CN102689658A

CN102689658A - Rope-climbing robot

Info

Publication number: CN102689658A
Application number: CN2012100104707A
Authority: CN
Inventors: 张伏; 付三玲; 毛鹏军; 邱兆美; 王俊; 徐锐良; 邓桂扬; 薛坤鹏; 杨乐峰; 王留柱; 白延鹏
Original assignee: Henan University of Science and Technology
Current assignee: Henan University of Science and Technology
Priority date: 2012-01-13
Filing date: 2012-01-13
Publication date: 2012-09-26
Anticipated expiration: 2032-01-13
Also published as: CN102689658B

Abstract

The invention discloses a rope-climbing robot, comprising a rack, wherein an arm rotary shaft and a power shaft which are arranged side by side and extend in the lateral direction are rotatablely arranged on the rack. Two arms extending in the radial direction and alternately swaying in a reciprocating manner are arranged on the arm rotary shaft and respectively at the left and right sides of the rack, and one ends of the two arms are respectively provided with hooks which are bent oppositely and hung on a horizontal rope. The two ends of the power shaft are located at the inner sides of the two arms and respectively fixed with first cranks which extend along the radial direction, and first collection rods which extend in the lateral direction are respectively connected between the first cranks and the corresponding arms. The first cranks and the corresponding arms are matched for forming a double-crank rocker mechanism or a crank-sliding block mechanism. The rack is further provided with a power device which is used for driving the power shaft to rotate. The structure of the complete robot is simple, and the horizontal climbing can be realized through alternately reciprocated swaying of the arms. The actions of the robot are flexible and fast.

Description

Rope-climbed robot

Technical field

The present invention relates to a kind of rope-climbed robot, belong to the Robotics field.

Background technology

Quickening along with Urbanization in China; Urban architecture constantly develops to the high-altitude; Demand to the aloft work personnel is also increasing, but aloft work exists very high danger, brings threat for aloft work personnel's personal safety; In addition, there is the danger of aloft work too in work such as pipeline monitoring maintenance, tunnel piercing, the product installation of building top.

Personal safety for fear of the aloft work personnel is on the hazard; Aloft work personnel's robot has appearred replacing; Like application number is that 200810011957.0 Chinese patent discloses a kind of remote-control rod-climbing rope-climbing robot; This robot can be creeped up and down along vertical rope or pole-climbing; Be used for accomplishing to high-altitude or the inferior remote vertical transport operation in ground, will pole-climbing or rope be stuck between downlink drive roller and last self-locking depression bar and carrying roller and the following self-locking depression bar during work, and use respectively take off the bar bearer bar with under take off bar and protect circle firmly.Can certainly creep along horizontal rope or pole-climbing level; Be used to accomplish the horizontal feed operation; But this robot architecture is complicated, bulky, inconvenient operation when on pole-climbing or rope, installing, and also slow in action; Realize the aloft work of horizontal feed fast, flexibly for ask for something, this robot significant discomfort is closed.

Summary of the invention

The purpose of this invention is to provide a kind of simple in structure, flexible movements in horizontal rope or pole-climbing, action fast speed rope-climbed robot.

The present invention adopts following technical scheme: a kind of rope-climbed robot; Comprise frame; Be rotatably equipped with arm rotating shaft and the dynamical axis that are set up in parallel on the frame along the left and right directions extension; The left and right sides that is positioned at frame in the arm rotating shaft is respectively equipped with the alternately arm of reciprocally swinging that radial direction is extended; What one end of two arms had relative bending respectively is used to hang over the crotch on the horizontal rope, and the inboard that the two ends of said dynamical axis are positioned at two arms is fixed with first crank that radial direction is extended respectively, is connected with respectively between first crank and each the self-corresponding arm along the first connecting rod of left and right directions extension; First crank cooperates with each self-corresponding arm to be respectively applied for and forms double crank rocker mechanism or slider-crank mechanism, also is provided with on the frame to be used to drive the engine installation that dynamical axis rotates.

Said double crank rocker mechanism also comprises second crank along the extension of arm rotating shaft radial direction that is separately fixed at arm rotating shaft two ends; The bearing of trend of second crank is consistent with the first crank bearing of trend of homonymy respectively, and is connected with the second connecting rod that extends along left and right directions between second crank and each the self-corresponding arm respectively.

Said dynamical axis is assemblied on the frame through the spaced apart bearing rotation in two left and right sides that is fixed on the frame, and dynamical axis rotates and is assemblied on two bearings.

Said engine installation is a motor, and motor is in transmission connection through two gears in mesh groups and dynamical axis, and one of them gear is connected with the axle drive shaft of motor is coaxial, and another gear and dynamical axis be coaxial to be connected and between two bearings.

Adopt the rope-climbed robot of said structure; Because the both sides of frame are respectively equipped with the alternately arm of reciprocally swinging; Have the crotch of relative bending on two arms respectively, can the entire machine people be mounted in horizontal rope or the horizontal pole-climbing through crotch, easy to operate; And the alternately reciprocally swinging of arm relies on the frame both sides to cooperate the double crank rocker mechanism of formation or slider-crank mechanism to realize respectively; Therefore the entire machine people's is simple in structure, and climbs through the alternately reciprocally swinging realization level of arm, and flexible movements, action are fast.

Description of drawings

Fig. 1 is the embodiments of the invention structural representation;

Fig. 2 is the lateral plan of Fig. 1;

Fig. 3 is the birds-eye view of Fig. 1.

The specific embodiment

The embodiment of rope-climbed robot of the present invention: shown in Fig. 1-3; Comprise frame 6; Be rotatably equipped with the arm rotating shaft 5 of extending along left and right directions on the frame 6, frame 6 is stretched out at the two ends of arm rotating shaft 5 respectively, and the two ends of arm rotating shaft 5 are fixed with second crank 4 that extends along its radial direction respectively; The end of second crank 4 is rotatably equipped with outward extending second connecting rod 3 respectively; Be respectively equipped with the end rotation of extending along its radial direction on the second connecting rod 3 and be assemblied in the arm 9 on the second connecting rod 3, the other end of arm 9 is wholely set the crotch of relative bending respectively, when specifically using; Two crotches are hung in horizontal rope or the horizontal pole-climbing, through the alternately reciprocally swinging realization level climbing of two arms 9.Be fixed with two spaced apart bearings 11 in the left and right sides on the front end face of frame 6; The side top that is positioned at arm rotating shaft 5 on two bearings 11 is rotatably equipped with the dynamical axis 2 that is set up in parallel with arm rotating shaft 5; The rotation of dynamical axis 2 is driven through two pitch wheel groups 7 by the motor 8 that is fixed on the frame 6; One of them gear is connected with the axle drive shaft of motor 8 is coaxial, and another gear and dynamical axis 2 be coaxial to be connected and between two bearings 11.Frame 6 is stretched out at the two ends of dynamical axis 2 respectively; And the two ends of dynamical axis 2 are fixed with first crank 10 that extends along its radial direction respectively; The end of first crank 10 is rotatably equipped with outward extending first connecting rod 1 respectively; First connecting rod 1 respectively with each self-corresponding arm 9 normal-running fit, the bearing of trend of first crank 10 is consistent with the bearing of trend of second crank 4 of homonymy respectively, first crank 10, second crank 4 of frame 6 homonymies cooperate with arm 9 and form the double crank rocker mechanism respectively like this; Rely on the driving of motor 8, two arms 9 replace reciprocally swinging in horizontal rope or horizontal pole-climbing.

The rope-climbed robot of the foregoing description is when work; Through two crotches the entire machine people is hung in horizontal rope or the horizontal pole-climbing, motor 8 is connected with controller through the wireless receiving end, rotates through controller control motor 8; The axle drive shaft of motor 8 drives dynamical axis 2 through gear cluster 7 and rotates; Dynamical axis 2 drives alternately reciprocally swinging of two arms 9, thereby realizes the level climbing of rope-climbed robot, and the rotating of motor 8 can be controlled moving forward or backward of rope-climbed robot.

In other embodiments; Also second crank and second connecting rod can be set; On two arms, offering the bearing of trend slotted hole consistent with the arm bearing of trend respectively gets final product; The arm of frame homonymy is cooperated with first crank form slider-crank mechanism respectively, two arms replace in the reciprocally swinging process, slotted hole and arm rotating shaft bearing fit.

Claims

1. rope-climbed robot; It is characterized in that: comprise frame; Be rotatably equipped with arm rotating shaft and the dynamical axis that are set up in parallel on the frame along the left and right directions extension; The left and right sides that is positioned at frame in the arm rotating shaft is respectively equipped with the alternately arm of reciprocally swinging that radial direction is extended; What one end of two arms had relative bending respectively is used to hang over the crotch on the horizontal rope, and the inboard that the two ends of said dynamical axis are positioned at two arms is fixed with first crank that radial direction is extended respectively, is connected with respectively between first crank and each the self-corresponding arm along the first connecting rod of left and right directions extension; First crank cooperates with each self-corresponding arm to be respectively applied for and forms double crank rocker mechanism or slider-crank mechanism, also is provided with on the frame to be used to drive the engine installation that dynamical axis rotates.

2. rope-climbed robot according to claim 1; It is characterized in that: said double crank rocker mechanism also comprises second crank along the extension of arm rotating shaft radial direction that is separately fixed at arm rotating shaft two ends; The bearing of trend of second crank is consistent with the first crank bearing of trend of homonymy respectively, and is connected with the second connecting rod that extends along left and right directions between second crank and each the self-corresponding arm respectively.

3. rope-climbed robot according to claim 1 is characterized in that: said dynamical axis is assemblied on the frame through the spaced apart bearing rotation in two left and right sides that is fixed on the frame, and dynamical axis rotates and is assemblied on two bearings.

4. rope-climbed robot according to claim 3; It is characterized in that: said engine installation is a motor; Motor is in transmission connection through two gears in mesh groups and dynamical axis; One of them gear is connected with the axle drive shaft of motor is coaxial, and another gear and dynamical axis be coaxial to be connected and between two bearings.