CN105035201B - Climbing robot - Google Patents
Climbing robot Download PDFInfo
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- CN105035201B CN105035201B CN201510476140.0A CN201510476140A CN105035201B CN 105035201 B CN105035201 B CN 105035201B CN 201510476140 A CN201510476140 A CN 201510476140A CN 105035201 B CN105035201 B CN 105035201B
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Abstract
The invention discloses a kind of climbing robot, including the two climbing units configured up and down and several elevating mechanisms being arranged between two climbing units, the climbing units alternately edge of elevating mechanism driving two are moved by climbing thing and realize the climbing of climbing robot；The clamp system is provided with touch sensor, the touch sensor triggers in the pinching end top pressure of clamp system to after by climbing thing, thus the pinching end pause motion of the clamp system is made, until the pinching end whole top pressure of all clamp systems, to after by climbing thing, the pinching end of all clamp systems moves to by climbing thing simultaneously again.The climbing robot of the present invention climbs unit design by ring-type and obtains stronger heavy burden ability, can carry personnel and equipment carries out climbing trees, facilitate scientific research personnel to study the growth conditions of trees；By setting touch sensor, avoid each clamp system from contributing irregular, cause stand stretch, influence the normal work of robot；Reduce the service life of robot.
Description
Technical field
The present invention relates to a kind of robot that can be climbed on the rod-like articles such as trunk, lamp stand.
Background technology
At present, there is the climbing robot applied to rod-like articles of many design shapings both at home and abroad, wherein, some machines
Device people realizes that pole-climbing acts in the form of wriggling, and this robot crawling speed is low and the climbing that can not bear a heavy burden；Some are climbed tree
Robot is caught in bark with its hooked arm, and then the purpose climbed upwards, and this robot has certain broken to surface of trees
Bad effect, and influence the commercial value of timber., not only can be with during climbing therefore it provides a kind of simple in construction, easy to control
Bear a heavy burden and will not damage the current demand for by the climbing robot on climbing thing surface, turning into people.
The content of the invention
The problem of existing for prior art, it is an object of the invention to provide it is a kind of it is compact-sized, can be in shaft
Bear a heavy burden the climbing robot of climbing on body.
Technical solution of the present invention is as follows：
A kind of climbing robot, including configure up and down two climbing units and be arranged on some between two climbing units
Individual elevating mechanism, it is described to climb unit band organic frame, the passage for being passed through by climbing thing is provided with frame and is arranged around passage
Several clamp systems of row, the clamp system are provided with touch sensor, clamping of the touch sensor in clamp system
End top pressure triggers to after by climbing thing, thus makes the pinching end pause motion of the clamp system, until the folder of all clamp systems
Whole top pressures are tightly held to after by climbing thing, the pinching end of all clamp systems moves to by climbing thing simultaneously again.
Further, the clamp system is made up of screw crane and its motor, the work of screw crane
Screw rod is realized to by the clamping of climbing thing or releasing as clamping screw by being axially moveable；Clamping screw is faced by climbing thing
One end is provided with stage clip, platen, and clamping force is passed to platen by clamping screw through stage clip, also, platen relative can clamp spiral shell
Bar moves and changes the compression degree of stage clip therewith, change applies clamping force, is additionally provided with and is used on platen or clamping screw
Stage clip is set by the limit switch of compression degree；The elevating mechanism is equally made up of screw crane and its motor,
The forwardtransfer signal worm of screw crane is connected as lifting screw, its upper end or lower end with the frame of one of climbing unit,
Frame of the body of screw crane then with another climbing unit is connected, and lifting screw is single by two climbings by being axially moveable
Member mutually furthers or is located remotely from each other the two, is provided with elevating mechanism or on climbing unit mutual for adjusting two climbing units
Limit switch that is close and being located remotely from each other distance.
Further, the touch sensor is arranged on the platen and faced by the card of climbing thing side.
Further, the touch sensor is provided with the protection ring for avoiding touch sensor from being crushed.
Further, be additionally provided with the frame for control the clamping screw to away from by climbing object space to motion when
Remote dead-centre position limit switch.
Further, the quantity of the clamp system is 4, and 4 clamp systems are circumferentially uniform around the passage.
Further, the clamp system is arranged on same supporting surface vertical with the passage in the frame.
Further, the frame for annular shape, if also, the circular frame be circumferentially spliced by stem portion.
Further, the platen is arranged on the clamping screw by a sleeve, and the sleeve is fixed on platen in face of folder
On one side surface of tight screw rod, clamping screw end set has smooth section, and sleeve is fitted in smooth section and can be along clamping spiral shell
Bar slides axially, and the stage clip is inserted into sleeve and is clamped between sleeve cylinder bottom and clamping screw end face.
Further, the clamping screw is fixed with a sleeve with the platen opposite side, and platen faces clamping screw one
A bearing pin is fixed with side surface, the bearing pin is fitted in sleeve and can slid axially, and the stage clip is inserted into sleeve simultaneously
It is clamped between sleeve cylinder bottom and pin roll end face.
Further, the clamping screw is provided with a sleeve with the platen opposite side, and the sleeve one end is threaded
Hole is simultaneously spirally connected fixation by the screwed hole and clamping screw termination, and the sleeve other end carries pilot hole, and the guiding bore dia is less than
Barrel bore diameter, platen are fixed with a bearing pin on the side surface of clamping screw one, and the bearing pin free end carries radial convex platform,
The bearing pin is inserted into sleeve, and bearing pin axle body and the pilot hole of sleeve one end are slidably matched, and the boss on bearing pin is located at sleeve
In inner chamber, the stage clip is inserted into sleeve and is clamped between sleeve cylinder bottom and pin roll end face.
Climbing robot of the present invention has stronger heavy burden ability, can carry personnel and equipment climbing trees, climb
The infringement to trees is reduced by platen in journey, the growth conditions of trees studied suitable for scientific research personnel.Pass through setting
Touch sensor, avoid each clamp system from contributing irregular, cause stand stretch, influence the normal work of robot；Reduce machine
The service life of people.
Brief description of the drawings
Fig. 1 is climbing robot structural representation of the present invention；
Fig. 2 is climbing unit top view；
Fig. 3 is the decomposing schematic representation of the frame of climbing unit；
Fig. 4 is the decomposing schematic representation of clamp system；
Fig. 5 is the structural representation of pressure control unit；
Fig. 6 is the structural representation of pressure control unit；
Fig. 7 is the structural representation of touch sensor；
Fig. 8 is the structural representation of touch sensor；
Fig. 9 is the structural representation of the bearing of elevating mechanism；
Figure 10 is the structural representation of elevating mechanism；
Figure 11 is structural representation when bearing platform is provided with climbing robot of the present invention；
Figure 12 is the structural representation of the frame of adaptation bearing platform；
Figure 13 is the structural representation of bearing platform.
In figure：1st, by climbing thing；2nd, unit is climbed；3rd, elevating mechanism；3-1, screw crane；3-2, motor；Work 3-
3rd, lifting screw；3-4, installing plate；3-5, installing plate；3-6, universal coupling；3-7, installing plate；3-7.1, mounting hole；4th, machine
Frame；Enclose 4-1, beam；4-2, collar tie beam；Vertical 4-3, post；4-4, support seat board；4-4.1, elongated slot；4-4.2, mounting hole；4-4.3, installation
Hole；4-4.4, through hole；4-5, core pipe joint；4-6, annular slide track；4-7, column;5th, clamp system；5-1, screw crane；
5-2, motor；5-3, installing plate；5-4, installing plate；5-5, clamping screw；5-6, platen；5-7, sleeve assembly；5-7.1, sleeve
Bottom；5-7.2, ferrule barrel；5-7.3, sleeve cap；5-8, stage clip；5-7.4, bearing pin；5-7.5, connecting spring；5-9, photoelectricity limit
Bit switch；5-10, platen pad；6th, passage；7th, bearing；7-1, installing plate；7-2, installing plate；7-3, strut of drawing money on credit；7-4, short branch
Strut；7-5, inclined support bar；7-6, mounting hole；7-3.1 mounting hole；8th, displacement transducer；9th, bearing platform；9-1, collar tie beam；9-
2nd, collar tie beam；9-3, collar tie beam；9-4, stull；9-5, column；9-6, diagonal brace；9-7, external toothing；9-8, column；9-9, roller；5-11、
Touch sensor；5-11.1, accommodating cavity；5-11.2, protection ring；5-11.3, installing plate.
Embodiment
The present invention is more fully illustrated below with embodiment.The present invention can be presented as a variety of multi-forms,
It is not construed as being confined to the exemplary embodiment described here.
For ease of explanation, space relative terms such as " on ", " under " " left side " " right sides " can be used herein, for saying
The element or feature shown in bright figure is relative to another element or the relation of feature.It should be understood that except in figure
Outside the orientation shown, spatial terminology is intended to include the different azimuth of device in use or operation.If for example, in figure
Device is squeezed, be stated as positioned at other elements or feature " under " element will be located into other elements or feature " on ".Cause
This, exemplary term " under " both upper and lower orientation can be included.Device can be positioned otherwise（It is rotated by 90 ° or is located at
Other orientation）, can correspondingly be explained used herein of the relative explanation in space.
As shown in figure 1, the climbing robot in the present embodiment, including two configured up and down climb units 2 and are arranged on
Several elevating mechanisms 3 between two climbing units 2, the climbing unit 2 of the driving of elevating mechanism 3 two are alternately moved on edge by climbing thing 1
And realize the climbing of climbing robot；The pinching end of elevating mechanism 3 is provided with touch sensor 5-11, referring to Fig. 7, Fig. 8.
Unit 2 is climbed with organic frame 4, is provided with frame for being arranged by passage 6 that climbing thing 1 passes through and around passage 6
Several clamp systems 5, clamp system 5 is made up of screw crane 5-1 and its motor, the work of screw crane
Make screw rod to realize to by the clamping of climbing thing or releasing by being axially moveable as clamping screw；Clamping screw is in face of being climbed
Thing one end is provided with stage clip, platen, and clamping force is passed to platen by clamping screw through stage clip, also, platen relative can clamp
Screw rod is moved and changes the compression degree of stage clip therewith, change applies clamping force, and use is additionally provided with platen or clamping screw
In setting stage clip by the limit switch of compression degree；The elevating mechanism is equally by screw crane and its motor structure
Into the forwardtransfer signal worm of screw crane is as its upper end of lifting screw or lower end and the frame phase of one of climbing unit
Even, frame of the body of screw crane then with another climbing unit is connected, and lifting screw is climbed by being axially moveable by two
Climb unit mutually to further or be located remotely from each other the two, be provided with elevating mechanism or on climbing unit for adjusting two climbing units
Limit switch that is close to each other and being located remotely from each other distance.
Fig. 2 is climbing unit top view, and as shown in FIG., climbing unit 2 carries annular frame 4, along its week in frame 4
4 clamp systems 5 are installed to uniform, frame 4 is provided centrally with the passage 6 for being passed through by climbing thing 1.
As shown in figure 3, frame 4 includes upper and lower two layers of collar tie beam 4-1,4-2, welded and connected by 8 root post 4-3 between two layers of collar tie beam
Connect.Collar tie beam 4-1,4-2 are bent by tubing to be formed, and column 4-3 is arranged in pairs, and a clamping machine is provided with every column 4-3
Structure support seat board 4-4.Support seat board 4-4 upper following place is provided with the elongated slot 4-4.1 of semicircular arc section, is set on elongated slot
There are two mounting hole 4-4.2, middle parts of the support seat board 4-4 between two elongated slots is provided with 4 mounting hole 4-4.3 and one
Big through hole 4-4.4, wherein, two elongated slot 4-4.1 match with collar tie beam 4-1,4-2 respectively, and screw or bolt pass through mounting hole 4-
4.2 mutually fix support seat board 4-4 with two layers of collar tie beam, and mounting hole 4-4.3 is used to install clamp system 5, and through hole 4-4.4 is then used for
Passed through for the forwardtransfer signal worm on clamp system 5 as clamping screw, be provided with column 4-3 and corresponded with mounting hole 4-4.3
Through hole.Referring to the explanation on clamp system 5 below.
In order to which climbing unit 2 is installed to by climbing thing 1, frame 4 is spliced by symmetrical two semicircle loop sections
Form, core pipe joint 4-5 and spiral shell between the collar tie beam 4-1 of two half ring segments, between collar tie beam 4-2 by being inserted into collar tie beam
Nail or bolt are connected, and screw or bolt mounting holes are correspondingly provided with collar tie beam 4-1, collar tie beam 4-2 and core pipe joint 4-5.4
The interface of two in seat board 4-4 two semicircle loop sections for being located at frame 4 respectively is supported, thus can be to two semicircle ring portions
Reinforcement effect is played in the connection divided.
Certainly, frame 4 is not limited to be spliced to form by two parts, can also be as needed by 3 parts, 4 parts or more
Part be circumferentially spliced.In addition, the passage 6 among frame 4 can also be rectangle, triangle, and it is not limited to circle.Machine
Frame 4 is advantageous to the stress balance of frame 4 using circular ring.
Moreover, the quantity of clamp system 5 can also use 3,5,6, etc. as needed.Also, ensureing to press from both sides
In the case of clamp force distributing equilibrium, clamp system 5 can not also be set by the way of uniform.
As shown in figure 4, clamp system 5 includes screw crane 5-1, motor 5-2 and installing plate 5-3,5-4.Referring to figure
2nd, Fig. 3, screw crane 5-1 are fixed by installing plate 5-3 and screw or bolt with support seat board 4-4 phases, and motor 5-2 passes through
Screw or bolt are fixed with installing plate 5-4 phases, and installing plate 5-4 is fixed by screw or bolt with installing plate 5-4 phases, and screw rises
Clamping screw 5-5 on heavy-duty machine 5-1 as clamping screw stretches into passage 6 after passing through the through hole 4-4.4 on support seat board 4-4.Electricity
Machine 5-2 axle is connected with screw crane 5-1 drive shaft input by shaft coupling.Clamping screw 5-5 axis edge is logical
Road 6 radially extends, and vertical with the bearing of trend of passage 6.The clamping screw 5- of two clamp systems 5 diametrically set
5 axis is overlapped, and spiral shell is clamped when causing frame 4 to distort to avoid producing unnecessary moment of torsion in work, while reducing clamping
The pressure provided needed for bar 5-5, mitigates to by the infringement of climbing thing 1.The clamping screw 5-5 of each clamp system 5 axle in frame 4
Line is on the same plane vertical with the bearing of trend of passage 6.
Clamping screw 5-5 faces that the one end of climbing thing 1 is provided with platen 5-6, and platen pad 5-10 is provided with platen 5-6,
Clamping screw 5-5 end sets have sleeve 5-7, and sleeve 5-7 is by the sleeve bottom 5-7.1, the ferrule barrel 5- that are threadedly coupled two-by-two
7.2nd, sleeve cap 5-7.3 is formed, and screwed hole is provided with the 5-7.1 of sleeve bottom, and correspondingly, clamping screw 5-5 end sets have outer
Screw thread, sleeve 5-7 are spirally connected fixation by the screwed hole on the 5-7.1 of sleeve bottom and clamping screw 5-5 ends.On sleeve cap 5-7.3
Pilot hole is provided with, the diameter of the pilot hole is less than ferrule barrel 5-7.2 internal diameter.Platen 5-6 faces clamping screw 5-5 sides
Surface is provided with bearing pin 5-7.4, and bearing pin 5-7.4 one end is fixed by screw thread and platen 5-6 phases, or is mutually fixed by welding,
The bearing pin 5-7.4 other ends carry radial direction boss.Platen 5-6 is connected by bearing pin 5-7.4 with sleeve 5-7, bearing pin 5-7.4 axle body
Match with the pilot hole on sleeve cap 5-7.3, and can slide axially.Stage clip 5-8 is provided with sleeve 5-7, pressure ring 5-8
It is clamped between bearing pin 5-7.4 and sleeve bottom 5-7.1.Front end photoelectric position limit is fixed with ferrule barrel 5-7.2 lateral walls to open
Close 5-9.
It is, of course, also possible to coordinate using other structures by platen 5-6 and stage clip 5-8, the clamping of clamp system 5 is controlled
Power.Such as：Or in the case where stage clip 5-8 coefficient of elasticity is larger, sleeve 5-7 can be not provided with, directly by stage clip 5-8 both ends
It is respectively welded at platen 5-6 and clamping screw 5-5 top.For another example, the ferrule barrel 5-7.2 in Fig. 4 is removed, by stage clip 5-
8 both ends are connected with bearing pin 5-7.4 and sleeve bottom 5-7.1 by welding manner respectively.Above-mentioned two situations can be by front end light
Electric limit switch 5-9 is arranged on platen 5-6；Accessory corresponding to fixed stop etc. limits with front end photoelectricity on clamping screw 5-5
Bit switch 5-9 coordinates.
Or as shown in figure 5, platen 5-6 is provided with sleeve, stage clip 5-8 is placed with sleeve, clamping screw 5-5 passes through end
The optical axis in portion is stretched into sleeve, withstands stage clip 5-8；Platen 5-6 departs from when being retracted in order to avoid clamping screw 5-5, sleeve and folder
Tight screw rod 5-5 is linked together by connecting spring 5-7.5.
Can be so that as shown in fig. 6, platen 5-6 is provided with optical axis, clamping screw 5-5 and sleeve bottom 5-7.1 be consolidated by screw thread
It is scheduled on together, sleeve bottom 5-7.1 inner chamber is placed with stage clip 5-8, and optical axis stretches into inner chamber and withstands stage clip 5-8；In order to avoid clamping
Platen 5-6 departs from when screw rod 5-5 retracts, and optical axis bottom is linked together with sleeve bottom 5-7.1 by connecting spring 5-7.5.
When clamping screw 5-5 by climbing thing 1 to when being stretched out, platen pad 5-10 is touched by climbing thing 1 first, and pressure is passed
Platen 5-6 is given, stage clip 5-8 is compressed, and platen 5-6 moves axially along clamping screw 5-5, until triggering front end photoelectric position limit is opened
Close 5-9, motor 5-2 stallings.Change front end photoelectric limit switch 5-9 position, stage clip 5-8 compression journey when can adjust work
Degree, thus sets to the size of the clamping force of clamp system 5.By setting rational clamping force to avoid clamping force mistake
Greatly, to being caused damage by climbing thing 1, being also avoided that clamping force is too small causes clamp system 5 not clamp, and causes skidding to make machine
People climbs failure.
Screw crane 5-1 has auto-lock function, and after motor 5-2 stops driving, clamping screw 5-5 can be automatic
Self-locking, clamping force is kept, when avoiding because of system dead electricity, clamping force is lost and leads to a disaster.
When it is implemented, proximity Hall switch, microswitch or metal inductive switch etc. can also be selected to replace photoelectricity
Limit switch 5-9 is defined to the dead-centre position that clamping screw 5-5 stretches into passage 6.
During work, if two clamping screw 5-5 diametrically can not be contacted by climbing thing 1 simultaneously, one of folder
Tight screw rod 5-5 is first arrived at by climbing thing 1 and the center of passage 6 will be lifted off by climbing thing 1, and elevating mechanism 3 will be made to bear cross force
And damage.In order to avoid such phenomenon occurs, it is additionally provided with platen pad 5-10 or between platen pad 5-10 and platen 5-6 tactile
Feel sensor 5-11, after clamping screw 5-5 front ends are touched by climbing thing 1, motor 5-2 is stalled, and treats the clamping screw on opposite
5-5 is also touched by after climbing thing 1, then is restarted, and is thus made diametrically opposed pair clamping screw 5-5 while is moved inward
Clamp by climbing thing 1.
Touch sensor can use microstroke quick closing valve, similar can also be opened by optoelectronic switch, close to quick closing valve etc. is various
Close and form.Fig. 7 is the touch sensor 5-11 using microswitch.Touch sensor 5-11 is fixed on by installing plate 5-11.3
On platen 5-6 outer face, end set adjacent with platen 5-6 platen pad 5-10 has accommodating cavity 5-11.1, is opened around fine motion
Close, protection ring 5-11.2 is further fixed on installing plate 5-11.3；Protection ring 5-11.2 height is arranged on microswitch can be by
Triggering, and be not forced into completely in the range of bottom, avoid microswitch from bearing overweight thrust, microswitch can be extended
Life-span.
Touch sensor can also be realized using foil gauge.Such as 8 be scheme of the foil gauge as touch sensor.Platen
End set adjacent with platen 5-6 pad 5-10 has accommodating cavity 5-11.1, and foil gauge is fixed in accommodating cavity 5-11.1, platen 5-
On 6 outer face.It may determine that platen pads whether 5-10 is touched by climbing thing by the deformation of foil gauge.
It can also be formed using the structure type that sleeve and limit switch combine, at this moment, in the sleeve of touch sensor
Stage clip need to be less than stage clip 5-8 using coefficient of elasticity.
When clamp system 5 is discharged by climbing thing 1, motor 5-2 is reversely rotated, and driving clamping screw 5-5 retracts.In frame 4
It is also equipped with the limit switch of clamping screw 5-5 rear ends dead-centre position.When clamping screw 5-5 retracts, can be touched in setting position
Rear end limit switch is sent out, avoids clamping screw 5-5 from retracting excessive.The rear end photoelectric limit switch position of each clamp system 5 is set
Put unanimously, each clamping screw 5-5 telescopic location can be synchronized, ensure acting in agreement for clamp system 5.It is meanwhile logical
Later end limit switch limits stroke when clamping screw 5-5 shrinks, and improves climbing efficiency, and it is artificial further to reduce machine
Energy consumption when making.Equally, rear end limit switch can also take various forms device is realized, nor is limited to be arranged on
In frame 4, it may be mounted on clamping screw 5-5, as long as can play a part of detecting clamping screw 5-5 retracted positions i.e.
Can.
When it is implemented, action can be clamped and released to realize using more multi-form clamp system 5.For example, can be with
Clamping screw 5-5 is driven to stretch out or retract using hydraulic cylinder or cylinder., can be with by hydraulic pressure or air pressure limit value clamping force
Omit the limit switch of front-end and back-end.
Corresponding bearing 7 is both provided with for each elevating mechanism 3 in the frame 4 of climbing unit 2 up and down, the bearing 7
Structure is as shown in Figure 9.Bearing 7 is adjustable structure, including installing plate 7-1, installing plate 7-2, and two groups of support components.Installation
Plate 7-1 and installing plate 7-2 are snapped together, and form mounting assembly.Two groups of support components be arranged in parallel in vertical direction, every group of branch
Support component includes draw money on credit strut 7-3, short support bar 7-4, inclined support bar 7-5.Draw money on credit strut 7-3 and short support bar 7-4 fixation
End is inserted into the mounting hole 7-6 of mounting assembly, and is fixed by nut；Inclined support bar 7-5 both ends by bearing pin respectively with
Draw money on credit strut 7-3 and short support bar 7-4 free end is hinged.Draw money on credit and peace for installing elevating mechanism 3 is provided with strut 7-3
Fill hole 7-3.1.Inclined support bar 7-5 is made up of two screw rods and a screw shell, and rotation screw shell can adjust inclined support bar
7-5 length, the luffing angle for the strut 7-3 that drawn money on credit with regulation.
Referring to Fig. 1, Figure 10, the passage 6 between upper and lower two climbings unit 2 around center is provided with 4 elevating mechanisms 3.Rise
The structure of descending mechanism 3 is similar to clamp system 5, including screw crane 3-1, motor 3-2, lifting screw 3-3, installing plate 3-
4th, installing plate 3-5, universal coupling 3-6 and installing plate 3-7, wherein lifting screw 3-3 move up and down as pushing tow climbing unit 2
Lifting screw.
Referring to Fig. 1, Fig. 9, screw crane 3-1 is mounted on lower section by installing plate 3-4 and screw or bolt
Bearing 7 is drawn money on credit on strut 7-3, and motor 3-2 is fixed by screw or bolt with installing plate 3-5 phases, and installing plate 3-5 passes through screw
Or bolt is fixed with installing plate 3-4 phases.Motor 3-2 axle passes through shaft coupling with screw crane 3-1 drive shaft input
Connection.Lifting screw 3-3 upper end is provided with universal coupling 3-6, and universal coupling 3-6 passes through screw or bolt and installing plate
3-7 is connected.Installing plate 3-7 is mounted on drawing money on credit for the bearing 7 of top by its 4 mounting hole 3-7.1 and screw or bolt
On strut 7-3.
Change the length of the inclined support bar 7-5 on bearing 7, thus it is possible to vary the luffing angle for the strut 7-3 that draws money on credit, thus can be real
Now to the adjustment of the lifting screw 3-3 of elevating mechanism 3 axis direction.
Referring to Fig. 1, elevating mechanism 3 is realized by driving its lifting screw 3-3 to move up and down and climbs unit 2 by upper and lower two
Draw close or remote from, therefore, be provided with to detect between upper and lower two climbings unit 2 climbing unit up and down by draw close or remote from width
The displacement transducer 8 of degree.The both ends of displacement transducer 8 are separately fixed in the frame 4 of upper and lower two climbings unit 2.Utilize displacement
Sensor 8 can easily and flexibly set the climbing stride of climbing robot, precisely control the driving of elevating mechanism 3 away from
From being engaged with the measuring apparatus carried on climbing robot, can make it that measurement is more convenient.
When it is implemented, the screw crane of elevating mechanism 3 can also be mounted on the bearing 7 of top,
And lifting screw 3-3 lower end is connected with underlying bearing 7.
, can also be by being provided for examining on elevating mechanism 3 and/or in frame 4 in addition to displacement transducer 8 is set
Two climbing units 2 limit switch close to each other or remote is surveyed, to control the climbing stride of climbing robot.Moreover, lift
The quantity of structure 3 is also not necessarily limited to 4, can be 2,3 or more, and set-up mode is also not necessarily limited to uniformly.
Due to that by the change in shape of climbing thing 1, during climbing, when the relative position relation of frame 4 changes, can lead
Cause the distortion of elevating mechanism 3；This distortion can produce shearing or distorting stress to elevating mechanism 3.Connected by universal coupling 3-6
Cross force suffered by elevating mechanism 3 can be reduced by connecing, and extended the life-span of elevating mechanism 3, made climbing sports more smooth, reduce motion
In energy consumption.
When climbing robot is climbed upwards, lower section climbing unit 2 is clamped by climbing thing 1, and top climbing unit 2, which discharges, is climbed
Thing 1 is climbed, lifting screw 3-3 is moved up, and climbing unit 2 moves upwards above pushing tow；Lifting screw 3-3 is moved to setting position
Afterwards, climbing unit 2 in top, which clamps, is discharged by climbing thing 1, lifting screw 3-3 upsets, is pulled by climbing thing 1, lower section climbing unit 2
Lower section climbing unit 2 moves upwards；After lifting screw 3-3 is recovered to setting position, lower section climbing unit 2 clamps again to be climbed
Thing 1, top climbing unit discharge by climbing thing 1 again；So repeat, realize climbing robot climbing upwards on by climbing thing
Climb.
When climbing robot is climbed downwards, top climbing unit 2 is clamped by climbing thing 1, and lower section climbing unit 2, which discharges, is climbed
Thing 1 is climbed, the lower climbing unit 2 of the driving of elevating mechanism 3 moves downward；After lifting screw 3-3 is stretched over setting position, lower section climbing is single
Member 2 is clamped by climbing thing 1, and top climbing unit 2 discharges to be withdrawn by climbing thing 1, lifting screw 3-3, driving top climbing unit 2
Move downward；After lifting screw 3-3 is recovered to setting position, top climbing unit 2 clamps by climbing thing 1, lower section climbing again
Unit discharges by climbing thing 1 again；So repeat, realize downward climbing of the climbing robot on by climbing thing.
Climbing robot of the present invention in use, relevant device can be both mounted above climb unit on, can also will
Relevant device is arranged on lower section climbing unit, can also set special bearing platform up or on lower section climbing unit,
To carry relevant device, and relevant device is aided in work.
Figure 11 is one kind application example when bearing platform is provided with climbing robot of the present invention.
As shown in Figure 11, Figure 12, bearing platform 9 is mounted above climbing on unit 2, therefore, the machine of top climbing unit
An annular slide track 4-6 is provided with the upper strata collar tie beam 4-1 of frame 4, annular slide track 4-6 is weldingly fixed on circle by 8 root post 4-7
On beam 4-1.Annular slide track 4-6 is equally made up of tubing.
As shown in figure 13, the top surface of bearing platform 9 is provided with two concentric annular collar tie beam 9-1 and 9-2, collar tie beam 9-1 and
It is welded to connect between collar tie beam 9-2 by 12 stull 9-4.The collar tie beam 9-3 big with its grade, collar tie beam 9-2 are provided with below collar tie beam 9-2
It is welded to connect between collar tie beam 9-3 by 8 root post 9-5, diagonal brace 9-6 is welded between stull 9-4 and collar tie beam 9-3.Collar tie beam 9-2
Radial direction it is inboard be passage 6 for being passed through by climbing thing 1.It is similar with the frame 4 for climbing unit 2, the annular frame of bearing platform 9
If equally can circumferentially it be spliced by stem portion.
An external toothing 9-7 is fixed with collar tie beam 9-3 lower surface, 12 root posts are fixed with external toothing 9-7 lower surface
9-8, often the lower end with column 9-8 be provided with roller 9-9.Bearing platform 9 by by roller 9-9 inserting into slideway 4-6 and
It is rotatably mounted in the frame 4 of top climbing unit 2.
Bearing platform 9 and top climbing unit 2 frame 4 between be provided with drive mechanism, the drive mechanism by with external tooth
The little gear being meshed, transmission mechanism, motor is enclosed to form.Drive mechanism is arranged in frame 4, and drive mechanism utilizes its little gear
External toothing 9-7 rotations are driven, realize that bearing platform 9 up climbs the rotation on unit 2.Can be around being rotated by climbing thing 1
Bearing platform 9 is that measuring instrument is circumferentially detected and provided convenience by climbing thing 1 or be observed to surrounding.
Above-mentioned example is only intended to the explanation present invention, in addition, also a variety of different embodiments, and and these are implemented
Mode be all those skilled in the art after comprehension inventive concept it is also envisioned that therefore, will not enumerate herein.
Claims (10)
1. a kind of climbing robot, including the two climbing units configured up and down and be arranged between two climbing units several
Elevating mechanism, it is described to climb unit band organic frame, the passage for being passed through by climbing thing is provided with frame and is arranged around passage
Several clamp systems；Characterized in that, the clamp system is provided with touch sensor, the touch sensor is in clamping machine
The pinching end top pressure of structure triggers to after by climbing thing, thus makes the pinching end pause motion of the clamp system, until all clampings
To after by climbing thing, the pinching end of all clamp systems moves the pinching end whole top pressure of mechanism to by climbing thing simultaneously again.
2. climbing robot as claimed in claim 1, it is characterised in that the clamp system is by screw crane and its drive
Dynamic motor is formed, and the forwardtransfer signal worm of screw crane is realized to by the folder of climbing thing as clamping screw by being axially moveable
Tightly or release；Clamping screw faces that climbing thing one end is provided with stage clip, platen, and clamping screw passes to clamping force through stage clip
Platen, also, platen can move relative to clamping screw and change the compression degree of stage clip therewith, change applies clamping force,
It is additionally provided with platen or clamping screw for setting stage clip by the limit switch of compression degree；The elevating mechanism is equally by spiral shell
Bar crane and its motor are formed, and the forwardtransfer signal worm of screw crane is as its upper end of lifting screw or lower end and its
In the frame of a climbing unit be connected, the frame of the body of screw crane then with another climbing unit is connected, and lifts spiral shell
Two climbing units are mutually furthered by being axially moveable or are located remotely from each other the two by bar, are set on elevating mechanism or on climbing unit
It is equipped with close to each other and be located remotely from each other the limit switch of distance for adjusting two climbing units.
3. climbing robot as claimed in claim 2, it is characterised in that be additionally provided with the frame for controlling the folder
Tight screw rod is to away from the limit switch by climbing object space to remote dead-centre position during motion.
4. climbing robot as claimed in claim 2, it is characterised in that before the touch sensor is arranged on the platen
End face.
5. climbing robot as claimed in claim 4, it is characterised in that the touch sensor is provided with protection ring.
6. climbing robot as claimed in claim 1, it is characterised in that the quantity of the clamp system is 4, this 4 folders
Tight mechanism is circumferentially uniform around the passage.
7. climbing robot as claimed in claim 1, it is characterised in that the clamp system is arranged in the frame and institute
State on the vertical same supporting surface of passage.
8. climbing robot as claimed in claim 1, it is characterised in that the frame is circular, also, the circular machine
If frame is circumferentially spliced by stem portion.
9. climbing robot as claimed in claim 2, it is characterised in that the screw gantry body and its forwardtransfer signal worm
Upper end or lower end be connected respectively with the bearing that sets in the frames of described two climbing units, the bearing is provided with length-adjustable
Inclined support bar；The supporting surface of the bearing realizes that luffing angle is adjustable by the inclined support bar.
10. climbing robot as claimed in claim 2, it is characterised in that the clamping screw and the platen opposite side
A sleeve is provided with, the sleeve one end is threaded hole and is spirally connected fixation by the screwed hole and clamping screw termination, and sleeve is another
One end carries pilot hole, and the guiding bore dia is less than barrel bore diameter, and platen is fixed with the side surface of clamping screw one
One bearing pin, the free end of the bearing pin carry radial convex platform, and the bearing pin is inserted into sleeve, and bearing pin axle body is led with sleeve one end
It is slidably matched to hole, the boss on bearing pin is located in barrel bore, and the stage clip is inserted into sleeve and is clamped in sleeve cylinder
Between bottom and pin roll end face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510476140.0A CN105035201B (en) | 2015-08-06 | 2015-08-06 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510476140.0A CN105035201B (en) | 2015-08-06 | 2015-08-06 | Climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105035201A CN105035201A (en) | 2015-11-11 |
| CN105035201B true CN105035201B (en) | 2017-11-21 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201510476140.0A Expired - Fee Related CN105035201B (en) | 2015-08-06 | 2015-08-06 | Climbing robot |
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Families Citing this family (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106865385B (en) * | 2017-02-15 | 2022-06-10 | 厦门大学嘉庚学院 | Upright column climbing device and using method thereof |
| CN107226145B (en) * | 2017-04-05 | 2019-10-15 | 山东建筑大学 | Diagonal-bracing type clamp system and climbing robot suitable for shaft |
| CN107380291B (en) * | 2017-07-12 | 2024-01-19 | 北京理工大学 | Multi-motion-mode pipeline outer wall climbing detection robot |
| CN107512321A (en) * | 2017-07-18 | 2017-12-26 | 黑龙江建筑职业技术学院 | A kind of trunk climbing device with independent driving curved surface wheel |
| CN108454720B (en) * | 2018-02-05 | 2020-12-11 | 西南石油大学 | Pole-climbing robot |
| CN111086566B (en) * | 2019-12-13 | 2021-06-08 | 国网浙江嘉善县供电有限公司 | Live working robot climbing device |
| CN111650955B (en) * | 2020-06-19 | 2023-07-25 | 深圳市人工智能与机器人研究院 | Control method of climbing robot and climbing robot |
| CN112576883B (en) * | 2020-12-09 | 2022-04-01 | 浙江工贸职业技术学院 | Derrick climbing device |
| CN112623058B (en) * | 2020-12-28 | 2021-10-01 | 广东工业大学 | Foot attaching and fixing mechanism of wall-climbing robot |
| CN114132404B (en) * | 2021-11-26 | 2024-02-13 | 国网河南省电力公司卢氏县供电公司 | Electric power climbing device with prevent structure of falling |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100563758C (en) * | 2008-01-15 | 2009-12-02 | 东南大学 | Scroll cable detecting robot |
| KR101689036B1 (en) * | 2010-05-14 | 2016-12-22 | 고려대학교 산학협력단 | Maintenance robot system based on modular climbing mechanism |
| ES2352930B2 (en) * | 2010-11-23 | 2011-07-18 | Universidad De Oviedo | ROBOTIC PLATFORM FOR POST ASCENT. |
| CN102501912A (en) * | 2011-11-08 | 2012-06-20 | 西华大学 | Multi-attitude motion rod-climbing robot |
| CN103661661B (en) * | 2013-12-05 | 2015-12-02 | 河北工业大学 | A kind of wind electricity blade climbing robot |
| CN204472948U (en) * | 2015-03-20 | 2015-07-15 | 湖北工业大学 | A kind of screw mandrel moveable type climbing level robot |
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| CN105035201A (en) | 2015-11-11 |
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