CN115817670A

CN115817670A - Climbing robot

Info

Publication number: CN115817670A
Application number: CN202310011821.4A
Authority: CN
Inventors: 孟杰; 蒋立泉; 李丽坤; 胡航宇; 肖扬; 朱晓杏; 蒋立宇; 涂文章
Original assignee: Wuhan Suye Technology Co ltd
Current assignee: Wuhan Suye Technology Co ltd
Priority date: 2023-01-05
Filing date: 2023-01-05
Publication date: 2023-03-21
Anticipated expiration: 2043-01-05
Also published as: CN115817670B

Abstract

The invention discloses a climbing robot which is used for moving along the extending direction of a cable and comprises: the cable is sleeved with the clamping assembly and detachably connected to the cable, the clamping assembly is provided with a hollow structure used for allowing the clamping assembly to penetrate out of the cable, the walking assembly is connected to the clamping assembly and used for driving the clamping assembly to walk along the extending direction of the cable, the main assembly comprises a main body and at least one cantilever part, the main body and the cable are arranged at intervals, the cantilever part is arranged between the clamping assembly and the main body and connected with the clamping assembly and the main body, and the length of the cantilever part is adjustable, so that the distance between the main body and the cable is adjustable. The invention can solve the problem of poor applicability caused by the fixed distance between the transmission mechanism and the cable which is not suitable for various working conditions.

Description

Climbing robot

Technical Field

The invention relates to the technical field of deicing robots, in particular to a climbing robot.

Background

With the high-speed development of industries such as bridge guys, cables and the like in China, the climbing robot is widely applied to the overhaul and maintenance work of the bridge guys and the high-voltage cables.

For example, application numbers are: CN201520285331.4, the name of the chinese utility model is: climbing deicing robot, including drive mechanism, two first deicing mechanisms and the second deicing mechanisms that the structure is the same, two first climbing mechanisms and the second climbing mechanism that the structure is the same, two first manipulator mechanisms and the second manipulator mechanism that the structure is the same, first deicing mechanisms and second deicing mechanisms are installed respectively in the drive mechanism left and right sides, both ends around drive mechanism are installed respectively to first climbing mechanism and second climbing mechanism, first manipulator mechanism is installed in first climbing mechanism upper end, second manipulator mechanism installs in second climbing mechanism upper end. The device adopts the mode that the pulley matches with the arm to realize the nimble multi-purpose such as arm climbing, deicing, obstacle surmounting, detection, has reduced the requirement to auxiliary device. The distance between the rotating axis of the second pulley and the transmission mechanism is fixed, so that the distance between the transmission mechanism and the cable is fixed, and when the size of the obstacle is larger than the distance between the transmission mechanism and the cable, the deicing of the surface of the cable cannot be normally completed.

Therefore, a climbing robot is needed urgently for solve the problem that the applicability is poor due to the fact that the distance between the transmission mechanism and the cable is fixed and is not suitable for various working conditions in the prior art.

Disclosure of Invention

In view of this, it is necessary to provide a climbing robot, which solves the technical problem in the prior art that the applicability is poor due to the fact that the distance between the transmission mechanism and the cable is fixed and is not suitable for various working conditions.

In order to achieve the above technical object, the present invention provides a climbing robot for moving along an extending direction of a cable, including:

the clamping assembly is sleeved on the cable and detachably connected to the cable, and a hollow structure for allowing the clamping assembly to penetrate out of the cable is formed in the clamping assembly;

the walking assembly is connected to the clamping assembly and used for driving the clamping assembly to walk along the extending direction of the cable;

the main body component comprises a main body and at least one cantilever part, the main body and the cable are arranged at intervals, the cantilever part is arranged between the clamping component and the main body and is connected with the clamping component and the main body, and the length of the cantilever part is adjustable, so that the distance between the main body and the cable is adjustable.

Furthermore, the number of the cantilever parts in the main body assembly is even, the plurality of cantilever parts are symmetrically distributed on two sides of the main body, each cantilever part comprises a first connecting arm and a second connecting arm, one end of each first connecting arm is rotatably connected to the main body, one end of each second connecting arm is rotatably connected to the other end of each first connecting arm and can rotate around a rotating shaft at the joint of the first connecting arm relative to the first connecting arm, and the clamping assembly is arranged between the two second connecting arms and is rotatably connected with the other ends of the two second connecting arms.

Furthermore, the clamping assembly comprises a first clamping half ring and a second clamping half ring, one end of the first clamping half ring is rotatably connected to the other end of one of the second connecting arms, the second clamping half ring is arranged opposite to the first clamping half ring and is rotatably connected to the other end of the other second connecting arm, and the second clamping half ring and the first clamping half ring respectively rotate around the axis of the rotary connection position of the second clamping half ring and move close to or away from each other to clamp or release the cable.

Furthermore, the rotating directions of the first clamping semi-ring and the second clamping semi-ring are the same.

Furthermore, the clamping assembly further comprises two rotating shafts, a first clamping member and a second clamping member, the two rotating shafts are arranged in parallel and at intervals, the rotating shafts and the second connecting arms are arranged in one-to-one correspondence and are rotatably connected to the other ends of the second connecting arms, the first clamping half ring is rotatably connected with the other end of one second connecting arm through one rotating shaft, the second clamping half ring is rotatably connected with the other end of the other second connecting arm through the other rotating shaft, the first clamping member is hinged to the other end of the first clamping half ring and is meshed with the other rotating shaft, and the second clamping member is hinged to the other end of the second clamping half ring and is meshed with the one rotating shaft.

Furthermore, first centre gripping semi-ring and second centre gripping semi-ring enclose to close and form the grip ring, the walking subassembly includes three walking piece, the walking piece includes connecting rod, sliding block and walking wheel, and is three the connecting rod is followed the central line of grip ring is point symmetric distribution, the connecting rod is followed first spout has still been seted up in the radial of grip ring, the one end of sliding block is slided to inlay and is located first spout, the walking wheel rotate connect in the sliding block, the walking wheel can rotate around its self axis of rotation to closely the butt with the circumference outer wall of cable, so that rolling walking wheel drives the outer wall removal of grip ring along the cable.

Further, the connecting rod is hinged with the clamping ring.

Further, the main part subassembly still includes first image acquisition spare, first image acquisition spare includes annular rail and at least one first image acquisition portion, the cable is located to the annular rail cover, and with two the axis of rotation homogeneous phase is connected, first image acquisition portion connect in annular rail, and can follow annular rail's direction slides.

Further, the circumference outer wall of main part has seted up the ring channel, the main part subassembly still includes second image acquisition spare, second image acquisition spare includes slider and second image acquisition portion, the slider slides to inlay and locates the ring channel, and be connected to the main part, second image acquisition portion is equipped with on the slider, and can follow the slider is followed the direction of ring channel slides.

Further, the main part subassembly still includes two climbing pieces, two the climbing piece is followed the ring channel symmetry sets up to be connected in the both ends of main part, be used for the main part is followed the extending direction climbing of cable.

Compared with the prior art, the invention has the beneficial effects that: the cable is sleeved with the clamping assembly and detachably connected to the cable, a hollow structure for allowing the clamping assembly to penetrate out of the cable is formed in the clamping assembly, the walking assembly is connected to the clamping assembly and used for driving the clamping assembly to walk along the extending direction of the cable, meanwhile, the main body and the clamping assembly are connected through at least one cantilever part, the cantilever part is connected with the main body and the clamping assembly, and the length of the cantilever part is adjustable, so that the distance between the main body and the cable is adjustable. Compared with the prior art, the length through adjusting the cantilever part can be adjusted the interval between main part and the cable, adjust the distance between the main part and the cable according to the size of barrier under the different operating mode conditions promptly to avoid because of the interval between the axis of rotation of second pulley and the drive mechanism is fixed, lead to the interval between drive mechanism and the cable to be fixed, can solve the technical problem that the suitability is poor among the prior art.

Drawings

Fig. 1 is a schematic three-dimensional structure diagram of a climbing robot provided by an embodiment of the invention;

FIG. 2 is a schematic structural diagram of a climbing robot from another perspective according to an embodiment of the present invention;

FIG. 3 is a schematic three-dimensional structure of a suspension member, a clamping assembly and a walking assembly according to an embodiment of the present invention;

FIG. 4 is a schematic three-dimensional structure of the connection between the clamping assembly and the walking assembly provided by the embodiment of the present invention;

fig. 5 is a schematic three-dimensional structure of the first or second engaging member according to an embodiment of the present invention.

Detailed Description

The accompanying drawings, which are incorporated in and constitute a part of this application, illustrate preferred embodiments of the invention and together with the description, serve to explain the principles of the invention and not to limit the scope of the invention.

Referring to fig. 1 and 2, the present invention provides a climbing robot for moving along an extending direction of a cable, including: the cable clamping device comprises at least one clamping component 1 used for clamping a cable, at least one walking component 2 and a main body component 3, wherein the clamping component 1 is sleeved on the cable and detachably connected to the cable, a hollow structure used for allowing the clamping component 1 to penetrate out of the cable is formed in the clamping component 1, the walking component 2 is connected to the clamping component 1 and used for driving the clamping component 1 to walk along the extending direction of the cable, the main body component 3 comprises a main body 31 and at least one cantilever part 32, the main body 31 and the cable are arranged at intervals, the cantilever part 32 is arranged between the clamping component 1 and the main body 31 and connected with the clamping component 1 and the main body 31, and the length of the cantilever part 32 is adjustable, so that the distance between the main body 31 and the cable is adjustable.

In the device, the clamping component 1 is sleeved on the cable and detachably connected to the cable, a hollow structure for allowing the clamping component 1 to penetrate out of the cable is formed on the clamping component 1, the walking component 2 is connected to the clamping component 1 and used for driving the clamping component 1 to walk along the extending direction of the cable, and meanwhile the main body 31 and the clamping component 1 are connected through at least one cantilever part 32, wherein the cantilever part 32 is connected with the main body 31 and the clamping component 1, and the length of the cantilever part 32 is adjustable, so that the distance between the main body 31 and the cable is adjustable.

It can be understood that, compare in prior art, can adjust the interval between main part 31 and the cable through the length of adjustment cantilever part 32, adjust the distance between main part 31 and the cable to the size of barrier under the different operating mode conditions promptly to avoid because of the fixed interval between axis of rotation 13 line of second pulley and the drive mechanism, lead to the fixed interval between drive mechanism and the cable, can solve the technical problem that the suitability is poor among the prior art.

Further, the main body 31 is provided with components for providing control and power sources for the clamping assembly 1, the walking assembly 2 and the like, so as to improve the autonomous working capability of the device, wherein the control and power sources and the like are conventional arrangements known by those skilled in the art, and redundant description is not repeated herein.

As shown in fig. 1 and 3, the number of the cantilever members 32 in the main body assembly 3 is even, the plurality of cantilever members 32 are symmetrically distributed on two sides of the main body 31, each cantilever member 32 includes a first connecting arm 321 and a second connecting arm 322, one end of the first connecting arm 321 is rotatably connected to the main body 31, one end of the second connecting arm is rotatably connected to the other end of the first connecting arm and can rotate around the rotating shaft at the connection position relative to the first connecting arm, and the clamping assembly 1 is disposed between the two second connecting arms 322 and is rotatably connected to the other ends of the two second connecting arms 322.

It can be understood that the main body 31 and the clamping component 1 for clamping the cable are connected through the first connecting arm 321 and the second connecting arm 322, specifically, the connection between the first connecting arm 321 and the main body 31, the connection between the first connecting arm 321 and the second connecting arm 322, and the connection between the second connecting arm 322 and the clamping component 1 are provided with the rotating shaft 13 and the driving motor for realizing relative rotation, the distance between the main body 31 and the cable can be adjusted by the rotated first connecting arm 321 and the rotated second connecting arm 322, so as to avoid obstacles and the like according to different working conditions, where the motor is a small or micro motor which is common and easily purchased in the market, and no redundant description is made here.

As shown in fig. 1, 3 and 4, the clamping assembly 1 includes a first clamping half-ring 11 and a second clamping half-ring 12, one end of the first clamping half-ring 11 is rotatably connected to the other end of a second connecting arm 322, the second clamping half-ring 12 is disposed opposite to the first clamping half-ring 11 and rotatably connected to the other end of the other second connecting arm 322, and the second clamping half-ring 12 and the first clamping half-ring 11 respectively rotate around the axis of the rotational connection and move toward or away from each other to clamp or release the cable.

It can be understood that the first clamping half ring 11 and the second clamping half ring 12 are respectively disposed on two sides of the cable and form a hollow structure for allowing the clamping assembly 1 to pass out of the cable, wherein the first clamping half ring 11 and the second clamping half ring 12 are respectively rotatably connected to the two second connecting arms 322 around their own rotating axes 13 and can rotate in a direction close to the cable, and the rotated first clamping half ring 11 and the rotated second clamping half ring 12 move close to each other and form a clamping to the cable.

In one embodiment, the first half clamping ring 11 and the second half clamping ring 12 rotate in the same direction.

It can be understood that the first and

second clamp halves

11 and 12 are rotated in the same direction, so that the first and

second clamp halves

11 and 12 rotated simultaneously can be moved synchronously and moved closer to or farther from the cable at the intermediate position simultaneously, thereby facilitating the user's operation.

As a preferred embodiment, as shown in fig. 4 and 5, the clamping assembly 1 further includes two rotating shafts 13, a first engaging member 14 and a second engaging member 15, the two rotating shafts 13 are parallel to each other and spaced apart from each other, the rotating shafts 13 are disposed in one-to-one correspondence with the second connecting arms 322 and rotatably connected to the other ends of the second connecting arms 322, the first clamping half ring 11 is rotatably connected to the other end of one of the second connecting arms 322 through one rotating shaft 13, the second clamping half ring 12 is rotatably connected to the other end of the other second connecting arm 322 through the other rotating shaft 13, the first engaging member 14 is hinged to the other end of the first clamping half ring 11 and engaged with the other rotating shaft 13, and the second engaging member 15 is hinged to the other end of the second clamping half ring 12 and engaged with one rotating shaft 13.

It will be appreciated that the first and

second clamping halves

11 and 12 are rotated together with the rotation shaft 13, respectively, relative to the second connecting arm 322 connected thereto under the driving of the motor, and that the rotation or first clamping half 11 is engaged with the rotation shaft 13 connected to the second clamping half 12, while the second clamping half 12 is engaged with the rotation shaft 13 connected to the first clamping half 11, and the engaged first and

second clamping halves

11 and 12 can limit the separation of the clamping assembly 1 from the cable.

As an implementation manner, as shown in fig. 4, the first clamping half ring 11 and the second clamping half ring 12 are enclosed to form a clamping ring, the traveling assembly 2 includes three traveling members 21, the traveling members 21 include connecting rods 211, sliding blocks and traveling wheels 212, the three connecting rods 211 are distributed in point symmetry along the center line of the clamping ring, first sliding grooves are further formed in the connecting rods 211 along the radial direction of the clamping ring, one ends of the sliding blocks are slidably embedded in the first sliding grooves, the traveling wheels 212 are rotatably connected to the sliding blocks, the traveling wheels 212 can rotate around their own rotation axes 13, and are tightly abutted to the circumferential outer walls of the cables, so that the rolling traveling wheels 212 drive the clamping ring to move along the outer walls of the cables.

It can be understood that three walking pieces 21 all connect in the inboard of grip ring to be point symmetric distribution along the circumferential surface of cable, make on the even outer wall that acts on the cable of effort of three walking pieces 21, it is specific, walking wheel 212 rotates around its self axis, and walking wheel 212 after the rotation acts on the outer wall of cable, drives cable and grip ring through frictional force and takes place relative motion, and it does not do here and does not describe repeatedly too much.

Furthermore, still be provided with the elasticity portion in the first spout, the elasticity portion is used for producing the sliding block along the elastic restoring force of first spout slip back automatic re-setting, can make the walking wheel 212 of this device can be applicable to the cable of different diameter sizes simultaneously, does not do here too much and gives redundant details.

In a preferred embodiment, as shown in fig. 4, the connecting rod 211 is hinged to the clamp ring.

It can be understood that the connection point of the connection rod 211 and the first clamping half ring 11 and the second clamping half ring 12 is hinged, that is, the connection rod 211 can rotate relative to the first clamping half ring 11 and the second clamping half ring 12, and the rotated connection rod 211 can be better adapted to cables with different diameters, so that the applicability of the device is improved.

As shown in fig. 1 to 3, the main body assembly 3 further includes a first image capturing member 33, a second image capturing member 34 connected to the clamping assembly 1, and a climbing member 35 connected to the main body 31.

Wherein, first image acquisition part 33 includes annular rail and at least one first image acquisition portion, and the cable is located to the annular rail cover to be connected with two axis of rotation 13 homogeneous phases, first image acquisition portion connect in annular rail, and can follow annular rail's direction slip.

It can be understood that first image acquisition portion sets up on the outer wall of main part 31 to can slide around the circumference of main part 31, 360 rotations can be realized to first image acquisition portion after the slip, in order to obtain the image information around this device, and carry out effectual feedback with the information after gathering, be favorable to construction and operation etc. do not do here and do not describe repeatedly too much.

Specifically, the first image capturing element 33 further includes an internal gear, at least one external gear, a motor, and the like, the annular track connected with the first image capturing portion is sleeved on the internal gear, the external gear is rotatably connected to the main body 31 and engaged with the internal gear, the external gear drives the internal gear, the annular track and the first image capturing portion to rotate around the main body 31 under the driving of the motor, and redundant description is omitted here.

As an embodiment, as shown in fig. 3, an annular groove is formed on the circumferential outer wall of the main body 31, the second image capturing element 34 includes a slider 331 and a second image capturing portion 332, the slider 331 is slidably embedded in the annular groove and connected to the main body 31, and the second image capturing portion 332 is provided on the slider 331 and can slide along the annular groove along with the slider 331.

It can be understood that the second image collecting part 332 is connected to the clamping ring and can rotate 360 degrees relative to the cable to obtain the image information of the surface of the cable, and the collected information is effectively fed back, which is beneficial to construction and operation, and so on, and will not be described herein.

As an embodiment, two climbing members 35 are symmetrically disposed along the annular groove and connected to two ends of the main body 31, so that the main body 31 can climb along the extending direction of the cable.

It can be understood that climbing piece 35 is for having the arm of a plurality of degrees of freedom and setting up in the gripper of arm tip, wherein the gripper can snatch the base station of cable or high-voltage cable, scramble, so that this device can scramble under the condition that does not have the cable, combine walking assembly 2 in this device simultaneously, can realize slideing and scramble both motion forms, climbing piece 35 sets up and is applicable to the form of crawling, walking assembly 2's setting is applicable to the form of slideing, the degree of automation that climbing robot can be improved in combination of both motion forms.

Specifically, climbing piece 35 includes gripper, first linking arm 321 and second linking arm 322 in this device, and wherein the gripper includes two clamping pieces, two transmission connecting rods, a connecting rod base, a linear electric motor and a four-bar linkage, and linear electric motor provides power for four-bar linkage, and four-bar linkage drives transmission connecting rod and can close or open. The clamping piece is fixed on the transmission connecting rod, when the connecting rod is closed, the clamping piece can clamp revolving bodies such as telegraph poles or cables, the mechanical claw on one side grabs a climbing object, the whole body can rotate 180 degrees by rotating the clamping piece, and the mechanical arm on the other side is reversed to the upper portion. Then the gripper that rotates to upper portion at this moment catches the climbing object again, and the gripper that catches the climbing object originally loosens the gripping object before, and the upset action before repeating many times can realize the climbing of the whole shaft-like object of robot in any direction, and the same reason, this device can also adopt similar principle to realize the horizontal transition on the different trusses, realizes the horizontal climbing of two or many cables on same height promptly, does not do not need here too much to describe repeatedly.

According to the specific working process of the invention, the clamping assembly 1 is sleeved on the cable and detachably connected to the cable, a hollow structure for allowing the clamping assembly 1 to penetrate out of the cable is formed on the clamping assembly 1, the walking assembly 2 is connected to the clamping assembly 1 and used for driving the clamping assembly 1 to walk along the extension direction of the cable, and meanwhile, the main body 31 and the clamping assembly 1 are connected through at least one cantilever part 32, wherein the cantilever part 32 is connected with the main body 31 and the clamping assembly 1, and the length of the cantilever part 32 is adjustable, so that the distance between the main body 31 and the cable is adjustable. Compare in prior art, can adjust the interval between main part 31 and the cable through the length of adjustment cantilever part 32, adjust the distance between main part 31 and the cable according to the size of barrier under the different operating mode conditions promptly to avoid because of the fixed interval between 13 lines of axis of rotation of second pulley and the drive mechanism, lead to the interval between drive mechanism and the cable to be fixed, can solve the technical problem that the suitability is poor among the prior art.

Through above-mentioned structure, rotate around its rotation axis 13 line that rotates the junction through control first linking arm 321 and second linking arm 322, can solve among the prior art because of the fixed not be applicable to multiple operating mode of interval between drive mechanism and the cable to lead to the technical problem that the suitability is poor.

The above description is only for the preferred embodiment of the present invention, but the scope of the present invention is not limited thereto, and any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope of the present invention are included in the scope of the present invention.

Claims

1. A climbing robot for moving in the direction of extension of a cable, comprising:

2. The climbing robot as claimed in claim 1, wherein the number of the cantilever members in the main assembly is even, the plurality of cantilever members are symmetrically distributed on two sides of the main body, the cantilever members include a first connecting arm and a second connecting arm, one end of the first connecting arm is rotatably connected to the main body, one end of the second connecting arm is rotatably connected to the other end of the first connecting arm and can rotate around a rotating shaft at a connection position of the first connecting arm relative to the first connecting arm, and the clamping assembly is disposed between the two second connecting arms and is rotatably connected to the other ends of the two second connecting arms.

3. The climbing robot according to claim 2, wherein the clamping assembly comprises a first clamping half ring and a second clamping half ring, one end of the first clamping half ring is rotatably connected to the other end of one of the second connecting arms, the second clamping half ring is arranged opposite to the first clamping half ring and is rotatably connected to the other end of the other of the second connecting arms, and the second clamping half ring and the first clamping half ring are respectively rotated around the axis of the rotational connection thereof and move toward or away from each other to form clamping or releasing of the cable.

4. The climbing robot of claim 3, wherein the first half gripper ring and the second half gripper ring rotate in the same direction.

5. The climbing robot as claimed in claim 3, wherein the clamping assembly further comprises two rotating shafts, a first engaging member and a second engaging member, the two rotating shafts are parallel to each other and spaced apart from each other, the rotating shafts are in one-to-one correspondence with the second connecting arms and are rotatably connected to the other ends of the second connecting arms, the first clamping half ring is rotatably connected to the other end of one of the second connecting arms through one of the rotating shafts, the second clamping half ring is rotatably connected to the other end of the other of the second connecting arms through the other rotating shaft, the first engaging member is hinged to the other end of the first clamping half ring and is engaged with the other rotating shaft, and the second engaging member is hinged to the other end of the second clamping half ring and is engaged with one of the rotating shafts.

6. The climbing robot as claimed in claim 5, wherein the first and second gripping half rings are enclosed to form a gripping ring, the walking assembly comprises three walking members, each walking member comprises a connecting rod, a sliding block and a walking wheel, the three connecting rods are distributed point-symmetrically along a center line of the gripping ring, the connecting rod is further provided with a first sliding groove along a radial direction of the gripping ring, one end of the sliding block is slidably embedded in the first sliding groove, the walking wheel is rotatably connected to the sliding block, the walking wheel can rotate around a rotation axis thereof and is in close abutment with a circumferential outer wall of the cable, so that the rolling walking wheel drives the gripping ring to move along the outer wall of the cable.

7. The climbing robot of claim 6, wherein the connecting rod is articulated with the gripper ring.

8. The climbing robot as claimed in claim 5, wherein the main assembly further comprises a first image capturing member, the first image capturing member comprises an annular rail and at least one first image capturing portion, the annular rail is sleeved on the cable and is connected to the two rotating shafts, and the first image capturing portion is connected to the annular rail and can slide along the guide of the annular rail.

9. The climbing robot as claimed in claim 1, wherein the main body has an annular groove formed in a circumferential outer wall thereof, the main body assembly further comprises a second image capturing member, the second image capturing member comprises a sliding block and a second image capturing portion, the sliding block is slidably inserted into the annular groove and connected to the main body, and the second image capturing portion is provided with the sliding block and is slidable along the annular groove along with the sliding block.

10. The climbing robot of claim 9, wherein the main assembly further comprises two climbing members symmetrically disposed along the annular groove and connected to both ends of the main body for climbing the main body along an extending direction of the cable.