CN108528558B - A cable climbing robot - Google Patents
A cable climbing robot Download PDFInfo
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- CN108528558B CN108528558B CN201810472107.4A CN201810472107A CN108528558B CN 108528558 B CN108528558 B CN 108528558B CN 201810472107 A CN201810472107 A CN 201810472107A CN 108528558 B CN108528558 B CN 108528558B
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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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The invention provides a cable climbing robot, comprising: a first climbing structure and a second climbing structure, the first climbing structure disposed opposite the second climbing structure; the driving structure is arranged between the first climbing structure and the second climbing structure and comprises a connecting component, a power source component, a first chain belt component and a second chain belt component, the connecting component is respectively connected with the first climbing structure and the second climbing structure in a sliding mode, the power source component is connected to the connecting component, the first chain belt component comprises a first chain belt and a first gear set, the second chain belt component comprises a second chain belt and a second gear set, and the meshing transmission directions of the first gear set and the first chain belt are opposite to the meshing transmission directions of the second gear set and the second chain belt. The cable climbing robot of the technical scheme aims at solving the problem that the bridge cable climbing robot in the prior art cannot achieve industrial effectiveness and practicability due to the fact that the bridge cable climbing robot is constrained by the conditions of more mechanism joints, large size, heavy weight, poor load capacity and the like.
Description
Technical Field
The invention belongs to the technical field of robot equipment, and particularly relates to a cable climbing robot.
Background
Bridge cable climbing robots are developed relatively early abroad, and early in the end of the 80 s of the 20 th century, and a plurality of research institutions in the United states and Europe successively develop bridge cable climbing robots. In bridge cable climbing robots, the mechanical structure is the main body of the robot system and is the key for determining the subsequent related design of the robot. At present, most bridge cable climbing robots are constrained by conditions of more mechanism joints, large size, heavy weight, poor load capacity and the like: the mechanism has more joints, so that the kinematic decoupling control difficulty is high, and the control precision can not reach the standard; the robot is large and heavy, and cannot meet the cable operation requirement, so that the industrial practical level is low; and if the load capacity is poor, enough detection equipment cannot be carried to execute the inspection task.
Disclosure of Invention
The invention aims to solve the technical problems that a cable climbing robot is provided, and aims to solve the problems that the bridge cable climbing robot in the prior art cannot achieve industrial effectiveness and practicability due to the fact that the bridge cable climbing robot is constrained by the conditions of more mechanism joints, large size, heavy weight, poor loading capacity and the like.
In order to solve the technical problems, the invention is realized in such a way that a cable climbing robot comprises: the first climbing structure and the second climbing structure are arranged opposite to each other, the first climbing structure and the second climbing structure comprise enclasping mechanisms, the enclasping mechanisms are used for enclasping cables, and the enclasping mechanisms on the first climbing structure and the enclasping mechanisms on the second climbing structure are used for enclasping the cables alternately; the driving structure is arranged between the first climbing structure and the second climbing structure, the driving structure comprises a connecting component, a power source component, a first chain belt component and a second chain belt component, the connecting component is respectively connected with the first climbing structure and the second climbing structure in a sliding mode, the power source component is connected to the connecting component, the power source component simultaneously drives the first chain belt component and the second chain belt component, the first chain belt component comprises a first chain belt and a first gear set, two ends of the first chain belt are respectively fixed to two ends of the first climbing structure, the first gear set is connected to the connecting component, the first gear set is connected with the first chain belt in a meshed mode, the power source component is connected with the first gear set in a driving mode, the second chain belt component comprises a second chain belt and a second gear set, two ends of the second chain belt are respectively fixed to two ends of the second climbing structure, the second gear set is connected to the connecting component, the second chain belt is in a meshed mode, the power source component is in a driving mode with the second gear set, and the meshed transmission directions of the first gear set and the second chain belt are opposite to the meshed transmission directions of the second chain belt.
Further, the first gear set comprises a first power gear shaft, and the first chain belt is lapped on gear teeth of the first power gear shaft; the second gear set comprises a second power gear shaft and at least one reversing gear, and the second chain belt is wound on the gear teeth of the second power gear shaft after being wound on the reversing gear; the power source assembly drives the first power gear shaft and the second power gear shaft to rotate in the same direction.
Further, the first gear set further comprises two first tensioning gears, the two first tensioning gears are respectively arranged on two sides of the first power gear shaft, the first power gear shaft is located on the first side of the first chain belt, and the two first tensioning gears are located on the second side of the first chain belt; the second gear set further comprises two second tensioning gears, the two second tensioning gears are respectively arranged on two sides of the second power gear shaft, the second power gear shaft and the two second tensioning gears are both located on the first side of the second chain belt, and the reversing gear is located on the second side of the second chain belt.
Further, the number of the reversing gears is two, the two reversing gears are respectively positioned at two sides of the second power gear shaft, and one reversing gear is arranged between the second power gear shaft and one of the second tensioning gears.
Further, the cable climbing robot further comprises a controller, the number of the driving structures is two, the two driving structures are arranged oppositely, the controller is arranged on the connecting component of one driving structure, and the controller is electrically connected with the power source components of the two driving structures to control the two power source components to synchronously output driving force.
Further, the enclasping mechanism comprises an upper enclasping mechanism, a lower enclasping mechanism and a connecting rod, wherein the upper enclasping mechanism and the lower enclasping mechanism comprise a support semi-ring, a driving device, a transmission device, at least two swing arms and clamping sole plates which are connected with the swing arms in a one-to-one correspondence manner; the support semi-ring of the upper enclasping mechanism is connected with the first end of the connecting rod, and the support semi-ring of the lower enclasping mechanism is connected with the second end of the connecting rod; the driving device and the transmission device are both arranged on the support semi-ring, the driving device is electrically connected with the controller, the driving device is in driving connection with the transmission device, and the swinging arm is connected with the transmission device to drive the clamping leg to clamp the cable.
Further, the first climbing structure and the second climbing structure each comprise a supporting wheel structure, at least one supporting wheel structure is arranged on each supporting semi-ring, and the supporting wheel structures of the first climbing structure and the supporting wheel structures of the second climbing structure are symmetrically arranged about the central axis of the cable.
Further, the supporting wheel structure comprises a first connecting seat body, a second connecting seat body, a crank supporting arm, an elastic body and a supporting wheel component, wherein the first connecting seat body and the second connecting seat body are connected to the supporting semi-ring, the crank portion of the crank supporting arm is connected to the first connecting seat body, the first end of the elastic body is connected to the second connecting seat body, the second end of the elastic body is connected to the first end of the crank supporting arm, and the supporting wheel component is arranged at the second end of the crank supporting arm.
Further, the supporting wheel assembly comprises a crank wheel seat, a first supporting wheel and a second supporting wheel, the crank part of the crank wheel seat is rotatably connected to the second end part of the crank supporting arm, the first supporting wheel is connected to the first end of the crank wheel seat, and the second supporting wheel is connected to the second end of the crank wheel seat.
Further, the cable climbing robot further comprises a detection device, wherein the detection device is arranged on the support semi-ring of the at least one upper enclasping mechanism, and the detection device is electrically connected with the controller.
Compared with the prior art, the invention has the beneficial effects that: the cable climbing robot utilizes the mechanism joints between the first climbing structure, the connecting assembly and the second climbing structure to connect and realize relative movement, so that the joint structural design of the robot is reduced compared with the prior art, the structural composition of the robot is simplified, the miniaturization and the light weight design of the robot are facilitated, the difficulty of kinematic decoupling control is reduced, high-precision control is realized, and the robot can carry more sufficient load transportation capacity on the basis of ensuring sufficient power.
Drawings
FIG. 1 is a schematic diagram of an assembly structure of a cable climbing robot according to an embodiment of the present invention;
FIG. 2 is a schematic view of the drive structure of the cable climbing robot of an embodiment of the present invention assembled at a first view of the connecting rod;
FIG. 3 is a schematic view of the drive structure of the cable climbing robot of the embodiment of the present invention assembled at a second view of the connecting rod;
FIG. 4 is a schematic structural view of the drive structure of the cable climbing robot of the embodiment of the present invention assembled at a third view of the connecting rod;
FIG. 5 is a schematic view of the drive structure of the cable climbing robot of the embodiment of the present invention assembled at a fourth view of the connecting rod;
FIG. 6 is a schematic diagram of an assembly structure of an upper hucking mechanism or a lower hucking mechanism of the cable-climbing robot of an embodiment of the present invention;
fig. 7 is a schematic diagram of an assembled structure of a support wheel structure in the cable climbing robot of the embodiment of the invention.
In the drawings, each reference numeral denotes:
100. a cable; 101. a first climbing structure; 102. a second climbing structure; 10. a clasping mechanism; 20. a driving structure; 21. a connection assembly; 22. a power source assembly; 23. a first chain belt assembly; 24. a second chain belt assembly; 211. a connection frame; 212. a first slide rail; 213. a second slide rail; 221. a driving motor; 222. a driven pulley; 231. a first chain belt; 232. a first gear set; 241. a second chain belt; 242. a second gear set; 2321. a first power gear shaft; 2322. a first tensioning gear; 2421. a second power gear shaft; 2422. a reversing gear; 2423. a second tensioning gear; 11. a tightening mechanism; 12. a lower enclasping mechanism; 13. a connecting rod; 111. a support half ring; 112. a driving device; 113. a transmission device; 114. a swing arm; 115. clamping the sole; 116. an auxiliary spring; 30. a support wheel structure; 31. a first connection base; 32. a second connecting seat body; 33. a bell crank support arm; 34. an elastomer; 35. a support wheel assembly; 351. crank wheel seat; 352. a first support wheel; 353. a second support wheel; 1131. a drive worm; 1132. and (3) driving a worm wheel.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
Explanation: when the cable climbing robot is described, the cable climbing robot is used for climbing on the cable 100 along the central axis direction of the cable 100.
As shown in fig. 1 to 5, the cable climbing robot of the present embodiment includes a first climbing structure 101, a second climbing structure 102, and a driving structure 20, the first climbing structure 101 is disposed opposite to the second climbing structure 102, each of the first climbing structure 101 and the second climbing structure 102 includes a enclasping mechanism 10, the enclasping mechanism 10 is used for enclasping the cable, and the enclasping mechanism 10 on the first climbing structure 101 and the enclasping mechanism 10 on the second climbing structure 102 alternately enclasping the cable, the driving structure 20 is installed between the first climbing structure 101 and the second climbing structure 102, the driving structure 20 includes a connection assembly 21, a power source assembly 22, a first chain belt assembly 23, and a second chain belt assembly 24, the connection assembly 21 is slidably connected with the first climbing structure 101, the second climbing structure 102, respectively, the power source assembly 22 is connected to the connection assembly 21, the power source assembly 22 drives the first chain belt assembly 23 and the second chain belt assembly 24 simultaneously, the first chain belt assembly 23 comprises a first chain belt 231 and a first gear set 232, two ends of the first chain belt 231 are respectively fixed at two ends of the first climbing structure 101, the first gear set 232 is connected to the connecting assembly 21, the first gear set 232 is meshed with the first chain belt 231, the power source assembly 22 is in driving connection with the first gear set 232, the second chain belt assembly 24 comprises a second chain belt 241 and a second gear set 242, two ends of the second chain belt 241 are respectively fixed at two ends of the second climbing structure 102, the second gear set 242 is connected to the connecting assembly 21, the second gear set 242 is meshed with the second chain belt 241, the power source assembly 22 is in driving connection with the second gear set 242, and the meshing transmission direction of the first gear set 232 and the first chain belt 231 is opposite to the meshing transmission direction of the second gear set 242 and the second chain belt 241.
When the cable climbing robot is used for climbing on the cable 100, particularly when climbing is performed on a bridge cable, the cable 100 is clasped by the clasping mechanism 10, the first climbing structure 101 and the second climbing structure 102 alternately ascend or descend, so that climbing movement is realized on the cable 100, in the process of climbing movement, the power source assembly 22 of the driving structure 20 outputs power, and the first gear set 232 and the second gear set 242 are driven to rotate simultaneously, and at the moment, relative meshing movement is respectively realized between the first gear set 232 and the first chain belt 231 and between the second gear set 242 and the second chain belt 241. For example, the first climbing structure 101 is illustrated as being clasped and secured to the cable 100 by the clasping mechanism 10. At this time, the power source module 22 is activated to output power, at this time, the connection module 21 moves upward with respect to the first climbing structure 101, and the second climbing structure 102 also moves upward with respect to the connection module 21 (if the first climbing structure 101 is taken as a movement reference, the upward movement speed of the connection module 21 with respect to the first climbing structure 101 is v, the upward movement speed of the second climbing structure 102 with respect to the first climbing structure 101 is 2 v, and if the connection module 21 is taken as a movement reference, the downward movement of the first climbing structure 101 with respect to the connection module 21 is v, the upward movement speed of the second climbing structure 102 with respect to the connection module 21 is 2 v). When the connection assembly 21 is slid up to the upper end of the first climbing structure 101, then the connection assembly 21 is positioned at the lower end of the second climbing structure 102, thus completing one step of the robot climbing on the cable 100. In the cable climbing robot of the embodiment, the mechanism joints among the first climbing structure 101, the connecting component 21 and the second climbing structure 102 are utilized to connect and realize relative movement, so that the joint structure design of the robot is reduced compared with the prior art, the structural composition of the robot is simplified, the miniaturization and the light weight design of the robot are facilitated, the difficulty of kinematic decoupling control is reduced, high-precision control is realized, and the robot can carry more sufficient load transportation capacity on the basis of ensuring sufficient power.
In this embodiment, the first gear set 232 of the cable climbing robot includes a first power gear shaft 2321, and the second gear set 242 includes a second power gear shaft 2421 and at least one reversing gear 2422. In this embodiment, as shown in fig. 4 and 5, the power source assembly 22 is composed of a driving motor 221, a driving pulley and a driven pulley 222, the driving motor 221 is connected and stabilized on the connecting assembly 21, the driving pulley is mounted on the output shaft of the driving motor 221, the driving pulley and the driven pulley 222 are not connected by a transmission belt, and the first power gear shaft 2321, the second power gear shaft 2421 and the driven pulley are manufactured by adopting coaxial integrated molding, namely: the gear teeth of the first power gear shaft 2321 and the gear teeth of the second power gear shaft 2421 are respectively located at two ends of the shaft, and the driven pulley is located at the middle position of the shaft, so that the power source assembly 22 simultaneously drives the first power gear shaft 2321 and the second power gear shaft 2421 to rotate in the same direction. As shown in fig. 3, the first chain belt 231 is lapped on the gear teeth of the first power gear shaft 2321, and the gear teeth of the first power gear shaft 2321 are located between the first chain belt 231 and the enclasping mechanism 10 after lapping and installation are completed, that is, the first chain belt 231 on the gear teeth of the first power gear shaft 2321 is disposed away from the enclasping mechanism 10. The second chain belt 241 is wound around the reversing gear 2422 and then around the gear teeth of the second power gear shaft 2421, as shown in fig. 2, after the second chain belt 241 is wound around the reversing gear 2422, the reversing gear 2422 is located between the second chain belt 241 and the clasping mechanism 10, and the second chain belt 241 wound around the gear teeth of the second power gear shaft 2421 is disposed close to the clasping mechanism 10.
As shown in fig. 1-3, the first gear set 232 of the cable climbing robot further includes two first tensioning gears 2322, and the second gear set 242 further includes two second tensioning gears 2423. The two first tensioning gears 2322 are respectively arranged at two sides of the first power gear shaft 2321, the first power gear shaft 2321 is located at a first side of the first chain belt 231, the two first tensioning gears 2322 are located at a second side of the first chain belt 231, the two second tensioning gears 2423 are respectively arranged at two sides of the second power gear shaft 2421, the second power gear shaft 2421 and the two second tensioning gears 2423 are both located at a first side of the second chain belt 241, and the reversing gear 2422 is located at a second side of the second chain belt 241. Specifically, the number of the reversing gears 2422 is two, the two reversing gears 2422 are respectively located at two sides of the second power gear shaft 2421, and one reversing gear 2422 is disposed between the second power gear shaft 2421 and one of the second tensioning gears 2423.
In addition, in this embodiment, only one first tensioning gear 2322, one second tensioning gear 2423 and one reversing gear 2422 may be selected, which is compared with the embodiment of selecting two first tensioning gears 2322, two second tensioning gears 2423 and two reversing gears 2422, where the two first tensioning gears 2322 are symmetrical with respect to the central axis of the first power gear shaft 2321, and the two second tensioning gears 2423 and the two reversing gears 2422 are symmetrical with respect to the central axis of the second power gear shaft 2421.
Referring to fig. 6, in the present embodiment, the enclasping mechanism 10 includes an upper enclasping mechanism 11, a lower enclasping mechanism 12, and a connecting rod 13, and the upper enclasping mechanism 11 and the lower enclasping mechanism 12 each include a support half ring 111, a driving device 112, a transmission device 113, at least two swing arms 114, and a clamping ball 115 connected to the swing arms 114 in a one-to-one correspondence. The support half ring 111 of the upper clasping mechanism 11 is connected to the first end of the connecting rod 13, and the support half ring 111 of the lower clasping mechanism 12 is connected to the second end of the connecting rod 13. In the present embodiment, two connecting rods 13 are assembled in one clasping mechanism 10, and the two connecting rods 13 are provided at both end portions of the support half ring 111, respectively. The driving device 112 and the transmission device 113 are both arranged on the support semi-ring 111, the driving device 112 is electrically connected with the controller, the driving device 112 is in driving connection with the transmission device 113, and the swinging arm 114 is connected with the transmission device 113 to drive the clamping sole 115 to clamp the cable. During climbing movement, the controller controls the driving device 112 to output power, and then the power is transmitted to the swinging arm 114 through the transmission device 113, so that the swinging arm 114 drives the clamping sole 115 to clamp the cable 100 tightly, wherein the transmission device 113 consists of a transmission worm 1131 and a transmission worm wheel 1132. Specifically, the cable climbing robot of the present embodiment is equipped with two swing arms 114 and two transmission worm gears 1132, a first end of the swing arm 114 is fixedly connected with one of the transmission worm gears 1132, the clamping ball 115 is fixed on a second end of the corresponding swing arm 114, two ends of the transmission worm 1131 are respectively provided with engagement threads, the two transmission worm gears 1132 are arranged at intervals, and the two transmission worm gears 1132 are assembled in one-to-one correspondence with the engagement threads at two ends of the transmission worm 1131. When the driving device 112 drives the transmission worm 1131 to rotate forward, the transmission worm 1131 is meshed with the transmission worm gear 1132 to drive the swing arm 114 to open; when the driving device 112 drives the driving worm 1131 to rotate reversely, the driving worm 1131 is meshed with the driving worm gear 1132 to drive the swing arm 114.
As shown in fig. 6, auxiliary springs 116 are further provided on the support half ring 111 in a one-to-one correspondence, a first end of each auxiliary spring 116 is connected to the support half ring 111, a second end of each auxiliary spring 116 is connected to a back surface of the corresponding clamping ball 115, and the clamping ball 115 is assembled with the swing arm 114 through a bearing. In this way, the auxiliary spring 116 can assist in maintaining the clamping ball 115 stable at all times when the clamping ball 115 is accommodating the cylindrical arc of the cable 100 during clamping of the cable 100. Even when cables 100 of different radii are being used, a quick fit is now made with the assistance of the auxiliary spring 116.
Further, the cable climbing robot further includes a controller not shown, and the number of the driving structures 20 is two, and the two driving structures 20 are disposed opposite to each other. In the present embodiment, as shown in fig. 4 and 5, the connection assembly 21 includes a connection frame 211, a first rail structure, and a second rail structure, the guide groove of the first rail structure is disposed on a first side of the connection frame 211, the guide groove of the second rail structure is disposed on a second side of the connection frame 211, the first sliding rail 212 of the first rail structure is fixed on the corresponding connection rod 13, and the second sliding rail 213 of the second rail structure is fixed on the corresponding connection rod 13. The controller is mounted on the connection frame 211 of the connection assembly 21 of one of the driving structures 20, and the controller is electrically connected to the power source assemblies 22 of both driving structures 20 to control the two power source assemblies 22 to synchronously output driving force. The controller controls the two driving structures 20 to simultaneously output driving force, thereby securing the load transporting capability of the cable climbing robot to a greater extent.
In this embodiment, the first climbing structure 101 and the second climbing structure 102 of the cable-climbing robot each comprise a support wheel structure 30, and each support half ring 111 is provided with at least one support wheel structure 30, the support wheel structures 30 of the first climbing structure 101 and the support wheel structures 30 of the second climbing structure 102 being symmetrically arranged about the central axis of the cable. While the cable climbing robot performs a climbing motion on the cable 100, auxiliary support walking is performed on the cable 100 by the support wheel structure 30 while the grip ball 115 grips the cable 100. As shown in fig. 7, the supporting wheel structure 30 includes a first connecting seat 31, a second connecting seat 32, a crank supporting arm 33, an elastic body 34 and a supporting wheel assembly 35, wherein the first connecting seat 31 and the second connecting seat 32 are both connected to the supporting semi-ring 111, the crank portion of the crank supporting arm 33 is connected to the first connecting seat 31, the first end of the elastic body 34 is connected to the second connecting seat 32, the second end of the elastic body 34 is connected to the first end of the crank supporting arm 33, and the supporting wheel assembly 35 is mounted on the second end of the crank supporting arm 33. And, the supporting wheel assembly 35 includes a crank wheel seat 351, a first supporting wheel 352 and a second supporting wheel 353, the crank portion of the crank wheel seat 351 is rotatably connected to the second end portion of the crank supporting arm 33, the first supporting wheel 352 is connected to the first end of the crank wheel seat 351, and the second supporting wheel 353 is connected to the second end of the crank wheel seat 351. Thus, during climbing and walking of the robot, when an obstacle protrusion appears on the front cable 100, where the robot travels, and the obstacle protrusion is just located at a position where the support wheel assembly 35 passes, when the support wheel assembly 35 reaches the obstacle protrusion, the first support wheel 352 is lifted by the obstacle protrusion, at this time, the crank wheel seat 351 rotates around the rotation axis of the crank part thereof, the crank support arm 33 also rotates around the rotation axis of the crank part thereof, the elastic body 34 is compressed, after the first support wheel 352 passes over the obstacle protrusion, during the second support wheel 353 passes over the obstacle protrusion, the crank wheel seat 351 and the crank support arm 33 also pass through a similar rotation process, and after the second support wheel 353 passes over the obstacle protrusion, the first support wheel 352 and the second support wheel 353 are simultaneously supported by the cable 100 again under the action of the elastic body 34. In this way, the process of walking the robot on the cable 100 can be assisted more stably by the auxiliary supporting action of the supporting wheel structure 30.
Specifically, a detection device, not shown, is mounted on the support half ring 111 of the upper hugging mechanism 11, and the detection device is electrically connected to the controller. Because the loading transportation ability of the cable climbing robot of this embodiment has had the promotion to a large extent for current cable climbing robot, consequently, the cable climbing robot of this embodiment can carry bigger, more accurate detection device to obtain more comprehensive, careful detection data, also can describe the power of bigger piece in order to provide sufficient electric energy simultaneously, thereby satisfy the robot and carry out long-time inspection work.
When the cable climbing robot of the embodiment is applied, the method specifically comprises the following implementation steps:
the first step: wire-up preparation, fitting the first climbing structure 101, the second climbing structure 102, the drive structure 20 on the cable 100, and clamping the ball 115 on the first climbing structure 101 to hug the cable 100;
and a second step of: the second climbing structure 102 is moved upward relative to the first climbing structure 101 by the drive structure 20, at which time the gripping ball 115 of the second climbing structure 102 expands out of the cable 100;
and a third step of: when the connection assembly 21 of the driving structure 20 is located at the lower end of the second climbing structure 102 and the connection assembly 21 of the driving structure 20 is located at the upper end of the first climbing structure 101, the clamping ball 115 of the second climbing structure 102 tightly holds the cable 100, the clamping ball 115 of the first climbing structure 101 is opened to be separated from the cable 100, and then the driving structure 20 drives the first climbing structure 101 to move upwards relative to the second climbing structure 102;
fourth step: when the connection assembly 21 of the driving structure 20 is located at the lower end of the first climbing structure 101 and the connection assembly 21 of the driving structure 20 is located at the upper end of the second climbing structure 102, the second and third steps are then repeated in a loop until the walking task is completed.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (10)
1. A cable climbing robot, comprising:
the climbing device comprises a first climbing structure (101) and a second climbing structure (102), wherein the first climbing structure (101) and the second climbing structure (102) are arranged opposite to each other, the first climbing structure (101) and the second climbing structure (102) comprise enclasping mechanisms (10), the enclasping mechanisms (10) are used for enclasping cables, and the enclasping mechanisms (10) on the first climbing structure (101) and the enclasping mechanisms (10) on the second climbing structure (102) are used for enclasping the cables alternately;
a driving structure (20), the driving structure (20) is installed between the first climbing structure (101) and the second climbing structure (102), the driving structure (20) comprises a connecting component (21), a power source component (22), a first chain belt component (23) and a second chain belt component (24), the connecting component (21) is respectively connected with the first climbing structure (101) and the second climbing structure (102) in a sliding manner, the power source component (22) is connected to the connecting component (21), the power source component (22) simultaneously drives the first chain belt component (23) and the second chain belt component (24), the first chain belt component (23) comprises a first chain belt (231) and a first gear set (232), two ends of the first chain belt (231) are respectively fixed at two ends of the first climbing structure (101), the first gear set (232) is connected to the connecting component (21), the first gear set (232) is connected with the first chain belt component (231), the power source component (22) is meshed with the second chain belt component (24), the two ends of the second chain belt component (241) are respectively fixed at two ends of the driving component (241) and the second chain belt component (24), the second gear set (242) is connected to the connecting assembly (21), the second gear set (242) is in meshed connection with the second chain belt (241), the power source assembly (22) is in driving connection with the second gear set (242), and the meshed transmission direction of the first gear set (232) and the meshed transmission direction of the first chain belt (231) is opposite to the meshed transmission direction of the second gear set (242) and the meshed transmission direction of the second chain belt (241).
2. The cable climbing robot of claim 1, wherein,
the first gear set (232) comprises a first power gear shaft (2321), and the first chain belt (231) is lapped on gear teeth of the first power gear shaft (2321);
the second gear set (242) comprises a second power gear shaft (2421) and at least one reversing gear (2422), and the second chain belt (241) is wound on the gear teeth of the second power gear shaft (2421) after being wound on the reversing gear (2422);
the power source assembly (22) drives the first power gear shaft (2321) and the second power gear shaft (2421) to rotate in the same direction.
3. The cable climbing robot of claim 2, wherein,
the first gear set (232) further comprises two first tensioning gears (2322), the two first tensioning gears (2322) are respectively arranged on two sides of the first power gear shaft (2321), the first power gear shaft (2321) is located on the first side of the first chain belt (231), and the two first tensioning gears (2322) are located on the second side of the first chain belt (231);
the second gear set (242) further comprises two second tensioning gears (2423), the two second tensioning gears (2423) are respectively arranged on two sides of the second power gear shaft (2421), the second power gear shaft (2421) and the two second tensioning gears (2423) are both located on the first side of the second chain belt (241), and the reversing gear (2422) is located on the second side of the second chain belt (241).
4. A cable climbing robot according to claim 3, characterized in that the number of the reversing gears (2422) is two, the two reversing gears (2422) are located on both sides of the second power gear shaft (2421), respectively, and one reversing gear (2422) is provided between the second power gear shaft (2421) and one of the second tensioning gears (2423).
5. The cable climbing robot according to any one of claims 1 to 4, further comprising a controller, and the number of the driving structures (20) is two, the two driving structures (20) are disposed opposite to each other, the controller is mounted on the connection assembly (21) of one of the driving structures (20), and the controller is electrically connected to the power source assemblies (22) of both the driving structures (20) to control the two power source assemblies (22) to output driving force synchronously.
6. The cable climbing robot of claim 5, wherein the clasping mechanism (10) comprises an upper clasping mechanism (11), a lower clasping mechanism (12) and a connecting rod (13), wherein the upper clasping mechanism (11) and the lower clasping mechanism (12) each comprise a support semi-ring (111), a driving device (112), a transmission device (113), at least two swing arms (114) and clamping leg (115) which are connected with the swing arms (114) in a one-to-one correspondence; the support semi-ring (111) of the upper enclasping mechanism (11) is connected to the first end of the connecting rod (13), and the support semi-ring (111) of the lower enclasping mechanism (12) is connected to the second end of the connecting rod (13); the driving device (112) and the transmission device (113) are both arranged on the support semi-ring (111), the driving device (112) is electrically connected with the controller, the driving device (112) is in driving connection with the transmission device (113), and the swinging arm (114) is connected with the transmission device (113) to drive the clamping sole (115) to clamp the cable.
7. The cable climbing robot of claim 6, wherein the first climbing structure (101) and the second climbing structure (102) each comprise a support wheel structure (30), at least one support wheel structure (30) is provided on each support half ring (111), the support wheel structures (30) of the first climbing structure (101) and the support wheel structures (30) of the second climbing structure (102) being symmetrically arranged about a central axis of the cable.
8. The cable climbing robot of claim 7, wherein the support wheel structure (30) includes a first connection block (31), a second connection block (32), a bell crank support arm (33), an elastic body (34), and a support wheel assembly (35), the first connection block (31) and the second connection block (32) are both connected to the support half ring (111), a bell crank portion of the bell crank support arm (33) is connected to the first connection block (31), a first end of the elastic body (34) is connected to the second connection block (32), a second end of the elastic body (34) is connected to a first end of the bell crank support arm (33), and the support wheel assembly (35) is mounted to a second end of the bell crank support arm (33).
9. The cable climbing robot of claim 8, wherein the support wheel assembly (35) includes a bell crank wheel seat (351), a first support wheel (352) and a second support wheel (353), the bell crank portion of the bell crank wheel seat (351) being rotatably connected to the second end of the bell crank support arm (33), the first support wheel (352) being connected to a first end of the bell crank wheel seat (351), the second support wheel (353) being connected to a second end of the bell crank wheel seat (351).
10. The cable climbing robot of claim 6, further comprising a detection device mounted on a support half ring (111) of at least one of the upper hucking mechanisms (11), the detection device being electrically connected to the controller.
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| CN201810472107.4A CN108528558B (en) | 2018-05-17 | 2018-05-17 | A cable climbing robot |
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| CN201810472107.4A CN108528558B (en) | 2018-05-17 | 2018-05-17 | A cable climbing robot |
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| CN109515650B (en) * | 2018-11-07 | 2021-01-01 | 上海交通大学 | Chain climbing robot for ocean platform anchor chain detection |
| CN110588825B (en) * | 2019-10-28 | 2024-07-19 | 南京中科特检机器人有限公司 | Climbing mechanism and cleaning robot |
| CN111622100A (en) * | 2020-07-01 | 2020-09-04 | 深圳市人工智能与机器人研究院 | A rope climbing robot |
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