Crawling robot lifting mechanism

Abstract

The utility model relates to the field of crawling robots, in particular to a lifting mechanism of a crawling robot. Comprising a robot body, a lifting part, a transition assembly and an installation frame, the detection flexibility of the robot body is improved, the lifting height of a probe relative to the robot body can be flexibly controlled through cooperation of the lifting part, the transition assembly and the installation frame, and therefore detection work of the probe is facilitated; and through cooperation of the spring and the lifting plate, the probe is prevented from being damaged in the lifting process, the fixing tightness of the probe can be controlled by controlling the jacking block, and therefore the probe can be disassembled and assembled conveniently.

Description

Technical Field

[0001] The utility model relates to the field of crawling robots, in particular to a lifting mechanism of a crawling robot. Background Art

[0002] The wind turbine tower is the tower pole for wind power generation, which mainly plays a supporting role in the wind turbine generator set. Once the tower is corroded and rusted and the protective outer layer is damaged, its supporting force will be greatly affected, and in serious cases it may even cause major safety accidents.

[0003] Towers are usually designed to be conical or cylindrical, and a large amount of welding work is required during the manufacturing process, including welding between cylinder segments and flanges, cylinder segments and cylinder segments, and foundation rings. If there are defects inside the weld, the welding strength will be seriously reduced, and there will be hidden dangers such as breakage and damage, causing major economic losses and safety accidents.

[0004] For the above-mentioned weld defects, non-destructive testing of the anti-corrosion coating is performed. At present, the inspection of tower welds is mostly carried out by hanging with ropes or building tower ladders. The inspectors are always facing a dangerous high-altitude working environment and long-term physical labor, which not only poses a threat to the health and safety of the personnel, but also seriously limits the work efficiency and quality. The inspection efficiency can be improved by using a magnetic crawling inspection robot (robot body) and using a coating thickness gauge probe to perform non-destructive testing on the tower weld defects. However, the probes of existing magnetic crawling inspection robots are mostly fixedly installed, and their positions relative to the magnetic crawling inspection robot cannot be flexibly changed, which affects the use efficiency of the magnetic crawling inspection robot. Summary of the invention

[0005] In order to solve the problems of the prior art, the utility model provides a lifting mechanism for a crawling robot.

[0006] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0007] A crawling robot lifting mechanism, characterized by comprising:

[0008] Robot body;

[0009] A lifting part, the rear side of which is fixedly connected to the front side of the robot body;

[0010] A transition assembly is located in front of the lifting part, and the transition assembly is fixedly connected to the lifting part;

[0011] A mounting frame, the rear side of which is fixedly connected to the front side of the transition assembly, the mounting frame is fixedly connected to the lifting part through the transition assembly, and the probe is detachably connected to the mounting frame;

[0012] The lifting part includes:

[0013] A fixed bracket, the rear side of which is fixedly connected to the front side of the robot body;

[0014] The shell body, the rear side of which is fixedly connected to the front side of the fixing bracket;

[0015] A lifting assembly, the main body of which is located in the shell;

[0016] A limit assembly, the main body of which is located in the shell, the limit assembly is located on one side of the lifting assembly, and the limit assembly is connected to the lifting assembly;

[0017] The transition components include:

[0018] A connecting plate, the rear end of which is fixedly connected to the object carrier;

[0019] A spacer plate, the front end of the connecting plate is fixed to the rear end of the spacer plate;

[0020] The slot block is vertically fixed to the front side of the pad plate, and a limiting slot is provided through the slot block;

[0021] The lifting plate is matched and passed through the limiting slot;

[0022] A spring, the upper end of which is fixedly connected to the upper end of the lifting plate, and the lower end of the spring is fixedly connected to the lower front side wall of the pad plate;

[0023] The mounting frame comprises:

[0024] A connecting block is fixed to the front side of the lower part of the lifting plate;

[0025] The insert block, the rear side of which is fixedly connected to the front side of the connecting block;

[0026] A tightening assembly is arranged in the insert block;

[0027] The knob has one end which goes deep into the insert block, and the knob is connected with the tightening component.

[0028] The tightening assembly comprises:

[0029] A socket is provided in the plug block;

[0030] A tightening groove is located at the front side of the plug hole, and the tightening groove is connected with the plug hole;

[0031] The tightening block is matched and arranged in the tightening groove. A concave surface is arranged on one side of the tightening block close to the insertion hole, and the concave surface is an arc-shaped surface.

[0032] The lifting assembly comprises:

[0033] The motor is fixed on the inner wall of the housing;

[0034] A support plate is fixed in the housing, and the support plate is located at the front side of the motor;

[0035] A driving gear is located at the front side of the supporting plate, and the motor is connected to the driving gear;

[0036] The rack is located on one side of the driving gear, and the driving gear is meshed with the rack;

[0037] The object carrier is fixedly connected to one side of the rack, and the object carrier is connected to the limiting assembly.

[0038] The limiting component comprises:

[0039] Slide rails;

[0040] A stopper is fixed to the lower end of the slide rail, and the upper end of the stopper protrudes from the outer end surface of the slide rail;

[0041] The slider has a groove in the middle, the groove is matched with the slide rail, and the slider is fixed at the lower part of the object carrier.

[0042] A threaded hole is provided at the middle position of the front side of the tightening block, a knob hole is provided through the front side of the inserting block, the knob body passes through the knob hole, and the knob body is matched and entered into the threaded hole.

[0043] Compared with the prior art, the beneficial effects of the utility model are: the flexibility of robot body detection is improved, and the lifting height of the probe relative to the robot body can be flexibly controlled through the coordinated cooperation of the lifting part, the transition assembly and the mounting frame, which is beneficial to the detection operation of the probe, and the cooperation of the spring and the lifting plate can help avoid the probe from being damaged during the lifting process, and the tightness of the probe fixation can be controlled by controlling the tightening block, which is beneficial to the disassembly and installation of the probe. BRIEF DESCRIPTION OF THE DRAWINGS

[0044] Other features, objectives and advantages of the present invention will become more apparent by reading the detailed description of non-limiting embodiments made with reference to the following drawings.

[0045] Figure 1 It is a schematic diagram of the structure of the utility model.

[0046] Figure 2 This is a schematic diagram of the lifting part, transition assembly and mounting frame structure of the utility model. Figure 1 .

[0047] Figure 3 This is a schematic diagram of the internal structure of the lifting part of the utility model. Figure 1 .

[0048] Figure 4 This is a schematic diagram of the internal structure of the lifting part of the utility model. Figure 2 .

[0049] Figure 5 This is a schematic diagram of the lifting part, transition assembly and mounting frame structure of the utility model. Figure 2 .

[0050] Figure 6 yes Figure 5 Schematic diagram of the structure at point A in the middle.

[0051] Wherein: 100, robot body; 200, lifting part; 210, fixed bracket; 220, shell; 230, lifting assembly; 231, motor; 232, support plate; 233, driving gear; 331, limit slot;

[0052] 234, rack; 235, carrier; 240, limit assembly; 241, slide rail; 242, stopper; 243, slider; 2431, groove; 300, transition assembly; 310, connecting plate; 320, spacer plate; 330, slot block; 340, lifting plate; 350, spring; 400, mounting frame; 410, connecting block; 420, plug block; 421, knob hole; 430, tightening assembly; 431, plug hole; 432, tightening groove; 433, tightening block; 4331, concave surface; 4332, threaded hole; 440, knob; 500, probe. DETAILED DESCRIPTION

[0053] The present invention is further described in detail below through embodiments. The embodiments are only used to illustrate the present invention and do not limit the scope of the present invention.

[0054] A crawling robot lifting mechanism, comprising:

[0055] Robot body 100;

[0056] The rear side of the lifting part 200 is fixedly connected to the front side of the robot body 100;

[0057] The transition assembly 300 is located in front of the lifting part 200, and the transition assembly 300 is fixedly connected to the lifting part 200; the main body of the transition assembly 300 is a spring buffer structure, and the lifting part 200 can drive the transition assembly 300 to move vertically upward or vertically downward;

[0058] The mounting frame 400 is fixedly connected to the front side of the transition component 300 at the rear side, and the mounting frame 400 is fixedly connected to the lifting part 200 through the transition component 300. The probe 500 is detachably connected to the mounting frame 400. The specific probe 500 can be a coating thickness measuring probe; the lifting part 200 can drive the transition component 300 to move vertically upward or downward relative to the robot body 100, and the transition component 300 drives the mounting frame 400 to move vertically upward or vertically downward. At the same time, the transition component 300 connects, buffers and resets the mounting frame 400. The probe 500 can be inserted into the mounting frame 400 or the probe 500 can be pulled out of the mounting frame 400; the transition component 300 and the mounting frame 400 are driven to move vertically upward or downward through the lifting part 200, and the transition component 300 can reset and buffer the movement of the mounting frame 400 in the vertical direction. The detachable connection between the probe 500 and the mounting frame 400 is convenient for replacing probes of different models, thereby improving the flexibility of measurement.

[0059] Key References Figure 2 , 3 , the lifting unit 200 includes:

[0060] The fixed bracket 210 is a rectangular plate-shaped structure, and the rear side of the fixed bracket 210 is fixedly connected to the front side of the robot body 100;

[0061] The housing 220 is a hollow structure, and its rear side is fixedly connected to the front side of the fixing bracket 210;

[0062] The lifting assembly 230, the main body of which is located in the housing 220, and the lifting assembly 230 is a liftable structure;

[0063] The limiting assembly 240, the main body of which is located in the housing 220, the limiting assembly 240 is located on one side of the lifting assembly 230, and the limiting assembly 240 is connected to the lifting assembly 230;

[0064] The fixed bracket 210 serves as a carrier for connecting the shell 220 and the robot body 100. The lifting component 230 can move vertically upward or downward. The limiting component 240 limits the movement of the lifting component 230, so that the lifting component 230 can move more stably in the vertical direction.

[0065] Key References Figure 3 , the lifting assembly 230 includes:

[0066] The motor 231 is fixed on the inner wall of the housing 220;

[0067] The support plate 232 is a rectangular plate structure, which is fixed in the housing 220, and the support plate 232 is located in front of the motor 231;

[0068] The driving gear 233 is located at the front side of the supporting plate 232, and the motor 231 is connected to the driving gear 233, so that the motor 231 can drive the driving gear 233 to rotate;

[0069] The rack 234 is located on one side of the driving gear 233, and the driving gear 233 is meshed with the rack 234;

[0070] The object carrier 235 is fixedly connected to one side of the rack 234, and the object carrier 235 can move along with the rack 234; the object carrier 235 is connected to the limit assembly 240;

[0071] The motor 231 drives the driving gear 233 to rotate, and the driving gear 233 drives the rack 234 to move upward or downward, and the rack 234 drives the object bracket 235 to move upward or downward.

[0072] Key References Figure 3 , 4 , the limiting assembly 240 includes:

[0073] The slide rail 241 is a long plate-shaped structure and is fixed on the support plate 232;

[0074] The stopper 242 is fixed to the lower end of the slide rail 241 , and the upper end of the stopper 242 protrudes from the outer end surface of the slide rail 241 ; the stopper 242 prevents the object carrier 235 from being separated from the slide rail 241 .

[0075] The slider 243 has a groove 2431 in the middle, and the groove 2431 is matched with the slide rail 241. The slider 243 is fixed to the lower part of the object carrier 235. When the slider 243 moves relative to the slide rail 241, the object carrier 235 moves simultaneously with the slider 243.

[0076] Key References Figure 2 , 5 , the transition assembly 300 includes:

[0077] The connecting plate 310 has a rear end fixedly connected to the object carrier 235;

[0078] The pad plate 320 has a main body in the form of a rectangular plate, and the front end of the connecting plate 310 is fixed to the rear end of the pad plate 320; the connecting plate 310 serves to connect the object carrier 235 and the pad plate 320; the object carrier 235 drives the pad plate 320 to move vertically upward or vertically downward through the connecting plate 310.

[0079] The slot block 330 is vertically fixed to the front side of the pad plate 320, and a limiting slot 331 is formed through the slot block 330;

[0080] The lifting plate 340 is a long plate-shaped structure, which matches and passes through the limiting groove 331. The lifting plate 340 can slide relative to the groove block 330; under the action of the limiting groove 331, the lifting plate 340 can move vertically upward or vertically downward relative to the groove block 330.

[0081] The spring 350 has its upper end fixedly connected to the upper end of the lifting plate 340, and its lower end fixedly connected to the lower front side wall of the pad plate 320; specifically, the spring 350 is fixedly connected to the lifting plate 340 and the pad plate 320 respectively by bolts (not shown in the figure); under the action of the spring 350, the lifting plate 340 can move upward or downward relative to the slot block 330 to prevent the lifting plate 340 from being separated from the slot block 330; at the same time, the spring 350 plays a buffering and resetting role, so that the lifting plate 340 can be displaced or reset in the vertical direction according to the force conditions when subjected to external force.

[0082] Key References Figure 2 , the mounting frame 400 comprises:

[0083] The connecting block 410 is fixed to the front side of the lower part of the lifting plate 340; the connecting block 410 is a rectangular plate structure, and is fixedly connected to the lifting plate 340 through the connecting block 410. The connecting block 410 can move in the vertical direction following the lifting plate 340.

[0084] The insert block 420 has its rear side fixedly connected to the front side of the connecting block 410 ; the insert block 420 is fixedly connected to the lifting plate 340 via the connecting block 410 ; the insert block 420 can move vertically upward or vertically downward following the lifting plate 340 .

[0085] The tightening assembly 430 is arranged in the insert block 420; the probe 500 passes through the tightening assembly 430; when in use, the probe 500 can be clamped by the tightening assembly 430, and when the probe 500 needs to be replaced, the tightening assembly 430 can be used to make the probe 500 and the tightening assembly 430 "loose", so that the probe 500 can be replaced in time.

[0086] One end of the knob 440 extends deep into the plug block 420, and the knob 440 is connected to the tightening assembly 430; the knob 440 is rotatable relative to the plug block 420, and the tightness between the tightening assembly 430 and the probe 500 can be controlled by rotating the knob 440, thereby controlling the "tightness" of the probe 500 through the tightening assembly 430.

[0087] Key References Figure 6 The tightening assembly 430 includes:

[0088] The plug hole 431 is a circular hole-shaped structure and is through-opened in the plug block 420;

[0089] The tightening groove 432 is located in front of the insertion hole 431. The tightening groove 432 is a rectangular structure and is connected to the insertion hole 431.

[0090] The tightening block 433 is a rectangular block structure, which is matched and arranged in the tightening groove 432. The tightening block 433 is provided with a concave surface 4331 on one side of the insertion hole 431. The concave surface 4331 is an arc surface. The concave surface 4331 is more conducive to the close contact between the tightening block 433 and the probe 500, and will not cause damage to the outer surface of the probe 500.

[0091] Preferably, a threaded hole 4332 is provided in the middle of the front side of the tightening block 433, and an internal thread is provided on the inner wall of the threaded hole 4332. A knob hole 421 is provided through the front side of the insert block 420, and an internal thread is provided on the inner wall of the knob hole 421. The main body of the knob 440 is an external thread structure, and the main body of the knob 440 is matched with the knob hole 421. The main body of the knob 440 passes through the knob hole 421, and the main body of the knob 440 can be matched and entered into the threaded hole 4332. By rotating the knob 440, one end of the knob 440 pushes the tightening block 433 to move. When the probe 500 needs to be clamped, the knob 440 rotates to move the tightening block 433 toward the direction close to the probe 500. When the probe 500 needs to be loosened, the knob 440 rotates to move the tightening block 433 away from the probe 500.

[0092] Working principle: The fixing bracket 210 is fixedly connected to the front end of the robot body 100;

[0093] The housing 220 is fixedly connected to the fixing bracket 210, and the lifting assembly 230 is installed in the housing 220. Meanwhile, the lifting assembly 230 is fixedly connected to the transition assembly 300, and the transition assembly 300 is fixedly connected to the mounting frame 400;

[0094] Insert the probe 500 into the insertion hole 431, and control the tightening block 433 to move in the insertion hole 431 by the knob 440, so that the concave surface 4331 of the tightening block 433 presses the outer surface of the probe 500, so that the probe 500 is fixed in the insertion hole 431;

[0095] The probe 500 is controlled to move upward or downward by the lifting assembly 230, and the probe 500 performs a detection operation as the robot body 100 moves;

[0096] When it is necessary to replace the probe 500 of a different type, the probe 500 can be pulled out by controlling the tightness of the tightening block 433 through the knob 440, and the probe 500 can be replaced.

Claims

1. A crawling robot lifting mechanism, characterized in that: include: Robot body (100); A lifting part (200), the rear side of which is fixedly connected to the front side of the robot body (100); A transition assembly (300) is located in front of the lifting portion (200), and the transition assembly (300) is fixedly connected to the lifting portion (200); A mounting frame (400), the rear side of which is fixedly connected to the front side of the transition assembly (300), the mounting frame (400) is fixedly connected to the lifting part (200) via the transition assembly (300), and the probe is detachably connected to the mounting frame (400); The lifting part (200) comprises: A fixed bracket (210), the rear side of which is fixedly connected to the front side of the robot body (100); The housing (220) has a rear side fixedly connected to the front side of the fixing bracket (210); A lifting assembly (230), the main body of which is located in the housing (220); A limiting component (240), the main body of which is located in the housing (220), the limiting component (240) is located on one side of the lifting component (230), and the limiting component (240) is connected to the lifting component (230); The transition assembly (300) comprises: A connecting plate (310), the rear end of which is fixedly connected to the object carrier (235); A spacer plate (320), the front end of the connecting plate (310) is fixed to the rear end of the spacer plate (320); The slot block (330) is vertically fixed to the front side of the cushion plate (320), and a limiting slot (331) is formed through the slot block (330); A lifting plate (340) is matched and passed through the limiting groove (331); A spring (350), the upper end of which is fixedly connected to the upper end of the lifting plate (340), and the lower end of the spring (350) is fixedly connected to the lower front side wall of the cushion plate (320); The mounting frame (400) comprises: A connecting block (410) is fixed to the lower front side of the lifting plate (340); The insert block (420) has a rear side fixedly connected to the front side of the connecting block (410); A tightening assembly (430) is disposed in the insert block (420); One end of the knob (440) is inserted into the insert block (420), and the knob (440) is connected to the tightening assembly (430).

2. The crawling robot lifting mechanism according to claim 1, characterized in that: The tightening assembly (430) comprises: The insertion hole (431) is formed through the insertion block (420); A tightening groove (432) is located at the front side of the insertion hole (431), and the tightening groove (432) is communicated with the insertion hole (431); The tightening block (433) is matched and arranged in the tightening groove (432). A concave surface (4331) is arranged on one side of the tightening block (433) close to the insertion hole (431), and the concave surface (4331) is an arc-shaped surface.

3. The crawling robot lifting mechanism according to claim 2, characterized in that: The lifting assembly (230) comprises: A motor (231) is fixed on the inner wall of the housing (220); A support plate (232) is fixed in the housing (220), and the support plate (232) is located in front of the motor (231); A driving gear (233) is located at the front side of the supporting plate (232), and the motor (231) is connected to the driving gear (233); A rack (234) is located on one side of the driving gear (233), and the driving gear (233) is meshed with the rack (234); The object carrier (235) is fixedly connected to one side of the rack (234), and the object carrier (235) is connected to the limiting assembly (240).

4. The crawling robot lifting mechanism according to claim 3, characterized in that: The limiting component (240) comprises: Slide rail (241); A stopper (242) is fixed to the lower end of the slide rail (241), and the upper end of the stopper (242) protrudes from the outer end surface of the slide rail (241); The slider (243) has a groove (2431) at the middle position, the groove (2431) is matched with the slide rail (241), and the slider (243) is fixed to the lower part of the object carrier (235).

5. The crawling robot lifting mechanism according to claim 4, characterized in that: A threaded hole (4332) is provided at the middle position of the front side of the tightening block (433), a knob hole (421) is provided through the front side of the insert block (420), a main body of the knob (440) passes through the knob hole (421), and the main body of the knob (440) matches and enters into the threaded hole (4332).

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