CN108216409A - A kind of flexible wiggle climbing robot - Google Patents
A kind of flexible wiggle climbing robot Download PDFInfo
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- CN108216409A CN108216409A CN201711397738.6A CN201711397738A CN108216409A CN 108216409 A CN108216409 A CN 108216409A CN 201711397738 A CN201711397738 A CN 201711397738A CN 108216409 A CN108216409 A CN 108216409A
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- 230000009194 climbing Effects 0.000 title claims abstract description 32
- 230000000712 assembly Effects 0.000 claims abstract description 42
- 238000000429 assembly Methods 0.000 claims abstract description 42
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 18
- 229910052802 copper Inorganic materials 0.000 claims description 18
- 239000010949 copper Substances 0.000 claims description 18
- 235000013351 cheese Nutrition 0.000 claims description 3
- 230000005611 electricity Effects 0.000 claims 1
- 230000003044 adaptive effect Effects 0.000 abstract description 4
- 238000010586 diagram Methods 0.000 description 10
- 238000007689 inspection Methods 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 3
- 230000008859 change Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000000694 effects Effects 0.000 description 2
- 230000009471 action Effects 0.000 description 1
- 230000032683 aging Effects 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000008878 coupling Effects 0.000 description 1
- 238000010168 coupling process Methods 0.000 description 1
- 238000005859 coupling reaction Methods 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007613 environmental effect Effects 0.000 description 1
- 239000000686 essence Substances 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000000034 method Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 239000011241 protective layer Substances 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
- 239000007787 solid Substances 0.000 description 1
- 239000000725 suspension Substances 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D57/00—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track
- B62D57/02—Vehicles characterised by having other propulsion or other ground- engaging means than wheels or endless track, alone or in addition to wheels or endless track with ground-engaging propulsion means, e.g. walking members
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Abstract
The present invention is suitable for climbing robot field, provide a kind of flexible wiggle climbing robot, including two guidance sets, two open type clamp assemblies, main spring and drive component, two open type clamp assemblies are clamped on cable, and can be along the radial direction open and close movement of cable；Two guidance sets are separately mounted to two opposite exterior lateral sides of two open type clamp assemblies, and are interposed in the outer rim of cable always, and guidance set can be along the radial direction elastic shrinkage of cable；Main spring is connected to two relative inners of two open type clamp assemblies, and one end of main spring is fixedly connected with one of open type clamp assemblies, its other end is screwed on drive component, drive component is fixed on another open type clamp assemblies, drive component drives main spring rotation, and main spring is correspondingly elongated or shortened with the rotation of drive component.The robot is suitable for the cable of different-diameter, can easily cope with the cable environment with curvature, and adaptive capacity to environment is preferable.
Description
Technical field
The invention belongs to climbing robot field more particularly to a kind of flexible wiggle climbing robots.
Background technology
Cable is one of main bearing member of cable-stayed bridge, suspension bridge, is chronically exposed in air, in bridge load, rain
It shakes, under the long term of wind shake, the breakoff phenomenons such as hardening, aging, cable easily occurs in the protective layer (polythene PE) on cable surface
Easily there is fracture of wire, fracture in inner wire beam, and crisis bridge security, therefore, cable inspection work are most important.
At present, conventional detection mode is manual inspection or is detected using cable climbing robot.Manual inspection
Not only heavy workload, efficiency are low, but also safety is poor for mode.Existing cable climbing robot generally use wheeled construction,
When holding cable tightly since contact surface is small, cable sealer is caused to be destroyed；Meanwhile the cable inspection machine of in-wheel driving
People is susceptible to skidding, stuck phenomenon in working at height.The frame of existing cable climbing robot is mostly using fixed, closing
Wheeled clamp structure, reducing range limited by outline border, and chucking power adjustable range is small, loosening easy to fall off when clamping environmental change.
A kind of cable detection robot for cable-stayed bridge of patent (201520031317.1), patent are based on parallelogram and independently hang
The cable detecting robot (201410332561.1) and patent cable detecting robot (201510553087.X) of extension use
Rigid robot body, it is difficult to cable of the reply with curvature.Moreover, when occurring protrusion on cable, the rigidity of robot
Ontology is easily stuck, and adaptive capacity to environment is poor.
Invention content
The technical problems to be solved by the invention are to provide a kind of flexible wiggle climbing robot, it is intended to solve existing skill
Climbing robot in art is difficult to cope with the cable with curvature, and the problem of can not adapt to barrier automatically.
In order to solve the above technical problems, the invention is realized in this way, a kind of flexible wiggle climbing robot, including two
Open type clamp assemblies, main spring and drive component, described two open type clamp assemblies are arranged at intervals, and can edge along cable axial direction
The radial direction open and close movement of the cable, and in any time, at least one open type clamp assemblies clamps the cable；Institute
The one end for stating main spring is fixedly connected with one of open type clamp assemblies, and the other end is screwed on the driving component, the drive
Dynamic component is fixed on another open type clamp assemblies, and the driving component drives the main spring rotation, and the main spring is with drive
The rotation of dynamic component correspondingly elongates or shortens.
Further, the driving component include driving motor, the first screw drives gear, the second screw drives gear,
Hollow spiral copper sheathing, screw drives axis, upper cover plate and lower cover, the spiral copper sheathing and screw drives axis difference are rotationally
Between the upper cover plate and lower cover, the upper cover plate and lower cover are separately fixed on the open type clamp assemblies；
The first screw drives gear is fixed in the outer rim of the spiral copper sheathing, and the second screw drives gear is fixed in described
In the outer rim of screw drives axis, and the first screw drives gear and the second screw drives gear are intermeshed；The spiral
There is internal thread, the main spring is screwed on the spiral copper sheathing, and the screw drives axis is dynamic with the driving motor in copper sheathing
Power output shaft is fixedly connected.
Further, the open type clamp assemblies include fixed seat, clamping wheel, two clamping limbs and rotating power source,
The clamping wheel is fixed on the fixed seat towards on the one side of gripped object, and described two clamping limbs are rotationally pacified respectively
Mounted in the both sides of the fixed seat；The rotating power source is mounted in the fixed seat, and is driven with described two clamping limbs
Connection, the rotating power source drive described two mutual open and close movements of clamping limb；Far from institute on clamping limb described in each
The one end for stating fixed seat is respectively mounted there are one the clamping of elastically deformable palm component, the clamping palm component on described two clamping limbs
Cable is clamped jointly with clamping wheel.
Further, the clamping limb include adapter, grip slipper, the first crank, the second crank and connecting rod, described turn
One end of joint chair is hinged on the side of the fixed seat, and one end of the grip slipper is hinged on the other end of the adapter,
The clamping palm component is mounted on the other end of the grip slipper；First crank is fixed in the fixed seat, and described
Two cranks are fixed on the grip slipper, and the both ends of the connecting rod are hinged respectively with first crank and the second crank.
Further, the first spur gear on the power output end of the rotating power source is installed, is worn in the fixed seat
Equipped with rotary shaft, intrinsic second spur gear is covered in the rotary shaft, and the both ends of the rotary shaft are respectively provided with one first cone
Gear, is respectively and fixedly provided with a second bevel gear on the adapter of each clamping limb, first spur gear and second straight
Gear is intermeshed, two first bevel gears of the rotating shaft terminal respectively with two second bevel gears on two adapters
Intermeshing.
Further, the clamping palm component includes the clamping palm, crotch, spring guiding axis, the first guide spring, hollow leads
To set and pressure sensor, the clamping palm is installed in rotation on the bottom of the crotch, the bottom of the spring guiding axis
Portion is fixed on the top of the crotch；The spring guiding axis and the first guide spring are installed in the hollow guide sleeve,
The limited step for preventing the spring guiding axis from dropping out, the week of the spring guiding axis are provided in the hollow guide sleeve
Limit protrusion is correspondingly provided on edge, the spring guiding axis can be moved up and down along the guide sleeve, the limit protrusion phase
Ground is answered to be separated from each other with the limited step or mutually support；The pressure sensor is mounted on the top of the hollow guide sleeve
Portion, one end of first guide spring are in contact always with the pressure sensor, and the other end is set in the spring and leads
It on axis, and correspondingly supports on the limit protrusion of the spring guiding axis, the spring guiding axis is along the guide sleeve
It moves up and down, first guide spring is driven to squeeze the pressure sensor.
Further, the climbing robot further includes two guidance sets, and described two guidance sets are separately mounted to
Two opposite exterior lateral sides of described two open type clamp assemblies, and be interposed in always in the outer rim of the cable, and the guidance set
It can be along the radial direction elastic shrinkage of the cable.
Further, if the guidance set include it is several guiding wheel components, several second guide springs, several axis pins and
Solid reservation, the fixed seat are fixed on the open type clamp assemblies, and the guiding wheel component is rotatable by the axis pin
Ground is mounted in the fixed seat, and second guide spring is connected between two neighboring guiding wheel component.
Further, the guiding wheel component includes directive wheel connecting rod, retainer ring, is oriented to wheel seat and rubber wheel, described
The bottom of directive wheel connecting rod is installed in rotation on by the axis pin in the fixed seat, and the retainer ring is fixed on described
The middle part of directive wheel connecting rod, and the both ends of the retainer ring offer the connecting hole for connecting the second guide spring respectively；
The top for being oriented to wheel seat and the directive wheel connecting rod being installed in rotation on around the axis of the directive wheel connecting rod, it is described
Rubber wheel is installed in rotation on the guiding wheel seat, and is in contact always with the cable.
Further, through-hole is offered on the guiding wheel seat, the side of the through-hole offers translot, the directive wheel
Connecting rod be threaded through it is described be oriented to wheel seat through-hole in, and in the directive wheel connecting rod at the corresponding position of the translot
With threaded hole, flat cheese head screw passes through the translot and is threaded in the directive wheel connecting rod.
Compared with prior art, the present invention advantageous effect is：A kind of flexible wiggle climbing robot of the present invention, packet
Include two open type clamp assemblies, main spring and drive component.Drive component may be such that main spring correspondingly elongates or shortens, so as to fulfill
Climbing motion, the robot is by the use of main spring as transferring element so that robot body has flexible and automatic adaptability, together
When, the cable of different-diameter is suitable for using the open and close movement of the open type clamp assemblies, reducing range is larger.In climbing process
In when encountering barrier can preferably obstacle detouring, adaptive capacity to environment is preferable, simultaneously as robot body is made of main spring,
Robot body can be bent, so as to easily cope with the cable environment with curvature.
Description of the drawings
Fig. 1 is a kind of three dimensional structure diagram of flexible wiggle climbing robot provided in an embodiment of the present invention；
Fig. 2 is the main structure diagram of Fig. 1；
Fig. 3 is the three dimensional structure diagram for the drive component that motor is removed in Fig. 1；
Fig. 4 is the cross-sectional view of Fig. 3；
Fig. 5 is the three dimensional structure diagram of Fig. 1 middle open type clamp assemblies；
Fig. 6 is the main structure diagram of Fig. 5；
Fig. 7 is the structure diagram of another working condition of Fig. 6；
Fig. 8 is the present invention looks up structural representation of Fig. 5；
Fig. 9 is the left view structural representation of Fig. 5；
Figure 10 is the structure diagram of clamping palm component in Fig. 5；
Figure 11 is the broken section main structure diagram of Figure 10；
Figure 12 is the three dimensional structure diagram of guidance set in Fig. 1；
Figure 13 is the three dimensional structure diagram that wheel component is oriented in Figure 12.
Specific embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, it is right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
As depicted in figs. 1 and 2, it is a kind of flexible wiggle climbing robot 100 provided in an embodiment of the present invention, including two
A 1, two open type clamp assemblies 2 of guidance set, main spring 3 and drive component 4.
Described two open type clamp assemblies 2 are arranged at intervals, and can be along the diameter of the cable 50 along the axial direction of cable 50
To direction open and close movement, so that the open type clamp assemblies 2 can clamp the cable of different-diameter, reducing range is larger；
And in any time, at least one open type clamp assemblies 2 clamps the cable 50, to ensure that robot 100 will not glide.
Described two guidance sets 1 are separately mounted to two opposite exterior lateral sides of described two open type clamp assemblies 2, and are interposed in always described
In the outer rim of cable 50, and the guidance set 1 can be along the radial direction elastic shrinkage of the cable 50, for the machine
The movement of people 100 is oriented to.
The main spring 3 is connected to two relative inners of described two open type clamp assemblies 2, and one end of the main spring 3 with
One of open type clamp assemblies 2 are fixedly connected, and the other end is screwed on the driving component 4, and the driving component 4 is fixed on
On another open type clamp assemblies 2.The driving component 4 drives the main spring 3 to rotate, and the main spring 3 is with drive component 4
Rotation correspondingly elongates or shortens, so as to which the climbing for robot 100 provides power.
With reference to Fig. 3 and Fig. 4, the driving component 4 includes driving motor 41, the first screw drives gear 42, the second spiral
Drive gear 43, hollow spiral copper sheathing 44, screw drives axis 45, upper cover plate 46 and lower cover 47.11 He of spiral copper sheathing
Screw drives axis 45 is installed in rotation on respectively between the upper cover plate 46 and lower cover 47, the upper cover plate 46 and lower cover
47 are separately fixed on the open type clamp assemblies 2, for fixing the relative position of each component.The first screw drives gear
42 are fixed in the outer rim of the spiral copper sheathing 44, and the second screw drives gear 43 is fixed in the screw drives axis 45
In outer rim, and the first screw drives gear 42 is intermeshed with the second screw drives gear 43, is transmitted for power.It is described
There is internal thread (not marking), the main spring 3 is screwed on the spiral copper sheathing 44, the screw drives axis 45 in spiral copper sheathing 44
It is fixedly connected with the power output shaft of the driving motor 41.
During specific works, the screw drives axis 45 is driven to rotate by the driving motor 41, the screw drives axis
45 rotation can correspondingly drive the second screw drives gear 43 to rotate, and the second screw drives gear 43 is engaged by gear
The first screw drives gear 42 is driven to rotate, the rotation of the first screw drives gear correspondingly drives the spiral copper sheathing 44
Rotation.Since the main spring 3 is screwed on spiral copper sheathing 44, the rotation of the spiral copper sheathing 44 can drive main spring 3 to rotate,
So as to may be such that the main spring 3 correspondingly elongates or shortens by rotating and reverse for the driving motor 41.
With reference to Fig. 5 to Fig. 7, the open type clamp assemblies 2 include fixed seat 21,22, two clamping limbs 23 of clamping wheel and
Rotating power source 24.The clamping wheel 22 is fixed on the top of the fixed seat 21, and described two clamping limbs 23 are rotatable respectively
Ground is mounted on the both sides of the fixed seat 21.The rotating power source 24 be mounted on the fixed seat 21 on, and with it is described two
Clamping limb 23 is sequentially connected, and the rotating power source 24 drives described two 23 mutual open and close movements of clamping limb, is pressed from both sides for adjusting
Diameter is held, to adapt to the cable of different-diameter.One end far from the fixed seat 21 is pacified on clamping limb 23 described in each
For dress there are one the clamping palm component 25 of elastically deformable, the clamping palm component 25 and clamping wheel 22 on described two clamping limbs 23 be common
With cable 50 is clamped, the mechanism combined using the wheel palm can effectively prevent robot 100 to glide, and slap component 25 using the clamping
Elastic deformation realize chucking power flexible control.
The clamping limb 23 includes adapter 231, grip slipper 232, the first crank 233, the second crank 234 and connecting rod
235.One end of the adapter 231 is hinged on the side of the fixed seat 21, and one end of the grip slipper 232 is hinged on described
On the other end of adapter 231, the clamping palm component 25 is mounted on the other end of the grip slipper 232；First crank
233 are fixed in the fixed seat 21, and second crank 234 is fixed on the grip slipper 232, and the two of the connecting rod 235
End is hinged with 233 and second crank 234 of the first crank respectively.Since the position of the first crank 233 immobilizes, and connecting rod
235 one end is hinged on the first crank 233, therefore the connecting rod 235 can only do circular arc around the hinge joint of the first crank 233
Movement.Simultaneously as second crank 234 is fixedly connected with grip slipper 232, and therefore, when the adapter 231 rotates,
The grip slipper 232 also can be rotated and then, and right using the connecting rod 235 being connected between the first crank 233 and the second crank 234
Grip slipper 232 plays position-limiting action, makes grip slipper 232 that can not be freely rotated along adapter 231, ensures the stability of clamping.
With reference to Fig. 8, first spur gear 61 is installed on the power output end of the rotating power source 24, is implemented in the present invention
In example, the rotating power source 24 is electric rotating machine, and first spur gear 61 is connected to the electric rotating by shaft coupling 62
On the power output end of machine 24.Rotary shaft 63 is equipped in the fixed seat 21, intrinsic second straight-tooth is covered in the rotary shaft 63
Wheel 64, and the both ends of the rotary shaft 63 are respectively provided with a first bevel gear 65, the adapter of each clamping limb 23
A second bevel gear 66 is respectively and fixedly provided on 231, first spur gear 61 is intermeshed with the second spur gear 64, the rotation
Two first bevel gears 65 at 63 both ends of axis are intermeshed respectively with two second bevel gears 66 on two adapters 231.
The rotation of the electric rotating machine 24 can drive first spur gear 61 to rotate, first spur gear 61 by with
The engagement of second spur gear 64 drives rotary shaft 63 to rotate, and the rotation of the rotary shaft 63 drives two first bevel gears at both ends
65 correspondingly rotate, and the rotation of described two first bevel gears 65 correspondingly drives the second bevel gear 66 to rotate.By institute
It states second bevel gear 66 to be fixedly connected with adapter 231, therefore the rotation of second bevel gear 66 can drive adapter 231 correspondingly
Rotation, so as to pass through the open and close movement for rotating and reverse achievable described two clamping limbs 3 of the electric rotating machine 24.
With continued reference to Fig. 9, in embodiments of the present invention, two clamping palm components 25 on described two clamping limbs 23 are opposite
Setting, and described two clamping palm components 25 are spaced apart with the clamping wheel 22 along fixed seat edge, so that described two
Two clamping palm components 25 on a clamping limb 23 are located in same perpendicular, and described two clamping palm components 25 and institute
Clamping wheel 22 is stated not in same perpendicular.By the way that flexible clamping is slapped component 25 and 22 eccentric setting of clamping wheel, then
The effect there are one antarafacial shearing to cable 50 is equivalent to, lever principle is utilized, increases enclasping pressure so that entire clamping
Device 100 is not easy to skid.
With reference to Figure 10 and Figure 11, the clamping palm component 25 includes the clamping palm 251, crotch 252, spring guiding axis 253, leads
To spring 254, hollow guide sleeve 255, pressure sensor 256, guide pin 257, connecting pin 258 and at least a pair of of return spring 259.
The 252 U-shaped shape of crotch offers through-hole (not marking) on the two side of the U-shaped crotch 252；The clamping palm
251 top has otic placode 2511, and the otic placode 2511 is plugged in the U-type groove of the U-shaped crotch 252, and the otic placode
With also offering through-hole (not marking), the connecting pin 258 at the corresponding position of through-hole of the U-shaped crotch 252 on 2511
The through-hole on the through-hole and clamping palm otic placode 2511 of the U-shaped crotch 252 is sequentially passed through, it can so as to which the clamping is slapped 251
It is rotatably mounted at the bottom of the crotch 252.Meanwhile at least a pair of of return spring 259 is symmetrically mounted on the U-shaped fork
Frame 252 and the both sides for supporting the palm 251, the both ends of the return spring 259 described in each respectively with the U-shaped crotch 252 and branch
251 connection of the palm is held, so that described support the palm 251 under the state of not stressing, can return original using the return spring 259
Beginning position.
With reference to Figure 11, the top of the crotch 252 offers through-hole (not shown), the bottom of the spring guiding axis 253
Thread groove 2531 is offered, the spring guiding axis 253 is bolted with the crotch 252, thus by the spring guiding axis
253 bottom is fixed on the top of the crotch 252.The spring guiding axis 253 and guide spring 254 be installed in it is described in
In empty guide sleeve 255, the limiting stand for preventing the spring guiding axis 253 from dropping out is provided in the hollow guide sleeve 255
Rank 2551 is correspondingly provided with limit protrusion 2532 on the periphery of the spring guiding axis 253, and the spring guiding axis 253 can
It is moved up and down along the guide sleeve 255, the limit protrusion 2532 is correspondingly separated from each other with the limited step 2551 or phase
Mutually support.
The pressure sensor 256 is mounted on the top of the hollow guide sleeve 255, and the guide pin 257 is interspersed in described
The top of guide spring 254, and the top of the guide pin 257 is in contact always with the pressure sensor 256；Certainly, also may be used
Directly one end of the guide spring 254 to be in contact always with the pressure sensor 256, to ensure the pressure sensing
Pressure value is carved with when on device 256.The other end of the guide spring 254 is set on the spring guiding axis 253, and corresponding
Ground is supported on the limit protrusion 2532 of the spring guiding axis 253, and the spring guiding axis 253 is along the guide sleeve 255
It moves up and down, the guide pin 257 is driven to squeeze the pressure sensor 256, the pressure sensor 256 can also be substituted for tool
There is pressure transducer of identical function etc..
With reference to Figure 12, the guidance set 1 includes several guiding wheel components 11, several second guide springs 12, Ruo Ganxiao
Axis 13 and several fixed seats 14.The fixed seat 14 is fixed on the open type clamp assemblies 2, and the guiding wheel component leads to 11 mistakes
The axis pin 13 is installed in rotation in the fixed seat 14, and described second is connected between two neighboring guiding wheel component 11
Guide spring 12.Using second guide spring 12 so that several guiding wheel components 11 can be along the radial direction of cable 50
Elastic shrinkage so as to carry out motion guide on the cable 50 of different-diameter, and can adapt to the change of cable diameters automatically
Change.
With reference to Figure 13, the guiding wheel component 11 includes directive wheel connecting rod 111, retainer ring 112, is oriented to 113 and of wheel seat
Rubber wheel 114.The bottom of the directive wheel connecting rod 111 is installed in rotation on the fixed seat 14 by the axis pin 13
On, the retainer ring 112 is fixed on the middle part of the directive wheel connecting rod 111, and the both ends of the retainer ring 112 open up respectively
There is connecting hole 1121, for being attached with the second guide spring 12.
Through-hole (not marking) is offered on the guiding wheel seat 113, the side of the through-hole offers translot 1131, described
Directive wheel connecting rod 111 be threaded through it is described be oriented to wheel seat 113 through-hole in, and in the directive wheel connecting rod 111 with the horizontal stroke
There is threaded hole (not shown) at 1131 corresponding position of slot.After the translot 1131 being passed through by flat cheese head screw 115, spiral shell
Line is connected in the directive wheel connecting rod 111 so that the axis for being oriented to wheel seat 113 around the directive wheel connecting rod 111
The top of the directive wheel connecting rod is installed in rotation on, slewing area is the length of the translot 1131.The rubber
Rubber tire 114 is installed in rotation on the guiding wheel seat 113, and is in contact always with the cable 50, to hold cable tightly
50, and motion guide is realized by the relative rolling of the rubber wheel 114 and cable 50.
During specific works, in the initial state, described two open type clamp assemblies 2 hold cable 50, the main spring 3 tightly simultaneously
In zero-bit；The first step, the open type clamp assemblies 2 far from 4 one end of drive component open, and the driving motor 41 rotates, and drive
Main spring 3 extends；Second step, the open type clamp assemblies 2 of the opening hold cable 50 tightly；Third walks, another open type clamp assemblies 2
It opens, the driving motor 41 reversely rotates, and main spring 3 is driven to shorten；4th step, the open type clamping group that another is opened
Part 2 holds cable 5 tightly.It is moved in circles with this, realizes that the wriggling of the robot 100 climbs.
In conclusion a kind of flexible wiggle climbing robot 100 provided in an embodiment of the present invention, by the use of main spring 3 as
Transferring element so that 100 ontology of robot has flexible and automatic adaptability, meanwhile, utilize the open type clamp assemblies 2
Open and close movement is suitable for the cable of different-diameter, and reducing range is larger.It can be preferably when encountering barrier during climbing
Obstacle detouring, adaptive capacity to environment is preferable, simultaneously as robot body is made of main spring 3, robot body can be bent, so as to
The cable environment with curvature can easily be coped with.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all essences in the present invention
All any modification, equivalent and improvement made within refreshing and principle etc., should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of flexible wiggle climbing robot, which is characterized in that including two open type clamp assemblies, main spring and drive component,
Described two open type clamp assemblies along cable axial direction be arranged at intervals, and can along the radial direction open and close movement of the cable,
And in any time, at least one open type clamp assemblies clamps the cable；One end of the main spring and one of open type
Clamp assemblies are fixedly connected, and the other end is screwed on the driving component, and the driving component is fixed on the clamping of another open type
On component, the driving component drives the main spring rotation, and the main spring is correspondingly extended or contracted with the rotation of drive component
It is short.
2. flexible wiggle climbing robot as described in claim 1, which is characterized in that the driving component includes driving electricity
Machine, the first screw drives gear, the second screw drives gear, hollow spiral copper sheathing, screw drives axis, upper cover plate and lower cover
Plate, the spiral copper sheathing and screw drives axis are installed in rotation on respectively between the upper cover plate and lower cover, the upper cover
Plate and lower cover are separately fixed on the open type clamp assemblies；The first screw drives gear is fixed in the spiral copper sheathing
Outer rim on, the second screw drives gear is fixed in the outer rim of the screw drives axis, and first screw drives
Gear and the second screw drives gear are intermeshed；There is internal thread, the main spring and the spiral copper in the spiral copper sheathing
Set is screwed on, and the screw drives axis is fixedly connected with the power output shaft of the driving motor.
3. flexible wiggle climbing robot as described in claim 1, which is characterized in that the open type clamp assemblies include fixing
Seat, clamping wheel, two clamping limbs and rotating power source, the clamping wheel are fixed on the fixed seat one towards gripped object
On side, described two clamping limbs are installed in rotation on the both sides of the fixed seat respectively；The rotating power source is mounted on
It in the fixed seat, and is sequentially connected with described two clamping limbs, the rotating power source drives described two clamping limbs mutual
Open and close movement；One end far from the fixed seat is respectively mounted the clamping there are one elastically deformable on clamping limb described in each
Component is slapped, the clamping palm component on described two clamping limbs clamps cable jointly with clamping wheel.
4. flexible wiggle climbing robot as claimed in claim 3, which is characterized in that the clamping limb includes adapter, folder
Seat, the first crank, the second crank and connecting rod are held, one end of the adapter is hinged on the side of the fixed seat, the folder
The one end for holding seat is hinged on the other end of the adapter, and the clamping palm component is mounted on the other end of the grip slipper；
First crank is fixed in the fixed seat, and second crank is fixed on the grip slipper, the both ends of the connecting rod
It is hinged respectively with first crank and the second crank.
5. flexible wiggle climbing robot as claimed in claim 4, which is characterized in that the power output of the rotating power source
First spur gear on end is installed, rotary shaft is equipped in the fixed seat, intrinsic second spur gear is covered in the rotary shaft, and
The both ends of the rotary shaft are respectively provided with a first bevel gear, and one is respectively and fixedly provided on the adapter of each clamping limb
Second bevel gear, first spur gear and the second spur gear are intermeshed, two first bevel gears of the rotating shaft terminal
It is intermeshed respectively with two second bevel gears on two adapters.
6. flexible wiggle climbing robot as claimed in claim 3, which is characterized in that the clamping palm component includes clamping
The palm, crotch, spring guiding axis, the first guide spring, hollow guide sleeve and pressure sensor, the clamping palm are rotationally pacified
Mounted in the bottom of the crotch, the bottom of the spring guiding axis is fixed on the top of the crotch；The spring guiding axis and
First guide spring is installed in the hollow guide sleeve, is provided with to prevent the spring from leading in the hollow guide sleeve
The limited step dropped out to axis is correspondingly provided with limit protrusion, the spring guiding axis on the periphery of the spring guiding axis
It can be moved up and down along the guide sleeve, the limit protrusion is correspondingly separated from each other with the limited step or mutually supports；Institute
The top that pressure sensor is mounted on the hollow guide sleeve is stated, one end of first guide spring passes always with the pressure
Sensor is in contact, and the other end is set on the spring guiding axis, and correspondingly supports the limiting in the spring guiding axis
In protrusion, spring guiding axis the moving up and down along the guide sleeve drives first guide spring to squeeze the pressure
Sensor.
7. flexible wiggle climbing robot as described in claim 1, which is characterized in that the climbing robot further includes two
Guidance set, described two guidance sets are separately mounted to two opposite exterior lateral sides of described two open type clamp assemblies, and press from both sides always
It puts in the outer rim of the cable, and the guidance set can be along the radial direction elastic shrinkage of the cable.
8. flexible wiggle climbing robot as claimed in claim 7, which is characterized in that the guidance set includes several guiding
Wheel component, several second guide springs, several axis pins and several fixed seats, the fixed seat are fixed on the open type clamp assemblies
On, it is described guiding wheel component be installed in rotation in the fixed seat by the axis pin, it is two neighboring guiding wheel component it
Between be connected with second guide spring.
9. flexible wiggle climbing robot as claimed in claim 8, which is characterized in that the guiding wheel component includes directive wheel
Connecting rod, retainer ring, guiding wheel seat and rubber wheel, the bottom of the directive wheel connecting rod are rotatably mounted by the axis pin
In the fixed seat, the retainer ring is fixed on the middle part of the directive wheel connecting rod, and the both ends difference of the retainer ring
Offer the connecting hole for connecting the second guide spring；The guiding wheel seat is rotatable around the axis of the directive wheel connecting rod
Ground is mounted on the top of the directive wheel connecting rod, and the rubber wheel is installed in rotation on the guiding wheel seat, and always
It is in contact with the cable.
10. flexible wiggle climbing robot as claimed in claim 9, which is characterized in that offered on the guiding wheel seat logical
Hole, the side of the through-hole offer translot, and the directive wheel connecting rod is threaded through described be oriented in the through-hole of wheel seat, and described
With having threaded hole at the corresponding position of the translot in directive wheel connecting rod, flat cheese head screw passes through the translot and screw thread
It is connected in the directive wheel connecting rod.
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|---|---|---|---|
| CN201711397738.6A CN108216409B (en) | 2017-12-21 | 2017-12-21 | Flexible peristaltic climbing robot |
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| CN112030738A (en) * | 2020-08-24 | 2020-12-04 | 宁波职业技术学院 | Stay cable robot cable climbing system and method based on load switching mechanism |
| CN112075198A (en) * | 2020-09-27 | 2020-12-15 | 张旭 | Efficient and convenient coconut picking equipment |
| CN112197141A (en) * | 2020-09-28 | 2021-01-08 | 深圳市人工智能与机器人研究院 | Motion control method of cable robot and cable robot |
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| CN113020937A (en) * | 2021-03-29 | 2021-06-25 | 武汉理工大学 | Peristaltic installation robot with variable-rigidity cloth clips and control method of peristaltic installation robot |
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|---|---|---|---|---|
| CN109176398A (en) * | 2018-11-12 | 2019-01-11 | 山东豪迈机械制造有限公司 | A kind of power device and installation equipment |
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| CN110345335A (en) * | 2019-07-11 | 2019-10-18 | 江苏科技大学 | Climbing robot and its control method in imitative looper gait pipe |
| CN112030738B (en) * | 2020-08-24 | 2022-04-01 | 宁波职业技术学院 | Stay cable robot cable climbing system and method based on load switching mechanism |
| CN112030738A (en) * | 2020-08-24 | 2020-12-04 | 宁波职业技术学院 | Stay cable robot cable climbing system and method based on load switching mechanism |
| CN112075198A (en) * | 2020-09-27 | 2020-12-15 | 张旭 | Efficient and convenient coconut picking equipment |
| CN112197141A (en) * | 2020-09-28 | 2021-01-08 | 深圳市人工智能与机器人研究院 | Motion control method of cable robot and cable robot |
| CN112803301A (en) * | 2021-02-25 | 2021-05-14 | 邵桐 | Anti-falling device of power transmission line inspection robot |
| CN112803301B (en) * | 2021-02-25 | 2021-12-14 | 钱小英 | Anti-falling device of power transmission line inspection robot |
| CN113020937A (en) * | 2021-03-29 | 2021-06-25 | 武汉理工大学 | Peristaltic installation robot with variable-rigidity cloth clips and control method of peristaltic installation robot |
| CN113430927A (en) * | 2021-07-22 | 2021-09-24 | 深圳市人工智能与机器人研究院 | Cable climbing detection robot and movement method thereof |
| CN113430927B (en) * | 2021-07-22 | 2024-07-05 | 深圳市人工智能与机器人研究院 | Cable climbing detection robot and movement method thereof |
| CN113756204A (en) * | 2021-09-28 | 2021-12-07 | 江苏中矿大正表面工程技术有限公司 | Automatic creeping device with strong adaptability for construction of outer protective layer of bridge steel cable |
| CN113756204B (en) * | 2021-09-28 | 2023-02-03 | 江苏中矿大正表面工程技术有限公司 | Automatic creeping device with strong adaptability for construction of outer protective layer of bridge steel cable |
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