CN206012760U - Articulated type pole-climbing detects robot - Google Patents

Articulated type pole-climbing detects robot Download PDF

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Publication number
CN206012760U
CN206012760U CN201621059352.5U CN201621059352U CN206012760U CN 206012760 U CN206012760 U CN 206012760U CN 201621059352 U CN201621059352 U CN 201621059352U CN 206012760 U CN206012760 U CN 206012760U
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CN
China
Prior art keywords
climbing
robot
cylinder
pole
type pole
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Application number
CN201621059352.5U
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Chinese (zh)
Inventor
陈从平
冉艳华
吴喆
胡琼
吕添
陈法法
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三峡大学
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Application filed by 三峡大学 filed Critical 三峡大学
Priority to CN201621059352.5U priority Critical patent/CN206012760U/en
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Publication of CN206012760U publication Critical patent/CN206012760U/en

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Abstract

Articulated type pole-climbing detects robot, including robot body, image detecting system, tele-control system, is attached using cable between tele-control system and robot body.The robot body includes that the first climbing device, the second climbing device, the first climbing device, the second climbing device are the tubular structure that two pieces of semicircular cylinders are connected and composed, and two pieces of semicircular cylinder sides are articulated and connected, and opposite side is bolted.First climbing device, the second climbing device cylinder interior are circumferentially uniformly provided with the compliant wheel for anticollision, and compliant wheel is fixed on cylinder inner wall by the strut support for being hinged on climbing device inwall, pole cantilever end connecting spring one end, the spring other end.First climbing device, the second climbing device are connected by folding Joint Manipulator.The utility model robot locking and climbed using axially symmetric structure and by symmetrical arc electromagnet to being detected metallic rod and carrying out adsorbing, it is to avoid because robot may under Gravitative Loads around tested measuring staff rotate and by member bar injury.

Description

Articulated type pole-climbing detects robot
Technical field
The utility model is related to robot field, and more particularly to a kind of articulated type pole-climbing detects robot.
Background technology
Band large-scale metal rod member has been applied to numerous key load-bearing occasions, typically, such as big up to more than ten meters of power station The machine liquid presses piston pole of type gate opening/closing, the pull bar of stayed-cable bridge, straight rod type metal cordses bar etc..These rod members process under arms Medium-term and long-term as air or rainwater environment in, easily make which produce surface corrosion, the defect such as interlayer, affect the use of equipment, such as liquid Depression bar causes hydraulic cylinder sealing element to be damaged when flexible;Or potential safety hazard is produced, so that carrying out In-service testing and maintenance.At present Detecting mainly by way of manually carrying testing equipment and being climbed and detected to these rod members, the working environment danger of workman Dangerous degree is high, and efficiency is low.If corresponding climbing level robot can be developed, and the detection sensor needed for carrying is patrolled and examined, Ji Nengti High security, can improve detection efficiency again.
At present, seen climbing level robot is primarily adapted for use in the climbing of the less vertical vertical rod of diameter, and which drives equipment and master Want load-supporting part in the side of tested measuring staff.When vertical vertical rod is climbed, because suffered by robot, gravity is parallel with vertical bar, have Preferably climb effect.But when tested measuring staff slant setting, robot does not need only provide for power and the folder climbed along bar Clamp force, will also overcome because of the torque of Robot bar rotation caused by self gravitation in crawling process, and Yi Shi robots come off, or Because rotation causes tested measuring staff surface tear, new defect is caused.Thus, design climb brace robot when, reasonably examine Consider robot architecture and function, when especially detecting major diameter rod member, the size of robot itself, weight can be increased, if knot Structure, function are unreasonable, and robot can be caused to rotate around bar, come off, or scratch detected rod member.
Content of the invention
For realizing that the on-line checking of major diameter metal bar, the utility model provide a kind of articulated type pole-climbing and detect robot, Detected metallic rod is carried out adsorbing locking and is climbed using axially symmetric structure and by symmetrical arc electromagnet, it is to avoid Because robot may under Gravitative Loads around tested measuring staff rotate and by member bar injury, and install, dismounting easy.
The technical scheme adopted by the utility model is:
Articulated type pole-climbing detects robot, including robot body, image detecting system, tele-control system, long-range control It is attached using cable between system processed and robot body.The robot body includes that the first climbing device, second climb Mechanism is risen, the first climbing device, the second climbing device are the tubular structure that two pieces of semicircular cylinders are connected and composed, two pieces of semicircular cylinders one Side is articulated and connected, and opposite side is bolted;Two semicircular cylinders of each climbing device can be rotated against around jointed shaft, closed A complete cylinder is become to be bolted.
First climbing device, the second climbing device cylinder interior are circumferentially uniformly provided with the compliant wheel for anticollision, Compliant wheel is fixed on by the strut support for being hinged on climbing device inwall, pole cantilever end connecting spring one end, the spring other end On cylinder inner wall.
First climbing device, the second climbing device are connected by folding Joint Manipulator;Every jointed robot Arm is made up of two connecting rods, is connected by rotary joint between two connecting rods, and the two ends of every Joint Manipulator are respectively with first Climbing device, the outer surface of the second climbing device are circumferentially symmetrically hinged.
The gear drive that the rotary joint is connected by rotary shaft, stepper motor and with stepper motor is constituted.
First climbing device, the second climbing device sidewall symmetry are provided with a pair of gathering sills, each gathering sill built-in Root support guide rod, the end of every support guide rod by cylinder inner wall side are provided with arc electromagnet, every support guide rod another One end connects an end cap, and each end cap is connected with the cylinder of corresponding climbing device by bolt, is provided with bullet on each end cap Spring, the other end of every spring are connected with cylinder outer wall.
Described image detecting system includes multiple video cameras being arranged on the first climbing device cylinder inner wall, video camera Number is defined by the whole circumference picture that can shoot tested measuring staff in same position.
The tele-control system includes image capture controller, the motion controller of stepper motor, arc electromagnet Controller for opening/closing.Tele-control system is in order to controlling the logical of collection, stepper motor rotation and the arc electromagnet of picture signal Power-off.
The cable includes power line, signal communication line and video line;The power line is used for detecting machine to pole-climbing People provides working power;The connection is used for transmission of control signals;The video line is used for image signal transmission.
A kind of articulated type pole-climbing of the utility model detects that robot, advantage are:
1):Climbing level robot adopts axially symmetric structure, and is carried out to being detected metallic rod by symmetrical arc electromagnet Absorption and is climbed at locking, it is to avoid because robot may under Gravitative Loads around tested measuring staff rotate and by member bar injury, and peace Dress, dismounting are easy.
2):By Robot Design into two sections of climbing devices, and synchronously driven by symmetrical rotating mechanical arm, operation same Step property, stability, better reliability.
3):Robot is equipped with camera detection part, can be complete to entirely tested measuring staff surface during robot climbs Whole scanning, detection, visual good, detection efficiency is high.
Description of the drawings
Structural representation when Fig. 1 is the utility model robot open mode.
Fig. 2 is schematic diagram after the utility model robot is installed on tested measuring staff.
Fig. 3 is the Joint Manipulator structural representation of robot in the utility model.
Specific embodiment
As shown in Fig. 1 ~ Fig. 3, articulated type pole-climbing detects robot, including robot body, image detecting system, long-range control System processed, is attached using cable between tele-control system and robot body.The robot body includes that first climbs Rise mechanism 1, the second climbing device 2.
First climbing device 1, the second climbing device 2 are the tubular structure that two pieces of semicircular cylinders are connected and composed, two pieces of semicircles Cylinder side is articulated and connected, and opposite side is connected by bolt 15;Two semicircular cylinders of each climbing device can be around the relative rotation of jointed shaft Turn, a complete cylinder is become by the connection of bolt 15 altogether.Remove bolt 15 and robot is sleeved on tested measuring staff 14 On, rear clamping screw 15 can conveniently realize installation of the robot on tested measuring staff 14.
First climbing device 1,2 cylinder interior of the second climbing device are circumferentially uniformly provided with three groups for the soft of anticollision Property wheel 3, compliant wheel 3 be rubber wheel.Compliant wheel 3 is supported by the pole 4 for being hinged on climbing device inwall, and 4 cantilever end of pole connects 5 one end of spring, 5 other end of spring are fixed on cylinder inner wall.Compliant wheel 3 can prevent robot during climbing its body and There is possible collision with tested measuring staff 14 in miscellaneous part.
First climbing device 1, the second climbing device 2 are connected by two folding Joint Manipulators 6;Every joint Formula mechanical arm 6 is made up of two connecting rods, is connected by rotary joint 7 between two connecting rods, the two ends point of every Joint Manipulator 6 Circumferentially symmetrically it is not hinged with the outer surface of the first climbing device 1, the second climbing device 2.
The gear drive that the rotary joint 7 is connected by rotary shaft, stepper motor 8 and with stepper motor 8, institute The first gear 16 that gear drive includes being connected, and the second gear engaged with first gear 16 is stated with stepper motor 8 17,
When stepper motor 8 rotates, Joint Manipulator 6 can be driven to fold or stretch by first gear 16, second gear 17 Exhibition.
First climbing device 1,2 sidewall symmetry of the second climbing device are provided with a pair of gathering sills, and each gathering sill is built-in A piece support guide rod 9, every support guide rod 9 are provided with arc electromagnet 10, support per root and lead by the end of cylinder inner wall side The other end of bar 9 connects an end cap 11, and each end cap 11 is connected with the cylinder of corresponding climbing device by bolt, each end cap Two springs 12 are installed on 11, the other end of every spring 12 is connected with cylinder outer wall.When each arc electromagnet 10 is powered To 14 adhesive of tested measuring staff and tested measuring staff 14 can be embraced, robot is fixed on tested measuring staff 14.When arc electromagnet 10 During power-off, can retract in 12 pulling force lower edge support guide rod 9 of spring.End cap 11 is mainly used in carrying out support guide rod 9 spacing and consolidates Determine spring 12.
Described image detecting system includes multiple video cameras 13 being arranged on 1 cylinder inner wall of the first climbing device, shooting The number of machine 13 is defined by the whole circumference picture that can shoot tested measuring staff 14 in same position.
The tele-control system includes image capture controller, the motion controller of stepper motor 8, arc electromagnet 10 Controller for opening/closing.Tele-control system is rotated and arc electromagnet in order to control the collection of picture signal, stepper motor 8 10 power on/off.
The cable includes power line, signal communication line and video line;The power line is used for detecting machine to pole-climbing People provides working power;The connection is used for transmission of control signals;The video line is used for image signal transmission.
Operation principle is as follows:
Original state hypozygal formula mechanical arm 6 is assumed in folded state, when work starts, it is desirable to which Robot is detected The lower end of bar 14 is climb, and which is installed and the course of work is:Remove two connecting bolts 15, by robot opening rear enclosure be attached to by In detection bar 14, two connecting bolts 15 are then installed and tighten, as shown in Figure 2.Hereafter following steps are executed:
A kind of employing articulated type pole-climbing detects the metallic rod detection method of robot, comprises the following steps:
Step 1:The electromagnet of the second climbing device 2 is powered, and makes the second climbing device 2 hold tested test tube 14 tightly.
Step 2:The electromagnet of the first climbing device 1 is unclamped, 1 original state of the first climbing device is clamping, remotely control System sends instructions and allows stepper motor 8 to rotate, while driving first gear 16, second gear 17 to rotate so that two joint formula machinery Arm 6 stretches, and the first climbing device 1 is lifted upwards along tested measuring staff 14, after certain distance is given rise to, executes following walking Suddenly.
Step 3:The electromagnet of the first climbing device 1 is powered, and makes the first climbing device 1 also embrace tested measuring staff 14.
Step 4:Multiple video cameras 13 are taken pictures simultaneously, obtain the circumference image of the tested measuring staff 14 in current position, and send Real-time detection is carried out to tele-control system.
Step 5:The electromagnet power-off of the second climbing device 2, and in the case where corresponding spring 12 is acted on, the second climbing device 2 Electromagnet can unclamp tested measuring staff 14.
Step 6:The stepper motor 8 of two Joint Manipulators 6 is reversely rotated simultaneously(Relative to step 2), two joints Formula mechanical arm 6 can be folded simultaneously, and the second climbing device 2 is lifted up along tested measuring staff 14, after reaching certain distance, step Stepper motor 8 is stalled, and thereafter returns to step 1.
Continuous repeat step 1- step 6, then robot can constantly climb along tested measuring staff 14 and take pictures, detect, until Stop after reaching specified location.
Robot often walks climbing distance, is clapped along 14 length direction exhaustive of tested measuring staff with shooting function between adjacent step pitch According to being defined, but the maximum length less than 6 tensibles of Joint Manipulator.
If need to be climbed along tested measuring staff 14 downwards, the first climbing device 1, the second climbing device 2 in exchange step 1- step 6 Electromagnet power-up sequence.

Claims (6)

1. articulated type pole-climbing detects robot, including robot body, image detecting system, tele-control system, remotely control It is attached using cable between system and robot body;It is characterized in that:The robot body includes that first climbs machine Structure(1), the second climbing device(2), the first climbing device(1), the second climbing device(2)It is what two pieces of semicircular cylinders were connected and composed Tubular structure, two pieces of semicircular cylinder sides are articulated and connected, and opposite side passes through bolt(15)Connection;Two semicircles of each climbing device Cylinder can be rotated against around jointed shaft, pass through bolt altogether(15)Connection becomes a complete cylinder;First climbing device(1)、 Second climbing device(2)Cylinder interior is circumferentially uniformly provided with compliant wheel(3), compliant wheel(3)By being hinged in climbing device The pole of wall(4)Support, pole(4)Cantilever end connecting spring(5)One end, spring(5)The other end is fixed on cylinder inner wall; First climbing device(1), the second climbing device(2)By folding Joint Manipulator(6)Connection;Every jointed robot Arm(6)It is made up of two connecting rods, by rotary joint between two connecting rods(7)Connection, every Joint Manipulator(6)Two ends point Not with the first climbing device(1), the second climbing device(2)Outer surface be circumferentially symmetrically hinged.
2. articulated type pole-climbing detects robot according to claim 1, it is characterised in that:The rotary joint(7)By rotating Axle, stepper motor(8), and and stepper motor(8)Connected gear drive composition.
3. articulated type pole-climbing detects robot according to claim 1, it is characterised in that:First climbing device(1), Two climbing devices(2)Sidewall symmetry is provided with a pair of gathering sills, the built-in support guide rod of each gathering sill(9), support per root and lead Bar(9)By the end of cylinder inner wall side, arc electromagnet is installed(10), every support guide rod(9)The other end connection one Individual end cap(11), each end cap(11)It is connected with the cylinder of corresponding climbing device by bolt, each end cap(11)On be provided with Spring(12), every spring(12)The other end be connected with cylinder outer wall.
4. articulated type pole-climbing detects robot according to claim 1, it is characterised in that:Described image detecting system includes many Individual it is arranged on the first climbing device(1)Video camera on cylinder inner wall(13), video camera(13)Number with can in same position Shoot tested measuring staff(14)Whole circumference picture be defined.
5. articulated type pole-climbing detects robot according to claim 1, it is characterised in that:The tele-control system includes figure As acquisition controller, stepper motor(8)Motion controller, arc electromagnet(10)Power on/off controlling device, remotely control system Unite in order to controlling collection, the stepper motor of picture signal(8)Rotation and arc electromagnet(10)Power on/off.
6. articulated type pole-climbing detects robot according to claim 1, it is characterised in that:The cable includes power line, letter Number connection and video line;The power line is used for providing working power to pole-climbing detection robot;The connection is used for Transmission of control signals;The video line is used for image signal transmission.
CN201621059352.5U 2016-09-18 2016-09-18 Articulated type pole-climbing detects robot CN206012760U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
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Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
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Cited By (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106314583A (en) * 2016-09-18 2017-01-11 三峡大学 Articulated-type rod climbing detection robot
CN107037336A (en) * 2017-04-24 2017-08-11 东北大学 A kind of change born of the same parents' climbing mechanism insulator detecting robot of swingable incision
CN107202941A (en) * 2017-04-24 2017-09-26 东北大学 It is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot
CN107559304A (en) * 2017-09-15 2018-01-09 广东工业大学 A kind of combined type air-bearing
CN108296231A (en) * 2018-01-04 2018-07-20 山东大学 Mobile mechanism applied to offshore oilfield wellhead platform pipeline cleaning
CN108499047A (en) * 2018-04-17 2018-09-07 东莞市智配机电科技有限公司 One kind is climbed tree mechanism
WO2019144227A1 (en) * 2018-01-23 2019-08-01 Gennadiy Lisnyak Pipe crawler
CN110588824A (en) * 2019-10-25 2019-12-20 上海海事大学 Separable magnetic attraction type pole-climbing robot
CN110615049A (en) * 2019-10-25 2019-12-27 上海海事大学 Combined magnetic pole-climbing method for robot
CN111058377A (en) * 2019-12-31 2020-04-24 哈尔滨理工大学 Wheeled cable climbing robot

Cited By (12)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN106314583A (en) * 2016-09-18 2017-01-11 三峡大学 Articulated-type rod climbing detection robot
CN107037336A (en) * 2017-04-24 2017-08-11 东北大学 A kind of change born of the same parents' climbing mechanism insulator detecting robot of swingable incision
CN107202941A (en) * 2017-04-24 2017-09-26 东北大学 It is a kind of can translation incision change born of the same parents' climbing mechanism insulator detecting robot
CN107037336B (en) * 2017-04-24 2019-02-12 东北大学 A kind of change born of the same parents' climbing mechanism insulator detecting robot of swingable incision
CN107559304A (en) * 2017-09-15 2018-01-09 广东工业大学 A kind of combined type air-bearing
CN108296231A (en) * 2018-01-04 2018-07-20 山东大学 Mobile mechanism applied to offshore oilfield wellhead platform pipeline cleaning
WO2019144227A1 (en) * 2018-01-23 2019-08-01 Gennadiy Lisnyak Pipe crawler
CN108499047A (en) * 2018-04-17 2018-09-07 东莞市智配机电科技有限公司 One kind is climbed tree mechanism
CN108499047B (en) * 2018-04-17 2020-08-18 温州市聚达信息科技有限公司 Tree climbing mechanism
CN110588824A (en) * 2019-10-25 2019-12-20 上海海事大学 Separable magnetic attraction type pole-climbing robot
CN110615049A (en) * 2019-10-25 2019-12-27 上海海事大学 Combined magnetic pole-climbing method for robot
CN111058377A (en) * 2019-12-31 2020-04-24 哈尔滨理工大学 Wheeled cable climbing robot

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GR01 Patent grant
CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20170315

Termination date: 20190918