A lifting drive device for a robot

Abstract

The present invention discloses a lifting drive device for a robot, including a connecting frame and two groups of crawler climbing mechanisms, the two groups of crawler climbing mechanisms are both arranged on the connecting frame, the crawler climbing mechanism includes three groups of crawler climbing devices, the crawler climbing mechanism includes two groups of driving wheels, driven wheels, crawlers and two groups of auxiliary devices, the connecting frame is provided with a motor and several groups of connecting devices, and the three groups of driving wheels and three groups of driven wheels on the same group of crawler climbing mechanisms are respectively connected by connecting devices. The lifting drive device for a robot described in the present invention drives multiple groups of crawler climbing devices to run synchronously through a motor, and there will be no asynchronous operation of the crawler climbing devices; it is convenient for people to directly remove the crawler climbing devices, which is convenient for people to maintain; it can help the pipeline inspection robot to return to normal operating state; it can also wipe off the dust on the surface of the pipeline, which is convenient for the subsequent operation of the pipeline inspection robot.

Description

Technical Field

[0001] The present invention relates to the field of robots, and in particular to a lifting drive device for robots. Background Art

[0002] Boiler four-tube leakage is the main cause of various unplanned shutdowns of thermal power generating units, accounting for 50% to 60% of the unit's unplanned shutdown accidents, and is a major problem that plagues thermal power generation companies. It greatly threatens the safe operation of thermal power plants. In order to improve safety performance, people need to regularly inspect pipelines. In order to facilitate people to inspect pipelines, people have invented some pipeline inspection equipment, including pipeline inspection robots. There are many structures on the pipeline inspection robot, including the lifting drive device that drives the pipeline inspection robot.

[0003] The existing lifting drive device for robots has certain disadvantages when used. The existing lifting drive device for robots usually adopts multiple sets of crawler climbing devices to move up and down directly along the pipeline. The multiple sets of crawler climbing devices are fixedly installed on the same set of mounting frames. When in use, it is necessary to control multiple sets of motors to control the joint operation of the multiple sets of crawler climbing devices, which is more troublesome. In addition, the crawler parts will be worn during use. The entire crawler climbing mechanism needs to be disassembled for maintenance, which is more troublesome. In addition, the surface of the pipeline is usually sticky with oil or dust when in use. When passing through these areas, the pipeline detection robot will become unbalanced and easy to fall, which does not meet people's use requirements. For this reason, we propose a lifting drive device for a robot. Summary of the invention

[0004] The main purpose of the present invention is to provide a lifting drive device for a robot, which can effectively solve the problems in the background technology.

[0005] To achieve the above object, the technical solution adopted by the present invention is:

[0006] A lifting drive device for a robot, comprising a connecting frame and two groups of crawler climbing mechanisms, the two groups of crawler climbing mechanisms are both arranged on the connecting frame, the crawler climbing mechanism comprises three groups of crawler climbing devices, the crawler climbing mechanism comprises two groups of driving wheels, driven wheels, crawlers and two groups of auxiliary devices, the connecting frame is provided with a motor and a plurality of connecting devices, the three groups of driving wheels and the three groups of driven wheels on the same group of crawler climbing mechanisms are respectively connected through the connecting devices, a limit plate is provided at the lower end of the connecting frame, and a scrubbing device and a clamping mechanism are provided on the limit plate;

[0007] The connecting device includes a transmission rod, a bearing and a mounting frame, the bearing is movably mounted inside the connecting frame, one end of the transmission rod is plugged into the mounting frame, the driving wheel is fixedly mounted on the outer surface of the transmission rod, and the motor is connected to one group of transmission rods through a sprocket transmission mechanism.

[0008] Preferably, the mounting frame includes a main body, two groups of movable plates and two groups of first springs, the main body is fixedly mounted on the inner ring of the bearing, the two groups of first springs are respectively arranged at both ends of the main body, the movable plate is movably mounted on the main body, one end of the movable plate is fixedly connected to the first spring, both ends of the transmission rod are integrally formed with a clamping block, the outer surface of the movable plate is provided with a clamping hole, and the clamping block is inserted into the clamping hole.

[0009] Preferably, the auxiliary device comprises an auxiliary wheel and a first buffer mechanism, and the auxiliary wheel is connected to the connecting frame through the first buffer mechanism.

[0010] Preferably, the clamping mechanism comprises a slide rail, an electric slider and a clamping plate, the slide rail is fixedly mounted on an outer surface of one side of the limiting plate, the electric slider is movably mounted on the slide rail, and the clamping plate is fixedly mounted on the outer surface of the electric slider.

[0011] Preferably, a vertical plate and a first clamping block are fixedly mounted on an outer surface of one side of the clamping plate, an electric push rod is provided on the vertical plate, and a second clamping block is fixedly mounted on the telescopic end of the electric push rod.

[0012] Preferably, the scrubbing device comprises a fixed frame and two groups of scrubbing frames, wherein one group of the scrubbing frames is fixedly mounted on a limiting plate, and the two groups of the scrubbing frames are fixedly connected via the fixed frame.

[0013] Preferably, the scrubbing rack comprises a mounting plate, a scrubbing strip and a second buffer mechanism, and the scrubbing strip is fixedly connected to the mounting plate via the second buffer mechanism.

[0014] Preferably, the outer surface of the scrubbing strip is provided with a plurality of groups of cleaning seats, and the outer surface of the cleaning seats is fixedly mounted with an arc-shaped cleaning brush.

[0015] Preferably, the first buffer mechanism and the second buffer mechanism both include a second spring and a telescopic rod, and the second spring is sleeved on the outer surface of the telescopic rod.

[0016] Compared with the prior art, the present invention provides a lifting drive device for a robot, which has the following beneficial effects:

[0017] 1. Through the connection device, the driving wheels on the crawler climbing mechanism are connected together through the connection device, and the driven wheels are connected together through the connection device. When in use, the entire crawler climbing mechanism is driven by the motor to operate, which is convenient to operate, and there will be no asynchronous operation of the crawler climbing device, and the use effect is better;

[0018] 2. Through the installation frame, the transmission rod is plugged into the movable plate in the installation frame. When a set of crawler climbing devices in the crawler climbing mechanism is damaged, people can directly pull the transmission rod to squeeze the first spring at one end of the movable plate, so that the transmission rod can be directly removed, and the crawler climbing device can be directly removed, which is convenient for people to maintain;

[0019] 3. Through the clamping mechanism, when the lifting drive device is unbalanced, the electric slider starts to drive the clamping plate to move to both sides of the pipeline, and the electric push rod on the clamping plate starts to make the No. 1 clamping block and the No. 2 clamping block clamp the pipeline, increasing the friction force to prevent the robot from sliding, and can help the pipeline inspection robot return to normal operation, so as to achieve better use effect;

[0020] 4. Through the scrubbing device, when the pipeline inspection robot is running, the cleaning seat on the scrubbing bar contacts the surface of the pipeline, and the arc-shaped cleaning brush on the cleaning seat can wipe off the dust on the surface of the pipeline, which is convenient for the subsequent operation of the pipeline inspection robot and reduces the workload of the operator. Moreover, the structure of the lifting drive device of the entire robot is relatively simple, and the use effect is better than the traditional method, which meets people's use requirements and is more practical.

[0021] The parts not involved in the device are the same as those in the prior art or can be implemented by using the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] Figure 1 This is a schematic diagram of the overall structure of a lifting drive device for a robot according to the present invention;

[0023] Figure 2 This is a partial structural diagram of a crushing box in a lifting drive device for a robot according to the present invention;

[0024] Figure 3 It is a side view of a partial structure of a crushing box in a lifting drive device for a robot of the present invention;

[0025] Figure 4 This is a connection structure diagram of a driving wheel in a lifting drive device for a robot of the present invention;

[0026] Figure 5 It is a side structural diagram of a connecting device in a lifting drive device for a robot of the present invention;

[0027] Figure 6 This is a structural diagram of a connecting device in a lifting drive device for a robot of the present invention;

[0028] Figure 7 This is a structural diagram of a clamping plate in a lifting drive device for a robot of the present invention;

[0029] Figure 8It is a partial structural diagram of a scrubbing strip in a lifting drive device for a robot of the present invention;

[0030] Fig. 9 A lifting drive device for a robot according to the present invention Figure 3 A magnified view of the structure in the middle.

[0031] In the figure: 1. connecting frame; 2. driving wheel; 3. crawler track; 4. limit plate; 5. transmission rod; 6. bearing; 7. mounting frame; 8. movable plate; 9. first spring; 10. clamping block; 11. clamping hole; 12. electric slider; 13. clamping plate; 14. clamping block No. 1; 15. electric push rod; 16. clamping block No. 2; 17. mounting plate; 18. scrubbing strip; 19. cleaning seat; 20. arc cleaning brush; 21. second spring; 22. telescopic rod. DETAILED DESCRIPTION

[0032] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0033] In the description of the present invention, it is necessary to understand that the terms "upper", "lower", "front", "back", "left", "right", "top", "bottom", "inside", "outside", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present invention.

[0034] A lifting drive device for a robot, such as Figure 1-9 As shown, it includes a connecting frame 1 and two sets of crawler climbing mechanisms, the two sets of crawler climbing mechanisms are arranged on the connecting frame 1, the crawler climbing mechanism includes three sets of crawler climbing devices, the crawler climbing mechanism includes two sets of driving wheels 2, driven wheels, crawlers 3 and two sets of auxiliary devices, the connecting frame 1 is provided with a motor and a plurality of connecting devices, the three sets of driving wheels 2 and the three sets of driven wheels on the same set of crawler climbing mechanisms are respectively connected through the connecting devices, the lower end of the connecting frame 1 is provided with a limit plate 4, and the limit plate 4 is provided with a scrubbing device and a clamping mechanism;

[0035] The connecting device includes a transmission rod 5, a bearing 6 and a mounting frame 7. The bearing 6 is movably installed inside the connecting frame 1. One end of the transmission rod 5 is plugged into the mounting frame 7. The driving wheel 2 is fixedly installed on the outer surface of the transmission rod 5. The motor is connected to one group of transmission rods 5 through a sprocket transmission mechanism.

[0036] The mounting frame 7 includes a main body, two groups of movable plates 8 and two groups of first springs 9. The main body is fixedly mounted on the inner ring of the bearing 6. The two groups of first springs 9 are respectively arranged at both ends of the main body. The movable plate 8 is movably mounted on the main body. One end of the movable plate 8 is fixedly connected to the first spring 9. Both ends of the transmission rod 5 are integrally formed with a clamping block 10. The outer surface of the movable plate 8 is provided with a clamping hole 11, and the clamping block 10 is inserted into the inside of the clamping hole 11.

[0037] The auxiliary device comprises an auxiliary wheel and a first buffer mechanism, and the auxiliary wheel is connected to the connecting frame 1 through the first buffer mechanism.

[0038] The clamping mechanism includes a slide rail, an electric slider 12 and a clamping plate 13 . The slide rail is fixedly mounted on an outer surface of one side of the limit plate 4 . The electric slider 12 is movably mounted on the slide rail. The clamping plate 13 is fixedly mounted on the outer surface of the electric slider 12 .

[0039] The electric slide block 12 moves along the slide rail to change the position of the clamping plate 13 .

[0040] A vertical plate and a first clamping block 14 are fixedly mounted on the outer surface of one side of the clamping plate 13 . An electric push rod 15 is arranged on the vertical plate. A second clamping block 16 is fixedly mounted on the telescopic end of the electric push rod 15 .

[0041] The scrubbing device includes a fixed frame and two groups of scrubbing frames, one group of scrubbing frames is fixedly installed on the limiting plate 4, and the two groups of scrubbing frames are fixedly connected by the fixed frame. The fixed frame can be a fixed frame with a telescopic structure, which can facilitate people to adjust the distance between the two groups of scrubbing frames.

[0042] The scrubbing frame comprises a mounting plate 17, a scrubbing strip 18 and a second buffer mechanism, and the scrubbing strip 18 is fixedly connected to the mounting plate 17 via the second buffer mechanism.

[0043] The outer surface of the scrubbing strip 18 is provided with a plurality of cleaning seats 19 , and the outer surface of the cleaning seats 19 is fixedly mounted with arc-shaped cleaning brushes 20 , which are in contact with the surface of the pipe and can clean the surface of the pipe.

[0044] The first buffer mechanism and the second buffer mechanism both include a second spring 21 and a telescopic rod 22 . The second spring 21 is sleeved on the outer surface of the telescopic rod 22 .

[0045] It should be noted that the present invention is a lifting drive device for a robot, the pipeline is located between two sets of crawler climbing mechanisms, the telescopic rod 22 and the second spring 21 on the first buffer mechanism are both in a compressed state, applying a pre-tightening force to the auxiliary wheel, so that the crawler 3 is closely attached to the outer surface of the pipeline, when in use, the motor is started, the motor drives the transmission rod 5 to rotate, the transmission rod 5 rotates to drive the driving wheel 2 to rotate, and the driving wheel 2 drives the crawler 3 to rotate, thereby realizing up and down movement along the pipeline;

[0046] Through the connection device, the driving wheels 2 on the crawler climbing mechanism are connected together through the connection device, and the driven wheels are connected together through the connection device. When in use, the entire crawler climbing mechanism is driven by the motor to operate, which is convenient to operate, and there will be no asynchronous operation of the crawler climbing device, and the use effect is better;

[0047] By means of the provided mounting frame 7, the transmission rod 5 is plugged into the movable plate 8 of the mounting frame 7. When a set of crawler climbing devices in the crawler climbing mechanism is damaged, people can directly pull the transmission rod 5 and squeeze the first spring 9 at one end of the movable plate 8, so that the transmission rod 5 can be directly removed, and the crawler climbing device can be directly removed, which is convenient for people to maintain;

[0048] Through the clamping mechanism, when the lifting drive device is unbalanced, the electric slider 12 is started, driving the clamping plate 13 to move to both sides of the pipeline, and the electric push rod 15 on the clamping plate 13 is started, so that the first clamping block 14 and the second clamping block 16 clamp the pipeline, increase the friction force, prevent the robot from sliding, and help the pipeline detection robot to return to normal operation (the robot has a gyroscope that can detect the state. When adjusting, the electric push rod 15 on the clamping plate 13 at the higher end of the robot is shortened to reduce the friction force, so that it slowly descends. When the gyroscope detects that it is in a normal state, the electric push rod 15 is extended, so that the robot is fixed again and moves again). The use effect is better;

[0049] Through the provided scrubbing device, when the pipeline inspection robot is running, the cleaning seat 19 on the scrubbing bar 18 contacts the surface of the pipeline, and the arc-shaped cleaning brush 20 on the cleaning seat 19 can wipe off the dust on the surface of the pipeline, which is convenient for the subsequent operation of the pipeline inspection robot and reduces the workload of the operator. Moreover, the structure of the lifting drive device for the entire robot is relatively simple, and the use effect is better than the traditional method, which meets people's use requirements and is more practical.

[0050] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A lifting drive device for a robot, characterized in that: The invention comprises a connecting frame (1) and two groups of crawler climbing mechanisms, wherein the two groups of crawler climbing mechanisms are arranged on the connecting frame (1), the crawler climbing mechanisms comprise three groups of crawler climbing devices, the crawler climbing mechanisms comprise two groups of driving wheels (2), driven wheels, crawlers (3) and two groups of auxiliary devices, the connecting frame (1) is provided with a motor and a plurality of groups of connecting devices, the three groups of driving wheels (2) and the three groups of driven wheels on the same group of crawler climbing mechanisms are respectively connected via connecting devices, a limiting plate (4) is arranged at the lower end of the connecting frame (1), and a scrubbing device and a clamping mechanism are arranged on the limiting plate (4); The connecting device comprises a transmission rod (5), a bearing (6) and a mounting frame (7), wherein the bearing (6) is movably mounted inside the connecting frame (1), one end of the transmission rod (5) is plugged into the mounting frame (7), the driving wheel (2) is fixedly mounted on the outer surface of the transmission rod (5), and the motor is connected to one group of the transmission rods (5) via a sprocket transmission mechanism; The mounting frame (7) comprises a main body, two groups of movable plates (8) and two groups of first springs (9); the main body is fixedly mounted on the inner ring of the bearing (6); the two groups of the first springs (9) are respectively arranged at two ends of the main body; the movable plate (8) is movably mounted on the main body; one end of the movable plate (8) is fixedly connected to the first spring (9); both ends of the transmission rod (5) are integrally formed with a clamping block (10); a clamping hole (11) is provided on the outer surface of the movable plate (8); and the clamping block (10) is inserted into the inside of the clamping hole (11); The auxiliary device comprises an auxiliary wheel and a first buffer mechanism, and the auxiliary wheel is connected to the connecting frame (1) through the first buffer mechanism; The clamping mechanism comprises a slide rail, an electric slider (12) and a clamping plate (13); the slide rail is fixedly mounted on an outer surface of one side of the limit plate (4); the electric slider (12) is movably mounted on the slide rail; and the clamping plate (13) is fixedly mounted on the outer surface of the electric slider (12); The scrubbing device comprises a fixed frame and two groups of scrubbing frames, wherein one group of the scrubbing frames is fixedly mounted on a limiting plate (4), and the two groups of the scrubbing frames are fixedly connected via the fixed frame.

2. A lifting drive device for a robot according to claim 1, characterized in that: A vertical plate and a first clamping block (14) are fixedly mounted on the outer surface of one side of the clamping plate (13); an electric push rod (15) is arranged on the vertical plate; and a second clamping block (16) is fixedly mounted on the telescopic end of the electric push rod (15).

3. The lifting drive device for a robot according to claim 1, characterized in that: The scrubbing rack comprises a mounting plate (17), a scrubbing strip (18) and a second buffer mechanism, wherein the scrubbing strip (18) is fixedly connected to the mounting plate (17) via the second buffer mechanism.

4. A lifting drive device for a robot according to claim 3, characterized in that: The outer surface of the scrubbing strip (18) is provided with a plurality of groups of cleaning seats (19), and the outer surface of the cleaning seat (19) is fixedly mounted with an arc-shaped cleaning brush (20).

5. The lifting drive device for a robot according to claim 1, characterized in that: The first buffer mechanism and the second buffer mechanism both comprise a second spring (21) and a telescopic rod (22), wherein the second spring (21) is sleeved on the outer surface of the telescopic rod (22).

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