CN108528558A - A kind of cable climbing robot - Google Patents
A kind of cable climbing robot Download PDFInfo
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- CN108528558A CN108528558A CN201810472107.4A CN201810472107A CN108528558A CN 108528558 A CN108528558 A CN 108528558A CN 201810472107 A CN201810472107 A CN 201810472107A CN 108528558 A CN108528558 A CN 108528558A
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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
- B62D57/024—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 specially adapted for moving on inclined or vertical surfaces
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02E—REDUCTION OF GREENHOUSE GAS [GHG] EMISSIONS, RELATED TO ENERGY GENERATION, TRANSMISSION OR DISTRIBUTION
- Y02E10/00—Energy generation through renewable energy sources
- Y02E10/70—Wind energy
- Y02E10/72—Wind turbines with rotation axis in wind direction
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Abstract
The present invention provides a kind of cable climbing robots, including：First climbing structures and the second climbing structures, the first climbing structures are oppositely arranged with the second climbing structures；Driving structure, driving structure is mounted between the first climbing structures and the second climbing structures, driving structure includes connection component, power source component, first chain belt component and the second chain belt component, connection component respectively with the first climbing structures, second climbing structures slippingly connect, power source component is connected on connection component, first chain belt component includes the first chain belt and first gear group, second chain belt component includes the second chain belt and second gear group, the engaged transmission direction of first gear group and the first chain belt is opposite with second gear group and the engaged transmission direction of the second chain belt.The cable climbing robot of the technical program aims to solve the problem that the constraints such as the bridge cable climbing robot of the prior art is more by mechanism joint, volume big, heaviness, load capacity difference and is unable to reach industrial effectively practical problem.
Description
Technical field
The invention belongs to robot device's technical field more particularly to a kind of cable climbing robots.
Background technology
Bridge cable climbing robot is more early in development abroad, early in phase late 1980s, the U.S., Europe
Research institution develops bridge cable climbing robot in succession, for the present Research of the bridge cable climbing robot in China,
Versus young is gone back in the development of bridge cable climbing robot.In bridge cable climbing robot, mechanical structure is system of robot
The main body of system is the key that determine the follow-up relevant design of robot.Currently, most of bridge cable climbing robot is by mechanism
The constraints such as joint is more, volume is big, heavy, load capacity difference：Mechanism joint is more, then kinematic decoupling control difficulty is high, control
Precision processed can not be up to standard；Robot volume is big, heavy, then can not meet cable job requirements, industrial realistic scale is low；Load energy
Force difference can not then carry enough detection devices and execute patrol task.
Invention content
Technical problem to be solved by the present invention lies in provide a kind of cable climbing robot, it is intended to solve the prior art
The constraints such as bridge cable climbing robot is more by mechanism joint, volume big, heaviness, load capacity difference and be unable to reach work
The effectively practical problem of industry.
In order to solve the above technical problems, the invention is realized in this way, a kind of cable climbing robot, including：First climbs
Structure and the second climbing structures are climbed, the first climbing structures are oppositely arranged with the second climbing structures, and the first climbing structures and second are climbed
It includes hold-fast body to climb structure, and hold-fast body is for holding cable tightly, and the hold-fast body on the first climbing structures is climbed with second
The hold-fast body climbed in structure alternately holds cable tightly；Driving structure, driving structure are mounted on the first climbing structures and the second climbing
Between structure, driving structure includes connection component, power source component, the first chain belt component and the second chain belt component, connection component
It is slippingly connect with the first climbing structures, the second climbing structures respectively, power source component is connected on connection component, power source
Component drives the first chain belt component, the second chain belt component, the first chain belt component to include the first chain belt and first gear group simultaneously, the
The both ends of one chain belt are individually fixed in the both ends of the first climbing structures, and first gear group is connected on connection component, first gear
Group engages connection with the first chain belt, and power source component is drivingly connected with first gear group, and the second chain belt component includes the second chain belt
With second gear group, the both ends of the second chain belt are individually fixed in the both ends of the second climbing structures, and second gear group is connected to connection
On component, second gear group engages connection with the second chain belt, and power source component is drivingly connected with second gear group, wherein first
The engaged transmission direction of gear set and the first chain belt is opposite with second gear group and the engaged transmission direction of the second chain belt.
Further, first gear group includes the first power teeth wheel shaft, and the first chain belt, which is taken, is wound on the first power teeth wheel shaft
On the gear teeth；Second gear group includes the second power teeth wheel shaft and at least one tumbler gear, and the second chain belt, which is taken, is around in tumbler gear
It is set around later on the gear teeth of the second power teeth wheel shaft；Power source component drives the first power teeth wheel shaft and the second power teeth simultaneously
The equidirectional rotation of wheel shaft.
Further, first gear group further includes two the first Tension gears, and two the first Tension gears are respectively arranged at
The both sides of first power teeth wheel shaft, the first power gear axle position are located in the first side of the first chain belt, two the first Tension gears
The second side of first chain belt；Second gear group further includes two the second Tension gears, and two the second Tension gears are respectively arranged at
The both sides of second power teeth wheel shaft, the second power teeth wheel shaft, two the second Tension gears are respectively positioned on the first side of the second chain belt, change
It is located at the second side of the second chain belt to gear.
Further, the quantity of tumbler gear is two, and two tumbler gears are located at the two of the second power teeth wheel shaft
Side, and a tumbler gear is set between the second power teeth wheel shaft and one of them second Tension gear.
Further, cable climbing robot further includes controller, and the quantity of driving structure is two, two driving knots
Structure is oppositely arranged, on the connection component of a controller driving structure installed therein, controller and two driving structures it is dynamic
Power source component is electrically connected to control two power source component synchronization output driving power.
Further, hold-fast body includes upper hold-fast body, lower hold-fast body and connecting rod, upper hold-fast body and lower holding
Mechanism includes support semi-ring, driving device, transmission device, at least two swing arms and the folder to connect one to one with swing arm
Tight vola；The support semi-ring of upper hold-fast body is connected to the first end of connecting rod, and the support semi-ring of lower hold-fast body is connected to
The second end of extension bar；Driving device and transmission device are installed on support semi-ring, and driving device is electrically connected with the controller, driving
Device is connect with actuator drives, and swing arm is connect with transmission device clamps vola clamping cable to drive.
Further, the first climbing structures and the second climbing structures include support wheel construction, and each support sets on semi-ring
Be equipped at least one support wheel construction, the support wheel construction of the first climbing structures and the support wheel construction of the second climbing structures about
The central axis of cable is symmetrical arranged.
Further, support wheel construction include first connection pedestal, second connection pedestal, crank throw support arm, elastomer and
Wheel assembly, the first connection pedestal is supported to connect pedestal with second and be all connected to support semi-ring, the crank throw portion connection of crank throw support arm
Pedestal is connected in first, the first end of elastomer is connected to the second connection pedestal, and the second end of elastomer is connected to crank throw support
The first end of arm, support wheel assembly are installed on the second end of crank throw support arm.
Further, support wheel assembly includes crank throw wheel seat, the first support wheel and the second support wheel, the crank throw of crank throw wheel seat
Portion is rotatably connected at the second end of crank throw support arm, and the first support wheel is connected to the first end of crank throw wheel seat, second
Support wheel is connected to the second end of crank throw wheel seat.
Further, cable climbing robot further includes detection device, on the support semi-ring of at least one upper hold-fast body
Detection device is installed, detection device is electrically connected with the controller.
Compared with prior art, the present invention advantageous effect is：Cable climbing robot utilizes the first climbing structures, connection
Mechanism joint between component, the second climbing structures three is attached and realizes relative motion, to compared with the existing technology
For reduce robot joint structure design, and simplify robot structure composition, be conducive to robot miniaturization,
Light-weight design reduces the difficulty of kinematic decoupling control, to realize high-precision control, on the basis for ensureing sufficient power
On allow the robot to carry more sufficient load carrying ability.
Description of the drawings
Fig. 1 is the assembling structure schematic diagram of the cable climbing robot of the embodiment of the present invention；
Fig. 2 is the knot that the driving structure of the cable climbing robot of the embodiment of the present invention is assemblied in the first visual angle of connecting rod
Structure schematic diagram；
Fig. 3 is the knot that the driving structure of the cable climbing robot of the embodiment of the present invention is assemblied in the second visual angle of connecting rod
Structure schematic diagram；
Fig. 4 is the knot that the driving structure of the cable climbing robot of the embodiment of the present invention is assemblied in the third visual angle of connecting rod
Structure schematic diagram；
Fig. 5 is the knot that the driving structure of the cable climbing robot of the embodiment of the present invention is assemblied in the 4th visual angle of connecting rod
Structure schematic diagram；
Fig. 6 is the upper hold-fast body of the cable climbing robot of the embodiment of the present invention or the assembling structure of lower hold-fast body
Schematic diagram；
Fig. 7 is the assembling structure schematic diagram of the support wheel construction in the cable climbing robot of the embodiment of the present invention.
In the accompanying drawings, each reference numeral indicates：
100, cable；101, the first climbing structures；102, the second climbing structures；10, hold-fast body；20, driving structure；
21, connection component；22, power source component；23, the first chain belt component；24, the second chain belt component；211, connection framework；212,
One rail plate；213, the second rail plate；221, driving motor；222, driven pulley；231, the first chain belt；232, first
Gear set；241, the second chain belt；242, second gear group；2321, the first power teeth wheel shaft；2322, the first Tension gear；
2421, the second power teeth wheel shaft；2422, tumbler gear；2423, the second Tension gear；11, upper hold-fast body；12, lower holding machine
Structure；13, connecting rod；111, semi-ring is supported；112, driving device；113, transmission device；114, swing arm；115, vola is clamped；
116, secondary spring；30, wheel construction is supported；31, the first connection pedestal；32, the second connection pedestal；33, crank throw support arm；34、
Elastomer；35, wheel assembly is supported；351, crank throw wheel seat；352, the first support wheel；353, the second support wheel；1131, it is driven snail
Bar；1132, transmission worm gear.
Specific implementation mode
In order to make the purpose , technical scheme and advantage of the present invention be clearer, with reference to the accompanying drawings and embodiments, 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.
It illustrates：When the present invention is illustrated for cable climbing robot, cable is in cable climbing robot
Central axial direction on 100 when progress climbing sports along cable 100 is upper and lower directions.
As shown in Figures 1 to 5, the cable climbing robot of the present embodiment includes the first climbing structures 101, second climbing knot
Structure 102 and driving structure 20, the first climbing structures 101 are oppositely arranged with the second climbing structures 102,101 He of the first climbing structures
Second climbing structures 102 include hold-fast body 10, and hold-fast body 10 is used to hold cable tightly, and on the first climbing structures 101
Hold-fast body 10 replaces with the hold-fast body 10 on the second climbing structures 102 holds cable tightly, and driving structure 20 is climbed mounted on first
It climbs between structure 101 and the second climbing structures 102, driving structure 20 includes connection component 21, power source component 22, the first chain belt
Component 23 and the second chain belt component 24, connection component 21 respectively with the first climbing structures 101,102 slip of the second climbing structures
Ground connects, and power source component 22 is connected on connection component 21, and power source component 22 drives the first chain belt component 23, second simultaneously
Chain belt component 24, the first chain belt component 23 include the first chain belt 231 and first gear group 232, and the both ends of the first chain belt 231 are distinguished
The both ends of the first climbing structures 101 are fixed on, first gear group 232 is connected on connection component 21, first gear group 232 and
The engagement connection of one chain belt 231, power source component 22 are drivingly connected with first gear group 232, and the second chain belt component 24 includes second
Chain belt 241 and second gear group 242, the both ends of the second chain belt 241 are individually fixed in the both ends of the second climbing structures 102, and second
Gear set 242 is connected on connection component 21, and second gear group 242 engages connection with the second chain belt 241, power source component 22 with
Second gear group 242 is drivingly connected, wherein the engaged transmission direction and second gear of first gear group 232 and the first chain belt 231
The engaged transmission direction of group 242 and the second chain belt 241 is opposite.
Climbing motion is carried out on cable 100 using the cable climbing robot, is climbed especially for bridge cable
When climbing operation, cable 100 is held tightly by hold-fast body 10, the first climbing structures 101 and the second climbing structures 102 are mutually
It alternately rises or falls, to the realization climbing movement on cable 100, during climbing is mobile, driving structure 20 is moved
Power source component 22 exports power, to drive first gear group 232 to be rotated simultaneously with second gear group 242, at this point, first gear
Between group 232 and the first chain belt 231, opposite gear motion is then realized between second gear group 242 and the second chain belt 241 respectively.
It is illustrated for example, being fixed on cable 100 by the holding of hold-fast body 10 with the first climbing structures 101.At this point, starting power
Source component 22 exports power, then connection component 21 is moved upwards relative to the first climbing structures 101 at this time, and the second climbing knot
Structure 102 is moved upwards also relative to connection component 21 (if being movement object of reference, connection component with the first climbing structures 101
21 move upwards speed as ν relative to the first climbing structures 101, then the second climbing structures 102 are relative to the first climbing structures
101 speed that moves upwards is 2 ν；If being movement object of reference with connection component 21, the first climbing structures 101 are relative to even
Connected components 21 move downward as ν, then the second climbing structures 102 are 2 ν relative to the speed that moves upwards of connection component 21).
When connection component 21 slides onto the upper end of the first climbing structures 101 upwards, then connection component 21 is located at the second climbing structures 102
Lower end, so just complete the stride that robot is climbed on cable 100.In the cable climbing robot of the present embodiment
In, it is attached simultaneously using the mechanism joint between the first climbing structures 101, connection component 21,102 three of the second climbing structures
It realizes relative motion, to reduce the joint structure design of robot in terms of existing technologies, and simplifies robot
Structure composition, be conducive to miniaturization, the light-weight design of robot, reduce the difficulty of kinematic decoupling control, to real
Existing high-precision control allows the robot to carry more sufficient load carrying ability on the basis of ensureing sufficient power.
In the present embodiment, the first gear group 232 of cable climbing robot include the first power teeth wheel shaft 2321, second
Gear set 242 includes the second power teeth wheel shaft 2421 and at least one tumbler gear 2422.In the present embodiment, such as Fig. 4 and Fig. 5
Shown, power source component 22 is made of driving motor 221, drive pulley, driven pulley 222, and driving motor 221 connects surely
It is scheduled on connection component 21, drive pulley is mounted on the output shaft of driving motor 221, drive pulley and driven pulley
By driving belt connection not shown between 222, and the first power teeth wheel shaft 2321, the second power teeth wheel shaft 2421 and from
Dynamic belt pulley three is manufactured using coaxial be integrally formed, i.e.,：The gear teeth of first power teeth wheel shaft 2321 and the second power teeth wheel shaft
2421 gear teeth are located at the both ends of shaft, and driven pulley is located at the medium position of shaft, then power source component 22 is simultaneously
Drive the 2421 equidirectional rotation of the first power teeth wheel shaft 2321 and the second power teeth wheel shaft.As shown in figure 3, the first chain belt 231 is taken
It is wound on the gear teeth of the first power teeth wheel shaft 2321, the gear teeth for taking the first power teeth wheel shaft 2321 after installation is complete are located at first
Between chain belt 231 and hold-fast body 10, i.e., the first chain belt 231 on the gear teeth of the first power teeth wheel shaft 2321 is far from hold-fast body
10 settings.Second chain belt 241, which is taken, is around in tumbler gear 2422, is set around later on the gear teeth of the second power teeth wheel shaft 2421, such as
Shown in Fig. 2, the second chain belt 241 is taken after completing on tumbler gear 2422, and tumbler gear 2422 is located at the second chain belt 241 and embraces
Between tight mechanism 10, and the second chain belt 241 being set around on the gear teeth of the second power teeth wheel shaft 2421 is close to hold-fast body 10
Setting.
As shown in Figure 1 to Figure 3, the first gear group 232 of the cable climbing robot further includes two the first Tension gears
2322, second gear group 242 further includes two the second Tension gears 2423.Two the first Tension gears 2322 are respectively arranged at
The both sides of one power teeth wheel shaft 2321, the first power teeth wheel shaft 2321 are located at the first side of the first chain belt 231, two first tensionings
Gear 2322 is located at the second side of the first chain belt 231, and two the second Tension gears 2423 are respectively arranged at the second power teeth wheel shaft
2421 both sides, second the second Tension gear 2423 of 2421, two, power teeth wheel shaft are respectively positioned on the first side of the second chain belt 241,
Tumbler gear 2422 is located at the second side of the second chain belt 241.Specifically, the quantity of tumbler gear 2422 is two, two commutations
Gear 2422 is located at the both sides of the second power teeth wheel shaft 2421, and the second power teeth wheel shaft 2421 and one of them second
A tumbler gear 2422 is set between tight gear 2423.
In addition, the present embodiment can also only select 2322, second Tension gears 2423 of first Tension gear with
And a tumbler gear 2422, it is changed with selection two the first Tension gears, 2322, two the second Tension gears 2423 and two
It is compared to the embodiment of gear 2422, two the first Tension gears 2322 are relative to the first power teeth wheel shaft in the latter
2321 central axis is symmetrical, and two the second Tension gears 2423 and two tumbler gears 2422 are both with respect in the latter
The central axis of two power teeth wheel shafts 2421 is symmetrical.
Shown in Figure 6, in the present embodiment, hold-fast body 10 includes upper hold-fast body 11, lower hold-fast body 12 and connects
Extension bar 13, upper hold-fast body 11 and lower hold-fast body 12 include support semi-ring 111, driving device 112, transmission device 113, extremely
Few two swing arms 114 and the clamping vola 115 to connect one to one with swing arm 114.The support semi-ring of upper hold-fast body 11
111 are connected to the first end of connecting rod 13, and the support semi-ring 111 of lower hold-fast body 12 is connected to the second end of connecting rod 13.
In the present embodiment, there are two connecting rods 13, two connecting rods 13 to be separately positioned on support semi-ring for assembly in a hold-fast body 10
111 both ends.Driving device 112 and transmission device 113 are installed on support semi-ring 111, driving device 112 and controller
Electrical connection, driving device 112 are drivingly connected with transmission device 113, and swing arm 114 is connect with transmission device 113 to be clamped with driving
Vola 115 clamps cable.During carrying out climbing sports, controller controls the driving device 112 output power, then passes through
Power is transferred to swing arm 114 by transmission device 113 so that and swing arm 114 drives clamping vola 115 to hold cable 100 tightly,
In, transmission device 113 is made of geared worm 1131 and transmission worm gear 1132.Specifically, the cable of the present embodiment climbs machine
People is assembled with two swing arms 114 and two transmission worm gears 1132, the first end of swing arm 114 and one of transmission worm gear
1132 are fixedly connected, and clamp vola 115 and are fixed in the second end of corresponding swing arm 114, also, the two of geared worm 1131
End is equipped with engagement screw thread, two interval of transmission worm gear 1132 settings and two transmission worm gears 1132 and the two of geared worm 1131
End engagement screw thread corresponds assembly.When driving device 112 drive geared worm 1131 rotated forward when, geared worm 1131 with
1132 engaged transmission of transmission worm gear is so that transmission worm gear 1132 drives swing arm 114 to be opened；When 112 band of driving device
When dynamic geared worm 1131 is inverted, then geared worm 1131 and 1132 engaged transmission of transmission worm gear are so that transmission worm gear
1132 drive swing arm 114.
As shown in fig. 6, also it has been arranged in a one-to-one correspondence secondary spring 116 in support semi-ring 111, the first of secondary spring 116
End is connected on support semi-ring 111, and the second end of secondary spring 116 is connected to the back side for clamping vola 115, and clamps vola
It is assembled by bearing between 115 and swing arm 114.In this way, when clamping vola 115 during being clamped to cable 100,
Clamp vola 115 be adaptation cable 100 cylinder radian when, secondary spring 116 can auxiliary clamp vola 115 remain
Aid is stablized.Even if when to the cable 100 of different radii, adapted to rapidly under 116 auxiliary adjustment of secondary spring at this time
Cooperation.
Further, cable climbing robot further includes that controller is not shown, and the quantity of driving structure 20 is two, and two
A driving structure 20 is oppositely arranged.In the present embodiment, as shown in Figure 4 and Figure 5, connection component 21 includes connection framework 211, the
One guide rail structure and the second guide rail structure, the guide groove of the first guide rail structure are set to the first side in connection framework 211, and second
The guide groove of guide rail structure is set to the second side of connection framework 211, and the first rail plate 212 of the first guide rail structure is fixed on
In corresponding connecting rod 13, the second rail plate 213 of the second guide rail structure is fixed in corresponding connecting rod 13.Controller is pacified
Be installed therein in the connection framework 211 of the connection component 21 of a driving structure 20, controller and two driving structures 20 it is dynamic
Power source component 22 is electrically connected to control two 22 synchronism output driving forces of power source component.Controller controls two driving structures
20 simultaneously output driving power, to a greater degree ensure cable climbing robot load carrying ability.
In the present embodiment, the first climbing structures 101 of the cable climbing robot and the second climbing structures 102 include
Wheel construction 30 is supported, and at least one support wheel construction 30 is provided on each support semi-ring 111, the first climbing structures 101
The support wheel construction 30 of wheel construction 30 and the second climbing structures 102 is supported to be symmetrical arranged about the central axis of cable.Work as cable
Climbing robot while clamping clamping cable 100 of vola 115, passes through during carrying out climbing sports on cable 100
Support wheel construction 30 carries out Auxiliary support walking on cable 100.As shown in fig. 7, support wheel construction 30 includes the first connecting seat
Body 31, second connects pedestal 32, crank throw support arm 33, elastomer 34 and support wheel assembly 35, the first connection pedestal 31 and second
Connection pedestal 32 is all connected to support semi-ring 111, and the crank throw portion of crank throw support arm 33 is connected to the first connection pedestal 31, elastomer
34 first end is connected to the second connection pedestal 32, and the second end of elastomer 34 is connected to the first end of crank throw support arm 33,
Support wheel assembly 35 is installed on the second end of crank throw support arm 33.Also, it includes crank throw wheel seat 351, the to support wheel assembly 35
One support wheel 352 and the second support wheel 353, the crank throw portion of crank throw wheel seat 351 are rotatably connected at the of crank throw support arm 33
Two ends, the first support wheel 352 are connected to the first end of crank throw wheel seat 351, and the second support wheel 353 is connected to crank throw wheel seat 351
Second end.In this way, robot climb walk during, when robot advance front cable 100 on occur barrier
Hinder object raised, and the barrier protrusion be placed exactly in support wheel assembly 35 by position, when support wheel assembly 35 reaches barrier
When hindering object protrusion, the first support wheel 352 can be lifted by barrier protrusion, and crank throw wheel seat 351 can turn around its crank throw portion at this time
Axis and rotate, and crank throw support arm 33 can also be rotated around the shaft of its crank throw portion, and elastomer 34 is compressed, and waits for first
Support wheel 352 clears the jumps after protrusion, during the second support wheel 353 clears the jumps protrusion, crank throw wheel seat 351,
Crank throw support arm 33 will also pass through the process of being similarly rotated, after the second support wheel 353 clears the jumps protrusion, in elastomer 34
Under the action of, the first support wheel 352 and the second support wheel 353 have simultaneously supports column cable 100 again.In this way, passing through support wheel
The Auxiliary support of structure 30 acts on, can the process walked on cable 100 of auxiliary robot more stablize.
Specifically, detection device is installed not shown on the support semi-ring 111 of upper hold-fast body 11, detection device and control
Device is electrically connected.Due to the loading transport capacity of the cable climbing robot relative to existing cable climbing robot of the present embodiment
There is the promotion of limits, therefore, the cable climbing robot of the present embodiment can carry larger, more accurate detection dress
It sets, to obtain more comprehensive, careful detection data, while also capableing of the power supply of shape more bulk to provide sufficient electric energy,
Prolonged inspection work is carried out to meet robot.
Using the present embodiment cable climbing robot when, specifically include following implementation steps：
The first step：It reaches the standard grade preparation, the first climbing structures 101, the second climbing structures 102, driving structure 20 is assembled
Cable 100 is held tightly on cable 100, and by vola 115 is clamped on the first climbing structures 101；
Second step：Drive the second climbing structures 102 relative to elevator on the first climbing structures 101 by driving structure 20
Dynamic, the clamping vola 115 of the second climbing structures 102, which opens, at this time is detached from cable 100；
Third walks：When the connection component 21 of driving structure 20 is located at lower end and the driving structure 20 of the second climbing structures 102
Connection component 21 when being located at the upper end of the first climbing structures 101, the clamping vola 115 of the second climbing structures 102 is held tightly at this time
Cable 100, the clamping volas 115 of the first climbing structures 101, which opens, is detached from cable 100, then drives the by driving structure 20
One climbing structures 101 are moved upwards relative to the second climbing structures 102；
4th step：When the connection component 21 of driving structure 20 is located at lower end and the driving structure 20 of the first climbing structures 101
Connection component 21 when being located at the upper end of the second climbing structures 102, then circulating repetition second step, third step, until walking is appointed
Business terminates.
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 etc., should all be included in the protection scope of the present invention made by within refreshing and principle.
Claims (10)
1. a kind of cable climbing robot, which is characterized in that including：
First climbing structures (101) and the second climbing structures (102), first climbing structures (101) and the second climbing structures
(102) it being oppositely arranged, first climbing structures (101) and second climbing structures (102) they include hold-fast body (10),
The hold-fast body (10) is for holding cable tightly, and the hold-fast body (10) on first climbing structures (101) and described the
Hold-fast body (10) on two climbing structures (102) alternately holds the cable tightly；
Driving structure (20), the driving structure (20) are mounted on first climbing structures (101) and the second climbing structures
(102) between, the driving structure (20) include connection component (21), power source component (22), the first chain belt component (23) and
Second chain belt component (24), the connection component (21) respectively with first climbing structures (101), second climbing structures
(102) it slippingly connects, the power source component (22) is connected on the connection component (21), the power source component
(22) while the first chain belt component (23), the second chain belt component (24), the first chain belt component (23) packet being driven
The first chain belt (231) and first gear group (232) are included, the both ends of first chain belt (231) are individually fixed in described first and climb
The both ends of structure (101) are climbed, the first gear group (232) is connected on the connection component (21), the first gear group
(232) connection is engaged with first chain belt (231), the power source component (22) drives with the first gear group (232)
Connection, the second chain belt component (24) include the second chain belt (241) and second gear group (242), second chain belt (241)
Both ends be individually fixed in the both ends of second climbing structures (102), the second gear group (242) is connected to the connection
On component (21), the second gear group (242) engages connection, the power source component (22) with second chain belt (241)
It is drivingly connected with the second gear group (242), wherein the first gear group (232) and the first chain belt (231) are nibbled
It is opposite with the second gear group (242) and the engaged transmission direction of second chain belt (241) to close transmission direction.
2. cable climbing robot as described in claim 1, which is characterized in that
The first gear group (232) includes the first power teeth wheel shaft (2321), and first chain belt (231), which is taken, is wound on described the
On the gear teeth of one power teeth wheel shaft (2321)；
The second gear group (242) includes the second power teeth wheel shaft (2421) and at least one tumbler gear (2422), described
Second chain belt (241), which is taken, is around in the gear teeth that the tumbler gear (2422) is set around the second power teeth wheel shaft (2421) later
On；
The power source component (22) while driving the first power teeth wheel shaft (2321) and the second power teeth wheel shaft
(2421) equidirectional rotation.
3. cable climbing robot as claimed in claim 2, which is characterized in that
The first gear group (232) further includes two the first Tension gears (2322), two first Tension gears
(2322) both sides of the first power teeth wheel shaft (2321) are respectively arranged at, the first power teeth wheel shaft (2321) is located at institute
The first side of the first chain belt (231) is stated, two first Tension gears (2322) are located at the second of first chain belt (231)
Side；
The second gear group (242) further includes two the second Tension gears (2423), two second Tension gears
(2423) both sides of the second power teeth wheel shaft (2421) are respectively arranged at, the second power teeth wheel shaft (2421), two
Second Tension gear (2423) is respectively positioned on the first side of second chain belt (241), and the tumbler gear (2422) is located at
The second side of second chain belt (241).
4. cable climbing robot as claimed in claim 3, which is characterized in that the quantity of the tumbler gear (2422) is two
A, two tumbler gears (2422) are located at the both sides of the second power teeth wheel shaft (2421), and described second is dynamic
One tumbler gear (2422) is set between powershift gear axis (2421) and one of them described second Tension gear (2423).
5. cable climbing robot according to any one of claims 1 to 4, which is characterized in that the cable climbs machine
People further includes controller, and the quantity of the driving structure (20) is two, and two driving structures (20) are oppositely arranged, institute
On the connection component (21) for stating one installed therein of the controller driving structure (20), the controller and two institutes
State driving structure (20) the power source component (22) be electrically connected with control two power source components (22) synchronize it is defeated
Go out driving force.
6. cable climbing robot as claimed in claim 5, which is characterized in that the hold-fast body (10) includes upper holding machine
Structure (11), lower hold-fast body (12) and connecting rod (13), the upper hold-fast body (11) and the lower hold-fast body (12) wrap
Include support semi-ring (111), driving device (112), transmission device (113), at least two swing arms (114) and with the swing arm
(114) the clamping vola (115) to connect one to one；The support semi-ring (111) of the upper hold-fast body (11) is connected to
The support semi-ring (111) of the first end of the connecting rod (13), the lower hold-fast body (12) is connected to the connecting rod
(13) second end；The driving device (112) and the transmission device (113) are installed on the support semi-ring (111),
The driving device (112) is electrically connected with the controller, and the driving device (112) drives with the transmission device (113)
Connection, the swing arm (114) are connect with the transmission device (113) to drive the clamping vola (115) to clamp the cable
Rope.
7. cable climbing robot as claimed in claim 6, which is characterized in that first climbing structures (101) and described
Second climbing structures (102) include support wheel construction (30), and at least one institute is provided on each support semi-ring (111)
State support wheel construction (30), the support wheel construction (30) and second climbing structures of first climbing structures (101)
(102) the support wheel construction (30) is symmetrical arranged about the central axis of cable.
8. cable climbing robot as claimed in claim 7, which is characterized in that the support wheel construction (30) includes the first company
Joint chair body (31), the second connection pedestal (32), crank throw support arm (33), elastomer (34) and wheel assembly (35) is supported, described the
A connecting seat body (31) connect pedestal (32) with described second and is all connected to the support semi-ring (111), the crank throw support arm
(33) crank throw portion is connected to the first connection pedestal (31), and the first end of the elastomer (34) is connected to described second and connects
Joint chair body (32), the second end of the elastomer (34) are connected to the first end of the crank throw support arm (33), the support
Wheel assembly (35) is installed on the second end of the crank throw support arm (33).
9. cable climbing robot as claimed in claim 8, which is characterized in that the support wheel assembly (35) includes crank throw wheel
Seat (351), the first support wheel (352) and the second support wheel (353), the crank throw portion of the crank throw wheel seat (351) rotationally connect
It is connected to the second end of the crank throw support arm (33), first support wheel (352) is connected to the crank throw wheel seat (351)
First end, second support wheel (353) are connected to the second end of the crank throw wheel seat (351).
10. cable climbing robot as claimed in claim 6, which is characterized in that the cable climbing robot further includes inspection
Device is surveyed, detection device, the detection device are installed on the support semi-ring (111) of at least one upper hold-fast body (11)
It is electrically connected with the controller.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472107.4A CN108528558B (en) | 2018-05-17 | 2018-05-17 | Cable climbing robot |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810472107.4A CN108528558B (en) | 2018-05-17 | 2018-05-17 | Cable climbing robot |
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| CN108528558A true CN108528558A (en) | 2018-09-14 |
| CN108528558B CN108528558B (en) | 2023-09-12 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810472107.4A Active CN108528558B (en) | 2018-05-17 | 2018-05-17 | Cable climbing robot |
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Cited By (3)
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| CN109515650A (en) * | 2018-11-07 | 2019-03-26 | 上海交通大学 | Pa Lian robot for the detection of ocean platform anchor chain |
| CN110588825A (en) * | 2019-10-28 | 2019-12-20 | 南京中科特检机器人有限公司 | Climbing mechanism and cleaning robot |
| CN111622100A (en) * | 2020-07-01 | 2020-09-04 | 深圳市人工智能与机器人研究院 | Cable climbing robot |
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