CN106476923A - Rope climbing robot - Google Patents
Rope climbing robot Download PDFInfo
- Publication number
- CN106476923A CN106476923A CN201511001241.9A CN201511001241A CN106476923A CN 106476923 A CN106476923 A CN 106476923A CN 201511001241 A CN201511001241 A CN 201511001241A CN 106476923 A CN106476923 A CN 106476923A
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- Prior art keywords
- rope
- base
- steering wheel
- photographic head
- robot
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- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
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- 230000009194 climbing Effects 0.000 title claims abstract description 25
- 238000009434 installation Methods 0.000 claims description 6
- 238000009411 base construction Methods 0.000 claims description 3
- 238000004891 communication Methods 0.000 claims description 3
- 230000010354 integration Effects 0.000 claims description 3
- XLYOFNOQVPJJNP-UHFFFAOYSA-N water Substances O XLYOFNOQVPJJNP-UHFFFAOYSA-N 0.000 claims 1
- 230000008901 benefit Effects 0.000 abstract description 3
- 238000000034 method Methods 0.000 abstract description 2
- 230000000694 effects Effects 0.000 description 2
- 230000005611 electricity Effects 0.000 description 2
- 230000002493 climbing effect Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000002360 explosive Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
- B62D57/024—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members specially adapted for moving on inclined or vertical surfaces
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
- B25J5/007—Manipulators mounted on wheels or on carriages mounted on wheels
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Robotics (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a rope climbing robot which comprises a base, a rope climbing assembly and a controller, wherein the rope climbing assembly and the controller are respectively installed on the base, an opening for accommodating a rope to pass through is formed in the base, the rope climbing assembly is provided with two groups of driving friction wheels and driving motors of the driving friction wheels, the two driving friction wheels are arranged above the opening of the base in parallel, and the controller is connected with the driving motors and used for controlling the driving motors. The rope climbing robot provided by the invention has the advantages of low cost, simple structure and strong practicability, can be controlled by an Android smartphone, has the characteristics of simple and convenient control process, flexible and stable rope climbing and the like, can rotate 180 degrees on a vertical plane by a carried camera, can rotate 360 degrees on a horizontal plane, can take external scenes in all directions, can be used for indoor logistics, express delivery and the like, can also be used for dangerous operation environments such as high altitude, deep wells and the like, and has very large application prospect and economic benefit.
Description
Technical field
The present invention relates to robotics, it is specifically related to a kind of rope-climbed robot.
Background technology
The species of robot is various, can be divided into industrial robot, service-delivery machine according to applied environment
People and specialized robot.Rope-climbed robot belongs to specialized robot, and its major function is mainly
Move in dangerous operation environment in the air or along hawser, electric wire etc., substitute people and complete to patrol and examine, supervise
Depending on, take pictures, image, sending the tasks such as thing.Rope-climbed robot application traditional field include building,
Electric power, field construction etc., with era development, film shooting, shop logistics, soon delivery part
Etc. the new hot spot application field becoming rope-climbed robot.
But existing rope-climbed robot complex structure, expensive, operation is not convenient, such as
A kind of rope-climbed robot of disclosed patent CN204659853 U, although this rope-climbed robot is permissible
Carry out high-altitude transport weight, but rope climbing effect bad it is impossible to be shot it is impossible to be passed through mobile phone
It is remotely controlled, therefore, a kind of this area low cost of urgent need, structure are simple, effect is good and energy
Enough rope-climbed robots by mobile phone control.
Content of the invention
In order to solve above-mentioned technical problem, the present invention provides a kind of intelligence by Android for energy
The rope-climbed robot of mobile phone control, this rope-climbed robot low cost, structure are simple, can be along rope
Efficient stable moves, and the photographic head carrying being capable of comprehensive picked-up external sights.
Concrete technical scheme of the present invention is as follows：
The rope-climbed robot of the present invention, including base and be separately mounted to the rope climbing group on base
Part and controller, described base is formed with and accommodates the opening that rope passes through, described rope climbing assembly tool
There is the motor of two groups of active friction wheels and active friction wheel, described two active friction wheels are put down
Row is arranged on the top of described base openings, and described controller is connected with motor, for controlling
Motor processed.
As a further improvement on the present invention, described rope-climbed robot also includes being arranged on base
Camera assembly, described camera assembly includes photographic head, photographic head erecting device, the first circumference
Steering wheel and the second circumference steering wheel, described first circumference steering wheel is arranged on photographic head erecting device side
Face, for controlling the 180 ° of rotations on vertical plane of described photographic head, the second circumference steering wheel is arranged on
Photographic head erecting device lower end, for controlling the 360 ° of rotations in the horizontal plane of described photographic head.
As a further improvement on the present invention, described rope-climbed robot also includes upper bracket, described
Upper bracket is set in parallel in above base by pillar, and described rope climbing assembly is arranged on upper bracket,
Described upper bracket and base are respectively formed with receiving rope and pass through and the corresponding opening of upper-lower position,
Described two active friction wheels are set in parallel in the overthe openings of described upper bracket, described driving electricity
Machine is arranged on upper bracket by electric machine support.
As a further improvement on the present invention, the top of described base openings is arranged with two groups in parallel
Servo-actuated friction pulley and the support of servo-actuated friction pulley, the spacing that two described servo-actuated friction pulleys limit and
The spacing that two active friction wheels limit is identical, two described servo-actuated friction pulleys and two described masters
The orthogonal setting of dynamic friction wheel.
The setting orthogonal with two described active friction wheels of two described servo-actuated friction pulleys, this can in case
Only Robot rope circumferencial direction swings.
As a further improvement on the present invention, described base lower end is additionally provided with for suspended item
Hook.
As a further improvement on the present invention, photographic head erecting device includes turntable, steering wheel, rudder
Machine bearing and photographic head described in head base are arranged on turntable, described turntable be inserted into described
Steering wheel in first circumference steering wheel rotary shaft is connected, and described first circumference steering wheel is arranged at spiral shell and is contained in
On steering wheel bearing on head base, described base is formed with through hole, described second circumference rudder
Machine is arranged in through hole, and its rotary shaft is inserted into described head base lower end.
As a further improvement on the present invention, described steering wheel bearing includes mounting base and has peace
Dress through hole side plate, described side plate be formed at mounting base edge and and mounting base Construction integration,
Installation through-hole is passed through in described steering wheel front end and the first circumference steering wheel rotary shaft is connected.
As a further improvement on the present invention, described turntable is an inverted "L" shaped installing plate,
Under described turntable, the rear end face spiral shell of medial surface and described steering wheel is fitted together, and described photographic head is installed
Turntable superolateral surface.
As a further improvement on the present invention, described controller is provided with for connecting wireless routing
The wifi module of device, described controller passes through wifi module and is provided with rope-climbed robot control
The Android phone of APP is connected by communication.
As a further improvement on the present invention, described rope-climbed robot also includes supply unit, institute
State controller to be connected with rope climbing assembly, camera assembly by supply unit, described controller and electricity
It is additionally provided with switch between source device.
Rope-climbed robot provided by the present invention, low cost, structure are simple, practical, energy
Controlled by the smart mobile phone of Android, there is control process is easy, rope climbing is flexibly stablized etc.
Feature, the photographic head carrying enables on vertical plane 180 ° of rotations, in the horizontal plane can 360 °
Rotate, comprehensive picked-up external sights, can be used for indoor logistics, fast delivery part etc., also may be used
For the dangerous operation environment such as high-altitude, deep-well, there is very big application prospect and economic effect
Benefit.
Brief description
The further details of theory to the practical new work of basis with reference to the accompanying drawings and detailed description
Bright：
Fig. 1 is the structural representation of the rope-climbed robot of embodiment 1；
Fig. 2 is the structural representation of the rope-climbed robot of embodiment 2；
Fig. 3 is the structural representation of the rope-climbed robot described in embodiment 3；
Fig. 4 is the structural representation of the photographic head erecting device described in embodiment 4；
Fig. 5 is the schematic diagram that the rope-climbed robot described in embodiment 5 controls；
Fig. 6 is the explosive view of the rope-climbed robot described in embodiment 5；
Wherein：1st, base, 2, upper bracket, 3, rope climbing assembly, 5, supply unit, 6, control
Device processed, 8, switch, 31, active friction wheel, 32, motor, 33, electric machine support, 41,
Photographic head, 42, turntable, 43, steering wheel, 44, steering wheel bearing, 45, head base, 46,
First circumference steering wheel, the 47, second circumference steering wheel, 48, photographic head erecting device, 71, servo-actuated
Friction pulley, 72, support.
Specific embodiment
Embodiment 1
The present invention provides a kind of rope-climbed robot, as shown in figure 1, this rope-climbed robot, including
Base 1 and be separately mounted to the rope climbing assembly 3 on base 1 and controller 6, base 1 is formed
Have and accommodate the opening that rope passes through, rope climbing assembly 3 has two groups of active friction wheels 31 and actively rubs
Wipe the motor 32 of wheel 31, two active friction wheels 31 are set in parallel in base 1 opening
Top, controller 6 is connected with motor 32, for controlling motor 32.
When two active friction wheels and rotate under Motor drive respectively clockwise, rotate counterclockwise
When, rope-climbed robot is along rope forward travel.When two active friction wheels with Motor drive
Rotate respectively counterclockwise, when rotating clockwise, rope-climbed robot is along rope setback.
Embodiment 2
The present invention provide a kind of rope-climbed robot, this rope-climbed robot as different from Example 1,
As shown in Fig. 2 rope-climbed robot also includes the camera assembly being arranged on base 1, shooting group
Part includes photographic head 41, photographic head erecting device 48, the first circumference steering wheel 46 and the second circle
All steering wheels 47, the first circumference steering wheel 46 is arranged on photographic head erecting device 48 side, for controlling
Photographic head 41 processed 180 ° of rotations on vertical plane, the second circumference steering wheel 47 is arranged on photographic head peace
Assembling device 48 lower end, for controlling photographic head 41 360 ° of rotations in the horizontal plane.
Embodiment 3
The present invention provide a kind of rope-climbed robot, this rope-climbed robot as different from Example 2,
As shown in figure 3, rope-climbed robot also includes upper bracket 2, upper bracket 2 is be arranged in parallel by pillar
Above base 1, rope climbing assembly 3 is arranged on upper bracket 2, upper bracket 2 and 1 point of base
It is not formed with receiving rope to pass through and the corresponding opening of upper-lower position, two active friction wheels 31 are flat
Row is arranged on the overthe openings of upper bracket 2.
Motor 32 is arranged on upper bracket 2 by electric machine support 33.
The top of base 1 opening is arranged with two groups of servo-actuated friction pulleys 71 and servo-actuated friction pulley 71 in parallel
Support 72, the spacing that two servo-actuated friction pulleys 71 limit and two active friction wheels 31 limit
Spacing identical, the setting orthogonal with two active friction wheels 31 of two servo-actuated friction pulleys 71.
Base 1 lower end is additionally provided with the hook for suspended item.
After rope-climbed robot accesses rope, two servo-actuated friction pulleys and make the circumference of rope be in
Compressive state, thus ensure to produce frictional force between rope and servo-actuated friction pulley.
Embodiment 4
The present invention provide a kind of rope-climbed robot, this rope-climbed robot as different from Example 3,
As shown in figure 4, photographic head erecting device 48 includes turntable 42, steering wheel 43, steering wheel bearing 44
It is arranged on turntable 42 with head base 45 photographic head 41, turntable 42 is justified with being inserted into first
Steering wheel 43 in all steering wheel 46 rotary shafts is connected, and the first circumference steering wheel 46 is arranged at spiral shell and is contained in cloud
On steering wheel bearing 44 on platform base 45, base 1 is formed with through hole, the second circumference steering wheel
47 are arranged in through hole, and its rotary shaft is inserted into head base 45 lower end.
Steering wheel bearing 44 includes mounting base and has the side plate of installation through-hole, and side plate is formed at peace
Dress bottom edge and and mounting base Construction integration, steering wheel 43 front end is by installation through-hole and first
Circumference steering wheel 46 rotary shaft is connected.
Turntable 42 is an inverted "L" shaped installing plate, 42 times medial surface of turntable and steering wheel 43
Rear end face spiral shell is fitted together, and photographic head 41 installs turntable 42 superolateral surface.
Embodiment 5
The present invention provide a kind of rope-climbed robot, this rope-climbed robot as different from Example 4,
On the basis of embodiment 3, as shown in Figure 5 to Figure 6, controller 6 is provided with for connecting
The wifi module of wireless router, controller 6 passes through wifi module and is provided with rope climbing machine
People controls the Android phone of APP to be connected by communication.
Wherein, rope-climbed robot also includes supply unit 5, and controller 6 passes through supply unit 5 He
Rope climbing assembly 3, camera assembly are connected, and are additionally provided with switch between controller 6 and supply unit 5
8.
Wifi module is provided with controller, such that it is able to make rope-climbed robot connect wireless routing
Device, after also connecting wireless network in the Android phone of operator, by climbing on mobile phone
Restrict robot APP it is possible to realize the remotely control to motor and photographic head, thus remotely
Control advance, retrogressing and the shooting of robot.
Embodiment described above is only that the preferred embodiment of the present invention is described, not right
The scope of the present invention is defined, on the premise of without departing from design spirit of the present invention, this area
Various modifications and improvement that those of ordinary skill makes to technical scheme, all should fall into
In the protection domain that claims of the present invention determines.
Claims (10)
1. a kind of rope-climbed robot, including base (1) and be separately mounted on base (1)
Rope climbing assembly (3) and controller (6) it is characterised in that described base (1) is formed with
Accommodate the opening that rope passes through, described rope climbing assembly (3) has two groups of active friction wheels (31)
With the motor (32) of active friction wheel (31), described two active friction wheels (31) put down
Row is arranged on top, described controller (6) and the motor (32) of described base (1) opening
It is connected, for controlling motor (32).
2. according to claim 1 rope-climbed robot it is characterised in that described rope climbing machine
People also includes the camera assembly being arranged on base (1), and described camera assembly includes photographic head
(41), photographic head erecting device (48), the first circumference steering wheel (46) and the second circumference rudder
Machine (47), described first circumference steering wheel (46) is arranged on photographic head erecting device (48) side,
For controlling described photographic head (41) 180 ° of rotations, second circumference steering wheel (47) on vertical plane
It is arranged on photographic head erecting device (48) lower end, for controlling described photographic head (41) in water
360 ° of rotations in plane.
3. according to claim 2 rope-climbed robot it is characterised in that described rope climbing machine
People also includes upper bracket (2), and described upper bracket (2) is set in parallel in base (1) by pillar
Top, described rope climbing assembly (3) is arranged on upper bracket (2), described upper bracket (2) and
Base (1) is respectively formed with receiving rope to be passed through and the corresponding opening of upper-lower position, described two
Active friction wheel (31) is set in parallel in the overthe openings of described upper bracket (2), described driving
Motor (32) is arranged on upper bracket (2) by electric machine support (33).
4. according to claim 3 rope-climbed robot it is characterised in that described base (1)
The top of opening is arranged with two groups of servo-actuated friction pulleys (71) and servo-actuated friction pulley (71) in parallel
Support (72), spacing and two active friction wheels that two described servo-actuated friction pulleys (71) limit
(31) spacing limiting is identical, two described servo-actuated friction pulleys (71) and two described actives
The orthogonal setting of friction pulley (31).
5. according to claim 4 rope-climbed robot it is characterised in that described base (1)
Lower end is additionally provided with the hook for suspended item.
6. according to claim 5 rope-climbed robot it is characterised in that described photographic head peace
Assembling device (48) includes turntable (42), steering wheel (43), steering wheel bearing (44) and head bottom
Seat (45) described photographic head (41) be arranged on turntable (42), described turntable (42) with
It is inserted into steering wheel (43) in described first circumference steering wheel (46) rotary shaft to be connected, described the
One circumference steering wheel (46) is arranged at spiral shell and is contained in the steering wheel bearing (44) on head base (45)
On, described base (1) is formed with through hole, described second circumference steering wheel (47) is arranged on logical
In the hole, its rotary shaft is inserted into described head base (45) lower end.
7. according to claim 6 rope-climbed robot it is characterised in that described steering wheel bearing
(44) mounting base and the side plate with installation through-hole are included, described side plate is formed at installation bottom
Edges of boards edge and and mounting base Construction integration, described steering wheel (43) front end pass through installation through-hole with
First circumference steering wheel (46) rotary shaft is connected.
8. according to claim 7 rope-climbed robot it is characterised in that described turntable (42)
For an inverted "L" shaped installing plate, medial surface and described steering wheel (43) under described turntable (42)
Rear end face spiral shell be fitted together, described photographic head (41) installs turntable (42) superolateral surface.
9. according to claim 1 rope-climbed robot it is characterised in that described controller (6)
Wifi module for connecting wireless router is installed, described controller (6) passes through wifi
Module is connected by communication with the Android phone being provided with rope-climbed robot control APP.
10. according to claim 9 rope-climbed robot it is characterised in that described rope climbing machine
Device people also includes supply unit (5), and described controller (6) is passed through supply unit (5) and climbed
Rope assembly (3), camera assembly are connected, between described controller (6) and supply unit (5)
It is additionally provided with switch (8).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511001241.9A CN106476923A (en) | 2015-12-28 | 2015-12-28 | Rope climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201511001241.9A CN106476923A (en) | 2015-12-28 | 2015-12-28 | Rope climbing robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106476923A true CN106476923A (en) | 2017-03-08 |
Family
ID=58238575
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201511001241.9A Pending CN106476923A (en) | 2015-12-28 | 2015-12-28 | Rope climbing robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106476923A (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106697249A (en) * | 2017-03-23 | 2017-05-24 | 青岛飞宇航空科技有限公司 | Cable climbing mechanism and captive balloon for performing oil supply to realize self-generating electricity by cable climbing mechanism |
| CN110255430A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | A kind of guide rail climbing robot |
| CN112223313A (en) * | 2020-10-16 | 2021-01-15 | 长沙理工大学 | Working method of crawler-type rope climbing robot |
| CN112373592A (en) * | 2020-11-26 | 2021-02-19 | 重庆大学 | Space ladder climbing robot for high-speed heavy-load transportation |
| CN114261512A (en) * | 2021-12-24 | 2022-04-01 | 杭州申昊科技股份有限公司 | Inspection flying robot with personnel identification function |
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| CN201116107Y (en) * | 2007-08-30 | 2008-09-17 | 孙东彪 | Device for climbing rope |
| EP2172593A2 (en) * | 2008-10-02 | 2010-04-07 | Diagnose- und Ingenieurgesellschaft Dr. Boué mbH | Method and apparatus for inspecting cables |
| CN101906752A (en) * | 2009-06-03 | 2010-12-08 | 柳州欧维姆机械股份有限公司 | Automatic climbing mechanism for track inhaul cable and control system thereof |
| CN102587270A (en) * | 2012-02-29 | 2012-07-18 | 华中科技大学 | Climbing device for cables of cable-stayed bridge |
| CN104816300A (en) * | 2015-02-16 | 2015-08-05 | 泰华宏业（天津）机器人技术研究院有限责任公司 | Swing arm type track explosive-handling robot and walking method thereof |
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2015
- 2015-12-28 CN CN201511001241.9A patent/CN106476923A/en active Pending
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| CN201116107Y (en) * | 2007-08-30 | 2008-09-17 | 孙东彪 | Device for climbing rope |
| CN101204809A (en) * | 2007-12-16 | 2008-06-25 | 孙东彪 | Climbing level robot |
| EP2172593A2 (en) * | 2008-10-02 | 2010-04-07 | Diagnose- und Ingenieurgesellschaft Dr. Boué mbH | Method and apparatus for inspecting cables |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106697249A (en) * | 2017-03-23 | 2017-05-24 | 青岛飞宇航空科技有限公司 | Cable climbing mechanism and captive balloon for performing oil supply to realize self-generating electricity by cable climbing mechanism |
| CN110255430A (en) * | 2019-06-20 | 2019-09-20 | 深圳市翠箓科技绿化工程有限公司 | A kind of guide rail climbing robot |
| CN110255430B (en) * | 2019-06-20 | 2023-11-03 | 深圳市翠箓科技绿化工程有限公司 | Guide rail climbing robot |
| CN112223313A (en) * | 2020-10-16 | 2021-01-15 | 长沙理工大学 | Working method of crawler-type rope climbing robot |
| CN112223313B (en) * | 2020-10-16 | 2021-08-31 | 长沙理工大学 | Working method of crawler-type rope climbing robot |
| CN112373592A (en) * | 2020-11-26 | 2021-02-19 | 重庆大学 | Space ladder climbing robot for high-speed heavy-load transportation |
| CN114261512A (en) * | 2021-12-24 | 2022-04-01 | 杭州申昊科技股份有限公司 | Inspection flying robot with personnel identification function |
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Application publication date: 20170308 |
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| RJ01 | Rejection of invention patent application after publication |