CN114919673A - Multi-degree-of-freedom fly-climbing robot capable of being flexibly attached to surface of bridge cable tower - Google Patents
Multi-degree-of-freedom fly-climbing robot capable of being flexibly attached to surface of bridge cable tower Download PDFInfo
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- CN114919673A CN114919673A CN202210375360.4A CN202210375360A CN114919673A CN 114919673 A CN114919673 A CN 114919673A CN 202210375360 A CN202210375360 A CN 202210375360A CN 114919673 A CN114919673 A CN 114919673A
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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
- 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
- B62D57/04—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 having other than ground-engaging propulsion means, e.g. having propellers
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- E—FIXED CONSTRUCTIONS
- E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
- E01D—CONSTRUCTION OF BRIDGES, ELEVATED ROADWAYS OR VIADUCTS; ASSEMBLY OF BRIDGES
- E01D19/00—Structural or constructional details of bridges
- E01D19/16—Suspension cables; Cable clamps for suspension cables ; Pre- or post-stressed cables
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
- G01M5/0008—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings of bridges
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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
- Y02E10/728—Onshore wind turbines
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Abstract
The invention discloses a multi-degree-of-freedom flying-climbing robot capable of being flexibly attached to the surface of a bridge cable tower, which comprises a flying mechanism and a traveling mechanism, wherein the flying mechanism comprises a first flying arm and a second flying arm; the flying mechanism comprises a connecting seat, a rotor wing, a supporting frame and a supporting frame rotation driving device; the connecting seat is arranged at the center of the top surface of the traveling mechanism through a flying connecting rod; the at least three rotary wings are uniformly and symmetrically arranged on the periphery of the connecting seat; each rotor wing is connected with the connecting seat through a supporting frame; one end of the support frame is rotatably connected with the connecting seat, the other end of the support frame is provided with an arc-shaped groove, the rotor wing is rotatably mounted in the arc-shaped groove, and the rotating direction of the rotor wing is perpendicular to the length direction of the support frame; the support frame rotation driving device can drive all the support frames to rotate around respective axes. On one hand, the invention can land on the surfaces of piers and cable towers, can fly close to the guy cable, then is clamped on the guy cable, and then carries out walking detection work; on the other hand, the movement with six degrees of freedom in space can be realized.
Description
Technical Field
The invention relates to a cable tower detection robot, in particular to a multi-degree-of-freedom flying climbing robot capable of being flexibly attached to the surface of a bridge cable tower.
Background
In the field of wind power, not only the detection of the rod of the wind turbine (such as the cable of a cable-stayed bridge) but also the detection of the curved surface (such as the cable tower and the bridge pier of the bridge) is required. However, the conventional cable detection robot can detect only the cable of the cable-stayed bridge, and cannot detect curved surfaces with different curvatures such as a pylon and a pier.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a multi-degree-of-freedom fly-climbing robot capable of being flexibly attached to the surface of a bridge cable tower, aiming at the defects of the prior art, wherein the multi-degree-of-freedom fly-climbing robot capable of being flexibly attached to the surface of the bridge cable tower can realize the motion of 6 degrees of freedom, can detect rod pieces such as cables and the like, and can also detect curved surfaces with different curvatures such as cable tower piers and the like.
In order to solve the technical problems, the invention adopts the technical scheme that:
a multi-degree-of-freedom flying climbing robot capable of being flexibly attached to the surface of a bridge cable tower comprises a flying mechanism and a traveling mechanism.
The flight mechanism comprises a connecting seat, a rotor wing, a supporting frame and a supporting frame rotation driving device.
The connecting seat is arranged at the center of the top surface of the walking mechanism through a flying connecting rod.
The rotor has at least three, and the periphery at the connecting seat is evenly just laid to the symmetry.
Each rotor wing is connected with the connecting seat through a supporting frame; wherein, the one end and the connecting seat of support frame rotate to be connected, and the other end of support frame has the arc wall, and the arc wall internal rotation is installed the rotor, the rotation direction of rotor is mutually perpendicular with the length direction of support frame.
The support frame rotation driving device can drive all the support frames to rotate around respective axes.
The support frame rotation driving device can drive all the support frames to synchronously rotate around respective axes.
The support frame rotation driving device comprises a driving bevel gear and a driven bevel gear.
The driving bevel gear is arranged at the top of the connecting seat and can actively rotate around the axis of the flying connecting rod.
The number of the driven bevel gears is equal to that of the support frames, one driven bevel gear is coaxially mounted on each support frame, and each driven bevel gear is meshed with the driving bevel gear.
Each rotor wing comprises a rotor wing frame and a plurality of rotor wing blades; the plurality of rotor blades are all arranged in the rotor frame and can rotate actively or in a driven manner; the rotor wing frame is rotatably arranged in the arc-shaped groove, and the rotating direction of the rotor wing frame is vertical to the length direction of the supporting frame.
The number of rotors is three.
The walking mechanism can be clamped on the surface of the rod piece and climb, and can also walk on a plane or curved surface.
The running mechanism comprises a middle running mechanism, two side running mechanisms and two turnover mechanisms.
The middle travelling mechanism comprises a main frame and a first universal travelling mechanism arranged on the main frame; the first universal running mechanism is provided with a universal wheel positioned at the inner side of the main frame.
The two side travelling mechanisms are symmetrically arranged on two sides of the middle travelling mechanism, and each side travelling mechanism comprises a subframe, a driving travelling mechanism and a universal travelling mechanism II.
The two sub-frames are hinged with the main frame and can be driven by the corresponding turnover mechanism to realize relative turnover and clamping with the main frame.
The driving travelling mechanism and the universal travelling mechanism II are both arranged on the subframe, wherein the driving travelling mechanism is provided with a driving wheel positioned on the inner side of the subframe, and the universal travelling mechanism II is provided with a universal wheel positioned on the inner side of the subframe.
The universal traveling mechanism I, the driving traveling mechanism and the universal traveling mechanism II are all provided with spring damping suspension mechanisms; the spring damping suspension mechanism is installed on the main frame or the auxiliary frame, and the universal wheel or the driving wheel is installed at the bottom end of the spring damping suspension mechanism.
The spring damping suspension mechanism comprises a sliding guide rail, a fixed block, a fixed connecting plate, a movable connecting plate, a damper and a spring.
The bottom of the sliding guide rail is provided with the universal wheel or the driving wheel.
The fixed block, the fixed connecting plate and the movable connecting plate are sequentially sleeved on the sliding guide rail positioned above the universal wheel or the driving wheel from bottom to top; wherein, fixed block and fixed connection board can slide relative to the sliding guide, and swing joint board and sliding guide are fixed connection.
The fixing block and the fixed connecting plate are respectively and fixedly connected with the main frame or the auxiliary frame.
The damper and the spring are arranged between the fixed connecting plate and the movable connecting plate.
The universal wheels in the main frame are two, and the driving wheel and the universal wheels in each secondary frame are one.
The invention has the following beneficial effects:
1. the invention can land on the surfaces of piers and cable towers, can fly close to the cables, then clamp the cables, and then carry out walking detection work.
2. The invention can realize the motion with six spatial degrees of freedom.
Drawings
Fig. 1 is a first structural schematic diagram of a multi-degree-of-freedom flying climbing robot capable of being flexibly attached to the surface of a bridge cable tower.
Fig. 2 is a schematic structural diagram of a multi-degree-of-freedom flying-climbing robot capable of being flexibly attached to the surface of a bridge cable tower.
Fig. 3 shows a first structural diagram of the flight mechanism of the present invention.
Fig. 4 shows a second schematic structural diagram of the flight mechanism of the present invention.
Fig. 5 shows a first structural diagram of the travelling mechanism of the invention.
Fig. 6 shows a schematic structural diagram of a traveling mechanism in the invention.
Fig. 7 shows a schematic structural view of the intermediate traveling mechanism in the present invention.
Fig. 8 shows a schematic structural view of the side running mechanism of the present invention.
Fig. 9 shows a schematic structural diagram of the universal traveling mechanism of the present invention.
Fig. 10 shows a schematic structure of the running gear of the present invention.
Fig. 11 shows a first structural schematic diagram of the spring-damped suspension mechanism of the present invention.
Fig. 12 shows a second schematic view of the spring-damped suspension mechanism of the present invention.
Fig. 13 shows a side view of the spring-damped suspension mechanism of the present invention in its natural state.
Fig. 14 shows a side view of the spring-damped suspension mechanism of fig. 5 in a compressed state.
Fig. 15 shows a schematic view of the running gear of the invention running on a pipe.
Fig. 16 shows a top view of the running gear of the present invention running on a pipe.
Fig. 17 is a schematic view showing the traveling mechanism of the present invention traveling on an inclined plane or a curved plane.
Fig. 18 shows a schematic diagram of the multi-degree-of-freedom flying-climbing robot capable of flexibly fitting the surface of a bridge cable tower in the invention when walking on a pipe fitting.
Fig. 19 shows a side view of the multi-degree-of-freedom flying climbing robot capable of flexibly fitting with the surface of a bridge cable tower in the invention when walking on a pipe fitting.
Fig. 20 shows a schematic diagram of the multi-degree-of-freedom flying-climbing robot capable of flexibly fitting with the surface of a bridge cable tower of the invention when walking on an inclined plane or a curved surface.
Among them are:
10. a middle traveling mechanism;
11. a main frame; 111. a load mounting plate; 112. a main arc-shaped rod; 113. a main link;
12. a first universal traveling mechanism;
121. a universal wheel;
122. a spring-damped suspension mechanism; 122a sliding guide; 122b, fixing blocks; 122c, fixing the connecting plate; 122d, a movable connecting plate; 122e. a damper; 122f, a spring;
20. a side travel mechanism;
21. a sub-frame; 211. an auxiliary arc-shaped rod; 212. an auxiliary connecting rod;
22. a driving and traveling mechanism;
221. a driving wheel; 221a, driving wheel supporting frame; 221b, driving wheel axle;
222. a driving wheel driving device; 222a. a drive motor; 222b. a timing belt;
23. a second universal traveling mechanism;
30. a turnover mechanism;
31. a turnover driving device; 311. turning over a driving motor; 312. turning over the synchronous belt;
32. driving the rotating shaft;
40. a flying mechanism;
41. a connecting seat; 411. a flight link;
42. a rotor; 421. a rotor frame; 422. a rotor blade;
43. a support frame;
44. a support frame rotation driving device; 441. a drive bevel gear; 442. a driven bevel gear.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and specific preferred embodiments.
In the description of the present invention, it is to be understood that the terms "left side", "right side", "upper part", "lower part", etc., indicate orientations or positional relationships based on those shown in the drawings, and are only for convenience of describing the present invention and simplifying the description, but do not indicate or imply that the referred device or element must have a specific orientation, be constructed in a specific orientation, and be operated, and that "first", "second", etc., do not represent an important degree of the component parts, and thus are not to be construed as limiting the present invention. The specific dimensions used in the present example are only for illustrating the technical solution and do not limit the scope of protection of the present invention.
As shown in fig. 1 and fig. 2, a multiple-degree-of-freedom flying-climbing robot capable of flexibly fitting with the surface of a bridge cable tower comprises a flying mechanism 40 and a walking mechanism.
As shown in fig. 3 and 4, the flying mechanism includes a connecting base 41, a rotor 42, a support bracket 43, and a support bracket rotation driving device 44.
The connecting base is installed at the center of the top surface of the traveling mechanism through a flying link 411.
The rotor has at least three, and the periphery at the connecting seat is evenly just laid to the symmetry. Each rotor comprises a rotor frame 421 and a plurality of rotor blades 422; a plurality of rotor blades are all installed in the rotor frame and can be actively or passively rotated.
The carriage sets up respectively on the connecting seat on three orientation, and the one end and the connecting seat of support frame rotate to be connected, and the other end of support frame has Y font arc wall, and above-mentioned rotor is installed to the arc wall internal rotation, and the rotation direction of rotor is mutually perpendicular with the length direction of support frame, and every rotor all realizes being connected with the connecting seat through a support frame, and the quantity of rotor is preferred three.
The supporting frame rotation driving device can drive all the supporting frames to rotate around respective axes, and preferably can drive all the supporting frames to rotate synchronously.
The support frame rotation driving means preferably includes a drive bevel gear 441 and a driven bevel gear 442.
The drive bevel gear is preferably mounted on top of the connecting socket and is able to actively rotate about the axis of the flight linkage. The number of the driven bevel gears is equal to that of the support frames, one driven bevel gear is coaxially mounted on each support frame, and each driven bevel gear is preferably meshed with the driving bevel gear so as to drive the support frames to rotate. Alternatively, the support frame driving device may also realize the synchronous rotation by a combination of a motor and a plurality of synchronous belts.
As shown in fig. 5 and 6, the traveling mechanism includes a middle traveling mechanism 10, two side traveling mechanisms 20, and two turnover mechanisms 30.
As shown in fig. 7, the middle traveling mechanism mainly includes a main frame 11 and two first universal traveling mechanisms 12 disposed on the main frame.
The main frame preferably includes a load mounting plate 111, a main curved bar 112, and a main link 113.
Two main arc-shaped rods are preferably selected and arranged in parallel. The main arc-shaped rods are arc-shaped, and alternatively, the main arc-shaped rods can also be straight rods, and the number of the main arc-shaped rods can also be three or more.
The main connecting rod is preferably provided with two and is used for connecting the two main arc-shaped rods. The two main connecting rods are parallelly arranged between the two main arc-shaped rods to form an I-shaped structure.
The load mounting plate is sleeved on the main connecting rod and used for mounting functional structures such as loads.
As shown in fig. 5 and 9, a first universal traveling mechanism is provided on the main curved bar, and the first universal traveling mechanism has a universal wheel 121 and a spring damping suspension structure 122 located inside the main frame.
The spring-damped suspension mechanism is mounted on the main arc-shaped rod, and as shown in fig. 11 and 12, the spring-damped suspension mechanism includes a slide rail 122a, a fixed block 122b, a fixed link plate 122c, a movable link plate 122d, a damper 122e, and a spring 122f.
Wherein the universal wheels are arranged at the bottom of the sliding guide rail. The fixed block, the fixed connecting plate and the movable connecting plate are sequentially sleeved on the sliding guide rail positioned above the universal wheel or the driving wheel from bottom to top; wherein, fixed block and fixed connection board can slide relative to the sliding guide, and swing joint board and sliding guide fixed connection. The fixing block and the fixed connecting plate are both fixedly connected with the main frame. The damper and the spring are arranged between the fixed connecting plate and the movable connecting plate. The two dampers and the two springs are respectively arranged between the fixed connecting plate and the movable connecting plate on the periphery of the sliding guide rail in a staggered and symmetrical mode.
The universal wheels are installed at the bottom end of the spring damping suspension mechanism, preferably two universal wheels are installed at the middle parts of the inner sides of the two main arc-shaped rods respectively. Wherein, every universal wheel all can realize 360 rotations.
The first universal traveling mechanism can buffer vibration generated by collision between the first traveling mechanism and a contact surface due to the matching of the universal wheels and the spring damping suspension mechanism, and can also assist the first traveling mechanism to overcome the relevant problems caused by rough, convex or uneven contact surface in the traveling process.
As shown in fig. 13 and 14, when the universal wheel touches the contact surface, the acting force is transmitted along the direction of the universal wheel, the sliding guide rail and the movable connecting plate, and at this time, the sliding guide rail drives the movable connecting plate to slide relative to the fixed block, and the distance between the fixed connecting plate and the sliding connecting plate is increased, so that two springs arranged between the fixed connecting plate and the sliding connecting plate are stretched to have corresponding lengths, and the vibration generated in the process is reduced by the damper. The arrangement mode can reduce the relevant vibration problem generated in the travelling mechanism in the travelling process.
As shown in fig. 5, 6 and 8, the main arc-shaped lever can also function as a link mechanism for connecting two side running mechanisms.
The two side travelling mechanisms are symmetrically arranged on two sides of the middle travelling mechanism, and each side travelling mechanism comprises a sub-frame 21, a driving travelling mechanism 22 and a second universal travelling mechanism 23.
The two sub-frames are hinged with the main frame and can be driven by the corresponding turnover mechanism to realize relative turnover and clamping with the main frame.
Each sub-frame includes a sub arc-shaped rod 211 and a sub link 212; the two auxiliary arc-shaped rods are arranged in parallel; the auxiliary connecting rod is used for connecting the two auxiliary arc-shaped rods. And each subframe is provided with a driving travelling mechanism and a universal travelling mechanism II.
As shown in fig. 5, 6 and 10, the running gear has a drive pulley 221, a spring-damped suspension mechanism and a drive pulley drive 222 located inside the sub-frame.
The driving wheel is preferably mounted inside the outer end of the auxiliary arc-shaped rod at the top in the auxiliary frame. Each drive wheel 221 includes a drive wheel support frame 221a and a drive wheel axle 221b.
Spring damping suspension mechanism's structure is the same, and the difference lies in: the fixed block and the fixed connecting plate are fixedly connected with the auxiliary arc-shaped rod positioned at the top in the auxiliary frame, and the driving wheel is installed at the bottom of the sliding guide rail.
The driving wheel driving device is arranged on the movable connecting plate and used for driving the driving wheel to rotate.
The driving wheel driving device preferably comprises a driving motor 222a and a synchronous belt 222b, the driving motor is mounted on the corresponding movable connecting plate, and the driving motor realizes the rotation driving of the driving wheel through the synchronous belt.
The universal traveling mechanism II comprises a universal wheel and a spring damping suspension mechanism.
And universal wheels in the second universal traveling mechanism are arranged on the inner sides of the outer ends of the auxiliary arc-shaped rods positioned at the bottom in the corresponding auxiliary frames. Spring damping suspension mechanism's structure is the same, and the difference lies in: the fixed block and the fixed connecting plate are fixedly connected with an auxiliary arc-shaped rod positioned at the bottom in the auxiliary frame, and universal wheels in the universal traveling mechanism II are installed at the bottom of the sliding guide rail.
As shown in fig. 5 and 6, each turnover mechanism includes a turnover driving shaft 32 and a turnover driving device 31.
Two main arc-shaped rods in the main framework are hinged with two auxiliary arc-shaped rods in the auxiliary frameworks at two sides through a turnover driving rotating shaft respectively; the overturning driving device is mainly used for driving the rotating shaft to rotate.
The overturning driving device preferably comprises an overturning driving motor 311 and an overturning synchronous belt 312; the overturning driving motor is preferably arranged on the load mounting plate, and the overturning driving motor preferably realizes the rotary driving of the driving rotating shaft through the overturning synchronous belt. Alternatively, the tumble drive may be a gear drive or other drive mechanism known in the art.
As shown in fig. 15, 16, and 17, the intermediate traveling mechanism is located at the center of the whole, and can connect the both-side flippers. The turnover mechanisms on the two sides are used for driving the running mechanisms on the two sides to open and close. When the walking mechanisms on the two sides are opened, the walking mechanism can be used for walking on a plane (an inclined plane) and a curved surface; when the travelling mechanisms on the two sides are folded, the tubular clamping device can adapt to tubular clamping, and can travel on a tubular or rod-shaped cable, such as a stay cable of a cable-stayed bridge.
As shown in fig. 18, 19 and 20, the present invention can "land" on the pier, the surface of the cable tower, fly close to the cable, then clamp on the cable, and then perform walking detection work on the basis of realizing the motion with six degrees of freedom in space.
Although the preferred embodiments of the present invention have been described in detail, the present invention is not limited to the details of the embodiments, and various equivalent modifications can be made within the technical spirit of the present invention, and the scope of the present invention is also within the scope of the present invention.
Claims (10)
1. The utility model provides a can fly with multi freedom of gentle and agreeable laminating of bridge cable tower surface and climb robot which characterized in that: comprises a flying mechanism and a traveling mechanism;
the flying mechanism comprises a connecting seat, a rotor wing, a supporting frame and a supporting frame rotation driving device;
the connecting seat is arranged at the center of the top surface of the traveling mechanism through a flying connecting rod;
the rotor wings are at least three and are uniformly and symmetrically arranged on the periphery of the connecting seat;
each rotor wing is connected with the connecting seat through a supporting frame; one end of the support frame is rotatably connected with the connecting seat, the other end of the support frame is provided with an arc-shaped groove, the rotor wing is rotatably mounted in the arc-shaped groove, and the rotating direction of the rotor wing is perpendicular to the length direction of the support frame;
the support frame rotation driving device can drive all the support frames to rotate around respective axes.
2. The multi-degree-of-freedom flying climbing robot capable of flexibly fitting with the surface of a bridge cable tower according to claim 1, characterized in that: the support frame rotation driving device can drive all the support frames to synchronously rotate around respective axes.
3. The multi-degree-of-freedom flying climbing robot capable of flexibly fitting with the surface of a bridge cable tower according to claim 2, characterized in that: the support frame rotation driving device comprises a driving bevel gear and a driven bevel gear;
the driving bevel gear is arranged at the top of the connecting seat and can actively rotate around the axis of the flying connecting rod;
the number of the driven bevel gears is equal to that of the support frames, one driven bevel gear is coaxially mounted on each support frame, and each driven bevel gear is meshed with the driving bevel gear.
4. The multi-degree-of-freedom flying climbing robot capable of flexibly fitting with the surface of a bridge cable tower according to claim 1, characterized in that: each rotor wing comprises a rotor wing frame and a plurality of rotor wing blades; the plurality of rotor blades are all arranged in the rotor frame and can rotate actively or in a driven manner; the rotor wing frame is rotatably arranged in the arc-shaped groove, and the rotating direction of the rotor wing frame is vertical to the length direction of the supporting frame.
5. The multi-degree-of-freedom fly-climbing robot capable of flexibly fitting with the surface of a bridge cable tower according to claim 1, characterized in that: the number of rotors is three.
6. The multi-degree-of-freedom fly-climbing robot capable of flexibly fitting with the surface of a bridge cable tower according to claim 1, characterized in that: the walking mechanism can be clamped on the surface of the rod piece and climb, and can also walk on the surface of a plane or a curved surface.
7. The multi-degree-of-freedom flying climbing robot capable of flexibly fitting with the surface of a bridge cable tower according to claim 6, characterized in that: the walking mechanism comprises a middle walking mechanism, two side walking mechanisms and two turnover mechanisms;
the middle walking mechanism comprises a main frame and a first universal walking mechanism arranged on the main frame; the first universal traveling mechanism is provided with a universal wheel positioned on the inner side of the main frame;
the two side travelling mechanisms are symmetrically arranged on two sides of the middle travelling mechanism, and each side travelling mechanism comprises a subframe, a driving travelling mechanism and a universal travelling mechanism II;
the two sub-frames are hinged with the main frame and can be driven by the corresponding turnover mechanism to realize relative turnover and clamping with the main frame;
the driving travelling mechanism and the universal travelling mechanism II are both arranged on the subframe, wherein the driving travelling mechanism is provided with a driving wheel positioned on the inner side of the subframe, and the universal travelling mechanism II is provided with a universal wheel positioned on the inner side of the subframe.
8. The multi-degree-of-freedom flying climbing robot capable of flexibly fitting with the surface of a bridge cable tower according to claim 7, characterized in that: the universal traveling mechanism I, the driving traveling mechanism and the universal traveling mechanism II are all provided with spring damping suspension mechanisms; the spring damping suspension mechanism is installed on the main frame or the auxiliary frame, and the universal wheels or the driving wheels are installed at the bottom end of the spring damping suspension mechanism.
9. The multi-degree-of-freedom flying climbing robot capable of flexibly fitting with the surface of a bridge cable tower according to claim 8, characterized in that: the spring damping suspension mechanism comprises a sliding guide rail, a fixed block, a fixed connecting plate, a movable connecting plate, a damper and a spring;
the bottom of the sliding guide rail is provided with the universal wheel or the driving wheel;
the fixed block, the fixed connecting plate and the movable connecting plate are sequentially sleeved on the sliding guide rail positioned above the universal wheel or the driving wheel from bottom to top; the fixed block and the fixed connecting plate can slide relative to the sliding guide rail, and the movable connecting plate is fixedly connected with the sliding guide rail;
the fixed block and the fixed connecting plate are respectively fixedly connected with the main frame or the auxiliary frame;
the damper and the spring are arranged between the fixed connecting plate and the movable connecting plate.
10. The multi-degree-of-freedom fly-climbing robot capable of flexibly fitting with the surface of a bridge cable tower according to claim 7, is characterized in that: the universal wheels in the main frame are two, and the driving wheel and the universal wheels in each secondary frame are one.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210375360.4A CN114919673B (en) | 2022-04-11 | 2022-04-11 | Multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to surface of bridge cable tower |
| PCT/CN2022/121287 WO2023197534A1 (en) | 2022-04-11 | 2022-09-26 | Locomotion apparatus for climbing robot, and flying-climbing robot thereof |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210375360.4A CN114919673B (en) | 2022-04-11 | 2022-04-11 | Multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to surface of bridge cable tower |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114919673A true CN114919673A (en) | 2022-08-19 |
| CN114919673B CN114919673B (en) | 2023-07-25 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210375360.4A Active CN114919673B (en) | 2022-04-11 | 2022-04-11 | Multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to surface of bridge cable tower |
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| CN (1) | CN114919673B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023197534A1 (en) * | 2022-04-11 | 2023-10-19 | 南京邮电大学 | Locomotion apparatus for climbing robot, and flying-climbing robot thereof |
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