CN107776701A - Rope-climbed robot - Google Patents
Rope-climbed robot Download PDFInfo
- Publication number
- CN107776701A CN107776701A CN201710988474.5A CN201710988474A CN107776701A CN 107776701 A CN107776701 A CN 107776701A CN 201710988474 A CN201710988474 A CN 201710988474A CN 107776701 A CN107776701 A CN 107776701A
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- CN
- China
- Prior art keywords
- crank
- frame
- arm
- rope
- line shaft
- Prior art date
- 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.)
- Pending
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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
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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The present invention provides a kind of rope-climbed robot, including frame, the arm rotating shaft extended in left-right direction being set up in parallel and line shaft are rotatably equipped with frame, positioned at the arm for being respectively arranged on the left side and the right side the alternating reciprocally swinging that radial direction extends of frame in arm rotating shaft, one end of two arms is respectively with relative bending for hanging over the crotch on horizontal lanyard, the both ends of the line shaft are respectively fixed with the first crank of radial direction extension on the inside of two arms, the first connecting rod extended in left-right direction is connected with respectively between first crank and each self-corresponding arm, first crank coordinates with each self-corresponding arm is for respectively forming dual-crank-rocker mechanism or slider-crank mechanism, the power set rotated for driving power axle are additionally provided with frame.The structure of whole robot is simple, and realizes horizontal climbing by the alternating reciprocally swinging of arm, and flexible movements, action are quick.
Description
Technical field
The present invention relates to a kind of rope-climbed robot, belongs to robotic technology field.
Background technology
With the quickening of Urbanization in China, urban architecture constantly develops to high-altitude, to the demand of work high above the ground personnel
Amount is also increasing, but work high above the ground, there is very high danger, the personal safety to work high above the ground personnel brings threat,
In addition, similarly there is the danger of work high above the ground in the work such as Monitoring Pinpelines maintenance, tunnel piercing, the product installation of building top.
In order to avoid the personal safety of work high above the ground personnel is on the hazard, there is the machine that can replace work high above the ground personnel
Device people, as the Chinese patent of Application No. 200810011957.0 discloses a kind of remote-control rod-climbing rope-climbing robot, the robot
It can be creeped up and down along vertical rope or pole-climbing, for completing to the inferior remote vertical transport operation in high-altitude or ground, during work
Pole-climbing or rope are stuck between downlink drive roller and upper self-locking depression bar and carrying roller and lower self-locking depression bar, and used respectively
Upper de- bar protecting frame and lower de- bar protecting frame frame.It can certainly be creeped along horizontal lanyard or pole-climbing level, for completing water
Flat conveying operation, but the robot architecture is complicated, bulky, toward pole-climbing or rope on installation when it is inconvenient for operation, and
Slow in action, for some requirements quickly, flexibly realize the work high above the ground of horizontal feed, the robot significant discomfort is closed.
The content of the invention
It is an object of the invention to provide a kind of simple in construction, flexible movements, action are quick on horizontal lanyard or pole-climbing
Rope-climbed robot.
The present invention adopts the following technical scheme that：A kind of rope-climbed robot, including frame, it is rotatably equipped with frame and sets side by side
The arm rotating shaft extended in left-right direction put and line shaft, being respectively arranged on the left side and the right side radially positioned at frame in arm rotating shaft
The arm of the alternating reciprocally swinging of direction extension, one end of two arms is respectively with relative bending for hanging over horizontal lanyard
On crotch, the both ends of the line shaft are respectively fixed with the first crank of radial direction extension on the inside of two arms,
Be connected with the first connecting rod extended in left-right direction between first crank and each self-corresponding arm respectively, the first crank with it is each right
The arm answered, which coordinates, is for respectively forming dual-crank-rocker mechanism or slider-crank mechanism, is additionally provided with frame for driving power
The power set that axle rotates.
The dual-crank-rocker mechanism also includes being separately fixed at along arm rotating shaft radial direction prolonging for arm rotating shaft both ends
The second crank stretched, the bearing of trend of the second crank is consistent with the first crank bearing of trend of homonymy respectively, and the second crank with
The second connecting rod extended in left-right direction is connected with respectively between each self-corresponding arm.
The line shaft in frame, is moved by two or so be fixed in frame spaced apart bearing rolling assemblings
Power axle rolling assembling is on two bearings.
The power set are motor, and motor is connected by two meshed gears groups and line shaft, one of them
The drive shaft of gear and motor is coaxially connected, and another gear is coaxial connected with line shaft and between two bearings.
Using the rope-climbed robot of said structure, because the both sides of frame are respectively equipped with the arm of alternately reciprocally swinging, two
There is the crotch of relative bending respectively on individual arm, whole robot can be mounted on by horizontal lanyard by crotch or level is climbed
It is easy to operate on bar, and dual-crank-rocker mechanism that the alternating reciprocally swinging of arm is cooperatively formed by frame both sides respectively or
Slider-crank mechanism is realized, therefore the structure of whole robot is simple, and realizes level by the alternating reciprocally swinging of arm
Climbing, flexible movements, action are quick.
Brief description of the drawings
Fig. 1 is embodiments of the invention structural representation；
Fig. 2 is Fig. 1 side view；
Fig. 3 is Fig. 1 top view.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
The embodiment of rope-climbed robot of the present invention：As Figure 1-3, including frame 6, it is rotatably equipped with frame 6 along a left side
The arm rotating shaft 5 of right direction extension, frame 6 is stretched out at the both ends of arm rotating shaft 5 respectively, and the both ends of arm rotating shaft 5 are fixed respectively
There is the second crank 4 of radially direction extension, the end of the second crank 4 is rotatably equipped with the second connecting rod to stretch out respectively
3, arm 9 of one end rolling assembling of radially direction extension on second connecting rod 3, arm 9 are respectively equipped with second connecting rod 3
The other end be wholely set the crotch of relative bending respectively, when specifically used, two crotches are hung over into horizontal lanyard or level
In pole-climbing, horizontal climbing is realized by the alternating reciprocally swinging of two arms 9.Two or so are fixed with the front end face of frame 6
Spaced apart bearing 11, it is rotatably equipped with above the side of arm rotating shaft 5 on two bearings 11 and is set side by side with arm rotating shaft 5
The line shaft 2 put, the rotation of line shaft 2 are driven by the motor 8 being fixed in frame 6 by two pitch wheel groups 7,
The drive shaft of one of gear and motor 8 is coaxially connected, and another gear is coaxial connected with line shaft 2 and is located at two bearings
Between 11.Frame 6 is stretched out at the both ends of line shaft 2 respectively, and the both ends of line shaft 2 are respectively fixed with radially direction extension
First crank 10, the end of the first crank 10 are rotatably equipped with the first connecting rod 1 to stretch out respectively, first connecting rod 1 respectively with
Each self-corresponding arm 9 is rotatably assorted, the bearing of trend of the first crank 10 bearing of trend one with the second crank 4 of homonymy respectively
Cause, the first crank 10 of such homonymy of frame 6, the second crank 4 coordinate with arm 9 forms dual-crank-rocker mechanism respectively, relies on
The driving of motor 8, two arms 9 replace reciprocally swinging on horizontal lanyard or horizontal pole-climbing.
The rope-climbed robot of above-described embodiment at work, by two crotches by whole robot hang over horizontal lanyard or
In horizontal pole-climbing, motor 8 is connected by wireless receiving end with controller, is rotated by controller controlled motor 8, the drive of motor 8
Moving axis is rotated by the driving power axle 2 of gear train 7, and line shaft 2 drives two arms 9 to replace reciprocally swinging, so as to realize rope climbing
The horizontal climbing of robot, and the rotating of motor 8 can control being moved forward or rearward for rope-climbed robot.
In other embodiments, the second crank and second connecting rod can also be not provided with, opens up and prolongs respectively on two arms
The direction elongated hole consistent with arm bearing of trend is stretched, the arm of frame homonymy is coordinated with the first crank and is formed respectively
Slider-crank mechanism, during two arms replace reciprocally swingings, elongated hole is slidably matched with arm rotating shaft.
Claims (4)
- A kind of 1. rope-climbed robot, it is characterised in that：Including frame, it is rotatably equipped with and is set up in parallel in left-right direction in frame The arm rotating shaft of extension and line shaft, positioned at the alternating for being respectively arranged on the left side and the right side radial direction extension of frame in arm rotating shaft The arm of reciprocally swinging, one end of two arms are described respectively with relative bending for hanging over the crotch on horizontal lanyard The both ends of line shaft are respectively fixed with the first crank of radial direction extension, the end of the first crank on the inside of two arms It is connected with the first connecting rod extended in left-right direction, the first crank and each self-corresponding arm respectively between each self-corresponding arm Cooperation is for respectively forming dual-crank-rocker mechanism or slider-crank mechanism, is additionally provided with what is rotated for driving power axle in frame Power set.
- 2. rope-climbed robot according to claim 1, it is characterised in that：The dual-crank-rocker mechanism also includes solid respectively Be scheduled on second crank extended along arm rotating shaft radial direction at arm rotating shaft both ends, the bearing of trend of the second crank respectively with together First crank bearing of trend of side is consistent, and is connected between the second crank and each self-corresponding arm and extends in left-right direction respectively Second connecting rod.
- 3. rope-climbed robot according to claim 1, it is characterised in that：The line shaft by be fixed in frame two Individual or so spaced apart bearing rolling assembling is in frame, and line shaft rolling assembling is on two bearings.
- 4. rope-climbed robot according to claim 3, it is characterised in that：The power set are motor, and motor passes through two Individual meshed gears group is connected with line shaft, and the drive shaft of one of gear and motor is coaxially connected, another gear Coaxially it is connected and between two bearings with line shaft.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710988474.5A CN107776701A (en) | 2017-10-21 | 2017-10-21 | Rope-climbed robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710988474.5A CN107776701A (en) | 2017-10-21 | 2017-10-21 | Rope-climbed robot |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107776701A true CN107776701A (en) | 2018-03-09 |
Family
ID=61435171
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710988474.5A Pending CN107776701A (en) | 2017-10-21 | 2017-10-21 | Rope-climbed robot |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107776701A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111509613A (en) * | 2020-03-16 | 2020-08-07 | 西南石油大学 | Humanoid climbing type online inspection robot |
| CN113060221A (en) * | 2021-03-06 | 2021-07-02 | 佛山科学技术学院 | Machine climbing method and device |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102424073A (en) * | 2011-11-15 | 2012-04-25 | 西华大学 | Rope climbing robot |
| WO2012089919A1 (en) * | 2010-12-30 | 2012-07-05 | Meclimb Oy | Method and apparatus for conveying tools to work site along an elongated object and use of the apparatus |
| CN102689658A (en) * | 2012-01-13 | 2012-09-26 | 河南科技大学 | Rope-climbing robot |
| CN202499201U (en) * | 2012-01-13 | 2012-10-24 | 河南科技大学 | Rope climbing robot |
-
2017
- 2017-10-21 CN CN201710988474.5A patent/CN107776701A/en active Pending
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2012089919A1 (en) * | 2010-12-30 | 2012-07-05 | Meclimb Oy | Method and apparatus for conveying tools to work site along an elongated object and use of the apparatus |
| CN102424073A (en) * | 2011-11-15 | 2012-04-25 | 西华大学 | Rope climbing robot |
| CN102689658A (en) * | 2012-01-13 | 2012-09-26 | 河南科技大学 | Rope-climbing robot |
| CN202499201U (en) * | 2012-01-13 | 2012-10-24 | 河南科技大学 | Rope climbing robot |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111509613A (en) * | 2020-03-16 | 2020-08-07 | 西南石油大学 | Humanoid climbing type online inspection robot |
| CN113060221A (en) * | 2021-03-06 | 2021-07-02 | 佛山科学技术学院 | Machine climbing method and device |
| CN113060221B (en) * | 2021-03-06 | 2022-03-25 | 佛山科学技术学院 | Machine climbing method and device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20180309 |
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| WD01 | Invention patent application deemed withdrawn after publication |