CN108044598A - A kind of shaft, cable, rope climbing detection obstacle removing robot - Google Patents
A kind of shaft, cable, rope climbing detection obstacle removing robot Download PDFInfo
- Publication number
- CN108044598A CN108044598A CN201810032882.8A CN201810032882A CN108044598A CN 108044598 A CN108044598 A CN 108044598A CN 201810032882 A CN201810032882 A CN 201810032882A CN 108044598 A CN108044598 A CN 108044598A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J5/00—Manipulators mounted on wheels or on carriages
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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- Mechanical Engineering (AREA)
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
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Abstract
A kind of shaft provided by the present invention, cable, rope climbing detection obstacle removing robot, the fixed entire main frame structure of composition is bolted in left frame, correct frame, it is bolted and is dismounted convenient for left frame, correct frame, first climbing section, the second climbing section, the 3rd climbing section, which are bolted, is individually fixed in the first climbing section installation place, the second climbing section installation place, the 3rd climbing section installation place, and robot section is fixed on manipulator installation place；Push rod, which moves up and down, drives connecting seat to slide up and down on the chute, drives the cylinder body movement being fixed on connecting seat, drives external extension in track body；Gas bar drive robot section moves up and down, and first mechanical arm and second mechanical arm degree of freedom can be swung entirely so that monitoring device can be detected monitoring to climbed object, be guided for gripper, complete task of removing obstacles.Present invention seek to address that existing climbing energy force difference, detection are removed obstacles, ability is weak, does not adapt to the problem of different size outer diameter on same climbing object.
Description
Technical field
The present invention relates to shaft, cable, Abseiling device field, more specifically to a kind of shaft, cable, rope
Rope climbing detection obstacle removing robot.
Background technology
Pipeline is widely used general in daily life, small to cable greatly to communication tower.Electric pole cable is in chronic sun exposure rain
In leaching, inevitably have impurity and some things with corrosiveness bond to thereon, so that cable or wire bar is cracked
Or generate shift phenomenon so that cable or wire bar service life shortens, and causes the wasting of resources, in order to avoid problems, makes
The service life of cable or wire bar is elongated, reduces cost, and just must carry out periodic detection to cable or wire bar finds in time
Problem and processing of removing obstacles, since electric pole is higher, surface is smooth, cable should not be suitble to manually make than relatively hazardous easy electric shock
Industry, and use climbing detection obstacle removing robot can effectively instead of manually carrying out electric pole, cable detection remove obstacles operation, in strick precaution
The problems such as stating crackle, offset.
The content of the invention
In view of this, it is an object of the invention to provide a kind of shaft, cable, rope climbings to detect obstacle removing robot,
It aims to solve the problem that existing climbing energy force difference, detection to remove obstacles ability is weak, does not adapt to different size outer diameter on same climbing object and ask
Topic.
In order to achieve the above object, the present invention provides following technical solution：
A kind of shaft, cable, rope climbing detection obstacle removing robot, including main frame structure 1, climbing section 2, machinery
Hand portion 3；The main frame structure 1 includes left frame 11, correct frame 12, and main frame structure 1 is shaped like hollow cylindrical；
The left frame 11 includes the first ladder shape guardrail 111, the first climbing section installation place 112, the second ladder shape guardrail 113；First
111 and second ladder shape guardrail 113 of ladder shape guardrail is ladder-shaped, convenient for manually climbing, checking and protective effect；The right side
Frame 12 includes the second climbing section installation place 121, manipulator installation place 122, the 3rd climbing section installation place 123, takes a seat successively；It is left
The fixed entire main frame structure 1 of composition is bolted in frame 11, correct frame 12, is bolted convenient for left frame 11, the right side
Frame 12 dismounts；
The climbing section 2 includes the first climbing section 21, the second climbing section 22, the 3rd climbing section 23；First climbing section
21st, second climbing section 22 and 23 structure of the 3rd climbing section are identical, the first climbing section 21, the climbing of the second climbing section the 22, the 3rd
Portion 23 is in turn secured on the inner wall trisection point of main frame structure 1；
First climbing section 21 includes main fixed column 24, upper crawler belt climbing section 25, bottom roller portion 26；First climbing
Portion 21 is fixed on by main fixed column 24 on the inner wall of main frame structure 1, and the main fixed column 24 includes sliding slot 241, fixes
Bearing 242, sliding slot 241 are arranged at the centre of main fixed column 24, and sliding slot 241 is arranged at the lower end of main fixed column 24；The upper shoe
Band climbing section 25 includes track body 251, upper leg connector 252, lower leg connector 253, small cylinder portion 254, connection
Seat 255, big cylinder 256, push rod 257；
As preferred：The track body 251 is connected to master by upper leg connector 252 and lower leg connector 253
Fixed column 24 forms four-bar mechanism, wherein main fixed column 24 is fixing piece；
The small cylinder portion 254 includes cylinder body 2541, upper small push rod 2542, pushing rod sleeve 2543, small slideway 25431, main
The both sides of fixed column 24 are respectively provided with small cylinder portion 254, and the cylinder body 2541 is fixed on connecting seat 255, the upper small push rod
2542 one end is placed in cylinder body 2541 and moves back and forth, the other end of the upper small push rod 2542 while equipped with cylindric protrusion with
Convenient for being slided on the small slideway 25431 of the pushing rod sleeve 2543, the pushing rod sleeve 2543 is fixed on the track body
On 251；Two small cylinder portions 254 are as power source, track body 251, upper leg connector 252, lower leg connector 253
And the four-bar mechanism that main fixed column 24 forms realizes movement, the small cylinder portion under the drive in two small cylinder portions 254
Small push rod 2542 on 254 slides on small slideway 25431, and push rod is driven more than two extreme positions on small slideway 25431
Set 2543 stretches back and forth, so as to which track body 251 be driven to stretch back and forth, the outer diameter size variation of climbing object to adapt to, so as to
Realization is climbed on different size of shaft or rope, wherein upper leg connector 252 and lower leg connector 253 are as shoe
Connector is swung up and down with main body 251；
The track body 251 includes driving wheel 2511, jockey pulley 2512, principal and subordinate wheel 2513, motor 2514, left trapezoidal plate
2515th, right trapezoidal plate 2516, crawler belt 2517, the branch of the left trapezoidal plate 2515 and right trapezoidal plate 2516 as track body 251
Main body is supportted, the upper leg connector 252, lower leg connector 253, small cylinder portion 254 are all that be connected to the left side trapezoidal
On plate 2515 and right trapezoidal plate 2516, the driving wheel 2511 is located at the bottom of track body 251, the principal and subordinate wheel 2513
Positioned at the top of track body 251, driving wheel 2511, principal and subordinate wheel 2513, that several jockey pulleys 2512 are located at the left side is trapezoidal
Between plate 2515 and right trapezoidal plate 2516, the bottom of the left trapezoidal plate 2515 and right trapezoidal plate 2516 is designed with motor
2514, two motors 2514 are connected with driving wheel 2511, and the crawler belt 2517 is along left trapezoidal plate 2515 and right trapezoidal plate
2516 edge wrapping, driving wheel 2511 rotate under the drive of motor 2514, crawler belt 2517 are driven to walk about, crawler belt 2517 drives
Several jockey pulleys 2512 and principal and subordinate wheel 2513 roll, several jockey pulleys 2512 and principal and subordinate wheel 2513 promote crawler belt in turn
2517, it is the rolling between line and line between driving wheel 2511, jockey pulley 2512, principal and subordinate wheel 2513 and crawler belt 2517；
As preferred：Two cylindrical rolling items on the connecting seat 255 coordinate with sliding slot 241, sliding on sliding slot 241
It is dynamic；
The lower section of the connecting seat 255 is fixed with the push rod 257, the socket of push rod 257 and the big cylinder 256, air
Cylinder 256 is fixed on the hold-down support 242；The push rod 257 move up and down drive connecting seat 255 on sliding slot 241 on glide
It is dynamic, the cylinder body 2541 being fixed on connecting seat 255 is driven to move, so as to just drive small cylinder portion 254, then drives crawler belt
External extension in main body 251, so as to more adapt to the shaft of various outer diameter size, rope cable；
The bottom roller portion 26 include small cylinder 261, under small push rod 262, runner frame 263, idler wheel 264, the runner frame
263 one end and the lower part one of big cylinder 256 are reinstated bolt and are fixed on hold-down support 242；
As preferred：The runner frame 263 be in cuboid hollow frame structure, both ends be provided with semicolumn recess in order to
Coordinate it is described under small push rod 262 reach runner frame extreme position and do not generate direct shock；
The small cylinder 261 is fixed in main fixed column 24, and small cylinder 261 is located just at immediately below hold-down support 242, institute
State the other end that idler wheel 264 is fixed on runner frame 263；
As preferred：One end of small push rod 262 is equipped with cylindric plush copper convenient for being slided on runner frame 263 under described, band
Dynamic runner frame 263 is swung, and the shaft, the rope cable that adapt to various outer diameter size are moved inside and outside idler wheel 264 so as to drive；
The robot section 3 includes guide post 31, slide 32, gas bar 33, first mechanical arm 34, second mechanical arm 35, pivot
Socket part 36, mobile jib 37, monitoring device 38, gripper 39, the guide post 31 are mounted on manipulator installation place 122, guide post 31
There are two, the slide 32 is socketed on guide post 31, and the gas bar 33 is fixed between two guide posts 31, and gas bar 33 drives slide 32
It is slided up and down on guide post 31, the first mechanical arm 34 is fixed on slide 32, and the second mechanical arm 35 is connected to first
Mechanical arm 34；
As preferred：The first mechanical arm 34 and second mechanical arm 35 degree of freedom can be swung entirely；
By a small axis connection in second mechanical arm 35, the mobile jib 37 passes through articulated section 36, one end for the articulated section 36
The monitoring device 38 is fixed with, other end end is fixed with gripper 39, and mobile jib 37 can move back and forth on articulated section 36；
The gripper 39 include control unit 391, rear crowfoot 392, left front pawl 393, right fore paw 394, left connector 395,
Right connector 396, gripper 39 are fixed on 37 one end of mobile jib by the control unit 391, it is described after crowfoot 392 have two valves paired
Title is fixed on control unit 391, and the left valve of rear crowfoot 392 is connected with the left front pawl 393, and the right valve connection of rear crowfoot 392 is
Right fore paw 394 is stated, described left 395 one end of connector is connected to left front 393 other end of pawl and is connected to control unit 391, the right company
396 one end of fitting is connected to right 394 other end of fore paw and is connected to control unit 391；The right valve of crowfoot 392 after control unit 391 drives
The left valve for turning crowfoot 392 after driving simultaneously clockwise turns counterclockwise, and right fore paw 394 and left front pawl 393 can be driven to be clamped
Action, on the contrary it unclamps, wherein left connector 395 and right connector 396 play left front pawl 393 and right fore paw 394 support rotation branch
Point effect or the swing of itself drive the preferably clamping release action of left front pawl 393 and right fore paw 394.
Compared with prior art, the beneficial effects of the invention are as follows：
The present invention will be used for the climbings such as shaft, cable and be removed obstacles detection using above-mentioned technical proposal, can be more preferably in different bars
It is climbed on the shaft of footpath size, while robot section preferably can detect and clear up institute's pole for climbing or cable.The present invention's
Overall structure is simple, work efficiency is high, stable and reliable for performance, especially climbs operation to high-altitudes such as electric pole, signal tower, lightning rods
Help is brought, mitigates worker's homework burden, is reduced dangerous.
Description of the drawings
It in order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
There is attached drawing needed in technology description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
Some embodiments of invention, for those of ordinary skill in the art, without creative efforts, can be with
Other attached drawings are obtained according to these attached drawings.
Fig. 1 is the overall structure diagram of robot；
Fig. 2 is the part-structure schematic diagram of robot；
The schematic diagram of frame structure based on Fig. 3；
The top view of frame structure based on Fig. 4；
Fig. 5 is the structure diagram of the first climbing section；
Fig. 6 is the front view of the first climbing section；
Fig. 7 is the rearview of the first climbing section；
Fig. 8 is the structure diagram of robot section traverse；
Fig. 9 is the front view of robot section；
Wherein, marked in attached drawing as follows：
1 main frame structure, 11 left frames, 111 first ladder shape guardrails, 112 first climbing section installation places, 113 second
Ladder shape guardrail, 12 correct frames, 121 second climbing section installation places, 122 manipulator installation places, 123 the 3rd climbing section installation places,
13 frame bottoms, 2 climbing sections, 21 first climbing sections, 22 second climbing sections, 23 the 3rd climbing sections, 24 main fixed columns, 241 sliding slots, 242
Hold-down support, crawler belt climbing section, 251 track bodies, 2511 driving wheels, 2512 jockey pulleys, 2513 principal and subordinate wheels, 2514 electricity on 25
It is machine, 2515 left trapezoidal plates, 2516 right trapezoidal plates, 2517 crawler belts, leg connector on 252,253 times leg connectors, 254 small-sized
Cylinder part, 2541 cylinder bodies, small push rod, 2543 pushing rod sleeves, 25431 small slideways, 255 connecting seats, 256 big cylinders, 257 push away on 2542
Small push rod, 263 runner frames, 264 idler wheels under bar, 26 bottom roller portions, 261 small cylinders, 262,3 robot sections, 31 guide posts, 32 are slided
Seat, 33 gas bars, 34 first mechanical arms, 35 second mechanical arms, 36 articulated sections, 37 mobile jibs, 38 monitoring devices, 39 grippers, 391 controls
Crowfoot, 393 left front pawls, 394 right fore paws, 395 left connectors, 396 right connectors behind portion processed, 392.
Specific embodiment
Below in conjunction with the attached drawing in the embodiment of the present invention, the technical solution in the embodiment of the present invention is carried out clear, complete
Site preparation describes, it is clear that described embodiment is only part of the embodiment of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, those of ordinary skill in the art are obtained every other without making creative work
Embodiment belongs to the scope of protection of the invention.
In one particular embodiment of the present invention, as depicted in figs. 1 and 2, a kind of shaft, cable, rope climbing inspection
Obstacle removing robot is surveyed, including main frame structure 1, climbing section 2, robot section 3.
As shown in Figure 3, Figure 4, main frame structure 1 includes left frame 11, correct frame 12, and main frame structure 1 is shaped like in
Hollow round column shape；Left frame 11 includes the first ladder shape guardrail 111, the first climbing section installation place 112, the second ladder shape guardrail
113；First ladder shape guardrail 111 and the second ladder shape guardrail 113 are ladder-shapeds, convenient for manually climbing, checking and protecting work
With；Correct frame 12 includes the second climbing section installation place 121, manipulator installation place 122, the 3rd climbing section installation place 123, falls successively
Seat；The fixed entire main frame structure 1 of composition is bolted in left frame 11, correct frame 12, is bolted convenient for left frame
11st, correct frame 12 dismounts.
As shown in Fig. 5, Fig. 6 and Fig. 7, climbing section 2 includes the first climbing section 21, the second climbing section 22, the 3rd climbing section 23；
First climbing section 21, the second climbing section 22 and 23 structure of the 3rd climbing section are identical, the first climbing section 21, the second climbing section 22,
Three climbing sections 23 are in turn secured on the inner wall trisection point of main frame structure 1；First climbing section 21 include main fixed column 24,
Upper crawler belt climbing section 25, bottom roller portion 26；First climbing section 21 is fixed on the inner wall of main frame structure 1 by main fixed column 24
On, main fixed column 24 includes sliding slot 241, hold-down support 242, and sliding slot 241 is arranged at the centre of main fixed column 24, and sliding slot 241 is set
It is placed in the lower end of main fixed column 24；Upper crawler belt climbing section 25 includes track body 251, upper leg connector 252, lower bending connection
Part 253, small cylinder portion 254, connecting seat 255, big cylinder 256, push rod 257；Track body 251 passes through upper leg connector
252 and lower leg connector 253 be connected to main fixed column 24, four-bar mechanism is formed, wherein main fixed column 24 is fixing piece；It is small-sized
Cylinder part 254 includes cylinder body 2541, upper small push rod 2542, pushing rod sleeve 2543, small slideway 25431, and the both sides of main fixed column 24 are each
Equipped with small cylinder portion 254, cylinder body 2541 is fixed on connecting seat 255, and one end of upper small push rod 2542 is placed in cylinder body 2541
Backhaul dynamic, the other end of upper small push rod 2542 is while equipped with cylindric protrusion in order in the small cunning of the pushing rod sleeve 2543
It is slided on road 25431, pushing rod sleeve 2543 is fixed in the track body 251；Two small cylinder portions 254 are used as power source,
The four-bar mechanism that track body 251, upper leg connector 252, lower leg connector 253 and main fixed column 24 form is small at two
It realizes and moves under the drive of type cylinder part 254, the small push rod 2542 in small cylinder portion 254 slides on small slideway 25431, surpasses
Two extreme positions on too small slideway 25431 drive pushing rod sleeve 2543 to stretch back and forth, so as to which track body 251 be driven to stretch back and forth
Contracting, to adapt to, the outer diameter size variation of climbing object, is climbed so as to fulfill on different size of shaft or rope, wherein on
Leg connector 252 and lower leg connector 253 swing up and down connector as track body 251；Track body 251 includes
Driving wheel 2511, jockey pulley 2512, principal and subordinate wheel 2513, motor 2514, left trapezoidal plate 2515, right trapezoidal plate 2516, crawler belt 2517,
The supportive body of left trapezoidal plate 2515 and right trapezoidal plate 2516 as track body 251, upper leg connector 252, lower bending connect
Fitting 253, small cylinder portion 254 are connected on the left trapezoidal plate 2515 and right trapezoidal plate 2516, driving wheel 2511
In the bottom of track body 251, principal and subordinate wheel 2513 is located at the top of track body 251, driving wheel 2511, principal and subordinate wheel
2513rd, several jockey pulleys 2512 are between the left trapezoidal plate 2515 and right trapezoidal plate 2516, left trapezoidal plate 2515 and right ladder
The bottom of shape plate 2516 is designed with motor 2514, and two motors 2514 are connected with driving wheel 2511, and crawler belt 2517 is along left ladder
The edge of shape plate 2515 and right trapezoidal plate 2516 wraps, and driving wheel 2511 rotates under the drive of motor 2514, drives crawler belt
2517 walk about, and crawler belt 2517 drives several jockey pulleys 2512 and principal and subordinate wheel 2513 to roll, several jockey pulleys 2512 and principal and subordinate move
Wheel 2513 promotes crawler belt 2517 in turn, be line between driving wheel 2511, jockey pulley 2512, principal and subordinate wheel 2513 and crawler belt 2517 with
Rolling between line；Two cylindrical rolling items on connecting seat 255 coordinate with sliding slot 241, are slided on sliding slot 241；Connecting seat
255 lower section is fixed with the push rod 257, and the socket of push rod 257 and the big cylinder 256, big cylinder 256 are fixed on the fixation
Bearing 242；Push rod 257, which moves up and down, drives connecting seat 255 to be slided up and down on sliding slot 241, and drive is fixed on connecting seat 255
Cylinder body 2541 move, so as to just having driven small cylinder portion 254, external extension in track body 251 is then driven, so as to more
Add shaft, the rope cable for adapting to various outer diameter size；Bottom roller portion 26 include small cylinder 261, under small push rod 262, sliding
It reinstates bolt and is fixed in hold-down support 242 in the lower part one of truss 263, idler wheel 264, one end of runner frame 263 and big cylinder 256
On, runner frame 263 is in cuboid hollow frame structure, and both ends are provided with semicolumn recess in order to which small push rod 262 arrives under coordinating
Direct shock is not generated up to runner frame extreme position, and small cylinder 261 is fixed in main fixed column 24, and small cylinder 261 is located just at
Immediately below hold-down support 242, idler wheel 264 is fixed on the other end of runner frame 263；Under small push rod 262 one end be equipped with it is cylindric
Plush copper drives runner frame 263 to swing, moves to adapt to difference inside and outside idler wheel 264 so as to drive convenient for being slided on runner frame 263
Shaft, the rope cable of outer diameter size；
As shown in Figure 8, Figure 9, robot section 3 includes guide post 31, slide 32, gas bar 33, first mechanical arm 34, the second machine
Tool arm 35, articulated section 36, mobile jib 37, monitoring device 38, gripper 39, guide post 31 are mounted on manipulator installation place 122, lead
Column 31 has two, and slide 32 is socketed on guide post 31, and gas bar 33 is fixed between two guide posts 31, and gas bar 33 drives slide 32 leading
It being slided up and down on column 31, first mechanical arm 34 is fixed on slide 32, and second mechanical arm 35 is connected to first mechanical arm 34, and first
Mechanical arm 34 and second mechanical arm 35 degree of freedom can be swung entirely, articulated section 36 by a small axis connection in second mechanical arm 35,
Mobile jib 37 passes through articulated section 36, and one end is fixed with monitoring device 38, and other end end is fixed with gripper 39, and mobile jib 37 can be in pivot
Move back and forth in socket part 36；Gripper 39 includes control unit 391, rear crowfoot 392, left front pawl 393, right fore paw 394, left connector
395th, right connector 396, gripper 39 are fixed on 37 one end of mobile jib by control unit 391, and rear crowfoot 392 has two valves to consolidate into symmetrical
Due to control unit 391, the left valve of rear crowfoot 392 is connected with left front pawl 393, and the right valve of rear crowfoot 392 is connected with right fore paw 394,
Left 395 one end of connector is connected to left front 393 other end of pawl and is connected to control unit 391, before right 396 one end of connector is connected to the right side
394 other end of pawl is connected to control unit 391；The right valve of crowfoot 392 turns crowfoot after driving simultaneously clockwise after control unit 391 drives
392 left valve turns counterclockwise, and right fore paw 394 and left front pawl 393 can be driven to carry out holding action, otherwise unclamps, wherein left company
Fitting 395 and right connector 396 play left front pawl 393 and right fore paw 394 support pivot point or the swing of itself drives
Left front pawl 393 and the preferably clamping release action of right fore paw 394.
A kind of shaft provided by the present invention, cable, rope climbing detection obstacle removing robot, the course of work are as follows：
The fixed entire main frame structure 1 of composition is bolted in left frame 11, correct frame 12, is bolted convenient for a left side
Frame 11, correct frame 12 dismount, and the first climbing section 21, the second climbing section 22, the 3rd climbing section 23 are bolted solid respectively
Due to the first climbing section installation place 112, the second climbing section installation place 121, the 3rd climbing section installation place 123, robot section 3 is solid
Due to manipulator installation place 122；Entire robot carries out on three under crawler belt climbing section 25 and three bottom roller portions 26 drive
Work is climbed, driving wheel 2511 rotates under the drive of motor 2514, and crawler belt 2517 is driven to walk about, and crawler belt 2517 drives several
Jockey pulley 2512 and principal and subordinate wheel 2513 roll, several jockey pulleys 2512 and principal and subordinate wheel 2513 promote crawler belt 2517 in turn, main
It is the rolling between line and line between driving wheel 2511, jockey pulley 2512, principal and subordinate wheel 2513 and crawler belt 2517, it is dynamic so as to fulfill climbing
Make；Push rod 257, which moves up and down, drives connecting seat 255 to be slided up and down on sliding slot 241, drives the cylinder being fixed on connecting seat 255
Body 2541 moves, and so as to just drive small cylinder portion 254, then drives external extension in track body 251, so as to more suitable
Answer shaft, the rope cable of various outer diameter size；Under small push rod 262 one end be equipped with cylindric plush copper be convenient in runner frame
It is slided on 263, runner frame 263 is driven to swing, move to adapt to the rod-shaped of various outer diameter size inside and outside idler wheel 264 so as to drive
Object, rope cable；Gas bar 33 drives robot section 3 to move up and down, and first mechanical arm 34 and second mechanical arm 35 can entirely certainly
It is swung by degree so that monitoring device 38 can carry out comprehensive detection monitoring to climbed object, be guided for gripper 39, more
Good completion is removed obstacles task, the action process of gripper 39：The right valve of crowfoot 392 turns simultaneously clockwise after control unit 391 drives
The left valve of crowfoot 392 turns counterclockwise after driving, and right fore paw 394 and left front pawl 393 can be driven to carry out holding action, otherwise loose
Open, wherein left connector 395 and right connector 396 left front pawl 393 and right fore paw 394 are served support pivot point or itself
Swing drive the preferably clamping release action of left front pawl 393 and right fore paw 394.
It should also be noted that, herein, relational terms such as first and second and the like are used merely to one
Entity or operation are distinguished with another entity or operation, without necessarily requiring or implying between these entities or operation
There are any actual relationship or orders.Moreover, term " comprising ", "comprising" or its any other variant are intended to contain
Lid non-exclusive inclusion, so that process, method, article or equipment including a series of elements not only will including those
Element, but also including other elements that are not explicitly listed or further include as this process, method, article or equipment
Intrinsic element.In the absence of more restrictions, the element limited by sentence "including a ...", it is not excluded that
Also there are other identical elements in process, method, article or equipment including the element.
Each embodiment is described by the way of progressive in this specification, the highlights of each of the examples are with other
The difference of embodiment, just to refer each other for identical similar portion between each embodiment.
The foregoing description of the disclosed embodiments enables professional and technical personnel in the field to realize or use the present invention.
A variety of modifications of these embodiments will be apparent for those skilled in the art, it is as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, it is of the invention
The embodiments shown herein is not intended to be limited to, and is to fit to and the principles and novel features disclosed herein phase one
The most wide scope caused.
Claims (1)
1. a kind of shaft, cable, rope climbing detect obstacle removing robot, which is characterized in that including main frame structure 1, climb
Climb portion 2, robot section 3；The main frame structure 1 includes left frame 11, correct frame 12, and main frame structure 1 is shaped like in
Hollow round column shape；The left frame 11 includes the first ladder shape guardrail 111, the first climbing section installation place 112, the second ladder shape shield
Column 113；First ladder shape guardrail 111 and the second ladder shape guardrail 113 are ladder-shapeds, convenient for manually climbing, checking and protect
Effect；The correct frame 12 includes the second climbing section installation place 121, manipulator installation place 122, the 3rd climbing section installation place 123,
It takes a seat successively；The fixed entire main frame structure 1 of composition is bolted in left frame 11, correct frame 12, is bolted and is convenient for
Left frame 11, correct frame 12 dismount；
The climbing section 2 includes the first climbing section 21, the second climbing section 22, the 3rd climbing section 23；First climbing section 21, institute
State the second climbing section 22 and 23 structure of the 3rd climbing section be identical, the first climbing section 21, the second climbing section 22, the 3rd climbing section 23 according to
On the secondary inner wall trisection point for being fixed on main frame structure 1；First climbing section 21 includes main fixed column 24, upper crawler belt is climbed
Climb portion 25, bottom roller portion 26；First climbing section 21 is fixed on by main fixed column 24 on the inner wall of main frame structure 1,
The main fixed column 24 includes sliding slot 241, hold-down support 242, and sliding slot 241 is arranged at the centre of main fixed column 24, and sliding slot 241 is set
It is placed in the lower end of main fixed column 24；The upper crawler belt climbing section 25 includes track body 251, upper leg connector 252, lower bending
Connector 253, small cylinder portion 254, connecting seat 255, big cylinder 256, push rod 257；The track body 251 passes through upper bending
Connector 252 and lower leg connector 253 are connected to main fixed column 24, form four-bar mechanism, wherein main fixed column 24 is fixation
Part；The small cylinder portion 254 includes cylinder body 2541, upper small push rod 2542, pushing rod sleeve 2543, small slideway 25431, main fixed column
24 both sides are respectively provided with small cylinder portion 254, and the cylinder body 2541 is fixed on connecting seat 255, and the one of the upper small push rod 2542
End cap is moved back and forth in cylinder body 2541, and the other end of the upper small push rod 2542 is while equipped with cylindric protrusion in order in institute
It states and is slided on the small slideway 25431 of pushing rod sleeve 2543, the pushing rod sleeve 2543 is fixed in the track body 251；Two
A small cylinder portion 254 is used as power source, track body 251, upper leg connector 252, lower leg connector 253 and main fixation
The four-bar mechanism that column 24 forms realizes movement under the drive in two small cylinder portions 254, small in the small cylinder portion 254
Push rod 2542 slides on small slideway 25431, and pushing rod sleeve 2543 is driven back and forth more than two extreme positions on small slideway 25431
It is flexible, so as to which track body 251 be driven to stretch back and forth, the outer diameter size variation of climbing object to adapt to, so as to fulfill in difference
It is climbed on the shaft or rope of size, wherein upper leg connector 252 and lower leg connector 253 are used as track body 251
Swing up and down connector；The track body 251 includes driving wheel 2511, jockey pulley 2512, principal and subordinate wheel 2513, motor
2514th, left trapezoidal plate 2515, right trapezoidal plate 2516, crawler belt 2517, the left trapezoidal plate 2515 and right trapezoidal plate 2516 are as shoe
Supportive body with main body 251, the upper leg connector 252, lower leg connector 253, small cylinder portion 254 are all connections
In on the left trapezoidal plate 2515 and right trapezoidal plate 2516, the driving wheel 2511 is located at the bottom of track body 251, described
Principal and subordinate wheel 2513 is located at the top of track body 251, driving wheel 2511, principal and subordinate wheel 2513, several jockey pulleys 2512
Between the left trapezoidal plate 2515 and right trapezoidal plate 2516, the bottom of the left trapezoidal plate 2515 and right trapezoidal plate 2516 is all
Equipped with motor 2514, two motors 2514 are connected with driving wheel 2511, and the crawler belt 2517 is along left 2515 He of trapezoidal plate
The edge wrapping of right trapezoidal plate 2516, driving wheel 2511 rotate under the drive of motor 2514, crawler belt 2517 are driven to walk about, crawler belt
2517 several jockey pulleys 2512 of drive and principal and subordinate wheel 2513 roll, several jockey pulleys 2512 and principal and subordinate wheel 2513 promote in turn
It is the rolling between line and line into crawler belt 2517, between driving wheel 2511, jockey pulley 2512, principal and subordinate wheel 2513 and crawler belt 2517；
Two cylindrical rolling items on the connecting seat 255 coordinate with sliding slot 241, are slided on sliding slot 241；The connecting seat 255
Lower section is fixed with the push rod 257, and the socket of push rod 257 and the big cylinder 256, big cylinder 256 are fixed on the hold-down support
242；The push rod 257, which moves up and down, drives connecting seat 255 to be slided up and down on sliding slot 241, and drive is fixed on connecting seat 255
Cylinder body 2541 move, so as to just having driven small cylinder portion 254, external extension in track body 251 is then driven, so as to more
Add shaft, the rope cable for adapting to various outer diameter size；The bottom roller portion 26 include small cylinder 261, under small push rod
262nd, reinstate bolt and be fixed in the lower part one of runner frame 263, idler wheel 264, one end of the runner frame 263 and big cylinder 256
Determine on bearing 242, runner frame 263 is in cuboid hollow frame structure, and it is described in order to coordinate that both ends are provided with semicolumn recess
Under small push rod 262 reach runner frame extreme position and do not generate direct shock, the small cylinder 261 is fixed in main fixed column 24,
Small cylinder 261 is located just at immediately below hold-down support 242, and the idler wheel 264 is fixed on the other end of runner frame 263；Under described
One end of small push rod 262 is equipped with cylindric plush copper convenient for being slided on runner frame 263, runner frame 263 is driven to swing, so as to drive
It moves to adapt to shaft, the rope cable of various outer diameter size inside and outside idler wheel 264；
The robot section 3 includes guide post 31, slide 32, gas bar 33, first mechanical arm 34, second mechanical arm 35, articulated section
36th, mobile jib 37, monitoring device 38, gripper 39, the guide post 31 are mounted on manipulator installation place 122, and guide post 31 has two
Root, the slide 32 are socketed on guide post 31, and the gas bar 33 is fixed between two guide posts 31, and gas bar 33 drives slide 32 leading
It is slided up and down on column 31, the first mechanical arm 34 is fixed on slide 32, and the second mechanical arm 35 is connected to the first machinery
Arm 34, the first mechanical arm 34 and second mechanical arm 35 degree of freedom can be swung entirely, and the articulated section 36 is connected by a small axis
Second mechanical arm 35 is connected to, the mobile jib 37 passes through articulated section 36, and one end is fixed with the monitoring device 38, and other end end is fixed
There is gripper 39, mobile jib 37 can move back and forth on articulated section 36；The gripper 39 includes control unit 391, rear crowfoot
392nd, left front pawl 393, right fore paw 394, left connector 395, right connector 396, gripper 39 are fixed by the control unit 391
In 37 one end of mobile jib, the rear crowfoot 392 has two valves into control unit 391 is symmetrically fixed on, and the left valve connection of rear crowfoot 392 is
Left front pawl 393 is stated, the right valve of rear crowfoot 392 is connected with the right fore paw 394, and described left 395 one end of connector is connected to left front
393 other end of pawl is connected to control unit 391, and described right 396 one end of connector is connected to right 394 other end of fore paw and is connected to control
Portion 391；The left valve of crowfoot 392 turns counterclockwise after the right valve of crowfoot 392 turns while drives clockwise after control unit 391 drives, can
It right fore paw 394 and left front pawl 393 to be driven to carry out holding action, otherwise unclamps, wherein left connector 395 and right connector 396
Play support pivot point to left front pawl 393 and right fore paw 394 or the swing of itself drives left front pawl 393 and right fore paw 394
Preferably clamping release action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810032882.8A CN108044598A (en) | 2018-01-13 | 2018-01-13 | A kind of shaft, cable, rope climbing detection obstacle removing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810032882.8A CN108044598A (en) | 2018-01-13 | 2018-01-13 | A kind of shaft, cable, rope climbing detection obstacle removing robot |
Publications (1)
| Publication Number | Publication Date |
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| CN108044598A true CN108044598A (en) | 2018-05-18 |
Family
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810032882.8A Withdrawn CN108044598A (en) | 2018-01-13 | 2018-01-13 | A kind of shaft, cable, rope climbing detection obstacle removing robot |
Country Status (1)
| Country | Link |
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| CN (1) | CN108044598A (en) |
Cited By (8)
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| CN109211935A (en) * | 2018-10-12 | 2019-01-15 | 广州衍瀚软件有限公司 | A kind of rope intelligent detection device |
| CN109433679A (en) * | 2018-11-14 | 2019-03-08 | 黄河科技学院 | External surface of street lamp pole dust and rust staining cleaning plant |
| CN109663690A (en) * | 2018-11-14 | 2019-04-23 | 黄河科技学院 | External surface of street lamp pole spray painting trolley |
| CN109675734A (en) * | 2018-11-14 | 2019-04-26 | 黄河科技学院 | External surface of street lamp pole cleaning, paint-spray robot |
| CN112960043A (en) * | 2021-03-08 | 2021-06-15 | 中国矿业大学 | Magnetic adsorption type steel wire rope inspection robot |
| CN115217320A (en) * | 2022-08-04 | 2022-10-21 | 广西博强建筑科技有限公司 | Intelligent building equipment for building scaffold |
| CN116142344A (en) * | 2023-03-09 | 2023-05-23 | 中国矿业大学 | Multifunctional heavy-duty wire rope climbing robot and application method thereof |
| CN117697796A (en) * | 2024-02-06 | 2024-03-15 | 广东省公路建设有限公司湾区特大桥养护技术中心 | Bridge cable appearance and inside comprehensive detection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109211935A (en) * | 2018-10-12 | 2019-01-15 | 广州衍瀚软件有限公司 | A kind of rope intelligent detection device |
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| CN109675734A (en) * | 2018-11-14 | 2019-04-26 | 黄河科技学院 | External surface of street lamp pole cleaning, paint-spray robot |
| CN109663690A (en) * | 2018-11-14 | 2019-04-23 | 黄河科技学院 | External surface of street lamp pole spray painting trolley |
| CN109675734B (en) * | 2018-11-14 | 2023-08-18 | 黄河科技学院 | Robot for cleaning and spraying paint on outer surface of street lamp pole |
| CN109433679A (en) * | 2018-11-14 | 2019-03-08 | 黄河科技学院 | External surface of street lamp pole dust and rust staining cleaning plant |
| CN109663690B (en) * | 2018-11-14 | 2023-11-03 | 黄河科技学院 | Paint spraying trolley for outer surface of street lamp post |
| CN109433679B (en) * | 2018-11-14 | 2024-06-18 | 黄河科技学院 | Cleaning device for dust and rust spots on outer surface of street lamp post |
| CN112960043A (en) * | 2021-03-08 | 2021-06-15 | 中国矿业大学 | Magnetic adsorption type steel wire rope inspection robot |
| CN112960043B (en) * | 2021-03-08 | 2022-02-18 | 中国矿业大学 | Magnetic adsorption type steel wire rope inspection robot |
| CN115217320A (en) * | 2022-08-04 | 2022-10-21 | 广西博强建筑科技有限公司 | Intelligent building equipment for building scaffold |
| CN116142344A (en) * | 2023-03-09 | 2023-05-23 | 中国矿业大学 | Multifunctional heavy-duty wire rope climbing robot and application method thereof |
| CN117697796A (en) * | 2024-02-06 | 2024-03-15 | 广东省公路建设有限公司湾区特大桥养护技术中心 | Bridge cable appearance and inside comprehensive detection robot |
| CN117697796B (en) * | 2024-02-06 | 2024-05-03 | 广东省公路建设有限公司湾区特大桥养护技术中心 | Bridge cable appearance and inside comprehensive detection robot |
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Application publication date: 20180518 |
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