CN105109569B - Climbing robot - Google Patents
Climbing robot Download PDFInfo
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- CN105109569B CN105109569B CN201510476223.XA CN201510476223A CN105109569B CN 105109569 B CN105109569 B CN 105109569B CN 201510476223 A CN201510476223 A CN 201510476223A CN 105109569 B CN105109569 B CN 105109569B
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Abstract
The invention discloses a kind of climbing robot, including up and down, two of configuration climb units and several elevating mechanisms being arranged between two climbing units, and elevating mechanism driving two climbs units alternatelies along the climbing for being moved and being realized climbing robot by climbing thing；The bottom of the frame of the top of the frame of the climbing unit of the top and/or the climbing unit of lower section is provided with the bearing platform with the frame slidable connection.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；The bearing platform that can be rotated in a circumferential direction along frame installed by top or bottom loads measuring apparatus, convenient that circumferentially trees are measured.
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 is acted 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 reaches 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 by the climbing robot on climbing thing surface, the current demand as people.
The content of the invention
The problem of existing for prior art, it is an object of the invention to provide a kind of compact conformation, 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 two climbing units of configuration and be arranged on some between two climbing units up and down
Individual elevating mechanism, the climbing unit band organic frame, the climbing at the top and/or lower section of the frame of the climbing unit of the top
The bottom of the frame of unit is provided with the bearing platform with the frame slidable connection;The bottom of the bearing platform is provided with
Gear ring, under the driving of gear ring, bearing platform surrounds the gantry rotation by the speed of setting, makes measuring instrument to by climbing thing
Circumferentially measure.
Further, the passage for being passed through by climbing thing and several clamping machines arranged around passage are provided with frame
Structure, the clamp system is made up of screw crane and its motor, and the forwardtransfer signal worm of screw crane is used as clamping
Screw rod is realized to by the clamping of climbing thing or releasing by being axially moveable；Clamping screw by climbing thing one end in face of being provided with pressure
Clamping force is passed to platen by spring, platen, clamping screw through stage clip, also, platen can be moved and therewith relative to clamping screw
Change the compression degree of stage clip, change to apply to be additionally provided with clamping force, platen or clamping screw and pressed for setting stage clip
The limit switch of contracting degree；The elevating mechanism is equally made up of screw crane and its motor, screw crane
Forwardtransfer signal worm as lifting screw, its upper end or lower end are connected with frame of one of climbing unit, screw crane
Body then with it is another climbing unit frame be connected, lifting screw by be axially moveable by two climb units mutually further or
The two is located remotely from each other, is provided with elevating mechanism or on climbing unit close to each other and mutually remote for adjusting two climbing units
Separation from limit switch.
Further, the platen in the card of climbing thing side in face of being additionally provided with touch sensor, the touch sensor
Triggered in platen top pressure to after by climbing thing, thus make the clamping screw pause motion where the platen, until all folders
The whole top pressures of platen on tight screw rod are to after by climbing thing, and all clamping screws are moved to by climbing thing simultaneously again.
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 is provided with 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 is 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, it is adaptable to which scientific research personnel is studied the growth conditions of trees.Pass through top
It is convenient that circumferentially trees are surveyed or the bearing platform that can be rotated in a circumferential direction along frame that bottom is installed loads measuring apparatus
Amount.
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 the structural representation of the frame of adaptation bearing platform；
Figure 12 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 the exemplary embodiment for being confined to describe 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 being located 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 and Figure 2, the climbing robot in the present embodiment, including two of configuration climb units 2 and set up and down
Several elevating mechanisms 3 between two climbing units 2 are put, the driving of elevating mechanism 3 two climbs unit 2 alternately along by climbing thing 1
Climbing that is mobile and realizing climbing robot；Bearing platform 9 and the slidable connection of climbing unit 2 of top, can also be with lower section
The slidable connection of climbing unit 2.
Unit 2 is climbed with organic frame 4, the passage 6 for being passed through by climbing thing 1 is provided with frame and is arranged 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 be clamped
Screw rod movement and the therewith compression degree of change stage clip, change apply is additionally provided with use on clamping force, platen or clamping screw
In setting stage clip by the limit switch of compression degree；The elevating mechanism is same by screw crane and its motor structure
Into the forwardtransfer signal worm of screw crane is used 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 and climb unit for adjusting two
Limit switch that is close to each other and being located remotely from each other distance.
Fig. 2 is climbing unit top view, as shown in FIG., and climbing unit 2 was carried in annular frame 4, frame 4 along its week
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.
Connect as shown in figure 3, frame 4 includes being welded by 8 root post 4-3 between two layers collar tie beam 4-1,4-2 up and down, 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, elongated slot and set
There are two mounting hole 4-4.2, the middle part that support seat board 4-4 is located 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
For being passed through on clamp system 5 as the forwardtransfer signal worm of clamping screw, it is provided with and is corresponded with mounting hole 4-4.3 on column 4-3
Through hole.Referring to explanation below on clamp system 5.
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 in the middle of frame 4 can also be rectangle, triangle, and it is not limited to circle.Machine
Frame 4 is conducive 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 folder
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
Passage 6 is stretched into after passing through the through hole 4-4.4 on support seat board 4-4 as the clamping screw 5-5 of clamping screw on heavy-duty machine 5-1.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 is radially extended, and with the bearing of trend of passage 6 vertical.The clamping screw 5- of two clamp systems 5 diametrically set
5 axis is overlapped, and causes frame 4 to distort to avoid producing unnecessary moment of torsion in work, spiral shell is clamped when clamping while reducing
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 is provided with platen pad 5-10 in face of being provided with by the one end of climbing thing 1 on platen 5-6, platen 5-6,
Clamping screw 5-5 ends are provided with 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 constituted, and screwed hole is provided with the 5-7.1 of sleeve bottom, correspondingly, and clamping screw 5-5 ends are provided with outer
Screw thread, sleeve 5-7 is 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 with 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 two 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 two 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；The corresponding accessory such as fixed stop is limited with front end photoelectricity on clamping screw 5-5
Bit switch 5-9 coordinates.
Or as shown in figure 5, platen 5-6, which is provided with sleeve, sleeve, is placed with stage clip 5-8, 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 solid 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, platen 5-6 is moved 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 the size to the clamping force of clamp system 5 is set.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's climbing 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, keeps clamping force, it is to avoid during because of system dead electricity, lose clamping force and lead to a disaster.
When it is implemented, photoelectricity can also be replaced from proximity Hall switch, microswitch or metal inductive switch etc.
Limit switch 5-9 is defined to the dead-centre position that clamping screw 5-5 is stretched 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 first arrives at the center that will be lifted off passage 6 by climbing thing 1 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, the clamping screw on opposite is treated in motor 5-2 stallings
5-5 is also touched by after climbing thing 1, then is restarted, and thus makes diametrically opposed pair clamping screw 5-5 while moving 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 constitute.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 adjacent with platen 5-6 platen pad 5-10 is provided with 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, it is to avoid microswitch bears overweight thrust, can extend microswitch
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 adjacent with platen 5-6 pad 5-10 is provided with 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 whether platen pad 5-10 is touched by climbing thing by the deformation of foil gauge.
It can also be constituted using sleeve and the structure type of limit switch combination, at this moment, in the sleeve of touch sensor
Stage clip need using coefficient of elasticity be less than stage clip 5-8.
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, it can be touched in setting position
Send out rear end limit switch, it is to avoid clamping screw 5-5 retracts excessive.The rear end photoelectric limit switch position of each clamp system 5 is set
Put consistent, each clamping screw 5-5 telescopic location can be synchronized, it is ensured that clamp system 5 acts in agreement.Meanwhile, lead to
Later end limit switch limits stroke when clamping screw 5-5 shrinks, and improves climbing efficiency, and further reduction machine is artificial
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 detection clamping screw 5-5 retracted positions can be played a part of i.e.
Can.
When it is implemented, to realize action can be clamped and released 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.Install
Plate 7-1 and installing plate 7-2 are snapped together, and constitute 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 two 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, to adjust the luffing angle for the strut 7-3 that draws money on credit.
Referring to Fig. 1, Figure 10, the passage 6 between two climbing units 2 around center is provided with 4 elevating mechanisms 3 up and down.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 are moved 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, 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 by driving its lifting screw 3-3 to move up and down, and realize two will climb unit 2 up and down
Draw close or remote from, therefore, be provided with to detect between two climbing units 2 up and down climbing unit up and down by draw close or remote from width
The displacement transducer 8 of degree.The two ends of displacement transducer 8 be separately fixed above and below two climbing units 2 frame 4 on.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, be engaged with the measuring apparatus carried on climbing robot, can cause measurement more facilitate.
When it is implemented, can also by the screw crane of elevating mechanism 3 being mounted on top bearing 7 on,
And lifting screw 3-3 lower end is connected with underlying bearing 7.
, can also be by being provided for inspection on elevating mechanism 3 and/or in frame 4 in addition to displacement transducer 8 is set
Survey two and climb the limit switch close to each other or remote of unit 2, 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
The 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, reduction 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, climbing unit 2 is moved upwards above pushing tow；Lifting screw 3-3 is moved to setting position
Afterwards, climbing unit 2 in top is clamped by climbing thing 1, and lower section climbing unit 2 discharges by climbing thing 1, lifting screw 3-3 upsets, pulled
Lower section climbing unit 2 is moved upwards；Lifting screw 3-3 is recovered to behind setting position, and lower section climbing unit 2 is clamped again to be climbed
Thing 1, top climbing unit discharges 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 is moved downward；Lifting screw 3-3 is stretched over behind setting position, and lower section climbing is single
Member 2 is clamped by climbing thing 1, and top climbing unit 2 is discharged by climbing thing 1, and lifting screw 3-3 is withdrawn, driving top climbing unit 2
Move downward；Lifting screw 3-3 is recovered to behind setting position, and top climbing unit 2 is clamped 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, can also be by use, can both be mounted above relevant device on climbing unit
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.
As shown in Figure 1, shown in Figure 11, bearing platform 9 is mounted above on climbing unit 2, therefore, the frame of unit is climbed in top
An annular slide track 4-6 is provided with 4 upper strata collar tie beam 4-1, annular slide track 4-6 is weldingly fixed on collar tie beam by 8 root post 4-7
On 4-1.Annular slide track 4-6 is equally made up of tubing.
As shown in figure 12, 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 inboard be for the passage 6 that is 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 be circumferentially spliced by stem portion.
It is fixed with collar tie beam 9-3 lower surface on an external toothing 9-7, external toothing 9-7 lower surface and is fixed with 12 root posts
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
In the frame 4 for being rotatably mounted to 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 constitute.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 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 (8)
1. a kind of climbing robot, including up and down two climbing units of configuration and be arranged between two climbing units several
Elevating mechanism, climbing unit band organic frame, it is characterised in that the top of the frame of the climbing unit of top and/or
The bottom of the frame of the climbing unit of lower section is provided with the bearing platform with the frame slidable connection；The bearing platform
Bottom is provided with gear ring, under the driving of gear ring, and bearing platform surrounds the gantry rotation by the speed of setting, makes measuring instrument
To circumferentially being measured by climbing thing；An annular slide track, bearing platform are provided with the collar tie beam of the frame of top climbing unit
By the way that roller inserting is rotatably mounted in the frame into the annular slide track.
2. climbing robot as claimed in claim 1, it is characterised in that be provided with the frame and supply what is passed through by climbing thing
Passage and several clamp systems arranged around passage, the clamp system is by screw crane and its motor structure
Into the forwardtransfer signal worm of screw crane is realized to by the clamping of climbing thing or pine as clamping screw by being axially moveable
It is de-；Clamping screw by climbing thing one end in face of being provided with stage clip, platen, and clamping force is passed to platen by clamping screw through stage clip,
Also, platen, which can move relative to clamping screw and change the compression degree of stage clip, change therewith, applies clamping force, platen or
It is additionally provided with clamping screw for setting stage clip by the limit switch of compression degree；The elevating mechanism is same by screw
Heavy-duty machine and its motor are constituted, and the forwardtransfer signal worm of screw crane is used as its upper end of lifting screw or lower end and one of them
The frame for climbing unit is connected, and the body of screw crane is then connected with another frame for climbing unit, and lifting screw passes through
It is axially moveable and two climbing units is mutually furthered or are located remotely from each other the two, use is provided with elevating mechanism or on climbing unit
It is close to each other and be located remotely from each other the limit switch of distance that units are climbed in regulation two.
3. climbing robot as claimed in claim 2, it is characterised in that the platen faces to be gone back in the card of climbing thing side
Touch sensor is provided with, the touch sensor is triggered in platen top pressure to after by climbing thing, thus makes the institute where the platen
Clamping screw pause motion is stated, until the whole top pressures of the platen on all clamping screws are to after by climbing thing, all clamping screws
Moved simultaneously to by climbing thing again.
4. 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 to away from by limit switch from climbing object space to remote dead-centre position during motion.
5. climbing robot as claimed in claim 2, it is characterised in that the quantity of the clamp system is 4, this 4 folders
Tight mechanism is circumferentially uniform around the passage.
6. climbing robot as claimed in claim 2, it is characterised in that the clamp system is arranged in the frame and institute
State on the vertical same supporting surface of passage.
7. climbing robot as claimed in claim 1, it is characterised in that the frame is annular shape, also, the circular machine
If frame is circumferentially spliced by stem portion.
8. climbing robot as claimed in claim 2, it is characterised in that the clamping screw is set with the platen opposite side
A sleeve is equipped 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
End carries pilot hole, and the guiding bore dia is less than barrel bore diameter, and platen is fixed with one on the side surface of clamping screw one
Bearing pin, the bearing pin free end carries radial convex platform, and the bearing pin is inserted into sleeve, bearing pin axle body and the pilot hole of sleeve one end
Be slidably matched, the boss on bearing pin be located at barrel bore in, the stage clip be inserted into sleeve and be clamped in sleeve cylinder bottom with
Between pin roll end face.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510476223.XA CN105109569B (en) | 2015-08-06 | 2015-08-06 | Climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510476223.XA CN105109569B (en) | 2015-08-06 | 2015-08-06 | Climbing robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105109569A CN105109569A (en) | 2015-12-02 |
| CN105109569B true CN105109569B (en) | 2017-10-10 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510476223.XA Expired - Fee Related CN105109569B (en) | 2015-08-06 | 2015-08-06 | Climbing robot |
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Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105540503B (en) * | 2016-03-01 | 2018-04-13 | 重庆海装风电工程技术有限公司 | A kind of climbing device |
| CN107640242B (en) * | 2017-09-21 | 2023-10-27 | 山东建筑大学 | Rotary carrying platform with open-close structure and climbing robot |
| CN110170804B (en) * | 2019-07-02 | 2020-06-19 | 滨州学院 | Submarine pipeline welding method |
| CN110170850B (en) * | 2019-07-02 | 2020-06-19 | 滨州学院 | Underwater pipeline welding robot |
| CN112536798B (en) * | 2020-12-01 | 2022-09-20 | 黑龙江大学 | High-voltage transmission main tower crawling robot |
| CN112694041B (en) * | 2021-01-22 | 2022-03-11 | 安阳师范学院 | High tower type high spectrum agricultural remote sensing imaging cloud platform |
| CN113607492B (en) * | 2021-07-26 | 2022-05-24 | 陕西省环境科学研究院 | Rural polluted river basin water sampling and speed measuring integrated device |
| CN113428259B (en) * | 2021-08-09 | 2022-08-09 | 哈尔滨工业大学 | Wheeled mobile robot of high adaptability |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CA2595321C (en) * | 2005-01-19 | 2013-03-19 | Iti Scotland Limited | A clamp, self-advancing climbing device, and method of coupling same to a tubular |
| CN100563758C (en) * | 2008-01-15 | 2009-12-02 | 东南大学 | Scroll cable detecting robot |
| CN103640010B (en) * | 2013-11-25 | 2015-09-30 | 天津大学 | Multi-platform creeping-type wind turbine tower cylinder Work robot |
| CN103661661B (en) * | 2013-12-05 | 2015-12-02 | 河北工业大学 | A kind of wind electricity blade climbing robot |
| CN104443097B (en) * | 2014-11-14 | 2016-07-13 | 山东科技大学 | A kind of pipe-line flaw detection online assignment 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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| CN105109569A (en) | 2015-12-02 |
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