CN218266194U - Air-suction type fan tower cylinder climbing robot dog - Google Patents
Air-suction type fan tower cylinder climbing robot dog Download PDFInfo
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- CN218266194U CN218266194U CN202222485019.2U CN202222485019U CN218266194U CN 218266194 U CN218266194 U CN 218266194U CN 202222485019 U CN202222485019 U CN 202222485019U CN 218266194 U CN218266194 U CN 218266194U
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
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- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
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- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The utility model discloses an air-suction type fan tower cylinder climbing robot dog, relating to the technical field of wind power generation high-altitude operation equipment; the robot comprises a machine body frame, four legs and a driving device, wherein each leg comprises a thigh, a shank and a foot which are sequentially connected, the machine body frame is connected with each thigh, the driving device is arranged on the machine body frame, the driving device is connected with each leg, the robot further comprises a controller, a vacuum pump and a control pipeline, the controller and the vacuum pump are arranged on the machine body frame, the feet are suckers, the control pipeline comprises a pipeline and electromagnetic valves arranged on the pipeline, one end of the pipeline is communicated with the vacuum pump, the other end of the pipeline is communicated with the suckers, and the controller is respectively electrically connected with the driving device and the electromagnetic valves; it realizes that the machine dog can climb a wind generating set tower section of thick bamboo through controller, vacuum pump, control pipeline and sucking disc etc..
Description
Technical Field
The utility model relates to a wind power generation aerial work equipment technical field especially relates to an air-suction type fan tower section of thick bamboo climbing machine dog.
Background
At present, the tower barrel of the wind generating set is usually maintained in a hanging basket or spider man mode, the high-altitude operation is accompanied by extremely high risk coefficient, and particularly, the probability of safety accidents is probably increased under the environments of gusts, thunderstorms, burning sun and the like.
At present, the personnel work high above the ground on the outer wall of the fan tower cylinder:
1. high risk coefficient and great falling injury.
2. Long-term work high above the ground can cause fatigue and danger.
3. Sudden weather can cause a hazard to people, such as sudden thunderstorms, gusts of wind, etc.
The authorization bulletin number is CN 104554510B, which is named as bionic machine dog with flexible structure. Including the fuselage frame, flexible back, four legs, the head, the neck, afterbody and drive arrangement, four legs all include the thigh, shank and foot, the top of the thigh of four legs is connected with the both sides of preceding frame and rear frame respectively, the bottom of neck and the front end of preceding frame, all adopt articulated connection between thigh bottom and shank top and the shank bottom and the foot, the head is connected with the neck top, the afterbody top is connected with the rear frame rear end, the rear end of preceding frame and the front end of rear frame are connected respectively to the both ends of flexible back, drive arrangement includes array motor and drive mechanism, the motor passes through drive mechanism and drives the thigh, the shank, the foot, the head, neck and afterbody accomplish certain action, flexible back is flexible connecting piece, four legs all are equipped with the flexible part, the motion form is various, the flexible construction can absorb impact and transfer energy, improve the motion flexibility.
The name of the authorization notice is CN 106828653B, which is a wireless control pneumatic bionic crawling robot dog. The support is divided into a left structure and a right structure which are completely the same; the bracket adopts a double-layer plate body frame structure, an electromagnetic directional valve is arranged between the two layers of plate bodies, and the two layers of plate bodies are connected up and down by using connecting rods; the two brackets are movably connected through a connecting piece; the steering unit is arranged on the same side of the upper plates of the two supports; a thigh cylinder A and a thigh cylinder B are fixedly arranged at the bottom of a lower plate of the bracket in parallel, the movable end of the thigh cylinder A is connected with a shank cylinder A, the shank cylinder A and the thigh cylinder A are in a vertical state, and a sole A is vertically fixedly connected to the bottom of the shank cylinder A; the movable end of the thigh cylinder B is connected with the shank cylinder B, the shank cylinder B and the thigh cylinder B are in a vertical state, and the bottom of the shank cylinder B is vertically and fixedly connected with the sole B. Has the advantages of simple structure, high utilization rate, convenient steering and the like.
The name of the authorized bulletin number is CN 107596698B, and the system is an intelligent bionic machine dog control system and an implementation method. The control system includes: the voice interaction module, the dual-core processor module, APP control module, the bluetooth module, infrared vision module, gesture detection module, touch detection module, the audio output module, eyes display module and motion control module, voice interaction module carries out the adoption of eigenvalue through specific extraction algorithm with corresponding sound receiving user's voice, carry out corresponding matching with the voice mode storehouse that exists with the sound eigenvalue that extracts, get into corresponding mode matching algorithm matching and go out corresponding identification result after according to the speech that sets up in advance and control command's corresponding relation, carry out corresponding action in the motion control mode, control intelligent bionic machine dog carries out various movements, the music broadcast, intelligence is fed, dance and carry out voice interaction with the user according to the music, make intelligent bionic machine dog make different emotional reactions according to corresponding discernment.
Combining the above three patent documents and the prior art, the inventors have analyzed and found that the following technical problems exist in the prior art.
The machine dog among the prior art scheme can not climb wind generating set's tower section of thick bamboo.
Problems with the prior art and considerations:
how to solve the technical problem that the machine dog can not climb the tower of the wind generating set.
SUMMERY OF THE UTILITY MODEL
The utility model aims to solve the technical problem that a technical problem that an air-suction type fan tower section of thick bamboo climbing machine dog, the solution is provided.
In order to solve the technical problem, the utility model discloses the technical scheme who takes is: the utility model provides an air-suction type fan tower section of thick bamboo climbing machine dog includes fuselage frame, four legs and drive arrangement, and each leg is connected with each thigh including thigh, shank and the foot that connects gradually, body frame, and drive arrangement sets up on fuselage frame, and drive arrangement is connected with each leg, still includes controller, vacuum pump and control pipeline, controller and vacuum pump setting are on fuselage frame, the foot is the sucking disc, the control pipeline includes the pipeline and sets up the solenoid valve on the pipeline, the one end and the vacuum pump connection of pipeline switch on, and the other end and the sucking disc of pipeline are connected and are switched on, and the controller is connected with drive arrangement and solenoid valve electricity respectively.
The further technical scheme is as follows: the number of the control pipelines is four, the four control pipelines are respectively a first control pipeline to a fourth control pipeline which are identical in structure, the number of the suckers is four, the four suckers are respectively a first sucker to a fourth sucker which are identical in structure, one sucker is arranged on one shank, the first control pipeline comprises a first pipeline and a first electromagnetic valve arranged on the first pipeline, the second control pipeline comprises a second pipeline and a second electromagnetic valve, the third control pipeline comprises a third pipeline and a third electromagnetic valve, the fourth control pipeline comprises a fourth pipeline and a fourth electromagnetic valve, one end of the first pipeline is connected and communicated with a vacuum pump, the other end of the first pipeline is connected and communicated with the first sucker, and the control end of the controller is respectively electrically connected with the control end of each electromagnetic valve.
The further technical scheme is as follows: the pipeline penetrates into the thigh and the shank, and the controller is a single chip microcomputer.
The further technical scheme is as follows: the sucking disc is a rubber sucking disc made of rubber.
The further technical scheme is as follows: the sucker is provided with a sealing ring.
The further technical scheme is as follows: the flexible back is a flexible connecting piece, the four legs are provided with flexible parts, the transmission mechanism of the connection part of the thighs and the crus comprises a wire reel, a wire line, a spring and a hole seat, one end of the wire is connected with the groove of the wire reel, the other end of the wire is connected with the bottom end of the crus, the hole seats are arranged on the body frame, the wire is limited in a through hole of the hole seat, the spring is fixed between the thigh line and the crus, the first motor is connected with the wire reel, and the first motor is fixed on the body frame.
The further technical scheme is as follows: the flexible back comprises a steel plate spring and a damping cylinder, the steel plate spring and the damping cylinder are connected between the rear end of the front frame and the front end of the rear frame, and the damping cylinder is located below the steel plate spring.
The further technical scheme is as follows: the drive mechanism of afterbody includes fork mechanism, drive gear, the integral key shaft, the spline bearing frame, first driving chain, the second driving chain, transmission shaft and transmission shaft bearing frame, fork mechanism is including pulling out the fork, pull out the fork guide rail, pull out fork guide rail bearing frame and electric permanent magnet, the second motor is fixed on the back frame, the second motor is connected with the spline shaft, the integral key shaft both ends are established in the spline bearing frame, the integral key shaft passes drive gear's gear hole and the U type opening of pulling out fork one end, drive gear's gear hole and spline shaft cooperation, drive gear is located the U type opening of pulling out the fork, it passes the other end of pulling out the fork to pull out the fork guide rail, it is parallel with the integral key shaft to pull out the fork guide rail both ends and establish in pulling out fork guide rail bearing frame, electric permanent magnet fixes in pulling out fork guide rail bearing frame outside, electric permanent magnet attraction or repulsion pulls out the fork makes and pull out the fork to be located and pull out fork guide rail leftmost end or rightmost end, drive gear connects first driving chain and second driving chain respectively at the leftmost end of pulling out fork guide rail and rightmost end, first driving chain and second driving chain are connected the transmission shaft respectively, the transmission shaft both ends are established on the transmission shaft bearing frame, the spline bearing frame is just to the permanent magnet bearing frame that pulls out the permanent magnet bearing frame.
The further technical scheme is as follows: the inner side of the top end of the thigh is fixedly provided with a third bevel gear, through holes are formed in the third bevel gear and the thigh, a third motor and a fourth motor are fixed on a machine body frame, the third motor is connected with a connecting rod, the connecting rod penetrates through a pair of positioning lug pieces, the positioning lug pieces are fixed on the machine body frame, a straight rod is arranged on a part, located between the two positioning lug pieces, of the connecting rod and perpendicular to the connecting rod, one end of the straight rod is fixed on the connecting rod, the other end of the straight rod penetrates through the through holes of the third bevel gear and the thigh, the other end of the straight rod is provided with a positioning retaining ring, the positioning retaining ring is in contact with the outer side of the thigh, the front end of an output shaft of the fourth motor is fixedly provided with a fourth bevel gear, and the fourth bevel gear is meshed with the third bevel gear.
The further technical scheme is as follows: the bottom mounting of neck has two round pin axles, and the front portion of frame in the front is fixed to the fifth motor, and the fifth motor is connected with the one end of one of them round pin axle, and the other end of round pin axle is established in the fixing base, and the both ends of another round pin axle are established respectively in two fixing bases, and the fixing base is fixed on the frame in the front.
Adopt the produced beneficial effect of above-mentioned technical scheme to lie in:
the utility model provides an air-suction type fan tower section of thick bamboo climbing machine dog includes fuselage frame, four legs and drive arrangement, and each leg is connected with each thigh including thigh, shank and the foot that connects gradually, body frame, drive arrangement setting on the fuselage frame, and drive arrangement is connected with each leg, still includes controller, vacuum pump and control pipeline, controller and vacuum pump setting are on the fuselage frame, the foot is the sucking disc, the control pipeline includes the pipeline and sets up the solenoid valve on the pipeline, the one end and the vacuum pump connection of pipeline switch on, and the other end and the sucking disc of pipeline are connected and are switched on, and the controller is connected with drive arrangement and solenoid valve electricity respectively. This technical scheme, it realizes that the machine dog can scramble wind generating set tower section of thick bamboo through controller, vacuum pump, control tube way and sucking disc etc..
See detailed description of the preferred embodiments.
Drawings
FIG. 1 is a structural view of embodiment 1 of the present invention;
fig. 2 is a schematic block diagram of embodiment 1 of the present invention;
fig. 3 is a structural view of embodiment 2 of the present invention;
fig. 4 is a structural view of a suction cup according to embodiment 3 of the present invention.
Wherein: the pipeline sealing device comprises a vacuum pump 1, a first rubber sucker 2-1, a second rubber sucker 2-2, a third rubber sucker 2-3, a fourth rubber sucker 2-4, a first pipeline 3-1, a second pipeline 3-2, a third pipeline 3-3, a fourth pipeline 3-4, a first steel sucker 4-1, a second steel sucker 4-2, a third steel sucker 4-3, a fourth steel sucker 4-4 and a sealing ring 5.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all of the embodiments. The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the application, its application, or uses. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present application, but the present application may be practiced in other ways than those described herein, and it will be appreciated by those skilled in the art that the present application may be practiced without departing from the spirit and scope of the present application, and that the present application is not limited to the specific embodiments disclosed below.
Example 1:
as shown in fig. 1 and 2, the utility model discloses an air-suction type fan tower section of thick bamboo climbing machine dog includes fuselage frame, flexible back, four legs, head, neck, afterbody, drive arrangement, controller, vacuum pump 1 and control pipeline, and each leg is connected with each thigh including thigh, shank and the foot that connects gradually, body frame, and drive arrangement installs on fuselage frame, and drive arrangement is connected with each leg.
The machine body frame comprises a front frame and a rear frame, the tops of thighs of four legs are respectively connected with the two sides of the front frame and the two sides of the rear frame, the bottom end of a neck, the front end of the front frame, the bottom end of the thighs, the top end of the shanks, the bottom end of the shanks and the bottom end of the shanks are connected in an articulated mode, the head of each thigh is connected with the top end of the neck, the top end of the tail of each shank is connected with the rear end of the rear frame, a flexible back is connected between the rear end of the front frame and the front end of the rear frame, the driving device comprises a plurality of groups of motors and a transmission mechanism, the motors are connected with the thighs, the shanks, the feet, the head of each neck of each shank of each leg and the tail of each leg through the transmission mechanism, the flexible back is a flexible connecting piece, the four legs are respectively provided with a flexible part, the transmission mechanism of the connecting parts of the thighs and the shanks comprises a wire spool, a wire, a spring and a hole seat, one end of the wire is connected with the groove of the spool, the other end of the shank of the wire is connected with the bottom end of the shanks, the machine body frame, the wire is limited in through holes of the body frame, the spring is fixed between the shank, the first motor and the first motor are connected with the wire, and the wire spool, and the first motor are fixed on the front frame.
The flexible back comprises a steel plate spring and a damping cylinder, the steel plate spring and the damping cylinder are connected between the rear end of the front frame and the front end of the rear frame, and the damping cylinder is located below the steel plate spring.
The drive mechanism of afterbody includes fork mechanism, drive gear, the integral key shaft, the spline bearing frame, first driving chain, the second driving chain, transmission shaft and transmission shaft bearing frame, fork mechanism is including pulling out the fork, pull out the fork guide rail, pull out fork guide rail bearing frame and electric permanent magnet, the second motor is fixed on the back frame, the second motor is connected with the spline shaft, the integral key shaft both ends are established in the spline bearing frame, the integral key shaft passes drive gear's gear hole and the U type opening of pulling out fork one end, drive gear's gear hole and spline shaft cooperation, drive gear is located the U type opening of pulling out the fork, it passes the other end of pulling out the fork to pull out the fork guide rail, it is parallel with the integral key shaft to pull out the fork guide rail both ends and establish in pulling out fork guide rail bearing frame, electric permanent magnet fixes in pulling out fork guide rail bearing frame outside, electric permanent magnet attraction or repulsion pulls out the fork makes and pull out the fork to be located and pull out fork guide rail leftmost end or rightmost end, drive gear connects first driving chain and second driving chain respectively at the leftmost end of pulling out fork guide rail and rightmost end, first driving chain and second driving chain are connected the transmission shaft respectively, the transmission shaft both ends are established on the transmission shaft bearing frame, the spline bearing frame is just to the permanent magnet bearing frame that pulls out the permanent magnet bearing frame.
The novel thigh-shaped motor is characterized in that a third bevel gear is fixed on the inner side of the top end of a thigh, through holes are formed in the third bevel gear and the thigh, a third motor and a fourth motor are fixed on a frame of the machine body, the third motor is connected with a connecting rod, the connecting rod penetrates through a pair of positioning lugs, the positioning lugs are fixed on the frame of the machine body, a straight rod is arranged on the portion, located between the two positioning lugs, of the connecting rod and perpendicular to the connecting rod, one end of the straight rod is fixed on the connecting rod, the other end of the straight rod penetrates through the through holes of the third bevel gear and the thigh, a positioning retaining ring is arranged at the other end of the straight rod and is in contact with the outer side of the thigh, a fourth bevel gear is fixed at the front end of an output shaft of the fourth motor, and the fourth bevel gear is meshed with the third bevel gear.
The bottom mounting of neck has two round pin axles, and the front portion of frame in the front is fixed to the fifth motor, and the fifth motor is connected with the one end of one of them round pin axle, and the other end of round pin axle is established in the fixing base, and the both ends of another round pin axle are established respectively in two fixing bases, and the fixing base is fixed on the frame in the front.
As shown in fig. 1, the controller and the vacuum pump 1 are fixed on a frame of the machine body, the feet are suckers, the suckers are rubber suckers made of rubber, the number of the control pipelines is four, the number of the control pipelines is first to fourth control pipelines with the same structure, the number of the suckers is four, the number of the suckers is first to fourth rubber suckers 2-1 to 2-4 with the same structure, one sucker is installed on one shank, the first control pipeline comprises a first pipeline 3-1 and a first electromagnetic valve fixed on the first pipeline 3-1, the second control pipeline comprises a second pipeline 3-2 and a second electromagnetic valve, the third control pipeline comprises a third pipeline 3-3 and a third electromagnetic valve, the fourth control pipeline comprises a fourth pipeline 3-4 and a fourth electromagnetic valve, one end of the first pipeline 3-1 is connected and communicated with the vacuum pump 1, and the other end of the first pipeline 3-1 is connected and communicated with the first rubber sucker 2-1.
The pipeline penetrates into the thigh and the shank, and the controller is a single chip microcomputer.
As shown in fig. 2, the control end of the controller is electrically connected to the control end of the driving device, the control end of the controller is electrically connected to the control end of the first electromagnetic valve, the control end of the controller is electrically connected to the control end of the second electromagnetic valve, the control end of the controller is electrically connected to the control end of the third electromagnetic valve, and the control end of the controller is electrically connected to the control end of the fourth electromagnetic valve.
The invention is characterized in that a sucker is used for replacing a foot part, a vacuum pump, a pipeline and an electromagnetic valve are additionally arranged, and the sucker, the vacuum pump, the pipeline, the electromagnetic valve and a robot dog are the prior art and are not described in detail herein.
This application is through controller, vacuum pump, pipeline, solenoid valve and sucking disc, adsorbs the sucking disc on a tower section of thick bamboo surface. The controller controls the electromagnetic valve to be conducted, so that the suction disc is sucked by the vacuum pump to form negative pressure to be adsorbed on the surface of the tower drum.
The controller control solenoid valve disconnection and make the sucking disc switch on with the external world through the solenoid valve for be close with external atmospheric pressure in the sucking disc, the sucking disc is not adsorbing on tower section of thick bamboo surface.
Through controller, vacuum pump, pipeline, solenoid valve and sucking disc, be equipped with the corresponding work of removal of machine dog, realize walking on tower section of thick bamboo surface.
Example 2:
as shown in fig. 3, embodiment 2 is different from embodiment 1 in that the suction cups are steel suction cups made of stainless steel, and the number of the suction cups is four first to fourth steel suction cups 4-1 to 4-4, which are identical in structure, respectively.
Example 3:
as shown in fig. 4, embodiment 3 is different from embodiment 2 in that a seal ring 5 is fixed to each suction cup.
With respect to the above embodiments, the suction cup may also be a suction cup made of space aluminum or titanium alloy, etc.
Compared with the above embodiment, the robot dog may also adopt a robot of the yu tree science and technology company, and the robot dog itself is the prior art and is not described herein again.
The conception of the application is as follows:
the maintenance of wind generating set tower section of thick bamboo often adopts hanging flower basket or spider people's mode to go on, and this kind of high altitude construction is accompanied by high danger coefficient, and this application utilizes the machinery dog to replace the operation personnel to carry out the high altitude construction.
The purpose of the application is:
the mechanical dog is used for replacing a human to carry out high-altitude operation, and the risk of the human is avoided.
Technical contribution of the present application:
as shown in figure 1, the pneumatic suction cup is added under the modeling of a traditional mechanical dog so as to finish the adsorption climbing of the tower of the wind generating set.
The working principle is as follows:
the vacuum pump generates negative pressure, and the solenoid valve controls the on-off of the hose, so that the sucker can be adsorbed on the fan tower drum through the negative pressure. Four solenoid valves can realize that the machinery dog walks and scrambles at fan tower section of thick bamboo outer wall with four feet of machinery dog mutually supporting, increases other devices and can realize in fan tower section of thick bamboo outer wall operation.
After the application runs secretly for a period of time, the feedback of field technicians has the advantages that:
at present, the tower barrel of the wind generating set is usually maintained in a hanging basket or spider man mode, the high-altitude operation is accompanied by extremely high risk coefficient, and particularly, the probability of safety accidents is probably increased under the environments of gusts, thunderstorms, burning sun and the like. This application uses mechanical dog to replace the people and carries out the aerial work, avoids personnel's risk.
At present, the technical scheme of the utility model is that a pilot test is carried out, namely a small-scale test of products before large-scale mass production; after the pilot test is finished, the investigation for the use of the user is carried out in a small range, and the investigation result shows that the satisfaction degree of the user is higher; the preparation of products for formal production for industrialization (including intellectual property risk early warning research) has been started.
Claims (10)
1. The utility model provides an air-suction type fan tower section of thick bamboo climbing machine dog, includes fuselage frame, four legs and drive arrangement, and each leg is connected with each thigh including thigh, shank and the foot that connects gradually, body frame, and drive arrangement sets up on fuselage frame, and drive arrangement is connected its characterized in that with each leg: the foot-operated vacuum pump is characterized by further comprising a controller, a vacuum pump and a control pipeline, wherein the controller and the vacuum pump are arranged on the machine body frame, the foot is provided with a sucker, the control pipeline comprises a pipeline and an electromagnetic valve arranged on the pipeline, one end of the pipeline is connected and communicated with the vacuum pump, the other end of the pipeline is connected and communicated with the sucker, and the controller is respectively electrically connected with the driving device and the electromagnetic valve.
2. The air-aspiration type fan tower climbing robot dog as claimed in claim 1, wherein: the number of the control pipelines is four, the four control pipelines are respectively a first control pipeline to a fourth control pipeline which are identical in structure, the number of the suckers is four, the four suckers are respectively a first sucker to a fourth sucker which are identical in structure, one sucker is arranged on one shank, the first control pipeline comprises a first pipeline and a first electromagnetic valve arranged on the first pipeline, the second control pipeline comprises a second pipeline and a second electromagnetic valve, the third control pipeline comprises a third pipeline and a third electromagnetic valve, the fourth control pipeline comprises a fourth pipeline and a fourth electromagnetic valve, one end of the first pipeline is connected and communicated with a vacuum pump, the other end of the first pipeline is connected and communicated with the first sucker, and the control end of the controller is respectively electrically connected with the control end of each electromagnetic valve.
3. The air-aspiration type fan tower climbing robot dog as claimed in claim 1, wherein: the pipeline penetrates into the thigh and the shank, and the controller is a single chip microcomputer.
4. The air-suction fan tower climbing robot dog according to claim 1, characterized in that: the sucking disc is a rubber sucking disc made of rubber.
5. The air-aspiration type fan tower climbing robot dog as claimed in claim 1, wherein: the sucker is provided with a sealing ring.
6. The air-suction fan tower climbing robot dog as claimed in any one of claims 1 to 5, wherein: the flexible back is a flexible connecting piece, the four legs are provided with flexible parts, the transmission mechanism of the connection part of the legs and the legs comprises a wire spool, a wire, a spring and a hole seat, one end of the wire is connected with a groove of the wire spool, the other end of the wire is connected with the bottom end of the leg, the body frame, the legs and the legs are provided with hole seats, the wire is limited in a through hole of the hole seats, the spring is fixed between the wire spool and the legs, the first motor is connected with the wire spool, and the first motor is fixed on the first motor.
7. The air-aspiration type fan tower climbing robot dog of claim 6, wherein: the flexible back comprises a steel plate spring and a damping cylinder, the steel plate spring and the damping cylinder are connected between the rear end of the front frame and the front end of the rear frame, and the damping cylinder is located below the steel plate spring.
8. The air-aspiration type fan tower climbing robot dog of claim 6, wherein: the transmission mechanism at the tail part comprises a shifting fork mechanism, a driving gear, a spline shaft, a spline bearing seat, a first transmission chain, a second transmission chain, a transmission shaft and a transmission shaft bearing seat, the shifting fork mechanism comprises a shifting fork, a shifting fork guide rail bearing seat and an electro-permanent magnet, a second motor is fixed on the rear frame and is connected with the spline shaft, two ends of the spline shaft are arranged in the spline bearing seat, the spline shaft passes through a gear hole of the driving gear and a U-shaped opening at one end of the shifting fork, the gear hole of the driving gear is matched with the spline shaft, the driving gear is positioned in the U-shaped opening of the shifting fork, the shifting fork guide rail passes through the other end of the shifting fork, and the shifting fork guide rail is parallel to the spline shaft, the both ends of shifting fork guide rail are established in shifting fork guide rail bearing frame, the electro-permanent magnet is fixed in shifting fork guide rail bearing frame outside, electro-permanent magnet attraction or repulsion shift fork make the shift fork be located shift fork guide rail leftmost end or rightmost end, drive gear connects first driving chain and second driving chain respectively at shift fork guide rail leftmost end and rightmost end, the transmission shaft is connected respectively to first driving chain and second driving chain, the transmission shaft both ends are established on the transmission shaft bearing frame, transmission shaft and end connection, spline bearing frame, shift fork guide rail bearing frame and transmission shaft bearing frame are all fixed on the back frame, shift fork just to the permanent magnet one side inlayed the permanent magnet.
9. The air-suction fan tower climbing robot dog according to claim 6, wherein: the inner side of the top end of the thigh is fixedly provided with a third bevel gear, through holes are formed in the third bevel gear and the thigh, a third motor and a fourth motor are fixed on a machine body frame, the third motor is connected with a connecting rod, the connecting rod penetrates through a pair of positioning lug pieces, the positioning lug pieces are fixed on the machine body frame, a straight rod is arranged on a part, located between the two positioning lug pieces, of the connecting rod and perpendicular to the connecting rod, one end of the straight rod is fixed on the connecting rod, the other end of the straight rod penetrates through the through holes of the third bevel gear and the thigh, the other end of the straight rod is provided with a positioning retaining ring, the positioning retaining ring is in contact with the outer side of the thigh, the front end of an output shaft of the fourth motor is fixedly provided with a fourth bevel gear, and the fourth bevel gear is meshed with the third bevel gear.
10. The air-aspiration type fan tower climbing robot dog of claim 6, wherein: the bottom mounting of neck has two round pin axles, and the fifth motor is fixed in the front portion of frame in the front, and the fifth motor is connected with the one end of one of them round pin axle, and the other end of round pin axle is established in the fixing base, and the both ends of another round pin axle are established respectively in two fixing bases, and the fixing base is fixed on the frame in the front.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222485019.2U CN218266194U (en) | 2022-09-20 | 2022-09-20 | Air-suction type fan tower cylinder climbing robot dog |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202222485019.2U CN218266194U (en) | 2022-09-20 | 2022-09-20 | Air-suction type fan tower cylinder climbing robot dog |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN218266194U true CN218266194U (en) | 2023-01-10 |
Family
ID=84716500
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202222485019.2U Active CN218266194U (en) | 2022-09-20 | 2022-09-20 | Air-suction type fan tower cylinder climbing robot dog |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN218266194U (en) |
-
2022
- 2022-09-20 CN CN202222485019.2U patent/CN218266194U/en active Active
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