CN207987730U - Climb type detects robot - Google Patents
Climb type detects robot Download PDFInfo
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- CN207987730U CN207987730U CN201721825960.7U CN201721825960U CN207987730U CN 207987730 U CN207987730 U CN 207987730U CN 201721825960 U CN201721825960 U CN 201721825960U CN 207987730 U CN207987730 U CN 207987730U
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- robot
- fast body
- swing arm
- worm
- climb type
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Abstract
The utility model is suitable for testing equipment field, provides a kind of climb type detection robot, including telescopic moving mechanism, upper hold-fast body, lower hold-fast body and detection device.Upper and lower hold-fast body includes support ring and holds unit tightly, and each holding unit includes driving device, transmission component, swing arm and vola.Driving device can drive swing arm reciprocally swinging, to make the vola of swing arm free end swing.The robot load capacity of the utility model is strong, can carry detection device and be observed inspection to bridge cable surface and inside.The robot is the portable tool of bridge cable disease inspection, and pipe can be greatly reduced and form this and personnel's operating risk, solve the problems, such as that heavy workload, efficiency that manual work is brought are low, have security risk.Be conducive to long term monitoring, prevention of damage by disease and the disposition of drag-line working condition, also, robot during the motion will not damage drag-line, it is most important safely for bridge operation.
Description
Technical field
The utility model belongs to testing equipment field more particularly to a kind of climb type detection robot.
Background technology
The development of bridge cable climbing detection robot is more early, originates from phase late 1980s, earlier US, Europe
Some research institutions develop bridge cable climbing detection robot in succession, but the case of application is really unfolded also not in industry
It is more.For China's robot research present situation, Bridge Management ＆ Maintenance robot is also relatively very young, especially bridge cable climbing inspection
Robot is surveyed, is both in high safety reliability, power supply benefit that is severe, working under complex environment and consider detection over long distances
To with telecommunication etc., thus, no matter technically or apply upper, the research and application of bridge cable climbing detection robot
A undoubtedly greatly challenge.
Bridge cable climbing detection robot is a complicated electro-mechanical system, is related to mechanical structure, automatic control
The multiple fields such as system, communication, multi-sensor information fusion, power technology.Mechanical structure is the main body of robot, is to determine machine
The key of the follow-up relevant design of people.Currently, most of crusing robot is more by mechanism joint, volume is big, heavy, load capacity
The conditionalities such as difference；Mechanism joint is various, and kinematic decoupling control difficulty is high, and control accuracy can not be up to standard；Robot volume is big,
Heaviness, can not meet drag-line job requirements, and industrial realistic scale is low；Load capacity difference can not then carry enough power supplys and detection is set
It is standby, patrol task can not be executed for a long time.
In addition, for some wheeled detection robots, is held tightly by multiple wheels and top pressure drag-line surface scrolls
Advance, in order to avoid robot slides, wheel needs to impose severe pressure to drag-line surface when holding drag-line tightly, is moved in robot
Wheel generates larger force of sliding friction with drag-line surface when dynamic, is easy to generate damage to drag-line surface.
Utility model content
The purpose of this utility model is to provide a kind of climb types to detect robot, it is intended to solve climbing in the prior art
Formula detects the big volume present in robot, heaviness and is easy to lead to the problem of damage to drag-line.
Present embodiments provide a kind of climb type detection robot, including telescopic moving mechanism, upper hold-fast body, lower holding
Mechanism and detection device, the upper hold-fast body and lower hold-fast body include that support ring and at least two are circumferentially distributed
Holding unit, the holding unit includes driving device, transmission component, swing arm and vola；The driving device installation
In in the support ring, the driving device is sequentially connected by the transmission component and the swing arm, and described in capable of driving
Swing arm reciprocally swinging, the vola are installed on the free end of the swing arm；The upper hold-fast body and lower hold-fast body
Support ring be fixedly connected respectively with the both ends of the telescopic moving mechanism；The detection device is fixed in the support ring.
Further, climb type detection robot further includes communication control module, the communication control module installation
It is electrically connected in the support ring, and with telescopic moving mechanism, upper hold-fast body, lower hold-fast body and detection device.
Further, the communication control module includes for controlling the controller of each organisation operations, referring to for receiving
The wireless signal receiver of signal and the information for detecting detection device is enabled to be transmitted back to the wireless signal of ground based terminal
Transmitter.
Further, the telescopic moving mechanism includes several circumferentially distributed electric cylinders, cylinder body, the telescopic rod of the electric cylinders
It is fixedly connected respectively with the support ring of upper hold-fast body and lower hold-fast body.
Further, several circumferential direction side's cloth are also equipped in the support ring of the upper hold-fast body and/or lower hold-fast body
The support wheel for top pressure drag-line.
Further, the transmission component includes synchronous belt drive mechanism and Worm and worm-wheel gearing, the synchronization
The belt pulley of tape handler coaxially couples with the worm screw of the Worm and worm-wheel gearing；One end of the swing arm with it is described
The worm gear of Worm and worm-wheel gearing is fixedly connected.
Further, each holding unit is located at including two swing arms, two volas and two
The Worm and worm-wheel gearing of the synchronous belt drive mechanism two sides.
Further, the holding unit further includes rod end ball bearing and shaft, and the rod end ball bearing is fixed on institute
State the free end of swing arm, the shaft is arranged in the rod end ball bearing, the back side of the vola by the shaft with
The rod end ball bearing is hinged.
Further, the holding unit further includes flexible, hinged component, and the flexible, hinged component has elasticity, energy
Axial elasticity is flexible；One end of the flexible hinge is connect with the vola, and the other end is connect with the swing arm.
Further, climb type detection robot further includes that derusting device and the sheath benefit for repairing drag-line connect
Device.
Compared with prior art, advantageous effect is the present embodiment：The climb type of the utility model detects robot, uses
Bionics principle, binding kinetics, theory of mechanisms ambit theory, carry out complete human simulation structure design.By bionical
The configurations such as vola design, miniaturization design design to provide the robot sheet of light high-stiffness, low energy consumption, high-adaptability
Body.
Robot load capacity is strong, can carry detection device and be observed inspection to bridge cable surface and inside.The machine
Device people is the portable tool of bridge cable disease inspection, and pipe can be greatly reduced and form this and personnel's operating risk, solves artificial make
Heavy workload that industry is brought, efficiency is low, has the problem of security risk.Be conducive to long term monitoring, the disease of bridge cable working condition
Evil is prevented and disposition, also, robot during the motion will not damage drag-line, and weight is extremely closed for bridge operation safety
It wants.
Description of the drawings
One or more embodiments are illustrated by the picture in corresponding attached drawing, these exemplary theorys
The bright restriction not constituted to embodiment, the element with same reference numbers label is expressed as similar element in attached drawing, removes
Non- to have special statement, composition does not limit the figure in attached drawing.
Fig. 1 is the schematic diagram that a kind of climb type detection robot that the utility model embodiment provides is fixed on drag-line；
Fig. 2 is a kind of schematic diagram for climb type detection robot that the utility model embodiment provides；
Fig. 3 is the schematic diagram of the upper hold-fast body in Fig. 2；
Fig. 4 is the schematic diagram of the holding unit in Fig. 3；
Fig. 5 is a kind of schematic diagram for rod end ball bearing that the utility model embodiment provides.
Specific implementation mode
In order to make technical problem to be solved in the utility model, technical solution and advantageous effect be more clearly understood, with
Lower combination accompanying drawings and embodiments, the present invention will be further described in detail.It should be appreciated that specific reality described herein
It applies example to be only used to explain the utility model, is not used to limit the utility model.
Fig. 1 and Fig. 2 is referred to, robot is detected for a kind of climb type that the utility model embodiment provides, includes mainly
Upper hold-fast body 10, lower hold-fast body 20, telescopic moving mechanism 30, detection device 40, communication control module 50 and power supply 60.
Above-mentioned upper hold-fast body 10 and lower hold-fast body 20 include support ring 1 and at least two circumferentially distributed armfuls
Tight unit 2.Fig. 3 and Fig. 4 is referred to, it includes driving device 21, transmission component 22, swing arm 23, vola 24, bar to hold unit 2 tightly
Hold ball bearing 25, shaft 26 and flexible, hinged component 27.
The present embodiment is using electric rotating machine as driving device 21, and driving device 21 is installed in support ring 1, driving device
21 are sequentially connected by transmission component 22 and swing arm 23, and 23 reciprocally swinging of energy band movable pendulum swing arm, vola 24 are installed on swing
The free end of arm 23.Specifically, the transmission component 22 of the present embodiment includes synchronous belt drive mechanism and Worm Wheel System machine
Structure, the belt pulley 221 of synchronous belt drive mechanism with the worm screw 222 of Worm and worm-wheel gearing is coaxial couples；The one of swing arm 23
End is fixedly connected with the worm gear 223 of Worm and worm-wheel gearing.
Specifically, each holding unit 2, which includes two swing arms, 23, two volas 24 and two, is located at synchronization
The Worm and worm-wheel gearing of tape handler two sides.When driving device 21 works, output shaft rotation, and pass through transmission group
Part 22 drives swing arm 23 to swing, and is mounted on due to vola 24 on the free end of swing arm 23, so vola 24 can be swung, it can
By controlling the driving device 21 forward and reverse rotation and the angle of rotation, to control vola 24 within a certain range toward physical pendulum
It is dynamic.So each two volas 24 for holding unit 2 tightly can clamp drag-line 200, and all armfuls of 200 outer peripheral edge of drag-line distribution
, it can be achieved that holding or unloading the operation of drag-line 200 tightly when tight unit 2 works at the same time.In addition, the self-locking using Worm Wheel System is special
Property can make robot that can still hold drag-line tightly under non-charged state, can save the energy consumption of robot.
In order to avoid vola 24 damages drag-line, the adaptability of 24 climbing of enhancing robot vola improves vola 24 and draws
The friction system on 200 surface of rope and the stability for ensureing robot climbing process holding, can be on the medial surface of vola 24
Paste one layer of soft floor covering material 241.
The present embodiment, in order to realize above-mentioned design, is please joined together using flexible vola 24 and compliant hinge mechanism design
See Fig. 5, rod end ball bearing 25 is fixed on to the free end of swing arm 23, shaft 26 is arranged in rod end ball bearing 25, vola 24
The back side it is hinged by shaft 26 and the rod end ball bearing 25.There is flexible, hinged component 27 elasticity, energy axial elasticity to stretch
Contracting；One end of flexible hinge 27 is connect with vola 24, and the other end is connect with swing arm 23.Due to the knot of rod end ball bearing 25
Structure feature, so vola 24 has there are three rotational freedom, raised barrier on adaptive drag-line 200 that can be passive ensures
Vola 24 remains that face contacts with drag-line 200, improves the robustness that robot holds drag-line 200 tightly.
Above-mentioned telescopic moving mechanism 30 includes several circumferentially distributed electric cylinders 301, the cylinder body of electric cylinders 301, telescopic rod difference
It is fixedly connected with the support ring 1 of the support ring 1 of upper hold-fast body 10 and lower hold-fast body 20.When electric cylinders 301 are powered on, stretch
Contracting bar does stretching motion, to push support ring 1 to move up, or support ring 1 is pulled to move down.In practical applications,
The power plant of telescopic moving mechanism 30 other than electric cylinders 301, can also use other may be implemented stretching motion component or
Person's component.
Above-mentioned detection device 40 is fixed in the support ring 1, and detection device 40 can be installed according to specific needs,
For example, several front cameras can be arranged along the week side direction of support ring 1, the case where for shooting drag-line；It can also pacify
Magnetic flux non-destructive testing device is filled, robot movement detection is followed by.
Above-mentioned communication control module 50 is installed in the support ring 1, and with telescopic moving mechanism 30, upper hold-fast body
10, lower hold-fast body 20 and detection device 40 are electrically connected.The communication control module 50 includes for controlling each mechanism
The controller of running, the wireless signal receiver for receiving command signal and the image for detecting detection device,
All kinds of parameter testing results etc. are transmitted back to the wireless signal transmitter of ground based terminal.
Above-mentioned power supply 60 is fixedly connected with electric cylinders, is above-mentioned hold-fast body 10, lower hold-fast body 20, telescopic moving machine
Structure 30, detection device 40, communication control module 50 provide electric energy.The power supply 60 of the present embodiment is attached to similar to rechargeable battery
In robot, but battery is not necessarily limited to be attached in robot, and robot can be also by external cable and power supply unit electricity
Gas connects.
Be also equipped in the support ring 1 of above-mentioned upper hold-fast body 10 and lower hold-fast body 20 several circumferential direction side's cloth for pushing up
Press the support wheel 70 of drag-line 200.In such a way that support wheel 70 coordinates hold-fast body, drag-line 200 can be not only firmly grasped, machine
People is fixed on drag-line 200, can also support the ontology of robot during exercise, and robot head/tail end is made to keep phase with drag-line
To stable form.
Above-mentioned climb type detection robot further includes that derusting device and the sheath for repairing drag-line mend connection device, this two
Kind device is attached in the walking mechanism of lower end, realizes that mobile derusting and pe sheath are repaired.
Robot motion's pattern of the present embodiment is using the vermicular movement of nature worm as foundation, in order to make the climbing of robot
Principle is more clear, and is parsed in detail with reference to robot climbing motion：
The first step：It reaches the standard grade preparation, the vola 24 of upper hold-fast body 10 and lower hold-fast body 20 all clamps drag-lines 200；
Second step：The vola 24 of upper hold-fast body 10 unclamps, and telescopic moving mechanism 30 extends, and hold-fast body 10 is past in promotion
Upper movement；
Third walks：The vola 24 of upper hold-fast body 10 compresses, and the vola 24 of lower hold-fast body 20 unclamps, telescopic moving mechanism
30 shrink, and lower hold-fast body 20 is pulled up to move；
4th step：The vola 24 of lower hold-fast body 10 compresses, and the vola 24 of upper hold-fast body 10 unclamps, telescopic moving mechanism
30 extend, and hold-fast body 10 up moves in promotion；It recycles repeatedly, realizes movement.
The climb type of the present embodiment detects robot, with bionics principle, binding kinetics, theory of mechanisms ambit
Theory carries out complete human simulation structure design.It is carried by configurations designs such as the design of bionical vola 24, miniaturization designs
For light high-stiffness, low energy consumption, high-adaptability robot body.
Robot load capacity is strong, can carry detection device and be observed inspection to 200 surface of bridge cable and inside.It should
Robot is the portable tool of bridge cable disease inspection, and pipe can be greatly reduced and form this and personnel's operating risk, is solved artificial
Heavy workload that operation is brought, efficiency is low, has the problem of security risk.Be conducive to bridge cable working condition long term monitoring,
Prevention of damage by disease and disposition, also, robot during the motion will not damage drag-line, for bridge operation safety to pass
It is important.
It is easily understood that the robot of the present embodiment can apply to the detection of tube, cable, shaft this type objects
Work, application field can relate to the industries such as cable spraying, street lamp post detection, pipeline-like external detection.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
All any modification, equivalent and improvement etc., should be included in the utility model made by within the spirit and principle of utility model
Protection domain within.
Claims (10)
1. a kind of climb type detects robot, which is characterized in that including telescopic moving mechanism, upper hold-fast body, lower hold-fast body
And detection device, the upper hold-fast body and lower hold-fast body include support ring and at least two circumferentially distributed armfuls
Tight unit, the holding unit includes driving device, transmission component, swing arm and vola；The driving device is installed on institute
It states in support ring, the driving device is sequentially connected by the transmission component and the swing arm, and can drive the swing
Arm reciprocally swinging, the vola are installed on the free end of the swing arm；The branch of the upper hold-fast body and lower hold-fast body
Pushing out ring is fixedly connected with the both ends of the telescopic moving mechanism respectively；The detection device is fixed in the support ring.
2. climb type as described in claim 1 detects robot, which is characterized in that the climb type detects robot and further includes
Communication control module, the communication control module are installed in the support ring, and with telescopic moving mechanism, upper hold-fast body,
Lower hold-fast body and detection device electrical connection.
3. climb type as claimed in claim 2 detects robot, which is characterized in that the communication control module includes for controlling
Make the controllers of each organisation operations, the wireless signal receiver for receiving command signal and for detecting detection device
To information be transmitted back to the wireless signal transmitter of ground based terminal.
4. climb type as described in claim 1 detects robot, which is characterized in that the telescopic moving mechanism includes several weeks
To the electric cylinders of distribution, the support ring of the cylinder body, telescopic rod of the electric cylinders respectively with upper hold-fast body and lower hold-fast body is fixed
Connection.
5. climb type as described in claim 1 detects robot, which is characterized in that the upper hold-fast body and/or lower holding
The support wheel for top pressure drag-line of several circumferential direction side's cloth is also equipped in the support ring of mechanism.
6. climb type as described in claim 1 detects robot, which is characterized in that the transmission component includes toothed belt transmission
Mechanism and Worm and worm-wheel gearing, the snail of the belt pulley of the synchronous belt drive mechanism and the Worm and worm-wheel gearing
Bar coaxially couples；One end of the swing arm is fixedly connected with the worm gear of the Worm and worm-wheel gearing.
7. climb type as claimed in claim 6 detects robot, which is characterized in that each holding unit includes two
A swing arm, two volas and two Worm and worm-wheel gearings for being located at the synchronous belt drive mechanism two sides.
8. climb type as claimed in any of claims 1 to 7 in one of claims detects robot, which is characterized in that the holding unit
Further include rod end ball bearing and shaft, the rod end ball bearing is fixed on the free end of the swing arm, and the shaft is worn
In in the rod end ball bearing, the back side of the vola is hinged by the shaft and the rod end ball bearing.
9. climb type as claimed in any of claims 1 to 7 in one of claims detects robot, which is characterized in that the holding unit
Further include flexible, hinged component, the flexible, hinged component has elasticity, energy axial elasticity flexible；The flexible, hinged component
One end connect with the vola, the other end is connect with the swing arm.
10. climb type as claimed in any of claims 1 to 7 in one of claims detects robot, which is characterized in that the climb type inspection
It further includes that derusting device and the sheath for repairing drag-line mend connection device to survey robot.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721825960.7U CN207987730U (en) | 2017-12-23 | 2017-12-23 | Climb type detects robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201721825960.7U CN207987730U (en) | 2017-12-23 | 2017-12-23 | Climb type detects robot |
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| Publication Number | Publication Date |
|---|---|
| CN207987730U true CN207987730U (en) | 2018-10-19 |
Family
ID=63818029
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201721825960.7U Active CN207987730U (en) | 2017-12-23 | 2017-12-23 | Climb type detects robot |
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| CN (1) | CN207987730U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108252211A (en) * | 2017-12-23 | 2018-07-06 | 香港中文大学（深圳） | Climb type detects robot |
| CN109764826A (en) * | 2019-03-12 | 2019-05-17 | 武汉冠油科技有限公司 | A kind of detector of high speed detection bridge cable exterior cross-section shape |
-
2017
- 2017-12-23 CN CN201721825960.7U patent/CN207987730U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108252211A (en) * | 2017-12-23 | 2018-07-06 | 香港中文大学（深圳） | Climb type detects robot |
| CN108252211B (en) * | 2017-12-23 | 2024-03-26 | 香港中文大学（深圳） | Climbing type detection robot |
| CN109764826A (en) * | 2019-03-12 | 2019-05-17 | 武汉冠油科技有限公司 | A kind of detector of high speed detection bridge cable exterior cross-section shape |
| CN109764826B (en) * | 2019-03-12 | 2024-02-06 | 武汉冠油科技有限公司 | Detector for detecting appearance cross section shape of bridge inhaul cable at high speed |
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