阅读说明：本技术 一种用于拉杆检测的攀爬机器人 (Climbing robot for pull rod detection ) 是由 崔吉 舒平生 段向军 赵海峰 扶文树 朱方园 颜玮 黄丽娟 宋强 于 2019-09-25 设计创作，主要内容包括：本发明公开了一种用于拉杆检测的攀爬机器人,包括外壳以及安装在外壳上的多个电机驱动单元和多个紧固单元；电机驱动单元包括轮子支架、轮子和第一驱动装置,轮子支架的一端可伸缩的连接在外壳上,另一端连接轮子,第一驱动装置用于驱动轮子沿拉杆轴向方向运动；紧固单元包括第二驱动装置和紧固闸片,第二驱动装置的一端和外壳相连接,另一端和紧固闸片相连接,第二驱动装置驱动紧固闸片夹紧拉杆或松开拉杆；使用本装置在拉杆攀爬检测代替人工检测具有效率高的优点,且防止了人工检测发生事故的可能,提高了安全性能。(the invention discloses a climbing robot for pull rod detection, which comprises a shell, a plurality of motor driving units and a plurality of fastening units, wherein the motor driving units and the fastening units are installed on the shell; the motor driving unit comprises a wheel bracket, wheels and a first driving device, one end of the wheel bracket is telescopically connected to the shell, the other end of the wheel bracket is connected with the wheels, and the first driving device is used for driving the wheels to move along the axial direction of the pull rod; the fastening unit comprises a second driving device and a fastening brake pad, one end of the second driving device is connected with the shell, the other end of the second driving device is connected with the fastening brake pad, and the second driving device drives the fastening brake pad to clamp the pull rod or loosen the pull rod; use this device to detect at the pull rod climbing and replace artifical the detection and have efficient advantage, and prevented the possibility that artifical detection took place the accident, improved the security performance.)

1. A climbing robot for pull rod detection, characterized by comprising a housing (1) and a plurality of motor drive units (2) and a plurality of fastening units (3) mounted on the housing (1);

the motor driving unit (22) comprises a wheel support (6), wheels (11) and a first driving device, one end of the wheel support (6) is telescopically connected to the shell (1), the other end of the wheel support is connected with the wheels (11), and the first driving device is used for driving the wheels (11) to move along the axial direction of the pull rod;

The fastening unit (3) comprises a second driving device and a fastening brake pad (15), one end of the second driving device is connected with the shell, the other end of the second driving device is connected with the fastening brake pad (15), and the second driving device drives the fastening brake pad (15) to clamp or loosen the pull rod.

2. The pull rod detecting climbing robot according to claim 1, wherein the wheel bracket (6) comprises a bracket main body and a cylinder, the cylinder is connected in a through hole of the housing (1), a spring (7) is sleeved on the periphery of the cylinder, and the spring (7) is positioned between the bracket main body and the housing (1);

The spring (7) deforms to drive the cylinder to move in the through hole of the shell (1).

3. The pull rod detecting climbing robot according to claim 2, wherein a motor bracket (8) is connected to the bracket main body through a bolt, and the first driving device is fixed on the motor bracket (8); the first driving device is connected with a connecting shaft (12) at the center of the wheel (11) through a coupler (9).

4. the pull rod detecting climbing robot according to claim 1, characterized in that the fastening unit (3) further comprises a lead screw (14), one end of the lead screw (14) being connected with the second driving device and the other end being connected with the fastening brake pad (15).

5. Climbing robot for pull rod detection according to claim 4, characterized in that the fastening brake pads (15) are arc-shaped; a plurality of said fastening blades (15) are located on the same circumference.

6. The pull rod detecting climbing robot according to claim 5, characterized in that the fastening brake pads (15) are friction pads.

7. The pull rod detecting climbing robot according to claim 1, characterized in that the housing (1) comprises two housing plates, which are connected by bolts.

8. The pull rod detecting climbing robot according to claim 1, characterized in that the wheels (11) are magnetic wheels.

9. the pull rod detecting climbing robot according to claim 1, characterized in that the motor drive unit (2) and the fastening unit (3) are alternately arranged on the housing (1).

10. The pull rod detecting climbing robot according to claim 1, further comprising an electrical control module (4) and a power module (5) installed in the housing (1), wherein the power module (5) provides electric energy for the first driving device and the second driving device, and the electrical control module (4) controls the first driving device and the second driving device to start and stop.

Technical Field

The invention relates to the technical field of robots, in particular to a climbing robot for detecting a pull rod.

Background

At present, the robot is applied to the aspects of intelligent manufacturing industry, logistics automation, medical treatment, family service, military, space and underwater exploration and the like, and expands to a new field. The robot technology capable of walking on land, flying in air and diving under water is very reliable and mature, but the robot technology capable of climbing at high altitude is a research hotspot, and a plurality of ways have been patented. With the development of basic construction of ports, buildings, high-speed rails and the like in China, climbing robots for detecting hoisting equipment gradually become the popular research field, and the hoisting equipment inspection department urgently needs automation equipment capable of replacing manual climbing iron towers for detection, however, the climbing robots for detecting the hoisting equipment do not see finished products in domestic and foreign markets.

at present, the detection of the loading and unloading bridge crane is mainly completed by manual climbing, and the detection work of some parts is also not completed manually, such as a pull rod. There is not supplementary ladder around the pull rod of loading and unloading bridge hoist, and the condition of pull rod can only roughly be known to the eye measurement to testing personnel, though rely on unmanned aerial vehicle now to replace artifical climbing, but can only see the condition on pull rod surface, can't carry out inside detection, and it is lower to detect the precision. Moreover, the loading and unloading bridge crane is mainly used for ports, the environmental conditions are severe, the influence of wind is great, and the unmanned aerial vehicle replaces manual visual observation and is also greatly limited.

Disclosure of Invention

the invention aims to provide a climbing robot for detecting a pull rod, and the climbing robot is used for solving the problems of low automation level and high detection operation danger of the pull rod detection in a loading and unloading bridge crane in the prior art.

this patent climbing robot main research is solved loading and unloading bridge crane pull rod and is detected the unable problem of going on of manpower, has increased hoist safety detection, improves the precision that loading and unloading bridge pull rod detected, reduces the danger that high altitude construction falls, creates good economic benefits and social.

In order to achieve the purpose, the invention is realized by adopting the following technical scheme:

a climbing robot for pull rod detection comprises a housing, a plurality of motor driving units and a plurality of fastening units, wherein the motor driving units and the fastening units are mounted on the housing;

the motor driving unit comprises a wheel support, a wheel and a first driving device, one end of the wheel support is telescopically connected to the shell, the other end of the wheel support is connected with the wheel, and the first driving device is used for driving the wheel to move along the axial direction of the pull rod;

The fastening unit comprises a second driving device and a fastening brake pad, one end of the second driving device is connected with the shell, the other end of the second driving device is connected with the fastening brake pad, and the second driving device drives the fastening brake pad to clamp or loosen the pull rod.

Further, the wheel bracket comprises a bracket main body and a cylinder, the cylinder is connected in the through hole of the shell, the periphery of the cylinder is sleeved with a spring, and the spring is positioned between the bracket main body and the shell;

The spring deforms to drive the cylinder to move in the through hole of the shell.

further, a motor bracket is connected to the bracket main body through a bolt, and the first driving device is fixed to the motor bracket; the first driving device is connected with the connecting shaft at the center of the wheel through a coupler.

Furthermore, the fastening unit further comprises a lead screw, one end of the lead screw is connected with the second driving device, and the other end of the lead screw is connected with the fastening brake pad.

Further, the fastening brake pad is arc-shaped; the fastening brake pads are located on the same circumference.

Further, the fastening brake pad is a friction plate.

Further, the shell comprises two shell plates which are connected through bolts.

Further, the wheels are magnetic wheels.

further, the motor driving unit and the fastening unit are alternately arranged on the housing.

Further, the power supply device comprises an electrical control module and a power supply module, wherein the electrical control module and the power supply module are installed in the shell, the power supply module provides electric energy for the first driving device and the second driving device, and the electrical control module controls the first driving device and the second driving device to start and stop.

The invention has the advantages that:

1. Wheel among the motor drive unit on the shell moves along the pull rod axis on the pull rod, has realized this device climbing on the pull rod, through the fastening brake lining among the fastening unit to the clamp of pull rod or loosen, has realized fixing to this device, uses this device to climb at the pull rod and detects and replace artifical detection to have efficient advantage, and has prevented the possibility of artifical detection occurence failure, has improved the security performance.

2. The spring drives the wheel support to do telescopic motion in the electric drive unit, so that the device can climb pull rods with different diameters and can climb the same variable-radius pull rod.

Drawings

FIG. 1 is a schematic view of the overall assembly of a climbing robot in accordance with an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of a motor driving unit according to an embodiment of the present invention;

FIG. 3 is a schematic structural view of a fastening unit according to an embodiment of the present invention;

FIG. 4 is a schematic structural diagram of an outer shell plate according to an embodiment of the present invention;

FIG. 5 is a schematic view of a wheel support according to an embodiment of the present invention;

FIG. 6 is a schematic view of the structure of a wheel according to an embodiment of the present invention;

FIG. 7 is a schematic structural view of a connecting shaft according to an embodiment of the present invention;

FIG. 8 is a schematic structural view of a motor bracket according to an embodiment of the present invention;

FIG. 9 is a schematic view of a loading and unloading bridge crane according to an embodiment of the present invention.

Wherein: 1. a housing; 2. a motor drive unit; 3. a fastening unit; 4. an electrical control module; 5. a power supply module; 6. a wheel support; 7. a spring; 8. a motor bracket; 9. a coupling; 10. a first motor; 11. a wheel; 12. a connecting shaft; 13. a second motor; 14. a lead screw; 15. fastening the brake pad; 16. and (5) fixing the nut.

Detailed Description

in order to make the technical means, the creation characteristics, the achievement purposes and the effects of the invention easy to understand, the invention is further described with the specific embodiments.

It should be noted that in the description of the present invention, the terms "front", "rear", "left", "right", "upper", "lower", "inner", "outer", and the like indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, and are only for convenience of describing the present invention but do not require that the present invention must be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention. As used in the description of the present invention, the terms "front," "back," "left," "right," "up," "down" and "in" refer to directions in the drawings, and the terms "inner" and "outer" refer to directions toward and away from, respectively, the geometric center of a particular component.

In order to improve the inspection and detection level of the large-scale port hoisting machinery and improve the overall safety of the large-scale port hoisting machinery, the invention provides a climbing robot for detecting the defects of a pull rod of the large-scale port hoisting machinery, which has certain load capacity and can be loaded with an inspection and detection device.

This climbing robot can replace artifical climbing hoist's pull rod, needs the manual work to fix its installation in the pull rod outside, and starter motor moves along the pull rod from bottom to top under the effect of wheel, and the shell is along the pull rod motion along with the wheel together, and the detecting instrument that the shell bore also moves together, and then detection that can be accurate, when needs are static at some check point, fastener screws under motor drive, prevents the robot landing. The crane detection personnel only need to operate the robot to move in a safe area by operating the remote control device, so that the detection safety and accuracy are improved. The remote control device has basic functions of forward movement, backward movement, stop and the like.

As shown in fig. 1 to 8, a climbing robot for pull rod detection comprises a housing 1, wherein the housing 1 is formed by connecting two housing plates through bolts as shown in fig. 4. The shape of the housing 1 is a regular polygon, which can be a regular hexagon or a regular octagon, and the specific number of sides is determined according to the number of the fixed fastening units 3 and the motor driving units. The invention is illustrated by a regular hexagon. The shell plate is provided with a through hole and a screw hole, and the through hole and the screw hole are used for connecting the power supply module 5, the electric control module 4, the fastening unit 3 and the motor driving unit 2. The motor driving unit 2 is used for driving the device to move along the axial direction of the pull rod, and the fastening unit 3 is used for fixing the device on the pull rod or fixing the device and the pull rod.

As shown in fig. 1, two casing plates are connected into a casing 1 through bolts, the bolts are connected to facilitate the disassembly of the casing 1, and the casing 1 adopts a split structure to facilitate the subsequent installation of a fastening unit 3, a motor driving unit 2, an electrical control module 4 and a power module 5. In the present invention, there are three motor driving units 2 and three fastening units 3, and the fastening units 3 and the motor driving units 2 are alternately arranged on the housing 1. That is, one fastening unit 3 or one motor driving unit 2 is installed on each side of the regular hexagonal housing 1, and the fastening units 3 and the motor driving units 2 are installed on two adjacent sides. The alternate arrangement increases the creeping effect of the motor drive unit 2 and the fastening effect of the fastening unit.

The auxiliary detection unit of the electrical control module 4 and the power module 5 is arranged in the shell 1, the electrical control module 5 adopts external communication, and the power line has certain tensile capacity, so that the power line cannot be disconnected when the device crawls on the pull rod. The electric control module 5 can also be a storage battery or a generator. The electric control module 4 is in signal connection with an external wireless remote controller, and the remote controller has a display function and can observe the information of the pull rod detected by the auxiliary detection unit.

The motor driving unit 2 shown in fig. 2, 5-8 includes a wheel bracket 6, a spring 7, a motor bracket 8, a coupling 9, a first motor 10, a wheel 11, and a connecting shaft 12. The wheel bracket 6 comprises a bracket main body and a cylinder, the cylinder is connected in a through hole of the shell 1, the periphery of the cylinder is sleeved with a spring 7, and the spring 7 is positioned between the bracket main body and the shell 1; the spring 7 deforms to drive the cylinder to move in the through hole of the shell 1. The cylinder is provided with screw thread at one end outside the shell 1 and is connected with a fixed nut 16, and the fixed nut 16 is a locknut. The nut can guarantee that the cylinder can not pass through the through hole on the shell 1, guarantee that the wheel bracket 6 moves in the through hole on the shell 1. The cylinder is located the one end in the shell 1 outside and can not need the nut, but the direct welding limiting plate plays the effect the same with the nut. The motor bracket 8 is bolted on the wheel bracket 6, and the first motor 10 is bolted on the motor bracket 6. The first motor 10 is an alternating current servo motor and has an electromagnetic band-type brake function. The first motor 10 is connected to a connection shaft 12 in the centre of the wheel 11 via a coupling 9. The middle of the connecting shaft 12 is provided with a square connecting block, the center of the wheel 11 is provided with a square groove, the square connecting block of the connecting shaft 12 is connected into the square groove, the connection stability of the wheel 11 and the connecting shaft 12 is ensured, and relative rotation cannot occur between the connecting shaft and the wheel. Wheel 11 chooses for use to have magnetic wheel, and the laminating between wheel 11 and the pull rod can be guaranteed to the magnetic wheel, and wheel 11 can choose for use the omnidirectional wheel.

The fastening unit 3 is shaped as shown in fig. 3, the fastening unit 3 comprises a second motor 13, a lead screw 14 and fastening brake pads 15, the fastening brake pads 15 are arc-shaped, and the fastening brake pads 15 on the three fastening units 3 are on the same circumference. The fastening brake pads 15 are on the same circumference, so that the fastening brake pads 15 can be guaranteed to effectively clamp the pull rod. The second motor 13 is installed outside the housing 1 through bolts, and the second motor 13 is connected with the lead screw 14 through a coupling. The second motor 13 is a stepping motor, the second motor 13 rotates to drive the screw rod 14 to stretch, the fastening brake pad 15 is located in the shell 1, the screw rod 14 is connected with the fastening brake pad 15, and the screw rod 14 stretches to drive the fastening brake pad to work. The fastening brake pad 15 in the invention is a friction plate, so that the sufficient service life of the brake pad is ensured.

The fastening unit 3 comprises a second driving device and a fastening brake pad 15, one end of the second driving device is connected with the shell, the other end of the second driving device is connected with the fastening brake pad 15, and the second driving device drives the fastening brake pad 15 to clamp or loosen the pull rod.

the principle of the device will be explained by the installation of the device and the stationary operation of the device when it is lifted and lowered on the pull rod.

The installation process comprises the following steps: firstly, a motor driving unit 2 and a fastening unit 3 of the climbing robot are fixedly installed on a shell plate, the bottom of a wheel 11 is close to the inner surface of the shell plate as much as possible, namely, a spring 7 is in the maximum compression position, a fastening brake pad 15 in the fastening unit 3 is close to the inner surface of the shell plate as much as possible, the two shell plates which are provided with the motor driving unit 2 and the fastening unit 3 in advance are fixed through bolts to form a shell 1, the device surrounds a pull rod from the outside, the wheel 11 is tightly attached to the surface of the pull rod by adjusting the compression amount of a fastening nut and the spring 7, a lead screw 14 in the fastening unit is rotated, the position of the fastening brake pad 15 is adjusted, and the fastening brake pad is tightly attached to the surface of the. The whole installation process of the climbing robot needs to be completed manually.

The device is lifted along the pull rod: firstly, triggering the advancing function of the remote control device, wherein the first motor 10 works to drive the wheel 11 to rotate, the second motor 13 works to unscrew the fastening brake pad 15 and separate from the surface of the pull rod, and the second motor 13 stops working when the distance between the fastening brake pad 15 and the inner surface of the shell 1 reaches a certain value. When the diameter of the pull rod changes or reaches the joint between the pull rods, the wheels 11 can still be kept to be tightly attached to the surfaces of the pull rods under the action of the springs, so that the climbing robot continues to ascend along the axial direction of the pull rods.

The device is in the process of stopping at a certain position of the pull rod: firstly, a stopping function on the remote control device is triggered, the first motor 10 stops working, the second motor 13 works, and the fastening brake pad 15 is screwed tightly, so that the fastening brake pad 15 is tightly attached to the surface of the pull rod.

The process that this device descends along the pull rod: firstly, a retreating function on the remote control device is triggered, the second motor 13 works to slightly loosen the fastening brake pad 15, the climbing robot can descend along the pull rod in an accelerated mode under the action of gravity by means of the gravity of the climbing robot, and the first motor 10 can work reversely at intervals to reduce the descending speed of the climbing robot. When the climbing robot descends to a certain distance, the second motor 13 works to screw the fastening brake pad 15 tightly. While the first motor 10 continues to work in reverse, the climbing robot is brought to rest by means of the motor braking principle.

It will be appreciated by those skilled in the art that the invention may be embodied in other specific forms without departing from the spirit or essential characteristics thereof. The embodiments disclosed above are therefore to be considered in all respects as illustrative and not restrictive. All changes which come within the scope of or equivalence to the invention are intended to be embraced therein.