Multifunctional automatic climbing robot

Abstract

The multifunctional automatic climbing robot is compact in structure, consistent in pace, high in climbing efficiency and suitable for various climbing environments. The device comprises an upper driving mechanism and a lower driving mechanism, the upper driving mechanism and the lower driving mechanism are symmetrically arranged, connected and matched, the upper driving mechanism and the lower driving mechanism are each provided with a driving motor and a plurality of sets of guide wheels, and the guide wheels are in transmission fit with driven gears. An output shaft of the driving motor is in transmission connection with a driving gear, the driving gear is in transmission fit with the driven gear, and the guide wheel of the upper driving mechanism and the guide wheel of the lower driving mechanism are symmetrically arranged and are in clamping fit with a rope. The robot is applied to the technical field of robots.

Description

Technical Field

[0001] The utility model is applied to the technical field of robots, and particularly relates to a multifunctional automatic climbing robot. Background Art

[0002] In the industrial production process, large equipment is needed to transport and transfer products. During the transportation process, due to the heavy weight of the raw materials of the products, steel wire ropes with high hardness and toughness are usually used to pull the products. During long-term use, the steel wire ropes are prone to metal fatigue or wear under different forces and different environments. The general damage of steel wire ropes is manifested as wear, fatigue and corrosion of the steel wire ropes. In particular, the steel wire ropes operating in ports, mines, coal mines and other areas are in relatively harsh environments with humid air and high dust, which causes corrosion of the steel wire ropes. Therefore, the steel wire ropes need to be lubricated and maintained to ensure uniform force between the steel wires of the steel wire ropes, increase the service life of the steel wire ropes, and avoid accidents caused by wire rope jamming or breakage.

[0003] However, currently, manual brushing or oil spraying is mainly used to lubricate wire ropes. The manual construction cost is high, it takes a lot of time, it is difficult to ensure that the wire ropes are fully lubricated and maintained, and there are safety hazards.

[0004] For example, Chinese patent publication number CN210525110U discloses a rope fast climbing robot, which uses a winding body to spiral and move, can effectively cross raised or recessed obstacles on ropes or rod-like objects, and can adapt to the fast climbing of ropes of various diameters and rods with a certain roughness. However, its movement is relatively difficult, the climbing efficiency is slow, and uncoordinated movements are prone to occur. Therefore, it is necessary to provide a multifunctional automatic climbing robot with a compact structure, consistent pace, fast climbing efficiency, and suitable for a variety of climbing environments. Utility Model Content

[0005] The technical problem to be solved by the utility model is to overcome the deficiencies of the prior art and provide a multifunctional automatic climbing robot with a compact structure, consistent steps, high climbing efficiency, and applicability to a variety of climbing environments.

[0006] The technical solution adopted by the utility model is as follows: the utility model includes an upper drive mechanism and a lower drive mechanism, the upper drive mechanism and the lower drive mechanism are symmetrically arranged and connected, the upper drive mechanism and the lower drive mechanism are both provided with a drive motor and a plurality of guide wheels, the guide wheels are driven and matched with driven gears, the output shaft of the drive motor is driven and connected with a driving gear, the driving gear is driven and matched with the driven gear, the guide wheels of the upper drive mechanism and the guide wheels of the lower drive mechanism are symmetrically arranged and clamped with the rope.

[0007] It can be seen from the above scheme that the present application adopts a paired drive mechanism, two sets of guide wheels are clamped with ropes, the drive motor serves as the power source of the upper drive mechanism and the lower drive mechanism, realizes crawling wire rope, the crawling speed is adjustable from 0.2 to 2 m / s, and the structure is compact. The upper drive mechanism and the lower drive mechanism are symmetrically arranged and connected to ensure consistent crawling pace and fast climbing efficiency, which is suitable for a variety of climbing environments.

[0008] A preferred solution is that the upper drive mechanism and the lower drive mechanism are both provided with two groups of guide wheels and two groups of driven gears, the two groups of guide wheels are arranged at the inner bottom of the cover body, and the two groups of driven gears are symmetrically arranged at the left and right ends of the driving gear, and the driven gears are engaged with the tooth holes of the driving gear.

[0009] A preferred solution is that a number of bolts are provided on both sides of the upper driving mechanism and both sides of the lower driving mechanism, and the upper driving mechanism is connected to the lower driving mechanism through the bolts, and the bolts include a screw and a nut, and the screw is provided with scale lines, and the scale lines are evenly distributed along the axial direction of the screw, and the nut cooperates with the screw thread.

[0010] A preferred solution is that a connecting piece is provided at the same end of the upper driving mechanism and the lower driving mechanism, and the external working module is pulled and matched with the upper driving mechanism and the lower driving mechanism through the connecting piece.

[0011] A preferred solution is that handles are provided on the top of the upper driving mechanism and the bottom of the lower driving mechanism.

[0012] A preferred solution is that the guide wheel is a U-shaped structure, and the rope is located in a groove of the U-shaped structure. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] Figure 1 It is a three-dimensional structural diagram of the utility model;

[0014] Figure 2 It is a structural diagram of the interior of the utility model;

[0015] Figure 3 is a structural diagram of the guide wheel, the driven gear, and the driving gear;

[0016] Figure 4 This is a three-dimensional structural diagram of the utility model when it is working;

[0017] Figure 5 It is a three-dimensional structural diagram of the bolt. DETAILED DESCRIPTION

[0018] like Figures 1 to 5As shown, in this embodiment, the utility model includes an upper drive mechanism 1 and a lower drive mechanism 2, the upper drive mechanism 1 and the lower drive mechanism 2 are symmetrically arranged and connected, the upper drive mechanism 1 and the lower drive mechanism 2 are both provided with a drive motor 3 and several groups of guide wheels 4, the guide wheels 4 are driven and matched with driven gears 5, the output shaft of the drive motor 3 is driven and connected with a driving gear 6, the driving gear 6 is driven and matched with the driven gear 5, the guide wheels of the upper drive mechanism 1 and the guide wheels of the lower drive mechanism 2 are symmetrically arranged and clamped with the rope.

[0019] The driving motor 3 drives the driving gear 6 to rotate, and the driving gear 6 is in transmission cooperation with the driven gear 5. The driven gear 5 drives the guide wheel 4 to rotate, and the guide wheel 4 rolls forward along the rope, thereby realizing automatic climbing. A paired driving mechanism is adopted, and two groups of guide wheels 4 are clamped and cooperated with the rope to ensure consistent crawling pace and fast climbing efficiency. It is suitable for a variety of climbing environments and maintains consistent locking force in the four positions.

[0020] like Figures 1 to 3 As shown, in this embodiment, both the upper drive mechanism 1 and the lower drive mechanism 2 are equipped with two sets of guide wheels 4 and two sets of driven gears 5. The two sets of guide wheels 4 are located on the inner bottom of the cover, and the two sets of driven gears 5 are symmetrically arranged on the left and right ends of the driving gear 6. The driven gears 5 engage with the tooth holes of the driving gear 6. One set of driving gear 6 drives the two sets of driven gears 5 to rotate, and the four sets of guide wheels 4 are driven synchronously along the rope, which helps to improve climbing speed and ensure climbing stability.

[0021] like Figures 1 to 5 As shown, in this embodiment, a plurality of bolts 7 are provided on both sides of the upper driving mechanism 1 and both sides of the lower driving mechanism 2. The upper driving mechanism 1 is connected to the lower driving mechanism 2 through the bolts 7. The bolts 7 include a screw rod 8 and a nut 10. The screw rod 8 is provided with scale lines 11. The scale lines 11 are evenly distributed along the axial direction of the screw rod 8. The nut 10 is threadedly engaged with the screw rod 8.

[0022] The scale line 11 can intuitively and accurately display the tightening degree or installation position of the bolt 7, avoiding errors caused by operation based on experience alone, thereby improving the assembly accuracy and ensuring the stability of the connection between the upper drive mechanism 1 and the lower drive mechanism 2, so that the guide wheel 4 is driven synchronously along the rope to maintain consistent locking force at the four positions.

[0023] like Figures 1 to 4As shown, in this embodiment, a connector 12 is provided at the same end of the upper drive mechanism 1 and the lower drive mechanism 2, and the external working module is pulled and coordinated with the upper drive mechanism 1 and the lower drive mechanism 2 through the connector 12. The external working module includes a coating module. The upper drive mechanism 1 and the lower drive mechanism 2 both serve as walking modules. The coating module adopts a seal and a brush structure so that the surface grease is evenly coated on the surface of the wire rope. The walking module is divided into two parts, upper and lower, and is locked with four scaled bolts to maintain the same locking force at the four positions. The walking module is controlled by a remote control to climb upward. After reaching the top, the lubrication pump is turned on to start oil supply. The walking module is controlled by the remote control to move in the reverse direction. The coating module coats a certain thickness of surface grease on the surface of the wire rope, and the wire rope is lubricated and maintained. After the coating is completed, the upper drive mechanism 1 and the lower drive mechanism 2 are removed.

[0024] like Figures 1 to 4 As shown, in this embodiment, the top of the upper drive mechanism 1 and the bottom of the lower drive mechanism 2 are both provided with handles 13. The handles 13 are used to facilitate the staff to carry the top of the upper drive mechanism 1 and the lower drive mechanism 2.

[0025] like Figures 1 to 3 As shown, in this embodiment, the guide wheel 4 is a U-shaped structure, and the rope is located in the groove of the U-shaped structure, ensuring that the rope is stuck in the groove of the guide wheel 4 to prevent the guide wheel 4 from slipping and shifting.

[0026] Although the embodiments of the present invention are described with practical solutions, they do not limit the meaning of the present invention. For those skilled in the art, it is obvious to modify the implementation scheme and combine it with other solutions based on this description.

Claims

1. A multifunctional automatic climbing robot, comprising an upper drive mechanism (1) and a lower drive mechanism (2) connected and matched, characterized in that: The upper drive mechanism (1) and the lower drive mechanism (2) are symmetrically arranged. The upper drive mechanism (1) and the lower drive mechanism (2) are both provided with a drive motor (3) and a plurality of guide wheels (4). The guide wheels (4) are driven and matched with driven gears (5). The output shaft of the drive motor (3) is driven and connected with a driving gear (6). The driving gear (6) is driven and matched with the driven gear (5). The guide wheels of the upper drive mechanism (1) and the guide wheels of the lower drive mechanism (2) are symmetrical. The upper drive mechanism (1) and the lower drive mechanism (2) are provided with a plurality of bolts (7), and the upper drive mechanism (1) is connected to the lower drive mechanism (2) through the bolts (7). The bolts (7) include a screw rod (8) and a nut (10). The screw rod (8) is provided with scale lines (11), and the scale lines (11) are evenly distributed along the axial direction of the screw rod (8). The nut (10) is threadedly matched with the screw rod (8).

2. The multifunctional automatic climbing robot according to claim 1, characterized in that: The upper drive mechanism (1) and the lower drive mechanism (2) are both provided with two sets of guide wheels (4) and two sets of driven gears (5), the two sets of guide wheels (4) being provided at the inner bottom of the cover body, the two sets of driven gears (5) being symmetrically provided at the left and right ends of the driving gear (6), and the driven gears (5) being engaged with the tooth holes of the driving gear (6).

3. The multifunctional automatic climbing robot according to claim 1, characterized in that: The upper drive mechanism (1) and the lower drive mechanism (2) are both provided with a connecting piece (12), and the external working module is pulled and matched with the upper drive mechanism (1) and the lower drive mechanism (2) via the connecting piece (12).

4. The multifunctional automatic climbing robot according to claim 1, characterized in that: The top of the upper drive mechanism (1) and the bottom of the lower drive mechanism (2) are both provided with handles (13).

5. The multifunctional automatic climbing robot according to claim 1, characterized in that: The guide wheel (4) is a U-shaped structure, and the rope is located in a groove of the U-shaped structure.

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