CN108500954B - 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 PDF

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Publication number
CN108500954B
CN108500954B CN201810261481.XA CN201810261481A CN108500954B CN 108500954 B CN108500954 B CN 108500954B CN 201810261481 A CN201810261481 A CN 201810261481A CN 108500954 B CN108500954 B CN 108500954B
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CN
China
Prior art keywords
hold
fast body
fast
rope
column
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Expired - Fee Related
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CN201810261481.XA
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Chinese (zh)
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CN108500954A (en
Inventor
马立修
孙贤明
申晋
张彦斐
宫金良
高明亮
毛帅
邹国锋
陈佳佳
胡玉耀
刘剑
孙冬
刘冲
王祥祥
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Shandong University of Technology
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Shandong University of Technology
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Priority to CN201810261481.XA priority Critical patent/CN108500954B/en
Publication of CN108500954A publication Critical patent/CN108500954A/en
Application granted granted Critical
Publication of CN108500954B publication Critical patent/CN108500954B/en
Expired - Fee Related legal-status Critical Current
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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00Programme-controlled manipulators
    • B25J9/0009Constructional details, e.g. manipulator supports, bases
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B62LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62DMOTOR VEHICLES; TRAILERS
    • B62D57/00Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
    • B62D57/02Vehicles 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
    • B62D57/024Vehicles 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Robotics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Manipulator (AREA)

Abstract

A kind of flexible robot for being suitable for variable cross-section, belongs to technical field of automation equipment.It is characterized by comprising spaced multiple hold-fast bodies, the push-pull mechanism for pushing hold-fast body mobile 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 to form closed annular by distance regulating mechanism, 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, furthermore, the pole-climbing movement of the column or rope of different cross section shape, wide adaptation range can also be adapted to, and is adjusted conveniently.

Description

A kind of flexible robot for being suitable for variable cross-section
Technical field
A kind of flexible robot for being suitable for variable cross-section, belongs to technical field of automation equipment.
Background technique
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 power mechanism of existing climbing level robot with And structure is complicated for transmission mechanism, 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 movement 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 self 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 driving methods up and down, and its structure is 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.
Summary of the invention
The technical problem to be solved by the present invention is overcoming 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 not pole-climbing movement of the column or rope by section.
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, being equipped between every two adjacent hold-fast bodies and push holding machine The mobile push-pull mechanism of structure, 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 racks, to form multiple disconnecting units, often It is connected by distance regulating mechanism between two adjacent mounting racks, holds power plant module tightly and be mounted on mounting rack.
Preferably, the hold-fast body is the annular being encircled by multiple mounting racks, to form multiple disconnecting units, often Adjacent company mounting rack rotation connection is connected by distance regulating mechanism, is held power plant module tightly and is mounted on mounting rack.
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 two sides of disconnecting unit.
Preferably, the expansion module includes adjusting air bag and reset spring, and the side of disconnecting unit, which is equipped with, adjusts gas The two sides of capsule or disconnecting unit are equipped with adjusting air bag, and the both ends of reset 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 the axial movement guiding to 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 holding machine Multiple holding power plant modules are equipped at intervals on structure, directive wheel setting is being held tightly between power plant module.
Preferably, the push-pull mechanism includes climb spring and one or more being arranged between adjacent hold-fast body A air bag that climbs, the both ends for 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, the present invention has the beneficial effects that
1, this flexible multiple hold-fast body of robot for being suitable for variable cross-section alternately holds column or rope tightly, and with push-pull mechanism phase Cooperation, realize each hold-fast body along column or reel for rope to movement, to realize pole-climbing movement, pole-climbing movement is simple, climbs Bar stablize, structure is simple, and be self-possessed it is small, the pole-climbing of robot can either be facilitated to act, but be convenient for carrying different equipment and The big equipment of weight can be carried, additionally due to the presence of hold-fast body and the walking manner characteristic of robot, machine People can rest on any position of column or rope, and stop and stablize, and facilitate the work of self-contained equipment, and one or more disconnects It is connected between portion by distance regulating mechanism, so as to adjust the distance of disconnecting unit by distance regulating mechanism, and then is adjusted The shapes and sizes of hold-fast body, to adapt to the pole-climbing movement of the column or rope of different cross section shape, wide adaptation range, and adjustment side Just.
2, it is connected between two adjacent mounting racks or every two adjacent mounting racks by distance regulating mechanism, thus root According to needing to adjust hold-fast body size or shape, 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 so that hold-fast body be made to adapt to section Column or rope pole-climbing movement, reset spring can adjust air bag deflate when make disconnecting unit distance reduce so that hold-fast body Restore to the pole-climbing movement 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 be avoided disconnecting unit both ends separation, so as to cause hold-fast body can not hold tightly column or Rope influences pole-climbing movement.
5, directive wheel setting is being held tightly between power plant module, when holding power plant module release column or rope tightly, directive wheel and column Or rope contact avoids hold-fast body and column or rope that axial deviation occurs so that the movement to hold-fast body is oriented to, when embracing When tight power plant module holds column or rope tightly, directive wheel and column or rope are detached from.
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 self 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 Distance mobile, that convenient accurate control hold-fast body climbs, precision is high and facilitates control, with the phase by the way of motor drive Than simplifying the transmission of equipment, and reduce the self weight of equipment.
Detailed description of the invention
Fig. 1 is the flexible stereoscopic schematic diagram for being suitable for variable cross-section robot.
Fig. 2 is the partial enlarged view in Fig. 1 at A.
Fig. 3 be climb air bag and hold tightly air bag scheme of installation.
Fig. 4 is the connection structure of the flexible mounting rack 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 in Fig. 5 at B.
Fig. 7 is the connection structure of the mounting rack of leaping over obstacles robot.
Fig. 8 is to stretch to be suitable for the stereoscopic schematic diagram of the robot of variable cross-section in embodiment 2.
Fig. 9 is to stretch to be suitable for the stereoscopic schematic diagram of the robot of variable cross-section in embodiment 3.
Figure 10 is to stretch to be suitable for the stereoscopic schematic diagram of the robot of 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, the component 101 that climbs, interconnecting piece 103, connecting rod 2, holds air bag 201, groove tightly at mounting rack 102 202, 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, adjusts air bag 12, magnet at reset spring 11.
Specific embodiment
Fig. 1 ~ 7 are highly preferred embodiment of the present invention, and 1 ~ 12 the present invention will be further described with reference to the accompanying drawing.
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 mobile 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 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 movement, pole-climbing movement is simple, pole-climbing Stablize, structure is simple, and it is small to be self-possessed, 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 armful The shapes and sizes of tight mechanism, to adapt to the pole-climbing movement of the column or rope of different cross section shape, wide adaptation range, and adjustment side Just.The robot is mainly used for the cleaning of the insulator of field of power transmission, and cleaning is convenient.
The present invention will be further described combined with specific embodiments below, 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 annulus Shape holds power plant module setting tightly in 1 inside of component of climbing.The component 1 that climbs is the circular ring shape being encircled by multiple mounting racks 101, To form multiple disconnecting units, mounting rack 101 is cabinet or groove profile of the opening towards inside, in the present embodiment, mounting rack 101 Spacing for the cabinet towards inside that is open, and two side adjacent with open side of mounting rack 101 is gradually reduced from outside to inside, Multiple mounting racks 101 are encircled into circular ring shape just.
Holding power plant module tightly is to hold air bag 2 tightly, and holding air bag 2 tightly is one or spaced multiple, in the present embodiment, It is spaced multiple for holding air bag 2 tightly, and holds air bag 2 and the one-to-one correspondence of mounting rack 101 tightly, holds air bag 2 tightly and is mounted on installation In frame 101, so that 101 pairs of holding air bags 2 of mounting rack be made to protect, holding air bag 2 in use process is avoided to be damaged.
Push-pull mechanism is climb spring 5 and the air bag 3 that climbs.The air bag 3 that climbs has one or more, and is arranged in mounting rack 101 upside or downside, it is preferred that the air bag 3 that climbs has multiple, and the two sides up and down of each mounting rack 101 are equipped with one and climb Air bag 3 is risen, it is more flexible so as to adjust spacing, and improve spacing adjustment 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 Multiple springs 5 that climb, the side of mounting rack 101 are 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 rack 101, and with One mounting rack 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 increases adjacent hold-fast body spacing 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.
Climb air bag 3 and hold tightly air bag 2 be respectively connected with air pump or compressed air pipe, and climb air bag 3 and hold tightly air bag 2 Air inlet and exhaust outlet be respectively connected with solenoid valve, solenoid valve is connected with PLC controller or single-chip 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 two 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 movement of hold-fast body are completed, thus sharp Pole-climbing movement is realized with the principle for adjusting two hold-fast body spacing.The cooperation of the hold-fast body of the hold-fast body and middle part of downside The principle of pole-climbing, the principle of upper two hold-fast body pole-climbings is identical in.
Guiding mechanism of creeping is equipped between two adjacent mounting racks 101 of each hold-fast body.Guiding mechanism of creeping is rotation The directive wheel being mounted on mounting rack 101, directive wheel are mounted on mounting rack 101 by directive wheel mounting rod, the axis of directive wheel Line is horizontally disposed.When holding the inflation of air bag 2 tightly, directive wheel is separated with column or rope, when holding the deflation of air bag 2 tightly, directive wheel and column Or rope is in contact, and is oriented to climbing for hold-fast body, guarantees that hold-fast body and column or rope are coaxial always, improves and climb Stability.
It is as shown in Figure 3: hold tightly air bag 2 inside be equipped with groove 201, groove 201 be it is rectangular or cylindric, can either increase 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 due to groove 201 with column or rope and is encircled into closed cavity with column or rope, held volume when air bag 2 is inflated tightly and increase, into And increasing 201 volume of groove, air pressure inside reduces, so that column or rope be sucked, ensure that holding air bag 2 tightly holds tightly securely.
It is as shown in Figure 4: it is connected by distance regulating mechanism between the every two adjacent mounting racks 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 rack 101, at this time the only adjacent mounting rack 101 in part Between by distance regulating mechanism be connected, be rotatablely connected between remaining adjacent mounting rack 101.Mounting rack 101 and open side Two adjacent side lower parts are equipped with interconnecting piece 102, are rotatablely connected per two adjacent mounting racks 101 by interconnecting piece 102, make to climb Structure flexible can be regarded as by rising component 1, so as to 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 racks 101 are connected and adjust two neighboring 101 distance of mounting rack, and connection guiding mechanism 9 can be oriented to mounting rack 101, avoid adjacent Mounting rack 101 disengaging be broken so as to cause hold-fast body.
Expansion module includes adjusting air bag 11 and reset spring 10, adjusts air bag 11 and two adjacent mounting racks are arranged in Between 101, it is preferred that two adjacent adjacent sides of mounting rack 101 be respectively mounted there are two adjust air bag 11, and two adjusting The same position of mounting rack 101 is arranged in air bag 11, and the air inlet and air outlet of two adjusting air bags 11 are respectively connected with solenoid valve, And solenoid valve is connected with PLC controller or single-chip microcontroller.When the cross sectional shape or area of section of column or rope change, gas is adjusted Capsule 11 is inflated, to adjust the spacing of two mounting racks 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 reset spring 10 Elastic force effect under, two neighboring mounting rack 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 rack 101, and guide rod one end is mounted on another adjacent mounting rack 101, another End sliding is protruded into guide sleeve, to be oriented to the movement of mounting rack 101, and connected mounting rack 101 is avoided to disconnect. Guide rod and guide sleeve are made of software material, so as to adjusted according to the shape of the hold-fast body of adjusting 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 The difference of device people is: each hold-fast body includes two components 1 that climb, and two intervals of component 1 of climbing are arranged, and two are climbed It is equipped with cleaning agency between component, and is not provided with distance regulating mechanism between mounting rack 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 racks 101, and each mounting rack 101 is half Arc-shaped, the both ends of two mounting racks 101 are rotatablely connected respectively, to form circular ring shape.It is mounted in each mounting rack 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 for the cylinder 6 that climbs is mounted on climbing for lower part hold-fast body 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 single-chip 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 when 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 acts using the principle for adjusting two hold-fast body spacing.
Cleaning mechanism includes brush roll 7 and the cleaning power mechanism for driving the rotation of brush roll 7, is cleared up in the present embodiment Power mechanism 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 setting, 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 border to column or rope be completed It cleans, it is good to clean effect, and clean that speed is fast, the movement 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 The difference of people is: distance regulating mechanism includes the magnet 12 being arranged on two neighboring mounting rack 101, and two magnet 12 are distinguished The sustained height of two mounting racks 101, and two 12 face of magnet settings, the adjacent pendant polar phase of two magnet 12 are set Instead, so that two magnet 12 be made to generate suction, guarantee that two mounting racks 101 can be connected.Due to the suction phase using magnet 12 Even, therefore two mounting racks 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 rack 101 increases, when crossing threeway or branch pipe When, the spacing of adjacent mounting rack 101 is close under the suction of magnet 12, to complete the movement 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 bigger thrust, and thrust is easy to adjust, so that column or rope can either be held tightly, and can pushed when needed adjacent The spacing of mounting rack 101 increases.
Embodiment 2
It is as shown in Figure 8: embodiment 2 the difference from embodiment 1 is that: the mounting rack of the flexible robot for being suitable for variable cross-section 101 be the cabinet of inside opening, and the annular that component 1 is the triangle row being encircled by multiple mounting racks 101 of climbing, so as to Adapt to the pole-climbing movement of triangular column or rope.
Embodiment 3
It is as shown in Figure 9: embodiment 3 the difference from embodiment 1 is that: the group of climbing of the flexible robot for being suitable for variable cross-section Part 1 is the polygon annular for the indent being encircled by multiple mounting racks 101, enables adaptation to the polygon that section is indent The pole-climbing of column or rope acts.
Embodiment 4
It is as shown in Figure 10: embodiment 4 the difference from embodiment 1 is that: the flexible robot for being suitable for variable cross-section climbs Component 1 is the polygon annular for the evagination being encircled by multiple mounting racks 101, enables adaptation to the polygon that section is evagination Column or rope pole-climbing movement.
Embodiment 5
It is as shown in figure 11: embodiment 5 the difference from embodiment 1 is that: the holding of the flexible robot for being suitable for variable cross-section The inside of air bag 2 is equipped with protrusion 202 close to the side of column or rope, protrusion 202 is horizontally disposed strip or cylindric, from And increase the frictional force held tightly between air bag 2 and column or rope, ensure that the component 1 that climbs holds column tightly or rope is stablized, improve across The job stability of the robot pole-climbing of obstacle-overpass.
Embodiment 6
It is as shown in figure 12: embodiment 6 the difference from embodiment 1 is that: the holding of the flexible robot for being suitable for variable cross-section The inside of air bag 2, i.e., there is multilayer in the side close to column or rope, to form accordion, when holding column or rope tightly, can either avoid with The friction of column or rope cause hold tightly 2 gas leakage of air bag, improve hold tightly air bag 2 service life, and can be improved climb component 1 with Frictional force between column or 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 without departing from the technical solutions of the present invention, according to the technical essence of the invention to above embodiments institute Any simple modification, equivalent variations and the remodeling made, still fall within the protection scope of technical solution of the present invention.

Claims (9)

1. a kind of flexible robot for being suitable for variable cross-section, it is characterised in that: including spaced multiple hold-fast bodies, every phase The push-pull mechanism for pushing hold-fast body mobile 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 There is the holding power plant module for holding or unclamping column or rope tightly, the holding power plant module per two adjacent hold-fast bodies is alternately embraced Tight or release column or rope;The distance regulating mechanism includes expansion module and connection guiding mechanism (9), expansion module and The both ends of connection guiding mechanism (9) are fixedly connected with the two sides of disconnecting unit.
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 The annular being encircled by multiple mounting racks (101), so that multiple disconnecting units are formed, between every two adjacent mounting racks (101) It is connected by distance regulating mechanism, holds power plant module tightly and be mounted on mounting rack (101).
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 The annular being encircled by multiple mounting racks (101) rotates to form multiple disconnecting units per adjacent company mounting rack (101) Connection is connected by distance regulating mechanism, is held power plant module tightly and is mounted on mounting rack (101).
4. the flexible robot for being suitable for variable cross-section according to claim 1, it is characterised in that: the expansion module packet It includes and adjusts air bag (11) and reset spring (10), the side of disconnecting unit is equipped with adjusting air bag (11) or the two sides of disconnecting unit are all provided with Have adjusting air bag (11), the both ends of reset spring (10) are fixedly connected with the both ends of disconnecting unit respectively.
5. the flexible robot for being suitable for variable cross-section according to claim 1, it is characterised in that: the connection Guiding machine Structure (9) includes guide rod and guide sleeve, and 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.
6. 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 the axial movement guiding to hold-fast body.
7. the flexible robot for being suitable for variable cross-section according to claim 6, 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 being held tightly between power plant module to wheel setting.
8. the flexible robot for being suitable for variable cross-section according to claim 1, it is characterised in that: the push-pull mechanism packet It includes the spring that climbs (5) being arranged between adjacent hold-fast body and one or more is climbed air bag (3), the spring that climbs (5) Both ends are connected with two adjacent hold-fast bodies respectively.
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 cylinder that climbs (6) being arranged between adjacent hold-fast body, the fixing end and piston of the cylinder that climbs (6) are respectively with adjacent two A hold-fast body is connected.
CN201810261481.XA 2018-03-28 2018-03-28 A kind of flexible robot for being suitable for variable cross-section Expired - Fee Related CN108500954B (en)

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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
CN113650695B (en) * 2021-09-25 2024-05-07 重庆大学 Rigid-flexible coupled climbing robot

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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

Patent Citations (4)

* Cited by examiner, † Cited by third party
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

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