CN108528557A - A kind of robot of leaping over obstacles - Google Patents
A kind of robot of leaping over obstacles Download PDFInfo
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- CN108528557A CN108528557A CN201810261485.8A CN201810261485A CN108528557A CN 108528557 A CN108528557 A CN 108528557A CN 201810261485 A CN201810261485 A CN 201810261485A CN 108528557 A CN108528557 A CN 108528557A
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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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Abstract
A kind of robot of leaping over obstacles, 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 every two adjacent hold-fast bodies, hold-fast body is equipped with one or more disconnecting units, and the disconnecting unit of hold-fast body passes through magnet（12）It is connected to form the annular of disconnection, 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.The robot of this leaping over obstacles 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, facilitate the work of self-contained equipment, disconnecting unit is connected by the suction of distance regulating mechanism, and disconnecting unit disconnects setting, the barrier on column or rope can either be crossed over, and can ensure that holding power plant module tightly holds column or rope tightly.
Description
Technical field
A kind of robot of leaping over obstacles, 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.
The pole-climbing that existing climbing level robot is merely capable of adapting to the column or rope of obstacle acts, but actual working environment
In, barrier is often carried on column or rope, existing climbing level robot cannot achieve the pole-climbing of column or rope with barrier
Action.
Invention content
The technical problem to be solved by the present invention is to：Overcoming the deficiencies of the prior art and provide one kind can cross on column or rope
Barrier and complete pole-climbing action leaping over obstacles robot.
The technical solution adopted by the present invention to solve the technical problems is：The robot of the leaping over obstacles, it is characterised in that：
Including spaced multiple hold-fast bodies, it is equipped between every two adjacent hold-fast bodies and pushes pushing away for hold-fast body movement
Drawing mechanism, hold-fast body are equipped with one or more disconnecting units, and the disconnecting unit of hold-fast body is connected by magnet to which formation is disconnected
The annular opened, hold-fast body inside are equipped with the holding power plant module for holding or unclamping column or rope tightly, per two adjacent holdings
Column or rope are alternately held or unclamped to the holding power plant module of mechanism 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 mounting bracket is groove profile or babinet of the opening towards inside, is held tightly there are one power plant modules or more
It is a, it holds power plant module tightly and is partially installed in mounting bracket.
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.
Preferably, the holding power plant module is the holding air bag being arranged on the inside of hold-fast body, hold tightly air pocket rings around
Setting on the inside of hold-fast body.
Compared with prior art, advantageous effect possessed by the present invention is：
1, multiple hold-fast bodies of the robot of this leaping over obstacles alternately hold column or rope tightly, and are matched with push-pull mechanism, realize
Each hold-fast body along column or reel for rope to movement, to realize pole-climbing action, pole-climbing action is simple, and pole-climbing is stablized, knot
Structure is simple, and conduct oneself with dignity it is small, the pole-climbing of the robot of this leaping over obstacles 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 walking manner of the robot of the presence and this leaping over obstacles of hold-fast body is special
Property, the robot of this leaping over obstacles can rest on any position of column or rope, and stop and stablize, and facilitate self-contained equipment
Work, disconnecting unit are connected by magnet, and disconnecting unit disconnects setting, can either cross over the barrier on column or rope, and can protect
Card holds power plant module tightly and holds column or rope tightly, can adapt to the pole-climbing action under real operating environments, easy to use.
2, it is connected by distance regulating mechanism between two adjacent mounting brackets or every two adjacent mounting brackets, so as to
It is easy to adjust, additionally it is possible to adjust hold-fast body size as needed enough while around multiple barriers that column or reel for rope line are arranged
Or shape, to adapt to the column or rope of different cross sectional shapes, and flexible adjustment.
3, distance regulating mechanism is the magnet being arranged in disconnecting unit both sides, makes disconnecting unit both sides phase by the magnetic force of magnet
Even, make the connection that disconnecting unit both sides can be spaced apart, it is easy to use to realize the leap of barrier.
4, mounting bracket is groove profile or babinet of the opening towards inside, holds power plant module tightly and is partially installed in mounting bracket, from
And mounting bracket is made to be protected to holding power plant module tightly, avoiding pole-climbing from holding power plant module damage tightly in the process causes mounting bracket to be slided
It falls.
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 the robot of this leaping over obstacles climbs 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.
8, air pocket rings are held tightly on the inside of hold-fast body to be arranged, so as to avoid hold-fast body and column or rope rigid contact,
Column or rope can either be protected, and hold-fast body can be protected.
Description of the drawings
Fig. 1 is the stereoscopic schematic diagram of leaping over obstacles 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 mounting bracket of leaping over obstacles 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 flexible mounting bracket for being suitable for variable cross-section robot.
Fig. 8 is the stereoscopic schematic diagram of leaping over obstacles robot in embodiment 4.
Fig. 9 is the stereoscopic schematic diagram of leaping over obstacles robot in embodiment 5.
Figure 10 is the stereoscopic schematic diagram of leaping over obstacles robot in embodiment 6.
Figure 11 be embodiment 7 in climb air bag and hold tightly air bag scheme of installation.
Figure 12 be embodiment 8 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, holding air bag 201, groove
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 are oriented to
Mechanism 10, adjusts air bag 12, magnet at resetting spring 11.
Specific implementation mode
Fig. 1 ~ 4 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 robot of leaping over obstacles, including spaced multiple hold-fast bodies, per two adjacent hold-fast bodies
Between be equipped with the push-pull mechanism for pushing hold-fast body movement, hold-fast body is equipped with one or more disconnecting units, hold-fast body
Disconnecting unit be connected to form the annular of disconnection by magnet 12, be equipped on the inside of hold-fast body for holding or unclamping column or rope tightly
Holding power plant module, the holding power plant module per two adjacent hold-fast bodies alternately holds or unclamps column or rope tightly.This leap
Multiple hold-fast bodies of the robot of obstacle alternately hold column or rope tightly, and are matched with push-pull mechanism, realize each holding machine
Structure along column or reel for rope to movement, to realize pole-climbing action, pole-climbing action is simple, and pole-climbing is stablized, simple in structure, and conducts oneself with dignity
It is small, the pole-climbing of the robot of this leaping over obstacles can either be facilitated to act, and be convenient for carrying different equipment and weight can be carried
Big equipment, additionally due to the walking manner characteristic of the robot of the presence and this leaping over obstacles of hold-fast body, this leap barrier
The robot hindered can rest on any position of column or rope, and stop and stablize, and facilitate the work of self-contained equipment, disconnecting unit
It is connected by magnet 12, and disconnecting unit disconnects setting, the barrier on column or rope can either be crossed over, and can ensures to hold power tightly
Module holds column or rope tightly, can adapt to the pole-climbing action under real operating environments, easy to use.The robot is mainly used for transmitting electricity
The cleaning of the insulator in field, cleaning are 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 this leaping over obstacles
The climbing speed of robot.Axis between per two adjacent hold-fast bodies around hold-fast body has multiple climb uniformly at intervals
The side of spring 5, mounting bracket 101 is equipped with connector 4, and the upper and lower ends for the spring 5 that climbs are by connector 4 and mounting bracket 101
It is fixedly connected.Connector 4 is " L " shape, and the vertical portion of connector 4 is arranged between adjacent mounting bracket 101, and is installed with one
Frame 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 is in tensional state, when climbing
When air bag 3 is inflated, adjacent hold-fast body spacing is made to increase, when the air bag 3 that climbs is deflated, adjacent hold-fast body is in the spring that climbs
The 5 lower spacing of elastic force effect reduces.
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 magnet 12 between the every two adjacent mounting brackets 101 of hold-fast body, so as to
Adjust the shape of component 1 of climbing, to adapt to the robot of different cross section shape column or rope, and can adapt to variable cross-section column or
Rope, wide adaptation range.
The logarithm of magnet 12 can also be less than the quantity of mounting bracket 101, logical only between the adjacent mounting bracket 101 in part at this time
It crosses distance regulating mechanism to be connected, be rotatablely connected between remaining adjacent mounting bracket 101.Mounting bracket 101 it is adjacent with open side
Two side lower parts are equipped with interconnecting piece 102, are rotatablely connected by interconnecting piece 102 per two adjacent mounting brackets 101, make the component that climbs
1 can regard structure flexible as, so as to change shape as needed, Er Qieneng when holding power plant module tightly and holding column or rope tightly
Enough adapt to climbing for irregular circular columns or rope.
Two neighboring mounting bracket 101 is equipped with magnet 12, and two magnet 12 are separately positioned on the same of two mounting brackets 101
Highly, and the setting of two 12 faces of magnet, adjacent one pendant polar on the contrary, to make two magnet 12 generate suction of two magnet 12
Power ensures that two mounting brackets 101 can be connected.Due to being connected using the suction of magnet 12, two mounting brackets 101 can be across
Obstacle-overpass.When the robot climbing pipes of this leaping over obstacles, if being connected with threeway or branch pipe on pipeline, air bag 2 is being held tightly
Under the action of, the spacing of adjacent mounting bracket 101 increases, and when crossing threeway or branch pipe, the spacing of adjacent mounting bracket 101 is in magnet
It is close under 12 suction, to complete the action of leaping over obstacles.In the present embodiment, it holds power plant module tightly and preferably holds gas tightly
Cylinder holds column or rope tightly by holding the piston rod of cylinder tightly, easy to operate, and is capable of providing the thrust of bigger, and thrust is adjusted
It is convenient, to which column or rope can either be held tightly, and the spacing of adjacent mounting bracket 101 can be pushed to increase when needed.
As shown in Fig. 5 ~ 6：Present invention also provides a kind of pole-climbing sweeping robot, the area with the robot of leaping over obstacles
It is not：Each hold-fast body includes two components 1 that climb, and two intervals of component 1 of climbing are arranged, and between two components that climb
Equipped with cleaning agency.Each hold-fast body has multiple cleaning agencies uniformly at intervals around axis, so as to simultaneously to column or rope
Side cleared up, and cleaning effect is good.Two components 1 that climb are connected by connecting rod 103, and the setting of connecting rod 103 is climbed at two
Between rising component 1, and the both ends of connecting rod 103 component 1 that climbs respectively with two is fixedly connected.In the present embodiment, 103 ring of connecting rod
Axis around the component 1 that climbs is arranged at intervals with three.
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：Present invention also provides a kind of flexible robot for being suitable for variable cross-section, the machine with leaping over obstacles
Device people difference lies in：It is connected by distance regulating mechanism between the every two adjacent mounting brackets 101 of hold-fast body, so as to
Enough shapes for adjusting the component 1 that climbs, to adapt to the robot of different cross section shape column or rope, and 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 peace in part
It is connected by distance regulating mechanism between shelving 101, is rotatablely connected between remaining adjacent mounting bracket 101.
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.
Embodiment 2
As shown in Figure 8：Embodiment 2 and embodiment 1 difference lies in：The mounting bracket 101 of the robot of leaping over obstacles is opened for inside
The babinet of mouth, and the annular that component 1 is the triangle row being encircled by multiple mounting brackets 101 of climbing, enable adaptation to triangle
The pole-climbing of column or rope acts.
Embodiment 3
As shown in Figure 9：Embodiment 3 and embodiment 1 difference lies in：The component 1 that climbs of the robot of leaping over obstacles is by multiple
The polygon annular for the indent that mounting bracket 101 is encircled into enables adaptation to the column of polygon or climbing for rope that section is indent
Bar acts.
Embodiment 4
As shown in Figure 10：Embodiment 4 and embodiment 1 difference lies in：The component 1 that climbs of the robot of leaping over obstacles is by multiple
The polygon annular for the evagination that mounting bracket 101 is encircled into enables adaptation to the column of polygon or climbing for rope that section is evagination
Bar acts.
Embodiment 5
As shown in figure 11：Embodiment 5 and embodiment 1 difference lies in：The inside of the holding air bag 2 of the robot of leaping over obstacles,
It is equipped with protrusion 202 close to the side of column or rope, protrusion 202 is horizontally disposed strip or cylindric, is held tightly to increase
Frictional force between air bag 2 and column or rope ensure that the component 1 that climbs holds column tightly or rope is stablized, improve the machine of leaping over obstacles
The job stability of people's pole-climbing.
Embodiment 6
As shown in figure 12：Embodiment 6 and embodiment 1 difference lies in：2 inside of holding air bag of the robot of leaping over obstacles, i.e.,
There is multilayer close to the side of column or rope, to form accordion, when holding column or rope tightly, the friction with column or rope can either be avoided
Cause to hold 2 gas leakage of air bag tightly, improve the service life for holding air bag 2 tightly, and can improve and climb between component 1 and column or rope
Frictional force 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 (9)
1. a kind of robot of leaping over obstacles, it is characterised in that：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 passes through magnet（12）Be connected to form the annular of disconnection, be equipped on the inside of hold-fast body for holding tightly or
The holding power plant module for unclamping column or rope, the holding power plant module per two adjacent hold-fast bodies alternately hold tightly or unclamp column or
Rope.
2. the robot of leaping over obstacles according to claim 1, it is characterised in that：The hold-fast body is by multiple peaces
It shelves（101）The annular being encircled into, to form multiple disconnecting units, per two adjacent mounting brackets（101）Between pass through between
Distance regulating mechanism is connected, and holds power plant module tightly and is mounted on mounting bracket（101）On.
3. the robot of leaping over obstacles according to claim 1, it is characterised in that：The hold-fast body is by multiple peaces
It shelves（101）The annular being encircled into, to form multiple disconnecting units, per adjacent company mounting bracket（101）Rotation connection is logical
It crosses distance regulating mechanism to be connected, holds power plant module tightly and be mounted on mounting bracket（101）On.
4. the robot of leaping over obstacles according to claim 2 or 3, it is characterised in that：The mounting bracket（101）To open
For mouth towards the groove profile or babinet of inside, there are one holding power plant modules or multiple, holds power plant module tightly and is partially installed on mounting bracket
（101）It is interior.
5. the robot of leaping over obstacles according to claim 1, it is characterised in that：It is equipped with and uses on the inside of the hold-fast body
In the guiding mechanism of creeping being oriented to the axial movement of hold-fast body.
6. the robot of leaping over obstacles according to claim 5, it is characterised in that：The guiding mechanism of creeping includes turning
The directive wheel on hold-fast body is moved, multiple holding power plant modules, directive wheel setting are equipped at intervals on each hold-fast body
Between holding power plant module tightly.
7. the robot of leaping over obstacles according to claim 1, it is characterised in that：The push-pull mechanism includes that setting exists
The spring that climbs between adjacent hold-fast body（5）And one or more is climbed air bag（3）, climb spring（5）Both ends difference
It is connected with two adjacent hold-fast bodies.
8. the robot of leaping over obstacles according to claim 1, it is characterised in that：The push-pull mechanism includes that setting exists
The cylinder that climbs between adjacent hold-fast body（6）, climb cylinder（6）Fixing end and piston respectively with two adjacent holding machines
Structure is connected.
9. the robot of leaping over obstacles according to claim 1, it is characterised in that：The holding power plant module is setting
Holding air bag on the inside of hold-fast body（2）, hold air bag tightly（2）The setting on the inside of hold-fast body.
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| CN108528557B CN108528557B (en) | 2019-06-21 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021056718A1 (en) * | 2019-09-23 | 2021-04-01 | 中国矿业大学 | Rope climbing robot capable of obstacle crossing and obstacle crossing method thereof |
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| US4848168A (en) * | 1987-04-13 | 1989-07-18 | Bridgestone Corporation | Traveling device moving along elongated member |
| CN106314583A (en) * | 2016-09-18 | 2017-01-11 | 三峡大学 | Articulated-type rod climbing detection robot |
| 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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|---|---|---|---|---|
| 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 |
| CN106314583A (en) * | 2016-09-18 | 2017-01-11 | 三峡大学 | Articulated-type rod climbing detection robot |
| 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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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2021056718A1 (en) * | 2019-09-23 | 2021-04-01 | 中国矿业大学 | Rope climbing robot capable of obstacle crossing and obstacle crossing method thereof |
| US11155275B2 (en) | 2019-09-23 | 2021-10-26 | China University Of Mining And Technology | Rope climbing robot capable of surmounting obstacle and obstacle surmounting method thereof |
| AU2019436656B2 (en) * | 2019-09-23 | 2021-12-23 | China University Of Mining And Technology | Rope climbing robot capable of surmounting obstacle and obstacle surmounting method thereof |
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| CN108528557B (en) | 2019-06-21 |
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