CN102745276A - Walking type climbing pole robot - Google Patents
Walking type climbing pole robot Download PDFInfo
- Publication number
- CN102745276A CN102745276A CN2011101017171A CN201110101717A CN102745276A CN 102745276 A CN102745276 A CN 102745276A CN 2011101017171 A CN2011101017171 A CN 2011101017171A CN 201110101717 A CN201110101717 A CN 201110101717A CN 102745276 A CN102745276 A CN 102745276A
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Abstract
The invention relates to a walking type climbing pole robot, and in particular relates to a robot which takes a single motor as power and has a pure mechanical structure, mainly being applied to climbing on cylinder and cylinder-like towers, is capable of realizing man carrying and hoisting and carrying out mounting and maintenance operations on cylinder and cylinder-like tower buildings and engineering equipment by utilizing the extensible carrying platform of the robot and belonging to the fields of robots and engineering machinery design. The walking type climbing pole robot disclosed by the invention takes friction self locking as a fundamental principle, and ascending, descending and power transmission of the robot are realized by virtue of positive and negative rotation of a motor and coordination of a crank-slider mechanism and a gear transmission mechanism; and friction self locking between the robot and a climbed object and extended rounding movement of a climbing arm are realized by virtue of coordination of a cam mechanism and a rocker-slider mechanism. The pure mechanical structure is adopted by the walking type climbing pole robot disclosed by the invention, thus the robot is high in working stability, fast in climbing speed and strong in working condition adaptability, convenient to dismount and convenient for transition.
Description
Technical field
The present invention relates to a kind of legged climbing level robot that is mainly used in cylinder, type cylinder tower climbing, belong to robot and construction machinery and equipment design field.
Background technology
Existing climbing level robot is of a great variety; Main rely on complicated Electromechanical Control to realize that moving one's steps of robot climb; Have double fastener and hold mechanism, it is to lift the clamping device of bottom that half even more time are often arranged in the pole-climbing process, does next step the preparation of climbing; Well imagine that climbing speed is very slow, this robotlike generally is applied in the fields such as building, mining that laboratory teaching or few being used in do not require climbing speed; Also have two roller clampings, the robotlike that climbs that rolls, this type also is only applicable to climbing of thinner and isometrical bar, for large-scale cylinder tower or to have a high tower of certain taper just powerless; U.S. Boston Dynamics has developed the bio-robot with spine claw that can climb wooden electric pole or hydraulically rough surface, but stability and load carrying ability are all extremely limited, is mainly used in aspects such as military investigation and disaster relief.
For the climbing level robot of Purely mechanical, available data shows and nobody sets foot in.
Summary of the invention
The present invention is a kind of legged climbing level robot that is mainly used in cylinder, type cylinder tower climbing, and single motor drags, and the Purely mechanical structure can have certain load carrying ability.
The present invention is achieved in that and sees shown in Figure 1ly that agent structure is made up of circulating motion parts, power transmission member and climbing arm control parts of motion.The circulating motion parts can be expanded (2) the platform motion crank that carries the platform both sides and form (4) platform motion connecting rod, (5) supporting seat that connects in order by becoming 180 ° of angles to be installed on (1); Power transmission member by connect firmly (3) power transmitting gear with one heart at (2) platform motion crank joint, be installed on (4) platform motion connecting rod midway location (3) power transmitting gear be installed in (4) platform motion connecting rod and form with (3) power transmitting gear of (5) supporting seat hinged place; Climbing arm control parts of motion is by connecting firmly (6) action control cam on power transmission member final stage (3) power transmitting gear, (5) supporting seat, (7) right climbing arm ((8) left side climbing arm), forming with (9) that the climbing arm becomes 15 ° of angles to install rub push rod, (10) sliding pin.
Description of drawings
Fig. 1 is legged climbing level robot structure mode figure, and this figure is simultaneously as Figure of abstract.Fig. 2 is the present invention's a front elevation.
The specific embodiment
Specify the present invention's scheme below, see shown in Figure 1ly, the main physical construction of this legged climbing level robot is by being made up of circulating motion parts, power transmission member and climbing arm control parts of motion.The circulating motion parts can be expanded (2) the platform motion crank that carries the platform both sides and form (4) platform motion connecting rod, (5) supporting seat that connects in order by becoming 180 ° of angles to be installed on (1); Two cranks become 180 ° of angles to install can guarantee its alternate cycles motion, makes (1) can expand the lift-launch platform and does continuously uninterrupted motion; Power transmission member by connect firmly (3) power transmitting gear with one heart at (2) platform motion crank joint, be installed on (4) platform motion connecting rod midway location (3) power transmitting gear be installed in (4) platform motion connecting rod and form with (3) power transmitting gear of (5) supporting seat hinged place; Power transmission member can convert the circular movement of (2) platform motion crank to the circular movement of final stage gear; And make the final stage gear consistent with the rotation direction of (2) platform motion crank by the acting in opposition that is installed on (3) power transmitting gear on (4) platform motion connecting rod midway location, be convenient to of the control of (6) action control cam to subordinate's kinematic mechanism; Climbing arm control parts of motion is by connecting firmly (6) action control cam on power transmission member final stage (3) power transmitting gear, (5) supporting seat, (7) right climbing arm ((8) left side climbing arm), forming with (9) that the climbing arm becomes 15 ° of angles to install rub push rod, (10) sliding pin; (7) right climbing arm ((8) left side climbing arm) leans on lever principle to compress (6) action control cam with self gravitation; (6) action control cam connects firmly on final stage (3) power transmitting gear; Do front and back rocking bar motion with rotation of (3) power transmitting gear and the right climbing of promotion (7) arm ((8) left side climbing arm); About (6) action control cam in the two climbing arm control parts of motion become 180 ° of angles to install, two climbing arms can alternating movement about making, and accomplishes the self-locking of climbing; Cam far angle of repose＞180 °; When having guaranteed two climbing arm self-lockings certain overlap ratio is arranged, two climbing arms can not got loose at the critical spot of alternating movement simultaneously, can not climb the arm interference that bumps when the cam-lobe heel position has guaranteed that climbing arm abduction detours motion with another; (7) the self-locking angle design of right climbing arm ((8) left side climbing arm) when the locking mode of operation is 15 °; (9) the friction push rod becomes 15 ° of angles to install with the climbing arm, and is opposite with climbing arm self-locking angle, and it can be pressed in 90 ° of angles on the climbing thing when the self-locking of climbing arm; Produce maximum frictional force and self-locking; (10) sliding pin connects firmly in (9) friction push rod rear end and also inserts the chute on (5) supporting seat, makes (9) friction push rod can pushed away forward or pull back when rocking bar moves before and after the climbing arm is done, and plays self-locking and the effect of removing self-locking; The motion control of the legged climbing level robot of the present invention is extremely simple, as long as the rotating of control motor can make climbing level robot rise or descend.
Claims (6)
1. one kind is mainly used in cylinder, type legged climbing level robot that the cylinder tower is climbed, and agent structure is made up of circulating motion parts, power transmission member and climbing arm control parts of motion.It is characterized in that: the circulating motion parts can be expanded (2) the platform motion crank that carries the platform both sides and form (4) platform motion connecting rod, (5) supporting seat that connects in order by becoming 180 ° of angles to be installed on (1); Two cranks become 180 ° of angles to install can guarantee its alternate cycles motion, makes (1) can expand the lift-launch platform and does continuously uninterrupted motion; Power transmission member by connect firmly (3) power transmitting gear with one heart at (2) platform motion crank joint, be installed on (4) platform motion connecting rod midway location (3) power transmitting gear be installed in (4) platform motion connecting rod and form with (3) power transmitting gear of (5) supporting seat hinged place; Power transmission member can convert the circular movement of (2) platform motion crank to the circular movement of final stage gear; And make the final stage gear consistent with the rotation direction of (2) platform motion crank by the acting in opposition that is installed on (3) power transmitting gear on (4) platform motion connecting rod midway location, be convenient to of the control of (6) action control cam to subordinate's kinematic mechanism; Climbing arm control parts of motion is by connecting firmly (6) action control cam on power transmission member final stage (3) power transmitting gear, (5) supporting seat, (7) right climbing arm ((8) left side climbing arm), forming with (9) that the climbing arm becomes 15 ° of angles to install rub push rod, (10) sliding pin; (7) right climbing arm ((8) left side climbing arm) leans on lever principle to compress (6) action control cam with self gravitation; (6) action control cam connects firmly on final stage (3) power transmitting gear; Do front and back rocking bar motion with rotation of (3) power transmitting gear and the right climbing of promotion (7) arm ((8) left side climbing arm); About (6) action control cam in the two climbing arm control parts of motion become 180 ° of angles to install, two climbing arms can alternating movement about making, and accomplishes the self-locking of climbing; Cam far angle of repose＞180 °; When having guaranteed two climbing arm self-lockings certain overlap ratio is arranged, two climbing arms can not got loose at the critical spot of alternating movement simultaneously, can not climb the arm interference that bumps when the cam-lobe heel position has guaranteed that climbing arm abduction detours motion with another; (7) the self-locking angle design of right climbing arm ((8) left side climbing arm) when the locking mode of operation is 15 °; (9) the friction push rod becomes 15 ° of angles to install with the climbing arm, and is opposite with climbing arm self-locking angle, and it can be pressed in 90 ° of angles on the climbing thing when the self-locking of climbing arm; Produce maximum frictional force and self-locking; (10) sliding pin connects firmly in (9) friction push rod rear end and also inserts the chute on (5) supporting seat, makes (9) friction push rod can pushed away forward or pull back when rocking bar moves before and after the climbing arm is done, and plays self-locking and the effect of removing self-locking; The motion control of the legged climbing level robot of the present invention is extremely simple, as long as the rotating of control motor can make climbing level robot rise or descend.
2. legged climbing level robot according to claim 1 is characterized in that, about two (2) platform motion cranks become 180 ° of installations.
3. legged climbing level robot according to claim 1 is characterized in that, power transmission member is made up of three (3) power transmitting gears, accomplishes transmission of power by the plane motion of slider-crank mechanism.
4. legged climbing level robot according to claim 1 is characterized in that, two (6) action control cam in the climbing arm control parts of motion becomes 180 ° of installations, far angle of repose＞180 °.
5. legged climbing level robot according to claim 1 is characterized in that, the self-locking angle design of (7) right climbing arm ((8) left side climbing arm) when the locking mode of operation is 15 °.
6. legged climbing level robot according to claim 1 is characterized in that, (9) friction push rod becomes 15 ° of angles to install with the climbing arm, and is opposite with the work self-locking angle of climbing arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101017171A CN102745276A (en) | 2011-04-22 | 2011-04-22 | Walking type climbing pole robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN2011101017171A CN102745276A (en) | 2011-04-22 | 2011-04-22 | Walking type climbing pole robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN102745276A true CN102745276A (en) | 2012-10-24 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN2011101017171A Pending CN102745276A (en) | 2011-04-22 | 2011-04-22 | Walking type climbing pole robot |
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| CN (1) | CN102745276A (en) |
Cited By (24)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386156A (en) * | 2014-11-24 | 2015-03-04 | 西南交通大学 | Actuator of pole-climbing robot |
| CN105833479A (en) * | 2016-06-01 | 2016-08-10 | 广西师范大学 | Pole climbing device with continuous grapplers and pole climbing method |
| CN106314585A (en) * | 2016-09-25 | 2017-01-11 | 郑运长 | Intelligent electric pole climbing robot |
| CN106741266A (en) * | 2015-11-20 | 2017-05-31 | 华南理工大学 | A kind of screw mandrel promotion type climbing level robot |
| CN106890452A (en) * | 2017-02-27 | 2017-06-27 | 深圳源创智能机器人有限公司 | It is a kind of juggle and pole-climbing multi-function robot |
| CN107094513A (en) * | 2017-03-24 | 2017-08-29 | 广西大学 | One kind automation become cell type stepping climb tree scissors training robot |
| CN107097865A (en) * | 2017-03-24 | 2017-08-29 | 广西大学 | A kind of servo-drive becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107117222A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of hydraulic-driven step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107117219A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | One kind become cell type servo-drive stepping climb tree scissors training robot |
| CN107117220A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of servo-drive step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107117221A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of step-by-step movement robot capable of climbing trees with metamorphic function |
| CN107135821A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | One kind become cell type stepping climb tree scissors training all-in-one |
| CN107140049A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of hydraulic-driven becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107135822A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of combination drive stepping climb tree saw formula training robot |
| CN107135823A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of stepping climb tree saw formula training all-in-one |
| CN107150729A (en) * | 2017-03-24 | 2017-09-12 | 广西大学 | One kind automation step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107150730A (en) * | 2017-03-24 | 2017-09-12 | 广西大学 | A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107161233A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | A kind of combination drive becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107161229A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | One kind becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107155661A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | A kind of hydraulic-driven stepping climb tree saw formula training robot |
| CN107409786A (en) * | 2017-03-24 | 2017-12-01 | 广西大学 | One kind become cell type combination drive stepping climb tree scissors training robot |
| CN107409787A (en) * | 2017-03-24 | 2017-12-01 | 广西大学 | A kind of servo-drive stepping climb tree saw formula training robot |
| CN110271619A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of quickly wheeled climbing level robot |
| CN114265060A (en) * | 2021-12-22 | 2022-04-01 | 河南省国安建筑工程质量检测有限公司 | Engineering structure detection system based on geological radar |
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Cited By (29)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104386156A (en) * | 2014-11-24 | 2015-03-04 | 西南交通大学 | Actuator of pole-climbing robot |
| CN104386156B (en) * | 2014-11-24 | 2016-08-24 | 西南交通大学 | A kind of climbing level robot actuator |
| CN106741266A (en) * | 2015-11-20 | 2017-05-31 | 华南理工大学 | A kind of screw mandrel promotion type climbing level robot |
| CN106741266B (en) * | 2015-11-20 | 2019-10-18 | 华南理工大学 | A kind of screw rod promotion type climbing level robot |
| CN105833479A (en) * | 2016-06-01 | 2016-08-10 | 广西师范大学 | Pole climbing device with continuous grapplers and pole climbing method |
| CN105833479B (en) * | 2016-06-01 | 2018-02-13 | 广西师范大学 | Climbers continous way pole climbing device and its pole-climbing method |
| CN106314585A (en) * | 2016-09-25 | 2017-01-11 | 郑运长 | Intelligent electric pole climbing robot |
| CN106314585B (en) * | 2016-09-25 | 2019-01-11 | 南京香宁国际人工智能和智能制造研究院有限公司 | A kind of intelligence electric pole climbing robot |
| CN106890452A (en) * | 2017-02-27 | 2017-06-27 | 深圳源创智能机器人有限公司 | It is a kind of juggle and pole-climbing multi-function robot |
| CN107135822A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of combination drive stepping climb tree saw formula training robot |
| CN107161233A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | A kind of combination drive becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107117221A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of step-by-step movement robot capable of climbing trees with metamorphic function |
| CN107135821A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | One kind become cell type stepping climb tree scissors training all-in-one |
| CN107140049A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of hydraulic-driven becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107117219A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | One kind become cell type servo-drive stepping climb tree scissors training robot |
| CN107135823A (en) * | 2017-03-24 | 2017-09-08 | 广西大学 | A kind of stepping climb tree saw formula training all-in-one |
| CN107150729A (en) * | 2017-03-24 | 2017-09-12 | 广西大学 | One kind automation step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107150730A (en) * | 2017-03-24 | 2017-09-12 | 广西大学 | A kind of combination drive step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107117220A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of servo-drive step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107161229A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | One kind becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107155661A (en) * | 2017-03-24 | 2017-09-15 | 广西大学 | A kind of hydraulic-driven stepping climb tree saw formula training robot |
| CN107409786A (en) * | 2017-03-24 | 2017-12-01 | 广西大学 | One kind become cell type combination drive stepping climb tree scissors training robot |
| CN107409787A (en) * | 2017-03-24 | 2017-12-01 | 广西大学 | A kind of servo-drive stepping climb tree saw formula training robot |
| CN107117222A (en) * | 2017-03-24 | 2017-09-01 | 广西大学 | A kind of hydraulic-driven step-by-step movement becomes born of the same parents' robot capable of climbing trees |
| CN107097865A (en) * | 2017-03-24 | 2017-08-29 | 广西大学 | A kind of servo-drive becomes cell type stepping and climbed tree monitoring sniffing robot |
| CN107094513A (en) * | 2017-03-24 | 2017-08-29 | 广西大学 | One kind automation become cell type stepping climb tree scissors training robot |
| CN110271619A (en) * | 2018-03-15 | 2019-09-24 | 天津工业大学 | A kind of quickly wheeled climbing level robot |
| CN114265060A (en) * | 2021-12-22 | 2022-04-01 | 河南省国安建筑工程质量检测有限公司 | Engineering structure detection system based on geological radar |
| CN114265060B (en) * | 2021-12-22 | 2022-11-01 | 河南省国安建筑工程质量检测有限公司 | Engineering structure detection system based on geological radar |
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Application publication date: 20121024 |