CN111857146B - Climbing robot - Google Patents
Climbing robot Download PDFInfo
- Publication number
- CN111857146B CN111857146B CN202010731885.8A CN202010731885A CN111857146B CN 111857146 B CN111857146 B CN 111857146B CN 202010731885 A CN202010731885 A CN 202010731885A CN 111857146 B CN111857146 B CN 111857146B
- Authority
- CN
- China
- Prior art keywords
- driven wheel
- wheel mechanism
- output end
- tubular structure
- chain
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0231—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means
- G05D1/0246—Control of position or course in two dimensions specially adapted to land vehicles using optical position detecting means using a video camera in combination with image processing means
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course or altitude of land, water, air, or space vehicles, e.g. automatic pilot
- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0212—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory
- G05D1/0223—Control of position or course in two dimensions specially adapted to land vehicles with means for defining a desired trajectory involving speed control of the vehicle
Abstract
The invention discloses a climbing robot, which comprises a frame, a climbing robot body and a climbing robot body, wherein the frame at least comprises a section of tubular structure and a locking assembly; a circuit control module; a first front driven wheel mechanism and a second front driven wheel mechanism which are both arranged on one end of the tubular structure; the first rear driven wheel mechanism and the second rear driven wheel mechanism are both arranged at the other end of the tubular structure; the first driving module and the second driving module are arranged on the rack, and drive the first front driven wheel mechanism and the second front driven wheel mechanism and simultaneously drive the first rear driven wheel mechanism and the second rear driven wheel mechanism; when this robot that climbs drives first preceding driven wheel mechanism and second through first drive module and second drive module, also drive driven wheel mechanism behind first back driven wheel mechanism and the second, guarantee sufficient power that climbs, make this robot that climbs can stably climb on striding cable-stay bridge cable greatly, climbing speed is faster, and efficiency is higher, more saves power.
Description
Technical Field
The invention relates to the field of cable detection robots, in particular to a climbing robot.
Background
The cable is exposed outside for a long time, the environment is severe, the surface protection layer is damaged possibly, the inner steel wire is broken and is tilted outwards, and therefore the climbing robot needs to be adopted for detection. However, the climbing robot is dangerous when working at high altitude, when the climbing robot passes through the obstacles, accidents are very likely to happen, and the climbing robot cannot return to the ground, and the problem that the climbing device in the prior art needs to adjust speed in the ascending and descending processes is difficult to solve.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and provides a climbing robot which can adopt a brand-new transmission system, optimize the internal structure and improve climbing capacity.
According to an embodiment of a first aspect of the invention, a climbing robot is provided, which comprises a frame, at least one section of tubular structure, and a locking assembly arranged on the tubular structure; the circuit control module is arranged on the rack; the first front driven wheel mechanism and the second front driven wheel mechanism are arranged on one end of the tubular structure and are respectively arranged on two sides of the tubular structure; the first rear driven wheel mechanism and the second rear driven wheel mechanism are both arranged at the other end of the tubular structure, the first rear driven wheel mechanism is positioned at the same side of the first front driven wheel mechanism, and the second rear driven wheel mechanism is positioned at the same side of the second front driven wheel mechanism; the first driving module and the second driving module are arranged on the rack, the first driving module and the second driving module drive the first front driven wheel mechanism and the second front driven wheel mechanism, and the first driving module and the second driving module drive the first rear driven wheel mechanism and the second rear driven wheel mechanism.
Has the advantages that: this robot that climbs when through first drive module and the first preceding driven wheel mechanism of second drive module drive and the driven wheel mechanism before the second, also drive driven wheel mechanism behind first back driven wheel mechanism and the second, guaranteed that sufficient power climbs, make this robot that climbs can stably, continuously climb on striding cable-stay bridge cable greatly, compare with traditional stretch out and draw back climbing in a relaxation ground, climbing speed is faster, efficiency is higher, and more sparingly power.
According to the climbing robot in the embodiment of the first aspect of the present invention, the first driving module and the second driving module are located in the middle of the tubular structure, the first driving module includes a first output end and a second output end, the second driving module includes a third output end and a fourth output end, the first output end and the third output end drive one end of the first front driven wheel mechanism, the second front driven wheel mechanism, the first rear driven wheel mechanism and the second rear driven wheel mechanism, the second output end and the fourth output end drive the other end of the first front driven wheel mechanism, the second front driven wheel mechanism, the first rear driven wheel mechanism and the second rear driven wheel mechanism, and the first driving module and the second driving module are both provided with two output ends acting on two ends of the first front driven wheel mechanism, the second front driven wheel mechanism, the first rear driven wheel mechanism and the second rear driven wheel mechanism, so that climbing is more stable and ground gripping force is stronger.
According to the climbing robot disclosed by the embodiment of the first aspect of the invention, the first driving module and the second driving module are both double-shaft motors, and the double-shaft motors are adopted, so that the structure is more reasonable.
The climbing robot further comprises a first chain transmission mechanism and a second chain transmission mechanism, wherein the first chain transmission mechanism comprises four first chain wheels and a first chain sleeved on the four first chain wheels, the four first chain wheels are respectively arranged at one end of the first front driven wheel mechanism, one end of the second front driven wheel mechanism, the first output end and the third output end, the second chain transmission mechanism comprises four second chain wheels and a second chain sleeved on the four second chain wheels, the four second chain wheels are respectively arranged at the other end of the first front driven wheel mechanism, the other end of the second front driven wheel mechanism, the second output end and the fourth output end, chain transmission meshing is more stable, transmission efficiency is higher, and accidents of reducing transmission efficiency due to influences of environmental factors can be reduced.
The climbing robot further comprises a third chain transmission mechanism and a fourth chain transmission mechanism, wherein the third chain transmission mechanism comprises four third chain wheels and a third chain sleeved on the four third chain wheels, the four third chain wheels are respectively arranged at one end of the first rear driven wheel mechanism, one end of the second rear driven wheel mechanism, the first output end and the third output end, the fourth chain transmission mechanism comprises four fourth chain wheels and a fourth chain sleeved on the four fourth chain wheels, and the four fourth chain wheels are respectively arranged at the other end of the first rear driven wheel mechanism, the other end of the second rear driven wheel mechanism, the second output end and the fourth output end.
According to the climbing robot in the embodiment of the first aspect of the invention, the first chain transmission mechanism and the second chain transmission mechanism have the same structure, and the third chain transmission mechanism and the fourth chain transmission mechanism have the same structure, so that the symmetry of the structure is ensured, and the climbing robot is more stable.
According to the climbing robot provided by the embodiment of the first aspect of the invention, the first round table is arranged at one end of the tubular structure and used for bearing the first front driven wheel mechanism and the second front driven wheel mechanism, the second round table is arranged at the other end of the tubular structure and used for bearing the first rear driven wheel mechanism and the second rear driven wheel mechanism, and the first front driven wheel mechanism and the second front driven wheel mechanism, and the first rear driven wheel mechanism and the second rear driven wheel mechanism can be more accurately positioned and installed by taking the first round table and the second round table as bearing platforms.
According to the climbing robot provided by the embodiment of the first aspect of the invention, the first pressing assemblies are respectively arranged between the first round platform and the first front driven wheel mechanism, and between the first round platform and the second front driven wheel mechanism, the first pressing assemblies enable the first front driven wheel mechanism and the second front driven wheel mechanism to be close to the axis of the tubular structure, the second pressing assemblies are respectively arranged between the second round platform and the first rear driven wheel mechanism, and between the second round platform and the second rear driven wheel mechanism, the second pressing assemblies enable the first rear driven wheel mechanism and the second rear driven wheel mechanism to be close to the axis of the tubular structure, and therefore the first front driven wheel mechanism, the second front driven wheel mechanism, the first rear driven wheel mechanism and the second rear driven wheel mechanism can press the ropes to stably climb.
According to the climbing robot in the embodiment of the first aspect of the invention, the circuit control module comprises an image acquisition module, a storage module and a transmission module, the image acquisition module is respectively connected with the storage module and the transmission module, acquired pictures are transmitted to a display screen of a worker through a wireless network, and the worker makes corresponding instruction control through background analysis.
According to the climbing robot in the embodiment of the first aspect of the invention, the image acquisition module comprises a plurality of detection ends, each detection end is arranged on the outer side wall of the tubular structure, and each detection end is circumferentially distributed around the axis of the tubular structure, so that the cylindrical surface condition of the whole cable can be detected.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly described below. It is clear that the described figures are only some embodiments of the invention, not all embodiments, and that a person skilled in the art can also derive other designs and figures from them without inventive effort.
FIG. 1 is a schematic structural diagram of an embodiment of the present invention;
FIG. 2 is a schematic view of the first and third chain drives in accordance with the exemplary embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a first front driven wheel mechanism and a second front driven wheel mechanism in an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a first rear driven wheel mechanism and a second rear driven wheel mechanism in an embodiment of the invention.
Detailed Description
Reference will now be made in detail to the present preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to like elements throughout.
In the description of the present invention, it should be understood that the orientation or positional relationship referred to in the description of the orientation, such as the upper, lower, front, rear, left, right, etc., is based on the orientation or positional relationship shown in the drawings, and is only for convenience of description and simplification of description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus, should not be construed as limiting the present invention.
In the description of the present invention, a plurality of means is one or more, a plurality of means is two or more, and greater than, less than, more than, etc. are understood as excluding the essential numbers, and greater than, less than, etc. are understood as including the essential numbers. If the first and second are described for the purpose of distinguishing technical features, they are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.
In the description of the present invention, unless otherwise explicitly limited, terms such as arrangement, installation, connection and the like should be understood in a broad sense, and those skilled in the art can reasonably determine the specific meanings of the above terms in the present invention in combination with the specific contents of the technical solutions.
Referring to fig. 1 to 4, a climbing robot includes a frame, which includes at least a section of tubular structure 10, and a locking assembly 11 is disposed on the tubular structure 10; the circuit control module is arranged on the rack; a first front driven wheel mechanism 21 and a second front driven wheel mechanism 22, both disposed on one end of the tubular structure 10, the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22 being disposed on both sides, in this embodiment, the upper side and the lower side, of the tubular structure 10, respectively; a first rear driven wheel mechanism 31 and a second rear driven wheel mechanism 32, both of which are arranged at the other end of the tubular structure 10, wherein the first rear driven wheel mechanism 31 is positioned at the same side of the first front driven wheel mechanism 21, and the second rear driven wheel mechanism 32 is positioned at the same side of the second front driven wheel mechanism 22; the first driving module and the second driving module are both arranged on the rack, the first driving module and the second driving module drive the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22, and simultaneously the first driving module and the second driving module also drive the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32. When the climbing robot drives the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22 through the first driving module and the second driving module, the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32 are also driven, sufficient power climbing is guaranteed, the climbing robot can stably and continuously climb on a large-span cable-stayed bridge inhaul cable, and compared with the traditional telescopic climbing with one relaxation, the climbing robot is higher in climbing speed, higher in efficiency and more power-saving.
In this embodiment, the inner diameter of the tubular structure 10 matches the outer diameter of the rope, and the tubular structure 10 is provided with a notch, so that after the climbing robot is installed on the rope, the tubular structure 10 is clamped on the rope through the locking component 11, and the state of being fixed on the rope can be adjusted through the notch, thereby ensuring the reliable fixation of the climbing robot. Preferably, the locking assembly 11 includes lugs disposed on both sides of the notch and a bolt mounted on the lugs, and in other embodiments, the locking assembly 11 may be a clip structure or the like.
In this embodiment, the first driving module and the second driving module are located in the middle of the tubular structure 10, specifically between the first front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32, the first driving module includes a first output end and a second output end, the second driving module includes a third output end and a fourth output end, the first output end and the third output end drive the first front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31 and one end of the second rear driven wheel mechanism 32, the second output end and the fourth output end drive the first front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31 and the other end of the second rear driven wheel mechanism 32, the first driving module and the second driving module are both provided with two output ends acting on the first front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31 and the two ends of the second rear driven wheel mechanism 32, so as to make climbing more stable and make climbing stronger.
Preferably, the first driving module and the second driving module are both double-shaft motors, and the double-shaft motors are adopted to enable the structure to be more reasonable.
In this embodiment, the present invention further includes a first chain transmission mechanism and a second chain transmission mechanism, the first chain transmission mechanism includes four first chain wheels 51 and a first chain 52 sleeved on the four first chain wheels 51, the four first chain wheels 51 are respectively disposed at one end of the first front driven wheel mechanism 21, one end of the second front driven wheel mechanism 22, the first output end, and the third output end, the second chain transmission mechanism includes four second chain wheels 41 and a second chain 42 sleeved on the four second chain wheels 41, and the four second chain wheels 41 are respectively disposed at the other end of the first front driven wheel mechanism 21, the other end of the second front driven wheel mechanism 22, the second output end, and the fourth output end.
Further, the chain transmission device comprises a third chain transmission mechanism and a fourth chain transmission mechanism, wherein the third chain transmission mechanism comprises four third chain wheels 61 and a third chain 62 sleeved on the four third chain wheels 61, the four third chain wheels 61 are respectively arranged at one end of the first rear driven wheel mechanism 31, one end of the second rear driven wheel mechanism 32, a first output end and a third output end, the fourth chain transmission mechanism comprises four fourth chain wheels 71 and a fourth chain 72 sleeved on the four fourth chain wheels 71, the four fourth chain wheels 71 are respectively arranged at the other end of the first rear driven wheel mechanism 31, the other end of the second rear driven wheel mechanism 32, a second output end and a fourth output end, chain transmission meshing is more stable, transmission efficiency is higher, and the accident that the transmission efficiency is reduced due to the influence of environmental factors can be reduced.
The first sprocket 51 and the third sprocket 61 provided on the first output end are main sprockets, and the second sprocket 41 and the fourth sprocket 71 provided on the second output end are also main sprockets, that is, the first front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31, and the second rear driven wheel mechanism 32 are driven sprockets.
Preferably, the first sprocket 51 and the third sprocket 61 disposed on the first output end are fixed to each other, the second sprocket 41 and the fourth sprocket 71 disposed on the second output end are fixed to each other, the first sprocket 51 and the third sprocket 61 disposed on the third output end are fixed to each other, and the second sprocket 41 and the fourth sprocket 71 disposed on the fourth output end are fixed to each other, so that the first driving module and the second driving module can simultaneously drive the first front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32.
Preferably, the first chain transmission mechanism and the second chain transmission mechanism have the same structure, and the third chain transmission mechanism and the fourth chain transmission mechanism have the same structure, so that the symmetry of the structure is ensured, and the stability is higher.
In this embodiment, the transmission ratios or the diameters of the sprockets in the first and second chain drives, the third and fourth chain drives can be adjusted and replaced according to the actual field requirements, i.e., the first and second chain drives, the third chain drive and the fourth chain drive are detachably mounted.
In other embodiments, the first driving module and the second driving module may also drive the first front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32 through a gear transmission, a belt transmission or the like.
In this embodiment, one end of the tubular structure 10 is provided with the first circular truncated cone 12, the first circular truncated cone 12 carries the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22, the other end of the tubular structure 10 is provided with the second circular truncated cone 13, the second circular truncated cone 13 carries the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32, and the first front driven wheel mechanism 21, the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32 can be positioned and installed more accurately by using the first circular truncated cone 12 and the second circular truncated cone 13 as carrying platforms.
In this embodiment, first pressing assemblies 23 are respectively disposed between the first circular truncated cone 12 and the first front driven wheel mechanism 21 and between the first circular truncated cone 12 and the second front driven wheel mechanism 22, the first pressing assemblies 23 enable the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22 to approach towards the axis of the tubular structure 10, second pressing assemblies 33 are respectively disposed between the second circular truncated cone 13 and the first rear driven wheel mechanism 31 and between the second circular truncated cone 13 and the second rear driven wheel mechanism 32, and the second pressing assemblies 33 enable the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32 to approach towards the axis of the tubular structure 10, so that the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22, the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32 can press ropes to stably climb.
In the present embodiment, the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22 have the same structure, the first front driven wheel mechanism 21 includes a first hanging wheel shaft and a first hanging wheel 212 rotating on the first hanging wheel shaft 211, the first chain transmission mechanism and the second chain transmission mechanism are connected at two ends of the first hanging wheel shaft 211, a first connecting plate 24 is arranged between the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22 to ensure that they are fixed to each other, meanwhile, two sets of connecting strips are arranged on the first connecting plate 24, the other ends of the two sets of connecting strips extend to the first circular table 12, and then the connecting strips are fixed by a pressing plate, and the fixing can be performed by bolts, so as to press the first front driven wheel mechanism 21 and the second front driven wheel mechanism 22. That is, in the present embodiment, the first pressing member 23 includes a first connection plate, a connection bar, and a pressing plate.
In this embodiment, the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32 have the same structure, the first rear driven wheel mechanism 31 includes two second hanging wheels 311, the two second hanging wheels 311 are respectively provided with a second hanging wheel shaft 312, and the third chain transmission mechanism and the fourth chain transmission mechanism are connected to two ends of one second hanging wheel shaft 312 to drive one second hanging wheel 311 to roll, and the other second hanging wheel 311 rolls along with it. A second connecting plate 313 is arranged between the two second hanging wheels 311, the second rear driven wheel mechanism 32 also comprises the second connecting plate 313, a pressing strip is arranged on the second connecting plate 313, the second hanging wheel shaft 312 is connected through the pressing strip, and the pressing degree of the pressing strip is adjusted so as to press the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32. That is, in this embodiment, the second compressing assembly 33 includes a compressing bar and a second connecting plate. In other embodiments, the two second connecting plates 313 are both mounted on the chute 314, and the pressing of the first rear driven wheel mechanism 31 and the second rear driven wheel mechanism 32 on the rope is achieved by adjusting the interval between the two second connecting plates 313 on the chute 314, that is, the second pressing assembly 33 includes the second connecting plates 313 and the chute 314.
In this embodiment, the circuit control module includes image acquisition module, storage module and transmission module, and image acquisition module is connected with storage module and transmission module respectively, and the picture of gathering passes through wireless network and conveys to staff's display screen on, and the staff makes corresponding instruction control through background analysis. Furthermore, the circuit control module further comprises a controller such as a single chip microcomputer, the image acquisition module, the storage module and the transmission module are scheduled and subsequently controlled through the controller, the output power of the first driving module and the output power of the second driving module are controlled, and climbing power is guaranteed.
In this embodiment, the image capturing module includes a plurality of detecting ends, each detecting end is disposed on the outer sidewall of the tubular structure 10, and each detecting end is circumferentially distributed around the axis of the tubular structure 10, so as to detect the cylindrical surface condition of the whole cable. Each detection end may be a camera or the like.
The climbing robot has the advantages that the climbing mode can be approximately regarded as creeping through chain transmission, the traditional climbing mode is changed, climbing is more stable, and working efficiency is higher. Before climbing, the needed parameters are manually measured, the approximate resistance of the mechanism in the motion process is estimated, the approximate speed of the mechanism in motion is predicted according to actual conditions, and the approximate speed is controlled by changing parameters such as the tooth number of each chain wheel. Meanwhile, due to the existence of the circuit control module, different speed gears can be arranged in the returning process. Meanwhile, in order to deal with the emergency situation, the output power of the first driving module and the output power of the second driving module are adjusted to achieve speed reduction and speed increase.
The embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the gist of the present invention.
Claims (8)
1. A climbing robot, comprising:
the frame at least comprises a section of tubular structure, and a locking assembly is arranged on the tubular structure;
the circuit control module is arranged on the rack;
a first front driven wheel mechanism and a second front driven wheel mechanism which are both arranged on one end of the tubular structure, wherein the first front driven wheel mechanism and the second front driven wheel mechanism are respectively arranged on two sides of the tubular structure;
the first rear driven wheel mechanism and the second rear driven wheel mechanism are both arranged at the other end of the tubular structure, the first rear driven wheel mechanism is positioned at the same side of the first front driven wheel mechanism, and the second rear driven wheel mechanism is positioned at the same side of the second front driven wheel mechanism;
the first driving module and the second driving module are arranged on the rack, drive the first front driven wheel mechanism and the second front driven wheel mechanism, and drive the first rear driven wheel mechanism and the second rear driven wheel mechanism;
the first driving module and the second driving module are located in the middle of the tubular structure, the first driving module comprises a first output end and a second output end, the second driving module comprises a third output end and a fourth output end, the first output end and the third output end drive one end of the first front driven wheel mechanism, the second front driven wheel mechanism, the first rear driven wheel mechanism and the second rear driven wheel mechanism, and the second output end and the fourth output end drive the other end of the first front driven wheel mechanism, the second front driven wheel mechanism, the first rear driven wheel mechanism and the second rear driven wheel mechanism;
the chain transmission mechanism comprises four first chain wheels and first chains sleeved on the four first chain wheels, the four first chain wheels are arranged at one end of a first front driven wheel mechanism, one end of a second front driven wheel mechanism, a first output end and a third output end respectively, the second chain transmission mechanism comprises four second chain wheels and second chains sleeved on the four second chain wheels, and the four second chain wheels are arranged at the other end of the first front driven wheel mechanism, the other end of the second front driven wheel mechanism, the second output end and the fourth output end respectively.
2. A climbing robot according to claim 1, wherein: the first driving module and the second driving module are both double-shaft motors.
3. The climbing robot according to claim 1, wherein: the chain transmission mechanism comprises four third chain wheels and four third chains sleeved on the third chain wheels, the four third chain wheels are arranged at one end of a first rear driven wheel mechanism, one end of a second rear driven wheel mechanism, a first output end and a third output end respectively, the fourth chain transmission mechanism comprises four fourth chain wheels and four fourth chains sleeved on the fourth chain wheels, and the four fourth chain wheels are arranged at the other end of the first rear driven wheel mechanism, the other end of the second rear driven wheel mechanism, the second output end and the fourth output end respectively.
4. A climbing robot according to claim 3, wherein: the first chain drive and the second chain drive are of identical design, and the third chain drive and the fourth chain drive are of identical design.
5. A climbing robot according to claim 3, wherein: the one end of tubular structure is equipped with first round platform, first round platform bears first preceding driven wheel mechanism with driven wheel mechanism before the second, the other end of tubular structure is equipped with the second round platform, the second round platform bears first back driven wheel mechanism with driven wheel mechanism behind the second.
6. The climbing robot according to claim 5, wherein: the first round platform with first preceding driven wheel mechanism all be equipped with first compress tightly the subassembly before the second between the driven wheel mechanism, first compress tightly the subassembly and make first preceding driven wheel mechanism the driven wheel mechanism moves towards before the second tubular structure's axis draws close, the second round platform with first back driven wheel mechanism all be equipped with the second between the driven wheel mechanism behind the second and compress tightly the subassembly, the second compresses tightly the subassembly and makes first back driven wheel mechanism follow driven wheel mechanism behind the second moves towards the tubular structure's axis draws close.
7. A climbing robot according to any of claims 1 to 6, characterized in that: the circuit control module comprises an image acquisition module, a storage module and a transmission module, wherein the image acquisition module is respectively connected with the storage module and the transmission module.
8. The climbing robot according to claim 7, wherein: the image acquisition module comprises a plurality of detection ends, each detection end is arranged on the outer side wall of the tubular structure, and each detection end is circumferentially distributed around the axis of the tubular structure.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010731885.8A CN111857146B (en) | 2020-07-27 | 2020-07-27 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010731885.8A CN111857146B (en) | 2020-07-27 | 2020-07-27 | Climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN111857146A CN111857146A (en) | 2020-10-30 |
| CN111857146B true CN111857146B (en) | 2023-02-03 |
Family
ID=72947286
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202010731885.8A Active CN111857146B (en) | 2020-07-27 | 2020-07-27 | Climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN111857146B (en) |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08174451A (en) * | 1994-12-27 | 1996-07-09 | Ochiai Nekusasu:Kk | Horizontal moving mechanism for robot device |
| CN201648963U (en) * | 2010-03-18 | 2010-11-24 | 袁柯铭 | Continuous mobile cable robot creeping device |
| CN105350450A (en) * | 2015-10-29 | 2016-02-24 | 南京邮电大学 | High-altitude cable rope climbing mechanism and robot based on elastic frame |
| CN205131420U (en) * | 2015-10-29 | 2016-04-06 | 南京邮电大学 | Be applied to robot that climbs of high altitude cable |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
| CN108583710A (en) * | 2018-07-02 | 2018-09-28 | 芜湖易迅生产力促进中心有限责任公司 | A kind of mobile underpan structure |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7654348B2 (en) * | 2006-10-06 | 2010-02-02 | Irobot Corporation | Maneuvering robotic vehicles having a positionable sensor head |
-
2020
- 2020-07-27 CN CN202010731885.8A patent/CN111857146B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08174451A (en) * | 1994-12-27 | 1996-07-09 | Ochiai Nekusasu:Kk | Horizontal moving mechanism for robot device |
| CN201648963U (en) * | 2010-03-18 | 2010-11-24 | 袁柯铭 | Continuous mobile cable robot creeping device |
| CN105350450A (en) * | 2015-10-29 | 2016-02-24 | 南京邮电大学 | High-altitude cable rope climbing mechanism and robot based on elastic frame |
| CN205131420U (en) * | 2015-10-29 | 2016-04-06 | 南京邮电大学 | Be applied to robot that climbs of high altitude cable |
| CN108216400A (en) * | 2016-12-21 | 2018-06-29 | 深圳市博铭维智能科技有限公司 | Crawler type specialized robot and its system |
| CN108583710A (en) * | 2018-07-02 | 2018-09-28 | 芜湖易迅生产力促进中心有限责任公司 | A kind of mobile underpan structure |
Also Published As
| Publication number | Publication date |
|---|---|
| CN111857146A (en) | 2020-10-30 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN204328407U (en) | Based on the automatic lifting monitoring camera device of high pole lamp | |
| CN111857146B (en) | Climbing robot | |
| CN208814562U (en) | A kind of visualization formula glass curtain wall plate vertical transit system | |
| CN210603956U (en) | Bridge detection device convenient to long distance detects | |
| CN106429737A (en) | Stair handrail load carrier | |
| CN213622783U (en) | Elevator tows wire rope fracture detection device | |
| CN105236240B (en) | A kind of saddle climbing type workbench | |
| CN218291593U (en) | Cable detection robot for cable-stayed bridge | |
| CN206553927U (en) | Bridge cable bar outward appearance automatic detection system | |
| CN211226105U (en) | Tower crane for building | |
| CN108316657A (en) | One kind is from hoisting type high building construction device and its method for improving | |
| CN115230986A (en) | Aircraft safety test system | |
| CN214296201U (en) | Climbing robot | |
| CN107215737A (en) | A kind of high-precision formula smoke inductor | |
| CN205132802U (en) | Internet of things elevator monitoring system | |
| CN209854559U (en) | Bridge construction platform | |
| CN210058213U (en) | Graphite tower body of tower fixing device | |
| CN210975534U (en) | Guardrail robot bridge inspection device | |
| CN207209643U (en) | High-precision formula smoke inductor | |
| CN201821035U (en) | Foreign-matter electrical treatment device for four-bundle conductor of transmission line | |
| CN112081010A (en) | Split type main push-towing rope detection device | |
| CN107650979B (en) | A kind of cable auxiliary conveying device | |
| CN217947309U (en) | Elevator with protection mechanism | |
| CN215781095U (en) | Safety sling system | |
| CN112645175A (en) | Anti-falling timely reaction mechanism for elevator |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |