CN100596288C - Line climbing robot - Google Patents
Line climbing robot Download PDFInfo
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- CN100596288C CN100596288C CN200710040725A CN200710040725A CN100596288C CN 100596288 C CN100596288 C CN 100596288C CN 200710040725 A CN200710040725 A CN 200710040725A CN 200710040725 A CN200710040725 A CN 200710040725A CN 100596288 C CN100596288 C CN 100596288C
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- climbing
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- power wheel
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Abstract
A robot able to crawl along wire features that it has a primary drive mechanism composed of drive motor, drive wheels and the belt for drive wheels, a secondary one composed of drive wheels and the belt for drive wheels, and a combined clamp for linking the primary drive mechanism with the secondary one. Said drive wheels of primary and secondary drive mechanisms are staggered on the wire to maketheir belts to closely clamp the wire.
Description
Technical field
But the present invention relates to a kind of climbing device, especially a kind of line climbing robot of climbing continuously on soft rope is applicable to aloft work such as all kinds of transportations, carry.
Background technology
In known climbing robot, the power driven mode of climbing device has fluid pressure type, roller type, electrodynamic type, air pressure pneumatic type etc., and transmission of power speed is slower; And the carrier of being climbed is to have certain rigidity and straight pole, cable of spending, or the bigger hawser of diameter.Data as open introduction is at present seen: it is the bigger straight-bar of diameter that " climbing level robot " that one contriver of University Of Tianjin proposes requires carrier; " rope-climbed robot " that one contriver of University Of Suzhou and Sloth (looper) propose all requires the rope diameter bigger; That is to say that the rope-climbed robot in the use also requires carrier to have certain rigidity and straight degree.But in the special occasions of this robot of practical application, as in aloft work with across mighty torrent the time, unlikely there is above-mentioned so desirable delivery vehicles, also can't makes thicker rope and straight pole directly as carrier.Simultaneously, because climbing devices such as at present disclosed pneumatic, the formula of surging all must be with the propulsion source of wired transmission as driving power, therefore climbing is apart from restricted, and enough height can't rise.
Therefore, propose the more wide soaring mobile robot of a kind of applicability, reduce, just become soaring mobile robot developer for dropping into extensively that to use be the problem that must solve with this device is real to the restriction of carrier with to the dependence in wired transferring power source.
Summary of the invention
Purpose of the present invention is intended to: a kind of line climbing robot is provided, and it can improve the limitation of only climbing at present hawser and straight pole, guarantees to be applicable to soft rope and thin rigid rod, and on this type of climbing medium flexibly, arbitrarily angledly continuously move, climbing.
This line climbing robot, by climbing device, drive motor 2 is formed, it is characterized in that: described climbing device comprises by drive motor and driving, power wheel, the climbing main drive gear 1 that the power wheel band is formed, by power wheel, the climbing auxiliary drive gear 4 that the power wheel band is formed, the two ends of described climbing main drive gear 1 and climbing auxiliary drive gear 4 link into an integrated entity by the clamping assembly set 3 of being located at two ends and form the climbing combined body, and the power wheel in power wheel in the climbing main drive gear 1 and the climbing auxiliary drive gear 4 is the dislocation shape and arranges, and the driving band that makes both is the middle rope state of tight clamping, the friction force formation climbing displacement power between application driving band and carrier rope.
Climbing main drive gear 1 by flute profile mainframe 1-1, be located at a plurality of power wheel 1-3 in this flute profile mainframe, the main driving wheel 1-2 that constitutes by the power wheel 1-3 of a band bevel gear component 1-4, be around in main driving wheel main shaft bonded assembly drive motor 2 and cover that annular driving band 1-5 forms on the driving wheel group; Described climbing auxiliary drive gear 4 by auxiliary framework 4-1, be located at a plurality of power wheel 4-2 in this auxiliary framework and cover and be around in that annular driving band 4-3 forms on the driving wheel group.
The two ends of described climbing main drive gear 1 and climbing auxiliary drive gear 4 link into an integrated entity by the clamping assembly set 3 of being located at two ends and form the climbing composite set, and the power wheel 1-3 in the climbing main drive gear 1 and power wheel 4-2 in the climbing auxiliary drive gear 4 are that the dislocation shape is arranged and with both the tight pressing of driving band around the home.
The wheel face of described power wheel 4-2 in described power wheel 1-3 in the described climbing main drive gear 1 and the climbing auxiliary drive gear 4 is a face of gear.
The cylindricality wheel face of power wheel 4-2 in power wheel 1-3 in the described climbing main drive gear 1 and the climbing auxiliary drive gear 4 is provided with the first rib 1-31 and the second rib 4-21 that prevents that annular driving band from coming off.
The interior zone face of described annular driving band 1-5 and 4-3 is the flank of tooth that is complementary with the transmission wheel face.
Described flute profile mainframe 1-1 at least at one end is provided with guiding mechanism, and this guiding mechanism is and the position-limited trough of driving band center line at same axis direction, remains at the driving band midway location in order to guarantee rope, avoids operating device derailing.In addition, antifriction-bearing box is set and reduces friction force between wheel shaft and the housing thus between the wheel shaft of all power wheels and frame housing.
This line climbing robot that can climb continuously according to above technical scheme proposition, the propulsion source that utilizes the climbing main drive gear to produce because of direct-drive motor, make annular driving band form displacement action, and, can make this climbing device realize soaring and displacement along clamping soft rope between the two again by fit tightly the combined action of auxiliary climbing transmission device together with it; Because this device adopts controllable direct current power supply to drive, therefore can remove the propulsion source of wired transmission from simultaneously, the usage space scope of this device is enlarged.
Description of drawings
Fig. 1 is an integral structure scheme drawing of the present invention;
Fig. 2 is the structural representation of climbing main drive gear in apparatus of the present invention;
Fig. 3 is the structural representation of climbing auxiliary drive gear of the present invention.
Among the figure: the 1-climbing main drive gear 1-1 mainframe 1-2 main driving wheel 1-3 power wheel 1-31 first rib 1-4 bevel gear component 1-5 annular driving band 2-drive motor 3-clamps the assembly set 4-climbing auxiliary drive gear 4-1 auxiliary framework 4-2 power wheel 4-21 second rib 4-3 annular driving band 5-binding bolt 6-rope
The specific embodiment
This climbing robot continuously as shown in the figure, it is to existing a kind of inventive improvements along straight-bar and rope climbing robot, the usefulness of the climbing when especially suiting to utilize soft rope and steel wire to make carrier.Its concrete structure is as follows:
This line climbing robot, by climbing device, drive motor 2 is formed, it is characterized in that: described climbing device comprises by drive motor and driving, power wheel, the climbing main drive gear 1 that the power wheel band is formed, by power wheel, the climbing auxiliary drive gear 4 that the power wheel band is formed, the two ends of described climbing main drive gear 1 and climbing auxiliary drive gear 4 link into an integrated entity by the clamping assembly set 3 of being located at two ends and form the climbing combined body, and the power wheel in power wheel in the climbing main drive gear 1 and the climbing auxiliary drive gear 4 is the dislocation shape and arranges, and the driving band that makes both is the middle rope state of tight clamping, the friction force formation climbing displacement power between application driving band and carrier rope.
Described climbing main drive gear 1 by flute profile mainframe 1-1, be located at a plurality of power wheel 1-3 in this flute profile mainframe, the main driving wheel 1-2 that constitutes by the power wheel 1-3 of a band bevel gear component 1-4, be around in main driving wheel main shaft bonded assembly drive motor 2 and cover that annular driving band 1-5 forms on the driving wheel group; Described climbing auxiliary drive gear 4 by auxiliary framework 4-1, be located at a plurality of power wheel 4-2 in this auxiliary framework and cover and be around in that annular driving band 4-3 forms on the driving wheel group.
The two ends of described climbing main drive gear 1 and climbing auxiliary drive gear 4 link into an integrated entity by the clamping assembly set 3 of being located at two ends and form the climbing composite set, and the power wheel 1-3 in the climbing main drive gear 1 and power wheel 4-2 in the climbing auxiliary drive gear 4 are that the dislocation shape is arranged and with both the tight pressing of driving band around the home.
The wheel face of described power wheel 4-2 in described power wheel 1-3 in the described climbing main drive gear 1 and the climbing auxiliary drive gear 4 is a face of gear.
The first rib 1-31 and the second rib 4-21 that prevents that annular driving band from coming off that be provided with of power wheel 1-3 in the described climbing main drive gear 1 and the cylindricality wheel face of climbing power wheel 4-2 in the auxiliary drive gear 4.
The interior zone face of described annular driving band 1-5 and 4-3 is the flank of tooth that is complementary with the transmission wheel face.
Described flute profile mainframe 1-1 at least at one end is provided with guiding mechanism, and this guiding mechanism is and the position-limited trough of driving band center line at same axis direction, remains at the driving band midway location in order to guarantee rope, avoids operating device derailing.
In addition, antifriction-bearing box is set and reduces friction force between wheel shaft and the housing thus between the wheel shaft of all power wheels and frame housing.
The principle that this line climbing robot is climbed and moved is as follows:
At first the clamping assembly set 3 among the robot assembly is dismantled, be divided into and independently climb main drive gear 1, climbing auxiliary drive gear 4, then will be placed between the driving band of two climbing mechanisms by the carrier rope 6 (or rope of thin steel rope or other material) of climbing, still (this clamps assembly set can bolt with clamping assembly set 3 at last, nut and pad etc.) the climbing main drive gear 1 that will separate, climbing auxiliary drive gear 4 is combined into one the formation climbing device, after drive motor 2 starts, because drive motor 2 is by the effect of bevel gear component 1-4, main driving wheel 1-2 and power wheel 1-3 in the climbing main drive gear 1 are rotated synchronously, owing to be evenly equipped with teeth groove on the wheel face of this power wheel, therefore will drive the annular driving band 1-5 that is arranged on driving wheel group synchrodrive thereupon; Meanwhile, because the climbing auxiliary drive gear 4 in present design closely fits together with climbing main drive gear 1, therefore begin when mobile when the power wheel in the climbing main drive gear 1 and annular driving band, form the annular driving band 4-3 that climbs in the auxiliary drive gear 4 also together with moved further.Produce friction force owing to clamp annular driving bands and be sandwiched between carrier-rope 6 between two annular driving bands, so, be that this climbing device can move along rope just because of the effect of this friction force two.
This machine man-hour is accepted module by wireless transmission, and the drive motor of control band drive program is realized the motor forward and reverse, thereby realizes remote control, improves the restriction owing to the operating distance that has line control to produce.
Claims (6)
1, a kind of line climbing robot, form by climbing device, it is characterized in that: described climbing device comprises by drive motor, power wheel, the climbing main drive gear (1) that the power wheel band is formed, by power wheel, the climbing auxiliary drive gear (4) that the power wheel band is formed, the two ends of described climbing main drive gear (1) and climbing auxiliary drive gear (4) link into an integrated entity by the clamping assembly set (3) of being located at two ends and form the climbing combined body, and the power wheel in power wheel in the climbing main drive gear (1) and the climbing auxiliary drive gear (4) is the dislocation shape and arranges, and the driving band that makes both is the middle rope state of tight clamping, the friction force formation climbing displacement power between application driving band and carrier rope.
2, a kind of line climbing robot as claimed in claim 1 is characterized in that: described climbing main drive gear (1) by flute profile mainframe (1-1), be located at a plurality of power wheels (1-3) in the flute profile mainframe (1-1), the main driving wheel (1-2) that is made of the power wheel of a band bevel gear component (1-4), the annular driving band (1-5) that is around on the driving wheel group with main driving wheel (1-2) described drive motor of main shaft bonded assembly (2) and cover form; Described climbing auxiliary drive gear (4) by auxiliary framework (4-1), be located at the annular driving band (4-3) that a plurality of power wheels (4-2) in this auxiliary framework and cover be around on the driving wheel group and form.
3, a kind of line climbing robot as claimed in claim 1 is characterized in that: the wheel face of the described power wheel (4-2) in described power wheel (1-3) in the described climbing main drive gear (1) and the climbing auxiliary drive gear (4) is a face of gear.
4, a kind of line climbing robot as claimed in claim 1 is characterized in that: the cylindricality wheel face of the power wheel (4-2) in power wheel (1-3) in the described climbing main drive gear (1) and the climbing auxiliary drive gear (4) is provided with first rib (1-31) and second rib (4-21) that prevents that annular driving band from coming off.
5, a kind of line climbing robot as claimed in claim 2 is characterized in that: the interior zone face of described annular driving band (1-5) is the flank of tooth that is complementary with the transmission wheel face.
6, a kind of line climbing robot as claimed in claim 2 is characterized in that: described flute profile mainframe (1-1) at least at one end is provided with guiding mechanism, and this guiding mechanism is and the position-limited trough of driving band center line at same axis direction.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710040725A CN100596288C (en) | 2007-05-16 | 2007-05-16 | Line climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN200710040725A CN100596288C (en) | 2007-05-16 | 2007-05-16 | Line climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101049898A CN101049898A (en) | 2007-10-10 |
| CN100596288C true CN100596288C (en) | 2010-03-31 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200710040725A Expired - Fee Related CN100596288C (en) | 2007-05-16 | 2007-05-16 | Line climbing robot |
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| Country | Link |
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| CN (1) | CN100596288C (en) |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| TWI468568B (en) * | 2013-08-23 | 2015-01-11 | Chee Siang Ind Co Ltd | The conveyor of the sewing machine |
| CN107835385B (en) * | 2017-10-26 | 2019-11-08 | 国网辽宁省电力有限公司经济技术研究院 | Convertible steel pipe tower climbs detection device |
| CN108510862B (en) * | 2018-04-28 | 2019-11-08 | 浙江亿钛数控机械有限公司 | A kind of climbing teaching hand motion displaying device |
| CN108528558B (en) * | 2018-05-17 | 2023-09-12 | 香港中文大学（深圳） | Cable climbing robot |
| CN110255430B (en) * | 2019-06-20 | 2023-11-03 | 深圳市翠箓科技绿化工程有限公司 | Guide rail climbing robot |
| CN111555228B (en) * | 2020-05-20 | 2021-03-16 | 贵州电网有限责任公司 | Combined deicing device of deicing robot for power transmission line |
| CN112595879A (en) * | 2021-01-08 | 2021-04-02 | 上海庸别数码通讯有限公司 | Current automatic detection device capable of climbing wire pole |
-
2007
- 2007-05-16 CN CN200710040725A patent/CN100596288C/en not_active Expired - Fee Related
Non-Patent Citations (4)
| Title |
|---|
| 液压技术在缆索机器人中的应用. 王乐天，谢文华，赵荣岗.液压气动与密封，第2003年第6期. 2003 |
| 液压技术在缆索机器人中的应用. 王乐天，谢文华，赵荣岗.液压气动与密封，第6期. 2003 * |
| 爬杆（绳）机器人的研制. 杨存智.机电一体化，第2003年第4期. 2003 |
| 爬杆(绳)机器人的研制. 杨存智.机电一体化，第4期. 2003 * |
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| Publication number | Publication date |
|---|---|
| CN101049898A (en) | 2007-10-10 |
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Granted publication date: 20100331 Termination date: 20100516 |