CN108500954A - A kind of flexible robot for being suitable for variable cross-section - Google Patents
A kind of flexible robot for being suitable for variable cross-section Download PDFInfo
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- CN108500954A CN108500954A CN201810261481.XA CN201810261481A CN108500954A CN 108500954 A CN108500954 A CN 108500954A CN 201810261481 A CN201810261481 A CN 201810261481A CN 108500954 A CN108500954 A CN 108500954A
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- Prior art keywords
- hold
- fast
- fast body
- rope
- variable cross
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/0009—Constructional details, e.g. manipulator supports, bases
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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
Abstract
A kind of flexible robot for being suitable for variable cross-section, belongs to technical field of automation equipment.It is characterized in that：Including spaced multiple hold-fast bodies, the push-pull mechanism for pushing hold-fast body movement is equipped between per two adjacent hold-fast bodies, hold-fast body is equipped with one or more disconnecting units, the disconnecting unit of hold-fast body is connected by distance regulating mechanism to form closed annular, the holding power plant module for holding or unclamping column or rope tightly is equipped on the inside of hold-fast body, column or rope are alternately held or unclamped to the holding power plant module per two adjacent hold-fast bodies tightly.This flexible robot for being suitable for variable cross-section can be convenient for carrying different equipment and can carry the big equipment of weight, the any position of column or rope can also be rested on, and it stops and stablizes, facilitate the work of self-contained equipment, in addition, the pole-climbing action of the column or rope of different cross section shape, wide adaptation range can also be adapted to, and is adjusted conveniently.
Description
Technical field
A kind of flexible robot for being suitable for variable cross-section, belongs to technical field of automation equipment.
Background technology
Climbing level robot is one of the research hotspot of current robot technology, and climbing level robot is in high-altitude, dangerous operation
It has a wide range of applications, also increasingly there is application prospect in other industry at present.The actuating unit of existing climbing level robot with
And transmission mechanism is complicated, and it is big so as to cause climbing level robot weight, the flexibility of robot is on the one hand affected, is led
It causes robot to can be only done the simple action in part, on the other hand since weight itself is big, leads to the portable tool of robot
It is few, to affect the application of climbing level robot.
Application No. is 201310005091.3 Chinese invention patents to disclose a kind of cable-free air bag type robot system,
Walking of the robot in enteron aisle, but its are realized by the inflation exhaust of air bag and the elastic force effect of shape memory alloy spring
Principle is merely capable of applying inside pipeline, and can not be applied to pipeline external.Application No. is 201610391745.4 to disclose
A kind of adaptive inner wall duct robot, it is real by changing the Frotteurism of air bag and inner wall of the pipe in air bag walking mechanism
The top-down passive walking of robot its own gravity, or the uplink and downlink by controlling piston bar are now relied on, are pushed away
Dynamic upper lower gasbag walking mechanism carries out active walking, and row uses different type of drive up and down, complicated, and
Also it is only able to use the walking in pipeline.And above two robot is merely capable of adapting to climbing in the pipeline of thickness always
Row, when encountering the pipeline of thickness unevenness, since the limitation of its structure causes it can not work normally.
Invention content
The technical problem to be solved by the present invention is to：Overcome the deficiencies of the prior art and provide a kind of shape that can change itself
Shape, to adapt to the flexible robot for being suitable for variable cross-section of the pole-climbing action of the not column by section or rope.
The technical solution adopted by the present invention to solve the technical problems is：The flexible robot for being suitable for variable cross-section,
It is characterized in that：Including spaced multiple hold-fast bodies, it is equipped between every two adjacent hold-fast bodies and pushes holding machine
The push-pull mechanism of structure movement, hold-fast body are equipped with one or more disconnecting units, and the disconnecting unit of clasping structure is adjusted by spacing
Mechanism is connected to form closed annular, and the holding power mould for holding or unclamping column or rope tightly is equipped on the inside of hold-fast body
Column or rope are alternately held or unclamped to block, the holding power plant module per two adjacent hold-fast bodies tightly.
Preferably, the hold-fast body is the annular being encircled by multiple mounting brackets, to form multiple disconnecting units, often
It is connected by distance regulating mechanism between two adjacent mounting brackets, holds power plant module tightly and be mounted on mounting bracket.
Preferably, the hold-fast body is the annular being encircled by multiple mounting brackets, to form multiple disconnecting units, often
Adjacent company mounting bracket rotation connection or connected by distance regulating mechanism, holds power plant module tightly and is mounted on mounting bracket.
Preferably, the distance regulating mechanism includes expansion module and connection guiding mechanism, expansion module and company
The both ends for connecing guiding mechanism are fixedly connected with the both sides of disconnecting unit.
Preferably, the expansion module includes adjusting air bag and resetting spring, and the side of disconnecting unit, which is equipped with, adjusts gas
The both sides of capsule or disconnecting unit are equipped with adjusting air bag, and the both ends of resetting spring are fixedly connected with the both ends of disconnecting unit respectively.
Preferably, the connection guiding mechanism includes guide rod and guide sleeve, and guide rod and guide sleeve are installed respectively
At the both ends of disconnecting unit, and guide rod is slidably arranged in guide sleeve.
Preferably, the Guiding machine of creeping for being oriented to the axial movement of hold-fast body is equipped on the inside of the hold-fast body
Structure.
Preferably, the guiding mechanism of creeping includes the directive wheel being rotatably installed on hold-fast body, each holds machine tightly
Multiple holding power plant modules are equipped at intervals on structure, directive wheel is arranged between holding power plant module tightly.
Preferably, the push-pull mechanism includes climb spring and one or more being arranged between adjacent hold-fast body
The both ends of a air bag that climbs, the spring that climbs are connected with two adjacent hold-fast bodies respectively.
Preferably, the push-pull mechanism includes the cylinder that climbs being arranged between adjacent hold-fast body, and climb cylinder
Fixing end and piston are connected with two adjacent hold-fast bodies respectively.
Compared with prior art, advantageous effect possessed by the present invention is：
1, this flexible multiple hold-fast body of the robot for being suitable for variable cross-section alternately holds column or rope tightly, and matches with push-pull mechanism
Close, realize each hold-fast body along column or reel for rope to movement, to realize pole-climbing action, pole-climbing action is simple, pole-climbing
Stablize, it is simple in structure, and it is small to conduct oneself with dignity, and the pole-climbing of robot can either be facilitated to act, and be convenient for carrying different equipment and energy
The big equipment of weight is enough carried, additionally due to the presence of hold-fast body and the walking manner characteristic of robot, robot
Any position of column or rope can be rested on, and stops and stablizes, facilitates the work of self-contained equipment, one or more disconnecting units
Between by distance regulating mechanism be connected, so as to by distance regulating mechanism adjust disconnecting unit distance, and then adjust embrace
The shapes and sizes of tight mechanism are acted, wide adaptation range with adapting to the pole-climbing of column or rope of different cross section shape, and adjustment side
Just.
2, it is connected by distance regulating mechanism between two adjacent mounting brackets or every two adjacent mounting brackets, to root
According to adjusting hold-fast body size or shape is needed, to adapt to the column or rope of different cross sectional shapes, and flexible adjustment.
3, increase the distance between disconnecting unit by adjusting the inflation of air bag, become larger to make hold-fast body adapt to section
Column or rope pole-climbing action, resetting spring can make when adjusting air bag deflation disconnecting unit distance diminution so that hold-fast body
Restore to the pole-climbing action of the column or rope that adapt to small bore, realizes automatic adjustment, it is easy to use.
4, guide sleeve and guide rod can avoid the both ends of disconnecting unit from detaching, so as to cause hold-fast body can not hold tightly column or
Rope influences pole-climbing action.
5, directive wheel is arranged between holding power plant module tightly, when holding power plant module release column or rope tightly, directive wheel and column
Or rope contact avoids hold-fast body that axial deviation occurs with column or rope to being oriented to the movement of hold-fast body, when embracing
When tight power plant module holds column or rope tightly, directive wheel is detached from column or rope.
6, it realizes that the spacing of adjacent hold-fast body is adjusted by the cooperation of climb air bag and the spring that climbs, and then realizes and embrace
Tight mechanism along column or reel for rope to move, due to the weight very little of climb spring and the air bag that climbs, climbed with using motor
The mode risen is compared, and the dead weight of equipment is greatly reduced；Climb air bag and climb ring spring around hold-fast body be arranged, to protect
The each position synchronizing moving for having demonstrate,proved hold-fast body, ensure that robot is climbed steadily.
7, the spacing of adjacent hold-fast body is adjusted by the cylinder that climbs, so realize hold-fast body along column or reel for rope to
It is mobile, the distance that hold-fast body climbs conveniently is accurately controlled, precision is high and facilitates control, with the phase by the way of motor drive
Than simplifying the transmission of equipment, and reduce the dead weight of equipment.
Description of the drawings
Fig. 1 is the flexible stereoscopic schematic diagram for being suitable for variable cross-section robot.
Fig. 2 is the partial enlarged view at A in Fig. 1.
Fig. 3 be climb air bag and hold tightly air bag scheme of installation.
Fig. 4 is the connection structure of the flexible mounting bracket for being suitable for variable cross-section robot.
Fig. 5 is the stereoscopic schematic diagram of pole-climbing sweeping robot.
Fig. 6 is the partial enlarged view at B in Fig. 5.
Fig. 7 is the connection structure of the mounting bracket of leaping over obstacles robot.
Fig. 8 is the stereoscopic schematic diagram of the flexible robot for being suitable for variable cross-section in embodiment 2.
Fig. 9 is the stereoscopic schematic diagram of the flexible robot for being suitable for variable cross-section in embodiment 3.
Figure 10 is the stereoscopic schematic diagram of the flexible robot for being suitable for variable cross-section in embodiment 4.
Figure 11 be embodiment 5 in climb air bag and hold tightly air bag scheme of installation.
Figure 12 be embodiment 6 in climb air bag and hold tightly air bag scheme of installation.
In figure：1, climb component 101, mounting bracket 102, interconnecting piece 103, connecting rod 2, hold air bag 201, recessed tightly
Slot 202, protrusion 3, the air bag 4 that climbs, connector 5, the spring 6 that climbs, the cylinder 7 that climbs, brush roll 8, motor
9, connection guiding mechanism 10, resetting spring 11, adjusting air bag 12, magnet.
Specific implementation mode
Fig. 1 ~ 7 are highly preferred embodiment of the present invention, and 1 ~ 12 the present invention will be further described below in conjunction with the accompanying drawings.
A kind of flexible robot for being suitable for variable cross-section, including spaced multiple hold-fast bodies, per adjacent two
The push-pull mechanism for pushing hold-fast body movement is equipped between hold-fast body, hold-fast body is equipped with one or more disconnecting units,
The disconnecting unit of hold-fast body is connected to form closed annular by distance regulating mechanism, is equipped on the inside of hold-fast body for embracing
Holding power plant module that is tight or unclamping column or rope, the holding power plant module per two adjacent hold-fast bodies are alternately held tightly or are unclamped
Column or rope.This flexible multiple hold-fast body of the robot for being suitable for variable cross-section alternately holds column or rope tightly, and matches with push-pull mechanism
Close, realize each hold-fast body along column or reel for rope to movement, to realize pole-climbing action, pole-climbing action is simple, pole-climbing
Stablize, it is simple in structure, and it is small to conduct oneself with dignity, and the pole-climbing of robot can either be facilitated to act, and be convenient for carrying different equipment and energy
The big equipment of weight is enough carried, additionally due to the presence of hold-fast body and the walking manner characteristic of robot, robot
Any position of column or rope can be rested on, and stops and stablizes, facilitates the work of self-contained equipment, one or more disconnecting units
Between by distance regulating mechanism be connected, so as to by distance regulating mechanism adjust disconnecting unit distance, and then adjust embrace
The shapes and sizes of tight mechanism are acted, wide adaptation range with adapting to the pole-climbing of column or rope of different cross section shape, and adjustment side
Just.The robot is mainly used for the cleaning of the insulator of field of power transmission, and cleaning is convenient.
With reference to specific embodiment, the present invention will be further described, however persons familiar with the art it is to be appreciated that
Here in connection with the detailed description that attached drawing provides be in order to preferably explain, structure of the invention necessarily have exceeded it is limited these
Embodiment, and for some equivalents or common approach, it is no longer described in detail herein, but still fall within the guarantor of the application
Protect range.
Embodiment 1
As shown in Figure 1 and 2：Hold-fast body includes the component 1 that climbs, and in the present embodiment, and the component 1 that climbs is circular ring shape, is embraced
Tight power plant module setting is in 1 inside of component of climbing.The component 1 that climbs is the circular ring shape being encircled by multiple mounting brackets 101, to shape
At multiple disconnecting units, mounting bracket 101 is babinet or groove profile of the opening towards inside, and in the present embodiment, mounting bracket 101 is opening
It is gradually reduced from outside to inside towards the spacing of the babinet of inside, and two sides adjacent with open side of mounting bracket 101, Duo Gean
It shelves 101 and is encircled into circular ring shape just.
It is to hold air bag 2 tightly to hold power plant module tightly, and it is one or spaced multiple to hold air bag 2 tightly, in the present embodiment,
It is spaced multiple to hold air bag 2 tightly, and holds air bag 2 tightly and corresponded with mounting bracket 101, holds air bag 2 tightly and is mounted on installation
In frame 101, to make mounting bracket 101 be protected to holding air bag 2 tightly, holding air bag 2 is damaged during avoiding use.
Push-pull mechanism is climb spring 5 and the air bag 3 that climbs.Climb air bag 3 there are one or it is multiple, and be arranged in mounting bracket
101 upside or downside, it is preferred that the air bag 3 that climbs has multiple, and the both sides up and down of each mounting bracket 101 are all provided with that there are one climb
Air bag 3 is risen, it is more flexible so as to make spacing adjust, and improve spacing governing speed, that is, improve originally flexible be suitable for
The climbing speed of the robot of variable cross-section.Axis between per two adjacent hold-fast bodies around hold-fast body has uniformly at intervals
The side of multiple springs 5 that climb, mounting bracket 101 is equipped with connector 4, and the upper and lower ends for the spring 5 that climbs pass through connector 4 and peace
101 are shelved to be fixedly connected.Connector 4 is " L " shape, and the vertical portion of connector 4 is arranged between adjacent mounting bracket 101, and with
One mounting bracket 101 is fixedly connected, and the spring 5 that climbs is fixedly connected with the horizontal part of connector 4.The spring 5 that climbs, which is in, stretches shape
State makes adjacent hold-fast body spacing increase when the air bag 3 that climbs is inflated, when the air bag 3 that climbs is deflated, adjacent hold-fast body
Spacing reduces under the elastic force effect for the spring 5 that climbs.
The air bag 3 that climbs is respectively connected with air pump or compressed air pipe with air bag 2 is held tightly, and climb air bag 3 and holding air bag 2
Air inlet and exhaust outlet be respectively connected with solenoid valve, solenoid valve is connected with PLC controller or microcontroller.In the present embodiment, it embraces
There are three tight mechanisms.When the holding air bag 2 of upside deflates and unclamps column or rope, middle part holds air bag 2 tightly and inflates and hold tightly column or rope,
The inflation of air bag 3 of climbing between the hold-fast body of both sides up and down at this time, to push the hold-fast body of upside to move up, when the gas that climbs
After capsule 3 is inflated, the holding air bag 2 of upside is inflated and simultaneously holds column or rope tightly, the holding air bag 2 at middle part deflate and unclamp column or
Rope, the hold-fast body at middle part move up under the action of climbing spring 5, the pole-climbing action of hold-fast body are completed, to profit
Pole-climbing action is realized with the principle for adjusting two hold-fast body spacing.The cooperation of the hold-fast body of downside and the hold-fast body at middle part
The principle of pole-climbing, the upper principle of two hold-fast body pole-climbings is identical in.
It is equipped with guiding mechanism of creeping between two adjacent mounting brackets 101 of each hold-fast body.Guiding mechanism of creeping is rotation
Directive wheel on mounting bracket 101, directive wheel are mounted on by directive wheel mounting rod on mounting bracket 101, the axis of directive wheel
Line is horizontally disposed.When holding the inflation of air bag 2 tightly, directive wheel is detached with column or rope, when holding the deflation of air bag 2 tightly, directive wheel and column
Or rope is in contact, and climbing for hold-fast body is oriented to, ensure that hold-fast body and column or rope are coaxial always, improves and climb
Stability.
As shown in Figure 3：The inside for holding air bag 2 tightly is equipped with groove 201, and groove 201 is rectangular or cylindric, can either be increased
It holds the friction of air bag 2 tightly, and then increases the friction held tightly between air bag 2 and column or rope, additionally it is possible to when holding air bag 2 is inflated,
It is bonded with column or rope due to groove 201 and is encircled into closed cavity with column or rope, held volume when air bag 2 is inflated tightly and increase, into
And 201 volume of groove is made to increase, air pressure inside reduces, and to which column or rope be sucked, ensure that holding air bag 2 tightly holds tightly securely.
As shown in Figure 4：It is connected by distance regulating mechanism between the every two adjacent mounting brackets 101 of hold-fast body, from
And the shape for the component 1 that climbs can be adjusted, to adapt to the robot of different cross section shape column or rope, and it can adapt to variable cross-section
Column or rope, wide adaptation range.
The quantity of distance regulating mechanism can also be less than the quantity of mounting bracket 101, at this time the only adjacent mounting bracket in part 101
Between by distance regulating mechanism be connected, be rotatablely connected between remaining adjacent mounting bracket 101.Mounting bracket 101 and open side
Two adjacent side lower parts are equipped with interconnecting piece 102, are rotatablely connected by interconnecting piece 102 per two adjacent mounting brackets 101, make to climb
Structure flexible can be regarded as by rising component 1, so as to the change shape as needed when holding power plant module tightly and holding column or rope tightly, and
And it also can adapt to climbing for irregular circular columns or rope.
Distance regulating mechanism includes expansion module and connection guiding mechanism 9, expansion module and two adjacent mounting brackets
101 are connected and adjust 101 distance of two neighboring mounting bracket, and connection guiding mechanism 9 can be oriented to mounting bracket 101, avoid adjacent
Mounting bracket 101 disengaging be broken so as to cause hold-fast body.
Expansion module includes adjusting air bag 11 and resetting spring 10, adjusts air bag 11 and is arranged in two adjacent mounting brackets
Between 101, it is preferred that two adjacent adjacent sides of mounting bracket 101 be respectively mounted there are two adjust air bag 11, and two adjusting
The same position in mounting bracket 101 is arranged in air bag 11, and two air inlets for adjusting air bag 11 and gas outlet are respectively connected with solenoid valve,
And solenoid valve is connected with PLC controller or microcontroller.When the cross sectional shape or area of section of column or rope change, gas is adjusted
Capsule 11 is inflated, and to adjust the spacing of two mounting brackets 101, and then the component 1 that climbs of hold-fast body is made to change, by more
The adjusting adjusting of a expansion module makes the arbitrary shape of component presentation of climbing.When adjusting the deflation of air bag 11, in resetting spring 10
Elastic force effect under, two neighboring mounting bracket 101 resets, and the pole-climbing for enabling adaptation to the column or rope of different cross section shape is dynamic
Make, and own form can be adjusted according to the shape of column or rope during pole-climbing, easy to use, range of climbing is wide, and adjusts
It is convenient.
Connection guiding mechanism 9 includes guide sleeve and guide rod, and guide sleeve and guide rod are separately positioned on two adjacent installations
On frame 101, and guide sleeve is mounted on mounting bracket 101, and guide rod one end is mounted on another adjacent mounting bracket 101, another
End sliding is stretched into guide sleeve, to be oriented to the movement of mounting bracket 101, and connected mounting bracket 101 is avoided to disconnect.
Guide rod and guide sleeve are made of software material, so as to according to the shape of the hold-fast body of adjusting come adjust guide rod and
The shape of guide sleeve, it is easy to use.
As shown in Fig. 5 ~ 6：Present invention also provides a kind of pole-climbing sweeping robots, with the flexible machine for being suitable for variable cross-section
Device people difference lies in：Each hold-fast body includes two components 1 that climb, two interval of component 1 settings of climbing, and two are climbed
It is equipped with cleaning agency between component, and distance regulating mechanism is not provided between mounting bracket 101.Each hold-fast body is between axis
Every being evenly equipped with multiple cleaning agencies, so as to clear up simultaneously the side of column or rope, and cleaning effect is good.Two are climbed
Component 1 is connected by connecting rod 103, and the setting of connecting rod 103 is climbed at two between component 1, and the both ends of connecting rod 103 respectively with two
The component 1 that climbs is fixedly connected.In the present embodiment, connecting rod 103 is arranged at intervals with three around the axis for the component 1 that climbs.
In the present embodiment, the component 1 that each climbs is surrounded by two mounting brackets 101, and each mounting bracket 101 is half
Arc-shaped, the both ends of two mounting brackets 101 are rotatablely connected respectively, to form circular ring shape.It is mounted in each mounting bracket 101
One holding air bag 2.The open side of multiple components 1 that climb is located on same vertical straight line, to conveniently be sleeved on column or rope
Above and to column or rope clean.
In the present embodiment, there are two hold-fast bodies, and push-pull mechanism is the cylinder 6 that climbs.The cylinder 6 that climbs is around group of climbing
Part 1 uniformly at intervals there are three, the cylinder 6 that climbs is vertically arranged, and the bottom of the cylinder 6 that climbs is mounted on lower part hold-fast body and climbing
On component 1, the piston rod for the cylinder 6 that climbs is connected with the component 1 that climbs of top hold-fast body.Climb cylinder 6 air inlet pipe and go out
Tracheae is connected with solenoid valve, and solenoid valve is connected with PLC controller or microcontroller.When the holding air bag 2 of lower part hold-fast body is embraced
When tight column or rope, the holding air bag 2 of top hold-fast body unclamps column or rope, the piston rod for the cylinder 6 that climbs at this time are stretched out and pushed
The hold-fast body on top moves up, when the hold-fast body on top moves a certain distance, the holding air bag 2 of top hold-fast body
Hold column or rope tightly, the holding air bag 2 of lower part hold-fast body unclamps column or rope, the piston rod for the cylinder 6 that climbs reset and drive lower part
Hold-fast body rise, to realize that pole-climbing is acted using the principle for adjusting two hold-fast body spacing.
Cleaning mechanism includes brush roll 7 and drives the cleaning actuating unit of the rotation of brush roll 7, is cleared up in the present embodiment
Actuating unit is motor 8, and motor 8 is mounted on climbing on component 1 on the downside of hold-fast body, and brush roll 7 and the output shaft of motor 8 are same
Axis is arranged, and the upper end of brush roll 7 is rotatably installed in the climbing on component 1 of hold-fast body top, the lower end of brush roll 7 and motor
8 output shaft is coaxially connected.Motor 8 drives brush roll 7 to rotate, to clear up column or rope.Since cleaning agency is arranged
Have multiple, therefore when the component 1 that climbs drives cleaning agency pole-climbing, cleaning agency can disposably complete the border of column or rope
It cleans, it is good to clean effect, and cleans that speed is fast, the action of climbing for the component 1 that do not influence to climb.
As shown in Figure 7：The application also provides a kind of robot of leaping over obstacles, with the flexible machine for being suitable for variable cross-section
People difference lies in：Distance regulating mechanism includes the magnet 12 being arranged on two neighboring mounting bracket 101, and two magnet 12 are distinguished
Sustained height in two mounting brackets 101, and two 12 face of magnet settings, the adjacent pendant polar phase of two magnet 12 are set
Instead, to make two magnet 12 generate suction, ensure that two mounting brackets 101 can be connected.Due to the suction phase using magnet 12
Even, therefore two mounting brackets 101 can be with leaping over obstacles.When the robot climbing pipes of this leaping over obstacles, if connected on pipeline
It is connected to threeway or branch pipe, under the action of holding air bag 2 tightly, the spacing of adjacent mounting bracket 101 increases, when crossing threeway or branch pipe
When, the spacing of adjacent mounting bracket 101 is close under the suction of magnet 12, to complete the action of leaping over obstacles.In this reality
It applies in example, holds power plant module tightly and preferably hold cylinder tightly, i.e., hold column or rope tightly by holding the piston rod of cylinder tightly, it is easy to operate, and
It is capable of providing the thrust of bigger, and thrust is easy to adjust, to which column or rope can either be held tightly, and can pushed when needed adjacent
The spacing of mounting bracket 101 increases.
Embodiment 2
As shown in Figure 8：Embodiment 2 and embodiment 1 difference lies in：The mounting bracket 101 of the flexible robot for being suitable for variable cross-section
For the babinet of inside opening, and the annular that component 1 is the triangle row being encircled by multiple mounting brackets 101 of climbing, so as to suitable
The pole-climbing of triangular column or rope is answered to act.
Embodiment 3
As shown in Figure 9：Embodiment 3 and embodiment 1 difference lies in：The component 1 that climbs of the flexible robot for being suitable for variable cross-section
For the polygon annular for the indent being encircled by multiple mounting brackets 101, the column for the polygon that section is indent is enabled adaptation to
Or the pole-climbing action of rope.
Embodiment 4
As shown in Figure 10：Embodiment 4 and embodiment 1 difference lies in：The component 1 that climbs of the flexible robot for being suitable for variable cross-section
For the polygon annular for the evagination being encircled by multiple mounting brackets 101, the column for the polygon that section is evagination is enabled adaptation to
Or the pole-climbing action of rope.
Embodiment 5
As shown in figure 11：Embodiment 5 and embodiment 1 difference lies in：The holding air bag 2 of the flexible robot for being suitable for variable cross-section
Inside, i.e., close to the side of column or rope be equipped with protrusion 202, protrusion 202 be horizontally disposed strip or cylindric, to increase
It holds the frictional force between air bag 2 and column or rope tightly, ensure that the component 1 of climbing holds column tightly or rope is stablized, improve leaping over obstacles
Robot pole-climbing job stability.
Embodiment 6
As shown in figure 12：Embodiment 6 and embodiment 1 difference lies in：The holding air bag 2 of the flexible robot for being suitable for variable cross-section
There is multilayer in inside close to the side of column or rope, to form accordion, hold tightly column or rope when, can either avoid with column or
The friction of rope causes to hold 2 gas leakage of air bag tightly, improves the service life for holding air bag 2 tightly, but can improve climb component 1 and column or
Frictional force between rope avoids climb component 1 and column or iope slippage, and the stroke that component 1 moves every time that makes to climb is big.
The above described is only a preferred embodiment of the present invention, being not that the invention has other forms of limitations, appoint
What those skilled in the art changed or be modified as possibly also with the technology contents of the disclosure above equivalent variations etc.
Imitate embodiment.But it is every without departing from technical solution of the present invention content, according to the technical essence of the invention to above example institute
Any simple modification, equivalent variations and the remodeling made, still fall within the protection domain of technical solution of the present invention.
Claims (10)
1. a kind of flexible robot for being suitable for variable cross-section, it is characterised in that：Including spaced multiple hold-fast bodies, per phase
The push-pull mechanism for pushing hold-fast body movement is equipped between two adjacent hold-fast bodies, hold-fast body is equipped with one or more
Disconnecting unit, the disconnecting unit of hold-fast body are connected to form closed annular by distance regulating mechanism, be set on the inside of hold-fast body
It is useful for holding or unclamping the holding power plant module of column or rope tightly, the holding power plant module per two adjacent hold-fast bodies is alternately embraced
Tight or release column or rope.
2. the flexible robot for being suitable for variable cross-section according to claim 1, it is characterised in that：The hold-fast body is
By multiple mounting brackets（101）The annular being encircled into, to form multiple disconnecting units, per two adjacent mounting brackets（101）Between
It is connected by distance regulating mechanism, holds power plant module tightly and be mounted on mounting bracket（101）On.
3. the flexible robot for being suitable for variable cross-section according to claim 1, it is characterised in that：The hold-fast body is
By multiple mounting brackets（101）The annular being encircled into, to form multiple disconnecting units, per adjacent company mounting bracket（101）Rotation
Connection is connected by distance regulating mechanism, is held power plant module tightly and is mounted on mounting bracket（101）On.
4. according to the flexible robot for being suitable for variable cross-section described in claim 1 ~ 3, it is characterised in that：The spacing is adjusted
Mechanism includes expansion module and connection guiding mechanism（9）, expansion module and connection guiding mechanism（9）Both ends with disconnection
The both sides in portion are fixedly connected.
5. the flexible robot for being suitable for variable cross-section according to claim 4, it is characterised in that：The expansion module packet
Include adjusting air bag（11）And resetting spring（10）, the side of disconnecting unit, which is equipped with, adjusts air bag（11）Or the both sides of disconnecting unit are all provided with
There is adjusting air bag（11）, resetting spring（10）Both ends be fixedly connected respectively with the both ends of disconnecting unit.
6. the flexible robot for being suitable for variable cross-section according to claim 4, it is characterised in that：The connection Guiding machine
Structure（9）Including guide rod and guide sleeve, guide rod and guide sleeve are separately mounted to the both ends of disconnecting unit, and guide rod sliding is set
It sets in guide sleeve.
7. the flexible robot for being suitable for variable cross-section according to claim 1, it is characterised in that：In the hold-fast body
Side is equipped with the guiding mechanism of creeping for being oriented to the axial movement of hold-fast body.
8. the flexible robot for being suitable for variable cross-section according to claim 7, it is characterised in that：The Guiding machine of creeping
Structure includes the directive wheel being rotatably installed on hold-fast body, and multiple holding power plant modules are equipped at intervals on each hold-fast body, are led
It is arranged between holding power plant module tightly to wheel.
9. the flexible robot for being suitable for variable cross-section according to claim 1, it is characterised in that：The push-pull mechanism packet
Include the spring that climbs being arranged between adjacent hold-fast body（5）And one or more is climbed air bag（3）, climb spring（5）'s
Both ends are connected with two adjacent hold-fast bodies respectively.
10. the flexible robot for being suitable for variable cross-section according to claim 1, it is characterised in that：The push-pull mechanism
Including the cylinder that climbs being arranged between adjacent hold-fast body（6）, climb cylinder（6）Fixing end and piston respectively with it is adjacent
Two hold-fast bodies are connected.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810261481.XA CN108500954B (en) | 2018-03-28 | 2018-03-28 | A kind of flexible robot for being suitable for variable cross-section |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810261481.XA CN108500954B (en) | 2018-03-28 | 2018-03-28 | A kind of flexible robot for being suitable for variable cross-section |
Publications (2)
| Publication Number | Publication Date |
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| CN108500954A true CN108500954A (en) | 2018-09-07 |
| CN108500954B CN108500954B (en) | 2019-06-21 |
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ID=63378815
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| Application Number | Title | Priority Date | Filing Date |
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| CN201810261481.XA Expired - Fee Related CN108500954B (en) | 2018-03-28 | 2018-03-28 | A kind of flexible robot for being suitable for variable cross-section |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820450A (en) * | 2019-04-11 | 2019-05-31 | 陈艳艳 | A kind of external wall cleaning robot |
| CN113650695A (en) * | 2021-09-25 | 2021-11-16 | 重庆大学 | Climbing robot of rigid-flexible coupling |
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| US4522129A (en) * | 1980-05-28 | 1985-06-11 | Nitro Nobel Ab | Device for charging drillholes |
| US4848168A (en) * | 1987-04-13 | 1989-07-18 | Bridgestone Corporation | Traveling device moving along elongated member |
| CN107253496A (en) * | 2017-06-19 | 2017-10-17 | 荆门宁杰机电技术服务有限公司 | A kind of automatic mechanical device for climbing lamp stand |
| CN206691247U (en) * | 2017-03-28 | 2017-12-01 | 昆明理工大学 | A kind of quick climbing level robot device |
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2018
- 2018-03-28 CN CN201810261481.XA patent/CN108500954B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4522129A (en) * | 1980-05-28 | 1985-06-11 | Nitro Nobel Ab | Device for charging drillholes |
| US4848168A (en) * | 1987-04-13 | 1989-07-18 | Bridgestone Corporation | Traveling device moving along elongated member |
| CN206691247U (en) * | 2017-03-28 | 2017-12-01 | 昆明理工大学 | A kind of quick climbing level robot device |
| CN107253496A (en) * | 2017-06-19 | 2017-10-17 | 荆门宁杰机电技术服务有限公司 | A kind of automatic mechanical device for climbing lamp stand |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109820450A (en) * | 2019-04-11 | 2019-05-31 | 陈艳艳 | A kind of external wall cleaning robot |
| CN109820450B (en) * | 2019-04-11 | 2021-06-08 | 安徽德茂建设工程有限公司 | Building outer wall cleaning robot |
| CN113650695A (en) * | 2021-09-25 | 2021-11-16 | 重庆大学 | Climbing robot of rigid-flexible coupling |
| CN113650695B (en) * | 2021-09-25 | 2024-05-07 | 重庆大学 | Rigid-flexible coupled climbing robot |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108500954B (en) | 2019-06-21 |
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