CN108216409B - Flexible peristaltic climbing robot - Google Patents
Flexible peristaltic climbing robot Download PDFInfo
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- CN108216409B CN108216409B CN201711397738.6A CN201711397738A CN108216409B CN 108216409 B CN108216409 B CN 108216409B CN 201711397738 A CN201711397738 A CN 201711397738A CN 108216409 B CN108216409 B CN 108216409B
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- 230000009194 climbing Effects 0.000 title claims abstract description 28
- 230000002572 peristaltic effect Effects 0.000 title claims abstract description 17
- 230000000712 assembly Effects 0.000 claims abstract description 41
- 238000000429 assembly Methods 0.000 claims abstract description 41
- RYGMFSIKBFXOCR-UHFFFAOYSA-N Copper Chemical compound [Cu] RYGMFSIKBFXOCR-UHFFFAOYSA-N 0.000 claims description 15
- 229910052802 copper Inorganic materials 0.000 claims description 15
- 239000010949 copper Substances 0.000 claims description 15
- 230000005540 biological transmission Effects 0.000 claims description 6
- 230000000149 penetrating effect Effects 0.000 claims description 5
- 230000033001 locomotion Effects 0.000 description 7
- 238000007689 inspection Methods 0.000 description 5
- 238000001514 detection method Methods 0.000 description 4
- 241000227287 Elliottia pyroliflora Species 0.000 description 3
- 239000004698 Polyethylene Substances 0.000 description 2
- 230000006978 adaptation Effects 0.000 description 2
- 230000004888 barrier function Effects 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 230000007613 environmental effect Effects 0.000 description 2
- 238000000034 method Methods 0.000 description 2
- 239000011241 protective layer Substances 0.000 description 2
- 239000000725 suspension Substances 0.000 description 2
- 241001391944 Commicarpus scandens Species 0.000 description 1
- 230000004308 accommodation Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000008859 change Effects 0.000 description 1
- 230000002493 climbing effect Effects 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
- 125000004122 cyclic group Chemical class 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000005489 elastic deformation Effects 0.000 description 1
- 230000007774 longterm Effects 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- -1 polyethylene Polymers 0.000 description 1
- 229920000573 polyethylene Polymers 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
- 238000010008 shearing Methods 0.000 description 1
Classifications
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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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- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
The invention is suitable for the field of climbing robots, and provides a flexible peristaltic climbing robot which comprises two guide assemblies, two open clamping assemblies, a main spring and a driving assembly, wherein the two open clamping assemblies are clamped on a cable and can move in an opening and closing mode along the radial direction of the cable; the two guide assemblies are respectively arranged at two opposite outer sides of the two open clamping assemblies and are always clamped on the outer edges of the cables, and the guide assemblies can elastically contract along the radial direction of the cables; the main spring is connected to the two opposite inner sides of the two open clamping assemblies, one end of the main spring is fixedly connected with one of the open clamping assemblies, the other end of the main spring is connected with the driving assembly in a screwed mode, the driving assembly is fixed on the other open clamping assembly, the driving assembly drives the main spring to rotate, and the main spring correspondingly stretches or shortens along with the rotation of the driving assembly. The robot can adapt to cables with different diameters, can easily cope with cable environments with curvature, and has good environment adaptability.
Description
Technical Field
The invention belongs to the field of climbing robots, and particularly relates to a flexible peristaltic climbing robot.
Background
The cable is one of main stress members of the cable-stayed bridge and the suspension bridge, is exposed to the air for a long time, and under the long-term actions of the load, the rain vibration and the wind vibration of the bridge, the protective layer (polyethylene PE) on the surface of the cable is easy to harden, age and other damage phenomena, and the wire bundle in the cable is easy to break and fracture, so that the crisis bridge is safe, and the cable detection work is very important.
Currently, the conventional detection mode is manual inspection or detection by using a cable climbing robot. The manual inspection mode is large in workload, low in efficiency and poor in safety. The existing cable climbing robot generally adopts a wheel type structure, and when the cable is held tightly, the contact surface is small, so that the protective layer on the surface of the cable is damaged; meanwhile, the wheel-type driven cable detection robot is easy to slip and seize during high-altitude operation. The frame of current cable climbing robot adopts fixed, confined wheeled clamping structure more, and the reducing scope is restricted by the frame, and clamping force accommodation is little, and the clamping environment easily drops when changing not hard up.
The patent cable inspection robot (201520031317.1), the patent cable inspection robot (201410332561.1) based on parallelogram independent suspension and the patent cable inspection robot (2015153087. X) all adopt rigid robot bodies, and are difficult to deal with cables with curvature. Moreover, when the bulge appears on the cable, the rigid body of the robot is easy to be blocked, and the environment adaptability is poor.
Disclosure of Invention
The invention aims to solve the technical problems that a climbing robot is difficult to deal with a cable with curvature and cannot automatically adapt to an obstacle in the prior art.
In order to solve the technical problems, the invention is realized in such a way that the flexible peristaltic climbing robot comprises two open clamping assemblies, a main spring and a driving assembly, wherein the two open clamping assemblies are arranged at intervals along the axial direction of a cable and can move in an opening and closing manner along the radial direction of the cable, and at any time, at least one open clamping assembly clamps the cable; one end of the main spring is fixedly connected with one of the open clamping assemblies, the other end of the main spring is screwed with the driving assembly, the driving assembly is fixed on the other open clamping assembly, the driving assembly drives the main spring to rotate, and the main spring correspondingly stretches or shortens along with the rotation of the driving assembly.
Further, the driving assembly comprises a driving motor, a first spiral driving gear, a second spiral driving gear, a hollow spiral copper sleeve, a spiral driving shaft, an upper cover plate and a lower cover plate, wherein the spiral copper sleeve and the spiral driving shaft are respectively and rotatably arranged between the upper cover plate and the lower cover plate, and the upper cover plate and the lower cover plate are respectively fixed on the open clamping assembly; the first spiral driving gear is sleeved and fixed on the outer edge of the spiral copper sleeve, the second spiral driving gear is sleeved and fixed on the outer edge of the spiral driving shaft, and the first spiral driving gear and the second spiral driving gear are meshed with each other; the spiral copper sleeve is internally provided with internal threads, the main spring is in screwed connection with the spiral copper sleeve, and the spiral driving shaft is fixedly connected with a power output shaft of the driving motor.
Further, the open type clamping assembly comprises a fixed seat, a clamping wheel, two clamping arms and a rotary power source, wherein the clamping wheel is fixed on one side surface of the fixed seat facing to a clamped object, and the two clamping arms are respectively and rotatably arranged on two sides of the fixed seat; the rotary power source is arranged on the fixed seat and is in transmission connection with the two clamping arms, and the rotary power source drives the two clamping arms to mutually open and close; one end of each clamping arm far away from the fixing seat is provided with an elastically deformable clamping palm assembly, and the clamping palm assemblies and the clamping wheels on the two clamping arms clamp the cable together.
Further, the clamping arm comprises an adapter seat, a clamping seat, a first crank, a second crank and a connecting rod, one end of the adapter seat is hinged to one side of the fixed seat, one end of the clamping seat is hinged to the other end of the adapter seat, and the clamping palm assembly is arranged at the other end of the clamping seat; the first crank is fixed on the fixed seat, the second crank is fixed on the clamping seat, and two ends of the connecting rod are hinged with the first crank and the second crank respectively.
Further, a first straight gear is arranged at the power output end of the rotary power source, a rotary shaft is arranged in the fixed seat in a penetrating manner, a second straight gear is sleeved on the rotary shaft, two ends of the rotary shaft are respectively provided with a first bevel gear, each clamping arm is fixedly provided with a second bevel gear on the adapter seat, the first straight gears are meshed with the second straight gears, and two first bevel gears at two ends of the rotary shaft are meshed with two second bevel gears on the two adapter seats respectively.
Further, the clamping palm assembly comprises a clamping palm, a fork frame, a spring guide shaft, a first guide spring, a hollow guide sleeve and a pressure sensor, wherein the clamping palm is rotatably arranged at the bottom of the fork frame, and the bottom of the spring guide shaft is fixed at the top of the fork frame; the spring guide shaft and the first guide spring are both arranged in the hollow guide sleeve, a limiting step for preventing the spring guide shaft from falling out is arranged in the hollow guide sleeve, a limiting protrusion is correspondingly arranged on the periphery of the spring guide shaft, the spring guide shaft can move up and down along the hollow guide sleeve, and the limiting protrusion is correspondingly separated from or propped against the limiting step; the pressure sensor is arranged at the top of the hollow guide sleeve, one end of the first guide spring is always in contact with the pressure sensor, the other end of the first guide spring is sleeved on the spring guide shaft and correspondingly abuts against the limiting protrusion of the spring guide shaft, and the spring guide shaft moves up and down along the hollow guide sleeve to drive the first guide spring to extrude the pressure sensor.
Further, the climbing robot further comprises two guide assemblies, wherein the two guide assemblies are respectively arranged on two opposite outer sides of the two open clamping assemblies and are always clamped on the outer edge of the cable, and the guide assemblies can elastically contract along the radial direction of the cable.
Further, the guide assembly comprises a plurality of guide wheel components, a plurality of second guide springs, a plurality of pin shafts and a plurality of fixing seats, wherein the fixing seats are fixed on the open clamping assembly, the guide wheel components are rotatably installed on the fixing seats through the pin shafts, and the second guide springs are connected between two adjacent guide wheel components.
Further, the guide wheel component comprises a guide wheel connecting rod, a fixed ring, a guide wheel seat and a rubber wheel, wherein the bottom of the guide wheel connecting rod is rotatably arranged on the fixed seat through the pin shaft, the fixed ring is fixed in the middle of the guide wheel connecting rod, and connecting holes for connecting a second guide spring are respectively formed in two ends of the fixed ring; the guide wheel seat is rotatably arranged at the top of the guide wheel connecting rod around the axis of the guide wheel connecting rod, and the rubber wheel is rotatably arranged on the guide wheel seat and always contacts with the cable.
Further, a through hole is formed in the guide wheel seat, a transverse groove is formed in one side of the through hole, the guide wheel connecting rod penetrates through the through hole of the guide wheel seat, a threaded hole is formed in the position, corresponding to the transverse groove, of the guide wheel connecting rod, and a flat round head screw penetrates through the transverse groove and is in threaded connection with the guide wheel connecting rod.
Compared with the prior art, the invention has the beneficial effects that: the invention relates to a flexible peristaltic climbing robot which comprises two open clamping assemblies, a main spring and a driving assembly. The driving assembly can enable the main spring to correspondingly stretch or shorten, so that climbing action is achieved, the robot utilizes the main spring as a transmission component, the robot body has flexibility and automatic adaptability, and meanwhile, the opening and closing movement of the open clamping assembly can be adapted to cables with different diameters, so that the variable diameter range is large. Can be better when meetting the barrier at climbing in-process, environmental adaptation ability is better, simultaneously, because the robot body comprises the main spring, the robot body can be crooked to can easily deal with the cable environment that has the camber.
Drawings
Fig. 1 is a schematic three-dimensional structure of a flexible peristaltic climbing robot according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of the front view of FIG. 1;
FIG. 3 is a schematic three-dimensional view of the drive assembly of FIG. 1 with the motor removed;
FIG. 4 is a schematic cross-sectional view of FIG. 3;
FIG. 5 is a schematic three-dimensional view of the open clamp assembly of FIG. 1;
FIG. 6 is a schematic diagram of the front view of FIG. 5;
FIG. 7 is a schematic view of the structure of FIG. 6 in another operational state;
FIG. 8 is a schematic view of the bottom structure of FIG. 5;
FIG. 9 is a left side schematic view of FIG. 5;
FIG. 10 is a schematic view of the clamping palm assembly of FIG. 5;
FIG. 11 is a schematic view of the front view, partially in section, of FIG. 10;
FIG. 12 is a schematic three-dimensional view of the guide assembly of FIG. 1;
fig. 13 is a schematic three-dimensional structure of the guide wheel assembly of fig. 12.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
As shown in fig. 1 and 2, a flexible peristaltic climbing robot 100 according to an embodiment of the present invention includes two guide assemblies 1, two open clamping assemblies 2, a main spring 3, and a driving assembly 4.
The two open clamping assemblies 2 are arranged at intervals along the axial direction of the cable 50 and can move in an opening and closing mode along the radial direction of the cable 50, so that the open clamping assemblies 2 can clamp cables with different diameters, and the variable diameter range is large; and at any one time, at least one open clamp assembly 2 clamps the cable 50 to ensure that the robot 100 does not slip down. The two guiding assemblies 1 are respectively installed at two opposite outer sides of the two open clamping assemblies 2 and are always clamped on the outer edges of the cables 50, and the guiding assemblies 1 can elastically contract along the radial direction of the cables 50 for guiding the movement of the robot 100.
The main spring 3 is connected to two opposite inner sides of the two open clamping assemblies 2, one end of the main spring 3 is fixedly connected with one of the open clamping assemblies 2, the other end of the main spring is screwed with the driving assembly 4, and the driving assembly 4 is fixed on the other open clamping assembly 2. The driving component 4 drives the main spring 3 to rotate, and the main spring 3 correspondingly stretches or shortens along with the rotation of the driving component 4, so as to provide power for climbing of the robot 100.
Referring to fig. 3 and 4, the driving assembly 4 includes a driving motor 41, a first screw driving gear 42, a second screw driving gear 43, a hollow screw copper sleeve 44, a screw driving shaft 45, an upper cover plate 46, and a lower cover plate 47. The screw copper bush 44 and the screw driving shaft 45 are rotatably installed between the upper cover plate 46 and the lower cover plate 47, respectively, and the upper cover plate 46 and the lower cover plate 47 are fixed on the open clamping assembly 2, respectively, for fixing the relative positions of the components. The first screw driving gear 42 is sleeved and fixed on the outer edge of the screw copper sleeve 44, the second screw driving gear 43 is sleeved and fixed on the outer edge of the screw driving shaft 45, and the first screw driving gear 42 and the second screw driving gear 43 are meshed with each other for power transmission. The screw copper sleeve 44 is internally provided with an internal thread (not labeled), the main spring 3 is screwed with the screw copper sleeve 44, and the screw driving shaft 45 is fixedly connected with the power output shaft of the driving motor 41.
Specifically, during operation, the driving motor 41 drives the spiral driving shaft 45 to rotate, the rotation of the spiral driving shaft 45 correspondingly drives the second spiral driving gear 43 to rotate, the second spiral driving gear 43 drives the first spiral driving gear 42 to rotate through gear engagement, and the rotation of the first spiral driving gear correspondingly drives the spiral copper sleeve 44 to rotate. Since the main spring 3 is screwed with the screw copper bush 44, the rotation of the screw copper bush 44 drives the main spring 3 to rotate, so that the main spring 3 can be correspondingly lengthened or shortened by the forward rotation and the reverse rotation of the driving motor 41.
Referring to fig. 5 to 7, the open clamp assembly 2 includes a fixed base 21, a clamp wheel 22, two clamp arms 23, and a rotary power source 24. The clamping wheel 22 is fixed on the top of the fixed seat 21, and the two clamping arms 23 are rotatably installed on two sides of the fixed seat 21 respectively. The rotary power source 24 is mounted on the fixed seat 21 and is in transmission connection with the two clamping arms 23, and the rotary power source 24 drives the two clamping arms 23 to move in an opening and closing manner, so as to adjust the clamping diameter to adapt to cables with different diameters. Each clamping arm 23 is provided with an elastically deformable clamping palm assembly 25 at one end far away from the fixing seat 21, the clamping palm assemblies 25 on the two clamping arms 23 and the clamping wheels 22 clamp the cable 50 together, a wheel-palm combined mechanism is adopted to effectively prevent the robot 100 from sliding downwards, and the elastic deformation of the clamping palm assemblies 25 is utilized to realize the flexible control of clamping force.
The clamping arm 23 includes an adapter 231, a clamping seat 232, a first crank 233, a second crank 234, and a connecting rod 235. One end of the adaptor seat 231 is hinged to one side of the fixed seat 21, one end of the clamping seat 232 is hinged to the other end of the adaptor seat 231, and the clamping palm assembly 25 is mounted at the other end of the clamping seat 232; the first crank 233 is fixed on the fixing base 21, the second crank 234 is fixed on the clamping base 232, and two ends of the connecting rod 235 are hinged with the first crank 233 and the second crank 234 respectively. Since the position of the first crank 233 is fixed and one end of the link 235 is hinged to the first crank 233, the link 235 can only perform a circular arc motion around the hinge point of the first crank 233. Meanwhile, since the second crank 234 is fixedly connected with the clamping seat 232, when the adapter seat 231 rotates, the clamping seat 232 also rotates, and the connecting rod 235 connected between the first crank 233 and the second crank 234 is used for limiting the clamping seat 232, so that the clamping seat 232 cannot rotate freely along the adapter seat 231, and the clamping stability is ensured.
Referring to fig. 8, a first spur gear 61 is mounted on the power output end of the rotary power source 24, and in the embodiment of the present invention, the rotary power source 24 is a rotary electric machine, and the first spur gear 61 is connected to the power output end of the rotary electric machine 24 through a coupling 62. The fixing seat 21 is internally provided with a rotating shaft 63 in a penetrating way, the rotating shaft 63 is sleeved with a second spur gear 64, two ends of the rotating shaft 63 are respectively provided with a first bevel gear 65, each adapter seat 231 of the clamping arm 23 is fixedly provided with a second bevel gear 66, the first spur gear 61 is meshed with the second spur gear 64, and two first bevel gears 65 at two ends of the rotating shaft 63 are respectively meshed with two second bevel gears 66 on the two adapter seats 231.
The rotation of the rotating motor 24 drives the first straight gear 61 to rotate, the first straight gear 61 drives the rotating shaft 63 to rotate through meshing with the second straight gear 64, the rotation of the rotating shaft 63 drives the two first bevel gears 65 at two ends to correspondingly rotate, and the rotation of the two first bevel gears 65 correspondingly drives the second bevel gear 66 to rotate. Since the second bevel gear 66 is fixedly connected with the adapter 231, the rotation of the second bevel gear 66 drives the adapter 231 to rotate correspondingly, so that the opening and closing movement of the two clamping arms 23 can be realized through the forward rotation and the reverse rotation of the rotating motor 24.
With continued reference to fig. 9, in the embodiment of the present invention, the two clamping palm assemblies 25 on the two clamping arms 23 are disposed opposite to each other, and the two clamping palm assemblies 25 and the clamping wheel 22 are spaced apart along the edge of the fixing base, so that the two clamping palm assemblies 25 on the two clamping arms 23 are located in the same vertical plane, and the two clamping palm assemblies 25 and the clamping wheel 22 are not located in the same vertical plane. By eccentrically arranging the flexible clamping palm assembly 25 and the clamping wheel 22, the clamping palm assembly is equivalent to a heterofacial shearing effect on the cable 50, and the clamping pressure is increased by utilizing the lever principle, so that the whole clamping device is not easy to slip.
Referring to fig. 10 and 11, the clamping shoe assembly 25 includes a clamping shoe 251, a fork 252, a spring guide shaft 253, a guide spring 254, a hollow guide sleeve 255, a pressure sensor 256, a guide pin 257, a connecting pin 258, and at least one pair of return springs 259. The fork 252 is in a U-shaped form, and through holes (not labeled) are formed in two side walls of the U-shaped fork 252; the top of the clamping palm 251 is provided with an ear plate 2511, the ear plate 2511 is inserted into a U-shaped groove of the U-shaped fork 252, a through hole (not labeled) is also formed in the ear plate 2511 at a position corresponding to the through hole of the U-shaped fork 252, and the connecting pin 258 sequentially passes through the through hole of the U-shaped fork 252 and the through hole of the clamping palm ear plate 2511, so that the clamping palm 251 is rotatably mounted at the bottom of the fork 252. Meanwhile, the at least one pair of return springs 259 are symmetrically mounted on both sides of the U-shaped fork 252 and the supporting palm 251, and both ends of each return spring 259 are respectively connected with the U-shaped fork 252 and the supporting palm 251, so that the supporting palm 251 can return to the original position by using the return springs 259 in an unstressed state.
Referring to fig. 11, a through hole (not shown) is formed at the top of the fork 252, a screw groove 2531 is formed at the bottom of the spring guide shaft 253, and the spring guide shaft 253 is connected to the fork 252 by a bolt, so that the bottom of the spring guide shaft 253 is fixed at the top of the fork 252. The spring guide shaft 253 and the guide spring 254 are both installed in the hollow guide sleeve 255, a limiting step 2551 for preventing the spring guide shaft 253 from falling out is arranged in the hollow guide sleeve 255, a limiting protrusion 2532 is correspondingly arranged on the periphery of the spring guide shaft 253, the spring guide shaft 253 can move up and down along the hollow guide sleeve 255, and the limiting protrusion 2532 and the limiting step 2551 are correspondingly separated from each other or mutually propped against each other.
The pressure sensor 256 is mounted on the top of the hollow guide sleeve 255, the guide pin 257 is inserted into the top of the guide spring 254, and the top of the guide pin 257 is always in contact with the pressure sensor 256; of course, it is also possible to directly contact one end of the guide spring 254 with the pressure sensor 256 at all times to ensure that there is a pressure value at all times on the pressure sensor 256. The other end of the guide spring 254 is sleeved on the spring guide shaft 253 and correspondingly abuts against the limit protrusion 2532 of the spring guide shaft 253, the spring guide shaft 253 moves up and down along the hollow guide sleeve 255 to drive the guide pin 257 to press the pressure sensor 256, and the pressure sensor 256 can be replaced by a pressure sensor with the same function, and the like.
Referring to fig. 12, the guide assembly 1 includes a plurality of guide wheel parts 11, a plurality of second guide springs 12, a plurality of pins 13, and a plurality of fixing seats 14. The fixed seat 14 is fixed on the open clamping assembly 2, the guide wheel parts 11 are rotatably installed on the fixed seat 14 through the pin shafts 13, and the second guide springs 12 are connected between two adjacent guide wheel parts 11. The second guide springs 12 enable the guide wheel components 11 to elastically shrink along the radial direction of the cable 50, so that the guide wheel components can guide the movement of the cable 50 with different diameters and can automatically adapt to the change of the cable diameter.
Referring to fig. 13, the guide wheel part 11 includes a guide wheel connecting rod 111, a fixing ring 112, a guide wheel seat 113, and a rubber wheel 114. The bottom of the guide wheel connecting rod 111 is rotatably mounted on the fixing seat 14 through the pin shaft 13, the fixing ring 112 is fixed in the middle of the guide wheel connecting rod 111, and two ends of the fixing ring 112 are respectively provided with a connecting hole 1121 for connecting with the second guide spring 12.
The guide wheel seat 113 is provided with a through hole (not labeled), one side of the through hole is provided with a transverse groove 1131, the guide wheel connecting rod 111 is arranged in the through hole of the guide wheel seat 113 in a penetrating way, and a threaded hole (not shown) is arranged at a position on the guide wheel connecting rod 111 corresponding to the transverse groove 1131. After the flat round head screw 115 passes through the transverse groove 1131, the flat round head screw is in threaded connection with the guide wheel connecting rod 111, so that the guide wheel seat 113 is rotatably mounted on the top of the guide wheel connecting rod around the axis of the guide wheel connecting rod 111, and the rotation range of the guide wheel seat is the length of the transverse groove 1131. The rubber wheel 114 is rotatably mounted on the guide wheel seat 113 and is always in contact with the cable 50, so as to hug the cable 50 and realize motion guiding through the relative rolling of the rubber wheel 114 and the cable 50.
In a specific working state, the two open clamping assemblies 2 simultaneously clamp the cable 50, and the main spring 3 is in a zero position; the first step, the open clamping assembly 2 at one end far away from the driving assembly 4 is opened, and the driving motor 41 rotates and drives the main spring 3 to stretch; second, the open clamp assembly 2 is expanded to hold the cable 50 tightly; thirdly, the other open type clamping assembly 2 is opened, and the driving motor 41 reversely rotates and drives the main spring 3 to shorten; fourth, the other open clamp assembly 2 is tightened around the cable 5. With this cyclic reciprocation, peristaltic climbing of the robot 100 is achieved.
In summary, according to the flexible peristaltic climbing robot 100 provided by the embodiment of the invention, the main spring 3 is used as the transmission component, so that the body of the robot 100 has flexibility and automatic adaptability, and meanwhile, the opening and closing movement of the open clamping assembly 2 can be adapted to cables with different diameters, so that the variable diameter range is larger. Can be better when meetting the barrier at climbing in-process, environmental adaptation ability is better, simultaneously, because the robot body comprises main spring 3, the robot body can crooked to can easily deal with the cable environment that has the camber.
The foregoing description of the preferred embodiments of the invention is not intended to be limiting, but rather is intended to cover all modifications, equivalents, and alternatives falling within the spirit and principles of the invention.
Claims (7)
1. The flexible peristaltic climbing robot is characterized by comprising two open clamping assemblies, a main spring and a driving assembly, wherein the two open clamping assemblies are arranged at intervals along the axial direction of a cable and can move in an opening and closing mode along the radial direction of the cable, and at any time, at least one open clamping assembly clamps the cable; one end of the main spring is fixedly connected with one of the open clamping assemblies, the other end of the main spring is screwed with the driving assembly, the driving assembly is fixed on the other open clamping assembly, the driving assembly drives the main spring to rotate, and the main spring correspondingly stretches or shortens along with the rotation of the driving assembly;
the open type clamping assembly comprises a fixed seat, a clamping wheel, two clamping arms and a rotary power source, wherein the clamping wheel is fixed on one side surface of the fixed seat facing to a clamped object, and the two clamping arms are respectively and rotatably arranged on two sides of the fixed seat; the rotary power source is arranged on the fixed seat and is in transmission connection with the two clamping arms, and the rotary power source drives the two clamping arms to mutually open and close; one end, far away from the fixed seat, of each clamping arm is provided with an elastically deformable clamping palm assembly, and the clamping palm assemblies and the clamping wheels on the two clamping arms jointly clamp the cable;
the clamping arm comprises an adapter seat, a clamping seat, a first crank, a second crank and a connecting rod, one end of the adapter seat is hinged to one side of the fixed seat, one end of the clamping seat is hinged to the other end of the adapter seat, and the clamping palm assembly is arranged at the other end of the clamping seat; the first crank is fixed on the fixed seat, the second crank is fixed on the clamping seat, and two ends of the connecting rod are respectively hinged with the first crank and the second crank;
the climbing robot further comprises two guide assemblies, wherein the two guide assemblies are respectively arranged at two opposite outer sides of the two open clamping assemblies and are always clamped on the outer edge of the cable, and the guide assemblies can elastically contract along the radial direction of the cable.
2. The flexible peristaltic climbing robot of claim 1 wherein the drive assembly includes a drive motor, a first screw drive gear, a second screw drive gear, a hollow screw copper sleeve, a screw drive shaft, an upper cover plate and a lower cover plate, the screw copper sleeve and screw drive shaft being rotatably mounted between the upper and lower cover plates, respectively, the upper and lower cover plates being secured to the open clamp assembly, respectively; the first spiral driving gear is sleeved and fixed on the outer edge of the spiral copper sleeve, the second spiral driving gear is sleeved and fixed on the outer edge of the spiral driving shaft, and the first spiral driving gear and the second spiral driving gear are meshed with each other; the spiral copper sleeve is internally provided with internal threads, the main spring is in screwed connection with the spiral copper sleeve, and the spiral driving shaft is fixedly connected with a power output shaft of the driving motor.
3. The flexible peristaltic climbing robot according to claim 1, wherein the power output end of the rotary power source is provided with a first straight gear, the fixed seat is internally provided with a rotating shaft in a penetrating way, the rotating shaft is sleeved with a second straight gear, two ends of the rotating shaft are respectively provided with a first bevel gear, the adapter of each clamping arm is fixedly provided with a second bevel gear, the first straight gear is meshed with the second straight gear, and the two first bevel gears at two ends of the rotating shaft are respectively meshed with the two second bevel gears on the two adapter.
4. The flexible peristaltic climbing robot of claim 1 wherein the clamping palm assembly includes a clamping palm, a fork, a spring guide shaft, a first guide spring, a hollow guide sleeve, and a pressure sensor, the clamping palm rotatably mounted at a bottom of the fork, the bottom of the spring guide shaft fixed at a top of the fork; the spring guide shaft and the first guide spring are both arranged in the hollow guide sleeve, a limiting step for preventing the spring guide shaft from falling out is arranged in the hollow guide sleeve, a limiting protrusion is correspondingly arranged on the periphery of the spring guide shaft, the spring guide shaft can move up and down along the hollow guide sleeve, and the limiting protrusion is correspondingly separated from or propped against the limiting step; the pressure sensor is arranged at the top of the hollow guide sleeve, one end of the first guide spring is always in contact with the pressure sensor, the other end of the first guide spring is sleeved on the spring guide shaft and correspondingly abuts against the limiting protrusion of the spring guide shaft, and the spring guide shaft moves up and down along the hollow guide sleeve to drive the first guide spring to extrude the pressure sensor.
5. The flexible peristaltic climbing robot of claim 1 wherein the guide assembly includes a plurality of guide wheel members, a plurality of second guide springs, a plurality of pins and a plurality of holders, the holders are secured to the open clamp assembly, the guide wheel members are rotatably mounted to the holders by the pins, and the second guide springs are connected between adjacent guide wheel members.
6. The flexible peristaltic climbing robot according to claim 5, wherein the guide wheel component comprises a guide wheel connecting rod, a fixed ring, a guide wheel seat and a rubber wheel, the bottom of the guide wheel connecting rod is rotatably arranged on the fixed seat through the pin shaft, the fixed ring is fixed in the middle of the guide wheel connecting rod, and connecting holes for connecting a second guide spring are respectively formed at two ends of the fixed ring; the guide wheel seat is rotatably arranged at the top of the guide wheel connecting rod around the axis of the guide wheel connecting rod, and the rubber wheel is rotatably arranged on the guide wheel seat and always contacts with the cable.
7. The flexible peristaltic climbing robot of claim 6 wherein the guide wheel seat is provided with a through hole, one side of the through hole is provided with a transverse groove, the guide wheel connecting rod is arranged in the through hole of the guide wheel seat in a penetrating way, a threaded hole is formed in the guide wheel connecting rod at a position corresponding to the transverse groove, and a flat round head screw penetrates through the transverse groove and is connected to the guide wheel connecting rod in a threaded way.
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