaded rod penetrates through the sliding block and is in threaded connection with the sliding block.
Further, unable adjustment base's upper surface department fixed mounting has a base structure, base structure includes rectangle spacing groove, rectangle mount pad, connecting plate, coupling spring, spacing connecting plate and spacing bolt, unable adjustment base's upper surface department fixedly connected with rectangle spacing groove, the inboard sliding connection who locates the rectangle spacing groove has the rectangle mount pad, the equal fixedly connected with connecting plate of upper surface both sides department of unable adjustment base, the lateral wall department fixedly connected with coupling spring's of connecting plate one end, the spacing connecting plate of the other end fixedly connected with department of coupling spring, the spacing bolt of the lateral wall department fixedly connected with of spacing connecting plate.
Furthermore, the limiting bolts are provided with a plurality of limiting bolts which are all fixed on the side walls of the limiting connecting plates.
Furthermore, the side walls of the two sides of the rectangular mounting seat are provided with grooves, and one end of the limiting bolt penetrates through the rectangular limiting groove and extends into the groove of the side wall of the rectangular mounting seat.
Furthermore, limiting grooves are formed in the side walls of the two sides of the second connecting block, and the two limiting insertion blocks extend into the limiting grooves of the second connecting block.
Furthermore, a plurality of tooth sockets which are arranged at equal intervals are formed in the arc-shaped wall at one side of the first connecting block.
Furthermore, a rotary servo motor is fixedly mounted on the fixing plate, and a gear is fixedly connected at the tail end of an output shaft of the rotary servo motor.
Further, the gear and the tooth groove are meshed with each other.
The invention has the beneficial effects that: the invention provides a robot climbing structure with a detection function, which is convenient to maintain and replace.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without inventive exercise.
FIG. 1 is a schematic perspective view of an embodiment of the present invention
FIG. 2 is a schematic diagram of the internal structure of an embodiment of the present invention;
FIG. 3 is an enlarged view of a portion of the structure of FIG. 2 according to an embodiment of the present invention;
fig. 4 is a schematic view of a connection structure of a telescopic cylinder according to an embodiment of the present invention.
In the figure: 1. fixed baseplate, 2, a fixed plate, 3, a fixed guide rail shell, 4, a motor fixing frame, 5, a driving servo motor, 6, a driving threaded rod, 7, a sliding block, 8, a moving foot, 9, a fixed foot, 10, a telescopic cylinder, 11, an electric sucker, 12, a rectangular limiting groove, 13, a rectangular mounting seat, 14, a connecting plate, 15, a connecting spring, 16, a limiting connecting plate, 17, a limiting bolt, 18, a fixed rod, 19, a first connecting block, 20, a second connecting block, 21, a fixed spring, 22, a second sliding block, 23, a sliding block connecting rod, 24, a limiting side plate, 25, a limiting insertion block, 26, a detection head, 27, a tooth groove, 28, a rotating servo motor, 29 and a gear.
Detailed Description
In order to make the technical solutions of the present invention better understood, 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.
It should be noted that the terms "first," "second," and the like in the description and claims of the present invention and in the drawings described above are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged under appropriate circumstances in order to facilitate the description of the embodiments of the invention herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
In the present invention, the terms "upper", "lower", "left", "right", "front", "rear", "top", "bottom", "inner", "outer", "center", "vertical", "horizontal", "lateral", "longitudinal", and the like indicate an orientation or positional relationship based on the orientation or positional relationship shown in the drawings. These terms are used primarily to better describe the invention and its embodiments and are not intended to limit the indicated devices, elements or components to a particular orientation or to be constructed and operated in a particular orientation.
Moreover, some of the above terms may be used to indicate other meanings besides the orientation or positional relationship, for example, the term "on" may also be used to indicate some kind of attachment or connection relationship in some cases. The specific meanings of these terms in the present invention can be understood by those skilled in the art as appropriate.
Furthermore, the terms "mounted," "disposed," "provided," "connected," and "sleeved" are to be construed broadly. For example, it may be a fixed connection, a removable connection, or a unitary construction; can be a mechanical connection, or an electrical connection; may be directly connected, or indirectly connected through intervening media, or may be in internal communication between two devices, elements or components. The specific meanings of the above terms in the present invention can be understood by those of ordinary skill in the art according to specific situations.
It should be noted that the embodiments and features of the embodiments may be combined with each other without conflict. The present invention will be described in detail below with reference to the embodiments with reference to the attached drawings.
Referring to fig. 1-4, a robot climbing structure with detection function includes a fixed base 1, a fixed plate 2, a climbing mechanism and a detection mechanism;
the climbing mechanism is fixedly installed at the side wall of the fixed base 1 and comprises a fixed guide rail shell 3, a motor fixing frame 4, a driving servo motor 5, a driving threaded rod 6, a sliding block 7, a moving foot 8, a fixed foot 9, a telescopic cylinder 10 and an electric sucker 11, the side wall of the fixed base 1 is fixedly connected with the fixed guide rail shell 3, the side wall of one side of the fixed guide rail shell 3 is fixedly connected with the motor fixing frame 4, the driving servo motor 5 is fixedly installed on the motor fixing frame 4, one end of the driving threaded rod 6 is fixedly connected at the tail end of an output shaft of the driving servo motor 5, the other end of the driving threaded rod 6 extends into the inner cavity of the fixed guide rail shell 3 and is rotatably connected with the side wall of the inner cavity of the fixed guide rail shell 3, the sliding block 7 is connected in the inner cavity of the fixed guide rail shell 3, and the moving foot 8 is fixedly connected at the side wall of the sliding block 7, the side wall of the fixed guide rail shell 3 is fixedly connected with a fixed foot 9, the side walls of the movable foot 8 and the fixed foot 9 are both fixedly provided with one end of a telescopic cylinder 10, and the other end of the telescopic cylinder 10 is fixedly provided with an electric sucker 11;
the fixed guide rail shell 3 is characterized in that a fixed plate 2 is fixedly connected to the side wall of the fixed guide rail shell 3, a detection mechanism is fixedly mounted on the upper surface of the fixed plate 2 and comprises a fixed rod 18, a first connecting block 19, a second connecting block 20, a fixed spring 21, a second slider 22, a slider connecting rod 23, a limiting side plate 24, a limiting insertion block 25 and a detection head 26, the fixed rod 18 is fixedly connected to the upper surface of the fixed plate 2, the first connecting block 19 is rotatably connected to the arc-shaped wall of the fixed rod 18, a T-shaped groove is formed in one end of the first connecting block 19, one end of the second connecting block 20 is slidably connected to the T-shaped groove of the first connecting block 19, an inner cavity is formed in the first connecting block 19, the second slider 22 is slidably connected to the inner cavity of the first connecting block 19, and one end of the fixed spring 21 is fixedly connected to one end of the second slider 22, the other end fixed connection of fixed spring 21 is in the inner chamber lateral wall department of first connecting block 19, the other end department fixedly connected with slider connecting rod 23's of second slider 22 one end, the other end of slider connecting rod 23 runs through the inner chamber lateral wall of first connecting block 19 and extends to outside the wall, the other end department fixedly connected with of slider connecting rod 23 is spacing curb plate 24, the spacing inserted block 25 of lateral wall department fixedly connected with of spacing curb plate 24, the one end department fixed mounting of second connecting block 20 has detecting head 26.
The climbing mechanisms are divided into two groups, and the two groups of climbing mechanisms are respectively arranged on the side walls of two sides of the fixed base 1; the driving threaded rod 6 penetrates through the sliding block 7 and is in threaded connection with the sliding block 7; a base structure is fixedly arranged on the upper surface of the fixed base 1 and comprises a rectangular limiting groove 12, a rectangular mounting seat 13, a connecting plate 14, a connecting spring 15, a limiting connecting plate 16 and a limiting bolt 17, the rectangular limiting groove 12 is fixedly connected to the upper surface of the fixed base 1, the rectangular mounting seat 13 is slidably connected to the inner side of the rectangular limiting groove 12, the connecting plate 14 is fixedly connected to both sides of the upper surface of the fixed base 1, one end of the connecting spring 15 is fixedly connected to the side wall of the connecting plate 14, the limiting connecting plate 16 is fixedly connected to the other end of the connecting spring 15, and the limiting bolt 17 is fixedly connected to the side wall of the limiting connecting plate 16; the number of the limiting bolts 17 is multiple, and the limiting bolts 17 are all fixed on the side wall of the limiting connecting plate 16; grooves are formed in the side walls of the two sides of the rectangular mounting seat 13, and one end of the limiting bolt 17 penetrates through the rectangular limiting groove 12 and extends into the groove in the side wall of the rectangular mounting seat 13; the side walls of the two sides of the second connecting block 20 are both provided with a limiting groove, and the two limiting inserting blocks 25 both extend into the limiting grooves of the second connecting block 20; a plurality of tooth sockets 27 which are arranged at equal intervals are arranged on the arc-shaped wall at one side of the first connecting block 19; a rotary servo motor 28 is fixedly installed on the fixed plate 2, and a gear 29 is fixedly connected at the tail end of an output shaft of the rotary servo motor 28; the gear 29 and the tooth grooves 27 are mutually meshed.
When the climbing robot is used, firstly, a robot needing to be used and work is installed and fixed on the surface of a rectangular installation seat 13, the climbing robot can climb on a steep slope through a climbing mechanism, when climbing is carried out, the climbing robot is firstly adsorbed and fixed through two electric suction cups 11 on the upper side of the climbing robot, then a driving threaded rod 6 is driven to rotate through the work of a driving servo motor 5, a sliding block 7 is further driven to move, a moving foot 8 is moved to the upper side of the climbing robot, then the electric suction cups 11 are driven to be adsorbed on the slope through the extension of a telescopic cylinder 10, the climbing robot is fixed, then the electric suction cups 11 connected with a fixing foot 9 are loosened, the moving foot 8 is driven to move backwards through the reverse rotation of the driving servo motor 5, then a fixed guide rail shell 3 moves forwards relative to the slope, the climbing robot is further driven to move forwards, and the climbing robot is alternately used through the electric suction cups 11 on the upper side and the lower side, when the device is used for climbing operation, the front part is detected by the detecting head 26, foreign matter blockage can be avoided, the gear 29 is driven to rotate by rotating the work of the servo motor 28, the first connecting block 19 is driven to rotate, and the detection angle of the detecting head 26 is adjusted, so that the detection range of the device is wider, when the detecting head 26 needs to be disassembled, the two limiting side plates 24 are moved by moving the two limiting side plates 24 to drive the limiting insertion blocks 25 to move, so that the two limiting insertion blocks 25 are separated from the second connecting block 20, then the second connecting block 20 is moved, so that the second connecting block 20 is separated from the first connecting block 19, the detecting head 26 can be conveniently detached from the device, the maintenance and replacement time is effectively reduced, the device is suitable for popularization, when a robot on the device needs to be replaced, through the spacing connecting plate 16 that removes both sides for spacing connecting plate 16 drives spacing bolt 17 and removes, makes spacing bolt 17 and the separation of rectangle mount pad 13, then removes rectangle mount pad 13, makes rectangle mount pad 13 and the separation of rectangle spacing groove 12, can lift the robot off from this device, and easy operation is convenient, the change of the robot of being convenient for.
The invention has the advantages that:
1. the device is reasonable in structure and convenient to use, can be used for climbing a robot, and is provided with a detection mechanism, so that the climbing position can be detected through the detection mechanism, and the obstruction of foreign matters is avoided;
2. the detection head on the detection mechanism of the device can be conveniently disassembled and assembled, the disassembling and assembling operation is simple and convenient, the time for maintenance and replacement is effectively reduced, and the device is suitable for popularization;
3. the device is provided with the mounting seat structure, the robot mounted on the device can be fixedly disassembled and assembled through the mounting seat structure, the operation is simple and convenient, and the robot can be conveniently replaced.
The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (10)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011086530.4A CN112278103B (en) | 2020-10-12 | 2020-10-12 | Robot climbing structure with detection function |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202011086530.4A CN112278103B (en) | 2020-10-12 | 2020-10-12 | Robot climbing structure with detection function |
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| CN112278103A CN112278103A (en) | 2021-01-29 |
| CN112278103B true CN112278103B (en) | 2021-11-09 |
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| CN119335143B (en) * | 2024-12-19 | 2025-03-11 | 华能(广东)能源开发有限公司汕头电厂 | Heat exchanger tube plate detection robot and working method thereof |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2647840A1 (en) * | 1989-06-02 | 1990-12-07 | Bouygues Sa | VENTOUS DEVICE FOR CARRYING AND MOVING A MEANS OF INTERVENTION ON A SURFACE, IN PARTICULAR ON A BUILDING FACADE |
| DE29822221U1 (en) * | 1998-12-14 | 1999-08-12 | Kommoß, Ulrich Richard, 23909 Ratzeburg | Walking mechanism for vertical surfaces |
| DE19907437A1 (en) * | 1999-02-22 | 2000-08-24 | Ridha Azaiz | Mobile robot, especially for moving across smooth surfaces, has mechanical connection between rotating drive part and reciprocating drive part, e.g. belt and wheel for transfer of rotation |
| CN106080824A (en) * | 2016-06-30 | 2016-11-09 | 山东聚天工工业自动化有限公司 | Pan Bi robot and robot movement control method and robot obstacle-overpass control method |
| CN110510025B (en) * | 2019-07-23 | 2021-09-17 | 长安大学 | Wall climbing detection robot for recessive diseases of highway tunnel |
| CN111374586B (en) * | 2020-04-13 | 2021-06-18 | 义乌市航英科技有限公司 | Movable device for cleaning glass on outer side of high building |
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Effective date of registration: 20250109 Address after: 903-148, 9th Floor, Building 17, No. 30 Shixing Street, Shijingshan District, Beijing, 100000 Patentee after: Beijing Jinnuo Tiancheng Technology Co.,Ltd. Country or region after: China Address before: B8301-b8311, 3rd floor, No.818 Huayuan Road, Xiangcheng District, Suzhou City, Jiangsu Province Patentee before: Suzhou Qingzhong Venture Service Co.,Ltd. Country or region before: China |
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