CN112172950B - Crawler-type rope climbing robot - Google Patents
Crawler-type rope climbing robot Download PDFInfo
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- CN112172950B CN112172950B CN202011111735.3A CN202011111735A CN112172950B CN 112172950 B CN112172950 B CN 112172950B CN 202011111735 A CN202011111735 A CN 202011111735A CN 112172950 B CN112172950 B CN 112172950B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
- B62D55/075—Tracked vehicles for ascending or descending stairs, steep slopes or vertical surfaces
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Abstract
A crawler-type rope climbing robot comprises a main body, an upper plate, a lower plate, a rope, a power supply, a motor, a rope climbing device, a lifting pressing device, a guiding device, a braking device and a detection device; the rope climbing device comprises an upper crawler belt, a lower crawler belt, a driving gear and a driven pinch roller; the lifting compressing device comprises a lifting platform, a hydraulic rod, a connecting rod assembly and a base, wherein the connecting rod assembly comprises a hinge rod and a sliding rod, and a groove is formed in the lifting platform; the guide device comprises a guide roller, a guide bracket, a suspension roller, a long plate and a short plate; the braking device comprises a braking traction rod, a driving piece, a braking ring plate and a clamping piece; the detection device comprises a support rod, a camera, a bending plate, a three-dimensional rod and a supporting ring.
Description
Technical Field
The invention relates to the field of robots, in particular to a crawler-type rope climbing robot.
Background
The hills of China are about 100 kilometres square, account for one tenth of the total area of the country, and the economic gross of hilly areas occupies an important position in the main industrial production value of China, for example, the yield of grain and oil products and livestock products occupies a special position in the economic gross of China. The development of economy cannot be separated from the development of transportation industry, the development of transportation industry depends on the transportation mode and the quality of transportation equipment, and particularly, the initial transportation of carrier economy greatly depends on the transportation equipment, so that the development of economy is promoted and proper transportation equipment is needed. At present, in hilly areas, two types of transportation equipment are used for transporting cargoes on complicated terrains and tortuous road sections, and one type of transportation equipment is traditional transportation equipment; the other type is a relatively novel transportation device, which is used for transporting according to the change of the transportation mode of the hilly terrain. The conventional transportation means is mainly to drive the conventional transportation machine by human and to use animal power and change some zones of hills for transportation; traditional transportation needs a large amount of manpower and material resources to go to overcome the resistance that natural topography brought, and the precipitous complicacy of many hilly terrain topography, and the machine can't drive in, and the road is also difficult for opening up, and most highway sections can only hold alone and pass through, need the transportation of labour personnel many times, and this transportation work efficiency is low, and is with high costs and can't ensure staff's safety. Neotype transportation is equipped mainly transports according to selective adoption cableway or track of the topography of hills, cableway transportation mainly used hills slope degree of decline is big plant the district slightly, pile and frame cable through the fixed distance, generally utilize gravity to transport the fruit as power, manpower and materials have been saved to a certain extent, the conveying efficiency has been improved, but there are self-lock device and driving system, can have speed too fast in the time of the downhill path transportation, stability during the transportation is very poor, the basket of transportation is great to the wearing and tearing of cable up and down, the cable has cracked risk, consequently, cost of maintenance is higher and factor of safety is lower. Track transportation is mainly repaiied the road of local unevenness in comparatively spacious hilly area and is made it lay the track, and people drive special track machine and transport, and this transportation mode has improved conveying efficiency, but road rectification and laying track need a large amount of costs and destroy great to local topography and geomorphology, receives geographical environment to influence great.
However, in practical use, the following problems exist:
1. the rope climbing robot in the prior art only has the rope climbing function, but lacks of an adjusting means for clamping the rope.
2. The rope climbing robot in the prior art only considers the clamping principle and does not consider the problem of clamping stability in the clamping process.
3. In the prior art, a rope climbing robot probably considers a multifunctional design, but the multifunctional design is complex in structure and is difficult to simplify parts.
4. The rope climbing robot in the prior art probably has a multifunctional design, but various functional modules are independent of each other and lack the cooperation of functions and structures.
5. The prior art guide structure is usually that two identical rollers clamp the rope for guiding, and how to improve the guide effect and reduce the transmission resistance is never considered.
6. The camera detection device in the prior art is often provided with a detection platform, but the detection platform is often thick and heavy in structure.
7. The clamping equipment in the prior art is common in coaxial clamping, but has single function and can not realize the change of a clamping position.
8. In the braking technology in the prior art, the side turning is easy to happen due to sudden braking in the transmission process.
Disclosure of Invention
In order to overcome the above problems, the present invention proposes a solution to solve the above problems simultaneously.
The technical scheme adopted by the invention for solving the technical problems is as follows: a crawler-type rope climbing robot comprises a main body, an upper plate, a lower plate, a rope, a power supply, a motor, a rope climbing device, a lifting pressing device, a guiding device, a braking device and a detection device; the rope climbing device comprises an upper crawler belt, a lower crawler belt, a driving gear and a driven pinch roller; the lifting compressing device comprises a lifting platform, a hydraulic rod, a connecting rod assembly and a base, wherein the connecting rod assembly comprises a hinge rod and a sliding rod, and a groove is formed in the lifting platform; the guide device comprises a guide roller, a guide bracket, a suspension roller, a long plate and a short plate; the braking device comprises a braking traction rod, a driving piece, a braking ring plate and a clamping piece; the detection device comprises a support rod, a camera, a bending plate, a three-dimensional rod and a supporting ring;
the upper plate and the lower plate extend out of the range of the main body, the motor is arranged in the main body, the power supply is arranged above the upper plate, the rope climbing devices are arranged on the left side and the right side of the main body, and the guide devices and the brake devices are arranged at the front and the back of the rope climbing devices; the two braking devices are respectively connected to the upper plate or the lower plate through clamping pieces, the guide device is fixed on the lower plate through the guide support, and the lifting pressing device is arranged below the lower plate; the driving gear and the driven pinch roller are arranged in the upper crawler and the lower crawler; the rope is arranged between the upper crawler and the lower crawler;
the long plate and the short plate are fixed on the guide support, the length of the long plate is greater than that of the short plate, the long plate is positioned above the short plate, two ends of the guide roller are respectively connected with the long plate and the short plate, one end of the suspension roller is connected with the long plate, and the other end of the suspension roller is suspended;
one end of the supporting rod is connected above the long plate, the other end of the supporting rod is connected with the bending plate, the three-dimensional rod and the camera are connected to the bending plate, the three-dimensional rod comprises an X-direction rod, a Y-direction rod and a Z-direction rod, the supporting ring is connected below the X-direction rod, and the position of the supporting ring corresponds to the position below the camera;
the lifting pressing device is fixed below the lower plate through a shell, the base is fixed in the shell, the hydraulic rod is located inside the connecting rod assembly, the lifting platform is located above the hydraulic rod and the connecting rod assembly, the number of the grooves corresponds to the number of the driven pressing wheels, and the base is provided with folded edges;
the clamping piece is connected with the driving piece, the driving piece drives the braking traction rod to move, the braking traction rod comprises a straight rod and an inclined rod, and the braking ring plate is connected below the inclined rod.
Furthermore, a hollow structure is arranged on the upper plate.
Further, the hollow-out structures are obliquely arranged.
Further, a pulley is arranged below the lower plate.
Furthermore, a friction line is further arranged on the lifting platform.
Further, the friction line extends in the direction of the rope.
Further, the driving member is a hydraulic driving member.
Further, the driving member is an electromagnetic driving member.
Furthermore, a rib plate is arranged between the straight rod and the diagonal rod.
Further, the bending plate comprises two plates perpendicular to each other.
The invention has the beneficial effects that:
compared with the existing transport machines and rope climbing robots, the rope climbing transport robot adopts the crawler-type rope climbing device as the main body; the lower crawler belt is pressed onto the rope by the driven pinch roller on the driven wheel shaft, so that the rope is prevented from slipping; the detection device is connected with the controller, so that the motion state and the rope state of the transport robot can be accurately recorded; the electromagnetic braking device is adopted, so that the damage of the transport robot caused by faults or too high speed and incapability of reducing the speed is prevented, and the safety of the transport robot in the transport process is enhanced.
Drawings
The invention is further illustrated with reference to the following figures and examples.
Fig. 1 is one of the overall working schematic diagrams of the crawler type rope climbing robot.
Fig. 2 is a schematic overall structure diagram of the crawler-type rope climbing robot.
Fig. 3 is a schematic position diagram of a lifting and pressing device of the crawler-type rope climbing robot.
Fig. 4 is a schematic structural diagram of a guide device of the crawler-type rope climbing robot.
Fig. 5 is a schematic structural diagram of a detection device of the crawler-type rope climbing robot.
Fig. 6 is a schematic view of a lifting and pressing device of the crawler-type rope climbing robot.
Fig. 7 is a schematic view of a braking device of the crawler type rope climbing robot.
FIG. 8 is a drawing showing the relationship between the crawler-type rope climbing robot and the foundation tower
The reference numbers in the figures are as follows:
the device comprises an upper plate 1, a power supply 2, a motor 3, a rope climbing device 4, an upper crawler 41, a lower crawler 42, a driving gear 43, a driven pinch roller 44, a lifting and pressing device 5, a lifting platform 51, a connecting rod assembly 52, a hydraulic rod 53, a base 54, a hinged rod 55, a sliding rod 56, a groove 57, a folded edge 58, a guide device 6, a guide roller 61, a guide bracket 62, an overhead roller 63, a long plate 64, a short plate 65, a braking device 7, a braking traction rod 71, a driving piece 72, a braking ring plate 73, a clamping piece 74, a detection device 8, a supporting rod 81, a camera 82, a bending plate 83, a three-dimensional rod 84, a supporting ring 85, a controller 9, a rope 10, a fruit basket 11, a base tower 12 and a lower plate 13.
Detailed Description
The invention of the application comprises the following steps:
1. to the 1 st point that the background art provided, adopted the centre gripping equipment to the track for when the track transmission, the centre gripping effect to the rope can be adjusted.
2. To the 2 nd point that the background art provided, designed centre gripping recess and friction line, realized the shape fit of centre gripping platform and driven pinch roller in the clamping process, increased the stability of centre gripping.
3. Aiming at the 3 rd point provided by the background technology, the upper plate and the lower plate are taken as references, the braking device is clamped on the upper plate, the guiding device is supported on the lower plate, the centering performance and the support performance are realized by the upper plate and the lower plate, the structure of parts is greatly simplified, and a complex support structure is not required to be designed.
4. In the 4 th point proposed by the background art, the guiding device and the detecting device are organically combined, and the functional combination comprises: because the distance is close, the guiding device helps the detection device to realize the stability, the structural combination includes: the detection device is arranged on the upper surface of the guide device.
5. To the 5 th point that the background art provided, set up a roller fixed, a roller unsettled structure to reduce unsettled roller corresponding fixed knot and reduced the part among the transmission process, thereby reduced the transmission energy consumption.
6. To the 6 th point that the background art provided, to the peculiarity of rope light, designed three-dimensional bar shape support and backing ring to realized supporting platform's lightweight, X can carry out spacingly to the rope to a certain extent to the position that the pole is higher than the backing ring to the X.
7. Aiming at the 7 th point provided by the background technology, a structure that a driving shaft and a clamping position are staggered is adopted, and the different-shaft clamping is realized.
8. In the 8 th point proposed by the background art, the matched linkage of the braking device and the lifting pressing device is adopted, so that even if the braking is suddenly carried out, the pressing device can press the rope.
Note: the foregoing designs are not sequential, each of which provides a distinct and significant advance in the present invention over the prior art.
The technical scheme comprises the following details:
as shown in the figure: a crawler-type rope climbing robot comprises a main body, an upper plate, a lower plate, a rope, a power supply, a motor, a rope climbing device, a lifting pressing device, a guiding device, a braking device and a detection device; the rope climbing device comprises an upper crawler belt, a lower crawler belt, a driving gear and a driven pinch roller; the lifting compressing device comprises a lifting platform, a hydraulic rod, a connecting rod assembly and a base, wherein the connecting rod assembly comprises a hinge rod and a sliding rod, and a groove is formed in the lifting platform; the guide device comprises a guide roller, a guide bracket, a suspension roller, a long plate and a short plate; the braking device comprises a braking traction rod, a driving piece, a braking ring plate and a clamping piece; the detection device comprises a support rod, a camera, a bending plate, a three-dimensional rod and a supporting ring;
the upper plate and the lower plate extend out of the range of the main body, the motor is arranged in the main body, the power supply is arranged above the upper plate, the rope climbing devices are arranged on the left side and the right side of the main body, and the guide devices and the brake devices are arranged at the front and the back of the rope climbing devices; the two braking devices are respectively connected to the upper plate or the lower plate through clamping pieces, the guide device is fixed on the lower plate through the guide support, and the lifting pressing device is arranged below the lower plate; the driving gear and the driven pinch roller are arranged in the upper crawler and the lower crawler; the rope is arranged between the upper crawler and the lower crawler;
as shown in the figure: the long plate and the short plate are fixed on the guide support, the length of the long plate is greater than that of the short plate, the long plate is positioned above the short plate, two ends of the guide roller are respectively connected with the long plate and the short plate, one end of the suspension roller is connected with the long plate, and the other end of the suspension roller is suspended;
one end of the supporting rod is connected above the long plate, the other end of the supporting rod is connected with the bending plate, the three-dimensional rod and the camera are connected to the bending plate, the three-dimensional rod comprises an X-direction rod, a Y-direction rod and a Z-direction rod, the supporting ring is connected below the X-direction rod, and the position of the supporting ring corresponds to the position below the camera;
as shown in the figure: the lifting pressing device is fixed below the lower plate through a shell, the base is fixed in the shell, the hydraulic rod is located inside the connecting rod assembly, the lifting platform is located above the hydraulic rod and the connecting rod assembly, the number of the grooves corresponds to the number of the driven pressing wheels, and the base is provided with folded edges;
the clamping piece is connected with the driving piece, the driving piece drives the braking traction rod to move, the braking traction rod comprises a straight rod and an inclined rod, and the braking ring plate is connected below the inclined rod.
As shown in the figure: the upper plate is provided with a hollow structure. The hollow-out structures are obliquely arranged. And a pulley is arranged below the lower plate. And a friction line is also arranged on the lifting platform. The friction line extends in the direction of the rope. The driving part is a hydraulic driving part. The driving piece is an electromagnetic driving piece. And a rib plate is arranged between the straight rod and the inclined rod. The bending plate comprises two plates which are perpendicular to each other.
Rope climbing robot and fruit basket and basic tower cooperation, the basic tower includes: scaffold, wing platform, brace table, bow member, the scaffold top is equipped with the wing platform, the wing platform top is equipped with the brace table, the brace table with the bow member is connected, the bow member comprises four arch bars, scaffold quantity is two, wing platform quantity is two, brace table quantity is two, the scaffold with still be connected with the stiffening rib between the wing platform.
The compaction adjusting method comprises the following steps: after the goods are loaded, the motor is wirelessly controlled to output power to the driving gear, and the driving gear rotates to drive the upper crawler belt and the lower crawler belt to rotate; meanwhile, the hydraulic rod pushes the connecting rod assembly and the lifting platform to move, so that the lifting platform drives a driven wheel shaft connected with the driven pressing wheel to move, and the driven pressing wheel moves to press the lower crawler belt onto the rope.
The above detailed description is specific to possible embodiments of the present invention, and the embodiments are not intended to limit the scope of the present invention, and all equivalent implementations or modifications that do not depart from the scope of the present invention are intended to be included within the scope of the present invention.
Claims (6)
1. The utility model provides a crawler-type rope climbing robot which characterized in that: the device comprises a main body, an upper plate, a lower plate, a rope, a power supply, a motor, a rope climbing device, a lifting pressing device, a guiding device, a braking device and a detection device; the rope climbing device comprises an upper crawler belt, a lower crawler belt, a driving gear and a driven pinch roller; the lifting pressing device comprises a lifting platform, a hydraulic rod, a connecting rod assembly and a base; the connecting rod assembly comprises a hinge rod and a sliding rod, and a groove is formed in the lifting platform; the guide device comprises a guide roller, a guide bracket, a suspension roller, a long plate and a short plate; the braking device comprises a braking traction rod, a driving piece, a braking ring plate and a clamping piece; the detection device comprises a support rod, a camera, a bending plate, a three-dimensional rod and a supporting ring;
the upper plate and the lower plate extend out of the range of the main body, the motor is arranged in the main body, the power supply is arranged above the upper plate, the rope climbing devices are arranged on the left side and the right side of the main body, and the guide devices and the brake devices are arranged at the front and the back of the rope climbing devices; the two braking devices are respectively connected to the upper plate or the lower plate through clamping pieces, the guide device is fixed on the lower plate through the guide support, and the lifting pressing device is arranged below the lower plate; the driving gear and the driven pinch roller are arranged in the upper crawler and the lower crawler; the rope is arranged between the upper crawler and the lower crawler;
the long plate and the short plate are fixed on the guide support, the length of the long plate is greater than that of the short plate, the long plate is positioned above the short plate, two ends of the guide roller are respectively connected with the long plate and the short plate, one end of the suspension roller is connected with the long plate, and the other end of the suspension roller is suspended;
one end of the supporting rod is connected above the long plate, the other end of the supporting rod is connected with the bending plate, the three-dimensional rod and the camera are connected to the bending plate, the three-dimensional rod comprises an X-direction rod, a Y-direction rod and a Z-direction rod, the supporting ring is connected below the X-direction rod, and the position of the supporting ring corresponds to the position below the camera;
the lifting pressing device is fixed below the lower plate through a shell, the base is fixed in the shell, the hydraulic rod is located inside the connecting rod assembly, the lifting platform is located above the hydraulic rod and the connecting rod assembly, the number of the grooves corresponds to the number of the driven pressing wheels, and the base is provided with folded edges;
the clamping piece is connected with the driving piece, the driving piece drives the braking traction rod to move, the braking traction rod comprises a straight rod and an inclined rod, and the braking ring plate is connected below the inclined rod; the driving piece is an electromagnetic driving piece; a rib plate is arranged between the straight rod and the inclined rod; the bending plate comprises two plates which are perpendicular to each other.
2. A tracked rope-climbing robot according to claim 1, wherein: the upper plate is provided with a hollow structure.
3. A tracked rope-climbing robot according to claim 2, wherein: the hollow-out structures are obliquely arranged.
4. A tracked rope-climbing robot according to claim 1, wherein: and a pulley is arranged below the lower plate.
5. A tracked rope-climbing robot according to claim 1, wherein: and a friction line is also arranged on the lifting platform.
6. A tracked rope-climbing robot according to claim 5, wherein: the friction line extends in the direction of the rope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011111735.3A CN112172950B (en) | 2020-10-16 | 2020-10-16 | Crawler-type rope climbing robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202011111735.3A CN112172950B (en) | 2020-10-16 | 2020-10-16 | Crawler-type rope climbing robot |
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| Publication Number | Publication Date |
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| CN112172950A CN112172950A (en) | 2021-01-05 |
| CN112172950B true CN112172950B (en) | 2021-08-31 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202011111735.3A Active CN112172950B (en) | 2020-10-16 | 2020-10-16 | Crawler-type rope climbing robot |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112960043B (en) * | 2021-03-08 | 2022-02-18 | 中国矿业大学 | Magnetic adsorption type steel wire rope inspection robot |
| CN114102629A (en) * | 2021-12-06 | 2022-03-01 | 长沙理工大学 | Motor car bottom inspection robot |
| CN114875783B (en) * | 2022-01-06 | 2023-12-08 | 长沙理工大学 | Portable cable climbing detection robot |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| FR2605576B1 (en) * | 1986-10-23 | 1989-06-23 | Creissels Denis Sa | TROLLEY WITH FIXED ATTACHMENT COUPLING TO AN AIR CABLE |
| FR2678796B1 (en) * | 1991-07-01 | 1993-09-24 | Dessins Tech Ingenierie | DEVICE FOR TRANSLATION OF A VIDEO SURVEILLANCE CAMERA SUPPORT WITH DRIVE OF THE COAXIAL CABLE AND THE POWER CABLE THEREOF. |
| US5225863A (en) * | 1991-08-15 | 1993-07-06 | Weir Jones Iain | Remotely operated camera system with battery recharging system |
| ES2073955B1 (en) * | 1991-12-31 | 1996-03-01 | Arapiles Jesus Pedro Sanz | TRANSPORT OF ELEVATED ROLLING OF LOW ECOLOGICAL IMPACT. |
| DE20213353U1 (en) * | 2002-08-30 | 2002-10-24 | Haas Franz | Cable car and drive for a rope |
| DE202006014388U1 (en) * | 2006-09-15 | 2007-02-08 | Stahlschmidt, Michael | Camera controlling device for use in film industry, has support unit with steel or wire rope for guiding automatically driven drive car, and camera attached to car, where camera is pivotable around axis, and car is driven by electric motor |
| KR100889996B1 (en) * | 2007-07-03 | 2009-03-25 | 한전케이피에스 주식회사 | Transferring vehicle with power device |
| ITMI20071869A1 (en) * | 2007-09-28 | 2009-03-29 | Rolic Invest Sarl | ROPE TRANSPORTATION SYSTEM AND METHOD OF DRIVING A RESCUE VEHICLE IN SUCH A SYSTEM |
| CN101244562A (en) * | 2008-03-18 | 2008-08-20 | 南京航空航天大学 | Robot main body mechanism for climb cable |
| CN201512747U (en) * | 2009-06-11 | 2010-06-23 | 南京航空航天大学 | Flexible cable robot main body mechanism |
| AT517873B1 (en) * | 2015-10-15 | 2019-04-15 | C D C Chain Drive Crane Gmbh | Ropeway carriage |
| CN108016453B (en) * | 2018-01-03 | 2023-11-17 | 韩斌 | Gravity self-locking cableway pulley |
| CN208181053U (en) * | 2018-03-30 | 2018-12-04 | 北京艾力泰尔信息技术股份有限公司 | From driving double rail type flow measurement vehicle |
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