CN108454720A - Climbing level robot - Google Patents
Climbing level robot Download PDFInfo
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- CN108454720A CN108454720A CN201810112493.6A CN201810112493A CN108454720A CN 108454720 A CN108454720 A CN 108454720A CN 201810112493 A CN201810112493 A CN 201810112493A CN 108454720 A CN108454720 A CN 108454720A
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- 230000009194 climbing Effects 0.000 title claims abstract description 40
- 230000033001 locomotion Effects 0.000 claims abstract description 59
- 230000005540 biological transmission Effects 0.000 claims description 15
- 238000012546 transfer Methods 0.000 claims description 11
- 230000008054 signal transmission Effects 0.000 claims 1
- 238000013461 design Methods 0.000 abstract description 6
- 230000009471 action Effects 0.000 description 5
- 238000000034 method Methods 0.000 description 5
- 238000002474 experimental method Methods 0.000 description 4
- 230000000694 effects Effects 0.000 description 3
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- 238000012360 testing method Methods 0.000 description 3
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- 230000008901 benefit Effects 0.000 description 2
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- 238000010586 diagram Methods 0.000 description 2
- 230000036541 health Effects 0.000 description 2
- 230000006872 improvement Effects 0.000 description 2
- 238000009434 installation Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 239000002184 metal Substances 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 238000011160 research Methods 0.000 description 2
- 230000007306 turnover Effects 0.000 description 2
- 238000012935 Averaging Methods 0.000 description 1
- PGLIUCLTXOYQMV-UHFFFAOYSA-N Cetirizine hydrochloride Chemical compound Cl.Cl.C1CN(CCOCC(=O)O)CCN1C(C=1C=CC(Cl)=CC=1)C1=CC=CC=C1 PGLIUCLTXOYQMV-UHFFFAOYSA-N 0.000 description 1
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- 230000007246 mechanism Effects 0.000 description 1
- 239000000203 mixture Substances 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
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Classifications
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- 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
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- Combustion & Propulsion (AREA)
- Transportation (AREA)
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Abstract
The present invention provides a kind of climbing level robot, described wheel chassis (12) bottom is equipped with trolley horizontal movement driven wheel I (10), trolley horizontal movement driven wheel II (11), trolley horizontal movement driving wheel (13), wheel chassis (12) top is installed by scissor-like jack (1), jack screw gear (8) is installed on the lead screw of scissor-like jack (1), installs and direct current generator (9) is installed on the wall body of the scissor-like jack (1) of jack screw gear (8) side.Climbing level robot structure novel that the present invention designs, control are simple, reliability and stability is higher, robot, which not only has, depends on the ability that the body of rod climbs, also certain ground level locomotivity, it is remotely controlled and is started by a key, after the certain altitude that climbs, it can be oriented camera shooting, and image is transferred to display module terminal by wireless image.
Description
Technical field
The invention belongs to information engineering field more particularly to a kind of climbing level robots.
Background technology
As society and scientific and technological are constantly progressive, "smart" products emerge one after another, and robot is outstanding representative therein.
The appearance of robot allows the mankind from hazardous environment, and the dream that simple machinery frees in repeating is accomplished.In robot
Field, scientists are making great efforts to develop miscellaneous robot to meet needed for our production and living because different structure or
The robot of person's different motion form all has its unique application field.
Climbing level robot is different from general ground mobile robot, needs to overcome self gravitation effect, be leaned on after holding the body of rod tightly
Power position is climbed with the frictional force that pole-climbing body surface face generates is waited for, the operation under completion specified conditions, therefore pole-climbing machine
People is the important branch of robot field.
In municipal administration works, there is an urgent need for the high-altitude bodies of rod cleaned and maintained to build for some, is built especially for thin bar body, if
Can also health be generated by manually climbing the noxious material that not only there is prodigious security risk in itself, but also generated when operation
Very big threat, and working efficiency is very low, and engineering truck or other large scale equipment operations are also inconvenient, operating cost is also higher.
In military field, when standing sentine with enemy's situation investigation, soldier also often needs to climb higher body of rod building, this is right
The physical efficiency quality of soldier is very test.Above-mentioned work is completed using climbing level robot at this time, then is not only largely carried
High working efficiency, but also provide safeguard for people's health and safety, thus the research of climbing level robot have it is very heavy
The practical significance wanted.
It is deeply ground moreover, M.Nili Ahmadabad of Teheran university et al. have done continuous campaign-styled climbing level robot
Study carefully, continuous campaign-styled climbing level robot be using wheel or crawler belt with completed quickly to climb by the frictional force on pole-climbing surface.Mesh
Before have been developed that three generations's model machine：UT-PCR1, UT-PCR2 and UT-PCR3.The design of researcher is intended to reduce robot complexity journey
Increase its bearing capacity while spending, friction wheel type climbing level robot advantage is its continuous motion mode, pole-climbing speed and effect
Rate faster higher, the disadvantage is that mechanical structure and control section are more complicated.
The joint type walking robot that Tokyo University develops is great representative, can be climbed along straight-bar horizontally or vertically
Row, or even can cross over, parallel bar, and can creep around T-bar and l-shaped rod, further extend the application of climbing level robot
Range.
Harbin Engineering University professor Shi Dongyan proposes the design of the climbing robot based on TRIZ innovation design theories and thinks
Thus a kind of novel turnover climbing robot is designed on road.The mechanical system of the robot is mainly by trunk, mounted on trunk
On two flip-arms, the clamping paw on flip-arm and controller composition.It is transported by five motor positive and inverses
Dynamic control, flip-flop movement be by the upset motor output torque of robot trunk both ends joint, it is defeated after transmission device transmits
Go out to drive flip-arm and trunk overturning.
Make a general survey of the above-mentioned great achievement obtained to climbing level robot research, these climbing level robot mechanisms, control or compared with
For complexity, although the continuous campaign-styled climbing level robot efficiency of Teheran university improves, build is big, and Design of Mechanical Structure is multiple
Miscellaneous, kinetic model is generally not easy to establish, and control is complicated.Although Tokyo University joint climbing robot adaptability is very strong, energy
In a variety of applications, but Machine Design is complicated and creeps less efficient.Harbin Engineering University's turn-over type climbing robot
Mechanical complicated, actuator is more, control is complicated and some are also in experimental stage；Climbing level robot is most of at present does not have figure also
As acquisition function, even if having, but the fewer and fewer of automatically scanning can be carried out.It is main just at present especially for climbing level robot capture
It is exactly to obtain to stablize clear image and capture image objectives to want problem.No matter which kind of type climbing level robot is in operational process
In can all generate body shake so that influence picture quality；Having partial robotic to climb, stable, bearing capacity is preferable, but effect of creeping
Rate is also relatively low, puts into and also takes day in production and living.
Invention content
It is an object of the invention to solve the problems of the above-mentioned prior art, climbing level robot is provided, can improve and climb
The efficiency of bar, while control system is relatively simple.
The present invention adopts the following technical scheme that：
Climbing level robot, the climbing level robot include scissor-like jack 1, wheel 6, DC speed-reducing 7, jack
Screw gear 8, direct current generator 9, trolley horizontal movement driven wheel I 10, trolley horizontal movement driven wheel II 11, dolly chassis 12,
Trolley horizontal movement driving wheel 13, microcontroller 16,12 bottom of wheel chassis are equipped with trolley horizontal movement driven wheel I
10, scissor-like jack 1 is installed on trolley horizontal movement driven wheel II 11, trolley horizontal movement driving wheel 13,12 top of wheel chassis,
Jack screw gear 8, the scissor-like jack 1 of 8 side of installation jack screw gear are installed on the lead screw of scissor-like jack 1
Wall body on direct current generator 9 is installed, be equipped on the motor shaft of direct current generator 9 engaged with jack screw gear connect it is outer
Gear is equipped with DC speed-reducing 7 on 1 alternate arm of scissor-like jack, wheel 8 is equipped on 7 axis of DC speed-reducing, clamps
Body of rod limit switch 14 is installed on by mounting bracket on wheel chassis 12, and the height of mounting bracket is 5-10cm, clamps body of rod limit
The trigger device of switch 14 is the structure of number " 7 " shape of a handstand, and trigger device is fixed on 1 top of scissor-like jack,
And it is stretched with scissor-like jack 1 and shrinks and make vertical move up and down；It is adjacent to body of rod limit switch 15 and is installed on the top of scissor-like jack 1
End, and it is adjacent to triggering deformation one end protrusion 1 front end face 1-2cm of scissor-like jack of body of rod limit switch 15, realization is adjacent to bar
Body limit switch 15 contacts wait for 5 surface of pole-climbing body first.
The microcontroller 16 is connect with DC speed-reducing 7,9 signal of direct current generator, and microcontroller 16 controls direct current and slows down
The startup and stopping of motor 7, direct current generator 9, microcontroller 16, which receives, to be clamped body of rod limit switch 14 and is adjacent to body of rod limit switch
15 position signals sent.
The trolley horizontal movement driven wheel I 10, trolley horizontal movement driven wheel II 11, trolley horizontal movement driving wheel
13 constitute Three-wheel types arrangement, trolley horizontal movement driving wheel 13 be located at trolley horizontal movement driven wheel I 10, trolley horizontal movement from
II 11 front side of driving wheel.
Further, wireless data transfer module is also equipped in robot, external host computer passes through wireless data transmission
Module connects with 16 signal of microcontroller.
Further, it is also equipped with holder on the dolly chassis 12, digital rudder controller 3, digital rudder is installed on holder
Camera is installed on machine 3, while gyroscope being installed in robot, digital rudder controller 3, camera, gyroscope respectively with microcontroller 16
Signal connects, and camera is also connected by the wireless image transmission module on trolley with external display equipment.
Further further includes ultrasonic wave module, and ultrasonic wave module is 2, is separately mounted to trolley horizontal movement driving wheel
13 left and right side.
Further camera is installed in cloud platform, and the image quality of robot Airborne Camera is largely by machine
The factors such as human organism's vibrations, air wind speed and air-flow influence, and to make camera optic central extract, it is necessary to which providing one for it has sky
Between stability inertial platform.And the disturbance of body can be isolated by stablizing holder, while the camera optical axis can also be enable flexible
Ground follows stable holder to be rotated according to given instruction.
The course of work of the present invention：
It is remotely controlled and is started by a key, robot does ground level movement and is close to the body of rod, and limit switch to be adjacent to is by body of rod table
Face is triggered, and main control MCU controlled level motion motor stops, and then scissor-like jack does clamping movement, limit switch quilt to be clamped
Triggering, clamping movement stops after triggering, and MCU controls robot climbs movement, and after preset height of climbing, ultrasonic wave positioning is instead
Elevation information is presented, stops movement of climbing, and be oriented camera shooting, image is sent by wireless image transfer module to display module
Terminal.
Description of the drawings
Fig. 1 is the front view of the present invention；
Fig. 2 is the side view of the present invention；
Fig. 3 is the flow diagram of working method of the present invention；
Fig. 4 is that the present invention clamps body of rod limit switch and its trigger device structural schematic diagram.
In figure：1- scissor-like jacks, 2- lead screws, 3- digital rudder controllers, 4- high definitions moving camera, 5- wait for pole-climbing body, 6- wheels,
7- DC speed-reducings, 8- jack screw gear, 9- direct current generators, 10- trolley horizontal movements driven wheel I, 11- waterwheels are horizontal
Movement driven wheel II, 12- dolly chassis, 13- trolley horizontal movements driving wheel, 14- clamp body of rod limit switch, 15- is adjacent to bar
Body limit switch, 16- microcontrollers, 17- trigger devices.
Specific implementation mode
To make the object, technical solutions and advantages of the present invention clearer, the technical solution below in the present invention carries out clear
Chu is fully described by, it is clear that described embodiments are some of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without creative efforts
Embodiment shall fall within the protection scope of the present invention.
Embodiment 1
As shown in Fig. 1,2,4, climbing level robot of the invention, the climbing level robot includes scissor-like jack 1, wheel
6, DC speed-reducing 7, jack screw gear 8, direct current generator 9, trolley horizontal movement driven wheel I 10, trolley horizontal movement
Driven wheel II 11, dolly chassis 12, trolley horizontal movement driving wheel 13, microcontroller 16,12 bottom of wheel chassis installation
There are trolley horizontal movement driven wheel I 10, trolley horizontal movement driven wheel II 11, trolley horizontal movement driving wheel 13, wheel chassis
Scissor-like jack 1 is installed on 12 tops, and jack screw gear 8 is equipped on the lead screw of scissor-like jack 1, installs jack lead screw
Direct current generator 9 is installed on the wall body of the scissor-like jack 1 of 8 side of gear, be equipped on the motor shaft of direct current generator 9 with it is very heavy
Top screw gear engages the external gear to connect, and DC speed-reducing 7 is equipped on 1 alternate arm of scissor-like jack, and direct current slows down electric
Wheel 8 is installed on 7 axis of machine, body of rod limit switch 14 is clamped and is installed on wheel chassis 12 by mounting bracket, the height of mounting bracket
Degree is 5-10cm, and the trigger device for clamping body of rod limit switch 14 is the structure of number " 7 " shape of a handstand, trigger device
It is fixed on 1 top of scissor-like jack, and is stretched with scissor-like jack 1 and is shunk and make vertical move up and down；Body of rod limit is adjacent to open
It closes 15 and is installed on 1 top of scissor-like jack, and be adjacent to triggering deformation one end protrusion scissor-like jack 1 of body of rod limit switch 15
Front end face 1-2cm, realization are adjacent to body of rod limit switch 15 and contact body of rod surface first, and the microcontroller 16 slows down electric with direct current
Machine 7, the connection of 9 signal of direct current generator, microcontroller 16 control the startup and stopping of DC speed-reducing 7, direct current generator 9, microcontroller
16 receive the position signal for clamping body of rod limit switch 14 and being adjacent to the transmission of body of rod limit switch 15.
If preceding scissor-like jack 1 is called bracket jack, upper rack posts and lower fulcrum bar form made of sheet metal, upper branch
The cross section of bar is the rectangle of openings at one side in the cross section of teeth portion and its neighbouring part with lower fulcrum bar, the metallic plate on the both sides that are open
It bends inwards, the tooth on upper rack posts and lower fulcrum bar is made of the opening metallic plate that both sides are bent, and the facewidth is more than hickness of metal plate.It cuts
Formula jack is promoted and falling head is can promote the geometrical principle of high line based on the constant bottom edge of shortening of two waist of isosceles triangle, lead to
Lead screw and nut is crossed to adjust.
The present invention utilizes the mechanical variability of scissor-like jack, and a pair of of large torque is loaded onto on the alternate arm close to strut
The wheel of decelerating motor waits for pole-climbing body 5, driving motor makes robot rise or fall by adjusting wheel distance to clamp.
Embodiment 2 implements 2 to make following improvement on the basis of embodiment 1：
As shown in Fig. 1,2,4, the trolley horizontal movement driven wheel I 10, trolley horizontal movement driven wheel II 11, trolley
Horizontal movement driving wheel 13 constitutes Three-wheel type, and trolley horizontal movement driving wheel 13 is located at trolley horizontal movement driven wheel I 10, trolley
II 11 front side of horizontal movement driven wheel.
In order to realize that structure is simplified, small car bottom is designed to that Three-wheel type is arranged, the selection of trolley horizontal movement driving wheel 13 rubs
The larger wheel of coefficient is wiped, wheel 6 selects same model on trolley horizontal movement driving wheel 13 and the action jack alternate arm that climbs
's.
The driving motor of trolley horizontal movement driving wheel 13 uses large torque DC speed-reducing, may be selected to be Japan
TSUKASA speeds the husky 7 font DC speed-reducings of card, and driving motor is connected with microcontroller.
TSUKASA 7 font DC speed-reducing operating voltage 12-24V, DC：12V is 47 revs/min unloaded, DC：24V is empty
94 revs/min are carried, nominal torque (Kgf.cm)：6.5, peak torque (Kgf.cm)：12, rated power (W)：8, overall mass
(g)：500.
The start and stop and positive and negative rotation of motor are controlled by relay entirely, succinct convenient, using SRD-05VDC-SL-C relays, IN
Input low level is effective.
Further technical solution is that wireless data transfer module is also equipped in robot, and external host computer passes through nothing
Line data transmission module connects with 16 signal of microcontroller.
As before, wireless data transfer module can be 100MW E50-TTL-100,148-173.5MHz frequency ranges are operated in, by
It is very low in the frequency range, there is very strong penetration capacity, be particularly suitable for and need occasion through walls.Simultaneously data are carried out using serial ports
Transmitting-receiving, reduces the threshold of wireless application, and wireless data transfer module has software FEC forward error correction algorithms, code efficiency
Higher, error correcting capability is strong, in the case of bursty interference, can actively correct disturbed data packet, greatly improve anti-interference energy
Power and transmission range.
And wireless data transfer module has data encryption and a compression function, module transmission data in the air, have with
Machine passes through strict enciphering and deciphering algorithm so that Data acquisition loses meaning.And data compression function have probability reduce transmission when
Between, reduce the probability being disturbed, improves reliability and efficiency of transmission.
Wireless data transfer module can be operated in 2.1-5.5V, meet battery powered demand, wireless data transfer module
There are four types of operating modes for module tool, free switching can consume only tens microamperes of electric current in a power-save mode at runtime, non-
Often suitable super low-power consumption application.
Embodiment 3 is to make following improvement on the basis of embodiment 2：
As shown in Fig. 1,2,4, further optimal technical scheme is to be also equipped with holder on the dolly chassis 12,
Digital rudder controller 3 is installed on holder, camera is installed, while gyroscope being installed in robot on digital rudder controller 3, digital rudder controller
3, camera, gyroscope are connect with 16 signal of microcontroller respectively, camera also by wireless image transmission module on trolley with it is external
Display equipment be connected.
As before, climbing process rotation angle present invention employs gyroscope measurement, steering engine turns round camera, adjusts camera view
Angle, adoptable gyroscope is 3 axis Together, digital gyroscope L3G4200D, and adoptable steering engine is CDS5516 robots number rudder
Machine.
As before, WHDI (wireless family digital interface) can be used in wireless image transmission module, high-quality is provided, without compression
Radio connection can realize the transfer rate of up to 3Gbps using the modulation system of MIMO technology and OFDM, be operated in
4.9GHz-5.875GHz frequency ranges, the channels 20MHz or 40MHz meet global 5GHz spectrum regulations, and range can be worn within 30 meters
Saturating wall, and postpone to be less than 1 millisecond, it is entirely capable of meeting the requirements.
As before, it is 1080P, the 200 wide angle micro moving cameras of DT of HDMI interface output that resolution ratio, which can be used, in camera.
Further technical solution further includes ultrasonic wave module, and ultrasonic wave module is 2, is separately mounted to trolley level fortune
The left and right side of dynamic driving wheel 13, ultrasonic wave module realize the intercommunication of signal with microcontroller by signal wire.
As before, HY-SRF05 ultrasonic wave modules, parameter operating voltage may be selected in ultrasonic wave module：DC 5V, work electricity
Stream：15mA, working frequency：40Hz, maximum range：4.5m, nearest range：2cm, measurement angle：15 degree, input trigger signal：
The TTL pulse of 10us exports Transistor-Transistor Logic level signal, proportional to range.
Further camera is installed in cloud platform, and the image quality of robot Airborne Camera is largely by machine
The factors such as human organism's vibrations, air wind speed and air-flow influence, and to make camera optic central extract, it is necessary to which providing one for it has sky
Between stability inertial platform.And the disturbance of body can be isolated by stablizing holder, while the camera optical axis can also be enable flexible
Ground follows stable holder to be rotated according to given instruction.
The course of work of the present invention：
As shown in figure 3, host computer one-key start, signal is passed to microcontroller by host computer by wireless data transfer module
16, microcontroller 16 controls the horizontal driving wheel 13 of trolley and is moved in ground level, when robot motion is to after pole-climbing body 5, machine
The body of rod limit switch 15 that is adjacent on people is triggered, and shows that climbing level robot has been adjacent to the body of rod at this time, ground level movement is then tied
Beam.
After horizontal movement, direct current generator 9 is clamped dynamic by the drive scissor-like jack of jack screw gear 8
Make, the mode that pinching action stops waits for down that " 7 " font hook follows jack top upward vertical movement to trigger limit switch, clamps
Body of rod limit switch 14 is triggered, and shows that robot has clamped the body of rod, clamps body of rod motor and stops operating, pinching action terminates
Afterwards, DC speed-reducing 7 and wheel 6 start simultaneously on 1 alternate arm of scissor-like jack, and action of climbing starts, and works as ultrasonic wave module
It measures and has climbed to preset height, the stopping of DC speed-reducing 7, action of climbing terminates, and digital rudder controller rotation, camera orientation is taken the photograph
Picture, and afield display module is transmitted by wireless image transmission module.
Test experiments：
Experiment equipment：Stopwatch, PC mono-, the outer diameter 90cm height 3m bodies of rod one, tape measure one.
Experiment method：Accumulative is mainly used, that is, controls under variable and is averaging again the time required to many experiments sustained height,
Change height again to carry out.
Experimental result：Pole-climbing height is 1m, 1.5m, 2m, 2.5m respectively, is with robot stabilized reliable speed in test process
Degree operation, speed of service basic guarantee is in 2m/s ± 0.05m/s.
Finally it should be noted that：The above embodiments are merely illustrative of the technical solutions of the present invention, rather than its limitations；Although
Present invention has been described in detail with reference to the aforementioned embodiments, it will be understood by those of ordinary skill in the art that：It still may be used
With technical scheme described in the above embodiments is modified or equivalent replacement of some of the technical features；
And these modifications or replacements, various embodiments of the present invention technical solution that it does not separate the essence of the corresponding technical solution spirit and
Range.
Claims (5)
1. climbing level robot, which is characterized in that the climbing level robot includes that scissor-like jack (1), wheel (6), direct current subtract
Speed motor (7), jack screw gear (8), direct current generator (9), trolley horizontal movement driven wheel I (10), trolley horizontal movement
Driven wheel II (11), dolly chassis (12), trolley horizontal movement driving wheel (13), microcontroller (16), the wheel chassis
(12) bottom is equipped with trolley horizontal movement driven wheel I (10), trolley horizontal movement driven wheel II (11), trolley horizontal movement master
Driving wheel (13), wheel chassis (12) top install scissor-like jack (1), jack are equipped on the lead screw of scissor-like jack (1)
Screw gear (8) is installed and is equipped with direct current generator on the wall body of the scissor-like jack (1) of jack screw gear (8) side
(9), it is equipped on the motor shaft of direct current generator (9) and engages the external gear to connect with jack screw gear, scissor-like jack (1)
DC speed-reducing (7) is installed on alternate arm, wheel (8) is installed on DC speed-reducing (7) axis, body of rod limit is clamped and opens
It closes (14) to be installed on wheel chassis (12) by mounting bracket, the height of mounting bracket is 5-10cm, clamps body of rod limit switch
(14) for trigger device tool there are one the structure of number " 7 " shape stood upside down, trigger device is fixed on scissor-like jack (1) top
End, and stretched with scissor-like jack (1) and shrink and make vertical move up and down；It is adjacent to body of rod limit switch (15) and is installed on scissors thousand
Jin top (1) top, and it is adjacent to triggering deformation one end protrusion scissor-like jack (1) front end face 1- of body of rod limit switch (15)
2cm, realization, which is adjacent to body of rod limit switch (15) and contacts first, waits for pole-climbing body (5) surface；
The microcontroller (16) and DC speed-reducing (7), direct current generator (9) clamp body of rod limit switch (14) and are adjacent to
Body of rod limit switch (15) signal connect, microcontroller (16) control DC speed-reducing (7), direct current generator (9) startup and stop
Only, microcontroller (16) receives the position signal for clamping body of rod limit switch (14) and being adjacent to body of rod limit switch (15) transmission.
2. climbing level robot according to claim 1, it is characterised in that：The trolley horizontal movement driven wheel I (10),
Trolley horizontal movement driven wheel II (11), trolley horizontal movement driving wheel (13) constitute Three-wheel type arrangement, trolley level fortune
Dynamic driving wheel (13) is located at trolley horizontal movement driven wheel I (10), trolley horizontal movement driven wheel II (11) front side.
3. climbing level robot according to claim 1, it is characterised in that：Wireless data transmission mould is also equipped in robot
Block, external host computer are connected by wireless data transfer module with microcontroller (16) signal.
4. climbing level robot according to claim 1 or 3, it is characterised in that：It is also installed on the dolly chassis (12)
There is holder, digital rudder controller (3) is installed, digital rudder controller is equipped with camera on (3), while being equipped with gyro in robot on holder
Instrument, digital rudder controller (3), camera, gyroscope are connect with microcontroller (16) signal respectively, and camera also passes through the wireless image on trolley
Transmission module is connected with external display equipment.
5. climbing level robot according to claim 1, which is characterized in that further include ultrasonic wave module, ultrasonic wave module 2
It is a, it is separately mounted to the left and right side of trolley horizontal movement driving wheel (13), ultrasonic wave module passes through signal wire with microcontroller
Realize the transmission of signal.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810112493.6A CN108454720B (en) | 2018-02-05 | 2018-02-05 | Pole-climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810112493.6A CN108454720B (en) | 2018-02-05 | 2018-02-05 | Pole-climbing robot |
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| Publication Number | Publication Date |
|---|---|
| CN108454720A true CN108454720A (en) | 2018-08-28 |
| CN108454720B CN108454720B (en) | 2020-12-11 |
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| CN201810112493.6A Expired - Fee Related CN108454720B (en) | 2018-02-05 | 2018-02-05 | Pole-climbing robot |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109048961A (en) * | 2018-09-19 | 2018-12-21 | 哈尔滨工业大学 | It can swing and grasp the climbing truss robot and its control method of remote truss rod |
| CN113353168A (en) * | 2021-08-11 | 2021-09-07 | 西南石油大学 | Outer pipeline detection robot and walking method |
| CN114132404A (en) * | 2021-11-26 | 2022-03-04 | 国网河南省电力公司卢氏县供电公司 | Electric power climbing device with structure of preventing falling |
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109048961A (en) * | 2018-09-19 | 2018-12-21 | 哈尔滨工业大学 | It can swing and grasp the climbing truss robot and its control method of remote truss rod |
| CN109048961B (en) * | 2018-09-19 | 2021-10-01 | 哈尔滨工业大学 | Truss climbing robot capable of swinging and grabbing remote truss rod and control method thereof |
| CN113353168A (en) * | 2021-08-11 | 2021-09-07 | 西南石油大学 | Outer pipeline detection robot and walking method |
| CN113353168B (en) * | 2021-08-11 | 2021-10-12 | 西南石油大学 | Outer pipeline detection robot and walking method |
| CN114132404A (en) * | 2021-11-26 | 2022-03-04 | 国网河南省电力公司卢氏县供电公司 | Electric power climbing device with structure of preventing falling |
| CN114132404B (en) * | 2021-11-26 | 2024-02-13 | 国网河南省电力公司卢氏县供电公司 | Electric power climbing device with prevent structure of falling |
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| CN108454720B (en) | 2020-12-11 |
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