CN114919673B - Multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to surface of bridge cable tower - Google Patents
Multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to surface of bridge cable tower Download PDFInfo
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- CN114919673B CN114919673B CN202210375360.4A CN202210375360A CN114919673B CN 114919673 B CN114919673 B CN 114919673B CN 202210375360 A CN202210375360 A CN 202210375360A CN 114919673 B CN114919673 B CN 114919673B
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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
-
- 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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- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Aviation & Aerospace Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Architecture (AREA)
- Civil Engineering (AREA)
- Structural Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention discloses a multi-degree-of-freedom flying and climbing robot which can be flexibly attached to the surface of a bridge cable tower, comprising a flying mechanism and a travelling mechanism; the flying mechanism comprises a connecting seat, a rotor wing, a support frame and a support frame rotary driving device; the connecting seat is arranged in the center of the top surface of the travelling mechanism through a flying connecting rod; the rotor wings are at least three and are uniformly and symmetrically distributed 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 rotationally connected with the connecting seat, the other end of the support frame is provided with an arc-shaped groove, the rotor wing is rotationally arranged in the arc-shaped groove, and the rotation direction of the rotor wing is vertical to the length direction of the support frame; the support frame rotation driving device can drive all support frames to rotate around respective axes. On the one hand, the invention can 'land' on the surface of a bridge pier and a cable tower, can fly close to a cable, is clamped on the cable, and then carries out walking detection work; on the other hand, the motion 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 and climbing robot which can be flexibly attached to the surface of a bridge cable tower.
Background
In the wind power field, not only the rod piece of the wind power generation windmill (such as a cable of a cable-stayed bridge and the like) but also the curved surface (such as a cable tower of the bridge, a bridge pier and the like) are required to be detected. However, the existing cable detection robot can only detect cables of a cable-stayed bridge, and cannot detect curved surfaces with different curvatures such as cable towers and piers.
Disclosure of Invention
The invention aims to solve the technical problems of the prior art, and provides the multi-degree-of-freedom flying and climbing robot which can be flexibly attached to the surface of the bridge cable tower, wherein the multi-degree-of-freedom flying and climbing robot which can be flexibly attached to the surface of the bridge cable tower can realize movement with 6 degrees of freedom, can detect rod pieces such as cables and can detect curved surfaces with different curvatures such as cable tower piers.
In order to solve the technical problems, the invention adopts the following technical scheme:
a multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to the surface of a bridge cable tower 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 rotary driving device.
The connecting seat is installed in the center of the top surface of the travelling mechanism through the flying connecting rod.
The rotor has at least three, evenly and symmetrically lays in the periphery of connecting seat.
Each rotor wing is connected with the connecting seat through a supporting frame; one end of the support frame is rotationally connected with the connecting seat, the other end of the support frame is provided with an arc-shaped groove, the rotor wing is rotationally installed in the arc-shaped groove, and the rotation direction of the rotor wing is perpendicular to the length direction of the support frame.
The support frame rotation driving device can drive all support frames to rotate around respective axes.
The support frame rotation driving device can drive all 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 drive 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 supporting frames, each supporting frame is coaxially provided with one driven bevel gear, and each driven bevel gear is meshed with the driving bevel gear.
Each rotor comprises a rotor frame and a plurality of rotor blades; a plurality of rotor blades are arranged in the rotor frame and can rotate in a driving or driven mode; the rotor frame rotates and installs in the arc wall, and the direction of rotation of rotor frame is mutually perpendicular with the length direction of support frame.
The number of rotors is three.
The travelling mechanism can be clamped on the surface of the rod piece and climbs, and can also walk on the surface of a plane or a curved surface.
The travelling mechanism comprises a middle travelling mechanism, two side travelling 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 universal walking mechanism I is provided with universal wheels 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 auxiliary frames are hinged with the main frame, and can be driven by the corresponding turnover mechanism to realize the relative turnover and clamping with the main frame.
The driving travelling mechanism and the universal travelling mechanism II are both arranged on the auxiliary frame, wherein the driving travelling mechanism is provided with a driving wheel positioned at the inner side of the auxiliary frame, and the universal travelling mechanism II is provided with a universal wheel positioned at the inner side of the auxiliary frame.
The first universal traveling mechanism, the driving traveling mechanism and the second universal traveling mechanism are provided with spring damping hanging mechanisms; the spring damping suspension mechanism is arranged on the main frame or the auxiliary frame, and the universal wheel or the driving wheel is arranged 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 wheels or the driving wheels.
The fixed block, the fixed connecting plate and the movable connecting plate are sleeved on a sliding guide rail positioned above the universal wheel or the driving wheel from bottom to top in sequence; 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 connection 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 number of universal wheels in the main frame is two, and the driving wheel and the universal wheels in each auxiliary frame are one.
The invention has the following beneficial effects:
1. the invention can 'land' on the surface of bridge piers and cable towers, fly close to the cable, then clamp on the cable, and then carry out walking detection work.
2. The invention can realize the movement with six degrees of freedom in space.
Drawings
Fig. 1 is a schematic structural diagram of a multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to the surface of a bridge cable tower.
Fig. 2 is a schematic structural diagram II of a multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to the surface of a bridge cable tower.
Fig. 3 shows a schematic view of the structure of the flying mechanism according to the present invention.
Fig. 4 shows a second schematic structural view of the flying mechanism in the present invention.
Fig. 5 shows a schematic view of the structure of the walking mechanism in the present invention.
Fig. 6 shows a second schematic structural view of the walking mechanism of the present invention.
Fig. 7 shows a schematic structural view of the intermediate running gear in the present invention.
Fig. 8 shows a schematic view of the structure of the side running mechanism in the present invention.
Fig. 9 shows a schematic structural view of the universal walking mechanism in the invention.
Fig. 10 shows a schematic diagram of the structure of the driving walking mechanism in the invention.
Fig. 11 shows a schematic structural view of a spring-damped suspension mechanism according to the present invention.
Fig. 12 shows a second schematic structural 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 present 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 shows a schematic view of the walking mechanism of the present invention when walking on an inclined or curved surface.
FIG. 18 shows a schematic diagram of a multi-degree of freedom flying climbing robot of the present invention capable of compliant attachment to a bridge cable tower surface while walking on a tubular member.
FIG. 19 shows a side view of a multi-degree of freedom flying climbing robot of the present invention capable of compliant attachment to a bridge cable tower surface while walking on a tubular member.
FIG. 20 shows a schematic diagram of a multi-degree of freedom flying climbing robot of the present invention capable of compliant attachment to a bridge cable tower surface while walking on a incline or curve.
The method comprises the following steps:
10. a middle travelling mechanism;
11. a main frame; 111. a load mounting plate; 112. a main arc-shaped rod; 113. a main connecting rod;
12. a universal walking mechanism I;
121. a universal wheel;
122. a spring-damped suspension mechanism; 122a, sliding guide rail; 122b, fixing blocks; 122c, fixing the connecting plate; 122d, a movable connecting plate; 122e, a damper; 122f, springs;
20. a side travel mechanism;
21. a subframe; 211. an auxiliary arc-shaped rod; 212. a secondary connecting rod;
22. driving a travelling mechanism;
221. a driving wheel; 221a, a driving wheel supporting frame; 221b, a driving wheel axle;
222. a drive wheel driving device; 222a. Driving a motor; 222b. A timing belt;
23. a universal walking mechanism II;
30. a turnover mechanism;
31. a flip driving device; 311. a turnover driving motor; 312. turning over the synchronous belt;
32. driving the rotating shaft;
40. a flying mechanism;
41. a connecting seat; 411. a flight linkage;
42. a rotor; 421. a rotor frame; 422. rotor blades;
43. a support frame;
44. a support frame rotation driving device; 441. a drive bevel gear; 442. driven bevel gears.
Detailed Description
The 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 should be understood that the terms "left", "right", "upper", "lower", etc. indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are merely for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the apparatus or element being referred to must have a specific orientation, be configured and operated in a specific orientation, and "first", "second", etc. do not indicate the importance of the components, and thus are not to be construed as limiting the present invention. The specific dimensions adopted in the present embodiment are only for illustrating the technical solution, and do not limit the protection scope of the present invention.
As shown in fig. 1 and 2, the multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to the surface of a bridge cable tower comprises a flying mechanism 40 and a travelling mechanism.
As shown in fig. 3 and 4, the flying mechanism includes a connection base 41, a rotor 42, a support 43, and a support rotation driving device 44.
The connection base is mounted in the center of the top surface of the running gear by a flight link 411.
The rotor has at least three, evenly and symmetrically lays in the periphery of connecting seat. Each rotor includes a rotor frame 421 and a number of rotor blades 422; a plurality of rotor blades are all installed in the rotor frame, can initiative or driven rotation.
The support frame sets up respectively on the connecting seat in three direction, 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, rotates in the arc wall and installs above-mentioned rotor, and the direction of rotation 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 three preferred.
The support frame rotation driving device can drive all the support frames to rotate around respective axes, and preferably can drive all the support frames to synchronously rotate.
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 seat and is capable of actively rotating about the axis of the flight connecting rod. The number of the driven bevel gears is equal to that of the supporting frames, each supporting frame is coaxially provided with one driven bevel gear, and each driven bevel gear is preferably meshed with the driving bevel gear so as to be used for driving the supporting frames to rotate. Alternatively, the carriage driving device may be configured to perform the above-described synchronous rotation by combining a motor with a plurality of timing belts.
As shown in fig. 5 and 6, the running mechanism includes a middle running mechanism 10, two side running mechanisms 20, and two turning mechanisms 30.
As shown in fig. 7, the intermediate traveling mechanism mainly includes a main frame 11 and two universal traveling mechanisms one 12 provided on the main frame.
The main frame preferably includes a load mounting plate 111, a main arc bar 112, and a main link 113.
The number of the main arc-shaped rods is preferably two, and the main arc-shaped rods are arranged in parallel. The main arc rod is arc-shaped, and alternatively, the main arc rod can be a straight rod, and three or more main arc rods can be provided.
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 arranged in parallel in the middle of the two main arc 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 gimbal running gear is provided on the main arc rod, the first gimbal running gear having a gimbal 121 located inside the main frame and a spring-damped suspension structure 122.
The spring-damper suspension mechanism is mounted on the main arc rod, and as shown in fig. 11 and 12, the spring-damper suspension mechanism includes a slide rail 122a, a fixed block 122b, a fixed connection plate 122c, a movable connection 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 sleeved on a sliding guide rail positioned above the universal wheel or the driving wheel from bottom to top in sequence; 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 connection plate are 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 plates and the movable connecting plates around the sliding guide rail in a staggered and symmetrical mode.
The universal wheels are arranged at the bottom ends of the spring damping hanging mechanisms, preferably two universal wheels are respectively arranged at the middle parts of the inner sides of the two main arc rods. Wherein, every universal wheel can realize 360 rotations.
The universal travelling mechanism is provided with the universal wheels and the spring damping suspension mechanism, so that vibration generated by collision between the travelling mechanism and the contact surface can be buffered, and the travelling mechanism can be assisted to overcome the related problems caused by rough, protruding or uneven contact surface in the travelling process.
As shown in fig. 13 and 14, when the universal wheel touches the contact surface, the acting force is conducted along the directions of the universal wheel, the sliding guide rail and the movable connecting plate, 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 a corresponding length, and vibration generated during the process is relieved by the damper. The arrangement mode can reduce the related vibration problem generated in the travelling process of the travelling mechanism.
As shown in fig. 5, 6 and 8, the main arcuate lever can also function to connect two side travel mechanisms.
The two side travelling mechanisms are symmetrically arranged on two sides of the middle travelling mechanism, and each side travelling mechanism comprises a subframe 21, a driving travelling mechanism 22 and a universal travelling mechanism II 23.
The two auxiliary frames are hinged with the main frame, and can be driven by the corresponding turnover mechanism to realize the relative turnover and clamping with the main frame.
Each subframe includes a secondary arc bar 211 and a secondary link 212; two auxiliary arc rods are arranged in parallel; the auxiliary connecting rod is used for connecting the two auxiliary arc-shaped rods. And each auxiliary frame is provided with a driving travelling mechanism and a universal travelling mechanism II.
As shown in fig. 5, 6 and 10, the drive running mechanism has a drive wheel 221 located inside the subframe, a spring-damped suspension mechanism and a drive wheel drive 222.
The drive wheel is preferably mounted inside the outer end of the secondary arcuate bar at the top in the secondary frame. Each capstan 221 includes a capstan support 221a and a capstan axle 221b.
The spring damping suspension mechanism has the same structure as the above and is different in that: the fixed block and the fixed connection plate are fixedly connected with an auxiliary arc-shaped rod positioned at the top in the auxiliary frame, and the driving wheel is arranged 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, wherein the driving motor is arranged on the corresponding movable connecting plate, and the driving motor realizes the rotation driving of the driving wheel through the synchronous belt.
The universal travelling mechanism II comprises a universal wheel and a spring damping suspension mechanism.
The universal wheels in the universal travelling mechanism II are arranged on the inner sides of the outer ends of the auxiliary arc-shaped rods positioned at the bottoms of the corresponding auxiliary frames. The spring damping suspension mechanism has the same structure as the above and is different in that: the fixed block and the fixed connection plate are fixedly connected with an auxiliary arc-shaped rod positioned at the bottom in the auxiliary frame, and the universal wheels in the universal traveling mechanism II are arranged at the bottom of the sliding guide rail.
As shown in fig. 5 and 6, each tilting mechanism includes a tilting drive shaft 32 and a tilting drive device 31.
Two main arc rods in the main frame are hinged with two auxiliary arc rods in the auxiliary frames 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 turnover driving device preferably comprises a turnover driving motor 311 and a turnover synchronous belt 312; the overturning driving motor is preferably arranged on the load mounting plate, and the overturning driving motor preferably realizes the rotation driving of the driving rotating shaft through an overturning synchronous belt. Alternatively, the flip 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 in the center of the whole body, and the turning mechanisms on both sides can be connected to each other. The turnover mechanisms at the two sides are used for driving the walking mechanisms at the two sides to open and close. When the travelling mechanisms on two sides are opened, the device can be used for travelling on a plane (inclined plane) and a curved surface; when the two side travelling mechanisms are combined, the device can adapt to tubular clamping, and can travel on a tubular or rod-shaped stay rope of a cable-stayed bridge.
As shown in fig. 18, 19 and 20, the invention can 'land' on the surface of a bridge pier and a cable tower on the basis of realizing the movement of six degrees of freedom in space, can fly close to a cable, then is clamped on the cable, and then performs walking detection work.
The preferred embodiments of the present invention have been described in detail above, but the present invention is not limited to the specific details of the above embodiments, and various equivalent changes can be made to the technical solution of the present invention within the scope of the technical concept of the present invention, and all the equivalent changes belong to the protection scope of the present invention.
Claims (3)
1. The utility model provides a robot is climbed to multi freedom that can laminate with bridge cable tower surface compliance, its characterized in that: comprises a flying mechanism and a traveling mechanism;
the flying mechanism comprises a connecting seat, a rotor wing, a support frame and a support frame rotary driving device;
the connecting seat is arranged in the center of the top surface of the travelling mechanism through a flying connecting rod;
the rotor wings are at least three and are uniformly and symmetrically distributed 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 rotationally connected with the connecting seat, the other end of the support frame is provided with an arc-shaped groove, the rotor wing is rotationally arranged in the arc-shaped groove, and the rotation direction of the rotor wing is vertical to the length direction of the support frame;
the support frame rotation driving device can drive all support frames to synchronously rotate around respective axes;
each rotor comprises a rotor frame and a plurality of rotor blades; a plurality of rotor blades are arranged in the rotor frame and can rotate in a driving or driven mode; the rotor frame is rotatably arranged in the arc-shaped groove, and the rotating direction of the rotor frame is vertical to the length direction of the support frame;
the travelling mechanism comprises a middle travelling mechanism, two side travelling 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 universal traveling mechanism I is provided with universal wheels 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 auxiliary frames are hinged with the main frame and can be driven by the corresponding turnover mechanism to realize the connection with the main frame
Is turned over and clamped relatively;
the driving travelling mechanism and the universal travelling mechanism II are both arranged on the auxiliary frame, wherein the driving travelling mechanism is provided with a driving wheel positioned at the inner side of the auxiliary frame, and the universal travelling mechanism II is provided with a universal wheel positioned at the inner side of the auxiliary frame;
the first universal traveling mechanism, the driving traveling mechanism and the second universal traveling mechanism are provided with spring damping hanging mechanisms; the spring damping suspension mechanism is arranged on the main frame or the auxiliary frame, and the universal wheel or the driving wheel is arranged 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 and a movable connection
A plate, a damper, and a spring;
the universal wheels or the driving wheels are arranged at the bottom of the sliding guide rail;
the fixed block, the fixed connecting plate and the movable connecting plate are sleeved on a sliding guide rail positioned above the universal wheel or the driving wheel from bottom to top in sequence; wherein, the fixed block and the fixed connection plate can slide relative to the sliding guide rail, and the movable connection plate
The sliding guide rail is fixedly connected;
the fixed 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 number of the universal wheels in the main frame is two, and the number of the driving wheels and the number of the universal wheels in each auxiliary frame are one;
the multi-degree-of-freedom flying and climbing robot can be matched with a travelling mechanism on the basis of six-degree-of-freedom movement in space, wherein the middle travelling mechanism is positioned in the integral center part, and can connect the turnover mechanisms at two sides; the turnover mechanisms at the two sides are used for driving the walking mechanisms at the two sides to open and close; when the travelling mechanisms on two sides are opened, the bridge can be landed on the surface of the bridge pier and the cable tower; the multi-degree-of-freedom flying and climbing robot can fly close to the inhaul cable, and the traveling mechanism is clamped on the inhaul cable through the opening and closing of the traveling mechanisms at the two sides, so that the traveling detection work is performed.
2. The multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to the surface of a bridge cable tower according to claim 1, wherein: the support frame rotation driving device comprises a driving bevel gear and a driven bevel gear;
the drive 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 supporting frames, each supporting frame is coaxially provided with one driven bevel gear, and each driven bevel gear is meshed with the driving bevel gear.
3. The multi-degree-of-freedom flying and climbing robot capable of being flexibly attached to the surface of a bridge cable tower according to claim 1, wherein: the number of rotors is three.
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 |
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| Publication Number | Publication Date |
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| CN114919673A CN114919673A (en) | 2022-08-19 |
| CN114919673B true CN114919673B (en) | 2023-07-25 |
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| 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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| 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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| CN106477032B (en) * | 2016-09-11 | 2020-01-07 | 珠海市磐石电子科技有限公司 | Multi-axis aircraft |
| CN107757912B (en) * | 2017-03-03 | 2022-01-14 | 珠海磐磊智能科技有限公司 | Power device, aircraft and aircraft control method |
| CN108516025A (en) * | 2018-03-28 | 2018-09-11 | 李清花 | A kind of automatic climbing pole device |
| CN108674509B (en) * | 2018-05-16 | 2024-02-02 | 广东科技学院 | Tree climbing pruning robot |
| CN208801834U (en) * | 2018-07-20 | 2019-04-30 | 北京京东尚科信息技术有限公司 | The chassis of transport vehicle and its walking mechanism |
| CN108945395B (en) * | 2018-07-25 | 2020-11-17 | 浙江大学 | Prevent rotor system and unmanned aerial vehicle of kinking |
| CN108789353B (en) * | 2018-08-28 | 2020-04-21 | 中南大学 | Obstacle-crossing pole-climbing robot |
| CN112441152B (en) * | 2019-08-27 | 2024-05-10 | 临颍县爬杆机器人有限公司 | Rotatable pole-climbing robot of fluid propeller formula |
| CN111152241B (en) * | 2020-03-20 | 2024-05-28 | 郑州轻工业大学 | Climbing mechanism for comprehensive pipeline inspection robot |
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| CN114919673A (en) | 2022-08-19 |
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