A walking structure and robot

Abstract

The utility model discloses a walking structure and a robot, which relate to the field of robot technology, wherein the walking structure comprises: a frame; a left clamping assembly and a right clamping assembly arranged on the frame, the left clamping assembly and the right clamping assembly are arranged opposite to each other to form a clamping space; a driving assembly arranged on the frame, the driving assembly is connected with the left clamping assembly and the right clamping assembly to change the distance between the two; and a control wheel arranged on the frame. The walking structure of the utility model is used for a cylinder structure with a changeable diameter, can be clamped on the cylinder structure, and can walk on the cylinder structure.

Description

Technical Field

[0001] The utility model relates to the technical field of robots, in particular to a walking structure. Background Art

[0002] The wind turbine tower (abbreviated as wind turbine tower) is one of the important components of a wind turbine. With the increase of service life, the surface of the wind turbine tower will be damaged, such as cracks, breakage, scratches or foreign objects, so it is necessary to regularly inspect the surface of the wind turbine tower.

[0003] In view of this, this utility model is proposed. Utility Model Content

[0004] The purpose of the utility model is to solve the shortcomings existing in the prior art, and a walking structure is proposed, which is used for a cylinder structure with a changed diameter. The cylinder structure can be clamped on the cylinder structure and can walk on the cylinder structure. Based on the walking structure, a robot is also proposed for detecting the surface of a wind turbine tower.

[0005] In order to achieve the above purpose, the utility model adopts the following technical solutions:

[0006] A walking structure, comprising:

[0007] frame;

[0008] A left clamping assembly and a right clamping assembly are arranged on the frame, and the left clamping assembly and the right clamping assembly are arranged opposite to each other to form a clamping space;

[0009] A driving assembly disposed on the frame, the driving assembly being connected to the left clamping assembly and the right clamping assembly to change the distance between the two; and

[0010] A control wheel is arranged on the frame.

[0011] Furthermore, the left clamping assembly and the right clamping assembly are arc-shaped clamping assemblies.

[0012] Further, the left clamping assembly and the right clamping assembly include:

[0013] Rotating an adaptive clamping plate connected to the frame;

[0014] A universal wheel disposed at the outer end of the adaptive splint; and

[0015] A magnet is disposed at the outer end of the adaptive clamping plate.

[0016] Furthermore, the universal wheel comprises:

[0017] A first universal wheel fixedly connected to the adaptive clamping plate; and

[0018] Rotating a second universal wheel connected to the adaptive clamping plate;

[0019] Wherein, the first universal wheel and the second universal wheel are located at two ends of the magnet.

[0020] Furthermore, the adaptive splint is an arc-shaped splint.

[0021] Further, the adaptive splint comprises:

[0022] Upper adaptive cleat; and,

[0023] Lower adaptive cleat;

[0024] Wherein, the universal wheel and the magnet are arranged between the upper adaptive clamping plate and the lower adaptive clamping plate.

[0025] Further, the driving assembly comprises:

[0026] rotating an adaptive wheel connected to the adaptive clamping plate; and,

[0027] An adaptive push rod is slidably connected to the frame, both sides of the front end of the adaptive push rod are arc-shaped, and the front end of the adaptive push rod is respectively in contact with the two adaptive wheels.

[0028] Furthermore, the driving assembly further comprises:

[0029] a gear disposed on the frame; and

[0030] A rack is arranged at the rear end of the adaptive push rod, and the gear is meshed with the rack.

[0031] Furthermore, the control wheel is a rotatable control wheel.

[0032] A robot, comprising: a detection probe and a control panel, the two being electrically connected, and further comprising:

[0033] A walking structure, wherein the walking structure is any one of the walking structures provided by the utility model, and the detection probe is arranged on the frame and faces the clamping space.

[0034] Compared with the prior art, the utility model has the following beneficial effects:

[0035] 1. The cylinder structure is located in the clamping space, that is, the left clamping assembly and the right clamping assembly are clamped outside the cylinder structure, so that the walking structure is attached to the outside of the cylinder structure.

[0036] 2. When the left clamping assembly and the right clamping assembly clamp the cylinder structure, the control wheel contacts the cylinder structure, and the control wheel rotates to drive the walking structure to walk on the cylinder structure.

[0037] 3. When the walking structure walks on the cylinder structure, the driving assembly changes the distance between the left clamping assembly and the right clamping assembly so that the clamping space can adapt to the change in the diameter of the cylinder structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0038] Figure 1 The figure is a structural diagram of a robot;

[0039] Figure 2 for Figure 1 The enlarged view of point A in the middle;

[0040] Figure 3 A top view of a robot;

[0041] Figure 4 for Figure 3 The enlarged view of point B in the middle;

[0042] Figure 5 It is a right side view of a robot;

[0043] Figure 6 This is a rear view of a robot (partial structure).

[0044] In the figure:

[0045] 1-frame, 101-upper clamping plate, 102-lower clamping plate;

[0046] 2-left clamping assembly, 201-magnet, 202-universal wheel mounting frame, 203-first universal wheel, 204-second universal wheel, 205-reduction motor, 206-upper adaptive clamping plate, 207-lower adaptive clamping plate;

[0047] 3-right clamping assembly;

[0048] 4-driving assembly, 401-adaptive wheel, 402-adaptive push rod, 403-front end of the adaptive push rod, 404-gear, 405-rack, 406-reduction motor;

[0049] 5- Control wheel;

[0050] 6-tube structure;

[0051] 7-Detection probe;

[0052] 8- Control panel. DETAILED DESCRIPTION

[0053] 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 of the embodiments.

[0054] Embodiment 1:

[0055] A walking structure, such as Figure 1-6 As shown, it includes: a frame 1; a left clamping component 2 and a right clamping component 3 arranged on the frame 1, the left clamping component 2 and the right clamping component 3 are arranged opposite to each other to form a clamping space; a driving component 4 arranged on the frame 1, the driving component 4 is connected to the left clamping component 2 and the right clamping component 3, and is used to change the distance between the two; and a control wheel 5 arranged on the frame 1.

[0056] The walking structure of this embodiment is used for a vertical wind turbine tower, and the diameter of the wind turbine tower gradually decreases from bottom to top; in addition, the walking mechanism of this embodiment can also be used for a tube structure 6 with other directions and changing diameters, such as a horizontal tube structure 6.

[0057] When the walking structure of this embodiment is in use, on the one hand, the tube structure 6 is located in the clamping space, that is, the left clamping component 2 and the right clamping component 3 are clamped outside the tube structure 6, so that the walking structure is attached to the outside of the tube structure 6; on the other hand, while the left clamping component 2 and the right clamping component 3 clamp the tube structure 6, the control wheel 5 is in contact with the tube structure 6, and the control wheel 5 rotates to drive the walking structure to walk on the tube structure 6; on the other hand, when the walking structure walks on the tube structure 6, the driving component 4 changes the distance between the left clamping component 2 and the right clamping component 3, so that the clamping space can adapt to the change in the diameter of the tube structure 6.

[0058] In a specific implementation, the frame 1 may include an upper clamping plate 101 and a lower clamping plate 102, the left clamping assembly 2, the right clamping assembly 3 and the driving assembly 4 are arranged between the upper clamping plate 101 and the lower clamping plate 102, and the control wheel 5 is arranged on the lower surface of the lower clamping plate 102. The left clamping assembly 2, the right clamping assembly 3 and the driving assembly 4 are arranged between the upper clamping plate 101 and the lower clamping plate 102 to ensure the stability of the installation of the three; the control wheel 5 is arranged on the lower surface of the lower clamping plate 102 to make the structure more reasonable. In addition, two left and right control wheels 5 can be provided to ensure the stability of the walking structure.

[0059] In an optional embodiment, the left clamping assembly 2 and the right clamping assembly 3 are arc-shaped clamping assemblies.

[0060] In this optional embodiment, the left clamping assembly 2 and the right clamping assembly 3 are arc-shaped clamping assemblies, so that the two can better fit the cylinder structure 6 with a circular cross-section.

[0061] In an optional embodiment, the left clamping assembly 2 and the right clamping assembly 3 include: an adaptive clamping plate rotatably connected to the frame 1; a universal wheel disposed at the outer end of the adaptive clamping plate; and a magnet 201 disposed at the outer end of the adaptive clamping plate.

[0062] In this optional embodiment, the left clamping assembly 2 and the right clamping assembly 3 have the same structure, and both include: the adaptive clamping plate, the universal wheel and the magnet 201.

[0063] In this optional embodiment, the adaptive clamp provides an installation base, and the adaptive clamp can be rotatably connected to the frame 1 via a bearing, that is, the adaptive clamp can rotate around its installation point on the frame 1; the universal wheel can reduce the friction between the left clamping assembly 2 and the right clamping assembly 3 and the cylinder structure 6, so as to facilitate the walking structure to walk on the cylinder structure 6. In specific implementation, the universal wheel can be installed on the adaptive plate through the universal wheel mounting frame 202; the magnet 201 can clamp the left clamping assembly 2 and the right clamping assembly 3 outside the cylinder structure 6. In specific implementation, the magnet 201 can be directly fixedly installed on the adaptive plate. In addition, the magnet 201 can be configured as an electromagnet 201.

[0064] In this optional embodiment, the friction force of the walking structure when walking and the clamping force when clamped on the barrel structure 6 are coordinated through the universal wheel and the magnet 201.

[0065] In this optional embodiment, the outer end of the adaptive clamping plate refers to the end thereof away from the frame 1 , and at the same time, the inner end of the adaptive clamping plate refers to the end thereof close to the frame 1 .

[0066] In an optional embodiment, the universal wheel includes: a first universal wheel 203 fixedly connected to the adaptive splint; and a second universal wheel 204 rotatably connected to the adaptive splint; wherein the first universal wheel 203 and the second universal wheel 204 are located at both ends of the magnet 201.

[0067] In this optional embodiment, the first universal wheel 203 that is fixedly connected and the second universal wheel 204 that is rotatably connected can make the left clamping assembly 2 and the right clamping assembly 3 better fit the barrel structure 6, and prevent the adaptive clamping plate from colliding with the barrel structure 6. In addition, a reduction motor 205 can be provided to drive the second universal wheel 204 to rotate, so that it can better fit the surface of the barrel structure 6.

[0068] In an optional embodiment, the adaptive splint is an arc-shaped splint.

[0069] In this optional embodiment, the adaptive clamp is an arc-shaped clamp, which can make the first universal wheel 203, the magnet 201 and the second universal wheel 204 distributed in an arc shape, further making the left clamping assembly 2 and the right clamping assembly 3 fit better in the tube structure 6.

[0070] In an optional embodiment, the adaptive clamping plate includes: an upper adaptive clamping plate 206 ; and a lower adaptive clamping plate 207 ; wherein the universal wheel and the magnet 201 are disposed between the upper adaptive clamping plate 206 and the lower adaptive clamping plate 207 .

[0071] In this optional embodiment, the universal wheel and the magnet 201 are arranged between the upper adaptive clamping plate 206 and the lower adaptive clamping plate 207, so as to ensure the stability of the installation of the three.

[0072] In an optional embodiment, the driving assembly 4 includes: an adaptive wheel 401 rotatably connected to the adaptive clamp; and an adaptive push rod 402 slidably connected to the frame 1, the two sides of the front end 403 of the adaptive push rod are arc-shaped, and the front end 403 of the adaptive push rod is in contact with the two adaptive wheels 401 respectively.

[0073] In this optional embodiment, when the distance between the left clamping assembly 2 and the right clamping assembly 3 needs to be increased, the adaptive push rod 402 moves downward, and the left side surface of the front end of the adaptive push rod 402 contacts the adaptive wheel 401 connected to the left clamping assembly 2, driving the adaptive wheel 401 to rotate clockwise and revolve clockwise (the center of its revolution is the connection point between the adaptive clamping plate of the left clamping assembly 2 and the frame 1), thereby driving the outer end of the left clamping assembly 2 to move leftward; at the same time, the right side surface of the front end of the adaptive push rod 402 contacts the adaptive wheel 401 connected to the right clamping assembly, and drives the outer end of the right clamping assembly 3 to move rightward through the adaptive wheel 401; in summary, the distance between the left clamping assembly 2 and the right clamping assembly 3 is increased.

[0074] In this optional embodiment, when it is necessary to increase the distance between the left clamping assembly 2 and the right clamping assembly 3, the adaptive push rod 402 moves upward, driving the outer end of the left clamping assembly 2 to move to the right, and driving the outer end of the right clamping assembly 3 to move to the left, thereby reducing the distance between the left clamping assembly 2 and the right clamping assembly 3.

[0075] In this optional embodiment, the outer ends of the left clamping assembly 2 and the right clamping assembly 3 refer to the ends of the two that are away from the frame 1, and at the same time, the inner ends of the left clamping assembly 2 and the right clamping assembly 3 refer to the ends of the two that are away from the frame 1; in specific implementation, in order to facilitate the rotation of the left clamping assembly 2 and the right clamping assembly 3, the adaptive wheel 401 can be rotatably connected to the inner end of the adaptive splint, and the adaptive splint can be rotatably connected to the frame 1 near the inner end.

[0076] In this optional embodiment, up, down, left, and right are represented by Figure 3 direction as the reference.

[0077] In an optional embodiment, the driving assembly 4 further includes: a gear 404 disposed on the frame 1; and a rack 405 disposed on the rear end of the adaptive push rod 402, and the gear 404 is meshed with the rack 405.

[0078] In this optional embodiment, when the gear 404 rotates, the adaptive push rod 402 is driven to move through the rack 405. In specific implementation, the gear 404 can be driven to rotate by the reduction motor 406, and the adaptive push rod 402 can be slidably connected to the frame 1 through the slide rail structure.

[0079] In an optional embodiment, the control wheel 5 is a rotatable control wheel 5 .

[0080] In this optional embodiment, the walking direction of the walking structure is changed by rotating the direction of the control wheel 5, such as walking along the cylinder structure 6, or walking around the cylinder structure 6, such as walking along the cylinder structure 6, or walking around the cylinder structure 6. In specific implementation, the rotation of the control wheel 5 can be achieved by using the technology of rotating automobile wheels or other existing technologies, and the control wheel 5 can be driven to rotate by a reduction motor, which is not limited here.

[0081] Embodiment 2:

[0082] A robot, such as Figure 1 and 6 As shown, it includes: a detection probe 7 and a control panel 8, which are electrically connected, and also includes: a walking structure, which is any walking structure described in Example 1, and the detection probe 7 is arranged on the frame 1 and faces the clamping space.

[0083] In this optional embodiment, the detection probe 7 can adopt existing technology probes such as ultrasonic waves, radar waves, etc. in the prior art, and the data acquisition and storage of the detection probe 7 can adopt the single-chip microcomputer basis in the prior art, which is not limited here.

[0084] The above is only a preferred specific implementation method of the utility model, but the protection scope of the utility model is not limited to this. Any technician familiar with the technical field within the technical scope disclosed by the utility model can make equivalent replacements or changes based on the technical scheme and utility model concept of the utility model, which should be covered by the protection scope of the utility model.

Claims

1. A walking structure, characterized in that: include: frame; A left clamping assembly and a right clamping assembly are arranged on the frame, and the left clamping assembly and the right clamping assembly are arranged opposite to each other to form a clamping space; A driving assembly disposed on the frame, the driving assembly being connected to the left clamping assembly and the right clamping assembly to change the distance between the two; and A control wheel is arranged on the frame.

2. A walking structure according to claim 1, characterized in that: The left clamping assembly and the right clamping assembly are arc-shaped clamping assemblies.

3. A walking structure according to claim 1 or 2, characterized in that: The left clamping assembly and the right clamping assembly include: Rotating an adaptive clamping plate connected to the frame; A universal wheel disposed at the outer end of the adaptive splint; and A magnet is disposed at the outer end of the adaptive clamping plate.

4. A walking structure according to claim 3, characterized in that: The universal wheel comprises: A first universal wheel fixedly connected to the adaptive clamping plate; and Rotating a second universal wheel connected to the adaptive clamping plate; Wherein, the first universal wheel and the second universal wheel are located at two ends of the magnet.

5. A walking structure according to claim 4, characterized in that: The adaptive splint is an arc-shaped splint.

6. A walking structure according to claim 3, characterized in that: The adaptive splint comprises: Upper adaptive cleat; and, Lower adaptive cleat; Wherein, the universal wheel and the magnet are arranged between the upper adaptive clamping plate and the lower adaptive clamping plate.

7. A walking structure according to claim 3, characterized in that: The drive assembly comprises: rotating an adaptive wheel connected to the adaptive clamping plate; and, An adaptive push rod is slidably connected to the frame, both sides of the front end of the adaptive push rod are arc-shaped, and the front end of the adaptive push rod is respectively in contact with the two adaptive wheels.

8. A walking structure according to claim 7, characterized in that: The drive assembly also includes: a gear disposed on the frame; and A rack is arranged at the rear end of the adaptive push rod, and the gear is meshed with the rack.

9. A walking structure according to claim 1, characterized in that: The control wheel is a rotatable control wheel.

10. A robot comprising: The detection probe and the control panel are electrically connected, and are characterized in that they also include: A walking structure, wherein the walking structure is the walking structure described in any one of claims 1 to 9, and the detection probe is arranged on the frame and faces the clamping space.

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