CN105059415A - Climbing robot - Google Patents
Climbing robot Download PDFInfo
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- CN105059415A CN105059415A CN201510476014.5A CN201510476014A CN105059415A CN 105059415 A CN105059415 A CN 105059415A CN 201510476014 A CN201510476014 A CN 201510476014A CN 105059415 A CN105059415 A CN 105059415A
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Abstract
The invention discloses a climbing robot, comprising two climbing units configured up and down and a plurality of lifting mechanisms arranged between the two climbing units. The lifting mechanisms are used for driving the two climbing units to move alternatively along an object on which the robot climbs, and thus the robot climbs. The climbing robot has higher bearing ability through designing the annular climbing units, and can climbs trees by bearing personnel and equipment, so that researchers can conveniently conduct researches on the growth status of trees.
Description
Technical field
The present invention relates to a kind of robot can climbed on the rod-like articles such as trunk, lamp stand.
Background technology
At present, had the climbing robot being applied to rod-like articles that a lot of design is shaping both at home and abroad, wherein, some robot adopts the form of wriggling to realize pole-climbing action, the low and climbing of cannot bearing a heavy burden of this robot crawling speed; Its hooked arm of some robot capable of climbing trees snaps in bark, and then reaches the object of upwards climbing, and this robot has certain destructive effect to surface of trees, and affects the commercial value of timber.Therefore, provide a kind of structure simple, control convenient, not only can bear a heavy burden in climbing process but also can not damage by the climbing robot on climbing thing surface, becoming the current demand of people.
Summary of the invention
For prior art Problems existing, the object of the present invention is to provide a kind of compact conformation, can bear a heavy burden the climbing robot climbed on rod-like articles.
Technical solution of the present invention is as follows:
A kind of climbing robot, comprise two the climbing unit configured up and down and several lifting mechanisms be arranged between two climbing unit, described climbing unit band organic frame, frame is provided with for the passage passed by climbing thing and several clamping mechanisms around passage arrangement, described clamping mechanism is made up of screw hoisting crane and drive motor thereof, and the forwardtransfer signal worm of screw hoisting crane realizes being climbed the clamping of thing or getting loose as clamping screw by mobile vertically; Clamping screw is in the face of being provided with stage clip, platen by climbing thing one end, gripping power is passed to platen through stage clip by clamping screw, and, platen can move relative to clamping screw and change thereupon the compression degree of stage clip, change apply gripping power, platen or clamping screw are also provided with for setting stage clip by the limit switch of compression degree; Described lifting mechanism is made up of screw hoisting crane and drive motor thereof equally, the forwardtransfer signal worm of screw hoisting crane is as lifting screw, its upper end or lower end are connected with one of them frame of climbing unit, the frame that the body of screw hoisting crane then climbs unit with another is connected, lifting screw by vertically mobile two climbing unit are furthered mutually or make the two mutually away from, be provided with on lifting mechanism or on climbing unit for regulating the close to each other and mutual limit switch away from distance of two climbing unit.
Further, described platen is in the face of being also provided with touch sensor by the card of climbing thing side, this touch sensor is pressed onto after by climbing thing on platen top and triggers, make the described clamping screw pause motion at this platen place thus, be pressed onto by after climbing thing until the platen on all clamping screws all pushes up, all clamping screws move to by climbing thing more simultaneously.
Further, described frame is also provided with for control described clamping screw to away from by climbing object space to the limit switch of dead-centre position far away during motion.
Further, the quantity of described clamping mechanism is 4, and these 4 clamping mechanisms are uniform around described passage circumference.
Further, described clamping mechanism is arranged in described frame with on the same bearing surface of described channel vertical.
Further, described frame is circular, and this circular frame is circumferentially spliced by some parts.
Further, described platen is arranged on described clamping screw by a sleeve, this sleeve is fixed on platen in the face of the side of clamping screw on the surface, clamping screw end is provided with smooth section, sleeve to be fitted in smooth section and can to slide axially along clamping screw, and described stage clip to be inserted in sleeve and to be clamped at the bottom of sleeve cylinder and between clamping screw end face.
Further, described clamping screw and described platen opposite side are fixed with a sleeve, platen is fixed with a bearing pin on the surface in the face of clamping screw side, and this bearing pin to be fitted in sleeve and can to slide axially, and described stage clip to be inserted in sleeve and to be clamped at the bottom of sleeve cylinder and between pin roll end face.
Further, described clamping screw and described platen opposite side are provided with a sleeve, this sleeve one end is threaded hole and is spirally connected fixing by this tapped bore and clamping screw termination, the sleeve other end is with pilot hole, this pilot hole diameter is less than barrel bore diameter, platen is fixed with a bearing pin on the surface in the face of clamping screw side, this bearing pin free end is with radial convex platform, described bearing pin is inserted in sleeve, the pilot hole bearing fit of bearing pin axle body and sleeve one end, boss on bearing pin is arranged in barrel bore, described stage clip to be inserted in sleeve and to be clamped at the bottom of sleeve cylinder and between pin roll end face.
Climbing robot of the present invention has stronger heavy burden ability, can carry personnel and equipment climbing trees, reduces the infringement to trees, be applicable to the growth conditions of scientific research personnel to trees and study in climbing process by platen.
Accompanying drawing explanation
Fig. 1 is climbing robot structural representation of the present invention;
Fig. 2 is climbing unit birds-eye view;
Fig. 3 is the decomposing schematic representation of the frame of climbing unit;
Fig. 4 is the decomposing schematic representation of clamping mechanism;
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 lifting mechanism;
Figure 10 is the structural representation of lifting mechanism;
Figure 11 is structural representation when climbing robot of the present invention being provided with bearing platform;
Figure 12 is the structural representation of the frame of adaptive bearing platform;
Figure 13 is the structural representation of bearing platform.
In figure: 1, by climbing thing; 2, unit is climbed; 3, lifting mechanism; 3-1, screw hoisting crane; 3-2, motor; Work 3-3, lifting screw; 3-4, adapter plate; 3-5, adapter plate; 3-6, universal coupling; 3-7, adapter plate; 3-7.1, mounting hole; 4, frame; Circle 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, mounting hole; 4-4.4, through hole; 4-5, core adaptor union; 4-6, annular slide track; 4-7, column; 5, clamping mechanism; 5-1, screw hoisting crane; 5-2, motor; 5-3, adapter plate; 5-4, adapter plate; 5-5, clamping screw; 5-6, platen; 5-7, sleeve assembly; 5-7.1, at the bottom of sleeve; 5-7.2, ferrule barrel; 5-7.3, sleeve cap; 5-8, stage clip; 5-7.4, bearing pin; 5-7.5, linking springs; 5-9, photoelectric limit switch; 5-10, platen pad; 6, passage; 7, bearing; 7-1, adapter plate; 7-2, adapter plate; 7-3, strut of drawing money on credit; 7-4, short strut bar; 7-5, inclined support bar; 7-6, mounting hole; 7-3.1 mounting hole; 8, displacement pickup; 9, bearing platform; 9-1, collar tie beam; 9-2, 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, containing cavity; 5-11.2, protection ring; 5-11.3, adapter plate.
Detailed description of the invention
Embodiment is utilized more fully to illustrate the present invention below.The present invention can be presented as multiple multi-form, and should not be construed as the exemplary embodiment being confined to describe here.
For ease of illustrating, here can use such as " on ", the space relative terms such as D score " left side " " right side ", for illustration of the element of shown in figure or the feature relation relative to another element or feature.It should be understood that except the orientation shown in figure, spatial terminology is intended to comprise device different azimuth in use or operation.Such as, if the device in figure is squeezed, be stated as the element being positioned at other elements or feature D score will be positioned at other elements or feature " on ".Therefore, exemplary term D score can comprise upper and lower both orientation.Device can otherwise be located (90-degree rotation or be positioned at other orientation), and space used here illustrates relatively can correspondingly explain.
As shown in Figure 1, climbing robot in the present embodiment, comprise two the climbing unit 2 configured up and down and several lifting mechanisms 3 be arranged between two climbing unit 2, lifting mechanism 3 drives two climbing unit 2 alternately to realize the climbing of climbing robot along being moved by climbing thing 1.
Climbing unit 2 is with organic frame 4, frame is provided with for the passage 6 passed by climbing thing 1 and several clamping mechanisms 5 arranged around passage 6, clamping mechanism 5 is made up of screw hoisting crane 5-1 and drive motor thereof, and the forwardtransfer signal worm of screw hoisting crane realizes being climbed the clamping of thing or getting loose as clamping screw by mobile vertically; Clamping screw is in the face of being provided with stage clip, platen by climbing thing one end, gripping power is passed to platen through stage clip by clamping screw, and, platen can move relative to clamping screw and change thereupon the compression degree of stage clip, change apply gripping power, platen or clamping screw are also provided with for setting stage clip by the limit switch of compression degree; Described lifting mechanism is made up of screw hoisting crane and drive motor thereof equally, the forwardtransfer signal worm of screw hoisting crane is connected with one of them frame of climbing unit as its upper end of lifting screw or lower end, the frame that the body of screw hoisting crane then climbs unit with another is connected, lifting screw by vertically mobile two climbing unit are furthered mutually or make the two mutually away from, be provided with on lifting mechanism or on climbing unit for regulating the close to each other and mutual limit switch away from distance of two climbing unit.
Fig. 2 is climbing unit birds-eye view, and as shown in FIG., climbing unit 2 is with annular arrangement frame 4, and in frame 4, along it, circumference is uniform is provided with 4 clamping mechanisms 5, and frame 4 center is provided with the passage 6 for being passed by climbing thing 1.
As shown in Figure 3, frame 4 comprises upper and lower two-layer collar tie beam 4-1,4-2, is welded to connect between two-layer collar tie beam by 8 root post 4-3.Collar tie beam 4-1,4-2 bend by tubing and form, and column 4-3 is arranged in pairs, and every column 4-3 place is provided with a clamping mechanism and supports seat board 4-4.The upper following place supporting seat board 4-4 is provided with the elongated slot 4-4.1 of semicircular arc section, elongated slot is provided with two mounting hole 4-4.2, support the middle part of seat board 4-4 between two elongated slots and be provided with 4 mounting hole 4-4.3 and large through hole 4-4.4, wherein, two elongated slot 4-4.1 respectively with collar tie beam 4-1, 4-2 matches, support seat board 4-4 and two-layer collar tie beam are fixed by mounting hole 4-4.2 by screw or bolt, mounting hole 4-4.3 is for installing clamping mechanism 5, through hole 4-4.4 is then for passing for the forwardtransfer signal worm as clamping screw on clamping mechanism 5, column 4-3 is provided with and mounting hole 4-4.3 through hole one to one.See below about the explanation of clamping mechanism 5.
In order to climbing unit 2 is installed to by climbing thing 1, frame 4 is spliced by two semicircular ring parts of symmetry, all be connected with screw or bolt by the core adaptor union 4-5 be inserted in collar tie beam between the collar tie beam 4-1 of two half ring segments, between collar tie beam 4-2, collar tie beam 4-1, collar tie beam 4-2 and core adaptor union 4-5 are correspondingly provided with screw or bolt mounting holes.4 two of supporting in seat board 4-4 lay respectively at the interface of two semicircular ring parts of frame 4, can play reinforcement effect thus to the connection of two semicircular ring parts.
Certainly, frame 4 is not limited to be spliced to form by two parts, also can be circumferentially spliced by the part of 3 parts, 4 parts or more as required.In addition, the passage 6 in the middle of frame 4 can be also rectangle, triangle, and is not limited to circle.Frame 4 adopts circular ring to be conducive to the stress balance of frame 4.
And the quantity of clamping mechanism 5 also can adopt 3,5,6 as required, etc.Further, when ensureing clamp force distribution equilibrium, clamping mechanism 5 also can not adopt uniform mode to arrange.
As shown in Figure 4, clamping mechanism 5 comprises screw hoisting crane 5-1, motor 5-2 and adapter plate 5-3,5-4.See Fig. 2, Fig. 3, screw hoisting crane 5-1 is fixed by adapter plate 5-3 and screw or bolt and support seat board 4-4, motor 5-2 is fixed by screw or bolt and adapter plate 5-4, adapter plate 5-4 is fixed by screw or bolt and adapter plate 5-4, and screw hoisting crane 5-1 stretches into passage 6 as the clamping screw 5-5 of clamping screw through after the through hole 4-4.4 supported on seat board 4-4.The axle of motor 5-2 is connected by coupler with the axle drive shaft input end of screw hoisting crane 5-1.The axis of clamping screw 5-5 extends along the radial direction of passage 6, and vertical with the bearing of trend of passage 6.The dead in line of the clamping screw 5-5 of two clamping mechanisms 5 diametrically arranged, causes frame 4 distortion to avoid producing unnecessary moment of torsion in work, reduces the pressure provided needed for clamping screw 5-5 when clamping simultaneously, alleviates being climbed the infringement of thing 1.In frame 4, the axis of the clamping screw 5-5 of each clamping mechanism 5 is on the same plane vertical with passage 6 bearing of trend.
Clamping screw 5-5 is in the face of being provided with platen 5-6 by climbing thing 1 one end, platen 5-6 is provided with platen pad 5-10, clamping screw 5-5 end is provided with sleeve 5-7, this sleeve 5-7 is made up of 5-7.1, ferrule barrel 5-7.2, sleeve cap 5-7.3 at the bottom of the sleeve be threaded between two, 5-7.1 at the bottom of sleeve is provided with tapped bore, correspondingly, clamping screw 5-5 end is provided with outside thread, and sleeve 5-7 is spirally connected fixing by the tapped bore on 5-7.1 at the bottom of sleeve and clamping screw 5-5 end.Sleeve cap 5-7.3 is provided with pilot hole, and the diameter of this pilot hole is less than the internal diameter of ferrule barrel 5-7.2.Faced by platen 5-6, clamping screw 5-5 mono-side surface is provided with bearing pin 5-7.4, and this bearing pin 5-7.4 one end is fixed by screw thread and platen 5-6, or is fixed by welding, and the bearing pin 5-7.4 other end is with radial boss.Platen 5-6 is connected with sleeve 5-7 by bearing pin 5-7.4, and the pilot hole on the axle body of bearing pin 5-7.4 and sleeve cap 5-7.3 matches, and can slide axially.Be provided with stage clip 5-8 in sleeve 5-7, this pressure ring 5-8 to be clamped at the bottom of bearing pin 5-7.4 and sleeve between 5-7.1.Ferrule barrel 5-7.2 lateral wall is fixed with front end photoelectric limit switch 5-9.
Certainly, other structures can also be adopted to be coordinated by platen 5-6 and stage clip 5-8, control the gripping power of clamping mechanism 5.As: or when stage clip 5-8 elasticity modulus is larger, sleeve 5-7 can not be set, directly the two ends of stage clip 5-8 be welded on respectively the top of platen 5-6 and clamping screw 5-5.For another example, the ferrule barrel 5-7.2 in Fig. 4 is removed, the two ends of stage clip 5-8 are connected by welding manner with 5-7.1 at the bottom of bearing pin 5-7.4 and sleeve respectively.Front end photoelectric limit switch 5-9 can be arranged on platen 5-6 by above-mentioned two situations; The accessory that fixed stop etc. are corresponding on clamping screw 5-5 coordinates with front end photoelectric limit switch 5-9.
Or as shown in Figure 5, platen 5-6 is provided with sleeve, is placed with stage clip 5-8 in sleeve, and clamping screw 5-5 stretches in sleeve by the optical axis of end, withstands stage clip 5-8; In order to avoid platen 5-6 when clamping screw 5-5 retracts departs from, sleeve and clamping screw 5-5 are linked together by linking springs 5-7.5.
Can also as shown in Figure 6, platen 5-6 is provided with optical axis, and at the bottom of clamping screw 5-5 and sleeve, 5-7.1 is fixed together by screw thread, and at the bottom of sleeve, the inner chamber of 5-7.1 is placed with stage clip 5-8, and optical axis stretches into inner chamber and withstands stage clip 5-8; In order to avoid platen 5-6 when clamping screw 5-5 retracts departs from, at the bottom of optical axis bottom and sleeve, 5-7.1 is linked together by linking springs 5-7.5.
When clamping screw 5-5 is to when being stretched out by climbing thing 1, first platen pad 5-10 touches by climbing thing 1, pressure is sent to platen 5-6, stage clip 5-8 is compressed, platen 5-6 moves axially along clamping screw 5-5, until trigger front end photoelectric limit switch 5-9, motor 5-2 stall.Change the position of front end photoelectric limit switch 5-9, the compression degree of stage clip 5-8 during adjustable work, sets the size of the gripping power of clamping mechanism 5 thus.By setting rational gripping power to avoid gripping power excessive, causing damage to by climbing thing 1, the too little clamping mechanism 5 that causes of gripping power also can be avoided to clamp, cause skidding that robot is climbed unsuccessfully.
Screw hoisting crane 5-1 has auto-lock function, and after drive motor 5-2 stops driving, clamping screw 5-5 meeting automatic self-locking, keeps gripping power, when avoiding because of system dead electricity, lose gripping power and lead to a disaster.
During concrete enforcement, proximity Hall switch, micro-switch or metal inductive switch etc. also can be selected to replace photoelectric limit switch 5-9 to limit the dead-centre position that clamping screw 5-5 stretches into passage 6.
During work, if two clamping screw 5-5 diametrically can not contact by climbing thing 1 simultaneously, one of them clamping screw 5-5 first arrives at the center of will be pushed up by climbing thing 1 from passage 6 by climbing thing 1, and lifting mechanism 3 will be made to bear transverse force and damage.In order to avoid this type of phenomenon occurs, touch sensor 5-11 is also provided with at platen pad 5-10 place or between platen pad 5-10 and platen 5-6, when clamping screw 5-5 front end touches after by climbing thing 1, motor 5-2 stall, also touch after by climbing thing 1 until the clamping screw 5-5 on opposite, restart again, make a pair clamping screw 5-5 diametrically move inward clamping by climbing thing 1 thus simultaneously.
Touch sensor can adopt micro-stroke quick closing valve, also can by photoelectric switch, form like switch close to quick closing valve etc. is various types of.Fig. 7 is the touch sensor 5-11 adopting micro-switch.Touch sensor 5-11 is fixed on the outer face of platen 5-6 by adapter plate 5-11.3, and the end that platen pad 5-10 is adjacent with platen 5-6 is provided with containing cavity 5-11.1, around micro-switch, adapter plate 5-11.3 is also fixed with protection ring 5-11.2; The height of protection ring 5-11.2 is arranged on micro-switch and can be triggered, and is not forced into completely in the scope at the end, avoids micro-switch to bear overweight thrust, can extend the life-span of micro-switch.
Touch sensor also can adopt strain-gauge to realize.As 8 is the scheme of strain-gauge as touch sensor.The end that platen pad 5-10 is adjacent with platen 5-6 is provided with containing cavity 5-11.1, and strain-gauge is fixed in containing cavity 5-11.1, on the outer face of platen 5-6.Can judge whether platen pad 5-10 touches by climbing thing by the distortion of strain-gauge.
The version of sleeve and limit switch combination can also be adopted to form, and at this moment, the stage clip in the sleeve of touch sensor needs to adopt elasticity modulus to be less than stage clip 5-8.
When clamping mechanism 5 discharges by climbing thing 1, motor 5-2 contrarotation, drives clamping screw 5-5 to retract.Frame 4 is also provided with the limit switch of clamping screw 5-5 rear end dead-centre position.When clamping screw 5-5 retracts, rear end limit switch can be triggered at desired location, avoid clamping screw 5-5 to retract excessively.The photoelectric limit switch position, rear end of each clamping mechanism 5 is arranged unanimously, can carry out synchronously to the telescopic location of each clamping screw 5-5, ensure acting in agreement of clamping mechanism 5.Meanwhile, limit stroke when clamping screw 5-5 shrinks by rear end limit switch, improve climbing efficiency, the energy consumption of the low machine man-hour of a step-down of going forward side by side.Equally, rear end limit switch also can adopt the device of various ways to realize, nor is limited to and is arranged in frame 4, can be arranged on clamping screw 5-5, as long as can play the effect detecting clamping screw 5-5 retracted position.
During concrete enforcement, more multi-form clamping mechanism 5 can be adopted to realize clamping and releasing action.Such as, hydraulic actuating cylinder or cylinder can be adopted to stretch out to drive clamping screw 5-5 or retract.By hydraulic pressure or air pressure limit value gripping power, the limit switch of front-end and back-end can be omitted.
Up and down climb unit 2 frame 4 on each lifting mechanism 3 is provided with corresponding bearing 7, the structure of this bearing 7 is as shown in Figure 9.Bearing 7 is adjustable structure, comprises adapter plate 7-1, adapter plate 7-2, and two groups of supporting components.Adapter plate 7-1 and adapter plate 7-2 snaps together, composition installation component.Two groups of supporting components be arranged in parallel at vertical direction, often organize supporting component and comprise the strut 7-3 that draws money on credit, short strut bar 7-4, inclined support bar 7-5.The fixed end of strut 7-3 and short strut bar 7-4 of drawing money on credit is inserted in the mounting hole 7-6 of installation component, and is fixed by nut; The two ends of inclined support bar 7-5 are hinged with the free end of draw money on credit strut 7-3 and short strut bar 7-4 respectively by bearing pin.Draw money on credit mounting hole 7-3.1 strut 7-3 is provided with for installing lifting mechanism 3.Inclined support bar 7-5 is made up of two screw rods and a screw thread bush, rotates the length that screw thread bush can regulate inclined support bar 7-5, to regulate the luffing angle of the strut 7-3 that draws money on credit.
See Fig. 1, Figure 10, the passage 6 around center between upper and lower two climbing unit 2 is provided with 4 lifting mechanisms 3.The structure of lifting mechanism 3 is similar to clamping mechanism 5, comprise screw hoisting crane 3-1, motor 3-2, lifting screw 3-3, adapter plate 3-4, adapter plate 3-5, universal coupling 3-6 and adapter plate 3-7, wherein lifting screw 3-3 is as the lifting screw that moves up and down of pushing tow climbing unit 2.
See Fig. 1, Fig. 9, what screw hoisting crane 3-1 was arranged on the bearing 7 being positioned at below by adapter plate 3-4 and screw or bolt draws money on credit on strut 7-3, motor 3-2 is fixed by screw or bolt and adapter plate 3-5, and adapter plate 3-5 is fixed by screw or bolt and adapter plate 3-4.The axle of motor 3-2 is connected by coupler with the axle drive shaft input end of screw hoisting crane 3-1.The upper end of lifting screw 3-3 is provided with universal coupling 3-6, and universal coupling 3-6 is connected with adapter plate 3-7 by screw or bolt.Adapter plate 3-7 is arranged on drawing money on credit on strut 7-3 of the bearing 7 being positioned at top by its 4 mounting hole 3-7.1 and screw or bolt.
Change the length of the inclined support bar 7-5 on bearing 7, the luffing angle of the strut 7-3 that draws money on credit can be changed, the adjustment of the axis direction of the lifting screw 3-3 to lifting mechanism 3 can be realized thus.
See Fig. 1, lifting mechanism 3 moves up and down by driving its lifting screw 3-3, realize upper and lower two climbing unit 2 to further or away from, for this reason, be provided with between upper and lower two climbing unit 2 in order to detect climb up and down unit furthered or away from the displacement pickup 8 of amplitude.The two ends of displacement pickup 8 are separately fixed in the frame 4 of upper and lower two climbing unit 2.Utilize displacement pickup 8 can set the climbing stride of climbing robot easily and flexibly, control the driving distance of lifting mechanism 3 more accurately, match with the measuring equipment that climbing robot carries, measurement can be made convenient.
During concrete enforcement, also can by the screw hoisting crane of lifting mechanism 3 being arranged on be positioned at top bearing 7 on, and by the lower end of lifting screw 3-3 be positioned at below bearing 7 be connected.
Except displacement pickup 8 is set, also can by arrange on lifting mechanism 3 and/or in frame 4 for detect two climbing unit 2 close to each other or away from limit switch, control the climbing stride of climbing robot.And the quantity of lifting mechanism 3 is also not limited to 4, can be 2,3 or more, and set-up mode be also not limited to uniform.
Due to by the alteration of form of climbing thing 1, in climbing process, when the relative position relation of frame 4 changes, the distortion of lifting mechanism 3 can be caused; This distortion can produce lifting mechanism 3 and shear or tersional stress.Connected the transverse force that can reduce suffered by lifting mechanism 3 by universal coupling 3-6, extend the life-span of lifting mechanism 3, make climbing sports more smooth and easy, reduce the energy consumption in motion.
When climbing robot is upwards climbed, below climbing unit 2 clamps by climbing thing 1, and top climbing unit 2 discharges by climbing thing 1, and lifting screw 3-3 moves up, and climbs unit 2 upward movement above pushing tow; After lifting screw 3-3 moves to desired location, top climbing unit 2 clamps by climbing thing 1, and below climbing unit 2 discharges by climbing thing 1, and lifting screw 3-3 overturns, and pulls below climbing unit 2 upward movement; After lifting screw 3-3 is recovered to desired location, below climbing unit 2 clamps by climbing thing 1 again, and top climbing unit discharges by climbing thing 1 again; Repetition like this, realize climbing robot by climbing thing on upwards climbing.
When climbing robot is climbed downwards, top climbing unit 2 clamps by climbing thing 1, and below climbing unit 2 discharges by climbing thing 1, and lifting mechanism 3 drives lower climbing unit 2 to move downward; After lifting screw 3-3 is stretched over desired location, below climbing unit 2 clamps by climbing thing 1, and top climbing unit 2 discharges by climbing thing 1, and lifting screw 3-3 regains, and drives top climbing unit 2 to move downward; After lifting screw 3-3 is recovered to desired location, top climbing unit 2 clamps by climbing thing 1 again, and below climbing unit discharges by climbing thing 1 again; Repetition like this, realize climbing robot by climbing thing on downward climbing.
When climbing robot of the present invention uses, both relevant device can be arranged on top climbing unit, also relevant device can be arranged on below climbing unit, special bearing platform can also be set up or on below climbing unit, to carry relevant device, and auxiliary relevant device work.
Figure 11 is a kind of application example when climbing robot of the present invention being provided with bearing platform.
As shown in Figure 11, Figure 12, bearing platform 9 is arranged on top climbing unit 2, and for this reason, the upper strata collar tie beam 4-1 of the frame 4 of top climbing unit is provided with an annular slide track 4-6, and this annular slide track 4-6 is weldingly fixed on collar tie beam 4-1 by 8 root post 4-7.Annular slide track 4-6 is made up of tubing equally.
As shown in figure 13, bearing platform 9 end face is provided with two concentric annular arrangement collar tie beam 9-1 and 9-2, is welded to connect between collar tie beam 9-1 and collar tie beam 9-2 by 12 stull 9-4.Be provided with the collar tie beam 9-3 large with its grade below collar tie beam 9-2, be welded to connect by 8 root post 9-5 between collar tie beam 9-2 and collar tie beam 9-3, between stull 9-4 and collar tie beam 9-3, be welded with diagonal brace 9-6.The radial direction inboard of collar tie beam 9-2 is the passage 6 for being passed by climbing thing 1.Similar with the frame 4 of climbing unit 2, the annular frame of bearing platform 9 circumferentially can be spliced by some parts equally.
The lower surface of collar tie beam 9-3 is fixed with an external toothing 9-7, the lower surface of external toothing 9-7 is fixed with 12 root post 9-8, the lower end often with column 9-8 is provided with roller 9-9.Bearing platform 9 is climbed in the frame 4 of unit 2 by roller 9-9 being inserted to the rotatable top that is arranged in slideway 4-6.
Be provided with driver train between the frame 4 that unit 2 is climbed in bearing platform 9 and top, this driver train is made up of the miniature gears be meshed with external toothing, transmission device, motor.Driver train is arranged in frame 4, and driver train utilizes its miniature gears to drive external toothing 9-7 to rotate, and realizes bearing platform 9 and climbs rotation on unit 2 up.Can circumferentially detect by climbing thing 1 around the bearing platform 9 rotated by climbing thing 1 for measuring instrument or carry out observation to surrounding and provide convenience.
Above-mentioned example, just for illustration of the present invention, in addition, also has multiple different embodiment, and these embodiments to be all those skilled in the art can expect after comprehension inventive concept, therefore, will not enumerate at this.
Claims (9)
1. a climbing robot, it is characterized in that, comprise two the climbing unit configured up and down and several lifting mechanisms be arranged between two climbing unit, described climbing unit band organic frame, frame is provided with for the passage passed by climbing thing and several clamping mechanisms around passage arrangement, described clamping mechanism is made up of screw hoisting crane and drive motor thereof, and the forwardtransfer signal worm of screw hoisting crane realizes being climbed the clamping of thing or getting loose as clamping screw by mobile vertically; Clamping screw is in the face of being provided with stage clip, platen by climbing thing one end, gripping power is passed to platen through stage clip by clamping screw, and, platen can move relative to clamping screw and change thereupon the compression degree of stage clip, change apply gripping power, platen or clamping screw are also provided with for setting stage clip by the limit switch of compression degree; Described lifting mechanism is made up of screw hoisting crane and drive motor thereof equally, the forwardtransfer signal worm of screw hoisting crane is connected with one of them frame of climbing unit as its upper end of lifting screw or lower end, the frame that the body of screw hoisting crane then climbs unit with another is connected, lifting screw by vertically mobile two climbing unit are furthered mutually or make the two mutually away from, be provided with on lifting mechanism or on climbing unit for regulating the close to each other and mutual limit switch away from distance of two climbing unit.
2. climbing robot as claimed in claim 1, it is characterized in that, described platen is in the face of being also provided with touch sensor by the card of climbing thing side, this touch sensor is pressed onto after by climbing thing on platen top and triggers, make the described clamping screw pause motion at this platen place thus, be pressed onto by after climbing thing until the platen on all clamping screws all pushes up, all clamping screws move to by climbing thing more simultaneously.
3. climbing robot as claimed in claim 1, is characterized in that, described frame is also provided with for controlling described clamping screw to away from by the limit switch of climbing object space to the dead-centre position far away during motion.
4. climbing robot as claimed in claim 1, it is characterized in that, the quantity of described clamping mechanism is 4, and these 4 clamping mechanisms are uniform around described passage circumference.
5. climbing robot as claimed in claim 1, it is characterized in that, described clamping mechanism is arranged in described frame with on the same bearing surface of described channel vertical.
6. climbing robot as claimed in claim 1, it is characterized in that, described frame is circular, and this circular frame is circumferentially spliced by some parts.
7. climbing robot as claimed in claim 1, it is characterized in that, described platen is arranged on described clamping screw by a sleeve, this sleeve is fixed on platen in the face of the side of clamping screw on the surface, clamping screw end is provided with smooth section, sleeve to be fitted in smooth section and can to slide axially along clamping screw, and described stage clip to be inserted in sleeve and to be clamped at the bottom of sleeve cylinder and between clamping screw end face.
8. climbing robot as claimed in claim 1, it is characterized in that, described clamping screw and described platen opposite side are fixed with a sleeve, platen is fixed with a bearing pin on the surface in the face of clamping screw side, this bearing pin to be fitted in sleeve and can to slide axially, and described stage clip to be inserted in sleeve and to be clamped at the bottom of sleeve cylinder and between pin roll end face.
9. climbing robot as claimed in claim 1, it is characterized in that, described clamping screw and described platen opposite side are provided with a sleeve, this sleeve one end is threaded hole and is spirally connected fixing by this tapped bore and clamping screw termination, the sleeve other end is with pilot hole, this pilot hole diameter is less than barrel bore diameter, platen is fixed with a bearing pin on the surface in the face of clamping screw side, this bearing pin free end is with radial convex platform, described bearing pin is inserted in sleeve, the pilot hole bearing fit of bearing pin axle body and sleeve one end, boss on bearing pin is arranged in barrel bore, described stage clip to be inserted in sleeve and to be clamped at the bottom of sleeve cylinder and between pin roll end face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510476014.5A CN105059415A (en) | 2015-08-06 | 2015-08-06 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510476014.5A CN105059415A (en) | 2015-08-06 | 2015-08-06 | Climbing robot |
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| Publication Number | Publication Date |
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| CN105059415A true CN105059415A (en) | 2015-11-18 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510476014.5A Pending CN105059415A (en) | 2015-08-06 | 2015-08-06 | Climbing robot |
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| CN (1) | CN105059415A (en) |
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