CN108545120B - A kind of flexible climbing level robot of work - Google Patents
A kind of flexible climbing level robot of work Download PDFInfo
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- CN108545120B CN108545120B CN201810261489.6A CN201810261489A CN108545120B CN 108545120 B CN108545120 B CN 108545120B CN 201810261489 A CN201810261489 A CN 201810261489A CN 108545120 B CN108545120 B CN 108545120B
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- hold
- level robot
- climbing level
- main body
- air bag
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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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- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64C—AEROPLANES; HELICOPTERS
- B64C39/00—Aircraft not otherwise provided for
- B64C39/02—Aircraft not otherwise provided for characterised by special use
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U10/00—Type of UAV
- B64U10/10—Rotorcrafts
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B64—AIRCRAFT; AVIATION; COSMONAUTICS
- B64U—UNMANNED AERIAL VEHICLES [UAV]; EQUIPMENT THEREFOR
- B64U2101/00—UAVs specially adapted for particular uses or applications
Abstract
A kind of flexible climbing level robot of work, belongs to technical field of automation equipment.It is characterized by comprising climbing level robot main body, multiple promotion unmanned planes (13) and counterweight modules, unmanned plane (13) are promoted to be arranged between counterweight module and climbing level robot main body, multiple two sides for promoting unmanned plane (13) and being separately positioned on counterweight module and climbing level robot main body line, counterweight module and climbing level robot main body are connected with the promotion unmanned plane (13) of two sides, and counterweight module is counterweight unmanned plane (14) or counterweight blower fan.Climbing level robot main body can be transported arbitrary height by the promotion unmanned plane of the flexible climbing level robot of this work, climbing level robot main body is set to start to work from any position, work is flexible, improve the working efficiency of climbing level robot main body, reduce the invalid climb altitude of climbing level robot main body, thereby reduces the energy consumption of climbing level robot main body.
Description
Technical field
A kind of flexible climbing level robot of work, 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.
It is that can climb since bottom mostly in addition, existing climbing level robot is when in use, but the work of climbing level robot
It is usually located at middle section or middle upper section with position, this results in climbing level robot to need first to rise to site of action, then can just open
Beginning work, this aspect affect machine task efficiency, energy consumption are on the other hand also caused to increase.
Summary of the invention
It can be by climbing level robot the technical problem to be solved by the present invention is overcoming the deficiencies of the prior art and provide one kind
Main body is promoted to application position, facilitates the flexible climbing level robot of work for adjusting climbing level robot height.
The technical solution adopted by the present invention to solve the technical problems is: the flexible climbing level robot of the work, feature
Be: including climbing level robot main body, multiple promotion unmanned planes and counterweight module, promoted unmanned plane setting in counterweight module and
Between climbing level robot main body, multiple promotion unmanned planes are separately positioned on the two of counterweight module and climbing level robot main body line
Side, counterweight module and climbing level robot main body are connected with the promotion unmanned plane of two sides, and counterweight module is counterweight unmanned plane or matches
Weight blower.
Preferably, there are two the promotion unmanned planes, two promotion unmanned planes by lift lever be connected, counterweight module with
It is connected between climbing level robot main body by counterweight mounting rod, the middle part of lift lever is connected with counterweight mounting rod.
Preferably, the climbing level robot main body includes spaced multiple hold-fast bodies, is embraced per adjacent two
The push-pull mechanism for pushing hold-fast body mobile is equipped between tight mechanism, hold-fast body is annular, is equipped with and uses on the inside of hold-fast body
In the holding air bag for holding or unclamping column or rope tightly, the holding air bag per two adjacent hold-fast bodies alternately hold tightly or unclamp column or
Rope.
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.
Preferably, the hold-fast body is the annular being encircled by multiple mounting racks, is turned per two adjacent mounting racks
Dynamic connection is held air bag tightly and is mounted on mounting rack.
Preferably, the mounting rack is groove profile or cabinet of the opening towards inside, and holding air bag tightly has one or more, is embraced
Tight cell parts are mounted in mounting rack.
Preferably, the holding air bag is used to hold tightly column or the side of rope is equipped with groove or protrusion.
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 air bags are equipped at intervals on structure, directive wheel setting is being held tightly between air bag.
Compared with prior art, the present invention has the beneficial effects that
1, climbing level robot main body can be transported any height by the promotion unmanned plane of the flexible climbing level robot of this work
Degree allows climbing level robot main body to start to work from any position, and work flexibly, improves the work of climbing level robot main body
Efficiency, and reduce the invalid climb altitude of climbing level robot main body, the energy consumption of climbing level robot main body is thereby reduced, and
It is easy to use, unmanned plane is promoted when being promoted to climbing level robot main body, and counterweight module can make in climbing level robot main body
Heart line remains and the centerline parallel of bar to be climbed, the operation is stable.
2, the middle part of lift lever is connected with counterweight mounting rod, makes two promotion unmanned planes to climbing level robot main body lifting force
It is equal in magnitude, and then conveniently matched with counterweight module, the posture of climbing level robot main body is adjusted, guarantees climbing level robot main body
Center line always with the centerline parallel of bar.
3, multiple hold-fast bodies alternately hold column or rope tightly, and match with push-pull mechanism, realize each hold-fast body edge
Column or reel for rope to movement, to realize pole-climbing movement, pole-climbing movement is simple, and pole-climbing is stablized, and structure is simple, and it is small to be self-possessed,
The pole-climbing of this climbing level robot can either be facilitated to act, and 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 this climbing level robot, this climbing level robot can rest on column
Or any position of rope, and stop and stablize, facilitate the work of self-contained equipment.
4, 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 this climbing level robot climbs steadily.
5, 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.
6, hold-fast body is surrounded by multiple mounting racks, and is rotatablely connected per two adjacent mounting racks, to improve
The adaptation range of hold-fast body, makes hold-fast body can adapt to climbing for column or rope of different shapes, and flexibility of climbing is good,
It can be automatically adjusted according to column or the different of rope shape.
7, mounting rack is groove profile or cabinet of the opening towards inside, holds cell parts tightly and is mounted in mounting rack, to make
Mounting rack is protected to air bag is held tightly, avoids holding air bag damage during pole-climbing that mounting rack is caused to slide.
8, the groove for holding the side that air bag is used to hold tightly column or rope tightly can increase inner cavity when holding air bag inflation tightly, due to
Groove is closed by column or rope, therefore will lead to the pressure in groove less than atmospheric pressure, so that column or rope be sucked, protrusion is capable of increasing
It holds the frictional force between air bag and column or rope tightly, so as to guarantee to hold column or rope tightly, and can be improved this climbing level robot
Load-bearing capacity.
9, directive wheel setting is being held tightly between air bag, and when holding air bag release column or rope tightly, directive wheel is contacted with column or rope,
It to be oriented to the movement of hold-fast body, avoids hold-fast body and column or rope that axial deviation occurs, is embraced when holding air bag tightly
When tight column or rope, directive wheel and column or rope are detached from.
Detailed description of the invention
Fig. 1 is the schematic top plan view of the flexible climbing level robot of work.
Fig. 2 is the stereoscopic schematic diagram of climbing level robot main body.
Fig. 3 is the partial enlarged view in Fig. 2 at A.
Fig. 4 be climb air bag and hold tightly air bag scheme of installation.
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 flexible mounting rack for being suitable for variable cross-section robot.
Fig. 8 is the connection structure of the mounting rack of leaping over obstacles robot.
Fig. 9 is the stereoscopic schematic diagram of flexible climbing level robot of working in embodiment 2.
Figure 10 is the stereoscopic schematic diagram of flexible climbing level robot of working in embodiment 3.
Figure 11 is the stereoscopic schematic diagram of flexible climbing level robot of working in embodiment 4.
Figure 12 be embodiment 5 in climb air bag and hold tightly air bag scheme of installation.
Figure 13 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, reset spring 11 adjust air bag 12, magnet 13, promote unmanned plane 14, counterweight unmanned plane 15, with re-mounting
Bar 16, lift lever.
Specific embodiment
Fig. 1 ~ 8 are highly preferred embodiment of the present invention, and 1 ~ 13 the present invention will be further described with reference to the accompanying drawing.
A kind of flexible climbing level robot of work, including climbing level robot main body, multiple promotion unmanned planes 13 and counterweight
Module promotes unmanned plane 13 and is arranged between counterweight module and climbing level robot main body, and multiple promotion unmanned planes 13 are respectively set
In the two sides of counterweight module and climbing level robot main body line, the promotion nothing of counterweight module and climbing level robot main body with two sides
Man-machine 13 are connected, and counterweight module is counterweight unmanned plane 14 or counterweight blower fan.The promotion of the flexible climbing level robot of this work nobody
Climbing level robot main body can be transported arbitrary height by machine 13, allow climbing level robot main body work since any position
Make, work flexibly, improves the working efficiency of climbing level robot main body, and reduces that climbing level robot main body is invalid to climb
Highly, the energy consumption of climbing level robot main body is thereby reduced, and easy to use, promotes unmanned plane 13 to climbing level robot main body
When promotion, counterweight module can make the center line of climbing level robot main body remain with the centerline parallel of bar to be climbed,
The operation is stable.The robot body 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: in the present embodiment, it is promoted there are two the settings of unmanned plane 13, and counterweight module is counterweight unmanned plane
14, and the spacing of two promotion unmanned planes 13 is greater than the outer diameter of climbing level robot main body.It is arranged between two promotion unmanned planes 13
There is lift lever 16, the both ends of lift lever 16 are fixedly connected with two promotion unmanned planes 13 respectively.Promoting unmanned plane 13 can also set
Set multiple, multiple two sides for promoting unmanned plane 13 and being separately positioned on counterweight unmanned plane 14 and climbing level robot main body line.Counterweight
The propeller of unmanned plane 14 is arranged downward, and counterweight module can also be counterweight blower fan, and the air outlet of counterweight blower fan is upward.
Be provided with counterweight mounting rod 15 between climbing level robot main body and counterweight unmanned plane 14,15 one end of counterweight mounting rod with
The outside of climbing level robot main body is connected, and the other end is connected with counterweight unmanned plane 14, the middle part of lift lever 16 and counterweight mounting rod
15 middle part is fixedly connected, and lift lever 16 is vertical with counterweight mounting rod 15, the center line and counterweight mounting rod of lift lever 16
15 center line is vertical with the axis of climbing level robot main body, to facilitate the posture for adjusting climbing level robot main body, guarantees
The center line of climbing level robot main body is parallel with bar to be climbed always, can either guarantee climbing level robot main body facilitate holding to
The bar to climb, and can be avoided the promotion of bar influence climbing level robot main body to be climbed.The propeller court of counterweight unmanned plane 14
It is arranged to downside, so as to the gravity of utilization counterweight unmanned plane 14 and the thrust of the generation of counterweight unmanned plane 14 to climbing level robot
The gravity of main body is balanced.
As shown in Fig. 2 ~ 3: climbing level robot main body includes spaced multiple hold-fast bodies, per two adjacent holdings
The push-pull mechanism for pushing hold-fast body mobile is equipped between mechanism, hold-fast body is annular, is equipped with and is used on the inside of hold-fast body
The holding air bag 2 for holding or unclamping column or rope tightly, the holding air bag 2 per two adjacent hold-fast bodies alternately hold tightly or unclamp column or
Rope.Multiple hold-fast bodies of this climbing level robot main body alternately hold column or rope tightly, and match with push-pull mechanism, realize each
Hold-fast body along column or reel for rope to movement, to realize pole-climbing movement, pole-climbing movement is simple, and pole-climbing is stablized, and structure is simple,
And self weight is small, the pole-climbing of this climbing level robot main body can either be facilitated to act, and be convenient for carrying different equipment and can carry
The big equipment of weight, additionally due to the walking manner characteristic of the presence of hold-fast body and this climbing level robot main body, this pole-climbing
Robot body can rest on any position of column or rope, and stop and stablize, and facilitate the work of self-contained equipment.
Hold-fast body includes the component 1 that climbs, and in the present embodiment, and the component 1 that climbs is circular ring shape, holds air bag 2 tightly
Setting is in 1 inside of component of climbing.The component 1 that climbs is the circular ring shape being encircled by multiple mounting racks 101, and mounting rack 101 is opening
Towards the cabinet or groove profile of inside, in the present embodiment, mounting rack 101 be opening towards inside cabinet, and mounting rack 101 with
The spacing of two adjacent sides of open side is gradually reduced from outside to inside, and multiple mounting racks 101 are encircled into circular ring shape just.Installation
Two side lower parts adjacent with open side of frame 101 are equipped with interconnecting piece 102, pass through interconnecting piece per two adjacent mounting racks 101
102 rotation connections, the component 1 that makes to climb can regard structure flexible as, so as to when holding air bag 2 tightly and holding column or rope tightly according to need
Change shape is wanted, and can adapt to climbing for irregular circular columns or rope.
Holding air bag 2 tightly is one or spaced multiple, and in the present embodiment, it is spaced more for holding air bag 2 tightly
It is a, and hold air bag 2 and the one-to-one correspondence of mounting rack 101 tightly, it holds air bag 2 tightly and is mounted in mounting rack 101, to make mounting rack 101
It is protected to air bag 2 is held tightly, 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 this climbing level robot
The climbing speed of main body.Axis between per two adjacent hold-fast bodies around hold-fast body has multiple bullets that climb uniformly at intervals
Spring 5, 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 mounting rack 101 is solid
Fixed connection.Connector 4 is L shape, and the vertical portion of connector 4 is arranged between adjacent mounting rack 101, and with a mounting rack
101 are 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 the gas that climbs
When capsule 3 is inflated, increase adjacent hold-fast body spacing, when the air bag 3 that climbs is deflated, adjacent hold-fast body is in the spring 5 that climbs
Elastic force act on lower spacing and reduce.
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 4: 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.
As shown in Fig. 5 ~ 6: present invention also provides a kind of pole-climbing sweeping robots, the difference with climbing level robot main body
Be: each hold-fast body includes two components 1 that climb, and two intervals of component 1 of climbing are arranged, and set between two components that climb
There is cleaning agency.Each hold-fast body has multiple cleaning agencies around axis uniformly at intervals, so as to simultaneously to column or rope
Side is 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 component 1, and the both ends of connecting rod 103 component 1 that climbs respectively with two is fixedly connected.In the present embodiment, connecting rod 103 is surround
The axis of component 1 of climbing is arranged at intervals with three.
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: present invention also provides a kind of flexible robots for being suitable for variable cross-section, with climbing level robot master
The difference of body is: it is connected by distance regulating mechanism between the every two adjacent mounting racks 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 quantity of distance regulating mechanism can also be less than the quantity of mounting rack 101, at this time the only adjacent peace in part
It shelves and is connected between 101 by distance regulating mechanism, is rotatablely connected between remaining adjacent mounting rack 101.
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 Figure 8: 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, column or rope can also be held tightly using cylinder is held tightly, it is easy to operate, and it is capable of providing bigger thrust, and thrust is adjusted
It is convenient, so that column or rope can either be held tightly, and the spacing of adjacent mounting rack 101 can be pushed to increase when needed.
Embodiment 2
It is as shown in Figure 9: embodiment 2 the difference from embodiment 1 is that: the mounting rack 101 of climbing level robot main body be inside
The cabinet of opening, and the annular that component 1 is the triangle row being encircled by multiple mounting racks 101 of climbing, enable adaptation to triangle
The pole-climbing of shape column or rope acts.
Embodiment 3
It is as shown in Figure 10: embodiment 3 the difference from embodiment 1 is that: climbing level robot main body climb component 1 be by more
The polygon annular of indent that a mounting rack 101 is encircled into enables adaptation to the column or rope of the polygon that section is indent
Pole-climbing movement.
Embodiment 4
It is as shown in figure 11: embodiment 4 the difference from embodiment 1 is that: climbing level robot main body climb component 1 be by more
The polygon annular of evagination that a mounting rack 101 is encircled into enables adaptation to the column or rope of the polygon that section is evagination
Pole-climbing movement.
Embodiment 5
It is as shown in figure 12: embodiment 5 the difference from embodiment 1 is that: climbing level robot main body holding air bag 2 it is interior
Side is equipped with protrusion 202 close to the side of column or rope, protrusion 202 is horizontally disposed strip or cylindric, embraces to increase
Frictional force between tight air bag 2 and column or rope ensure that the component 1 that climbs holds column tightly or rope is stablized, improve climbing level robot master
The job stability of body pole-climbing.
Embodiment 6
It is as shown in figure 13: embodiment 6 the difference from embodiment 1 is that: 2 inside of the holding air bag of climbing level robot main body,
There is multilayer in side i.e. close to column or rope, to form accordion, when holding column or rope tightly, can either avoid rubbing with column or rope
Wiping causes to hold 2 gas leakage of air bag tightly, improves the service life for holding air bag 2 tightly, and can be improved and climb between component 1 and column or rope
Frictional force, avoid climb component 1 and column or iope slippage, 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 (7)
1. a kind of flexible climbing level robot of work, it is characterised in that: including climbing level robot main body, multiple promotion unmanned planes
(13) and counterweight module, promotion unmanned plane (13) are arranged between counterweight module and climbing level robot main body, multiple promotion nothings
Man-machine (13) are separately positioned on the two sides of counterweight module and climbing level robot main body line, counterweight module and climbing level robot main body
It is connected with the promotion unmanned plane (13) of two sides, counterweight module is counterweight unmanned plane (14) or counterweight blower fan；
The climbing level robot main body includes spaced multiple hold-fast bodies, between every two adjacent hold-fast bodies
Equipped with the push-pull mechanism for pushing hold-fast body mobile, hold-fast body is annular, is equipped on the inside of hold-fast body for holding tightly or unclamping
Column or rope are alternately held or unclamped to the holding air bag (2) of column or rope, the holding air bag (2) per two adjacent hold-fast bodies tightly；Institute
The hold-fast body stated is the annular being encircled by multiple mounting racks (101), is rotatablely connected per two adjacent mounting racks (101),
Air bag (2) are held tightly to be mounted on mounting rack (101)；
The holding air bag (2) is used to hold tightly column or the side of rope is equipped with groove (201), and groove (201) is bonded with column or rope
And closed cavity is encircled into column or rope.
2. the flexible climbing level robot of work according to claim 1, it is characterised in that: the promotion unmanned plane (13)
There are two, two promotion unmanned planes (13) are connected by lift lever (16), are passed through between counterweight module and climbing level robot main body
Counterweight mounting rod (15) is connected, and the middle part of lift lever (16) is connected with counterweight mounting rod (15).
3. the flexible climbing level robot of work according to claim 1, it is characterised in that: the push-pull mechanism includes setting
The spring that climbs (5) and one or more set between adjacent hold-fast body climb air bag (3), the both ends of the spring that climbs (5)
It is connected respectively with two adjacent hold-fast bodies.
4. the flexible climbing level robot of work according to claim 1, it is characterised in that: the push-pull mechanism includes setting
The cylinder that climbs (6) between adjacent hold-fast body is set, the fixing end and piston of the cylinder that climbs (6) are embraced with adjacent two respectively
Tight mechanism is connected.
5. the flexible climbing level robot of work according to claim 1, it is characterised in that: the mounting rack (101) is
The groove profile or cabinet being open towards inside, holding air bag (2) tightly has one or more, holds air bag (2) tightly and is partially installed on mounting rack
(101) in.
6. the flexible climbing level robot of work according to claim 1, it is characterised in that: set on the inside of the hold-fast body
There is the guiding mechanism of creeping for the axial movement guiding to hold-fast body.
7. the flexible climbing level robot of work according to claim 6, it is characterised in that: the guiding mechanism packet of creeping
The directive wheel being rotatably installed on hold-fast body is included, multiple holding air bags (2) are equipped at intervals on each hold-fast body, directive wheel is set
It sets and is holding tightly between air bag (2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810261489.6A CN108545120B (en) | 2018-03-28 | 2018-03-28 | A kind of flexible climbing level robot of work |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810261489.6A CN108545120B (en) | 2018-03-28 | 2018-03-28 | A kind of flexible climbing level robot of work |
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| Publication Number | Publication Date |
|---|---|
| CN108545120A CN108545120A (en) | 2018-09-18 |
| CN108545120B true CN108545120B (en) | 2019-06-21 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810261489.6A Expired - Fee Related CN108545120B (en) | 2018-03-28 | 2018-03-28 | A kind of flexible climbing level robot of work |
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| CN (1) | CN108545120B (en) |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN112429109A (en) * | 2020-11-11 | 2021-03-02 | 柳州市中晶科技有限公司 | Pole-climbing robot locking device |
| CN113748866A (en) * | 2021-09-29 | 2021-12-07 | 安捷电维智能科技研究院(广州)有限公司 | Tree climbing and pruning robot |
Family Cites Families (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| SE436302B (en) * | 1980-05-28 | 1984-11-26 | Nitro Nobel Ab | DEVICE FOR LOADING UPDATED DRILL HALLS WITH EXPLOSIVES |
| US4848168A (en) * | 1987-04-13 | 1989-07-18 | Bridgestone Corporation | Traveling device moving along elongated member |
| JP2721673B2 (en) * | 1988-01-18 | 1998-03-04 | オリンパス光学工業株式会社 | In-pipe self-propelled inspection equipment |
| CN103192987B (en) * | 2013-04-07 | 2015-06-17 | 南京理工大学 | Amphibious robot capable of flying and climbing wall and control method of amphibious robot |
| CN106986020A (en) * | 2017-04-03 | 2017-07-28 | 江富余 | High-speed helicopter |
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| CN108545120A (en) | 2018-09-18 |
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