阅读说明：本技术 一种计算机控制爬行机器人 (Computer-controlled crawling robot ) 是由 张宪红 郭俊凤 徐志超 运海红 李雅 于 2019-11-04 设计创作，主要内容包括：本发明涉及机器人领域,特别是涉及一种计算机控制爬行机器人,包括主架、爬行轮、支撑轮、行走电机和电源,还包括转动曲臂、夹紧曲臂、伸缩辅轮架、伸缩锁定装置、曲臂角度调整机构、张紧机构和调节电机,所述的主架包括爬行轮座、主板、曲臂座、安装板、挂钩架Ⅰ、电机安装板和限位架,所述的爬行轮包括行走轮、皮带轮和转轴,所述的转动曲臂包括曲臂Ⅰ、支撑轴、调节连动座、挂钩板Ⅰ、拉簧和连接座,所述的夹紧曲臂包括曲臂Ⅱ、夹紧转轴、挂钩板Ⅱ、滑槽和锁槽,所述的伸缩辅轮架包括辅助轮、伸缩臂、夹板和T形滑槽,所述的伸缩锁定装置包括锁定板、按压板、滑柱和压簧,本发明可以适应不同外径管道的范围大,实用性强。(The invention relates to the field of robots, in particular to a computer-controlled crawling robot which comprises a main frame, crawling wheels, supporting wheels, a walking motor, a power supply, a rotating crank arm, a clamping crank arm, a telescopic auxiliary wheel carrier, a telescopic locking device, a crank arm angle adjusting mechanism, a tensioning mechanism and an adjusting motor, wherein the main frame comprises a crawling wheel seat, a main board, a crank arm seat, a mounting board, a hook frame I, a motor mounting board and a limiting frame, the crawling wheels comprise walking wheels, belt pulleys and rotating shafts, the rotating crank arm comprises a crank arm I, a supporting shaft, an adjusting linkage seat, a hook board I, a tension spring and a connecting seat, the clamping crank arm comprises a crank arm II, a clamping rotating shaft, a hook board II, a sliding groove and a locking groove, the telescopic auxiliary wheel carrier comprises an auxiliary wheel, a telescopic arm, a clamping plate and a T-shaped sliding groove, and the telescopic locking device comprises a locking plate, The invention has the advantages of wide range of adapting to pipelines with different outer diameters and strong practicability.)

1. The utility model provides a computer control robot of crawling, includes body frame (1), crawl wheel (2), supporting wheel (8), walking motor (11) and power (12), crawl wheel (2) be equipped with two, two crawl wheel (2) rotate respectively and connect both ends around body frame (1), supporting wheel (8) rotate and connect the rear end in body frame (1), walking motor (11) fixed connection at the front end of body frame (1), two crawl wheel (2), supporting wheel (8) and walking motor (11) are connected through belt transmission, power (12) fixed connection is on body frame (1), power (12) are connected its characterized in that through the wire with walking motor (11): the computer-controlled crawling robot further comprises four rotating crank arms (3), two clamping crank arms (4), four telescopic auxiliary wheel frames (5), four telescopic locking devices (6), four crank arm angle adjusting mechanisms (7), four tensioning mechanisms (9) and an adjusting motor (10), wherein the four rotating crank arms (3) are all rotatably connected to the main frame (1), the two rotating crank arms (3) positioned at the front part and the two rotating crank arms (3) positioned at the rear part are all symmetrically arranged, the four rotating crank arms (3) are all rotatably connected with the clamping crank arms (4), the four clamping crank arms (4) are all slidably connected with the telescopic auxiliary wheel frames (5), the four telescopic auxiliary wheel frames (5) are all slidably connected with the telescopic locking devices (6), the four telescopic locking devices (6) are respectively slidably connected with the four clamping crank arms (4), the two crank arm angle adjusting mechanisms (7) are arranged, one of them crank arm angle adjustment mechanism (7) with be located anterior two and rotate crank arm (3) and pass through threaded connection, another crank arm angle adjustment mechanism (7) with be located the rear portion two and rotate crank arm (3) and pass through threaded connection, straining device (9) rotate and connect on body frame (1), adjusting motor (10) fixed connection is on body frame (1), two crank arm angle adjustment mechanism (7), straining device (9) and adjusting motor (10) are connected through belt transmission, adjusting motor (10) are connected through the wire with power (12).

2. The computer-controlled crawling robot of claim 1, wherein: the main frame (1) comprises crawling wheel seats (1-1), main boards (1-2), crank arm seats (1-3), mounting plates (1-4), hook frames I (1-5), motor mounting plates (1-6) and limiting frames (1-7), the crawling wheel seats (1-1) are fixedly connected to the front end and the rear end of the main boards (1-2), four crank arm seats (1-3) are arranged, the four crank arm seats (1-3) are fixedly connected to the main boards (1-2), the mounting plates (1-4), the hook frames I (1-5) and the motor mounting plates (1-6) are fixedly connected to the upper end faces of the main boards (1-2), two limiting frames (1-7) are arranged, the two limiting frames (1-7) are fixedly connected to the upper end faces of the main boards (1-2), the two crawling wheels (2) are respectively and rotatably connected to the lower ends of the two crawling wheel seats (1-1), the supporting wheel (8) is rotatably connected to the upper end of the crawling wheel seat (1-1) located at the rear end, the walking motor (11) is fixedly connected to the upper end of the crawling wheel seat (1-1) located at the front end, and the power supply (12) is fixedly connected to the main board (1-2).

3. The computer-controlled crawling robot of claim 2, wherein: the climbing wheel (2) comprises walking wheels (2-1), belt pulleys (2-2) and rotating shafts (2-3), walking wheels (2-1) are fixedly connected to the two ends of the belt pulleys (2-2), the belt pulleys (2-2) are rotatably connected to the rotating shafts (2-3), the two rotating shafts (2-3) are rotatably connected to the lower ends of the two climbing wheel seats (1-1) respectively, a transmission belt wheel is arranged on an output shaft of the walking motor (11), and the two belt pulleys (2-2), the supporting wheel (8) and the transmission belt wheel on the output shaft of the walking motor (11) are connected through belt transmission.

4. The computer-controlled crawling robot of claim 3, wherein: the rotary crank arm (3) comprises a crank arm I (3-1), a supporting shaft (3-2), an adjusting linkage seat (3-3), a hook plate I (3-4), a tension spring (3-5) and a connecting seat (3-6), the upper end of the crank arm I (3-1) is fixedly connected with a supporting shaft (3-2), the lower end of the crank arm I (3-1) is fixedly connected with a connecting seat (3-6), an adjusting linkage seat (3-3) is fixedly connected to the excircle of the crank arm I (3-1), a hook plate I (3-4) is fixedly connected to the inner circle of the crank arm I (3-1), the upper end of a tension spring (3-5) is fixedly connected with the hook plate I (3-4), four rotating crank arms (3) are arranged, and the four supporting shafts (3-2) are respectively rotatably connected into the four crank arm seats (1-3).

5. The computer-controlled crawling robot of claim 4, wherein: the clamping crank arm (4) comprises a crank arm II (4-1) and a clamping rotating shaft (4-2), the hook comprises a hook plate II (4-3), sliding grooves (4-4) and locking grooves (4-5), wherein the upper end of a crank arm II (4-1) is fixedly connected with a clamping rotating shaft (4-2), the lower end of the crank arm II (4-1) is provided with the sliding grooves (4-4) along the crank arm direction, the outer end of each sliding groove (4-4) is provided with a plurality of locking grooves (4-5), the hook plate II (4-3) is fixedly connected to the inner circle of the crank arm II (4-1), four clamping rotating shafts (4-2) are respectively and rotatably connected to four connecting seats (3-6), and the four hook plates II (4-3) are fixedly connected with the lower ends of four tension springs (3-5).

6. The computer-controlled crawling robot of claim 5, wherein: the telescopic auxiliary wheel frame (5) comprises auxiliary wheels (5-1), telescopic arms (5-2), clamping plates (5-3) and T-shaped sliding grooves (5-4), the auxiliary wheels (5-1) are rotatably connected to the lower ends of the telescopic arms (5-2), the clamping plates (5-3) are fixedly connected to the upper ends of the telescopic arms (5-2), the T-shaped sliding grooves (5-4) are formed in the upper ends of the telescopic arms (5-2) and correspond to the clamping plates (5-3), four telescopic auxiliary wheel frames (5) are arranged, and the four telescopic arms (5-2) are respectively connected in the four sliding grooves (4-4) in a sliding mode.

7. The computer-controlled crawling robot of claim 6, wherein: the telescopic locking device (6) comprises a locking plate (6-1) and a pressing plate (6-2), the sliding column locking device comprises sliding columns (6-3) and pressure springs (6-4), locking plates (6-1) are fixedly connected to one ends of pressing plates (6-2), the sliding columns (6-3) are fixedly connected to the pressing plates (6-2), the pressure springs (6-4) are sleeved on the sliding columns (6-3), four telescopic locking devices (6) are arranged, the four locking plates (6-1) are respectively connected into four T-shaped sliding grooves (5-4) in a sliding mode, the four sliding columns (6-3) are respectively connected onto four clamping plates (5-3) in a sliding mode, the four pressure springs (6-4) are located between the pressing plates (6-2) and the clamping plates (5-3), and the four T-shaped sliding grooves (5-4) are respectively connected with one locking groove (4-5) in a sliding mode.

8. The computer-controlled crawling robot of claim 7, wherein: the crank arm angle adjusting mechanism (7) comprises adjusting wheels (7-1), threaded rods (7-2) and adjusting moving blocks (7-3), the threaded rods (7-2) are fixedly connected to the two ends of the adjusting wheels (7-1), the two threaded rods (7-2) are coaxial, the thread turning directions are opposite, the two adjusting moving blocks (7-3) are arranged, the two adjusting moving blocks (7-3) are connected to the two threaded rods (7-2) through threads respectively, the crank arm angle adjusting mechanism (7) is arranged in two, the two adjusting wheels (7-1) are connected to the two limiting frames (1-7) in a sliding mode respectively, and the four adjusting moving blocks (7-3) are connected with the four adjusting linkage seats (3-3) in a rotating mode respectively.

9. The computer-controlled crawling robot of claim 8, wherein: the tensioning mechanism (9) comprises a tensioning plate (9-1), a tensioning rotating shaft (9-2), a tensioning tension spring (9-3), a hook frame II (9-4) and a tensioning wheel (9-5), the lower end of the tensioning plate (9-1) is fixedly connected with the tensioning rotating shaft (9-2), the tensioning rotating shaft (9-2) is rotatably connected to the mounting plate (1-4), the upper end of the tensioning plate (9-1) is rotatably connected with the tensioning wheel (9-5), the hook frame II (9-4) is fixedly connected to the tensioning plate (9-1), the upper end of the tensioning tension spring (9-3) is fixedly connected with the hook frame II (9-4), the lower end of the tensioning tension spring (9-3) is fixedly connected with the hook frame I (1-5), and the adjusting motor (10) is fixedly connected to the motor mounting plate (1-6), the output shaft of the adjusting motor (10) is provided with a belt wheel, and the two adjusting wheels (7-1), the tensioning plate (9-1) and the belt wheel on the output shaft of the adjusting motor (10) are connected through belt transmission.

10. The computer-controlled crawling robot of claim 9, wherein: the outer surfaces of the travelling wheels (2-1) and the auxiliary wheels (5-1) are both provided with anti-skid rubber.

Technical Field

The invention relates to the field of robots, in particular to a computer-controlled crawling robot.

Background

The robot is more extensive in the application in many trades and fields, not only can carry out the work mode of replacing the people under the abominable environment such as poisonous, dust, moreover in some artifical inconvenient places from top to bottom, especially in the detection to the pipeline, the robot has also played very big effect, and current pipeline outer wall robot of crawling carries out the testing process to the pipeline, and the scope that adapts to different external diameter pipelines is little, and the practicality is poor.

Disclosure of Invention

The invention aims to provide a computer-controlled crawling robot which can adapt to pipelines with different outer diameters in a wide range and is high in practicability.

The purpose of the invention is realized by the following technical scheme:

a computer-controlled crawling robot comprises a main frame, crawling wheels, supporting wheels, a walking motor and a power supply, wherein the crawling wheels are two, the two crawling wheels are respectively connected to the front end and the rear end of the main frame in a rotating mode, the supporting wheels are connected to the rear end of the main frame in a rotating mode, the walking motor is fixedly connected to the front end of the main frame, the two crawling wheels, the supporting wheels and the walking motor are connected through a belt in a transmission mode, the power supply is fixedly connected to the main frame, the power supply is connected with the walking motor through a conducting wire, the computer-controlled crawling robot further comprises four rotating crank arms, four clamping crank arms, a telescopic auxiliary wheel frame, a telescopic locking device, a crank arm angle adjusting mechanism, a tensioning mechanism and an adjusting motor, the four rotating crank arms are all rotatably connected to the main frame, the two rotating crank arms at the front portion and the two rotating crank arms at the rear portion are all symmetrically arranged, the four rotating crank arms are all rotatably connected with clamping crank arms, the four clamping crank arms are all slidably connected with telescopic auxiliary wheel frames, the four telescopic auxiliary wheel frames are all slidably connected with telescopic locking devices, the four telescopic locking devices are respectively slidably connected with the four clamping crank arms, two crank arm angle adjusting mechanisms are arranged, one crank arm angle adjusting mechanism is in threaded connection with the two rotating crank arms positioned at the front part, the other crank arm angle adjusting mechanism is in threaded connection with the two rotating crank arms positioned at the rear part, the tensioning mechanism is rotatably connected on the main frame, the adjusting motor is fixedly connected on the main frame, the two crank arm angle adjusting mechanisms, the tensioning mechanism and the adjusting motor are in transmission connection through belts, and the adjusting motor is connected with a power supply through a lead;

the main frame comprises crawling wheel seats, a main board, four curved arm seats, a mounting board, a hook frame I, a motor mounting board and two limiting frames, the crawling wheel seats are welded at the front end and the rear end of the main board, the four curved arm seats are welded on the main board, the mounting board, the hook frame I and the motor mounting board are fixedly connected to the upper end face of the main board, the two limiting frames are welded to the upper end face of the main board, the two crawling wheels are respectively and rotatably connected to the lower ends of the two crawling wheel seats, supporting wheels are rotatably connected to the upper end of the crawling wheel seat at the rear end through bearings, a walking motor is fixedly connected to the upper end of the crawling wheel seat at the front end through bolts, and a power supply is fixedly connected to the main board through bolts;

the crawling wheel comprises walking wheels, belt pulleys and rotating shafts, the walking wheels are fixedly connected to two ends of each belt pulley, the belt pulleys are rotatably connected to the rotating shafts, the two rotating shafts are rotatably connected to the lower ends of the two crawling wheel seats through bearings respectively, a transmission belt pulley is arranged on an output shaft of the walking motor, and the two belt pulleys, the supporting wheel and the transmission belt pulley on the output shaft of the walking motor are in transmission connection through belts;

the rotary crank arm comprises a crank arm I, a support shaft, an adjusting linkage seat, a hook plate I, a tension spring and a connecting seat, wherein the support shaft is fixedly connected to the upper end of the crank arm I;

the clamping crank arm comprises a crank arm II, clamping rotating shafts, hook plates II, sliding grooves and locking grooves, the upper end of the crank arm II is fixedly connected with the clamping rotating shafts, the sliding grooves are formed in the lower end of the crank arm II along the direction of the crank arm, a plurality of locking grooves are formed in the outer ends of the sliding grooves, the hook plates II are fixedly connected to the inner circle of the crank arm II, four clamping crank arms are arranged, the four clamping rotating shafts are respectively and rotatably connected to four connecting seats, and the four hook plates II are fixedly connected with the lower ends of four tension springs;

the telescopic auxiliary wheel frame comprises auxiliary wheels, telescopic arms, clamping plates and T-shaped sliding grooves, the auxiliary wheels are rotatably connected to the lower ends of the telescopic arms, the clamping plates are fixedly connected to the upper ends of the telescopic arms, the T-shaped sliding grooves are formed in the upper ends of the telescopic arms and correspond to the clamping plates, the four telescopic auxiliary wheel frames are provided, and the four telescopic arms are respectively connected into the four sliding grooves in a sliding mode;

the telescopic locking device comprises four locking plates, four compression springs, four sliding columns and four clamping plates, wherein the locking plates are fixedly connected to one ends of the pressing plates, the sliding columns are fixedly connected to the pressing plates, the compression springs are sleeved on the sliding columns, the four locking plates are respectively connected into the four T-shaped sliding grooves in a sliding mode, the four sliding columns are respectively connected onto the four clamping plates in a sliding mode, the four compression springs are located between the pressing plates and the clamping plates, and the four T-shaped sliding grooves are respectively connected with one locking groove in a sliding mode;

the crank arm angle adjusting mechanism comprises adjusting wheels, threaded rods and adjusting moving blocks, the threaded rods are fixedly connected to two ends of each adjusting wheel, the two threaded rods are coaxial, the thread turning directions are opposite, the two adjusting moving blocks are arranged and are respectively connected to the two threaded rods through threads, the crank arm angle adjusting mechanism is provided with two adjusting wheels which are respectively connected in the two limiting frames in a sliding mode, and the four adjusting moving blocks are respectively connected with the four adjusting linkage seats in a rotating mode;

the tensioning mechanism comprises a tensioning plate, a tensioning rotating shaft, a tensioning tension spring, a hook frame II and a tensioning wheel, wherein the lower end of the tensioning plate is fixedly connected with the tensioning rotating shaft, the tensioning rotating shaft is rotatably connected to the mounting plate, the upper end of the tensioning plate is rotatably connected with the tensioning wheel, the hook frame II is fixedly connected to the tensioning plate, the upper end of the tensioning tension spring is fixedly connected with the hook frame II, the lower end of the tensioning tension spring is fixedly connected with the hook frame I, the adjusting motor is fixedly connected to the motor mounting plate, a belt wheel is arranged on an output shaft of the adjusting motor, and the two adjusting wheels, the tensioning plate and the belt wheel on the output shaft of the adjusting;

the outer surfaces of the travelling wheels and the auxiliary wheels are both provided with anti-skid rubber.

The invention has the beneficial effects that: the invention provides a computer-controlled crawling robot, which is characterized in that an auxiliary wheel is matched with a crawling wheel by rotating a crank arm and clamping the tension of a tension spring between the crank arms to tightly hold a pipeline, so that the computer-controlled crawling robot crawls outside the pipeline along with the rotation of the crawling wheel; the crawling wheels are arranged at the two ends of the belt pulley at intervals through the two walking wheels, so that the computer-controlled crawling robot can crawl on the pipeline more stably; slide in pressing from both sides tight crank arm through flexible auxiliary wheel frame to by its flexible length of flexible locking device control, adjust the opening angle that rotates crank arm through crank arm angle adjustment mechanism simultaneously, can make this computer control creep robot can adapt to the scope of different external diameter pipelines big, improve the practicality.

Drawings

FIG. 1 is a first general structural diagram of the present invention;

FIG. 2 is a second overall structural schematic of the present invention;

FIG. 3 is a partial schematic view of the first embodiment of the present invention;

FIG. 4 is a second partial schematic view of the present invention;

FIG. 5 is a third schematic view of a portion of the present invention;

FIG. 6 is a schematic view of a partially enlarged structure of the present invention;

FIG. 7 is a schematic view of the construction of the main frame of the present invention;

FIG. 8 is a cross-sectional schematic view of the creeper wheel of the present invention;

FIG. 9 is a schematic view of the construction of the rotating crank arm of the present invention;

FIG. 10 is a schematic view of the clamp crank configuration of the present invention;

FIG. 11 is a schematic view of the structure of the auxiliary wheel frame of the present invention;

FIG. 12 is a schematic view of the telescopic locking device of the present invention;

FIG. 13 is a schematic view of the crank angle adjustment mechanism of the present invention;

fig. 14 is a schematic view of the tensioning mechanism of the present invention.

In the figure: a main frame 1; 1-1 of a creeping wheel seat; a main board 1-2; 1-3 of a crank arm seat; mounting plates 1-4; 1-5 parts of a hook frame; 1-6 of a motor mounting plate; 1-7 parts of a limiting frame; a crawling wheel 2; 2-1 of a traveling wheel; 2-2 of belt pulley; 2-3 of a rotating shaft; a rotating crank arm 3; 3-1 of a crank arm; 3-2 of a support shaft; adjusting the linkage seat 3-3; 3-4 parts of a hook plate; 3-5 of a tension spring; 3-6 parts of a connecting seat; a clamping crank arm 4; crank arm II 4-1; clamping the rotating shaft 4-2; 4-3 of a hook plate; 4-4 of a chute; 4-5 of lock grooves; a telescopic auxiliary wheel frame 5; 5-1 of an auxiliary wheel; 5-2 of a telescopic arm; 5-3 of a splint; 5-4 of a T-shaped chute; a telescopic locking device 6; a locking plate 6-1; a pressing plate 6-2; 6-3 of a sliding column; 6-4 of a pressure spring; a crank angle adjusting mechanism 7; an adjusting wheel 7-1; a threaded rod 7-2; adjusting a moving block 7-3; a support wheel 8; a tensioning mechanism 9; a tension plate 9-1; tensioning the rotating shaft 9-2; tensioning a tension spring 9-3; a hook frame II 9-4; 9-5 of a tension wheel; an adjustment motor 10; a traveling motor 11; a power source 12.

Detailed Description

The invention is described in further detail below with reference to fig. 1-14.