CN115285246B - Continuously-driven rope climbing robot - Google Patents
Continuously-driven rope climbing robot Download PDFInfo
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- CN115285246B CN115285246B CN202210937467.3A CN202210937467A CN115285246B CN 115285246 B CN115285246 B CN 115285246B CN 202210937467 A CN202210937467 A CN 202210937467A CN 115285246 B CN115285246 B CN 115285246B
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- climbing module
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- 230000009194 climbing Effects 0.000 title claims abstract description 188
- 230000007246 mechanism Effects 0.000 claims abstract description 36
- 230000033001 locomotion Effects 0.000 claims description 12
- 238000000034 method Methods 0.000 abstract description 6
- 230000008569 process Effects 0.000 abstract description 6
- 230000009471 action Effects 0.000 abstract description 4
- 230000008054 signal transmission Effects 0.000 abstract description 3
- 230000001360 synchronised effect Effects 0.000 abstract description 3
- 229910000831 Steel Inorganic materials 0.000 description 6
- 239000010959 steel Substances 0.000 description 6
- 230000005540 biological transmission Effects 0.000 description 3
- 230000006978 adaptation Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000000737 periodic effect Effects 0.000 description 2
- 230000002093 peripheral effect Effects 0.000 description 2
- 241000238631 Hexapoda Species 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000009193 crawling Effects 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000012423 maintenance Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 230000008855 peristalsis Effects 0.000 description 1
- 230000009467 reduction Effects 0.000 description 1
Classifications
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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
Abstract
The invention relates to a continuous driving type rope climbing robot, which solves the problems of complex driving structure and high control signal requirement of the existing rope climbing robot. The device comprises a front climbing module and a rear climbing module, wherein the front climbing module and the rear climbing module are identical in structure and opposite in front and rear directions, the front climbing module is provided with a swinging clamping mechanism extending forwards, the rear climbing module is provided with a swinging clamping mechanism extending backwards, the front end of the swinging clamping mechanism is provided with an upper clamping plate and a lower clamping plate for clamping a cable, the inside of the front climbing module and the inside of the rear climbing module are respectively provided with a motor for driving the swinging clamping mechanism to continuously open and close and push-pull the circulating action, and the rear end of the front climbing module and the front end of the rear climbing module are connected through a connecting rod without driving force. According to the invention, the rope climbing robot can drive the rope climbing alternately and continuously only by two driving sources, and the initial control of synchronous rotation speed and half period delay of the motor is only needed, so that the control difficulty is greatly reduced, and frequent signal transmission control in the rope climbing process is avoided.
Description
Technical Field
The invention belongs to the field of climbing mechanical equipment, and relates to a continuously driven rope climbing robot.
Background
The high-altitude ropes such as the steel wire ropes are required to be inspected, maintained and maintained regularly, the existing maintenance operation of the steel wire ropes is mostly completed manually, the working efficiency is low, the construction cost is high, and certain dangers exist. Some rope climbing robots simulating insect peristalsis exist at present and can climb along a steel wire rope to replace manual operation. The existing rope climbing robot is divided into two relatively telescopic first modules and two relatively telescopic second modules, each rope climbing robot comprises three execution parts, namely an opening and closing part of a first module holding clamp, an opening and closing part of a second module holding clamp and a telescopic part between the two modules, and the two modules are alternately clamped by the two module opening and closing parts and are matched with the telescopic parts to stretch in an alternative clamping process so as to realize alternative climbing of the two modules.
If the automatic climbing device for the gate steel wire rope with the authorized bulletin number of CN211869536U adopts a cylindrical frame structure, the device comprises an outer frame and an inner frame which are slidably sleeved on the gate steel wire rope, the inner frame and the outer frame realize relative movement in a gear-rack transmission mode, and the device is realized to climb along the steel wire rope in a stepping mode by adopting an electric control mode. The structure adopts the outer frame and the inner frame as the first module and the second module respectively, and the outer frame and the inner frame realize the expansion by adopting the gear rack, thereby realizing the alternate climbing of the two modules.
Then like a cable climbing robot of publication number CN108454723A, including first climbing mechanism, second climbing mechanism, drive structure, the device first climbing mechanism, second climbing mechanism respectively include the enclasping mechanism of enclasping cable in turn, and drive structure sets up between first climbing mechanism, second climbing mechanism, and drive mechanism realizes stretching out and drawing back through rack and pinion equally. It can be seen that the device also adopts two modules, and the cooperation of three drive components realizes two modules climbing in turn.
The existing climbing robot also has the functions of clamping and telescopic driving through an air cylinder or a hydraulic mechanism, but basically does not deviate from the category of double modules and three driving parts. The climbing structure of the double-module and three-driving part is mature, but the driving structure is complex, the structure is controlled by point breaking, each climbing motion needs to be matched with the sequential motion of the three parts, the requirement on the real-time and accuracy of the transmission of the control signals is high, and the cost of the climbing device is high.
Disclosure of Invention
The invention aims to solve the problems that the existing rope climbing robot mostly adopts a double-module and three-drive structure, the driving structure is complex and the requirement on control signals is high, and provides a continuous driving rope climbing robot which adopts double-module and double-motor driving and can realize continuous and alternate climbing of the double modules by dislocation control of initial phases of the two motors and continuous operation of the two motors.
The technical scheme adopted for solving the technical problems is as follows: the utility model provides a rope robot is climbed to continuous drive formula, including preceding climbing module and back climbing module, preceding climbing module is the same with back climbing module structure, the front and back orientation is opposite, preceding climbing module sets up the swing that stretches out forward and embraces the clamp mechanism, back climbing module sets up the swing that stretches out backward and embraces the clamp mechanism, swing is embraced the clamp mechanism front end and is provided with the punch holder and the lower plate of centre gripping hawser, preceding climbing module and inside motor that the drive swing was embraced the clamp mechanism and is carried out continuous opening and shutting, push-pull circulation action that are provided with respectively of back climbing module, preceding climbing module rear end and back climbing module front end are connected through the connecting rod that does not have the driving force.
In this device, the back orientation is opposite around preceding climbing module and the back climbing module, and preceding climbing module and the motor of back climbing module can drive the swing clamp mechanism that corresponds and be the periodicity and open and shut, push-and-pull action. The swing clamp holding mechanisms of the current climbing module and the rear climbing module are staggered for continuous output in half movement periods, and the swing clamp holding mechanisms of the front climbing module and the rear climbing module drive the rope climbing robot to move forwards or backwards in half clamping periods of the front climbing module and the rear climbing module respectively, so that continuous movement is realized. Compared with the traditional three-drive mode point-breaking type rope climbing of the rope climbing robot in the background art, the front climbing module and the rear climbing module with the same structure are adopted, the rope climbing robot can be driven to continuously and alternately front and back only by two driving sources, the two driving source motors of the device only need to keep the rotation speed consistent, turn to opposite and delay for half period, the continuous crawling requirement can be met, the accurate control can be completed by only correcting the initial starting signal of the motor, the safety monitoring of the motor is only needed in the operation process, the control difficulty is greatly reduced, and frequent signal transmission control in the rope climbing process of the traditional three-drive rope climbing robot is avoided.
Preferably, the front climbing module comprises a tubular shell which is penetrated from front to back, the swing clamping mechanism comprises an upper swing assembly and a lower swing assembly,
lower swing subassembly is in two outside lower part symmetry settings of tube-shape casing, and lower swing subassembly includes driving gear, lower rocking arm, first swing arm, second swing arm, third swing arm down in one side of tube-shape casing: the outer circumference of the driving gear is hinged with the rear end of the lower rocker arm, one end of the first lower rocker arm is hinged with the cylindrical shell, the other end of the first lower rocker arm is hinged with the middle part of the lower rocker arm, the rear end of the second lower rocker arm is hinged with the cylindrical shell, the front end of the second lower rocker arm is hinged with the rear end of the third lower rocker arm, the front end of the lower rocker arm is hinged with the middle section of the third lower rocker arm, and the front end of the third lower rocker arm is inclined upwards and connected with the end part of the lower clamping plate;
the upper swing assembly is symmetrically arranged on the upper parts of the two outer sides of the cylindrical shell, and comprises a driven gear, an upper rocker arm, a first upper swing arm, a second upper swing arm and a third upper swing arm on one side of the cylindrical shell: the outer circumference of the driven gear is hinged with the rear end of the upper rocker arm, one end of the first upper rocker arm is hinged with the cylindrical shell, the other end of the first upper rocker arm is hinged with the middle part of the upper rocker arm, the rear end of the second upper rocker arm is hinged with the cylindrical shell, the front end of the second upper rocker arm is hinged with the rear end of the third upper rocker arm, the front end of the upper rocker arm is hinged with the middle section of the third upper rocker arm, and the front end of the third upper rocker arm is connected with the end part of the upper clamping plate in a downward inclined manner;
the motor is arranged at the lower part of the inner side of the cylindrical shell, the output end of the motor is connected with a power shaft, the driving gear is arranged at two ends of the power shaft, and the driven gear and the driving gear are identical in size, aligned up and down and meshed with each other. The device realizes the open-close and push-pull periodic movement of the upper clamping plate and the lower clamping plate through the reverse synchronous movement of the motor driving lower swinging assembly and the upper swinging assembly. If necessary, a reduction gear set may be provided between the motor output and the power shaft.
Preferably, the front end of the third lower swing arm is sleeved with a lower telescopic arm, a telescopic spring is arranged between the rear end of the lower telescopic arm and the third lower swing arm, and the front end of the lower telescopic arm is hinged with the end part of the lower clamping plate; the front end of the third upper swing arm is sleeved with an upper telescopic arm, a telescopic spring is arranged between the rear end of the upper telescopic arm and the third upper swing arm, and the front end of the upper telescopic arm is hinged with the end part of the upper clamping plate. In the swinging process of periodic opening and closing and pushing and pulling of the upper clamping plate and the lower clamping plate, if no external force is interfered, the upper clamping plate and the lower clamping plate move in an arc way, the elastic expansion of the lower expansion arm and the upper expansion arm can compensate the arc movement attaching section of the upper clamping plate and the lower clamping plate, so that when the upper clamping plate and the lower clamping plate are tightly attached, the space is adaptively compensated through the expansion of the expansion spring, meanwhile, the upper clamping plate and the lower clamping plate can enter a clamping state earlier, the follow-up position overlapping is compensated through the elastic expansion, and the duration of the clamping state of the upper clamping plate and the lower clamping plate can be ensured to occupy more than half of the whole cycle period.
Preferably, the middle parts of the upper clamping plate and the lower clamping plate are aligned and provided with V-shaped grooves or U-shaped grooves for holding and clamping the mooring ropes.
Preferably, the two ends of the upper clamping plate are fixed upper clamping plates, the middle section of the upper clamping plate is movable upper clamping plates, and the movable upper clamping plates and the fixed upper clamping plates can be assembled/disassembled. The middle section of the upper clamping plate is provided with a detachable structure, so that a mooring rope can be placed conveniently.
Preferably, the upper side surface of the cylindrical shell is provided with a slit for embedding the cable, and a plurality of guide wheels which are abutted against the cable from the radial direction are uniformly arranged around the cable in the cylindrical shell. A guide wheel spring is arranged between the guide wheel and the cylindrical shell, and the clamping state is kept.
Preferably, the connecting rod is arranged on the left side and the right side between the rear end of the front climbing module and the front end of the rear climbing module, the middle section of the connecting rod is provided with a swinging hinge shaft, the joint of the front climbing module, the rear climbing module and the connecting rod is provided with a long groove, the end part of the connecting rod is slidably clamped in the long groove, and an attitude adjusting spring is arranged between the end part of the connecting rod and the two ends of the long groove. When the mooring ropes arc-shaped to extend, the front climbing module and the rear climbing module realize complete steering to a certain extent through the hinge shaft, the gesture adjusting springs carry out floating positioning on the two ends of the connecting rod, and when the clamping sections of the front climbing module and the rear climbing module are overlapped for a short time, the front and rear positions of the front climbing module and the rear climbing module are asynchronous by a small extent, a certain telescopic adaptation is provided; and when current climbing module and back climbing module buckle, realize floating the regulation to connecting rod both ends.
Preferably, the motors of the front climbing module and the rear climbing module continuously run at the same rotating speed and with the time delay of half of the cycle movement period of the swinging clamping mechanism during rope climbing; when climbing ropes forwards, the upper clamping plate and the lower clamping plate of the front climbing module draw the ropes from front to back when clamping the ropes, and the upper clamping plate and the lower clamping plate are unfolded and reset from back to front when loosening; the upper clamping plate and the lower clamping plate of the rear climbing module are pushed from front to back when clamping cables, and are retracted from back to front when being loosened;
when climbing ropes backwards, the upper clamping plate and the lower clamping plate of the front climbing module push the ropes forwards from behind when clamping the ropes, and retract and reset from front to back when the upper clamping plate and the lower clamping plate are loosened; the upper clamping plate and the lower clamping plate of the rear climbing module are pulled forwards from behind when clamping the mooring rope, and are unfolded and reset from front to back when being released. When climbing forward, the climbing device is realized by pulling forward and backward, when climbing backward, the climbing device is realized by pulling forward and backward, and the motor of the front climbing module and the motor of the rear climbing module are opposite in steering, so that the running directions of the front climbing module and the rear climbing module are kept consistent.
Preferably, the clamping time of the upper clamping plate and the lower clamping plate is 50% or more of the cycle period of the swinging clamping mechanism. The clamping time length of the front climbing module and the rear climbing module can be connected end to end, and the situation that the front climbing module and the rear climbing module are loosened is avoided, so that the robot slides down is avoided.
Preferably, the clamping time periods of the upper clamping plate and the lower clamping plate of the front climbing module and the rear climbing module are mutually alternated, and the clamping time periods are connected end to end.
According to the invention, the rope climbing robot can drive the rope climbing alternately and continuously only by two driving sources, and the initial control of synchronous rotation speed and half period delay of the motor is only needed, so that the control difficulty is greatly reduced, and frequent signal transmission control in the rope climbing process is avoided.
Drawings
The invention is further described below with reference to the accompanying drawings.
Fig. 1 is a schematic view of a structure of the present invention.
Fig. 2 is a schematic diagram of the front climbing module structure of the present invention.
Fig. 3 is a schematic view of the structure of the upper swing assembly and the lower swing assembly of the present invention.
Fig. 4 is a schematic view of the structure of the upper and lower clamping plates of the present invention.
Fig. 5 is a schematic view of the front end telescoping structure of the upper swing assembly and the lower swing assembly of the present invention.
Fig. 6 is a schematic view of an internal structure of the present invention.
Fig. 7 is a schematic diagram of an output structure of a motor according to the present invention.
Fig. 8 is a schematic end view of an end face structure of the present invention.
Fig. 9 is a schematic view of a guide wheel structure according to the present invention.
Fig. 10 is a schematic view of the link structure of a front climbing module and a rear climbing module of the present invention.
Fig. 11 is a schematic view showing a continuous movement of a forward climbing rope according to the present invention.
In the figure: 1. front climbing module, 2, back climbing module, 3, hawser, 4, connecting rod, 5, upper swing subassembly, 6, lower swing subassembly, 7, punch holder, 8, lower plate, 9, slotting, 10, V type groove, 11, leading wheel, 12, expansion spring, 13, motor, 14, drive gear group, 15, power shaft, 16, guide pulley seat, 17, guide pulley swing frame, 18, guide pulley spring, 19, elongated slot, 20, gesture adjusting spring.
Detailed Description
The invention will be further illustrated by the following examples in conjunction with the accompanying drawings.
Examples: a continuously driven rope climbing robot as shown in fig. 1. The device comprises a front climbing module and a rear climbing module 2, wherein the front climbing module 1 and the rear climbing module 2 are identical in structure and opposite in front and rear directions, the front climbing module is provided with a swing clamping mechanism extending forwards, the rear climbing module is provided with a swing clamping mechanism extending backwards, the front end of the swing clamping mechanism is provided with an upper clamping plate 7 and a lower clamping plate 8 for clamping a cable 3, and the middle parts of the upper clamping plate 7 and the lower clamping plate 8 are aligned and provided with V-shaped grooves or U-shaped grooves for clamping the cable. The front climbing module and the rear climbing module are internally provided with motors 13 for driving the swinging clamping mechanism to continuously open and close and push-pull circulation actions, and the rear end of the front climbing module is connected with the front end of the rear climbing module through a connecting rod 4 without driving force.
The front climbing module 1 and the rear climbing module 2 are identical in structure and are similar in front-rear orientation only, and therefore, the structure of the front climbing module 1 is described in the prior art. As shown in fig. 2, the front climbing module 1 includes a tubular housing that is penetrated from front to back, a slit 9 is provided on an upper side of the tubular housing for embedding a cable, two ends of the upper clamping plate 7 are fixed upper clamping plates 71, a middle section is a movable upper clamping plate 72, the movable upper clamping plate and the fixed upper clamping plate can be assembled/disassembled, the cable passes through the slit, and the embedding is completed in a disassembled state of the upper clamping plate, and then the upper clamping plate is assembled to clamp the cable. The interior of the cylindrical housing is evenly provided with a number of four guide wheels 11 radially abutting the cable around the cable.
As shown in fig. 8 and 9, the guide wheel set structure comprises a guide wheel seat 16 fixed with the inner wall of the cylindrical shell, a guide wheel swing frame 17 is arranged at the inner end of the guide wheel seat, a guide wheel 11 is erected at the inner end of the guide wheel swing frame, and a guide wheel spring 18 is arranged between the guide wheel swing frame and the guide wheel seat and used for tightly pressing the guide wheel inwards against the cable 3.
As shown in fig. 2 and 3, the swing clamp mechanism comprises an upper swing assembly 5 and a lower swing assembly 6. The lower swing assembly is symmetrically arranged at the lower parts of the two outer sides of the cylindrical shell, and comprises a driving gear 61, a lower rocker arm 62, a first lower swing arm 63, a second lower swing arm 64 and a third lower swing arm 65 at one side of the cylindrical shell: the peripheral tooth surface of the driving gear 61 is hinged with the rear end of the lower rocker arm 62, one end of the first lower rocker arm 63 is hinged with the cylindrical shell, the other end of the first lower rocker arm 63 is hinged with the middle part of the lower rocker arm 62, the rear end of the second lower rocker arm 64 is hinged with the cylindrical shell, the front end of the second lower rocker arm 64 is hinged with the rear end of the third lower rocker arm 65, and the front end of the lower rocker arm 62 is hinged with the middle section of the third lower rocker arm 65. As shown in fig. 4 and 5, the front end of the third lower swing arm is inclined upwards, the front end of the third lower swing arm 65 is sleeved with a lower telescopic arm, a telescopic spring 12 is arranged between the rear end of the lower telescopic arm and the third lower swing arm, and the front end of the lower telescopic arm is hinged with the end part of the lower clamping plate 7.
The upper swing assembly is symmetrically arranged on the upper parts of the two outer sides of the cylindrical shell, and comprises a driven gear 51, an upper rocker arm 52, a first upper swing arm 53, a second upper swing arm 54 and a third upper swing arm 55 on one side of the cylindrical shell: the peripheral tooth surface of the driven gear 51 is hinged with the rear end of the upper rocker arm 52, one end of the first upper rocker arm 53 is hinged with the cylindrical shell, the other end of the first upper rocker arm 53 is hinged with the middle part of the upper rocker arm 52, the rear end of the second upper rocker arm 54 is hinged with the cylindrical shell, the front end of the second upper rocker arm 54 is hinged with the rear end of the third upper rocker arm 55, and the front end of the upper rocker arm 52 is hinged with the middle section of the third upper rocker arm 55. As shown in fig. 4 and 5, the front end of the third upper swing arm is inclined downwards, the front end of the third upper swing arm 55 is sleeved with an upper telescopic arm 56, a telescopic spring 12 is arranged between the rear end of the upper telescopic arm and the third upper swing arm, and the front end of the upper telescopic arm is hinged with the end part of the upper clamping plate.
As shown in fig. 6 and 7, a motor 13 is disposed at the lower part of the inner side of the cylindrical housing, the output end of the motor outputs driving force to the power shaft 15 through a transmission gear set, a driving gear 61 is mounted at both ends of the power shaft, and driven gears 51 and the driving gear 61 are the same in size, aligned up and down and engaged with each other.
As shown in fig. 1 and 10, the middle parts of the left side and the right side between the rear end of the front climbing module 1 and the front end of the rear climbing module are respectively provided with one connecting rod 4, the middle section of the connecting rod is provided with a swinging hinge shaft, the joint of the front climbing module, the rear climbing module and the connecting rod is provided with a long groove 19, the end parts of the connecting rod are slidably clamped in the long groove, and an attitude adjusting spring 20 is arranged between the end parts of the connecting rod and the two ends of the long groove. When the mooring ropes arc-shaped to extend, the front climbing module and the rear climbing module realize complete steering to a certain extent through the hinge shaft, the gesture adjusting springs carry out floating positioning on the two ends of the connecting rod, and when the clamping sections of the front climbing module and the rear climbing module are overlapped for a short time, the front and rear positions of the front climbing module and the rear climbing module are asynchronous by a small extent, a certain telescopic adaptation is provided; and when the front climbing module and the rear climbing module are bent, floating adjustment is realized on the connection points of the two ends of the connecting rod and the long groove.
The motors of the front climbing module and the rear climbing module continuously operate at the same rotating speed in a time delay of half of the cycle of the cyclic motion of the swinging clamping mechanism when the robot climbs the rope.
When the robot climbs the rope forwards, as shown in fig. 11, the upper clamping plate and the lower clamping plate of the front climbing module draw the rope from front to back when clamping the rope, and unfold and reset from back to front when loosening the upper clamping plate and the lower clamping plate; the upper clamping plate and the lower clamping plate of the rear climbing module are pushed from front to back when clamping cables, and are retracted from back to front when being loosened; the clamping time periods of the upper clamping plate and the lower clamping plate of the front climbing module and the rear climbing module are mutually alternate, and the clamping time periods are connected end to end. As can be seen from fig. 11a, in operation, from the same side, the driven gears of the front climbing module and the rear climbing module are clockwise, the driving gears are counterclockwise, and in combination with the view in fig. 6, the motor orientations of the front climbing module and the rear climbing module are opposite, so that the motor orientations of the front climbing module and the rear climbing module are opposite, the rotation speeds are kept consistent, and the delay of half cycle period is kept.
From fig. 11, it can be inferred reversely that when the robot climbs the rope backwards, the upper clamping plate and the lower clamping plate of the front climbing module push forwards from behind when clamping the cable, and retract and reset from front to back when the upper clamping plate and the lower clamping plate are released; the upper clamping plate and the lower clamping plate of the rear climbing module are pulled forwards from behind when clamping the mooring rope, and are unfolded and reset from front to back when being released.
Claims (9)
1. The utility model provides a rope robot is climbed in continuous drive formula, includes preceding climbing module and back climbing module, its characterized in that: the front climbing module (1) and the rear climbing module (2) are identical in structure and opposite in front and back directions, the front climbing module is provided with a swinging clamping mechanism extending forwards, the rear climbing module is provided with a swinging clamping mechanism extending backwards, the front end of the swinging clamping mechanism is provided with an upper clamping plate (7) and a lower clamping plate (8) for clamping a cable (3), motors (13) for driving the swinging clamping mechanism to continuously open and close and push and pull circularly are respectively arranged in the front climbing module and the rear climbing module, and the rear end of the front climbing module is connected with the front end of the rear climbing module through a connecting rod (4) without driving force;
the front climbing module (1) comprises a cylindrical shell which is penetrated from front to back, the swing clamping mechanism comprises an upper swing assembly (5) and a lower swing assembly (6),
the lower swing assembly is symmetrically arranged at the lower parts of the two outer sides of the cylindrical shell, and comprises a driving gear (61), a lower rocker arm (62), a first lower swing arm (63), a second lower swing arm (64) and a third lower swing arm (65) at one side of the cylindrical shell: the outer circumference of the driving gear (61) is hinged with the rear end of the lower rocker arm (62), one end of the first lower rocker arm (63) is hinged with the cylindrical shell, the other end of the first lower rocker arm is hinged with the middle part of the lower rocker arm (62), the rear end of the second lower rocker arm (64) is hinged with the cylindrical shell, the front end of the second lower rocker arm (64) is hinged with the rear end of the third lower rocker arm (65), the front end of the lower rocker arm (62) is hinged with the middle section of the third lower rocker arm (65), and the front end of the third lower rocker arm is inclined upwards and is connected with the end part of the lower clamping plate (8);
the upper swing assembly is symmetrically arranged on upper parts of two outer sides of the cylindrical shell, and comprises a driven gear (51), an upper rocker arm (52), a first upper swing arm (53), a second upper swing arm (54) and a third upper swing arm (55) on one side of the cylindrical shell: the outer circumference of the driven gear (51) is hinged with the rear end of the upper rocker arm (52), one end of the first upper rocker arm (53) is hinged with the cylindrical shell, the other end of the first upper rocker arm is hinged with the middle part of the upper rocker arm (52), the rear end of the second upper rocker arm (54) is hinged with the cylindrical shell, the front end of the second upper rocker arm (54) is hinged with the rear end of the third upper rocker arm (55), the front end of the upper rocker arm (52) is hinged with the middle section of the third upper rocker arm (55), and the front end of the third upper rocker arm is connected with the end part of the upper clamping plate (7) in a downward inclined manner;
the motor (13) is arranged at the lower part of the inner side of the cylindrical shell, the output end of the motor is connected with the power shaft (15), the driving gear (61) is arranged at the two ends of the power shaft, and the driven gear (51) and the driving gear (61) are identical in size, aligned up and down and meshed with each other.
2. The continuously driven rope climbing robot according to claim 1, wherein: the front end of the third lower swing arm (65) is sleeved with a lower telescopic arm, a telescopic spring (12) is arranged between the rear end of the lower telescopic arm and the third lower swing arm, and the front end of the lower telescopic arm is hinged with the end part of the lower clamping plate; the front end of the third upper swing arm (55) is sleeved with an upper telescopic arm (56), a telescopic spring (12) is arranged between the rear end of the upper telescopic arm and the third upper swing arm, and the front end of the upper telescopic arm is hinged with the end part of the upper clamping plate.
3. A continuously driven rope climbing robot according to claim 1 or 2, wherein: the middle parts of the upper clamping plate and the lower clamping plate are aligned and provided with V-shaped grooves or U-shaped grooves for holding and clamping the mooring ropes.
4. A continuously driven rope climbing robot according to claim 1 or 2, wherein: the two ends of the upper clamping plate (7) are fixed upper clamping plates (71), the middle section is a movable upper clamping plate (72), and the movable upper clamping plate and the fixed upper clamping plate can be assembled/disassembled.
5. A continuously driven rope climbing robot according to claim 1 or 2, wherein: the upper side of the cylindrical shell is provided with a slit (9) for embedding a cable, and a plurality of guide wheels (11) which are abutted against the cable from radial direction are uniformly arranged around the cable in the cylindrical shell.
6. A continuously driven rope climbing robot according to claim 1 or 2, wherein: the connecting rod (4) is respectively arranged on the left side and the right side between the rear end of the front climbing module (1) and the front end of the rear climbing module, the middle section of the connecting rod is provided with a swinging hinge shaft, the connecting parts of the front climbing module, the rear climbing module and the connecting rod are provided with long grooves (19), the end parts of the connecting rod are slidably clamped in the long grooves, and an attitude adjusting spring (20) is arranged between the end parts of the connecting rod and the two ends of the long grooves.
7. A continuously driven rope climbing robot according to claim 1 or 2, wherein: the motors of the front climbing module and the rear climbing module continuously run at the same rotating speed and with the time delay of half of the cycle movement period of the swinging clamping mechanism during rope climbing; when climbing ropes forwards, the upper clamping plate and the lower clamping plate of the front climbing module draw the ropes from front to back when clamping the ropes, and the upper clamping plate and the lower clamping plate are unfolded and reset from back to front when loosening; the upper clamping plate and the lower clamping plate of the rear climbing module are pushed from front to back when clamping cables, and are retracted from back to front when being loosened;
when climbing ropes backwards, the upper clamping plate and the lower clamping plate of the front climbing module push the ropes forwards from behind when clamping the ropes, and retract and reset from front to back when the upper clamping plate and the lower clamping plate are loosened; the upper clamping plate and the lower clamping plate of the rear climbing module are pulled forwards from behind when clamping the mooring rope, and are unfolded and reset from front to back when being released.
8. The continuously driven rope climbing robot according to claim 7, wherein: the clamping time of the upper clamping plate and the lower clamping plate accounts for 50% or more of the cycle period of the swinging clamping mechanism.
9. The continuously driven rope climbing robot according to claim 8, wherein: the clamping time periods of the upper clamping plate and the lower clamping plate of the front climbing module and the rear climbing module are mutually alternate, and the clamping time periods are connected end to end.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210937467.3A CN115285246B (en) | 2022-08-05 | 2022-08-05 | Continuously-driven rope climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210937467.3A CN115285246B (en) | 2022-08-05 | 2022-08-05 | Continuously-driven rope climbing robot |
Publications (2)
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| CN108454723A (en) * | 2018-05-17 | 2018-08-28 | 香港中文大学（深圳） | A kind of cable climbing robot |
| CN109263742A (en) * | 2018-09-29 | 2019-01-25 | 山东建筑大学 | Transmission tower climbing robot clamping device and its robot |
| CN110952443A (en) * | 2019-11-21 | 2020-04-03 | 深圳市人工智能与机器人研究院 | Split type cable climbing detection robot |
| CN114261457A (en) * | 2022-01-10 | 2022-04-01 | 武汉轻工大学 | Tree climbing robot |
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| TWI581844B (en) * | 2016-01-27 | 2017-05-11 | Genius Toy Taiwan Co Ltd | Climbing wall toys |
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| CN103448826A (en) * | 2013-09-09 | 2013-12-18 | 徐州工业职业技术学院 | Two-foot type wall climbing robot |
| CN104875810A (en) * | 2015-06-23 | 2015-09-02 | 北京航空航天大学 | Four-foot-swing wall-climbing robot with driven waist joint |
| CN106882284A (en) * | 2017-03-22 | 2017-06-23 | 武汉科技大学 | A kind of four-jaw type apery tube climber device people |
| CN108454723A (en) * | 2018-05-17 | 2018-08-28 | 香港中文大学（深圳） | A kind of cable climbing robot |
| CN109263742A (en) * | 2018-09-29 | 2019-01-25 | 山东建筑大学 | Transmission tower climbing robot clamping device and its robot |
| CN110952443A (en) * | 2019-11-21 | 2020-04-03 | 深圳市人工智能与机器人研究院 | Split type cable climbing detection robot |
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